diff --git a/blenderobj_eval/target/scene_000000__traj000__slowmo/extras/traj_caption.txt b/blenderobj_eval/target/scene_000000__traj000__slowmo/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..39ee80a3e0474925cbbfc9ce5e29c5785238ee3a --- /dev/null +++ b/blenderobj_eval/target/scene_000000__traj000__slowmo/extras/traj_caption.txt @@ -0,0 +1 @@ +A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects. diff --git a/blenderobj_eval/target/scene_000000__traj002__slowmo/extras/traj_caption.txt b/blenderobj_eval/target/scene_000000__traj002__slowmo/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..c378e2e338d77cb23b8b1bf8d641615119c75209 --- /dev/null +++ b/blenderobj_eval/target/scene_000000__traj002__slowmo/extras/traj_caption.txt @@ -0,0 +1 @@ +A weaving figure-eight camera move. The camera traces a figure-eight path over the sphere surrounding the scene, rising above and dipping below its 32° center elevation as it advances in azimuth, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). The viewing height rises and falls smoothly through the shot, so the objects are seen from alternating high and low angles while staying centered in frame. diff --git a/blenderobj_eval/target/scene_000006__traj000__forward/caption.txt b/blenderobj_eval/target/scene_000006__traj000__forward/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..7c5f87e033c1b36a564c6fdc74e950c108990861 --- /dev/null +++ b/blenderobj_eval/target/scene_000006__traj000__forward/caption.txt @@ -0,0 +1 @@ +In a stone-walled room with a wooden floor, various household items—including cups, a box, a plate, and a small figurine—tumble and scatter through the air, eventually settling in a disordered pile on the floor. A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects. The motion of the scene plays forward at normal speed. diff --git a/blenderobj_eval/target/scene_000006__traj000__forward/extras/blender_meta.json b/blenderobj_eval/target/scene_000006__traj000__forward/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1387fb587e7ec2c230120d7258501489d704ca2 --- /dev/null +++ b/blenderobj_eval/target/scene_000006__traj000__forward/extras/blender_meta.json @@ -0,0 +1,376 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000006", + "trajectory_index": 0, + "trajectory_id": "T0", + "trajectory_name": "low_elevation_arc", + "pattern": "forward", + "pattern_params": { + "kind": "time_forward", + "stride": 1, + "cam_start": 0, + "src_frame_range": [ + 0, + 80 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": 1, + "timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "timestamp_range": [ + 0.0, + 2.666666667 + ], + "scene_time_span_seconds": 2.666666667, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "written_at": "2026-09-17T14:34:26" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000006__traj000__forward/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000006__traj000__forward/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..f5efa7fa57b7a94c139536b1e0eadf7b402176f4 --- /dev/null +++ b/blenderobj_eval/target/scene_000006__traj000__forward/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "forward", + "original_pattern": "forward", + "trajectory": { + "dir": "traj000", + "index": 0, + "id": "T0", + "name": "low_elevation_arc" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": 1, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 0.0, + 2.666666667 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000006__traj000__forward/extras/traj_caption.txt b/blenderobj_eval/target/scene_000006__traj000__forward/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..39ee80a3e0474925cbbfc9ce5e29c5785238ee3a --- /dev/null +++ b/blenderobj_eval/target/scene_000006__traj000__forward/extras/traj_caption.txt @@ -0,0 +1 @@ +A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects. diff --git a/blenderobj_eval/target/scene_000006__traj000__forward/transforms.json b/blenderobj_eval/target/scene_000006__traj000__forward/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..72ef298138b4800f24b8784fed14e4c18e5c3e09 --- /dev/null +++ b/blenderobj_eval/target/scene_000006__traj000__forward/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.6192521452903748, + 0.1899552047252655, + -0.7618686556816101, + 0.5996159911155701 + ], + [ + 0.7851922512054443, + -0.14981064200401306, + 0.6008577346801758, + -1.6442009210586548 + ], + [ + -4.184979118804222e-08, + -0.970295786857605, + -0.24192188680171967, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.6086033582687378, + 0.19195884466171265, + -0.7699050903320312, + 0.6108670234680176 + ], + [ + 0.7934746742248535, + -0.14723438024520874, + 0.5905253291130066, + -1.6297353506088257 + ], + [ + -5.137375680419609e-08, + -0.9702958464622498, + -0.24192175269126892, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.5978437066078186, + 0.1939275860786438, + -0.7778013944625854, + 0.6219218373298645 + ], + [ + 0.8016127347946167, + -0.14463147521018982, + 0.580085277557373, + -1.615119457244873 + ], + [ + -1.005577985324635e-07, + -0.9702958464622498, + -0.2419217973947525, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.5869753956794739, + 0.19586116075515747, + -0.7855560183525085, + 0.6327784657478333 + ], + [ + 0.8096047639846802, + -0.14200222492218018, + 0.5695397257804871, + -1.600355625152588 + ], + [ + 2.691173506264022e-08, + -0.9702956676483154, + -0.24192194640636444, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.5759999752044678, + 0.1977589726448059, + -0.7931680083274841, + 0.6434349417686462 + ], + [ + 0.8174497485160828, + -0.13934697210788727, + 0.5588904023170471, + -1.5854467153549194 + ], + [ + -4.7187466378773024e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.5649200677871704, + 0.19962078332901, + -0.8006353378295898, + 0.6538893580436707 + ], + [ + 0.8251456618309021, + -0.13666662573814392, + 0.5481395125389099, + -1.5703954696655273 + ], + [ + -1.1223676210647682e-07, + -0.9702957272529602, + -0.24192193150520325, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.5537372827529907, + 0.20144635438919067, + -0.8079569935798645, + 0.6641397476196289 + ], + [ + 0.832691490650177, + -0.13396114110946655, + 0.5372890830039978, + -1.5552045106887817 + ], + [ + -3.702682960238235e-08, + -0.9702958464622498, + -0.24192187190055847, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.5424535274505615, + 0.2032351791858673, + -0.8151317834854126, + 0.674184262752533 + ], + [ + 0.8400859236717224, + -0.13123127818107605, + 0.5263405442237854, + -1.5398765802383423 + ], + [ + -2.4412486254732357e-08, + -0.9702959060668945, + -0.24192176759243011, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.5310712456703186, + 0.20498701930046082, + -0.8221578598022461, + 0.6840211153030396 + ], + [ + 0.8473271131515503, + -0.12847794592380524, + 0.5152960419654846, + -1.5244146585464478 + ], + [ + -7.107621513569029e-08, + -0.9702956080436707, + -0.2419220507144928, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.5195921063423157, + 0.206701397895813, + -0.8290347456932068, + 0.6936484575271606 + ], + [ + 0.8544144630432129, + -0.12570060789585114, + 0.504158079624176, + -1.5088213682174683 + ], + [ + -1.5588280888323425e-08, + -0.970295786857605, + -0.24192169308662415, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.5080185532569885, + 0.20837847888469696, + -0.8357605934143066, + 0.7030645608901978 + ], + [ + 0.8613462448120117, + -0.12290067225694656, + 0.4929283559322357, + -1.4930996894836426 + ], + [ + 5.447748918641082e-09, + -0.9702958464622498, + -0.24192173779010773, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.4963524639606476, + 0.21001751720905304, + -0.8423343896865845, + 0.7122677564620972 + ], + [ + 0.8681212663650513, + -0.12007841467857361, + 0.48160892724990845, + -1.4772523641586304 + ], + [ + -1.1376769748494553e-07, + -0.9702960252761841, + -0.24192170798778534, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.4845961034297943, + 0.21161817014217377, + -0.8487547039985657, + 0.7212563157081604 + ], + [ + 0.8747380971908569, + -0.1172342523932457, + 0.470201700925827, + -1.4612822532653809 + ], + [ + -2.7580789208059286e-08, + -0.9702959060668945, + -0.24192164838314056, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.4727517068386078, + 0.2131805121898651, + -0.8550204038619995, + 0.7300286293029785 + ], + [ + 0.8811956644058228, + -0.11436907947063446, + 0.45870891213417053, + -1.4451924562454224 + ], + [ + -9.074689444332762e-08, + -0.9702957272529602, + -0.24192193150520325, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.46082088351249695, + 0.21470411121845245, + -0.8611308336257935, + 0.7385830283164978 + ], + [ + 0.8874931931495667, + -0.1114826500415802, + 0.44713255763053894, + -1.4289857149124146 + ], + [ + 1.2146614380981191e-08, + -0.9702957272529602, + -0.24192194640636444, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.4488064646720886, + 0.216188445687294, + -0.8670844435691833, + 0.7469180822372437 + ], + [ + 0.8936290740966797, + -0.1085759848356247, + 0.4354751408100128, + -1.4126651287078857 + ], + [ + 2.5417392635063152e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.436710387468338, + 0.217633455991745, + -0.8728801608085632, + 0.7550321817398071 + ], + [ + 0.8996021747589111, + -0.1056496649980545, + 0.4237383306026459, + -1.3962335586547852 + ], + [ + 7.00425175637065e-08, + -0.970295786857605, + -0.2419217824935913, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.4245346486568451, + 0.21903888881206512, + -0.878517210483551, + 0.7629238963127136 + ], + [ + 0.9054117798805237, + -0.10270412266254425, + 0.4119243025779724, + -1.3796939849853516 + ], + [ + -1.804978211339403e-08, + -0.9702958464622498, + -0.24192175269126892, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.4122816324234009, + 0.2204044908285141, + -0.8839942812919617, + 0.7705917358398438 + ], + [ + 0.9110565185546875, + -0.09973973780870438, + 0.4000352919101715, + -1.3630493879318237 + ], + [ + 9.147581891966183e-08, + -0.9702959060668945, + -0.24192170798778534, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.3999537527561188, + 0.22173002362251282, + -0.8893103003501892, + 0.7780343294143677 + ], + [ + 0.9165353178977966, + -0.09675759822130203, + 0.38807347416877747, + -1.3463029861450195 + ], + [ + -3.316637986472415e-08, + -0.9702957272529602, + -0.24192194640636444, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.38755306601524353, + 0.22301502525806427, + -0.8944646716117859, + 0.7852503657341003 + ], + [ + 0.9218474626541138, + -0.09375746548175812, + 0.3760412037372589, + -1.3294576406478882 + ], + [ + 1.8987691419170005e-09, + -0.9702958464622498, + -0.24192175269126892, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.37508177757263184, + 0.224259614944458, + -0.8994562029838562, + 0.7922384738922119 + ], + [ + 0.9269918203353882, + -0.09074018895626068, + 0.36394044756889343, + -1.3125165700912476 + ], + [ + 1.6486089293721307e-07, + -0.9702959060668945, + -0.24192169308662415, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.3625422418117523, + 0.22546330094337463, + -0.9042840003967285, + 0.7989974021911621 + ], + [ + 0.9319674372673035, + -0.08770686388015747, + 0.35177329182624817, + -1.2954826354980469 + ], + [ + -6.538867580729857e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.3499367833137512, + 0.2266259640455246, + -0.908947229385376, + 0.8055259585380554 + ], + [ + 0.9367733597755432, + -0.0846572294831276, + 0.3395422399044037, + -1.2783591747283936 + ], + [ + 6.411634245750975e-08, + -0.970295786857605, + -0.2419217824935913, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.33726751804351807, + 0.22774739563465118, + -0.9134451150894165, + 0.8118228912353516 + ], + [ + 0.9414089322090149, + -0.08159217983484268, + 0.3272494375705719, + -1.2611491680145264 + ], + [ + 7.414718083964544e-08, + -0.9702959060668945, + -0.24192169308662415, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.3245370090007782, + 0.22882743179798126, + -0.9177766442298889, + 0.8178870677947998 + ], + [ + 0.9458730816841125, + -0.07851239293813705, + 0.3148970603942871, + -1.2438557147979736 + ], + [ + 1.1139042044305825e-07, + -0.9702958464622498, + -0.24192176759243011, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.31174734234809875, + 0.22986575961112976, + -0.9219411611557007, + 0.8237174153327942 + ], + [ + 0.9501650929450989, + -0.0754183679819107, + 0.30248722434043884, + -1.2264821529388428 + ], + [ + 5.7866731850708675e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.29890090227127075, + 0.23086221516132355, + -0.9259379506111145, + 0.8293128609657288 + ], + [ + 0.9542842507362366, + -0.07231056690216064, + 0.2900224030017853, + -1.2090314626693726 + ], + [ + 8.941256623984373e-09, + -0.9702958464622498, + -0.24192176759243011, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.2860002815723419, + 0.23181672394275665, + -0.929766058921814, + 0.8346723914146423 + ], + [ + 0.9582296013832092, + -0.06918971985578537, + 0.27750492095947266, + -1.1915068626403809 + ], + [ + -4.3831118290427185e-08, + -0.970295786857605, + -0.24192185699939728, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.273047536611557, + 0.23272903263568878, + -0.9334249496459961, + 0.8397950530052185 + ], + [ + 0.9620004892349243, + -0.06605620682239532, + 0.26493680477142334, + -1.1739115715026855 + ], + [ + 3.544565174706804e-08, + -0.9702956676483154, + -0.24192197620868683, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.2600449025630951, + 0.23359903693199158, + -0.9369142651557922, + 0.8446798324584961 + ], + [ + 0.9655966758728027, + -0.0629103034734726, + 0.25232064723968506, + -1.156248688697815 + ], + [ + 1.4524516700475942e-07, + -0.9702958464622498, + -0.2419217973947525, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.24699506163597107, + 0.2344263643026352, + -0.9402327537536621, + 0.8493258953094482 + ], + [ + 0.9690167307853699, + -0.0597534216940403, + 0.23965825140476227, + -1.138521671295166 + ], + [ + 1.069444195422875e-07, + -0.9702957272529602, + -0.24192188680171967, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.2339002788066864, + 0.23521114885807037, + -0.9433803558349609, + 0.8537324070930481 + ], + [ + 0.9722606539726257, + -0.05658553168177605, + 0.22695252299308777, + -1.1207334995269775 + ], + [ + 1.2969120888328689e-08, + -0.970295786857605, + -0.24192184209823608, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.22076280415058136, + 0.23595310747623444, + -0.9463562369346619, + 0.8578985333442688 + ], + [ + 0.9753276109695435, + -0.05340728908777237, + 0.2142053097486496, + -1.102887511253357 + ], + [ + -1.4380944435288256e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.20758526027202606, + 0.23665213584899902, + -0.9491598010063171, + 0.861823558807373 + ], + [ + 0.9782170057296753, + -0.050219252705574036, + 0.20141921937465668, + -1.084986925125122 + ], + [ + 8.229441306184526e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.19436991214752197, + 0.23730801045894623, + -0.9517906904220581, + 0.8655067086219788 + ], + [ + 0.9809284210205078, + -0.04702221229672432, + 0.1885964423418045, + -1.0670350790023804 + ], + [ + -4.303927880755509e-09, + -0.9702959060668945, + -0.24192172288894653, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.18111920356750488, + 0.23792089521884918, + -0.9542482495307922, + 0.8689473867416382 + ], + [ + 0.9834612607955933, + -0.043816499412059784, + 0.1757393628358841, + -1.0490350723266602 + ], + [ + 9.42291933370143e-08, + -0.9702958464622498, + -0.2419218271970749, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.167835533618927, + 0.23849031329154968, + -0.9565321207046509, + 0.872144877910614 + ], + [ + 0.9858150482177734, + -0.04060303792357445, + 0.16285015642642975, + -1.0309903621673584 + ], + [ + 2.615125183069722e-08, + -0.970295786857605, + -0.24192191660404205, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.15452128648757935, + 0.2390163391828537, + -0.9586421251296997, + 0.875098705291748 + ], + [ + 0.987989604473114, + -0.03738171234726906, + 0.14993159472942352, + -1.012904167175293 + ], + [ + 2.3462186504730198e-07, + -0.9702959060668945, + -0.24192173779010773, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.14117899537086487, + 0.23949888348579407, + -0.9605774879455566, + 0.8778082132339478 + ], + [ + 0.9899842143058777, + -0.034154195338487625, + 0.13698554039001465, + -0.9947797656059265 + ], + [ + -3.2550246942264494e-08, + -0.9702959060668945, + -0.2419217824935913, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.1278110146522522, + 0.23993775248527527, + -0.9623380899429321, + 0.8802730441093445 + ], + [ + 0.9917986989021301, + -0.030919987708330154, + 0.1240147203207016, + -0.9766204357147217 + ], + [ + 1.3762428352492861e-07, + -0.9702959656715393, + -0.24192164838314056, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.11441979557275772, + 0.24033305048942566, + -0.9639233946800232, + 0.8824926018714905 + ], + [ + 0.9934325814247131, + -0.027680588886141777, + 0.11102113127708435, + -0.9584295749664307 + ], + [ + -1.9985794352805897e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.10100752860307693, + 0.24068476259708405, + -0.9653332829475403, + 0.8844665884971619 + ], + [ + 0.9948856830596924, + -0.02443588338792324, + 0.0980072170495987, + -0.9402103424072266 + ], + [ + 3.577918761266119e-08, + -0.9702957272529602, + -0.24192199110984802, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.08757686614990234, + 0.2409924566745758, + -0.966567873954773, + 0.88619464635849 + ], + [ + 0.9961580038070679, + -0.02118641696870327, + 0.08497575670480728, + -0.9219661951065063 + ], + [ + 1.4523865843329986e-07, + -0.9702959656715393, + -0.24192169308662415, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.07413065433502197, + 0.24125628173351288, + -0.9676260948181152, + 0.8876763582229614 + ], + [ + 0.997248649597168, + -0.017933808267116547, + 0.0719287320971489, + -0.9037003517150879 + ], + [ + -4.8836639621185896e-08, + -0.970295786857605, + -0.2419218271970749, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.06067061424255371, + 0.24147628247737885, + -0.9685085415840149, + 0.8889116048812866 + ], + [ + 0.9981580972671509, + -0.014677152037620544, + 0.058868736028671265, + -0.8854162096977234 + ], + [ + 2.1110159309500887e-07, + -0.9702959656715393, + -0.24192167818546295, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.04719977825880051, + 0.24165228009223938, + -0.9692143797874451, + 0.8899000287055969 + ], + [ + 0.9988855719566345, + -0.011418580077588558, + 0.045797839760780334, + -0.8671170473098755 + ], + [ + 5.526892721263721e-09, + -0.9702958464622498, + -0.2419218122959137, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.03372018039226532, + 0.24178440868854523, + -0.969744086265564, + 0.8906415104866028 + ], + [ + 0.9994314908981323, + -0.008157425560057163, + 0.032718725502491, + -0.8488062024116516 + ], + [ + 1.1220792117683231e-07, + -0.9702958464622498, + -0.24192184209823608, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.02023470401763916, + 0.24187231063842773, + -0.9700970649719238, + 0.8911358714103699 + ], + [ + 0.9997952580451965, + -0.004895282443612814, + 0.019633622840046883, + -0.830487072467804 + ], + [ + -5.78822962893355e-08, + -0.9702957272529602, + -0.24192185699939728, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.0067452071234583855, + 0.24191631376743317, + -0.9702737331390381, + 0.8913831114768982 + ], + [ + 0.9999772906303406, + -0.0016316778492182493, + 0.006544921081513166, + -0.8121629357337952 + ], + [ + 9.749944496206808e-08, + -0.970295786857605, + -0.24192176759243011, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + -0.0067453947849571705, + 0.2419164627790451, + -0.9702736735343933, + 0.8913831114768982 + ], + [ + 0.9999772906303406, + 0.0016318140551447868, + -0.0065450058318674564, + -0.7938370704650879 + ], + [ + -7.93264121057291e-08, + -0.9702957272529602, + -0.24192193150520325, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + -0.020234815776348114, + 0.24187242984771729, + -0.9700971841812134, + 0.8911358714103699 + ], + [ + 0.9997953772544861, + 0.00489544402807951, + -0.019633591175079346, + -0.7755129337310791 + ], + [ + 9.037864856509259e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + -0.033720627427101135, + 0.24178436398506165, + -0.9697441458702087, + 0.8906415104866028 + ], + [ + 0.9994314908981323, + 0.008157973177731037, + -0.03271876275539398, + -0.7571937441825867 + ], + [ + 5.910507994144609e-08, + -0.9702959060668945, + -0.24192173779010773, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + -0.04720016196370125, + 0.241652250289917, + -0.9692144393920898, + 0.8899000287055969 + ], + [ + 0.9988855719566345, + 0.011418910697102547, + -0.04579797759652138, + -0.7388829588890076 + ], + [ + 6.581806388794575e-08, + -0.9702958464622498, + -0.24192175269126892, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + -0.06067109853029251, + 0.24147634208202362, + -0.9685084223747253, + 0.8889116048812866 + ], + [ + 0.9981579780578613, + 0.014677795581519604, + -0.058868736028671265, + -0.7205837965011597 + ], + [ + -1.078992184488925e-08, + -0.9702959060668945, + -0.2419218271970749, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + -0.07413094490766525, + 0.2412562221288681, + -0.96762615442276, + 0.8876763582229614 + ], + [ + 0.997248649597168, + 0.017933987081050873, + -0.07192880660295486, + -0.7022996544837952 + ], + [ + -1.5078256865308504e-08, + -0.9702959060668945, + -0.24192172288894653, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + -0.08757754415273666, + 0.24099238216876984, + -0.9665678143501282, + 0.88619464635849 + ], + [ + 0.9961579442024231, + 0.02118709497153759, + -0.08497590571641922, + -0.6840338110923767 + ], + [ + 1.2575537056136454e-08, + -0.9702959656715393, + -0.24192169308662415, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + -0.10100781917572021, + 0.2406846433877945, + -0.9653332829475403, + 0.8844665884971619 + ], + [ + 0.9948856830596924, + 0.02443585731089115, + -0.09800746291875839, + -0.6657896637916565 + ], + [ + -1.7698397414278588e-07, + -0.970295786857605, + -0.24192187190055847, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + -0.11441994458436966, + 0.24033312499523163, + -0.9639232754707336, + 0.8824926018714905 + ], + [ + 0.9934325218200684, + 0.02768070064485073, + -0.11102116107940674, + -0.6475704312324524 + ], + [ + -1.8881383567759258e-08, + -0.9702957272529602, + -0.24192193150520325, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + -0.12781134247779846, + 0.23993784189224243, + -0.9623379707336426, + 0.8802730441093445 + ], + [ + 0.9917986392974854, + 0.03092053160071373, + -0.12401468306779861, + -0.6293795108795166 + ], + [ + 9.002424405935017e-08, + -0.970295786857605, + -0.24192187190055847, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + -0.14117945730686188, + 0.23949888348579407, + -0.9605774283409119, + 0.8778082132339478 + ], + [ + 0.9899842143058777, + 0.034154441207647324, + -0.1369856745004654, + -0.6112202405929565 + ], + [ + -9.996537642109615e-08, + -0.9702959060668945, + -0.24192176759243011, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + -0.15452176332473755, + 0.2390163540840149, + -0.9586420655250549, + 0.875098705291748 + ], + [ + 0.987989604473114, + 0.03738223761320114, + -0.1499316543340683, + -0.5930958390235901 + ], + [ + -1.0060265509537203e-07, + -0.9702959060668945, + -0.2419217973947525, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + -0.1678357571363449, + 0.23849022388458252, + -0.9565320611000061, + 0.872144877910614 + ], + [ + 0.9858149886131287, + 0.04060309752821922, + -0.1628503054380417, + -0.5750095844268799 + ], + [ + -6.655419326762058e-08, + -0.9702957272529602, + -0.24192185699939728, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + -0.18111957609653473, + 0.23792079091072083, + -0.9542482495307922, + 0.8689473867416382 + ], + [ + 0.9834612607955933, + 0.04381681978702545, + -0.17573943734169006, + -0.5569648742675781 + ], + [ + -6.788292239434668e-08, + -0.9702958464622498, + -0.24192176759243011, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + -0.19437028467655182, + 0.23730801045894623, + -0.9517906904220581, + 0.8655067086219788 + ], + [ + 0.9809284210205078, + 0.04702248051762581, + -0.18859651684761047, + -0.5389649271965027 + ], + [ + -6.180295031299465e-08, + -0.9702959060668945, + -0.24192170798778534, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + -0.20758576691150665, + 0.23665212094783783, + -0.9491598606109619, + 0.861823558807373 + ], + [ + 0.9782171249389648, + 0.050219640135765076, + -0.2014193832874298, + -0.521013081073761 + ], + [ + -6.671234586974606e-08, + -0.9702959656715393, + -0.24192169308662415, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.22076316177845, + 0.23595325648784637, + -0.9463562369346619, + 0.8578985333442688 + ], + [ + 0.9753276705741882, + 0.05340756103396416, + -0.21420539915561676, + -0.5031124949455261 + ], + [ + -4.186853175269789e-08, + -0.9702958464622498, + -0.24192190170288086, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.23390017449855804, + 0.23521113395690918, + -0.9433801770210266, + 0.8537324070930481 + ], + [ + 0.9722604751586914, + 0.056585490703582764, + -0.2269524484872818, + -0.4852665066719055 + ], + [ + -8.32212165846613e-09, + -0.9702956080436707, + -0.24192200601100922, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.2469952553510666, + 0.23442642390727997, + -0.9402328133583069, + 0.8493258953094482 + ], + [ + 0.9690167307853699, + 0.059753671288490295, + -0.239658385515213, + -0.46747836470603943 + ], + [ + 6.989491652120705e-08, + -0.9702957272529602, + -0.24192194640636444, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.2600450813770294, + 0.233598992228508, + -0.9369142651557922, + 0.8446798324584961 + ], + [ + 0.965596616268158, + 0.06291071325540543, + -0.2523205280303955, + -0.44975125789642334 + ], + [ + 1.5583246693040564e-08, + -0.9702958464622498, + -0.2419218271970749, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.27304762601852417, + 0.2327290177345276, + -0.9334251880645752, + 0.8397950530052185 + ], + [ + 0.9620006680488586, + 0.06605635583400726, + -0.26493680477142334, + -0.4320884644985199 + ], + [ + 6.36268850939814e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.2860002815723419, + 0.23181675374507904, + -0.9297659993171692, + 0.8346723914146423 + ], + [ + 0.9582294821739197, + 0.0691896304488182, + -0.27750489115715027, + -0.4144931435585022 + ], + [ + -1.0477280198983863e-07, + -0.9702957272529602, + -0.24192194640636444, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.29890134930610657, + 0.23086227476596832, + -0.9259378910064697, + 0.8293128609657288 + ], + [ + 0.9542841911315918, + 0.07231086492538452, + -0.2900225818157196, + -0.3969685435295105 + ], + [ + -3.942705717463468e-08, + -0.9702958464622498, + -0.2419217973947525, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.3117476999759674, + 0.2298658788204193, + -0.9219411015510559, + 0.8237174153327942 + ], + [ + 0.9501650929450989, + 0.07541865110397339, + -0.3024873435497284, + -0.3795178532600403 + ], + [ + -9.08898130091984e-08, + -0.9702958464622498, + -0.24192190170288086, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.32453733682632446, + 0.22882749140262604, + -0.9177765846252441, + 0.8178870677947998 + ], + [ + 0.9458730816841125, + 0.07851283252239227, + -0.3148970603942871, + -0.36214423179626465 + ], + [ + 1.5716700829671026e-08, + -0.9702958464622498, + -0.24192188680171967, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.33726784586906433, + 0.22774738073349, + -0.9134450554847717, + 0.8118228912353516 + ], + [ + 0.9414088726043701, + 0.08159247040748596, + -0.3272494673728943, + -0.3448508381843567 + ], + [ + -8.25472596943655e-08, + -0.9702958464622498, + -0.24192173779010773, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.34993693232536316, + 0.2266259640455246, + -0.9089471697807312, + 0.8055259585380554 + ], + [ + 0.9367733001708984, + 0.08465734869241714, + -0.33954229950904846, + -0.3276408314704895 + ], + [ + -7.255611933487671e-08, + -0.970295786857605, + -0.2419218271970749, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.36254262924194336, + 0.22546331584453583, + -0.9042840003967285, + 0.7989974021911621 + ], + [ + 0.9319673776626587, + 0.0877070426940918, + -0.3517734408378601, + -0.3105173408985138 + ], + [ + -6.51809486384991e-08, + -0.9702959060668945, + -0.24192175269126892, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.3750821352005005, + 0.22425971925258636, + -0.8994562029838562, + 0.7922384738922119 + ], + [ + 0.926991879940033, + 0.09074068069458008, + -0.36394041776657104, + -0.2934834659099579 + ], + [ + -7.132626933525898e-08, + -0.9702959060668945, + -0.2419218271970749, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.38755372166633606, + 0.2230151742696762, + -0.8944646716117859, + 0.7852503657341003 + ], + [ + 0.9218475222587585, + 0.09375786781311035, + -0.3760414719581604, + -0.2765423357486725 + ], + [ + -9.002091161391945e-08, + -0.9702959656715393, + -0.24192175269126892, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.3999541401863098, + 0.221730038523674, + -0.889310359954834, + 0.7780343294143677 + ], + [ + 0.9165353775024414, + 0.09675780683755875, + -0.3880736529827118, + -0.25969699025154114 + ], + [ + 1.3317919211885965e-08, + -0.9702958464622498, + -0.24192185699939728, + 0.6273472905158997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + } + ] +} diff --git a/blenderobj_eval/target/scene_000006__traj002__bullettime_late/caption.txt b/blenderobj_eval/target/scene_000006__traj002__bullettime_late/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..8cd7b49936b178ad44cc8dddee1efa23ccc2e037 --- /dev/null +++ b/blenderobj_eval/target/scene_000006__traj002__bullettime_late/caption.txt @@ -0,0 +1 @@ +In a stone-walled room with a wooden floor, various household items—including cups, a box, a plate, and a small figurine—tumble and scatter through the air, eventually settling in a disordered pile on the floor. A weaving figure-eight camera move. The camera traces a figure-eight path over the sphere surrounding the scene, rising above and dipping below its 32° center elevation as it advances in azimuth, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). The viewing height rises and falls smoothly through the shot, so the objects are seen from alternating high and low angles while staying centered in frame. The motion of the scene is frozen at a late moment while the camera keeps moving, a bullet-time shot. diff --git a/blenderobj_eval/target/scene_000006__traj002__bullettime_late/extras/blender_meta.json b/blenderobj_eval/target/scene_000006__traj002__bullettime_late/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1ea5f19168ffc55b162629036e855dbde5ac96e1 --- /dev/null +++ b/blenderobj_eval/target/scene_000006__traj002__bullettime_late/extras/blender_meta.json @@ -0,0 +1,377 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000006", + "trajectory_index": 2, + "trajectory_id": "T4", + "trajectory_name": "spherical_figure_eight", + "pattern": "bullettime_70", + "pattern_params": { + "kind": "bullettime", + "bullet_frame": 70, + "stride": 0, + "cam_start": 0, + "src_frame_range": [ + 70, + 70 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0, + "timestamps": [ + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333 + ], + "timestamp_range": [ + 2.333333333, + 2.333333333 + ], + "scene_time_span_seconds": 0.0, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70 + ], + "written_at": "2026-09-17T14:34:26" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000006__traj002__bullettime_late/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000006__traj002__bullettime_late/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..2628be1194b8ad60fc1bb3789285018654abd63c --- /dev/null +++ b/blenderobj_eval/target/scene_000006__traj002__bullettime_late/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "bullettime_late", + "original_pattern": "bullettime_70", + "trajectory": { + "dir": "traj002", + "index": 2, + "id": "T4", + "name": "spherical_figure_eight" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70 + ], + "timestamps_seconds": [ + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 2.333333333, + 2.333333333 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000006__traj002__bullettime_late/extras/traj_caption.txt b/blenderobj_eval/target/scene_000006__traj002__bullettime_late/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..c378e2e338d77cb23b8b1bf8d641615119c75209 --- /dev/null +++ b/blenderobj_eval/target/scene_000006__traj002__bullettime_late/extras/traj_caption.txt @@ -0,0 +1 @@ +A weaving figure-eight camera move. The camera traces a figure-eight path over the sphere surrounding the scene, rising above and dipping below its 32° center elevation as it advances in azimuth, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). The viewing height rises and falls smoothly through the shot, so the objects are seen from alternating high and low angles while staying centered in frame. diff --git a/blenderobj_eval/target/scene_000008__traj002__zigzag/caption.txt b/blenderobj_eval/target/scene_000008__traj002__zigzag/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..ecc18abfc6fb759f90118c94021f48b840573f61 --- /dev/null +++ b/blenderobj_eval/target/scene_000008__traj002__zigzag/caption.txt @@ -0,0 +1 @@ +A modern dining room with a long table and chairs, illuminated by hanging pendant lights, features various objects—including books, a bottle, and a box—suspended in mid-air, seemingly defying gravity, while the room's wooden paneling and glass partitions create a sleek, contemporary ambiance. A weaving figure-eight camera move. The camera traces a figure-eight path over the sphere surrounding the scene, rising above and dipping below its 32° center elevation as it advances in azimuth, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). The viewing height rises and falls smoothly through the shot, so the objects are seen from alternating high and low angles while staying centered in frame. The motion of the scene plays forward and then rewinds back to where it started. diff --git a/blenderobj_eval/target/scene_000008__traj002__zigzag/transforms.json b/blenderobj_eval/target/scene_000008__traj002__zigzag/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a01dfc4096da69123653490111f0be9bca7bea --- /dev/null +++ b/blenderobj_eval/target/scene_000008__traj002__zigzag/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.20791180431842804, + 0.518339216709137, + -0.8295161724090576, + 0.411322683095932 + ], + [ + 0.978147566318512, + -0.11017640680074692, + 0.17631922662258148, + -2.9968466758728027 + ], + [ + 9.067515094329792e-08, + -0.8480480909347534, + -0.5299192667007446, + 1.9641571044921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.19752642512321472, + 0.5273826122283936, + -0.8263478875160217, + 0.40688711404800415 + ], + [ + 0.9802975058555603, + -0.10626578330993652, + 0.16650603711605072, + -2.9831085205078125 + ], + [ + -5.621519960641308e-08, + -0.8429561257362366, + -0.5379822254180908, + 1.9754451513290405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.1870577037334442, + 0.5363603830337524, + -0.8229987025260925, + 0.4021982252597809 + ], + [ + 0.9823488593101501, + -0.10213307291269302, + 0.15671442449092865, + -2.96940016746521 + ], + [ + 7.393616385797941e-08, + -0.8377865552902222, + -0.5459978580474854, + 1.9866671562194824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.17647269368171692, + 0.5452501177787781, + -0.819487452507019, + 0.3972824513912201 + ], + [ + 0.9843055009841919, + -0.09775600582361221, + 0.1469230055809021, + -2.9556920528411865 + ], + [ + -2.2487860462661047e-09, + -0.8325539231300354, + -0.5539439916610718, + 1.9977917671203613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.1657339632511139, + 0.554027259349823, + -0.8158344626426697, + 0.3921683728694916 + ], + [ + 0.9861704111099243, + -0.09310881048440933, + 0.13710756599903107, + -2.941950798034668 + ], + [ + 6.05110983542545e-09, + -0.827275276184082, + -0.5617967247962952, + 2.0087854862213135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.15480045974254608, + 0.5626633763313293, + -0.8120632767677307, + 0.3868885636329651 + ], + [ + 0.9879457950592041, + -0.08816339075565338, + 0.12724150717258453, + -2.928138494491577 + ], + [ + -1.293126672408107e-07, + -0.8219714760780334, + -0.5695286393165588, + 2.0196101665496826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.14362312853336334, + 0.5711244344711304, + -0.8082013130187988, + 0.38148173689842224 + ], + [ + 0.9896324872970581, + -0.08288596570491791, + 0.11729247868061066, + -2.9142096042633057 + ], + [ + 3.3547280509083066e-08, + -0.8166681528091431, + -0.5771076083183289, + 2.0302207469940186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.13214291632175446, + 0.5793678760528564, + -0.8042831420898438, + 0.37599626183509827 + ], + [ + 0.9912307858467102, + -0.0772365853190422, + 0.10722069442272186, + -2.900109052658081 + ], + [ + 3.5512048413011144e-08, + -0.8113985657691956, + -0.5844933390617371, + 2.0405609607696533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.12028791755437851, + 0.5873367190361023, + -0.80035400390625, + 0.37049543857574463 + ], + [ + 0.9927390813827515, + -0.07116621732711792, + 0.096977099776268, + -2.885767936706543 + ], + [ + 3.028812756156185e-09, + -0.8062078356742859, + -0.5916324853897095, + 2.05055570602417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.1079668179154396, + 0.5949529409408569, + -0.7964761257171631, + 0.3650665581226349 + ], + [ + 0.9941545128822327, + -0.06461290270090103, + 0.08649861067533493, + -2.871098041534424 + ], + [ + -5.6073854892702e-08, + -0.8011593222618103, + -0.5984511375427246, + 2.0601017475128174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.09506317228078842, + 0.6021009087562561, + -0.7927406430244446, + 0.3598366975784302 + ], + [ + 0.9954713582992554, + -0.0574980154633522, + 0.07570332288742065, + -2.855984687805176 + ], + [ + -5.911000755531859e-08, + -0.7963470816612244, + -0.6048399806022644, + 2.0690462589263916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.08142939954996109, + 0.6086006164550781, + -0.7892874479293823, + 0.3550023138523102 + ], + [ + 0.9966791868209839, + -0.04972309619188309, + 0.06448538601398468, + -2.8402795791625977 + ], + [ + -1.9633041858924116e-08, + -0.7919173240661621, + -0.6106284260749817, + 2.0771498680114746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.06689076125621796, + 0.6141534447669983, + -0.7863466143608093, + 0.3508853316307068 + ], + [ + 0.9977601766586304, + -0.04117340222001076, + 0.05271734297275543, + -2.8238041400909424 + ], + [ + 7.846266925071177e-08, + -0.788111686706543, + -0.6155321598052979, + 2.084015130996704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.051305364817380905, + 0.6182423233985901, + -0.7843114137649536, + 0.34803587198257446 + ], + [ + 0.9986831545829773, + -0.03176087513566017, + 0.04029257595539093, + -2.8064095973968506 + ], + [ + 6.522274986764387e-08, + -0.785345733165741, + -0.6190575361251831, + 2.0889506340026855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.03482772782444954, + 0.6200088262557983, + -0.783821702003479, + 0.34735020995140076 + ], + [ + 0.9993935227394104, + -0.02160646766424179, + 0.02731548435986042, + -2.7882416248321533 + ], + [ + 8.972121889883056e-08, + -0.784297525882721, + -0.6203849911689758, + 2.0908091068267822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.018504612147808075, + 0.618450403213501, + -0.7856059074401855, + 0.34984827041625977 + ], + [ + 0.9998287558555603, + -0.011446154676377773, + 0.014539801515638828, + -2.770355701446533 + ], + [ + 2.098268225836364e-09, + -0.7857404351234436, + -0.6185563802719116, + 2.0882489681243896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.004174611531198025, + 0.6134178638458252, + -0.789747416973114, + 0.3556464910507202 + ], + [ + 0.999991238117218, + -0.0025608278810977936, + 0.0032968679443001747, + -2.754615545272827 + ], + [ + 2.873434823413845e-11, + -0.789754331111908, + -0.613423228263855, + 2.0810625553131104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + -0.007216283585876226, + 0.6059272885322571, + -0.7954872250556946, + 0.36368221044540405 + ], + [ + 0.9999738931655884, + 0.004372634459286928, + -0.0057406555861234665, + -2.7419631481170654 + ], + [ + -1.9631478664905444e-09, + -0.7955079674720764, + -0.6059431433677673, + 2.0705904960632324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + -0.01595471426844597, + 0.5970345735549927, + -0.8020569086074829, + 0.37287959456443787 + ], + [ + 0.9998727440834045, + 0.009526755660772324, + -0.012798174284398556, + -2.7320826053619385 + ], + [ + 1.1759077267470275e-08, + -0.8021590113639832, + -0.5971105098724365, + 2.05822491645813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + -0.02262059412896633, + 0.5873489379882812, + -0.8090177774429321, + 0.3826247751712799 + ], + [ + 0.9997442364692688, + 0.013289615511894226, + -0.018305057659745216, + -2.7243731021881104 + ], + [ + -1.80213817202457e-08, + -0.8092248439788818, + -0.5874991416931152, + 2.044769048690796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + -0.027674568817019463, + 0.5771794319152832, + -0.8161484599113464, + 0.3926076889038086 + ], + [ + 0.9996170997619629, + 0.015979383140802383, + -0.02259509265422821, + -2.718366861343384 + ], + [ + 2.3920595282334034e-08, + -0.8164611458778381, + -0.5774004459381104, + 2.0306308269500732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + -0.031427472829818726, + 0.5666888356208801, + -0.8233323097229004, + 0.4026651978492737 + ], + [ + 0.9995059967041016, + 0.017818419262766838, + -0.02588803879916668, + -2.713756561279297 + ], + [ + 3.120961267200073e-08, + -0.8237391710281372, + -0.5669689178466797, + 2.016026735305786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + -0.03408211097121239, + 0.5559710264205933, + -0.8305028080940247, + 0.41270381212234497 + ], + [ + 0.9994191527366638, + 0.0189597737044096, + -0.028321601450443268, + -2.7103497982025146 + ], + [ + 4.0998067163400265e-08, + -0.8309856057167053, + -0.5562940835952759, + 2.001081943511963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + -0.03576447069644928, + 0.5450851917266846, + -0.8376174569129944, + 0.42266449332237244 + ], + [ + 0.999360203742981, + 0.019507113844156265, + -0.02997617982327938, + -2.708033323287964 + ], + [ + -3.3877292082706845e-08, + -0.8381536602973938, + -0.5454341769218445, + 1.9858778715133667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + -0.03654957935214043, + 0.5340746641159058, + -0.8446467518806458, + 0.43250560760498047 + ], + [ + 0.9993317127227783, + 0.019533218815922737, + -0.03089221380650997, + -2.7067508697509766 + ], + [ + 1.9167483600313062e-08, + -0.8452115058898926, + -0.5344318747520447, + 1.9704747200012207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + -0.03646977245807648, + 0.5229759812355042, + -0.8515669703483582, + 0.44219353795051575 + ], + [ + 0.9993348717689514, + 0.019085625186562538, + -0.03107699565589428, + -2.7064919471740723 + ], + [ + 7.774036703267484e-08, + -0.8521338105201721, + -0.5233240723609924, + 1.9549239873886108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + -0.03552193567156792, + 0.5118253231048584, + -0.8583548665046692, + 0.45169684290885925 + ], + [ + 0.9993689060211182, + 0.01819244585931301, + -0.03050970658659935, + -2.7072865962982178 + ], + [ + -8.319192801309327e-08, + -0.8588969111442566, + -0.5121485590934753, + 1.93927800655365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + -0.03366701304912567, + 0.5006648302078247, + -0.8649861216545105, + 0.46098071336746216 + ], + [ + 0.9994329810142517, + 0.016865359619259834, + -0.029138140380382538, + -2.7092065811157227 + ], + [ + -4.637908190829876e-08, + -0.8654767870903015, + -0.500948965549469, + 1.9235986471176147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + -0.03082701377570629, + 0.4895518720149994, + -0.8714291453361511, + 0.4700007736682892 + ], + [ + 0.9995247721672058, + 0.015098659321665764, + -0.02687627635896206, + -2.7123732566833496 + ], + [ + 5.25989172217578e-08, + -0.8718434572219849, + -0.4897846281528473, + 1.9079686403274536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + -0.026873784139752388, + 0.4785703420639038, + -0.8776379823684692, + 0.4786930978298187 + ], + [ + 0.9996389150619507, + 0.012865686789155006, + -0.023593885824084282, + -2.716968536376953 + ], + [ + -9.937281220118166e-09, + -0.8779550790786743, + -0.47874313592910767, + 1.8925105333328247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + -0.021616803482174873, + 0.4678552448749542, + -0.8835406303405762, + 0.48695698380470276 + ], + [ + 0.9997662901878357, + 0.010115878656506538, + -0.01910383068025112, + -2.723254442214966 + ], + [ + 7.375376753770979e-09, + -0.8837471604347229, + -0.46796464920043945, + 1.8774205446243286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + -0.014790292829275131, + 0.45763617753982544, + -0.8890163898468018, + 0.4946230947971344 + ], + [ + 0.9998905062675476, + 0.006769274827092886, + -0.013150347396731377, + -2.7315893173217773 + ], + [ + 2.962479683787933e-08, + -0.8891136050224304, + -0.4576863646507263, + 1.8630309104919434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + -0.006065597757697105, + 0.44831255078315735, + -0.8938562273979187, + 0.5013987421989441 + ], + [ + 0.9999815821647644, + 0.0027193143032491207, + -0.005421899724751711, + -2.7424092292785645 + ], + [ + -4.578478041139533e-09, + -0.8938726782798767, + -0.44832083582878113, + 1.849919319152832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.004829733166843653, + 0.4405440390110016, + -0.8977180123329163, + 0.5068052411079407 + ], + [ + 0.999988317489624, + -0.0021277505438774824, + 0.00433577224612236, + -2.756070137023926 + ], + [ + -7.983036454106696e-09, + -0.897728443145752, + -0.44054919481277466, + 1.8390389680862427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.0177792739123106, + 0.4351879060268402, + -0.900164008140564, + 0.5102297067642212 + ], + [ + 0.9998418688774109, + -0.00773857394233346, + 0.016006724908947945, + -2.772409200668335 + ], + [ + 2.950727662209829e-08, + -0.9003062844276428, + -0.43525680899620056, + 1.8316296339035034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.03199893608689308, + 0.43281832337379456, + -0.9009131193161011, + 0.5112783312797546 + ], + [ + 0.9994879364967346, + -0.013856759294867516, + 0.028843097388744354, + -2.7903802394866943 + ], + [ + 3.156532102366327e-08, + -0.9013746976852417, + -0.4330400228500366, + 1.8285261392593384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.04645759239792824, + 0.43324726819992065, + -0.9000769853591919, + 0.510107696056366 + ], + [ + 0.9989203214645386, + -0.02014939673244953, + 0.04186064749956131, + -2.8086049556732178 + ], + [ + -6.435198685039722e-08, + -0.9010499119758606, + -0.43371549248695374, + 1.8294719457626343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.06051557511091232, + 0.4358024597167969, + -0.8980056047439575, + 0.5072078704833984 + ], + [ + 0.9981672167778015, + -0.026421336457133293, + 0.05444306135177612, + -2.8262202739715576 + ], + [ + -7.553558134532068e-08, + -0.8996544480323792, + -0.4366026520729065, + 1.833513855934143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.07396882772445679, + 0.43982648849487305, + -0.8950314521789551, + 0.5030440092086792 + ], + [ + 0.997260570526123, + -0.03262288123369217, + 0.06638625264167786, + -2.8429408073425293 + ], + [ + -6.220354009656148e-08, + -0.8974900245666504, + -0.4410347044467926, + 1.8397186994552612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.08682487159967422, + 0.44484561681747437, + -0.8913887739181519, + 0.497944176197052 + ], + [ + 0.9962236881256104, + -0.038769930601119995, + 0.07768820971250534, + -2.8587634563446045 + ], + [ + 1.1496064189486788e-07, + -0.8947678208351135, + -0.44653183221817017, + 1.8474148511886597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.09915757179260254, + 0.4505447745323181, + -0.8872302174568176, + 0.4921221435070038 + ], + [ + 0.9950718879699707, + -0.0448959656059742, + 0.08841149508953094, + -2.8737759590148926 + ], + [ + 1.4610509424528573e-07, + -0.891624391078949, + -0.4527760148048401, + 1.8561567068099976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.11105041205883026, + 0.45671358704566956, + -0.8826554417610168, + 0.4857175648212433 + ], + [ + 0.9938148260116577, + -0.05103372037410736, + 0.0986294075846672, + -2.8880810737609863 + ], + [ + 1.560900670938281e-07, + -0.888148844242096, + -0.459555983543396, + 1.8656485080718994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.12257903814315796, + 0.4632076323032379, + -0.8777318000793457, + 0.4788244366645813 + ], + [ + 0.9924587607383728, + -0.05721106380224228, + 0.10840903967618942, + -2.9017727375030518 + ], + [ + -1.0654781590346829e-07, + -0.884401261806488, + -0.4667273163795471, + 1.8756885528564453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.13380898535251617, + 0.4699239432811737, + -0.8725060820579529, + 0.47150832414627075 + ], + [ + 0.9910072684288025, + -0.06345061957836151, + 0.11780866235494614, + -2.9149320125579834 + ], + [ + -4.068641601406853e-08, + -0.8804236054420471, + -0.4741881489753723, + 1.8861337900161743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.1447957307100296, + 0.4767857491970062, + -0.8670118451118469, + 0.4638165533542633 + ], + [ + 0.9894616007804871, + -0.06977178156375885, + 0.12687674164772034, + -2.9276273250579834 + ], + [ + 3.491441802339068e-08, + -0.8762461543083191, + -0.4818638265132904, + 1.8968795537948608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.1555868238210678, + 0.48373398184776306, + -0.861274778842926, + 0.4557846486568451 + ], + [ + 0.9878222346305847, + -0.07619050145149231, + 0.1356549859046936, + -2.9399168491363525 + ], + [ + -6.38325445834198e-08, + -0.871892511844635, + -0.4896973669528961, + 1.9078465700149536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.16622301936149597, + 0.4907212555408478, + -0.8553144931793213, + 0.4474400579929352 + ], + [ + 0.9860883355140686, + -0.08271976560354233, + 0.14417891204357147, + -2.951850414276123 + ], + [ + 9.303569470375805e-08, + -0.8673813343048096, + -0.49764421582221985, + 1.918972134590149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.17674177885055542, + 0.4977077543735504, + -0.8491461873054504, + 0.4388047158718109 + ], + [ + 0.9842572212219238, + -0.08937272429466248, + 0.15248006582260132, + -2.9634721279144287 + ], + [ + 2.6072299874613236e-08, + -0.86272794008255, + -0.5056684017181396, + 1.9302059412002563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.18717527389526367, + 0.50465989112854, + -0.842783510684967, + 0.4298967123031616 + ], + [ + 0.9823266267776489, + -0.09615931659936905, + 0.1605864018201828, + -2.974821090698242 + ], + [ + -7.291291126421129e-08, + -0.8579463958740234, + -0.5137393474578857, + 1.9415053129196167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.19755537807941437, + 0.5115466117858887, + -0.8362368941307068, + 0.4207315146923065 + ], + [ + 0.9802917838096619, + -0.10309024900197983, + 0.1685246229171753, + -2.985934257507324 + ], + [ + 2.444495237341471e-07, + -0.8530490398406982, + -0.5218308568000793, + 1.9528334140777588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.20791180431842804, + 0.518339216709137, + -0.8295161724090576, + 0.411322683095932 + ], + [ + 0.978147566318512, + -0.11017640680074692, + 0.17631922662258148, + -2.9968466758728027 + ], + [ + 9.067515094329792e-08, + -0.8480480909347534, + -0.5299192667007446, + 1.9641571044921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.21827355027198792, + 0.5250102281570435, + -0.8226305246353149, + 0.4016827344894409 + ], + [ + 0.975887656211853, + -0.11742719262838364, + 0.1839951127767563, + -3.0075931549072266 + ], + [ + 1.0084869472848368e-07, + -0.8429561853408813, + -0.5379822254180908, + 1.9754451513290405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.22867171466350555, + 0.5315308570861816, + -0.8155882358551025, + 0.39182355999946594 + ], + [ + 0.973503589630127, + -0.12485434114933014, + 0.19157801568508148, + -3.018209218978882 + ], + [ + -6.728436829916973e-08, + -0.8377865552902222, + -0.5459978580474854, + 1.9866671562194824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.23913736641407013, + 0.5378718376159668, + -0.8083980679512024, + 0.3817571699619293 + ], + [ + 0.9709858298301697, + -0.13246852159500122, + 0.1990949511528015, + -3.0287327766418457 + ], + [ + 1.6222119825215486e-07, + -0.832554042339325, + -0.553943932056427, + 1.9977917671203613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.24970592558383942, + 0.5439999103546143, + -0.8010687828063965, + 0.37149617075920105 + ], + [ + 0.9683218002319336, + -0.14028392732143402, + 0.20657561719417572, + -3.039206027984619 + ], + [ + -2.7508640698670206e-08, + -0.8272754549980164, + -0.5617965459823608, + 2.0087854862213135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.26041632890701294, + 0.5498777627944946, + -0.7936105728149414, + 0.36105477809906006 + ], + [ + 0.9654963612556458, + -0.14831462502479553, + 0.21405471861362457, + -3.0496766567230225 + ], + [ + -7.92533967342024e-08, + -0.8219714760780334, + -0.5695285797119141, + 2.0196101665496826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.2713134288787842, + 0.5554607510566711, + -0.7860357165336609, + 0.3504500389099121 + ], + [ + 0.9624909162521362, + -0.15657715499401093, + 0.2215728908777237, + -3.0602023601531982 + ], + [ + -6.231137916756779e-08, + -0.8166680335998535, + -0.5771076083183289, + 2.0302207469940186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.28245097398757935, + 0.5606938600540161, + -0.7783597707748413, + 0.33970361948013306 + ], + [ + 0.9592817425727844, + -0.16509059071540833, + 0.22918041050434113, + -3.070852518081665 + ], + [ + 1.4910277457147458e-07, + -0.8113985061645508, + -0.5844933390617371, + 2.0405609607696533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.2938947081565857, + 0.5655047297477722, + -0.7706038355827332, + 0.328845351934433 + ], + [ + 0.9558377861976624, + -0.17387758195400238, + 0.23694026470184326, + -3.081716299057007 + ], + [ + 9.94610900306725e-08, + -0.8062077760696411, + -0.5916324853897095, + 2.05055570602417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.3057265281677246, + 0.5697969198226929, + -0.7627993226051331, + 0.3179190456867218 + ], + [ + 0.9521194100379944, + -0.18296244740486145, + 0.24493560194969177, + -3.092909812927246 + ], + [ + -1.0749982237712175e-07, + -0.8011593222618103, + -0.5984511375427246, + 2.0601017475128174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.3180500268936157, + 0.5734331011772156, + -0.7549958825111389, + 0.30699414014816284 + ], + [ + 0.9480739831924438, + -0.1923694908618927, + 0.25327813625335693, + -3.1045894622802734 + ], + [ + -1.5054494895139214e-07, + -0.7963470220565796, + -0.6048400402069092, + 2.0690462589263916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.33099639415740967, + 0.5762085318565369, + -0.7472784519195557, + 0.2961898148059845 + ], + [ + 0.9436320066452026, + -0.20211583375930786, + 0.26212170720100403, + -3.1169705390930176 + ], + [ + -3.9093848158699984e-08, + -0.7919172048568726, + -0.6106284856796265, + 2.0771498680114746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.34471797943115234, + 0.5778037905693054, + -0.7398055195808411, + 0.28572767972946167 + ], + [ + 0.9387062788009644, + -0.21218498051166534, + 0.27167630195617676, + -3.1303467750549316 + ], + [ + 1.000088900582341e-08, + -0.7881118059158325, + -0.6155321002006531, + 2.084015130996704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.3593311309814453, + 0.577710747718811, + -0.7328924536705017, + 0.27604952454566956 + ], + [ + 0.9332101345062256, + -0.22244659066200256, + 0.2821991741657257, + -3.145078659057617 + ], + [ + 7.68195960176854e-08, + -0.7853456139564514, + -0.6190575361251831, + 2.0889506340026855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.37467294931411743, + 0.5751944184303284, + -0.7271668314933777, + 0.26803356409072876 + ], + [ + 0.9271571040153503, + -0.23244136571884155, + 0.29385513067245483, + -3.1613972187042236 + ], + [ + 1.3510492635759874e-07, + -0.7842974066734314, + -0.6203850507736206, + 2.0908091068267822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.3897620737552643, + 0.5696383118629456, + -0.7236006259918213, + 0.26304084062576294 + ], + [ + 0.9209156632423401, + -0.2410895973443985, + 0.30625203251838684, + -3.1787526607513428 + ], + [ + 2.0026051572585857e-07, + -0.7857405543327332, + -0.6185563206672668, + 2.0882489681243896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.4029195308685303, + 0.5614266991615295, + -0.7228111028671265, + 0.26193565130233765 + ], + [ + 0.9152354001998901, + -0.24716012179851532, + 0.3182074725627899, + -3.1954903602600098 + ], + [ + 1.0243719827940367e-07, + -0.789754331111908, + -0.613423228263855, + 2.0810625553131104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.4133185148239136, + 0.551763653755188, + -0.7243788838386536, + 0.2641304135322571 + ], + [ + 0.9105865359306335, + -0.25044751167297363, + 0.32879820466041565, + -3.210317373275757 + ], + [ + -2.514159369582103e-08, + -0.7955080270767212, + -0.6059430837631226, + 2.0705904960632324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.42126020789146423, + 0.5415433645248413, + -0.7275098562240601, + 0.26851388812065125 + ], + [ + 0.9069398045539856, + -0.2515389025211334, + 0.33791765570640564, + -3.2230846881866455 + ], + [ + 3.354655930820627e-08, + -0.8021589517593384, + -0.5971105694770813, + 2.05822491645813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.42729729413986206, + 0.5311645269393921, + -0.7316291332244873, + 0.2742807865142822 + ], + [ + 0.9041111469268799, + -0.2510368824005127, + 0.3457794785499573, + -3.2340915203094482 + ], + [ + -4.119655017120749e-08, + -0.8092246651649475, + -0.58749920129776, + 2.044769048690796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.4318626821041107, + 0.5207802057266235, + -0.7363983392715454, + 0.28095775842666626 + ], + [ + 0.901939332485199, + -0.2493577003479004, + 0.35259902477264404, + -3.243638753890991 + ], + [ + 5.2776414349864353e-08, + -0.8164610266685486, + -0.5774005055427551, + 2.0306308269500732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.4352463483810425, + 0.5104485154151917, + -0.7416216731071472, + 0.2882705628871918 + ], + [ + 0.900311291217804, + -0.24677115678787231, + 0.35852938890457153, + -3.251941204071045 + ], + [ + 6.846099154245167e-08, + -0.8237390518188477, + -0.5669689774513245, + 2.016026735305786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.43763577938079834, + 0.5001931190490723, + -0.7471825480461121, + 0.2960555851459503 + ], + [ + 0.8991523385047913, + -0.24345430731773376, + 0.36366891860961914, + -3.259136438369751 + ], + [ + -1.198023795723202e-07, + -0.8309854865074158, + -0.5562940835952759, + 2.001081943511963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.43914899230003357, + 0.4900258481502533, + -0.7530092000961304, + 0.30421292781829834 + ], + [ + 0.8984142541885376, + -0.23952685296535492, + 0.36807435750961304, + -3.2653040885925293 + ], + [ + 3.117822799936221e-08, + -0.8381536602973938, + -0.5454341769218445, + 1.9858778715133667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.4398546814918518, + 0.4799566864967346, + -0.7590582966804504, + 0.3126816153526306 + ], + [ + 0.8980690240859985, + -0.23507238924503326, + 0.3717702627182007, + -3.2704782485961914 + ], + [ + -7.032037530052548e-08, + -0.8452116250991821, + -0.5344318747520447, + 1.9704747200012207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.43978291749954224, + 0.4699997007846832, + -0.7653047442436218, + 0.3214266896247864 + ], + [ + 0.8981041312217712, + -0.23014894127845764, + 0.3747539520263672, + -3.274655342102051 + ], + [ + 1.1880794659191452e-07, + -0.8521336913108826, + -0.523324191570282, + 1.9549239873886108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.4389309585094452, + 0.460176020860672, + -0.771736741065979, + 0.3304315209388733 + ], + [ + 0.8985207676887512, + -0.22479793429374695, + 0.37699636816978455, + -3.27779483795166 + ], + [ + -9.489853880495502e-08, + -0.8588968515396118, + -0.5121485590934753, + 1.93927800655365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.43726250529289246, + 0.4505203366279602, + -0.778352677822113, + 0.33969375491142273 + ], + [ + 0.8993338942527771, + -0.21904614567756653, + 0.37844058871269226, + -3.2798168659210205 + ], + [ + 7.19799473358762e-08, + -0.8654768466949463, + -0.5009489059448242, + 1.9235986471176147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.43470510840415955, + 0.44108664989471436, + -0.785158634185791, + 0.34922194480895996 + ], + [ + 0.9005728363990784, + -0.21291184425354004, + 0.37899482250213623, + -3.280592918395996 + ], + [ + -7.3114563292620005e-09, + -0.8718435168266296, + -0.4897845387458801, + 1.9079686403274536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.43114009499549866, + 0.4319627583026886, + -0.7921656966209412, + 0.35903191566467285 + ], + [ + 0.9022850394248962, + -0.20640526711940765, + 0.3785216808319092, + -3.279930353164673 + ], + [ + 5.15203915085749e-08, + -0.8779550790786743, + -0.4787430763244629, + 1.8925105333328247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.42638975381851196, + 0.42329245805740356, + -0.7993842363357544, + 0.36913809180259705 + ], + [ + 0.9045394659042358, + -0.1995353102684021, + 0.3768206536769867, + -3.2775490283966064 + ], + [ + 7.73970256773282e-08, + -0.8837471008300781, + -0.46796464920043945, + 1.8774205446243286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + } + ] +} diff --git a/blenderobj_eval/target/scene_000010__traj002__bullettime_mid/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000010__traj002__bullettime_mid/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..4e7ad004c83ebd8f8b76628783511661a61c7323 --- /dev/null +++ b/blenderobj_eval/target/scene_000010__traj002__bullettime_mid/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "bullettime_mid", + "original_pattern": "bullettime_40", + "trajectory": { + "dir": "traj002", + "index": 2, + "id": "T4", + "name": "spherical_figure_eight" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40, + 40 + ], + "timestamps_seconds": [ + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333, + 1.333333333 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 1.333333333, + 1.333333333 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000010__traj002__bullettime_mid/extras/traj_caption.txt b/blenderobj_eval/target/scene_000010__traj002__bullettime_mid/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..c378e2e338d77cb23b8b1bf8d641615119c75209 --- /dev/null +++ b/blenderobj_eval/target/scene_000010__traj002__bullettime_mid/extras/traj_caption.txt @@ -0,0 +1 @@ +A weaving figure-eight camera move. The camera traces a figure-eight path over the sphere surrounding the scene, rising above and dipping below its 32° center elevation as it advances in azimuth, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). The viewing height rises and falls smoothly through the shot, so the objects are seen from alternating high and low angles while staying centered in frame. diff --git a/blenderobj_eval/target/scene_000011__traj001__backward/transforms.json b/blenderobj_eval/target/scene_000011__traj001__backward/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..59294ac5668f76aa990821b6f4e6d10fb66d1752 --- /dev/null +++ b/blenderobj_eval/target/scene_000011__traj001__backward/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.24092049896717072, + -0.8230687379837036, + 0.5143104195594788, + -8.634034156799316 + ], + [ + -0.9705448746681213, + -0.20431219041347504, + 0.1276683807373047, + -1.4287358522415161 + ], + [ + 6.993504797492278e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.26481929421424866, + -0.8177711963653564, + 0.5110000967979431, + -8.629400253295898 + ], + [ + -0.9642981290817261, + -0.22457946836948395, + 0.1403328776359558, + -1.4464659690856934 + ], + [ + -2.5353678267947544e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.2885564863681793, + -0.8119744658470154, + 0.5073779821395874, + -8.624329566955566 + ], + [ + -0.9574627876281738, + -0.2447098195552826, + 0.15291155874729156, + -1.464076280593872 + ], + [ + 3.8929201195969654e-08, + -0.5299192070960999, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.31211745738983154, + -0.8056826591491699, + 0.5034464001655579, + -8.61882495880127 + ], + [ + -0.9500435590744019, + -0.264690637588501, + 0.1653970330953598, + -1.4815558195114136 + ], + [ + 6.49990354872898e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.3354881703853607, + -0.7988989353179932, + 0.499207466840744, + -8.612890243530273 + ], + [ + -0.9420443773269653, + -0.2845101058483124, + 0.1777816265821457, + -1.498894214630127 + ], + [ + -4.123066332795133e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.3586541414260864, + -0.7916278839111328, + 0.4946639835834503, + -8.606529235839844 + ], + [ + -0.9334704875946045, + -0.30415600538253784, + 0.190057635307312, + -1.5160807371139526 + ], + [ + 8.44155110257816e-08, + -0.5299192070960999, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.38160112500190735, + -0.7838737964630127, + 0.4898187816143036, + -8.599746704101562 + ], + [ + -0.9243270754814148, + -0.323616087436676, + 0.20221775770187378, + -1.5331048965454102 + ], + [ + 2.3542696681033703e-08, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.40431538224220276, + -0.7756414413452148, + 0.4846746325492859, + -8.592544555664062 + ], + [ + -0.9146196246147156, + -0.34287890791893005, + 0.2142544686794281, + -1.549956202507019 + ], + [ + 7.565515147689439e-08, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.4267827570438385, + -0.7669358253479004, + 0.4792346954345703, + -8.584928512573242 + ], + [ + -0.9043541550636292, + -0.36193230748176575, + 0.22616039216518402, + -1.566624641418457 + ], + [ + -1.9371277915070095e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.4489899277687073, + -0.7577621936798096, + 0.47350239753723145, + -8.576903343200684 + ], + [ + -0.8935368657112122, + -0.38076508045196533, + 0.23792843520641327, + -1.5830998420715332 + ], + [ + 3.398843517743444e-08, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.4709230661392212, + -0.748126208782196, + 0.46748116612434387, + -8.568473815917969 + ], + [ + -0.8821743130683899, + -0.3993654251098633, + 0.2495511770248413, + -1.5993716716766357 + ], + [ + 4.155682731266097e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.4925689697265625, + -0.7380337119102478, + 0.4611746668815613, + -8.55964469909668 + ], + [ + -0.8702734112739563, + -0.417722225189209, + 0.2610217332839966, + -1.615430474281311 + ], + [ + 7.518745803736238e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.5139142870903015, + -0.7274908423423767, + 0.45458680391311646, + -8.550421714782715 + ], + [ + -0.8578415513038635, + -0.43582403659820557, + 0.272333025932312, + -1.6312662363052368 + ], + [ + 6.608478031466802e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.5349459052085876, + -0.7165042161941528, + 0.4477215111255646, + -8.540810585021973 + ], + [ + -0.8448862433433533, + -0.45365989208221436, + 0.2834780514240265, + -1.646869421005249 + ], + [ + 2.8810013930069545e-08, + -0.5299192070960999, + -0.8480481505393982, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.5556512475013733, + -0.7050802707672119, + 0.44058308005332947, + -8.530816078186035 + ], + [ + -0.8314154744148254, + -0.4712189733982086, + 0.2944502532482147, + -1.662230372428894 + ], + [ + 6.904134153273844e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.576017439365387, + -0.6932262182235718, + 0.43317583203315735, + -8.520445823669434 + ], + [ + -0.8174373507499695, + -0.488490492105484, + 0.30524271726608276, + -1.677339792251587 + ], + [ + 2.219424821703342e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.5960321426391602, + -0.6809492111206055, + 0.42550429701805115, + -8.509705543518066 + ], + [ + -0.8029605746269226, + -0.5054638981819153, + 0.3158488869667053, + -1.6921885013580322 + ], + [ + 2.1642795999810005e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.6156833171844482, + -0.6682565808296204, + 0.41757306456565857, + -8.498601913452148 + ], + [ + -0.7879937291145325, + -0.5221290588378906, + 0.3262624442577362, + -1.7067674398422241 + ], + [ + 2.922699415819352e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.6349587440490723, + -0.6551561951637268, + 0.4093870520591736, + -8.487141609191895 + ], + [ + -0.7725460529327393, + -0.5384755730628967, + 0.3364768922328949, + -1.7210675477981567 + ], + [ + 2.1552230222710023e-08, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.6538466811180115, + -0.6416561007499695, + 0.4009512662887573, + -8.47533130645752 + ], + [ + -0.7566270232200623, + -0.5544934868812561, + 0.3464859127998352, + -1.735080361366272 + ], + [ + 2.0456340621421987e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.6723357439041138, + -0.6277645230293274, + 0.3922707736492157, + -8.463179588317871 + ], + [ + -0.7402463555335999, + -0.5701730251312256, + 0.35628363490104675, + -1.748797059059143 + ], + [ + -3.4222278344486767e-09, + -0.5299192070960999, + -0.8480481505393982, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.6904144883155823, + -0.6134898662567139, + 0.38335102796554565, + -8.450691223144531 + ], + [ + -0.7234140038490295, + -0.5855047106742859, + 0.3658638596534729, + -1.7622095346450806 + ], + [ + 3.784926150274259e-08, + -0.5299192070960999, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.7080720663070679, + -0.5988407731056213, + 0.3741973042488098, + -8.43787670135498 + ], + [ + -0.7061401605606079, + -0.6004791855812073, + 0.3752210736274719, + -1.775309443473816 + ], + [ + 3.0454039290361834e-09, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.7252975106239319, + -0.5838264226913452, + 0.36481526494026184, + -8.424741744995117 + ], + [ + -0.6884354948997498, + -0.6150872111320496, + 0.38434910774230957, + -1.7880887985229492 + ], + [ + 3.065418496817074e-08, + -0.5299192070960999, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.7420803904533386, + -0.5684559345245361, + 0.35521072149276733, + -8.411294937133789 + ], + [ + -0.6703109741210938, + -0.6293197870254517, + 0.393242746591568, + -1.8005397319793701 + ], + [ + 1.618516520807134e-08, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.7584105134010315, + -0.5527383685112, + 0.3453892767429352, + -8.397544860839844 + ], + [ + -0.6517771482467651, + -0.6431686282157898, + 0.40189629793167114, + -1.8126548528671265 + ], + [ + 1.3797379239122165e-08, + -0.5299192070960999, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.774277925491333, + -0.5366835594177246, + 0.335357129573822, + -8.383500099182129 + ], + [ + -0.6328456997871399, + -0.6566249132156372, + 0.4103047549724579, + -1.8244266510009766 + ], + [ + 4.030475508898235e-09, + -0.5299192070960999, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.7896727323532104, + -0.5203014612197876, + 0.3251204490661621, + -8.369168281555176 + ], + [ + -0.6135282516479492, + -0.6696804761886597, + 0.41846275329589844, + -1.8358479738235474 + ], + [ + 2.1204211719805244e-08, + -0.5299192070960999, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.804585874080658, + -0.5036017298698425, + 0.31468531489372253, + -8.354559898376465 + ], + [ + -0.5938363075256348, + -0.6823275685310364, + 0.42636555433273315, + -1.8469117879867554 + ], + [ + 3.987499042068521e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.8190079927444458, + -0.4865947961807251, + 0.3040582239627838, + -8.339681625366211 + ], + [ + -0.5737820863723755, + -0.6945582032203674, + 0.43400809168815613, + -1.8576114177703857 + ], + [ + 5.8402793712275525e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.8329304456710815, + -0.46929091215133667, + 0.2932455241680145, + -8.324543952941895 + ], + [ + -0.5533776879310608, + -0.7063650488853455, + 0.4413858950138092, + -1.8679401874542236 + ], + [ + -1.5414901355370603e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8463446497917175, + -0.4517006576061249, + 0.2822539508342743, + -8.309155464172363 + ], + [ + -0.5326356887817383, + -0.7177409529685974, + 0.4484943449497223, + -1.877892017364502 + ], + [ + 3.8369527999293496e-08, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8592423796653748, + -0.43383488059043884, + 0.2710901200771332, + -8.293525695800781 + ], + [ + -0.5115687251091003, + -0.7286788821220398, + 0.45532912015914917, + -1.887460708618164 + ], + [ + -7.460908335588101e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8716158866882324, + -0.41570428013801575, + 0.25976085662841797, + -8.277665138244629 + ], + [ + -0.49018949270248413, + -0.7391722202301025, + 0.4618860185146332, + -1.896640419960022 + ], + [ + 3.3390961107215844e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8834574818611145, + -0.3973201513290405, + 0.24827317893505096, + -8.261582374572754 + ], + [ + -0.46851134300231934, + -0.7492144107818604, + 0.4681611657142639, + -1.9054256677627563 + ], + [ + -2.581117186650772e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8947600722312927, + -0.37869352102279663, + 0.23663395643234253, + -8.245287895202637 + ], + [ + -0.4465472102165222, + -0.7587996125221252, + 0.47415056824684143, + -1.9138108491897583 + ], + [ + -9.841162551538218e-09, + -0.5299192070960999, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9055166840553284, + -0.35983580350875854, + 0.2248503714799881, + -8.228790283203125 + ], + [ + -0.4243106245994568, + -0.7679217457771301, + 0.479850709438324, + -1.9217910766601562 + ], + [ + 5.484054987903164e-09, + -0.5299192070960999, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9157208204269409, + -0.3407585620880127, + 0.21292957663536072, + -8.212100982666016 + ], + [ + -0.40181511640548706, + -0.7765752673149109, + 0.4852581024169922, + -1.929361343383789 + ], + [ + 4.373466477858301e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9253661632537842, + -0.3214733600616455, + 0.20087885856628418, + -8.195230484008789 + ], + [ + -0.37907445430755615, + -0.7847549915313721, + 0.49036943912506104, + -1.9365171194076538 + ], + [ + -1.5066854430756393e-08, + -0.5299193263053894, + -0.8480480313301086, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9344469308853149, + -0.3019919991493225, + 0.18870556354522705, + -8.178187370300293 + ], + [ + -0.35610243678092957, + -0.7924559712409973, + 0.4951814115047455, + -1.943253993988037 + ], + [ + 3.2924710069437424e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9429574608802795, + -0.2823264002799988, + 0.17641711235046387, + -8.16098403930664 + ], + [ + -0.33291319012641907, + -0.7996732592582703, + 0.499691367149353, + -1.9495679140090942 + ], + [ + -7.798935719449673e-09, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9508926868438721, + -0.26248854398727417, + 0.1640210598707199, + -8.14362907409668 + ], + [ + -0.3095208406448364, + -0.8064026832580566, + 0.5038963556289673, + -1.9554548263549805 + ], + [ + 6.1520561978056776e-09, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9582476615905762, + -0.2424905151128769, + 0.15152490139007568, + -8.126134872436523 + ], + [ + -0.2859395742416382, + -0.8126400709152222, + 0.5077939033508301, + -1.9609113931655884 + ], + [ + 1.1886234219105063e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9650179743766785, + -0.22234445810317993, + 0.13893622159957886, + -8.108510971069336 + ], + [ + -0.2621837854385376, + -0.818381667137146, + 0.5113815069198608, + -1.9659342765808105 + ], + [ + 1.0576561848552046e-09, + -0.5299192070960999, + -0.8480481505393982, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9711993932723999, + -0.20206283032894135, + 0.12626290321350098, + -8.090767860412598 + ], + [ + -0.2382681518793106, + -0.823623776435852, + 0.5146573185920715, + -1.9705201387405396 + ], + [ + 1.0909880998610788e-08, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9767882823944092, + -0.18165788054466248, + 0.11351244896650314, + -8.072916984558105 + ], + [ + -0.21420705318450928, + -0.8283634185791016, + 0.5176188945770264, + -1.9746664762496948 + ], + [ + 1.7839028032540227e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9817811250686646, + -0.16114208102226257, + 0.1006927639245987, + -8.054969787597656 + ], + [ + -0.1900152713060379, + -0.8325976133346558, + 0.520264744758606, + -1.9783706665039062 + ], + [ + 1.109546587940713e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9861749410629272, + -0.14052794873714447, + 0.08781161904335022, + -8.036935806274414 + ], + [ + -0.165707528591156, + -0.8363237977027893, + 0.522593080997467, + -1.9816303253173828 + ], + [ + 2.744131144538642e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9899669885635376, + -0.11982806771993637, + 0.07487691193819046, + -8.018827438354492 + ], + [ + -0.14129868149757385, + -0.839539647102356, + 0.5246026515960693, + -1.9844436645507812 + ], + [ + 1.5289600696632988e-08, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9931550025939941, + -0.09905510395765305, + 0.06189650669693947, + -8.000655174255371 + ], + [ + -0.11680364608764648, + -0.8422431945800781, + 0.5262920260429382, + -1.9868087768554688 + ], + [ + -1.7005521435464743e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9957370758056641, + -0.07822169363498688, + 0.04887833073735237, + -7.982429504394531 + ], + [ + -0.09223732352256775, + -0.8444328904151917, + 0.5276602506637573, + -1.9887243509292603 + ], + [ + -6.401727592475481e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9977114796638489, + -0.05734053999185562, + 0.03583034500479698, + -7.964162349700928 + ], + [ + -0.06761472672224045, + -0.8461073637008667, + 0.5287065505981445, + -1.9901891946792603 + ], + [ + 7.601204110585513e-10, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9990772008895874, + -0.036424387246370316, + 0.022760486230254173, + -7.945864677429199 + ], + [ + -0.04295085370540619, + -0.8472654819488525, + 0.5294302701950073, + -1.9912023544311523 + ], + [ + 1.4066040554538972e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9998332858085632, + -0.015486032702028751, + 0.009676747024059296, + -7.927547454833984 + ], + [ + -0.01826079562306404, + -0.8479066491127014, + 0.5298309326171875, + -1.9917632341384888 + ], + [ + -6.122328755076012e-10, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999792575836182, + 0.005461782682687044, + -0.0034128997940570116, + -7.90922212600708 + ], + [ + 0.006440415978431702, + -0.8480305671691895, + 0.5299081802368164, + -1.9918715953826904 + ], + [ + 3.9791328565463857e-10, + -0.5299192070960999, + -0.8480481505393982, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9995151162147522, + 0.026406269520521164, + -0.01650046557188034, + -7.890899181365967 + ], + [ + 0.031137701123952866, + -0.847636878490448, + 0.5296622514724731, + -1.9915271997451782 + ], + [ + 2.2609342176238556e-10, + -0.5299192070960999, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9984411001205444, + 0.04733463004231453, + -0.029577957466244698, + -7.872591018676758 + ], + [ + 0.05581597238779068, + -0.84672611951828, + 0.5290930271148682, + -1.9907304048538208 + ], + [ + -1.4738850140361137e-09, + -0.5299191474914551, + -0.8480481505393982, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9967578053474426, + 0.06823412328958511, + -0.042637407779693604, + -7.854307651519775 + ], + [ + 0.08046020567417145, + -0.8452985882759094, + 0.528201162815094, + -1.9894816875457764 + ], + [ + 4.003436693267304e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9944663643836975, + 0.0890919640660286, + -0.0556708462536335, + -7.836061000823975 + ], + [ + 0.1050553247332573, + -0.8433552980422974, + 0.5269869565963745, + -1.9877816438674927 + ], + [ + -4.1245584725402296e-09, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9915681481361389, + 0.1098954826593399, + -0.06867031008005142, + -7.817861557006836 + ], + [ + 0.1295863687992096, + -0.8408975005149841, + 0.5254510641098022, + -1.9856314659118652 + ], + [ + 6.380551198503781e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9880648851394653, + 0.13063189387321472, + -0.08162787556648254, + -7.799720764160156 + ], + [ + 0.15403831005096436, + -0.8379265666007996, + 0.5235946178436279, + -1.983032464981079 + ], + [ + -7.095978471483022e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9839587211608887, + 0.15128862857818604, + -0.09453564882278442, + -7.781650066375732 + ], + [ + 0.1783962994813919, + -0.8344442844390869, + 0.5214187502861023, + -1.9799861907958984 + ], + [ + -1.2438823304705693e-08, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9792521595954895, + 0.17185303568840027, + -0.10738573223352432, + -7.763659954071045 + ], + [ + 0.202645406126976, + -0.8304529190063477, + 0.5189246535301208, + -1.9764944314956665 + ], + [ + -2.339989180200064e-08, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9739481210708618, + 0.1923125684261322, + -0.12017025798559189, + -7.745761871337891 + ], + [ + 0.22677084803581238, + -0.8259548544883728, + 0.5161138772964478, + -1.9725594520568848 + ], + [ + -2.3683607963675968e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9680498242378235, + 0.21265478432178497, + -0.13288146257400513, + -7.727965831756592 + ], + [ + 0.25075793266296387, + -0.8209527730941772, + 0.5129883289337158, + -1.9681835174560547 + ], + [ + 1.1971504676466793e-08, + -0.5299193263053894, + -0.8480480313301086, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.961560845375061, + 0.23286724090576172, + -0.14551162719726562, + -7.7102837562561035 + ], + [ + 0.2745920419692993, + -0.8154497742652893, + 0.509549617767334, + -1.9633694887161255 + ], + [ + -4.392955332832571e-09, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9544851183891296, + 0.2529376447200775, + -0.1580529659986496, + -7.692725658416748 + ], + [ + 0.29825860261917114, + -0.8094492554664612, + 0.5058001279830933, + -1.9581201076507568 + ], + [ + 2.5450828999851183e-08, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9468269944190979, + 0.27285367250442505, + -0.170497864484787, + -7.675302982330322 + ], + [ + 0.3217431604862213, + -0.8029548525810242, + 0.501741886138916, + -1.9524385929107666 + ], + [ + 2.7125793167215306e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9385911226272583, + 0.2926032245159149, + -0.18283876776695251, + -7.658025741577148 + ], + [ + 0.34503141045570374, + -0.7959704399108887, + 0.49737748503685, + -1.9463285207748413 + ], + [ + 7.666941748141198e-09, + -0.5299192070960999, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9297826290130615, + 0.3121742010116577, + -0.1950680911540985, + -7.640904426574707 + ], + [ + 0.3681090772151947, + -0.7885003685951233, + 0.4927096664905548, + -1.939793586730957 + ], + [ + -2.4783552987628354e-09, + -0.5299192070960999, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9204067587852478, + 0.33155471086502075, + -0.20717841386795044, + -7.623950004577637 + ], + [ + 0.3909621834754944, + -0.780549168586731, + 0.4877413213253021, + -1.932837724685669 + ], + [ + 6.040781208582757e-09, + -0.5299193263053894, + -0.8480480313301086, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9104692339897156, + 0.3507330119609833, + -0.21916230022907257, + -7.607172966003418 + ], + [ + 0.41357678174972534, + -0.7721216678619385, + 0.482475221157074, + -1.9254652261734009 + ], + [ + 2.2159895252116257e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8999762535095215, + 0.36969712376594543, + -0.23101244866847992, + -7.590582370758057 + ], + [ + 0.43593889474868774, + -0.7632231712341309, + 0.4769147038459778, + -1.9176806211471558 + ], + [ + -3.474169574246844e-08, + -0.5299192070960999, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8889340758323669, + 0.38843587040901184, + -0.24272164702415466, + -7.57418966293335 + ], + [ + 0.4580351710319519, + -0.7538588643074036, + 0.4710632860660553, + -1.909488558769226 + ], + [ + 1.6938310309910776e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8773494958877563, + 0.40693747997283936, + -0.25428277254104614, + -7.558004379272461 + ], + [ + 0.4798519015312195, + -0.7440345883369446, + 0.4649243950843811, + -1.9008941650390625 + ], + [ + -1.3945520294100788e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.865229606628418, + 0.4251907765865326, + -0.2656886875629425, + -7.542036056518555 + ], + [ + 0.5013757944107056, + -0.7337563037872314, + 0.4585018455982208, + -1.8919025659561157 + ], + [ + 1.4146443128026931e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.852581799030304, + 0.44318467378616333, + -0.2769325077533722, + -7.526294708251953 + ], + [ + 0.5225937962532043, + -0.7230303883552551, + 0.45179954171180725, + -1.8825193643569946 + ], + [ + 1.6225541799030907e-08, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8394137620925903, + 0.46090811491012573, + -0.28800737857818604, + -7.51078987121582 + ], + [ + 0.5434929132461548, + -0.7118632197380066, + 0.4448215067386627, + -1.872750163078308 + ], + [ + 2.8663844631182656e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8257335424423218, + 0.47835034132003784, + -0.29890650510787964, + -7.49553108215332 + ], + [ + 0.564060389995575, + -0.7002617716789246, + 0.4375721216201782, + -1.8626009225845337 + ], + [ + -2.2553461320740098e-08, + -0.5299193263053894, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8115494251251221, + 0.49550071358680725, + -0.30962324142456055, + -7.480527400970459 + ], + [ + 0.5842837691307068, + -0.688232958316803, + 0.4300557076931, + -1.8520779609680176 + ], + [ + -9.920377408434433e-09, + -0.5299192667007446, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7968701720237732, + 0.5123487114906311, + -0.3201510012149811, + -7.4657883644104 + ], + [ + 0.6041505336761475, + -0.6757842302322388, + 0.4222768247127533, + -1.841187596321106 + ], + [ + 2.513125707537256e-09, + -0.5299192070960999, + -0.8480480909347534, + -0.833598792552948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + } + ] +} diff --git a/blenderobj_eval/target/scene_000022__traj002__zigzag/extras/traj_caption.txt b/blenderobj_eval/target/scene_000022__traj002__zigzag/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..c378e2e338d77cb23b8b1bf8d641615119c75209 --- /dev/null +++ b/blenderobj_eval/target/scene_000022__traj002__zigzag/extras/traj_caption.txt @@ -0,0 +1 @@ +A weaving figure-eight camera move. The camera traces a figure-eight path over the sphere surrounding the scene, rising above and dipping below its 32° center elevation as it advances in azimuth, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). The viewing height rises and falls smoothly through the shot, so the objects are seen from alternating high and low angles while staying centered in frame. diff --git a/blenderobj_eval/target/scene_000036__traj001__bullettime_mid/caption.txt b/blenderobj_eval/target/scene_000036__traj001__bullettime_mid/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..6894a03cb9a542fa5c7e624d65d019b5a05f8978 --- /dev/null +++ b/blenderobj_eval/target/scene_000036__traj001__bullettime_mid/caption.txt @@ -0,0 +1 @@ +In a brightly lit, modern office space with white tiled floors and contemporary furniture, various office supplies—including pens, notebooks, and a coffee mug—are scattered and flying through the air, seemingly propelled by an unseen force, before settling on the floor around a central circular table. A high orbital camera move. The camera tracks along a smooth arc at a steep elevation of 58°, holding 1.69282 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It looks down on the objects from well above them, so the shot reads as a near-overhead orbit in which the supporting surface fills much of the frame and the objects turn beneath the camera. The motion of the scene is frozen at a middle moment while the camera keeps moving, a bullet-time shot. diff --git a/blenderobj_eval/target/scene_000036__traj001__bullettime_mid/transforms.json b/blenderobj_eval/target/scene_000036__traj001__bullettime_mid/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c68abf845684532b060a7103fdb23f769b08a546 --- /dev/null +++ b/blenderobj_eval/target/scene_000036__traj001__bullettime_mid/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.960976779460907, + -0.23459480702877045, + 0.14659109711647034, + -3.152970552444458 + ], + [ + -0.27662912011146545, + -0.8149544596672058, + 0.5092401504516602, + 0.2920844852924347 + ], + [ + -1.4229063260984276e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9675162434577942, + -0.21439404785633087, + 0.1339682936668396, + -3.1316025257110596 + ], + [ + -0.2528088390827179, + -0.8205002546310425, + 0.5127055644989014, + 0.28621819615364075 + ], + [ + 4.597378921999962e-09, + -0.5299193263053894, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9734653830528259, + -0.1940625011920929, + 0.12126369774341583, + -3.110095977783203 + ], + [ + -0.22883430123329163, + -0.8255454301834106, + 0.5158581137657166, + 0.28088149428367615 + ], + [ + -1.4382809609969627e-08, + -0.5299193263053894, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9788205623626709, + -0.17361249029636383, + 0.1084851324558258, + -3.0884642601013184 + ], + [ + -0.20472010970115662, + -0.830086886882782, + 0.5186958312988281, + 0.27607759833335876 + ], + [ + 1.0425119434387398e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9835784435272217, + -0.15305662155151367, + 0.09564037621021271, + -3.066720485687256 + ], + [ + -0.18048104643821716, + -0.8341218829154968, + 0.5212171673774719, + 0.27180948853492737 + ], + [ + -6.609379266109272e-09, + -0.5299192070960999, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9877362251281738, + -0.1324072927236557, + 0.0827372595667839, + -3.044877767562866 + ], + [ + -0.1561318188905716, + -0.8376477956771851, + 0.5234204530715942, + 0.2680797576904297 + ], + [ + 5.9385856232552214e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9912912845611572, + -0.11167719960212708, + 0.06978365778923035, + -3.022949695587158 + ], + [ + -0.13168734312057495, + -0.8406627178192139, + 0.5253043174743652, + 0.2648906409740448 + ], + [ + 6.8549672604945044e-09, + -0.5299192070960999, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9942415356636047, + -0.09087894856929779, + 0.05678747966885567, + -3.0009496212005615 + ], + [ + -0.10716249793767929, + -0.8431646227836609, + 0.5268677473068237, + 0.2622441351413727 + ], + [ + 2.764419138046037e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9965850710868835, + -0.07002528011798859, + 0.04375665634870529, + -2.978890895843506 + ], + [ + -0.08257229626178741, + -0.8451520800590515, + 0.5281096696853638, + 0.26014184951782227 + ], + [ + 2.2380792774612246e-09, + -0.5299193263053894, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9983205795288086, + -0.04912884905934334, + 0.030699117109179497, + -2.956786870956421 + ], + [ + -0.05793168023228645, + -0.8466238379478455, + 0.5290293097496033, + 0.25858503580093384 + ], + [ + 3.104253742947094e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9994468688964844, + -0.028202466666698456, + 0.01762286014854908, + -2.9346511363983154 + ], + [ + -0.033255741000175476, + -0.8475790023803711, + 0.529626190662384, + 0.2575746476650238 + ], + [ + 1.957974449240396e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999633431434631, + -0.007258864119648933, + 0.004535841755568981, + -2.9124972820281982 + ], + [ + -0.008559496141970158, + -0.8480170369148254, + 0.5298998355865479, + 0.2571113109588623 + ], + [ + -1.0082508439257509e-10, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.999869704246521, + 0.013689165934920311, + -0.008553941734135151, + -2.890338659286499 + ], + [ + 0.016141969710588455, + -0.8479375839233398, + 0.5298502445220947, + 0.2571953535079956 + ], + [ + -7.6559636408291e-10, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999165952205658, + 0.034628838300704956, + -0.021638507023453712, + -2.8681888580322266 + ], + [ + 0.04083358123898506, + -0.8473407626152039, + 0.5294774174690247, + 0.25782662630081177 + ], + [ + -1.1608136674112757e-09, + -0.5299193859100342, + -0.8480480313301086, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9978525638580322, + 0.05554740130901337, + -0.0347098670899868, + -2.8460614681243896 + ], + [ + 0.06550029665231705, + -0.8462269306182861, + 0.5287813544273376, + 0.2590048313140869 + ], + [ + 1.529358084617627e-09, + -0.5299193263053894, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9959302544593811, + 0.07643205672502518, + -0.04776005446910858, + -2.823969841003418 + ], + [ + 0.09012702852487564, + -0.8445967435836792, + 0.5277627110481262, + 0.26072922348976135 + ], + [ + -3.2168490093908986e-10, + -0.5299193263053894, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9934003353118896, + 0.09727005660533905, + -0.0607810877263546, + -2.8019275665283203 + ], + [ + 0.11469875276088715, + -0.8424512147903442, + 0.5264219641685486, + 0.2629987299442291 + ], + [ + -3.5947285148552055e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9902642369270325, + 0.11804873496294022, + -0.07376503944396973, + -2.7799482345581055 + ], + [ + 0.13920052349567413, + -0.8397916555404663, + 0.5247601270675659, + 0.2658120095729828 + ], + [ + 7.608395691249825e-09, + -0.5299193263053894, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9865238666534424, + 0.13875535130500793, + -0.08670399338006973, + -2.758044958114624 + ], + [ + 0.163617342710495, + -0.8366196751594543, + 0.5227780938148499, + 0.26916730403900146 + ], + [ + -8.304066767550466e-09, + -0.5299193263053894, + -0.8480480313301086, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9821816086769104, + 0.1593773365020752, + -0.099590003490448, + -2.7362313270568848 + ], + [ + 0.18793430924415588, + -0.8329372406005859, + 0.5204769968986511, + 0.2730625569820404 + ], + [ + 8.196583856090456e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9772400259971619, + 0.17990203201770782, + -0.11241529136896133, + -2.7145204544067383 + ], + [ + 0.21213661134243011, + -0.828746497631073, + 0.5178583860397339, + 0.27749544382095337 + ], + [ + -1.5323440294423563e-08, + -0.5299193263053894, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9717021584510803, + 0.20031702518463135, + -0.1251719444990158, + -2.6929256916046143 + ], + [ + 0.23620949685573578, + -0.8240501880645752, + 0.5149235725402832, + 0.2824632227420807 + ], + [ + 4.018401611460831e-09, + -0.5299191474914551, + -0.8480481505393982, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.965571403503418, + 0.22060973942279816, + -0.1378522664308548, + -2.6714603900909424 + ], + [ + 0.26013824343681335, + -0.8188509941101074, + 0.5116748809814453, + 0.2879628539085388 + ], + [ + -5.2593929211752766e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9588514566421509, + 0.24076788127422333, + -0.15044844150543213, + -2.650137186050415 + ], + [ + 0.28390827775001526, + -0.8131521344184875, + 0.5081138610839844, + 0.29399099946022034 + ], + [ + 1.4755638488850309e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9515464305877686, + 0.2607790529727936, + -0.16295284032821655, + -2.628969669342041 + ], + [ + 0.3075050413608551, + -0.8069571852684021, + 0.5042427778244019, + 0.30054399371147156 + ], + [ + 5.127525071202399e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9436608552932739, + 0.2806311547756195, + -0.17535783350467682, + -2.6079702377319336 + ], + [ + 0.3309141993522644, + -0.8002697825431824, + 0.5000640749931335, + 0.30761781334877014 + ], + [ + -6.427961274368954e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9351994395256042, + 0.30031201243400574, + -0.18765577673912048, + -2.5871522426605225 + ], + [ + 0.3541214168071747, + -0.7930940985679626, + 0.49558016657829285, + 0.31520816683769226 + ], + [ + -1.0044480802662292e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9261674284934998, + 0.31980961561203003, + -0.199839249253273, + -2.566527843475342 + ], + [ + 0.37711259722709656, + -0.7854344844818115, + 0.49079403281211853, + 0.32331040501594543 + ], + [ + 6.299302413026453e-09, + -0.5299193263053894, + -0.8480480313301086, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.916570246219635, + 0.3391120731830597, + -0.2119007706642151, + -2.546109914779663 + ], + [ + 0.39987364411354065, + -0.7772956490516663, + 0.4857082664966583, + 0.3319195806980133 + ], + [ + -1.2831294249338043e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9064138531684875, + 0.3582075834274292, + -0.22383300960063934, + -2.5259108543395996 + ], + [ + 0.4223906993865967, + -0.7686825394630432, + 0.48032620549201965, + 0.34103044867515564 + ], + [ + -3.898438549754246e-08, + -0.5299193263053894, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.8957043886184692, + 0.3770846426486969, + -0.23562867939472198, + -2.5059428215026855 + ], + [ + 0.4446500837802887, + -0.7596004009246826, + 0.474651038646698, + 0.3506374657154083 + ], + [ + -3.239387069697841e-08, + -0.5299193263053894, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8844483494758606, + 0.39573150873184204, + -0.24728050827980042, + -2.4862184524536133 + ], + [ + 0.46663805842399597, + -0.7500547766685486, + 0.46868622303009033, + 0.3607347309589386 + ], + [ + -8.07563793614463e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8726526498794556, + 0.41413700580596924, + -0.2587815225124359, + -2.466749429702759 + ], + [ + 0.48834142088890076, + -0.7400514483451843, + 0.46243545413017273, + 0.3713161051273346 + ], + [ + -1.312283615106935e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8603245615959167, + 0.4322896897792816, + -0.270124614238739, + -2.447547674179077 + ], + [ + 0.5097466707229614, + -0.7295966148376465, + 0.4559025466442108, + 0.38237515091896057 + ], + [ + -2.694635270472645e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8474714159965515, + 0.45017871260643005, + -0.28130286931991577, + -2.4286248683929443 + ], + [ + 0.5308409929275513, + -0.7186965346336365, + 0.4490914046764374, + 0.3939051032066345 + ], + [ + -1.147845907212286e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8341012001037598, + 0.4677930176258087, + -0.2923095226287842, + -2.4099926948547363 + ], + [ + 0.5516114234924316, + -0.7073579430580139, + 0.44200631976127625, + 0.40589889883995056 + ], + [ + 2.094263784613304e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.8202221393585205, + 0.48512181639671326, + -0.30313777923583984, + -2.391662359237671 + ], + [ + 0.5720452070236206, + -0.6955878138542175, + 0.43465152382850647, + 0.4183492660522461 + ], + [ + -2.26988241536219e-08, + -0.5299193263053894, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8058425188064575, + 0.5021546483039856, + -0.31378108263015747, + -2.373645305633545 + ], + [ + 0.5921299457550049, + -0.6833932399749756, + 0.42703142762184143, + 0.43124857544898987 + ], + [ + -2.8306505583941544e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.7909711003303528, + 0.5188812017440796, + -0.32423290610313416, + -2.355952262878418 + ], + [ + 0.6118534803390503, + -0.6707815527915955, + 0.41915079951286316, + 0.4445889890193939 + ], + [ + 2.3924284775489468e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.775617241859436, + 0.5352908968925476, + -0.3344869613647461, + -2.3385939598083496 + ], + [ + 0.6312035322189331, + -0.657760739326477, + 0.41101449728012085, + 0.458362340927124 + ], + [ + -3.105218482346572e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.7597900629043579, + 0.5513741374015808, + -0.34453684091567993, + -2.3215813636779785 + ], + [ + 0.6501684784889221, + -0.6443384885787964, + 0.4026274085044861, + 0.47256019711494446 + ], + [ + 1.135311400446426e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.7434992790222168, + 0.5671209096908569, + -0.35437655448913574, + -2.304924726486206 + ], + [ + 0.6687367558479309, + -0.630523145198822, + 0.39399459958076477, + 0.48717397451400757 + ], + [ + -6.952031839091433e-08, + -0.5299193263053894, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.7267547249794006, + 0.5825217962265015, + -0.36399996280670166, + -2.2886338233947754 + ], + [ + 0.6868970990180969, + -0.616322934627533, + 0.38512131571769714, + 0.5021947026252747 + ], + [ + -6.520357587191938e-10, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.7095668315887451, + 0.5975670218467712, + -0.37340131402015686, + -2.272719144821167 + ], + [ + 0.7046381235122681, + -0.6017468571662903, + 0.3760131299495697, + 0.5176132321357727 + ], + [ + -2.8410852337401593e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.6919459700584412, + 0.6122477054595947, + -0.38257482647895813, + -2.257189989089966 + ], + [ + 0.7219492793083191, + -0.5868034958839417, + 0.3666755259037018, + 0.5334200859069824 + ], + [ + -6.095174143183613e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.6739028692245483, + 0.6265548467636108, + -0.39151498675346375, + -2.242056131362915 + ], + [ + 0.73881995677948, + -0.5715019702911377, + 0.35711416602134705, + 0.5496057868003845 + ], + [ + 1.3402244647409134e-08, + -0.5299193263053894, + -0.8480480313301086, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.6554486155509949, + 0.640479564666748, + -0.40021613240242004, + -2.2273266315460205 + ], + [ + 0.755239725112915, + -0.5558519959449768, + 0.3473348617553711, + 0.566160261631012 + ], + [ + -3.214104182802657e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.6365944147109985, + 0.6540136337280273, + -0.40867313742637634, + -2.213010549545288 + ], + [ + 0.7711987495422363, + -0.5398626923561096, + 0.337343692779541, + 0.5830735564231873 + ], + [ + -3.6781244716621586e-09, + -0.5299193263053894, + -0.8480480313301086, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.6173517107963562, + 0.6671486496925354, + -0.4168807566165924, + -2.1991164684295654 + ], + [ + 0.7866872549057007, + -0.5235439538955688, + 0.3271465599536896, + 0.6003352403640747 + ], + [ + -1.1007522893180521e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.5977323651313782, + 0.6798765659332275, + -0.4248340129852295, + -2.1856532096862793 + ], + [ + 0.801695704460144, + -0.5069057941436768, + 0.3167499303817749, + 0.6179348826408386 + ], + [ + 2.7456636075839924e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.5777484178543091, + 0.6921894550323486, + -0.432528018951416, + -2.17262864112854 + ], + [ + 0.816214919090271, + -0.48995843529701233, + 0.30615997314453125, + 0.6358616948127747 + ], + [ + -2.9678650648179428e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.5574118494987488, + 0.7040801644325256, + -0.4399581253528595, + -2.160050630569458 + ], + [ + 0.8302361369132996, + -0.472711980342865, + 0.2953833341598511, + 0.6541047692298889 + ], + [ + 6.943406560822041e-08, + -0.5299193263053894, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.5367351174354553, + 0.7155412435531616, + -0.447119802236557, + -2.1479272842407227 + ], + [ + 0.8437507748603821, + -0.4551772177219391, + 0.2844262421131134, + 0.6726529002189636 + ], + [ + -4.207740289530193e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.5157310366630554, + 0.7265655994415283, + -0.4540086090564728, + -2.136265754699707 + ], + [ + 0.85675048828125, + -0.437364786863327, + 0.27329573035240173, + 0.6914948225021362 + ], + [ + -3.886025723431885e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.49441224336624146, + 0.7371466755867004, + -0.4606204330921173, + -2.125073194503784 + ], + [ + 0.8692275285720825, + -0.419285386800766, + 0.2619984745979309, + 0.7106190323829651 + ], + [ + -7.490636022566832e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.4727915823459625, + 0.7472781538963318, + -0.4669512212276459, + -2.114356279373169 + ], + [ + 0.8811742663383484, + -0.40095001459121704, + 0.2505413591861725, + 0.730013906955719 + ], + [ + 9.137029799433094e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.4508823752403259, + 0.7569536566734314, + -0.47299715876579285, + -2.1041219234466553 + ], + [ + 0.892583429813385, + -0.3823699355125427, + 0.2389313131570816, + 0.7496675252914429 + ], + [ + 8.299339882000822e-09, + -0.5299193263053894, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.4286983907222748, + 0.7661669850349426, + -0.47875431180000305, + -2.0943758487701416 + ], + [ + 0.9034476280212402, + -0.3635568618774414, + 0.2271755039691925, + 0.7695679068565369 + ], + [ + -4.538300402145978e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.4062524735927582, + 0.7749131917953491, + -0.4842195212841034, + -2.0851244926452637 + ], + [ + 0.9137609004974365, + -0.3445216119289398, + 0.21528103947639465, + 0.7897030115127563 + ], + [ + 1.925572234995343e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.383558988571167, + 0.7831862568855286, + -0.4893891215324402, + -2.0763731002807617 + ], + [ + 0.9235163331031799, + -0.3252764344215393, + 0.2032553106546402, + 0.810060441493988 + ], + [ + 5.2744841383400853e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.36063146591186523, + 0.7909815311431885, + -0.49426013231277466, + -2.068127393722534 + ], + [ + 0.9327083826065063, + -0.3058328330516815, + 0.19110551476478577, + 0.8306277990341187 + ], + [ + -2.6839121147759215e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.33748361468315125, + 0.7982942461967468, + -0.4988296627998352, + -2.060392141342163 + ], + [ + 0.9413313865661621, + -0.2862023413181305, + 0.1788390576839447, + 0.8513925671577454 + ], + [ + -1.3483127503377546e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.314130038022995, + 0.8051198720932007, + -0.5030947327613831, + -2.0531721115112305 + ], + [ + 0.9493799209594727, + -0.2663973867893219, + 0.16646353900432587, + 0.8723421096801758 + ], + [ + -6.090630222388427e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.2905847728252411, + 0.811454176902771, + -0.5070528388023376, + -2.04647159576416 + ], + [ + 0.956849217414856, + -0.2464299201965332, + 0.153986394405365, + 0.8934635519981384 + ], + [ + -6.706412847279353e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.26686206459999084, + 0.8172934055328369, + -0.510701596736908, + -2.040295124053955 + ], + [ + 0.9637347459793091, + -0.22631186246871948, + 0.14141535758972168, + 0.9147440195083618 + ], + [ + 8.803406004176395e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.2429765909910202, + 0.8226339817047119, + -0.5140387415885925, + -2.0346457958221436 + ], + [ + 0.9700322151184082, + -0.20605583488941193, + 0.1287579983472824, + 0.9361705780029297 + ], + [ + -1.3853391322982134e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.2189430445432663, + 0.8274723291397095, + -0.5170621871948242, + -2.0295276641845703 + ], + [ + 0.9757375121116638, + -0.18567423522472382, + 0.11602208763360977, + 0.9577301740646362 + ], + [ + 2.223749184793178e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.19477571547031403, + 0.8318060636520386, + -0.5197701454162598, + -2.0249435901641846 + ], + [ + 0.9808477759361267, + -0.16517916321754456, + 0.10321540385484695, + 0.9794095158576965 + ], + [ + 4.0119793709436635e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.17048966884613037, + 0.8356322646141052, + -0.5221609473228455, + -2.0208964347839355 + ], + [ + 0.9853594899177551, + -0.14458346366882324, + 0.09034573286771774, + 1.0011955499649048 + ], + [ + -2.9560446535015217e-08, + -0.5299192070960999, + -0.8480481505393982, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.1460995227098465, + 0.8389484286308289, + -0.5242331624031067, + -2.0173885822296143 + ], + [ + 0.9892698526382446, + -0.12389945983886719, + 0.07742086797952652, + 1.0230748653411865 + ], + [ + -6.671432828397883e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.12162003666162491, + 0.841752827167511, + -0.5259855389595032, + -2.0144221782684326 + ], + [ + 0.9925767779350281, + -0.10313960164785385, + 0.06444886326789856, + 1.0450341701507568 + ], + [ + 5.730014152049989e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.09706668555736542, + 0.8440435528755188, + -0.5274169445037842, + -2.0119991302490234 + ], + [ + 0.9952779412269592, + -0.08231724798679352, + 0.05143746733665466, + 1.0670599937438965 + ], + [ + -7.19534867243965e-08, + -0.5299193263053894, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.07245399057865143, + 0.8458191752433777, + -0.5285264849662781, + -2.0101206302642822 + ], + [ + 0.9973716735839844, + -0.06144452840089798, + 0.03839465230703354, + 1.0891391038894653 + ], + [ + -9.177149706829368e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.04779701307415962, + 0.847078800201416, + -0.5293136239051819, + -2.0087883472442627 + ], + [ + 0.9988570213317871, + -0.04053417220711708, + 0.025328529998660088, + 1.1112576723098755 + ], + [ + -3.816721161342684e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.0231107696890831, + 0.8478216528892517, + -0.5297777652740479, + -2.008002758026123 + ], + [ + 0.9997329711914062, + -0.01959906332194805, + 0.012246822938323021, + 1.1334024667739868 + ], + [ + -5.0352568337075354e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.0015892974333837628, + 0.8480470180511475, + -0.5299186110496521, + -2.0077641010284424 + ], + [ + 0.9999987483024597, + 0.0013477866305038333, + -0.0008422260289080441, + 1.15556001663208 + ], + [ + -2.239135810100379e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.026288554072380066, + 0.847754955291748, + -0.5297360420227051, + -2.008073091506958 + ], + [ + 0.9996542930603027, + 0.0222939383238554, + -0.01393086463212967, + 1.177716612815857 + ], + [ + -1.797004856030071e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.05097167566418648, + 0.8469457030296326, + -0.5292304158210754, + -2.0089292526245117 + ], + [ + 0.9987000823020935, + 0.043226420879364014, + -0.027010900899767876, + 1.1998587846755981 + ], + [ + -1.3658549846695678e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.07562392950057983, + 0.8456196188926697, + -0.528401792049408, + -2.010331869125366 + ], + [ + 0.9971364140510559, + 0.06413273513317108, + -0.04007455334067345, + 1.2219730615615845 + ], + [ + 1.6966684057706516e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.10022976249456406, + 0.8437775373458862, + -0.5272507667541504, + -2.0122804641723633 + ], + [ + 0.9949642419815063, + 0.08499960601329803, + -0.05311378091573715, + 1.2440459728240967 + ], + [ + -8.612496316118268e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.12477433681488037, + 0.841420590877533, + -0.5257778763771057, + -2.014773368835449 + ], + [ + 0.9921849966049194, + 0.10581455379724503, + -0.06612050533294678, + 1.2660640478134155 + ], + [ + -1.275259933208872e-07, + -0.5299191474914551, + -0.8480481505393982, + 1.8728442192077637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + } + ] +} diff --git a/blenderobj_eval/target/scene_000036__traj002__zigzag/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000036__traj002__zigzag/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..5018cc83ecf35c9fe69906d37b4bc90750ad953b --- /dev/null +++ b/blenderobj_eval/target/scene_000036__traj002__zigzag/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "zigzag", + "original_pattern": "zigzag", + "trajectory": { + "dir": "traj002", + "index": 2, + "id": "T4", + "name": "spherical_figure_eight" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": null, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 39, + 38, + 37, + 36, + 35, + 34, + 33, + 32, + 31, + 30, + 29, + 28, + 27, + 26, + 25, + 24, + 23, + 22, + 21, + 20, + 19, + 18, + 17, + 16, + 15, + 14, + 13, + 12, + 11, + 10, + 9, + 8, + 7, + 6, + 5, + 4, + 3, + 2, + 1, + 0 + ], + "timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.3, + 1.266666667, + 1.233333333, + 1.2, + 1.166666667, + 1.133333333, + 1.1, + 1.066666667, + 1.033333333, + 1.0, + 0.966666667, + 0.933333333, + 0.9, + 0.866666667, + 0.833333333, + 0.8, + 0.766666667, + 0.733333333, + 0.7, + 0.666666667, + 0.633333333, + 0.6, + 0.566666667, + 0.533333333, + 0.5, + 0.466666667, + 0.433333333, + 0.4, + 0.366666667, + 0.333333333, + 0.3, + 0.266666667, + 0.233333333, + 0.2, + 0.166666667, + 0.133333333, + 0.1, + 0.066666667, + 0.033333333, + 0.0 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 0.0, + 1.333333333 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000036__traj002__zigzag/extras/traj_caption.txt b/blenderobj_eval/target/scene_000036__traj002__zigzag/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..d79957081de3b335735a501bfa741cb4f3df4a37 --- /dev/null +++ b/blenderobj_eval/target/scene_000036__traj002__zigzag/extras/traj_caption.txt @@ -0,0 +1 @@ +A weaving figure-eight camera move. The camera traces a figure-eight path over the sphere surrounding the scene, rising above and dipping below its 32° center elevation as it advances in azimuth, holding 1.56557 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). The viewing height rises and falls smoothly through the shot, so the objects are seen from alternating high and low angles while staying centered in frame. diff --git a/blenderobj_eval/target/scene_000041__traj000__zigzag/caption.txt b/blenderobj_eval/target/scene_000041__traj000__zigzag/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..dcd4e84a7b3c07927bca082b0b8a2df390d8ce62 --- /dev/null +++ b/blenderobj_eval/target/scene_000041__traj000__zigzag/caption.txt @@ -0,0 +1 @@ +Various household items, including cups, boxes, and electronic devices, are suspended in mid-air against a dark background, gradually falling and scattering across the floor in a chaotic, disorganized manner. A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects. The motion of the scene plays forward and then rewinds back to where it started. diff --git a/blenderobj_eval/target/scene_000041__traj000__zigzag/extras/blender_meta.json b/blenderobj_eval/target/scene_000041__traj000__zigzag/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f457f799ef6dee28adebdcb0e1655a7d948c673a --- /dev/null +++ b/blenderobj_eval/target/scene_000041__traj000__zigzag/extras/blender_meta.json @@ -0,0 +1,376 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000041", + "trajectory_index": 0, + "trajectory_id": "T0", + "trajectory_name": "low_elevation_arc", + "pattern": "zigzag", + "pattern_params": { + "kind": "time_zigzag", + "turn_frame": 40, + "cam_start": 0, + "src_frame_range": [ + 0, + 40 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": null, + "timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.3, + 1.266666667, + 1.233333333, + 1.2, + 1.166666667, + 1.133333333, + 1.1, + 1.066666667, + 1.033333333, + 1.0, + 0.966666667, + 0.933333333, + 0.9, + 0.866666667, + 0.833333333, + 0.8, + 0.766666667, + 0.733333333, + 0.7, + 0.666666667, + 0.633333333, + 0.6, + 0.566666667, + 0.533333333, + 0.5, + 0.466666667, + 0.433333333, + 0.4, + 0.366666667, + 0.333333333, + 0.3, + 0.266666667, + 0.233333333, + 0.2, + 0.166666667, + 0.133333333, + 0.1, + 0.066666667, + 0.033333333, + 0.0 + ], + "timestamp_range": [ + 0.0, + 1.333333333 + ], + "scene_time_span_seconds": 1.333333333, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 39, + 38, + 37, + 36, + 35, + 34, + 33, + 32, + 31, + 30, + 29, + 28, + 27, + 26, + 25, + 24, + 23, + 22, + 21, + 20, + 19, + 18, + 17, + 16, + 15, + 14, + 13, + 12, + 11, + 10, + 9, + 8, + 7, + 6, + 5, + 4, + 3, + 2, + 1, + 0 + ], + "written_at": "2026-09-17T14:34:27" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000041__traj000__zigzag/transforms.json b/blenderobj_eval/target/scene_000041__traj000__zigzag/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..3c59f4d25671b187c05fd538ac803c465941a029 --- /dev/null +++ b/blenderobj_eval/target/scene_000041__traj000__zigzag/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.6192521452903748, + 0.1899552047252655, + -0.7618686556816101, + -10.892383575439453 + ], + [ + 0.7851922512054443, + -0.14981064200401306, + 0.6008577346801758, + -15.14120101928711 + ], + [ + -4.184979118804222e-08, + -0.970295786857605, + -0.24192188680171967, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.6086033582687378, + 0.19195884466171265, + -0.7699050903320312, + -10.881133079528809 + ], + [ + 0.7934746742248535, + -0.14723438024520874, + 0.5905253291130066, + -15.12673568725586 + ], + [ + -5.137375680419609e-08, + -0.9702958464622498, + -0.24192175269126892, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.5978437066078186, + 0.1939275860786438, + -0.7778013944625854, + -10.870078086853027 + ], + [ + 0.8016127347946167, + -0.14463147521018982, + 0.580085277557373, + -15.112119674682617 + ], + [ + -1.005577985324635e-07, + -0.9702958464622498, + -0.2419217973947525, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.5869753956794739, + 0.19586116075515747, + -0.7855560183525085, + -10.859221458435059 + ], + [ + 0.8096047639846802, + -0.14200222492218018, + 0.5695397257804871, + -15.097355842590332 + ], + [ + 2.691173506264022e-08, + -0.9702956676483154, + -0.24192194640636444, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.5759999752044678, + 0.1977589726448059, + -0.7931680083274841, + -10.848565101623535 + ], + [ + 0.8174497485160828, + -0.13934697210788727, + 0.5588904023170471, + -15.082447052001953 + ], + [ + -4.7187466378773024e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.5649200677871704, + 0.19962078332901, + -0.8006353378295898, + -10.83811092376709 + ], + [ + 0.8251456618309021, + -0.13666662573814392, + 0.5481395125389099, + -15.067395210266113 + ], + [ + -1.1223676210647682e-07, + -0.9702957272529602, + -0.24192193150520325, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.5537372827529907, + 0.20144635438919067, + -0.8079569935798645, + -10.827859878540039 + ], + [ + 0.832691490650177, + -0.13396114110946655, + 0.5372890830039978, + -15.052204132080078 + ], + [ + -3.702682960238235e-08, + -0.9702958464622498, + -0.24192187190055847, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.5424535274505615, + 0.2032351791858673, + -0.8151317834854126, + -10.817815780639648 + ], + [ + 0.8400859236717224, + -0.13123127818107605, + 0.5263405442237854, + -15.036876678466797 + ], + [ + -2.4412486254732357e-08, + -0.9702959060668945, + -0.24192176759243011, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.5310712456703186, + 0.20498701930046082, + -0.8221578598022461, + -10.807978630065918 + ], + [ + 0.8473271131515503, + -0.12847794592380524, + 0.5152960419654846, + -15.021414756774902 + ], + [ + -7.107621513569029e-08, + -0.9702956080436707, + -0.2419220507144928, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.5195921063423157, + 0.206701397895813, + -0.8290347456932068, + -10.798351287841797 + ], + [ + 0.8544144630432129, + -0.12570060789585114, + 0.504158079624176, + -15.005821228027344 + ], + [ + -1.5588280888323425e-08, + -0.970295786857605, + -0.24192169308662415, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.5080185532569885, + 0.20837847888469696, + -0.8357605934143066, + -10.788935661315918 + ], + [ + 0.8613462448120117, + -0.12290067225694656, + 0.4929283559322357, + -14.990099906921387 + ], + [ + 5.447748918641082e-09, + -0.9702958464622498, + -0.24192173779010773, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.4963524639606476, + 0.21001751720905304, + -0.8423343896865845, + -10.779732704162598 + ], + [ + 0.8681212663650513, + -0.12007841467857361, + 0.48160892724990845, + -14.974252700805664 + ], + [ + -1.1376769748494553e-07, + -0.9702960252761841, + -0.24192170798778534, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.4845961034297943, + 0.21161817014217377, + -0.8487547039985657, + -10.770743370056152 + ], + [ + 0.8747380971908569, + -0.1172342523932457, + 0.470201700925827, + -14.958282470703125 + ], + [ + -2.7580789208059286e-08, + -0.9702959060668945, + -0.24192164838314056, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.4727517068386078, + 0.2131805121898651, + -0.8550204038619995, + -10.761971473693848 + ], + [ + 0.8811956644058228, + -0.11436907947063446, + 0.45870891213417053, + -14.942192077636719 + ], + [ + -9.074689444332762e-08, + -0.9702957272529602, + -0.24192193150520325, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.46082088351249695, + 0.21470411121845245, + -0.8611308336257935, + -10.753417015075684 + ], + [ + 0.8874931931495667, + -0.1114826500415802, + 0.44713255763053894, + -14.925985336303711 + ], + [ + 1.2146614380981191e-08, + -0.9702957272529602, + -0.24192194640636444, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.4488064646720886, + 0.216188445687294, + -0.8670844435691833, + -10.745081901550293 + ], + [ + 0.8936290740966797, + -0.1085759848356247, + 0.4354751408100128, + -14.90966510772705 + ], + [ + 2.5417392635063152e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.436710387468338, + 0.217633455991745, + -0.8728801608085632, + -10.736968040466309 + ], + [ + 0.8996021747589111, + -0.1056496649980545, + 0.4237383306026459, + -14.893233299255371 + ], + [ + 7.00425175637065e-08, + -0.970295786857605, + -0.2419217824935913, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.4245346486568451, + 0.21903888881206512, + -0.878517210483551, + -10.729076385498047 + ], + [ + 0.9054117798805237, + -0.10270412266254425, + 0.4119243025779724, + -14.876693725585938 + ], + [ + -1.804978211339403e-08, + -0.9702958464622498, + -0.24192175269126892, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.4122816324234009, + 0.2204044908285141, + -0.8839942812919617, + -10.721407890319824 + ], + [ + 0.9110565185546875, + -0.09973973780870438, + 0.4000352919101715, + -14.8600492477417 + ], + [ + 9.147581891966183e-08, + -0.9702959060668945, + -0.24192170798778534, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.3999537527561188, + 0.22173002362251282, + -0.8893103003501892, + -10.71396541595459 + ], + [ + 0.9165353178977966, + -0.09675759822130203, + 0.38807347416877747, + -14.843302726745605 + ], + [ + -3.316637986472415e-08, + -0.9702957272529602, + -0.24192194640636444, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.38755306601524353, + 0.22301502525806427, + -0.8944646716117859, + -10.70674991607666 + ], + [ + 0.9218474626541138, + -0.09375746548175812, + 0.3760412037372589, + -14.826457977294922 + ], + [ + 1.8987691419170005e-09, + -0.9702958464622498, + -0.24192175269126892, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.37508177757263184, + 0.224259614944458, + -0.8994562029838562, + -10.699761390686035 + ], + [ + 0.9269918203353882, + -0.09074018895626068, + 0.36394044756889343, + -14.809516906738281 + ], + [ + 1.6486089293721307e-07, + -0.9702959060668945, + -0.24192169308662415, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.3625422418117523, + 0.22546330094337463, + -0.9042840003967285, + -10.693002700805664 + ], + [ + 0.9319674372673035, + -0.08770686388015747, + 0.35177329182624817, + -14.792482376098633 + ], + [ + -6.538867580729857e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.3499367833137512, + 0.2266259640455246, + -0.908947229385376, + -10.686473846435547 + ], + [ + 0.9367733597755432, + -0.0846572294831276, + 0.3395422399044037, + -14.775359153747559 + ], + [ + 6.411634245750975e-08, + -0.970295786857605, + -0.2419217824935913, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.33726751804351807, + 0.22774739563465118, + -0.9134451150894165, + -10.680176734924316 + ], + [ + 0.9414089322090149, + -0.08159217983484268, + 0.3272494375705719, + -14.758149147033691 + ], + [ + 7.414718083964544e-08, + -0.9702959060668945, + -0.24192169308662415, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.3245370090007782, + 0.22882743179798126, + -0.9177766442298889, + -10.674113273620605 + ], + [ + 0.9458730816841125, + -0.07851239293813705, + 0.3148970603942871, + -14.740856170654297 + ], + [ + 1.1139042044305825e-07, + -0.9702958464622498, + -0.24192176759243011, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.31174734234809875, + 0.22986575961112976, + -0.9219411611557007, + -10.668282508850098 + ], + [ + 0.9501650929450989, + -0.0754183679819107, + 0.30248722434043884, + -14.723482131958008 + ], + [ + 5.7866731850708675e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.29890090227127075, + 0.23086221516132355, + -0.9259379506111145, + -10.662687301635742 + ], + [ + 0.9542842507362366, + -0.07231056690216064, + 0.2900224030017853, + -14.706031799316406 + ], + [ + 8.941256623984373e-09, + -0.9702958464622498, + -0.24192176759243011, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.2860002815723419, + 0.23181672394275665, + -0.929766058921814, + -10.657327651977539 + ], + [ + 0.9582296013832092, + -0.06918971985578537, + 0.27750492095947266, + -14.688507080078125 + ], + [ + -4.3831118290427185e-08, + -0.970295786857605, + -0.24192185699939728, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.273047536611557, + 0.23272903263568878, + -0.9334249496459961, + -10.652204513549805 + ], + [ + 0.9620004892349243, + -0.06605620682239532, + 0.26493680477142334, + -14.67091178894043 + ], + [ + 3.544565174706804e-08, + -0.9702956676483154, + -0.24192197620868683, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.2600449025630951, + 0.23359903693199158, + -0.9369142651557922, + -10.647319793701172 + ], + [ + 0.9655966758728027, + -0.0629103034734726, + 0.25232064723968506, + -14.65324878692627 + ], + [ + 1.4524516700475942e-07, + -0.9702958464622498, + -0.2419217973947525, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.24699506163597107, + 0.2344263643026352, + -0.9402327537536621, + -10.642674446105957 + ], + [ + 0.9690167307853699, + -0.0597534216940403, + 0.23965825140476227, + -14.63552188873291 + ], + [ + 1.069444195422875e-07, + -0.9702957272529602, + -0.24192188680171967, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.2339002788066864, + 0.23521114885807037, + -0.9433803558349609, + -10.638267517089844 + ], + [ + 0.9722606539726257, + -0.05658553168177605, + 0.22695252299308777, + -14.6177339553833 + ], + [ + 1.2969120888328689e-08, + -0.970295786857605, + -0.24192184209823608, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.22076280415058136, + 0.23595310747623444, + -0.9463562369346619, + -10.634101867675781 + ], + [ + 0.9753276109695435, + -0.05340728908777237, + 0.2142053097486496, + -14.59988784790039 + ], + [ + -1.4380944435288256e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.20758526027202606, + 0.23665213584899902, + -0.9491598010063171, + -10.630176544189453 + ], + [ + 0.9782170057296753, + -0.050219252705574036, + 0.20141921937465668, + -14.581987380981445 + ], + [ + 8.229441306184526e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.19436991214752197, + 0.23730801045894623, + -0.9517906904220581, + -10.626493453979492 + ], + [ + 0.9809284210205078, + -0.04702221229672432, + 0.1885964423418045, + -14.564035415649414 + ], + [ + -4.303927880755509e-09, + -0.9702959060668945, + -0.24192172288894653, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.18111920356750488, + 0.23792089521884918, + -0.9542482495307922, + -10.623052597045898 + ], + [ + 0.9834612607955933, + -0.043816499412059784, + 0.1757393628358841, + -14.546034812927246 + ], + [ + 9.42291933370143e-08, + -0.9702958464622498, + -0.2419218271970749, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.167835533618927, + 0.23849031329154968, + -0.9565321207046509, + -10.619854927062988 + ], + [ + 0.9858150482177734, + -0.04060303792357445, + 0.16285015642642975, + -14.527990341186523 + ], + [ + 2.615125183069722e-08, + -0.970295786857605, + -0.24192191660404205, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.15452128648757935, + 0.2390163391828537, + -0.9586421251296997, + -10.616901397705078 + ], + [ + 0.987989604473114, + -0.03738171234726906, + 0.14993159472942352, + -14.509903907775879 + ], + [ + 2.3462186504730198e-07, + -0.9702959060668945, + -0.24192173779010773, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.14117899537086487, + 0.23949888348579407, + -0.9605774879455566, + -10.614192008972168 + ], + [ + 0.9899842143058777, + -0.034154195338487625, + 0.13698554039001465, + -14.491779327392578 + ], + [ + -3.2550246942264494e-08, + -0.9702959060668945, + -0.2419217824935913, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.1278110146522522, + 0.23993775248527527, + -0.9623380899429321, + -10.611726760864258 + ], + [ + 0.9917986989021301, + -0.030919987708330154, + 0.1240147203207016, + -14.473620414733887 + ], + [ + 1.3762428352492861e-07, + -0.9702959656715393, + -0.24192164838314056, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.11441979557275772, + 0.24033305048942566, + -0.9639233946800232, + -10.60950756072998 + ], + [ + 0.9934325814247131, + -0.027680588886141777, + 0.11102113127708435, + -14.455429077148438 + ], + [ + -1.9985794352805897e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.10100752860307693, + 0.24068476259708405, + -0.9653332829475403, + -10.60753345489502 + ], + [ + 0.9948856830596924, + -0.02443588338792324, + 0.0980072170495987, + -14.437210083007812 + ], + [ + 3.577918761266119e-08, + -0.9702957272529602, + -0.24192199110984802, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.08757686614990234, + 0.2409924566745758, + -0.966567873954773, + -10.605805397033691 + ], + [ + 0.9961580038070679, + -0.02118641696870327, + 0.08497575670480728, + -14.418966293334961 + ], + [ + 1.4523865843329986e-07, + -0.9702959656715393, + -0.24192169308662415, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.07413065433502197, + 0.24125628173351288, + -0.9676260948181152, + -10.604323387145996 + ], + [ + 0.997248649597168, + -0.017933808267116547, + 0.0719287320971489, + -14.400700569152832 + ], + [ + -4.8836639621185896e-08, + -0.970295786857605, + -0.2419218271970749, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.06067061424255371, + 0.24147628247737885, + -0.9685085415840149, + -10.60308837890625 + ], + [ + 0.9981580972671509, + -0.014677152037620544, + 0.058868736028671265, + -14.382415771484375 + ], + [ + 2.1110159309500887e-07, + -0.9702959656715393, + -0.24192167818546295, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.04719977825880051, + 0.24165228009223938, + -0.9692143797874451, + -10.602100372314453 + ], + [ + 0.9988855719566345, + -0.011418580077588558, + 0.045797839760780334, + -14.364116668701172 + ], + [ + 5.526892721263721e-09, + -0.9702958464622498, + -0.2419218122959137, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.03372018039226532, + 0.24178440868854523, + -0.969744086265564, + -10.601358413696289 + ], + [ + 0.9994314908981323, + -0.008157425560057163, + 0.032718725502491, + -14.345806121826172 + ], + [ + 1.1220792117683231e-07, + -0.9702958464622498, + -0.24192184209823608, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.02023470401763916, + 0.24187231063842773, + -0.9700970649719238, + -10.60086441040039 + ], + [ + 0.9997952580451965, + -0.004895282443612814, + 0.019633622840046883, + -14.327486991882324 + ], + [ + -5.78822962893355e-08, + -0.9702957272529602, + -0.24192185699939728, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.0067452071234583855, + 0.24191631376743317, + -0.9702737331390381, + -10.600616455078125 + ], + [ + 0.9999772906303406, + -0.0016316778492182493, + 0.006544921081513166, + -14.309163093566895 + ], + [ + 9.749944496206808e-08, + -0.970295786857605, + -0.24192176759243011, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + -0.0067453947849571705, + 0.2419164627790451, + -0.9702736735343933, + -10.600616455078125 + ], + [ + 0.9999772906303406, + 0.0016318140551447868, + -0.0065450058318674564, + -14.290837287902832 + ], + [ + -7.93264121057291e-08, + -0.9702957272529602, + -0.24192193150520325, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + -0.020234815776348114, + 0.24187242984771729, + -0.9700971841812134, + -10.60086441040039 + ], + [ + 0.9997953772544861, + 0.00489544402807951, + -0.019633591175079346, + -14.272513389587402 + ], + [ + 9.037864856509259e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + -0.033720627427101135, + 0.24178436398506165, + -0.9697441458702087, + -10.601358413696289 + ], + [ + 0.9994314908981323, + 0.008157973177731037, + -0.03271876275539398, + -14.254193305969238 + ], + [ + 5.910507994144609e-08, + -0.9702959060668945, + -0.24192173779010773, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + -0.04720016196370125, + 0.241652250289917, + -0.9692144393920898, + -10.602100372314453 + ], + [ + 0.9988855719566345, + 0.011418910697102547, + -0.04579797759652138, + -14.235882759094238 + ], + [ + 6.581806388794575e-08, + -0.9702958464622498, + -0.24192175269126892, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + -0.06067109853029251, + 0.24147634208202362, + -0.9685084223747253, + -10.60308837890625 + ], + [ + 0.9981579780578613, + 0.014677795581519604, + -0.058868736028671265, + -14.217583656311035 + ], + [ + -1.078992184488925e-08, + -0.9702959060668945, + -0.2419218271970749, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + -0.07413094490766525, + 0.2412562221288681, + -0.96762615442276, + -10.604323387145996 + ], + [ + 0.997248649597168, + 0.017933987081050873, + -0.07192880660295486, + -14.199299812316895 + ], + [ + -1.5078256865308504e-08, + -0.9702959060668945, + -0.24192172288894653, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + -0.08757754415273666, + 0.24099238216876984, + -0.9665678143501282, + -10.605805397033691 + ], + [ + 0.9961579442024231, + 0.02118709497153759, + -0.08497590571641922, + -14.181034088134766 + ], + [ + 1.2575537056136454e-08, + -0.9702959656715393, + -0.24192169308662415, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + -0.10100781917572021, + 0.2406846433877945, + -0.9653332829475403, + -10.60753345489502 + ], + [ + 0.9948856830596924, + 0.02443585731089115, + -0.09800746291875839, + -14.162789344787598 + ], + [ + -1.7698397414278588e-07, + -0.970295786857605, + -0.24192187190055847, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + -0.11441994458436966, + 0.24033312499523163, + -0.9639232754707336, + -10.60950756072998 + ], + [ + 0.9934325218200684, + 0.02768070064485073, + -0.11102116107940674, + -14.144570350646973 + ], + [ + -1.8881383567759258e-08, + -0.9702957272529602, + -0.24192193150520325, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + -0.12781134247779846, + 0.23993784189224243, + -0.9623379707336426, + -10.611726760864258 + ], + [ + 0.9917986392974854, + 0.03092053160071373, + -0.12401468306779861, + -14.12637996673584 + ], + [ + 9.002424405935017e-08, + -0.970295786857605, + -0.24192187190055847, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + -0.14117945730686188, + 0.23949888348579407, + -0.9605774283409119, + -10.614192008972168 + ], + [ + 0.9899842143058777, + 0.034154441207647324, + -0.1369856745004654, + -14.108220100402832 + ], + [ + -9.996537642109615e-08, + -0.9702959060668945, + -0.24192176759243011, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + -0.15452176332473755, + 0.2390163540840149, + -0.9586420655250549, + -10.616901397705078 + ], + [ + 0.987989604473114, + 0.03738223761320114, + -0.1499316543340683, + -14.090095520019531 + ], + [ + -1.0060265509537203e-07, + -0.9702959060668945, + -0.2419217973947525, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + -0.1678357571363449, + 0.23849022388458252, + -0.9565320611000061, + -10.619854927062988 + ], + [ + 0.9858149886131287, + 0.04060309752821922, + -0.1628503054380417, + -14.072010040283203 + ], + [ + -6.655419326762058e-08, + -0.9702957272529602, + -0.24192185699939728, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + -0.18111957609653473, + 0.23792079091072083, + -0.9542482495307922, + -10.623052597045898 + ], + [ + 0.9834612607955933, + 0.04381681978702545, + -0.17573943734169006, + -14.053964614868164 + ], + [ + -6.788292239434668e-08, + -0.9702958464622498, + -0.24192176759243011, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + -0.19437028467655182, + 0.23730801045894623, + -0.9517906904220581, + -10.626493453979492 + ], + [ + 0.9809284210205078, + 0.04702248051762581, + -0.18859651684761047, + -14.035964965820312 + ], + [ + -6.180295031299465e-08, + -0.9702959060668945, + -0.24192170798778534, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + -0.20758576691150665, + 0.23665212094783783, + -0.9491598606109619, + -10.630176544189453 + ], + [ + 0.9782171249389648, + 0.050219640135765076, + -0.2014193832874298, + -14.018013000488281 + ], + [ + -6.671234586974606e-08, + -0.9702959656715393, + -0.24192169308662415, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.22076316177845, + 0.23595325648784637, + -0.9463562369346619, + -10.634101867675781 + ], + [ + 0.9753276705741882, + 0.05340756103396416, + -0.21420539915561676, + -14.000112533569336 + ], + [ + -4.186853175269789e-08, + -0.9702958464622498, + -0.24192190170288086, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.23390017449855804, + 0.23521113395690918, + -0.9433801770210266, + -10.638267517089844 + ], + [ + 0.9722604751586914, + 0.056585490703582764, + -0.2269524484872818, + -13.982266426086426 + ], + [ + -8.32212165846613e-09, + -0.9702956080436707, + -0.24192200601100922, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.2469952553510666, + 0.23442642390727997, + -0.9402328133583069, + -10.642674446105957 + ], + [ + 0.9690167307853699, + 0.059753671288490295, + -0.239658385515213, + -13.964478492736816 + ], + [ + 6.989491652120705e-08, + -0.9702957272529602, + -0.24192194640636444, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.2600450813770294, + 0.233598992228508, + -0.9369142651557922, + -10.647319793701172 + ], + [ + 0.965596616268158, + 0.06291071325540543, + -0.2523205280303955, + -13.946751594543457 + ], + [ + 1.5583246693040564e-08, + -0.9702958464622498, + -0.2419218271970749, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.27304762601852417, + 0.2327290177345276, + -0.9334251880645752, + -10.652204513549805 + ], + [ + 0.9620006680488586, + 0.06605635583400726, + -0.26493680477142334, + -13.929088592529297 + ], + [ + 6.36268850939814e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.2860002815723419, + 0.23181675374507904, + -0.9297659993171692, + -10.657327651977539 + ], + [ + 0.9582294821739197, + 0.0691896304488182, + -0.27750489115715027, + -13.911493301391602 + ], + [ + -1.0477280198983863e-07, + -0.9702957272529602, + -0.24192194640636444, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.29890134930610657, + 0.23086227476596832, + -0.9259378910064697, + -10.662687301635742 + ], + [ + 0.9542841911315918, + 0.07231086492538452, + -0.2900225818157196, + -13.89396858215332 + ], + [ + -3.942705717463468e-08, + -0.9702958464622498, + -0.2419217973947525, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.3117476999759674, + 0.2298658788204193, + -0.9219411015510559, + -10.668282508850098 + ], + [ + 0.9501650929450989, + 0.07541865110397339, + -0.3024873435497284, + -13.876518249511719 + ], + [ + -9.08898130091984e-08, + -0.9702958464622498, + -0.24192190170288086, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.32453733682632446, + 0.22882749140262604, + -0.9177765846252441, + -10.674113273620605 + ], + [ + 0.9458730816841125, + 0.07851283252239227, + -0.3148970603942871, + -13.85914421081543 + ], + [ + 1.5716700829671026e-08, + -0.9702958464622498, + -0.24192188680171967, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.33726784586906433, + 0.22774738073349, + -0.9134450554847717, + -10.680176734924316 + ], + [ + 0.9414088726043701, + 0.08159247040748596, + -0.3272494673728943, + -13.841851234436035 + ], + [ + -8.25472596943655e-08, + -0.9702958464622498, + -0.24192173779010773, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.34993693232536316, + 0.2266259640455246, + -0.9089471697807312, + -10.686473846435547 + ], + [ + 0.9367733001708984, + 0.08465734869241714, + -0.33954229950904846, + -13.824641227722168 + ], + [ + -7.255611933487671e-08, + -0.970295786857605, + -0.2419218271970749, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.36254262924194336, + 0.22546331584453583, + -0.9042840003967285, + -10.693002700805664 + ], + [ + 0.9319673776626587, + 0.0877070426940918, + -0.3517734408378601, + -13.807517051696777 + ], + [ + -6.51809486384991e-08, + -0.9702959060668945, + -0.24192175269126892, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.3750821352005005, + 0.22425971925258636, + -0.8994562029838562, + -10.699761390686035 + ], + [ + 0.926991879940033, + 0.09074068069458008, + -0.36394041776657104, + -13.790483474731445 + ], + [ + -7.132626933525898e-08, + -0.9702959060668945, + -0.2419218271970749, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.38755372166633606, + 0.2230151742696762, + -0.8944646716117859, + -10.70674991607666 + ], + [ + 0.9218475222587585, + 0.09375786781311035, + -0.3760414719581604, + -13.773542404174805 + ], + [ + -9.002091161391945e-08, + -0.9702959656715393, + -0.24192175269126892, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.3999541401863098, + 0.221730038523674, + -0.889310359954834, + -10.71396541595459 + ], + [ + 0.9165353775024414, + 0.09675780683755875, + -0.3880736529827118, + -13.756696701049805 + ], + [ + 1.3317919211885965e-08, + -0.9702958464622498, + -0.24192185699939728, + 0.5434882640838623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/boom_down/transforms.json b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2e23a3f869ecabe4bad062d5bd6a643040f6d1a5 --- /dev/null +++ b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/boom_down/transforms.json @@ -0,0 +1,4808 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 137, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00015281095693353564, + 9.454473183723167e-05, + -0.00017298538296017796 + ], + [ + -0.00015282332606147975, + 1.0, + 0.0001308531645918265, + -0.0003619329072535038 + ], + [ + -9.452473750570789e-05, + -0.00013086760009173304, + 1.0, + -0.00011619761789916083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + 0.00029360686312429607, + 0.00029413201264105737, + 0.00016933277466330977 + ], + [ + -0.00029381419881246984, + 0.9999997019767761, + 0.0007050363346934319, + 0.0002620467851075399 + ], + [ + -0.00029392490978352726, + -0.0007051227148622274, + 0.9999997019767761, + 0.00047755836327697203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999985098838806, + 0.0007547845016233623, + 0.00156905478797853, + 2.8201194115407657e-05 + ], + [ + -0.0007575366762466729, + 0.999998152256012, + 0.0017541872803121805, + 0.00014876742052900437 + ], + [ + -0.0015677278861403465, + -0.0017553733196109533, + 0.9999972581863403, + 0.001425494983970352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999956488609314, + -8.561230060877278e-05, + 0.0029411306604743004, + 0.0001274600695069239 + ], + [ + 7.824521890142933e-05, + 0.9999968409538269, + 0.0025048688985407352, + 0.0006873202825184253 + ], + [ + -0.002941336017102003, + -0.002504628151655197, + 0.9999925494194031, + 0.004175420540987569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999929070472717, + 0.0001408472453476861, + 0.0037566900718957186, + -0.001555143571792595 + ], + [ + -0.00015295388584490865, + 0.9999948143959045, + 0.003222595900297165, + 0.0017081924590884763 + ], + [ + -0.0037562164943665266, + -0.0032231477089226246, + 0.9999877214431763, + 0.006088601045913118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999926090240479, + 0.0007249152986332774, + 0.0037689527962356806, + -0.001689453459060614 + ], + [ + -0.0007435694569721818, + 0.9999874830245972, + 0.004950384609401226, + 0.0013333205818472542 + ], + [ + -0.0037653169129043818, + -0.004953150637447834, + 0.999980628490448, + 0.008298026435488067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999907612800598, + 0.0006774791399948299, + 0.004238612949848175, + -0.001654766002748682 + ], + [ + -0.000704616482835263, + 0.9999792575836182, + 0.006404184736311436, + 0.001453147990190807 + ], + [ + -0.004234186373651028, + -0.006407111883163452, + 0.9999704957008362, + 0.013200466422473684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999868273735046, + 0.0015402118442580104, + 0.004901085514575243, + -0.004689508905849995 + ], + [ + -0.0015756342327222228, + 0.9999725818634033, + 0.0072318450547754765, + 0.0017602018080651758 + ], + [ + -0.004889812786132097, + -0.007239471655339003, + 0.9999618530273438, + 0.016317399448427534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999898076057434, + 0.0018369132885709405, + 0.004124348051846027, + -0.005939462054383886 + ], + [ + -0.0018679556669667363, + 0.9999698400497437, + 0.007535446900874376, + 0.0031094484798171937 + ], + [ + -0.004110381938517094, + -0.007543074432760477, + 0.999963104724884, + 0.02165389524170143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999974370002747, + 0.000492562132421881, + 0.002214243169873953, + -0.004706934586754548 + ], + [ + -0.0005117107066325843, + 0.9999623894691467, + 0.008655671961605549, + 0.002043055534801063 + ], + [ + -0.0022098966874182224, + -0.00865678209811449, + 0.9999600648880005, + 0.027115089804454543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999983906745911, + -0.00048746351967565715, + 0.0017436784692108631, + -0.0057966575051764 + ], + [ + 0.0004714640963356942, + 0.9999579191207886, + 0.00916433148086071, + 0.0035627456244957806 + ], + [ + -0.0017480722162872553, + -0.009163495153188705, + 0.999956488609314, + 0.0331610075526816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999987483024597, + -0.000861581414937973, + 0.0013272828655317426, + -0.005629074811825858 + ], + [ + 0.0008477658266201615, + 0.9999458193778992, + 0.0103745236992836, + 0.0036507248659344294 + ], + [ + -0.0013361495221033692, + -0.01037338562309742, + 0.9999452829360962, + 0.0414632954648422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999989867210388, + -0.0009955024579539895, + 0.0010358664439991117, + -0.007172630244852317 + ], + [ + 0.0009837731486186385, + 0.9999361038208008, + 0.011262752115726471, + 0.00443623699247837 + ], + [ + -0.001047012279741466, + -0.011261722072958946, + 0.999936044216156, + 0.050837692130795295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999999403953552, + 8.155935211107135e-05, + 0.0003825852181762457, + -0.010107208880200393 + ], + [ + -8.610408985987306e-05, + 0.9999292492866516, + 0.01189410500228405, + 0.005137251175063499 + ], + [ + -0.0003815880627371371, + -0.011894136667251587, + 0.9999291896820068, + 0.05918064159067238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999988079071045, + -0.00021074646792840213, + -0.001545062055811286, + -0.010893917109869483 + ], + [ + 0.00023029600561130792, + 0.9999197721481323, + 0.012663671746850014, + 0.005231189897612613 + ], + [ + 0.0015422692522406578, + -0.012664012610912323, + 0.9999186396598816, + 0.0697423571939854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999916553497314, + -0.0003232348244637251, + -0.004071746487170458, + -0.014070707360481131 + ], + [ + 0.00037866109050810337, + 0.9999071955680847, + 0.013618994504213333, + 0.004589659298824914 + ], + [ + 0.004066966008394957, + -0.013620423153042793, + 0.9998989701271057, + 0.08058462372077081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999650716781616, + -0.0022558749187737703, + -0.008049050346016884, + -0.014272539681919357 + ], + [ + 0.0023709621746093035, + 0.9998946785926819, + 0.014317485503852367, + 0.004036542313063846 + ], + [ + 0.008015904575586319, + -0.014336069114506245, + 0.9998651146888733, + 0.09487423216376234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999201893806458, + -0.005450161639600992, + -0.011395951732993126, + -0.013474583468632773 + ], + [ + 0.005623819772154093, + 0.9998676776885986, + 0.015262505039572716, + 0.002369972690939904 + ], + [ + 0.011311260983347893, + -0.015325376763939857, + 0.9998185634613037, + 0.10894341233652086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998934268951416, + -0.0051442356780171394, + -0.01366463303565979, + -0.011912343296331956 + ], + [ + 0.005359760485589504, + 0.9998610615730286, + 0.015782974660396576, + 0.0017856604912701787 + ], + [ + 0.013581544160842896, + -0.015854530036449432, + 0.9997820854187012, + 0.12395012257072856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998873472213745, + -0.0056027937680482864, + -0.013925569131970406, + -0.011541217021808466 + ], + [ + 0.005831229500472546, + 0.9998481869697571, + 0.016417931765317917, + 0.0005511022885056113 + ], + [ + 0.013831468299031258, + -0.016497284173965454, + 0.9997682571411133, + 0.13908021101618515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999139904975891, + -0.005516846664249897, + -0.011897078715264797, + -0.00982269158532076 + ], + [ + 0.005725112743675709, + 0.9998297095298767, + 0.01754327304661274, + -0.0016267132014036161 + ], + [ + 0.011798269115388393, + -0.01760987751185894, + 0.9997753500938416, + 0.1556642785504022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999696016311646, + -0.004238581284880638, + -0.00654827943071723, + -0.009224643918466481 + ], + [ + 0.004358425736427307, + 0.9998212456703186, + 0.018397150561213493, + -0.003272008830133606 + ], + [ + 0.006469130981713533, + -0.01842513121664524, + 0.9998093247413635, + 0.17288729765260702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999961256980896, + -0.0027829306200146675, + 0.00016908126417547464, + -0.013514734529342284 + ], + [ + 0.0027789915911853313, + 0.9997960925102234, + 0.020002709701657295, + -0.006748786853516802 + ], + [ + -0.00022471294505521655, + -0.02000216208398342, + 0.999799907207489, + 0.18911255838842514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999899864196777, + -0.002705466700717807, + 0.0035687144845724106, + -0.015538199074217118 + ], + [ + 0.002630546921864152, + 0.9997795224189758, + 0.020833712071180344, + -0.008132761848323483 + ], + [ + -0.003624292556196451, + -0.020824115723371506, + 0.9997766017913818, + 0.20468695611583398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999764561653137, + -0.0008035755599848926, + 0.006818163208663464, + -0.01769389999955071 + ], + [ + 0.000654155679512769, + 0.9997602105140686, + 0.021888969466090202, + -0.0107153509688728 + ], + [ + -0.006834117695689201, + -0.021883992478251457, + 0.9997371435165405, + 0.22173470787923125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999381899833679, + -0.0009113797568716109, + 0.011081578209996223, + -0.02034526013170869 + ], + [ + 0.0006548821111209691, + 0.9997323155403137, + 0.023127947002649307, + -0.01310587893514072 + ], + [ + -0.011099690571427345, + -0.023119259625673294, + 0.9996711015701294, + 0.23714497158139505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999895453453064, + -0.0012546045472845435, + 0.014403465203940868, + -0.022182855560437448 + ], + [ + 0.0009036760893650353, + 0.9997032284736633, + 0.024344880133867264, + -0.01528647423667066 + ], + [ + -0.014429734088480473, + -0.02432931959629059, + 0.9995998740196228, + 0.25209996654268574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9998534917831421, + -0.0018739805091172457, + 0.017014548182487488, + -0.024899331403396313 + ], + [ + 0.0014253167901188135, + 0.9996519088745117, + 0.02634335309267044, + -0.017782497186871138 + ], + [ + -0.01705799251794815, + -0.026315242052078247, + 0.9995081424713135, + 0.2672066388103892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998077750205994, + -0.0024722174275666475, + 0.01945006474852562, + -0.026022113812402548 + ], + [ + 0.0019191859755665064, + 0.9995947480201721, + 0.028400860726833344, + -0.01931837328216609 + ], + [ + -0.019512396305799484, + -0.02835807204246521, + 0.9994073510169983, + 0.28257806572844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9996970891952515, + -0.0019073485163971782, + 0.024537816643714905, + -0.026007248634071882 + ], + [ + 0.0011699559399858117, + 0.9995483160018921, + 0.03003060817718506, + -0.01976353710188585 + ], + [ + -0.024584010243415833, + -0.029992803931236267, + 0.9992477297782898, + 0.296585744060576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9994542002677917, + -0.0014825770631432533, + 0.033002451062202454, + -0.02846055622349548 + ], + [ + 0.000432308588642627, + 0.9994938969612122, + 0.03180836886167526, + -0.02185428317855386 + ], + [ + -0.03303290903568268, + -0.03177674114704132, + 0.9989489912986755, + 0.3097419073695646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9991958141326904, + -0.002125207334756851, + 0.04003994166851044, + -0.032283692102988856 + ], + [ + 0.0007911827997304499, + 0.9994449615478516, + 0.03330377861857414, + -0.024299285473192437 + ], + [ + -0.04008849710226059, + -0.03324531391263008, + 0.9986429214477539, + 0.32057289874783773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9990509152412415, + -0.003292481880635023, + 0.04343291372060776, + -0.03449555388925707 + ], + [ + 0.001793720293790102, + 0.9994030594825745, + 0.03450144827365875, + -0.026568449946010816 + ], + [ + -0.04352058470249176, + -0.03439079970121384, + 0.9984604120254517, + 0.33171701168312745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.998942494392395, + -0.003975925035774708, + 0.04580545052886009, + -0.034648422960548056 + ], + [ + 0.002357017481699586, + 0.9993724822998047, + 0.035343073308467865, + -0.028513174328733893 + ], + [ + -0.04591722413897514, + -0.03519773483276367, + 0.998324990272522, + 0.34309251343502717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9987724423408508, + -0.0062836636789143085, + 0.049133285880088806, + -0.035837303672451526 + ], + [ + 0.004490536171942949, + 0.9993228316307068, + 0.03652075678110123, + -0.030964020639657974 + ], + [ + -0.049329496920108795, + -0.03625529259443283, + 0.9981243014335632, + 0.35321014691144226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9986397624015808, + -0.008156390860676765, + 0.05149795487523079, + -0.03801069972242283 + ], + [ + 0.006214732304215431, + 0.9992678165435791, + 0.03775178641080856, + -0.03328321019516272 + ], + [ + -0.051768165081739426, + -0.037380389869213104, + 0.997959315776825, + 0.362022036111311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9985973238945007, + -0.009955805726349354, + 0.05200241506099701, + -0.04094060292631826 + ], + [ + 0.007932771928608418, + 0.9992091059684753, + 0.03896522894501686, + -0.03562104474095737 + ], + [ + -0.05234921723604202, + -0.03849804773926735, + 0.9978864789009094, + 0.3713700419730123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9985966086387634, + -0.014606578275561333, + 0.05090663582086563, + -0.042099640456795255 + ], + [ + 0.012579301372170448, + 0.999123752117157, + 0.03991879150271416, + -0.03693977677646805 + ], + [ + -0.05144510418176651, + -0.03922240063548088, + 0.9979053139686584, + 0.3804938416517175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9985551834106445, + -0.0184905007481575, + 0.05045466497540474, + -0.04286316110588172 + ], + [ + 0.016463767737150192, + 0.9990522265434265, + 0.04029348865151405, + -0.03719610808526769 + ], + [ + -0.05115189030766487, + -0.039404597133398056, + 0.9979131817817688, + 0.38928017639828955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998429536819458, + -0.022734466940164566, + 0.051201917231082916, + -0.04229281827095239 + ], + [ + 0.020647455006837845, + 0.9989487528800964, + 0.040926989167928696, + -0.037939745231586344 + ], + [ + -0.05207854509353638, + -0.03980552777647972, + 0.9978493452072144, + 0.39849141890676143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9981499910354614, + -0.02952979877591133, + 0.05314650386571884, + -0.043071432039141655 + ], + [ + 0.02732277661561966, + 0.9987529516220093, + 0.0417853482067585, + -0.03853568127926658 + ], + [ + -0.05431414395570755, + -0.04025593772530556, + 0.9977120757102966, + 0.4073741022935685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.997906506061554, + -0.03559732809662819, + 0.053994741290807724, + -0.04401779093998758 + ], + [ + 0.03333868458867073, + 0.9985540509223938, + 0.042170148342847824, + -0.0387689244659508 + ], + [ + -0.05541780963540077, + -0.0402817539870739, + 0.9976503849029541, + 0.41520983843297204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9975355267524719, + -0.04401472955942154, + 0.05464034900069237, + -0.04445070222239284 + ], + [ + 0.04171247035264969, + 0.998221755027771, + 0.04258370026946068, + -0.038574669553953056 + ], + [ + -0.056417498737573624, + -0.04019956663250923, + 0.9975976347923279, + 0.42316349174498635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9971495270729065, + -0.05133833363652229, + 0.055292386561632156, + -0.043668198254068986 + ], + [ + 0.04897664114832878, + 0.9978629350662231, + 0.043253496289253235, + -0.03903096318244934 + ], + [ + -0.057394783943891525, + -0.040422163903713226, + 0.9975329041481018, + 0.431448329497567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9967167973518372, + -0.057651445269584656, + 0.0568501278758049, + -0.04405439702026984 + ], + [ + 0.055201753973960876, + 0.997515857219696, + 0.04375922307372093, + -0.03883424944737378 + ], + [ + -0.05923168361186981, + -0.04047732427716255, + 0.9974232912063599, + 0.43997116212678306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9965928792953491, + -0.058395471423864365, + 0.058246441185474396, + -0.04403293438201003 + ], + [ + 0.05585945025086403, + 0.9974572658538818, + 0.04425773024559021, + -0.03846545210655998 + ], + [ + -0.060682788491249084, + -0.04085332155227661, + 0.9973207116127014, + 0.44792602408458204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9965658187866211, + -0.05696986988186836, + 0.06009114906191826, + -0.043530740605338535 + ], + [ + 0.05428450182080269, + 0.997492253780365, + 0.0454130545258522, + -0.03944152733858893 + ], + [ + -0.06252763420343399, + -0.041995078325271606, + 0.9971593022346497, + 0.4567616151097943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9963860511779785, + -0.05627990514039993, + 0.06361956149339676, + -0.04291977802948917 + ], + [ + 0.05339501053094864, + 0.9975054264068604, + 0.046172402799129486, + -0.0404559677138048 + ], + [ + -0.06605943292379379, + -0.04260857403278351, + 0.9969055652618408, + 0.4654725201537504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9960622191429138, + -0.056859128177165985, + 0.06802242994308472, + -0.04215914878775092 + ], + [ + 0.05370757728815079, + 0.997435986995697, + 0.04729694128036499, + -0.042640996680540194 + ], + [ + -0.07053728401660919, + -0.04345737397670746, + 0.9965620636940002, + 0.4731852578766206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9959315061569214, + -0.05702411010861397, + 0.06977621465921402, + -0.04175902814604342 + ], + [ + 0.053753811866045, + 0.9974055290222168, + 0.04788236692547798, + -0.045727726203553816 + ], + [ + -0.07232563942670822, + -0.043936822563409805, + 0.9964128732681274, + 0.4803580860634718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9961288571357727, + -0.05440107360482216, + 0.06904976814985275, + -0.04085377420243971 + ], + [ + 0.0511900894343853, + 0.9975610375404358, + 0.047450773417949677, + -0.04918332178803051 + ], + [ + -0.0714627280831337, + -0.0437324196100235, + 0.996484100818634, + 0.4875823814860162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9962418675422668, + -0.054146818816661835, + 0.06760387122631073, + -0.03881008448079228 + ], + [ + 0.0511179193854332, + 0.9976438283920288, + 0.04575816169381142, + -0.051313178241252894 + ], + [ + -0.06992223858833313, + -0.04213042929768562, + 0.9966623783111572, + 0.4957926765549928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9962528347969055, + -0.0542583242058754, + 0.06735196709632874, + -0.03691008548964472 + ], + [ + 0.051276795566082, + 0.9976595044136047, + 0.045235175639390945, + -0.05414705556981703 + ], + [ + -0.06964871287345886, + -0.04161207750439644, + 0.9967033267021179, + 0.5046555763548788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9961004853248596, + -0.056014467030763626, + 0.06816273927688599, + -0.03611254039330079 + ], + [ + 0.0529915951192379, + 0.9975634217262268, + 0.04537714645266533, + -0.05724080516134991 + ], + [ + -0.07053843140602112, + -0.04158814623951912, + 0.9966417551040649, + 0.512323553704054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9960060119628906, + -0.057692475616931915, + 0.06814383715391159, + -0.03551282482769559 + ], + [ + 0.054644905030727386, + 0.9974561929702759, + 0.04577174782752991, + -0.0601363496745334 + ], + [ + -0.07061117142438889, + -0.04186522215604782, + 0.9966250061988831, + 0.5196956579628236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9959902167320251, + -0.05847842991352081, + 0.0677032470703125, + -0.03339954394408885 + ], + [ + 0.05543334037065506, + 0.9974014759063721, + 0.046015579253435135, + -0.06185308668543311 + ], + [ + -0.07021823525428772, + -0.04207805171608925, + 0.9966437816619873, + 0.5287559895420119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9958760142326355, + -0.058728210628032684, + 0.06915189325809479, + -0.030218977875569288 + ], + [ + 0.05561378598213196, + 0.9973859786987305, + 0.0461340993642807, + -0.0636703025768785 + ], + [ + -0.07168050110340118, + -0.042098045349121094, + 0.9965388178825378, + 0.5375197263324962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9954899549484253, + -0.06170159950852394, + 0.07206052541732788, + -0.028507382578819115 + ], + [ + 0.05847367271780968, + 0.9972249865531921, + 0.04607829451560974, + -0.06602707097635549 + ], + [ + -0.07470366358757019, + -0.04165683686733246, + 0.9963353276252747, + 0.5448572316700044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9952688217163086, + -0.06359197944402695, + 0.0734575167298317, + -0.027429760915829854 + ], + [ + 0.06034436076879501, + 0.9971347451210022, + 0.045617010444402695, + -0.06828591490493101 + ], + [ + -0.07614792138338089, + -0.04096844419836998, + 0.9962545037269592, + 0.5526174975942602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9952049255371094, + -0.06443510949611664, + 0.07358814030885696, + -0.025478719383039895 + ], + [ + 0.0612330287694931, + 0.9971098303794861, + 0.04497280344367027, + -0.06968205189880203 + ], + [ + -0.07627328485250473, + -0.04025113210082054, + 0.9962741732597351, + 0.561433244526715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9950919151306152, + -0.06522076576948166, + 0.07441972941160202, + -0.02434333830195315 + ], + [ + 0.061980701982975006, + 0.9970601797103882, + 0.04504898563027382, + -0.07049630144063164 + ], + [ + -0.07713907212018967, + -0.04021529480814934, + 0.9962089657783508, + 0.5702021594761926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9950053095817566, + -0.06562334299087524, + 0.07521983236074448, + -0.023500546462395612 + ], + [ + 0.06223802641034126, + 0.9969774484634399, + 0.04650137573480606, + -0.0726161307271789 + ], + [ + -0.07804404944181442, + -0.04158758372068405, + 0.9960821270942688, + 0.576514067177606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9949945211410522, + -0.06669652462005615, + 0.07441452145576477, + -0.022281760853879593 + ], + [ + 0.06325368583202362, + 0.9968567490577698, + 0.04770316183567047, + -0.07444751560688018 + ], + [ + -0.07736225426197052, + -0.042757391929626465, + 0.9960857629776001, + 0.5833925771362641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951032996177673, + -0.067571260035038, + 0.0721353217959404, + -0.021231850077781608 + ], + [ + 0.06422685831785202, + 0.9967937469482422, + 0.04771936312317848, + -0.07492850580636193 + ], + [ + -0.07512848824262619, + -0.042852673679590225, + 0.9962526559829712, + 0.5899954298209837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.995218813419342, + -0.06855342537164688, + 0.06956963986158371, + -0.020150180796489996 + ], + [ + 0.0653330609202385, + 0.9967296123504639, + 0.04755709692835808, + -0.07548254588071038 + ], + [ + -0.07260232418775558, + -0.04278452321887016, + 0.9964428544044495, + 0.5949758250923718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9953156113624573, + -0.0696500912308693, + 0.06704965233802795, + -0.01898205020081471 + ], + [ + 0.06653843075037003, + 0.9966489672660828, + 0.047575924545526505, + -0.07622960494721637 + ], + [ + -0.07013863325119019, + -0.04289168491959572, + 0.9966146945953369, + 0.5997188214404399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.995322048664093, + -0.07163078337907791, + 0.06483083218336105, + -0.018201613886391417 + ], + [ + 0.06859711557626724, + 0.996495246887207, + 0.04787095636129379, + -0.077267206065795 + ], + [ + -0.0680326446890831, + -0.0431998148560524, + 0.9967473745346069, + 0.6044353968409054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9954203367233276, + -0.07270568609237671, + 0.06206626072525978, + -0.01807538000318934 + ], + [ + 0.06976461410522461, + 0.996393084526062, + 0.04830855876207352, + -0.07880433455986136 + ], + [ + -0.06535469740629196, + -0.04375729709863663, + 0.9969022274017334, + 0.6077974150779054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.99559485912323, + -0.07308924198150635, + 0.05872679129242897, + -0.018119486793875695 + ], + [ + 0.07025165855884552, + 0.9963244199752808, + 0.049013443291187286, + -0.0808987021446228 + ], + [ + -0.06209329143166542, + -0.04467187821865082, + 0.9970701336860657, + 0.6110115356743335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9958266615867615, + -0.07323498278856277, + 0.05446045473217964, + -0.016644744569545282 + ], + [ + 0.07058323174715042, + 0.9962958097457886, + 0.04911907762289047, + -0.0817041550489033 + ], + [ + -0.057855959981679916, + -0.045070089399814606, + 0.9973070621490479, + 0.6153184458996881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9960190057754517, + -0.07306047528982162, + 0.05107180029153824, + -0.0161749778644127 + ], + [ + 0.07057126611471176, + 0.9963047504425049, + 0.04895409569144249, + -0.0823281880687265 + ], + [ + -0.05445968359708786, + -0.045155007392168045, + 0.9974944591522217, + 0.6182662339826279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9961717128753662, + -0.0735897421836853, + 0.04718580096960068, + -0.015591911084073432 + ], + [ + 0.07134799659252167, + 0.9963172674179077, + 0.04755410552024841, + -0.08194810020572998 + ], + [ + -0.050511524081230164, + -0.044005438685417175, + 0.9977535009384155, + 0.62188386823982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.996304452419281, + -0.07425748556852341, + 0.0431654192507267, + -0.01582344929304193 + ], + [ + 0.07225777953863144, + 0.9963164925575256, + 0.04617597907781601, + -0.08305775575778063 + ], + [ + -0.04643533006310463, + -0.042886294424533844, + 0.9980002641677856, + 0.6249925586668884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9965529441833496, + -0.07330599427223206, + 0.03883861377835274, + -0.015921229397987617 + ], + [ + 0.07166951894760132, + 0.9965448379516602, + 0.04197457432746887, + -0.08297549345914054 + ], + [ + -0.041781406849622726, + -0.03904633969068527, + 0.9983634948730469, + 0.6285034502308596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9966990351676941, + -0.07295083999633789, + 0.03562513738870621, + -0.016224110082668417 + ], + [ + 0.07164378464221954, + 0.9967554807662964, + 0.036683738231658936, + -0.08382799748112174 + ], + [ + -0.038185663521289825, + -0.034010328352451324, + 0.998691737651825, + 0.6299589706584812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968019127845764, + -0.07308874279260635, + 0.03231128305196762, + -0.016870640355217105 + ], + [ + 0.07209747284650803, + 0.9969204068183899, + 0.030848726630210876, + -0.08320468160159447 + ], + [ + -0.03446647524833679, + -0.02842050790786743, + 0.999001681804657, + 0.6330813136609161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9969727396965027, + -0.07199066877365112, + 0.02937217615544796, + -0.018608445213998064 + ], + [ + 0.07122749090194702, + 0.9971145987510681, + 0.02625202015042305, + -0.08267977255232194 + ], + [ + -0.031177325174212456, + -0.024080440402030945, + 0.9992237687110901, + 0.6350311264833983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9970915913581848, + -0.07131411880254745, + 0.0268830806016922, + -0.019968755888369154 + ], + [ + 0.07070062309503555, + 0.9972295761108398, + 0.023120740428566933, + -0.0818162169526605 + ], + [ + -0.028457440435886383, + -0.02115284465253353, + 0.9993711709976196, + 0.6363157748313183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9970829486846924, + -0.07194807380437851, + 0.025476088747382164, + -0.021159282315741566 + ], + [ + 0.07139218598604202, + 0.997203528881073, + 0.022096725180745125, + -0.08221835765768501 + ], + [ + -0.02699466235935688, + -0.020213475450873375, + 0.9994311928749084, + 0.6376600942273131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9972251057624817, + -0.07024294137954712, + 0.024657217785716057, + -0.022524293906548445 + ], + [ + 0.06973440945148468, + 0.9973464012145996, + 0.020912213250994682, + -0.08159008429330937 + ], + [ + -0.026060720905661583, + -0.019134728237986565, + 0.999477207660675, + 0.6404068518197163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9972787499427795, + -0.06950578838586807, + 0.02457793988287449, + -0.024417764342883053 + ], + [ + 0.06902136653661728, + 0.9974139332771301, + 0.020038142800331116, + -0.08167328641695135 + ], + [ + -0.02590714581310749, + -0.018287211656570435, + 0.9994970560073853, + 0.6419664884314817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9973351359367371, + -0.06875816732645035, + 0.02439253404736519, + -0.026301298098748222 + ], + [ + 0.06830472499132156, + 0.9974843263626099, + 0.01896042190492153, + -0.08093537346405141 + ], + [ + -0.025634855031967163, + -0.017243770882487297, + 0.9995226263999939, + 0.6440905025790391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9973889589309692, + -0.0680261105298996, + 0.024243749678134918, + -0.02873530041645555 + ], + [ + 0.06759145855903625, + 0.9975448846817017, + 0.01831889897584915, + -0.08010876652072457 + ], + [ + -0.02543039247393608, + -0.01663239672780037, + 0.999538242816925, + 0.6459415083586731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9974722862243652, + -0.06683147698640823, + 0.024136971682310104, + -0.03080704757286345 + ], + [ + 0.06641025096178055, + 0.9976326823234558, + 0.01785174570977688, + -0.0789487976799993 + ], + [ + -0.02527289092540741, + -0.016203681007027626, + 0.9995492696762085, + 0.6478720898808473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9974761605262756, + -0.06644415855407715, + 0.02502881921827793, + -0.03224771401899702 + ], + [ + 0.06600800156593323, + 0.9976590871810913, + 0.01786806993186474, + -0.07819123180473551 + ], + [ + -0.026157459244132042, + -0.016170872375369072, + 0.9995270371437073, + 0.6490529834183262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9974320530891418, + -0.066026471555233, + 0.02774462103843689, + -0.03344009583815932 + ], + [ + 0.06557229906320572, + 0.9977034330368042, + 0.016973629593849182, + -0.07612880319356918 + ], + [ + -0.028801612555980682, + -0.015110764652490616, + 0.9994709491729736, + 0.6521772870328277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9973422884941101, + -0.06427687406539917, + 0.03430437296628952, + -0.035418234414914075 + ], + [ + 0.06373713910579681, + 0.9978286027908325, + 0.016603000462055206, + -0.07568129739340614 + ], + [ + -0.03529707342386246, + -0.014372413046658039, + 0.9992735385894775, + 0.653484173525837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9971978068351746, + -0.061561260372400284, + 0.04250640049576759, + -0.037396067246685136 + ], + [ + 0.06095363572239876, + 0.9980210661888123, + 0.015447130426764488, + -0.07569736308034729 + ], + [ + -0.0433732308447361, + -0.012812923640012741, + 0.9989767670631409, + 0.6538841456476161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9969214200973511, + -0.06044849753379822, + 0.04993629455566406, + -0.04120129828943926 + ], + [ + 0.05985001474618912, + 0.9981175065040588, + 0.013395830988883972, + -0.07655947155812207 + ], + [ + -0.050652049481868744, + -0.010365903377532959, + 0.9986625909805298, + 0.6523407063063453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9968252778053284, + -0.0590817965567112, + 0.053373415023088455, + -0.04479717123870026 + ], + [ + 0.058602262288331985, + 0.9982261061668396, + 0.010506652295589447, + -0.07572667848537949 + ], + [ + -0.05389948561787605, + -0.007345493882894516, + 0.9985193610191345, + 0.6533152001992087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9968588948249817, + -0.057854894548654556, + 0.054085154086351395, + -0.04842361350379446 + ], + [ + 0.057380709797143936, + 0.9982994198799133, + 0.010280872695147991, + -0.07548951445256963 + ], + [ + -0.05458797886967659, + -0.007145135197788477, + 0.998483419418335, + 0.6532805004150278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9967024326324463, + -0.062055427581071854, + 0.052281834185123444, + -0.051780838319374356 + ], + [ + 0.061561573296785355, + 0.9980425834655762, + 0.011005599983036518, + -0.07541880029089311 + ], + [ + -0.05286245793104172, + -0.007750756107270718, + 0.9985716938972473, + 0.6519585880307097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9970519542694092, + -0.058376602828502655, + 0.04979538917541504, + -0.05477552893845474 + ], + [ + 0.05786430835723877, + 0.998256266117096, + 0.011669527739286423, + -0.07557153386228224 + ], + [ + -0.050389789044857025, + -0.00875375047326088, + 0.9986912608146667, + 0.6542171902625876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9973938465118408, + -0.0521683432161808, + 0.04983992874622345, + -0.055117689262089486 + ], + [ + 0.051729414612054825, + 0.9986104965209961, + 0.010057361796498299, + -0.07306874534663031 + ], + [ + -0.050295352935791016, + -0.007452960591763258, + 0.998706579208374, + 0.6587697550890665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9970531463623047, + -0.05147377774119377, + 0.05688166245818138, + -0.0525785620433881 + ], + [ + 0.05099886283278465, + 0.9986509084701538, + 0.00977044366300106, + -0.07586261419688954 + ], + [ + -0.05730784311890602, + -0.0068407510407269, + 0.9983330965042114, + 0.6553226383628926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9950366020202637, + -0.052201803773641586, + 0.08471806347370148, + -0.05610620730337413 + ], + [ + 0.0523030050098896, + 0.9986307621002197, + 0.0010260477429255843, + -0.06966754969428567 + ], + [ + -0.08465562760829926, + 0.0034100539050996304, + 0.9964044094085693, + 0.6626228315444143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9947372078895569, + -0.05204939842224121, + 0.0882539302110672, + -0.05910052376634935 + ], + [ + 0.05202095955610275, + 0.9986425638198853, + 0.002623802050948143, + -0.06891824340119082 + ], + [ + -0.08827069401741028, + 0.0019810604862868786, + 0.9960945248603821, + 0.6618582080940113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9944118857383728, + -0.05018734931945801, + 0.09287761151790619, + -0.06257360858075758 + ], + [ + 0.050263866782188416, + 0.9987348318099976, + 0.0015166690573096275, + -0.06850920047830132 + ], + [ + -0.09283621609210968, + 0.0031601935625076294, + 0.9956763982772827, + 0.661296994688318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9942619204521179, + -0.04800444468855858, + 0.09559683501720428, + -0.06485082896645455 + ], + [ + 0.048201728612184525, + 0.9988375902175903, + 0.0002457930240780115, + -0.06574577654109282 + ], + [ + -0.09549751877784729, + 0.0043635498732328415, + 0.9954200983047485, + 0.6633079825708752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9939408302307129, + -0.04743286967277527, + 0.09915495663881302, + -0.06766771913013038 + ], + [ + 0.04777016490697861, + 0.9988577961921692, + -0.0010289375204592943, + -0.06268890609636026 + ], + [ + -0.09899289160966873, + 0.005759350955486298, + 0.9950714707374573, + 0.6646744486875832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9936599135398865, + -0.047551821917295456, + 0.10187626630067825, + -0.07167356149019564 + ], + [ + 0.04790669307112694, + 0.9988512992858887, + -0.0010381382890045643, + -0.060946284848100996 + ], + [ + -0.10170987993478775, + 0.0059121111407876015, + 0.9947965145111084, + 0.6636406357044026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9936466813087463, + -0.04581461101770401, + 0.10279719531536102, + -0.07537164951619857 + ], + [ + 0.04620564728975296, + 0.9989309310913086, + -0.0014247368089854717, + -0.05861295759677887 + ], + [ + -0.10262201726436615, + 0.00616549514234066, + 0.9947013258934021, + 0.6636838870985872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9936120510101318, + -0.04432826489210129, + 0.1037788838148117, + -0.07870284412056208 + ], + [ + 0.04476667940616608, + 0.9989956617355347, + -0.0018979893065989017, + -0.05651079416275023 + ], + [ + -0.10359051823616028, + 0.0065317009575665, + 0.9945985674858093, + 0.6645924914977513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.993478536605835, + -0.042452987283468246, + 0.10582110285758972, + -0.0815496923538911 + ], + [ + 0.0429309718310833, + 0.9990755319595337, + -0.0022420664317905903, + -0.05467788971522275 + ], + [ + -0.10562808811664581, + 0.006770447362214327, + 0.9943826794624329, + 0.6659862825780531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9930721521377563, + -0.041942112147808075, + 0.10976609587669373, + -0.08476382209097638 + ], + [ + 0.04246654361486435, + 0.9990949034690857, + -0.0024432765785604715, + -0.05330029901336221 + ], + [ + -0.10956427454948425, + 0.007087736390531063, + 0.9939544200897217, + 0.6669792120235369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9925575256347656, + -0.04089852049946785, + 0.11470337957143784, + -0.08934389614938375 + ], + [ + 0.04141625389456749, + 0.9991397261619568, + -0.002133152447640896, + -0.053173723685390806 + ], + [ + -0.1145174577832222, + 0.006867860443890095, + 0.9933974742889404, + 0.6657900177250506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.992238461971283, + -0.03858504816889763, + 0.11821196228265762, + -0.09363288856933222 + ], + [ + 0.039100971072912216, + 0.9992331862449646, + -0.002047380432486534, + -0.05303628804052578 + ], + [ + -0.11804231256246567, + 0.00665369164198637, + 0.992986261844635, + 0.6660163167959956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9921202659606934, + -0.03679672256112099, + 0.11976390331983566, + -0.09759551427765366 + ], + [ + 0.03735599294304848, + 0.9992990493774414, + -0.002427326049655676, + -0.052575772650101604 + ], + [ + -0.1195906326174736, + 0.006882098037749529, + 0.9927994608879089, + 0.665519844155471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.992163896560669, + -0.03616788238286972, + 0.11959368735551834, + -0.10033799832796349 + ], + [ + 0.03678654134273529, + 0.9993187189102173, + -0.002968678018078208, + -0.0513204095994725 + ], + [ + -0.11940484493970871, + 0.0073448531329631805, + 0.9928184747695923, + 0.6658034687642665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9922200441360474, + -0.03595837205648422, + 0.11919046938419342, + -0.10231929140384582 + ], + [ + 0.03664446622133255, + 0.9993219971656799, + -0.0035689359065145254, + -0.04897409112137906 + ], + [ + -0.11898133158683777, + 0.007908840663731098, + 0.9928649663925171, + 0.6663864600205082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9921925663948059, + -0.036252349615097046, + 0.1193300113081932, + -0.1043391966206186 + ], + [ + 0.03695765137672424, + 0.9993099570274353, + -0.0037021380849182606, + -0.04677004630074781 + ], + [ + -0.11911345273256302, + 0.008083390071988106, + 0.992847740650177, + 0.6670392158249503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9922837615013123, + -0.03734463453292847, + 0.11822976917028427, + -0.10582704925361802 + ], + [ + 0.038052625954151154, + 0.9992687702178955, + -0.0037357674445956945, + -0.045001649330644045 + ], + [ + -0.11800380796194077, + 0.008205894380807877, + 0.9929792284965515, + 0.6671380084637991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9925388097763062, + -0.03676077723503113, + 0.11625554412603378, + -0.10824651367524091 + ], + [ + 0.0374995619058609, + 0.9992879033088684, + -0.004173297435045242, + -0.04313032556982602 + ], + [ + -0.1160193458199501, + 0.008501690812408924, + 0.9932105541229248, + 0.6672618023941622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9929136037826538, + -0.037054579704999924, + 0.11291372030973434, + -0.10924920061438838 + ], + [ + 0.037839170545339584, + 0.9992722272872925, + -0.004812650382518768, + -0.040961749062818645 + ], + [ + -0.1126532182097435, + 0.009051106870174408, + 0.993593156337738, + 0.6664825764813406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9931296110153198, + -0.03779323771595955, + 0.11074851453304291, + -0.11046017511912129 + ], + [ + 0.038625892251729965, + 0.9992392659187317, + -0.005381845869123936, + -0.038908206277033855 + ], + [ + -0.11046086251735687, + 0.00962262973189354, + 0.9938338994979858, + 0.6658264725907322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9932031631469727, + -0.03928679600358009, + 0.10956262052059174, + -0.11166249488151687 + ], + [ + 0.04020237550139427, + 0.999172568321228, + -0.006159412208944559, + -0.036291171522701476 + ], + [ + -0.10922998189926147, + 0.010522225871682167, + 0.9939607977867126, + 0.6660506414345411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9931519031524658, + -0.040807656943798065, + 0.10947147756814957, + -0.11336672566831112 + ], + [ + 0.04177039861679077, + 0.9991059899330139, + -0.006514727137982845, + -0.03403484768727247 + ], + [ + -0.10910775512456894, + 0.011042780242860317, + 0.9939686059951782, + 0.6665486213340259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9931012392044067, + -0.04114844277501106, + 0.10980332642793655, + -0.11478382035925547 + ], + [ + 0.04216104373335838, + 0.9990869164466858, + -0.00691519770771265, + -0.03149326062377761 + ], + [ + -0.10941851884126663, + 0.011496913619339466, + 0.9939292669296265, + 0.6672305993194801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9929545521736145, + -0.04177621379494667, + 0.11088751256465912, + -0.11578308135161505 + ], + [ + 0.042787063866853714, + 0.9990614056587219, + -0.006751073524355888, + -0.029401485446621384 + ], + [ + -0.11050139367580414, + 0.011448059231042862, + 0.9938100576400757, + 0.6681349634412018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9927260875701904, + -0.04155769944190979, + 0.11299505084753036, + -0.11731337569653988 + ], + [ + 0.042560867965221405, + 0.9990728497505188, + -0.00647918414324522, + -0.02797004058957099 + ], + [ + -0.11262103170156479, + 0.011241222731769085, + 0.9935744404792786, + 0.6680011264630593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9925193190574646, + -0.04183449223637581, + 0.11469627916812897, + -0.11870254609076415 + ], + [ + 0.04282226786017418, + 0.9990637302398682, + -0.0061606913805007935, + -0.027041124508661377 + ], + [ + -0.11433115601539612, + 0.011026158928871155, + 0.9933815002441406, + 0.6681161816505825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9923714399337769, + -0.04160330072045326, + 0.11605221778154373, + -0.1202768378863659 + ], + [ + 0.042577262967824936, + 0.9990755915641785, + -0.00592509051784873, + -0.02658507635488229 + ], + [ + -0.1156984344124794, + 0.010821076110005379, + 0.9932254552841187, + 0.6676460141329752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9922388195991516, + -0.04172558709979057, + 0.1171373501420021, + -0.12139416533686659 + ], + [ + 0.0427076555788517, + 0.9990702867507935, + -0.0058854022063314915, + -0.02603130147737613 + ], + [ + -0.11678286641836166, + 0.01084238663315773, + 0.993098258972168, + 0.6681107255301493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9921472072601318, + -0.0417044572532177, + 0.11791792511940002, + -0.12245386429404949 + ], + [ + 0.04271174594759941, + 0.9990692734718323, + -0.0060270680114626884, + -0.025516850413645 + ], + [ + -0.11755682528018951, + 0.011016218923032284, + 0.9930050373077393, + 0.6679672880461166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9921106696128845, + -0.04113752394914627, + 0.1184237003326416, + -0.12402801511480528 + ], + [ + 0.04216334968805313, + 0.9990916848182678, + -0.0061689564026892185, + -0.025032518628765543 + ], + [ + -0.11806236207485199, + 0.011113427579402924, + 0.9929440021514893, + 0.6676754992893513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9921705722808838, + -0.040383920073509216, + 0.11818083375692368, + -0.12521169066210003 + ], + [ + 0.041426852345466614, + 0.9991211891174316, + -0.006380652077496052, + -0.024463653126183676 + ], + [ + -0.11781930178403854, + 0.011226554401218891, + 0.9929715991020203, + 0.6668604380512775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9922382235527039, + -0.04174836352467537, + 0.11713404953479767, + -0.1256727114045883 + ], + [ + 0.04281478002667427, + 0.9990612268447876, + -0.006601773202419281, + -0.023612303944195015 + ], + [ + -0.11674846708774567, + 0.011565599590539932, + 0.9930941462516785, + 0.6665871204205734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9923568367958069, + -0.04154236614704132, + 0.11619852483272552, + -0.12667983054895612 + ], + [ + 0.042584531009197235, + 0.9990717172622681, + -0.006499606184661388, + -0.023120957963606886 + ], + [ + -0.11582064628601074, + 0.011398187838494778, + 0.9932047128677368, + 0.6662166413200526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9924716949462891, + -0.040945712476968765, + 0.1154269352555275, + -0.12763248944983763 + ], + [ + 0.041992370039224625, + 0.9990957975387573, + -0.006649632006883621, + -0.02232314172913047 + ], + [ + -0.1150502935051918, + 0.011446621268987656, + 0.9932937026023865, + 0.666449879548129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9925404191017151, + -0.04092920571565628, + 0.11484016478061676, + -0.1286056303857442 + ], + [ + 0.04202362149953842, + 0.9990912079811096, + -0.007124121300876141, + -0.021136198368142636 + ], + [ + -0.11444421112537384, + 0.011896978132426739, + 0.9933584332466125, + 0.666249482253539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9925409555435181, + -0.04142451658844948, + 0.11465805023908615, + -0.1299163360860856 + ], + [ + 0.04255376383662224, + 0.9990666508674622, + -0.007417707704007626, + -0.020161567365421976 + ], + [ + -0.1142437532544136, + 0.01224150974303484, + 0.9933773279190063, + 0.6662241675795111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.992602527141571, + -0.04105403646826744, + 0.1142573431134224, + -0.13126029027352 + ], + [ + 0.04219072684645653, + 0.9990810751914978, + -0.007547091692686081, + -0.019552706839407186 + ], + [ + -0.11384250968694687, + 0.012311862781643867, + 0.9934225082397461, + 0.6656489652896519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9926797747612, + -0.040385738015174866, + 0.11382365226745605, + -0.1327006191453513 + ], + [ + 0.04156218469142914, + 0.9991040229797363, + -0.007980654016137123, + -0.01844388342955533 + ], + [ + -0.11339937150478363, + 0.012652993202209473, + 0.9934689402580261, + 0.6655917072997374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9927608966827393, + -0.03864942491054535, + 0.11371913552284241, + -0.13430678041323144 + ], + [ + 0.0398876890540123, + 0.9991669058799744, + -0.008632815442979336, + -0.017427598422064497 + ], + [ + -0.11329074203968048, + 0.013106315396726131, + 0.9934754371643066, + 0.665021759421592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9927971959114075, + -0.03803517296910286, + 0.11360922455787659, + -0.13574899811407223 + ], + [ + 0.03929052874445915, + 0.9991888403892517, + -0.008830349892377853, + -0.016682679249959836 + ], + [ + -0.1131812036037445, + 0.013230513781309128, + 0.9934862852096558, + 0.6649714523871594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9928642511367798, + -0.037470653653144836, + 0.11321013420820236, + -0.1369811195113203 + ], + [ + 0.038744814693927765, + 0.9992079138755798, + -0.009074865840375423, + -0.01574417006443528 + ], + [ + -0.11278042942285538, + 0.013396414928138256, + 0.9935296177864075, + 0.6643982049221556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9929565191268921, + -0.03580467402935028, + 0.11293946206569672, + -0.1381577268242836 + ], + [ + 0.037047915160655975, + 0.9992735981941223, + -0.008927824907004833, + -0.015183730423450462 + ], + [ + -0.11253777146339417, + 0.013049113564193249, + 0.9935617446899414, + 0.6647227871231735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/pan_left/transforms.json b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1e0a8d8c94c8533480a2acda5384b490623c4c34 --- /dev/null +++ b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/pan_left/transforms.json @@ -0,0 +1,4808 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 137, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00015281095693353564, + 9.454473183723167e-05, + -0.00017298538296017796 + ], + [ + -0.00015282332606147975, + 1.0, + 0.0001308531645918265, + -0.0003619329072535038 + ], + [ + -9.452473750570789e-05, + -0.00013086760009173304, + 1.0, + -0.00011619761789916083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999986537946537, + 0.00029360686312429607, + -0.0016308627272327901, + 0.00016911688726395369 + ], + [ + -0.00029245646350018677, + 0.9999997019767761, + 0.0007056006190606172, + -0.00047324711340479553 + ], + [ + 0.0016310693707521913, + -0.0007051227148622274, + 0.9999984149778445, + 0.00047807683586142957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999971395206243, + 0.0007547845016233625, + -0.0022809325897064662, + 2.7091216907138005e-05 + ], + [ + -0.0007507774734339666, + 0.9999981522560122, + 0.0017570907818470882, + -0.0013218180974945426 + ], + [ + 0.0022822546626983507, + -0.0017553733196109538, + 0.999995882723813, + 0.001428076415322721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999995958640756, + -8.561230060877278e-05, + -0.0028338476516748252, + 0.0001276489201700315 + ], + [ + 9.270941780439084e-05, + 0.9999968409538269, + 0.002504375266809665, + -0.0015185551019385457 + ], + [ + 0.0028336243993380044, + -0.002504628151655197, + 0.9999928604368366, + 0.004180945456027985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999921887027267, + 0.0001408472453476861, + -0.0039432725850604144, + -0.0015555578283965588 + ], + [ + -0.00012813566636516257, + 0.9999948143959045, + 0.003223678097889476, + -0.0012329687597230077 + ], + [ + 0.003943706219886935, + -0.0032231477089226246, + 0.9999869996058546, + 0.006098080892115831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999825651538532, + 0.0007249152986332774, + -0.005855979527136686, + -0.001692118588835001 + ], + [ + -0.0006958884102573179, + 0.9999874830245972, + 0.004957312037667992, + -0.002343103988096118 + ], + [ + 0.00585949993146899, + -0.004953150637447834, + 0.9999705501804337, + 0.008316236548125744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999730164763658, + 0.0006774791399948299, + -0.007311279256716188, + -0.0016577548813074827 + ], + [ + -0.0006306029686136377, + 0.9999792575836182, + 0.006411895696333742, + -0.0029585252050310373 + ], + [ + 0.007315471475971275, + -0.006407111883163452, + 0.9999527011231616, + 0.013228733092546463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999620825295122, + 0.0015402118442580104, + -0.008573742647722269, + -0.0046974364668130875 + ], + [ + -0.001478045251951651, + 0.9999725818634033, + 0.007252419483509612, + -0.003386715892702341 + ], + [ + 0.008584677834415851, + -0.007239471655339003, + 0.9999369585556089, + 0.01635466143488884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999347440133909, + 0.0018369132885709405, + -0.011275339334099709, + -0.005950267426669598 + ], + [ + -0.0017516931461092169, + 0.9999698400497437, + 0.00756331868239891, + -0.0027727270498871803 + ], + [ + 0.011288892584217804, + -0.007543074432760477, + 0.9999078292297406, + 0.02169826626777649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998857237822943, + 0.000492562132421881, + -0.015110137533814544, + -0.004710194189101458 + ], + [ + -0.0003616822481242807, + 0.9999623894691467, + 0.00866323789963075, + -0.004574342630803585 + ], + [ + 0.015113835926037652, + -0.00865678209811449, + 0.9998482819797131, + 0.027172377333045006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998466799697464, + -0.00048746351967565715, + -0.01750537974027838, + -0.0057930732145905495 + ], + [ + 0.0006477788193752619, + 0.9999579191207886, + 0.009153558460314603, + -0.0037898861337453127 + ], + [ + 0.017500180244197215, + -0.009163495153188705, + 0.9998048702420702, + 0.03322838619351387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998026707444627, + -0.0008615814149379732, + -0.019846356303641326, + -0.0056221061386168 + ], + [ + 0.001067239383083404, + 0.9999458193778994, + 0.010354247871428315, + -0.004437072202563286 + ], + [ + 0.01983635959292093, + -0.010373385623097421, + 0.9997494051009961, + 0.041547197848558426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9997561214339012, + -0.0009955024579539895, + -0.02206227816515901, + -0.0071638463996350765 + ], + [ + 0.001243656514006257, + 0.9999361038208008, + 0.011237024219223431, + -0.0043867286294698715 + ], + [ + 0.022049681463877067, + -0.011261722072958946, + 0.9996934531668745, + 0.05093706026673317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996964060801359, + 8.155935211107136e-05, + -0.02463986267460951, + -0.010107988491654396 + ], + [ + 0.00021154108556902115, + 0.9999292492866518, + 0.011892535393630973, + -0.00442089606076479 + ], + [ + 0.024639089170163355, + -0.01189413666725159, + 0.999625652568215, + 0.059294335544109344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9995940464826768, + -0.00021074646792840213, + -0.028491143690186693, + -0.010891747660934925 + ], + [ + 0.0005714562232694577, + 0.9999197721481323, + 0.012652867506895598, + -0.005062101874500513 + ], + [ + 0.028486191633071884, + -0.012664012610912323, + 0.9995139826035245, + 0.06987272202968597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9994572518617431, + -0.0003232348244637251, + -0.03294072843037924, + -0.014067142270505428 + ], + [ + 0.0007716961481247519, + 0.9999071955680847, + 0.013602385106378482, + -0.006438728887587786 + ], + [ + 0.032933274036691454, + -0.013620423153042793, + 0.9993647432919495, + 0.08073484897613525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9992429369806147, + -0.0022558749187737703, + -0.03883921577656571, + -0.014245999976992607 + ], + [ + 0.0028107454784577846, + 0.9998946785926819, + 0.014237681083722161, + -0.007726924493908882 + ], + [ + 0.038803007545182414, + -0.014336069114506245, + 0.9991440481248972, + 0.0950428918004036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9990119545000318, + -0.005450161639600992, + -0.04410632168922798, + -0.01340645644813776 + ], + [ + 0.006120183875074974, + 0.9998676776885986, + 0.015070327078332644, + -0.01012837328016758 + ], + [ + 0.04401835117719895, + -0.015325376763939857, + 0.9989131539961316, + 0.1091349795460701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9988198587935352, + -0.0051442356780171394, + -0.048295724694546294, + -0.011844257824122906 + ], + [ + 0.005903312665749893, + 0.9998610615730286, + 0.015587822848749723, + -0.011447794735431671 + ], + [ + 0.04820882849250006, + -0.015854530036449432, + 0.99871146259635, + 0.12415996193885803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9987094219861312, + -0.0056027937680482864, + -0.0504788970281107, + -0.011462942697107792 + ], + [ + 0.0064276802249749925, + 0.9998481869697571, + 0.016193722483211877, + -0.013417365029454231 + ], + [ + 0.05038050439020227, + -0.016497284173965454, + 0.998593852514462, + 0.13931068778038025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9987151009240679, + -0.005516846664249897, + -0.050375351720843085, + -0.009741561487317085 + ], + [ + 0.006396117853929181, + 0.9998297095298767, + 0.017309911077601044, + -0.016330091282725334 + ], + [ + 0.05027127901729777, + -0.01760987751185894, + 0.9985803664780054, + 0.1559232473373413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9988880097555525, + -0.004238581284880638, + -0.046955597285992134, + -0.009159195236861706 + ], + [ + 0.005098365542886598, + 0.9998212456703186, + 0.01820597957988025, + -0.01871042512357235 + ], + [ + 0.04687003608573012, + -0.01842513121664524, + 0.9987310625051984, + 0.17317180335521698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9991066645713094, + -0.0027829306200146675, + -0.04216814922256502, + -0.013469716534018517 + ], + [ + 0.0036233594628444546, + 0.9997960925102234, + 0.019867119969327947, + -0.022921958938241005 + ], + [ + 0.04210426007243148, + -0.02000216208398342, + 0.9989129773067144, + 0.18943612277507782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9991679759514799, + -0.002705466700717807, + -0.04069477233899481, + -0.015492444857954979 + ], + [ + 0.00355007816934823, + 0.9997795224189758, + 0.020696866447955153, + -0.025040797889232635 + ], + [ + 0.04062980423638954, + -0.020824115723371506, + 0.9989572603438893, + 0.2050391286611557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9992243424481384, + -0.0008035755599848928, + -0.03937148325330571, + -0.017679719254374504 + ], + [ + 0.0016643659950545914, + 0.9997602105140688, + 0.021835402212347133, + -0.028358178213238716 + ], + [ + 0.03934449350430162, + -0.02188399247825146, + 0.9989860219853833, + 0.22212089598178864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9993135765007014, + -0.0009113797568716109, + -0.037034591724701804, + -0.02032850682735443 + ], + [ + 0.0017667241685113645, + 0.9997323155403137, + 0.023069665989112614, + -0.03148331120610237 + ], + [ + 0.03700365169447642, + -0.023119259625673294, + 0.999047668635732, + 0.23756995797157288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9993639412273814, + -0.0012546045472845435, + -0.035638330775512254, + -0.022158870473504066 + ], + [ + 0.002120494236094512, + 0.9997032284736633, + 0.024269184646410046, + -0.03439844772219658 + ], + [ + 0.035597307245292475, + -0.02432931959629059, + 0.9990700461343011, + 0.25256508588790894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9993872306408516, + -0.0018739805091172457, + -0.03495229767562255, + -0.024862127378582954 + ], + [ + 0.0027919682617206227, + 0.9996519088745117, + 0.026233731975127912, + -0.037628527730703354 + ], + [ + 0.03489097059877839, + -0.026315242052078247, + 0.9990446046828305, + 0.2677290737628937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9994036561106208, + -0.0024722174275666475, + -0.034441605117756, + -0.025971215218305588 + ], + [ + 0.003446460551669874, + 0.9995947480201721, + 0.02825622187235192, + -0.03989826515316963 + ], + [ + 0.034357791726810624, + -0.02835807204246521, + 0.9990071716579743, + 0.2831619083881378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9995088667058211, + -0.0019073485163971786, + -0.031279385664439954, + -0.025966577231884003 + ], + [ + 0.0028437175404313255, + 0.9995483160018923, + 0.029918547674366913, + -0.04107743501663208 + ], + [ + 0.03120819162190413, + -0.029992803931236274, + 0.9990627847149575, + 0.29722529649734497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9996928779833014, + -0.0014825770631432533, + -0.02473883421885823, + -0.02842785231769085 + ], + [ + 0.002267496039997399, + 0.9994938969612122, + 0.0317303905123275, + -0.043901942670345306 + ], + [ + 0.02467926748528663, + -0.03177674114704132, + 0.9991902691942065, + 0.31044286489486694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9998051894913865, + -0.002125207334756851, + -0.01962281771817133, + -0.03223524987697601 + ], + [ + 0.0027759934828452608, + 0.9994449615478516, + 0.033197311648396864, + -0.04708075150847435 + ], + [ + 0.019541374498877523, + -0.03324531391263008, + 0.9992561767836702, + 0.3213306963443756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9998298136047516, + -0.003292481880635023, + -0.0181519438549083, + -0.03441808372735977 + ], + [ + 0.00391425861471488, + 0.9994030594825745, + 0.034325587321551186, + -0.050083816051483154 + ], + [ + 0.018028087243017202, + -0.03439079970121384, + 0.9992458274845283, + 0.33252620697021484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.999835430269562, + -0.003975925035774708, + -0.017701942795408116, + -0.0345519483089447 + ], + [ + 0.004595917080395596, + 0.9993724822998047, + 0.0351221569452518, + -0.052762653678655624 + ], + [ + 0.017551194155365688, + -0.03519773483276367, + 0.9992262672983435, + 0.34394657611846924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9998474645205487, + -0.0062836636789143085, + -0.016294755374444372, + -0.03568021208047867 + ], + [ + 0.006869493364635979, + 0.9993228316307068, + 0.03614886791988239, + -0.055947091430425644 + ], + [ + 0.01605657399380383, + -0.03625529259443283, + 0.9992135441487027, + 0.3541165292263031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9998410644705512, + -0.008156390860676767, + -0.015851189362711245, + -0.03780079260468483 + ], + [ + 0.008742228924742572, + 0.9992678165435793, + 0.03724773426998968, + -0.05899966135621071 + ], + [ + 0.015535781908756078, + -0.03738038986921311, + 0.9991803532606928, + 0.3629840314388275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9998012929036185, + -0.009955805726349354, + -0.01726966038136117, + -0.04067706689238548 + ], + [ + 0.01061185434346706, + 0.9992091059684753, + 0.03832240186368721, + -0.06207069754600525 + ], + [ + 0.016874468603276516, + -0.03849804773926735, + 0.9991161682346246, + 0.3723891079425812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9996875023058635, + -0.014606578275561333, + -0.02028719026632921, + -0.041702255606651306 + ], + [ + 0.015388213569287035, + 0.999123752117157, + 0.038922379439020216, + -0.06412182003259659 + ], + [ + 0.019700891418596565, + -0.03922240063548088, + 0.999036280256364, + 0.38156092166900635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9995722507962626, + -0.0184905007481575, + -0.022659280044608657, + -0.042346514761447906 + ], + [ + 0.019364573319659087, + 0.9990522265434265, + 0.03898248550259548, + -0.06511080265045166 + ], + [ + 0.02191699883255145, + -0.039404597133398056, + 0.9989829224856824, + 0.39038118720054626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9994575342775937, + -0.022734466940164566, + -0.02382883751694245, + -0.04164087399840355 + ], + [ + 0.023658996475852855, + 0.9989487528800964, + 0.03926305803636197, + -0.06658606976270676 + ], + [ + 0.022911162054164748, + -0.03980552777647972, + 0.9989447278217418, + 0.39963290095329285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9992806795233158, + -0.02952979877591133, + -0.023792414939650758, + -0.0422029085457325 + ], + [ + 0.03045610448920956, + 0.9987529516220093, + 0.03955976675979596, + -0.06791076809167862 + ], + [ + 0.022594548501788873, + -0.04025593772530556, + 0.9989338810100447, + 0.40855810046195984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9990571782716431, + -0.03559732809662819, + -0.024851186509741538, + -0.042944636195898056 + ], + [ + 0.036559719916822185, + 0.9985540509223938, + 0.03941035626538002, + -0.06887239217758179 + ], + [ + 0.02341235476578854, + -0.0402817539870739, + 0.9989140532428799, + 0.4164242148399353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9986898617555731, + -0.04401472955942154, + -0.026100860117692005, + -0.04309142380952835 + ], + [ + 0.04501534831109683, + 0.998221755027771, + 0.03907582536544272, + -0.06940210610628128 + ], + [ + 0.024334531512211394, + -0.04019956663250923, + 0.9988952926524042, + 0.42440494894981384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9983069999796851, + -0.05133833363652229, + -0.027341564420550038, + -0.042045000940561295 + ], + [ + 0.052385163749753404, + 0.9978629350662231, + 0.039055997469378975, + -0.07058104127645493 + ], + [ + 0.0252780631290362, + -0.040422163903713226, + 0.998862891295175, + 0.4327263832092285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9979531222015937, + -0.057651445269584656, + -0.027674483751099065, + -0.04218920320272446 + ], + [ + 0.05870582953990313, + 0.997515857219696, + 0.03893236216631626, + -0.07110682129859924 + ], + [ + 0.025361233982824454, + -0.04047732427716255, + 0.9988585595545008, + 0.441280722618103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9978953506939279, + -0.058395471423864365, + -0.028193687882395714, + -0.042100731283426285 + ], + [ + 0.05947902463227672, + 0.9974572658538818, + 0.03925901804188692, + -0.07146955281496048 + ], + [ + 0.025829445366803695, + -0.04085332155227661, + 0.998831238189306, + 0.44927778840065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9979754097281057, + -0.05696986988186836, + -0.028274705081569308, + -0.04160381853580475 + ], + [ + 0.05808788007233615, + 0.997492253780365, + 0.04043452544549829, + -0.07318023592233658 + ], + [ + 0.025900250205156385, + -0.041995078325271606, + 0.9987820363380001, + 0.45818203687667847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9980588967036689, + -0.05627990514039993, + -0.026665526383561476, + -0.04097481071949005 + ], + [ + 0.057348363638618206, + 0.9975054264068604, + 0.04115924097718506, + -0.07492858171463013 + ], + [ + 0.024282572983353637, + -0.04260857403278351, + 0.998796731761549, + 0.46694502234458923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9980895113344292, + -0.056859128177165985, + -0.024172768634728486, + -0.040152356028556824 + ], + [ + 0.057842481411390125, + 0.997435986995697, + 0.04213967081995268, + -0.07784461975097656 + ], + [ + 0.0217147623220408, + -0.04345737397670746, + 0.9988192650964345, + 0.4747190475463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9980761778621562, + -0.05702411010861397, + -0.024335740634551826, + -0.03970448300242424 + ], + [ + 0.05802466021670893, + 0.9974055290222168, + 0.042606714954942775, + -0.08166366070508957 + ], + [ + 0.02184298633337009, + -0.043936822563409805, + 0.9987955226576498, + 0.4819411039352417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9981541076080035, + -0.05440107360482216, + -0.026999036379821876, + -0.038853734731674194 + ], + [ + 0.055513237314090594, + 0.9975610375404358, + 0.04231171985598581, + -0.08585835993289948 + ], + [ + 0.024631384030417494, + -0.0437324196100235, + 0.998739595495318, + 0.4891901910305023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9980710287822607, + -0.054146818816661835, + -0.03037043882473546, + -0.036779578775167465 + ], + [ + 0.05535685678760877, + 0.9976438283920288, + 0.040527391360520734, + -0.08872482180595398 + ], + [ + 0.028104452298279875, + -0.04213042929768562, + 0.9987167544159204, + 0.497372567653656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9979964555301089, + -0.0542583242058754, + -0.03254340274087893, + -0.03483550250530243 + ], + [ + 0.05554058669838301, + 0.9976595044136047, + 0.039884509622806145, + -0.09229286015033722 + ], + [ + 0.03030317287800302, + -0.04161207750439644, + 0.9986742123322923, + 0.5062466263771057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9978629787299632, + -0.056014467030763626, + -0.033642407320442415, + -0.033929623663425446 + ], + [ + 0.05733760324286068, + 0.9975634217262268, + 0.03974410431538455, + -0.09611643850803375 + ], + [ + 0.031334195988212625, + -0.04158814623951912, + 0.9986433930507452, + 0.5139442682266235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9977004437061071, + -0.057692475616931915, + -0.03557222282789532, + -0.03322209417819977 + ], + [ + 0.05909933455632552, + 0.9974561929702759, + 0.03985457564701589, + -0.09974122792482376 + ], + [ + 0.033182435496177234, + -0.04186522215604782, + 0.9985721138132138, + 0.5213579535484314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9975678517852491, + -0.05847842991352083, + -0.03792917840309838, + -0.03103460744023323 + ], + [ + 0.05998573277504906, + 0.9974014759063723, + 0.03989988248251457, + -0.10218917578458786 + ], + [ + 0.035497339713098264, + -0.042078051716089256, + 0.9984835336454111, + 0.5304576754570007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9975353118674197, + -0.058728210628032684, + -0.038396896262964435, + -0.027800757437944412 + ], + [ + 0.06025457855361825, + 0.9973859786987305, + 0.03988275415195833, + -0.10473913699388504 + ], + [ + 0.035954278162582405, + -0.042098045349121094, + 0.9984663237520673, + 0.5392531752586365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9973943210959499, + -0.061701599508523955, + -0.037383659159967275, + -0.025921359658241272 + ], + [ + 0.0631678182655885, + 0.9972249865531924, + 0.03939805023275106, + -0.10782252997159958 + ], + [ + 0.03484898837371658, + -0.041656836867332465, + 0.998524045998341, + 0.5466031432151794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9972564032769188, + -0.06359197944402695, + -0.037890636941942175, + -0.024717750027775764 + ], + [ + 0.06505118741295063, + 0.9971347451210022, + 0.0386095394254374, + -0.1108107790350914 + ], + [ + 0.035326806354739324, + -0.04096844419836998, + 0.9985357073635545, + 0.5543646812438965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9971329354443306, + -0.06443510949611664, + -0.0396732562264804, + -0.02268337272107601 + ], + [ + 0.06593532418272272, + 0.9971098303794861, + 0.0377434747577357, + -0.1129390224814415 + ], + [ + 0.03712658982571652, + -0.04025113210082054, + 0.9984996037127272, + 0.5631794333457947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9970382946153411, + -0.06522076576948167, + -0.040753585787564245, + -0.021465951576828957 + ], + [ + 0.06675932916782511, + 0.9970601797103884, + 0.037605990130309776, + -0.11448425054550171 + ], + [ + 0.038181093577901185, + -0.040215294808149345, + 0.9984612882019668, + 0.571976363658905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9969657238349947, + -0.06562334299087526, + -0.041868063896378635, + -0.02055714651942253 + ], + [ + 0.06725730403776833, + 0.9969774484634402, + 0.03888965068312057, + -0.11733350157737732 + ], + [ + 0.03918945002300226, + -0.04158758372068406, + 0.9983659973060052, + 0.5783793926239014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9967766835594681, + -0.06669652462005615, + -0.0445854372681285, + -0.01924118399620056 + ], + [ + 0.0684835686366992, + 0.9968567490577698, + 0.03983241452936318, + -0.11989245563745499 + ], + [ + 0.041788604263183905, + -0.042757391929626465, + 0.9982111390607182, + 0.5853418111801147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9965212572996193, + -0.06757126003503801, + -0.04877976333233193, + -0.018101710826158524 + ], + [ + 0.0695281036731833, + 0.9967937469482424, + 0.03959886041130832, + -0.12110351026058197 + ], + [ + 0.04594762744683671, + -0.04285267367959023, + 0.998024278177016, + 0.591980516910553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9962248561734725, + -0.06855342537164688, + -0.053258401369342054, + -0.016924137249588966 + ], + [ + 0.07068207996739277, + 0.9967296123504639, + 0.039167970191777035, + -0.12238746881484985 + ], + [ + 0.05039912354905187, + -0.04278452321887016, + 0.997812300944741, + 0.5969892144203186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9959020388535136, + -0.0696500912308693, + -0.057688396648610585, + -0.015653185546398163 + ], + [ + 0.07195564316828137, + 0.9966489672660828, + 0.038900087137722215, + -0.12386356294155121 + ], + [ + 0.05478568863906037, + -0.04289168491959572, + 0.9975764660806938, + 0.6017687916755676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9955143865602477, + -0.07163078337907793, + -0.061807147726199795, + -0.014725414104759693 + ], + [ + 0.07410986714194359, + 0.9964952468872073, + 0.038793302521596844, + -0.12562653422355652 + ], + [ + 0.05881174215849922, + -0.043199814856052406, + 0.9973339201938864, + 0.6065318584442139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9951354633058187, + -0.07270568609237671, + -0.06647764401595896, + -0.014493555761873722 + ], + [ + 0.07539849163214105, + 0.996393084526062, + 0.038934376719264085, + -0.12789134681224823 + ], + [ + 0.06340711711022784, + -0.04375729709863663, + 0.9970279960820435, + 0.6099531054496765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9947427915366117, + -0.07308924198150636, + -0.071726830503363, + -0.014465024694800377 + ], + [ + 0.07604818400154698, + 0.996324419975281, + 0.039424445000455, + -0.13071492314338684 + ], + [ + 0.06858169321066884, + -0.044671878218650825, + 0.9966448613653335, + 0.6132451295852661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9942676253784639, + -0.07323498278856279, + -0.07790102811222088, + -0.01292914617806673 + ], + [ + 0.07646657717171615, + 0.9962958097457888, + 0.039338771791166315, + -0.13225151598453522 + ], + [ + 0.07473148735313943, + -0.04507008939981461, + 0.9961846681794266, + 0.6176050901412964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9938511852198846, + -0.07306047528982164, + -0.08319861950759115, + -0.012414512224495411 + ], + [ + 0.07650814119512443, + 0.9963047504425051, + 0.03902962229982862, + -0.13360857963562012 + ], + [ + 0.08003966315235349, + -0.04515500739216805, + 0.9957683995283925, + 0.6205903887748718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9933110042615438, + -0.0735897421836853, + -0.08898219012312189, + -0.011750093661248684 + ], + [ + 0.07716187030374884, + 0.9963172674179077, + 0.037389508432511494, + -0.1339617222547531 + ], + [ + 0.08590299882403667, + -0.044005438685417175, + 0.9953311697585439, + 0.6241812109947205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9927138989871157, + -0.07425748556852341, + -0.09489431008955773, + -0.011892170645296574 + ], + [ + 0.07794436352266698, + 0.9963164925575256, + 0.0357502998965702, + -0.1358039230108261 + ], + [ + 0.091890043482805, + -0.042886294424533844, + 0.9948452075904913, + 0.6272630095481873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9921694072005677, + -0.07330599427223206, + -0.10112406190417955, + -0.01198642235249281 + ], + [ + 0.07684211651964253, + 0.9965448379516602, + 0.031522594514640984, + -0.13646650314331055 + ], + [ + 0.0984638674845517, + -0.03904633969068527, + 0.9943742859977035, + 0.630599319934845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9916613048402745, + -0.07295083999633789, + -0.10623546300864344, + -0.012254726141691208 + ], + [ + 0.07612604981640207, + 0.9967554807662964, + 0.02614102270111631, + -0.1380632221698761 + ], + [ + 0.10398377272448812, + -0.034010328352451324, + 0.9939973374021506, + 0.6318095326423645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9910799958701904, + -0.07308874279260635, + -0.1114383871446369, + -0.012840011157095432 + ], + [ + 0.0757856938749936, + 0.9969204068183899, + 0.020154853744053826, + -0.1381819099187851 + ], + [ + 0.10962210616509759, + -0.02842050790786743, + 0.9935669539615866, + 0.6346486210823059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9906041852638874, + -0.07199066877365112, + -0.11627861612406329, + -0.014585437253117561 + ], + [ + 0.07429356308926109, + 0.9971145987510681, + 0.015588152734276937, + -0.1384008824825287 + ], + [ + 0.11482090225030157, + -0.024080440402030945, + 0.9930943187676785, + 0.6363767981529236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9901284668066161, + -0.07131411880254747, + -0.12066466259437568, + -0.01593111827969551 + ], + [ + 0.07333990675923821, + 0.9972295761108401, + 0.012425973625341851, + -0.13827700912952423 + ], + [ + 0.11944421988211842, + -0.021152844652533535, + 0.992615555829178, + 0.6375133991241455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9896753416490643, + -0.07194807380437852, + -0.12396029923904428, + -0.017032848671078682 + ], + [ + 0.07389429426875688, + 0.9972035288810732, + 0.011168829755232066, + -0.13941091299057007 + ], + [ + 0.12281007623745312, + -0.02021347545087338, + 0.9922243225510092, + 0.6388193964958191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9894513514638836, + -0.07024294137954712, + -0.12669614452783928, + -0.018444005399942398 + ], + [ + 0.07209757257455686, + 0.9973464012145996, + 0.01010685675464437, + -0.1395241767168045 + ], + [ + 0.12565000837046353, + -0.019134728237986565, + 0.9918900771778117, + 0.6415183544158936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9892464776059581, + -0.06950578838586807, + -0.1286871662619241, + -0.02032918855547905 + ], + [ + 0.07127821513218827, + 0.9974139332771301, + 0.009213699204880847, + -0.14034469425678253 + ], + [ + 0.1277139604946595, + -0.018287211656570435, + 0.9916424201628229, + 0.6430422067642212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9890238322670196, + -0.06875816732645035, + -0.13078313461245641, + -0.0222061425447464 + ], + [ + 0.07042050873595541, + 0.9974843263626099, + 0.008123115432020172, + -0.14034436643123627 + ], + [ + 0.12989558824799727, + -0.017243770882487297, + 0.9913777093680081, + 0.6451175212860107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9888000087058788, + -0.06802611052989961, + -0.13284215286991138, + -0.024633726105093956 + ], + [ + 0.06963077224118383, + 0.9975448846817019, + 0.007466115919383149, + -0.14025485515594482 + ], + [ + 0.13200811944434787, + -0.016632396727800373, + 0.9911091060603225, + 0.6469443440437317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9886077343122026, + -0.06683147698640823, + -0.1348640161264241, + -0.02672836184501648 + ], + [ + 0.06840453062999849, + 0.9976326823234558, + 0.007058785092550356, + -0.1398337334394455 + ], + [ + 0.1340730040518579, + -0.016203681007027626, + 0.9908389834430618, + 0.6488609910011292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9884936977015982, + -0.06644415855407715, + -0.13588724080620151, + -0.028143810108304024 + ], + [ + 0.06802361806023408, + 0.9976590871810913, + 0.007007965454655799, + -0.13981135189533234 + ], + [ + 0.13510350650650996, + -0.016170872375369072, + 0.9906995271953205, + 0.6500517725944519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9886291575663426, + -0.066026471555233, + -0.1351031211180967, + -0.02931344136595726 + ], + [ + 0.06746139906810196, + 0.9977034330368042, + 0.006065487762577429, + -0.13848526775836945 + ], + [ + 0.13439237442802, + -0.015110764652490616, + 0.9908129999258936, + 0.6531217098236084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9893597265041634, + -0.06427687406539917, + -0.13052111704581082, + -0.0313536673784256 + ], + [ + 0.06560180295512175, + 0.9978286027908325, + 0.005872476034185188, + -0.13877928256988525 + ], + [ + 0.12986024816296166, + -0.014372413046658039, + 0.9914281639455678, + 0.6543930172920227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9903313999467954, + -0.0615612603724003, + -0.12431403106411411, + -0.033457957208156586 + ], + [ + 0.06267575160917402, + 0.9980210661888125, + 0.005070473984301874, + -0.139541357755661 + ], + [ + 0.12375586855207887, + -0.012812923640012745, + 0.9922299649198045, + 0.6547037959098816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9910704408003422, + -0.06044849753379822, + -0.1188500430571414, + -0.037289924919605255 + ], + [ + 0.06125174243197874, + 0.9981175065040588, + 0.003113936744433574, + -0.1411435455083847 + ], + [ + 0.11843807833278065, + -0.010365903377532959, + 0.9929073583882319, + 0.6530114412307739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9913310709163056, + -0.0590817965567112, + -0.11735443638323761, + -0.04093078896403313 + ], + [ + 0.0595355686929612, + 0.9982261061668396, + 0.00036186762299132155, + -0.1410517692565918 + ], + [ + 0.1171248879249082, + -0.007345493882894516, + 0.9930900409874776, + 0.6537958979606628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9912591338884192, + -0.057854894548654556, + -0.11856723648212995, + -0.04459498077630997 + ], + [ + 0.0582939685484469, + 0.9982994198799133, + 0.0002354380397765264, + -0.14155344665050507 + ], + [ + 0.11835198146603451, + -0.007145135197788477, + 0.9929460180561028, + 0.6537533402442932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9905607056115716, + -0.062055427581071854, + -0.12222363887359189, + -0.047628600150346756 + ], + [ + 0.06253749936501649, + 0.9980425834655762, + 0.00010821706265928638, + -0.1421995908021927 + ], + [ + 0.12197767588311774, + -0.007750756107270718, + 0.9925025510785763, + 0.6524772047996521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9902295950705414, + -0.058376602828502655, + -0.12663936726788694, + -0.05082652345299721 + ], + [ + 0.0590151241345241, + 0.998256266117096, + 0.0012927423201470312, + -0.14310063421726227 + ], + [ + 0.12634306979114024, + -0.00875375047326088, + 0.9919479794743901, + 0.6548093557357788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.990328339532833, + -0.0521683432161808, + -0.12856237192606687, + -0.05155029520392418 + ], + [ + 0.05269358022443487, + 0.9986104965209961, + 0.0006851755560305053, + -0.14135608077049255 + ], + [ + 0.12834798447932294, + -0.007452960591763258, + 0.991701189250635, + 0.6592794060707092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9910111418413554, + -0.05147377774119377, + -0.12348043141028801, + -0.04902081564068794 + ], + [ + 0.05192454245502328, + 0.9986509084701538, + 0.0004329785740046722, + -0.1448870152235031 + ], + [ + 0.12329155349488799, + -0.0068407510407269, + 0.9923468916137369, + 0.6557954549789429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9938509313682207, + -0.052201803773641586, + -0.09764894191586039, + -0.05245975777506828 + ], + [ + 0.05161744607359988, + 0.9986307621002197, + -0.008502727084548104, + -0.13942484557628632 + ], + [ + 0.09795908195605674, + 0.0034100539050996304, + 0.9951845761651059, + 0.6623846292495728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9940165337318085, + -0.05204939842224121, + -0.09603124296504806, + -0.055426448583602905 + ], + [ + 0.051617326225101075, + 0.9986425638198853, + -0.0069796993998117104, + -0.13941065967082977 + ], + [ + 0.09626417093327788, + 0.0019810604862868786, + 0.9953538201432064, + 0.6617183685302734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9943685118073109, + -0.05018734931945801, + -0.09334083749962512, + -0.05899406969547272 + ], + [ + 0.049671714776246406, + 0.9987348318099976, + -0.007840748696024425, + -0.13974249362945557 + ], + [ + 0.09361625924368823, + 0.0031601935625076294, + 0.9956033593303819, + 0.6610715985298157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9945496272075133, + -0.04800444468855858, + -0.09255571483078111, + -0.0613916851580143 + ], + [ + 0.047392646177732964, + 0.9988375902175903, + -0.008797962473526913, + -0.13772083818912506 + ], + [ + 0.09287046512512089, + 0.0043635498732328415, + 0.9956686320805755, + 0.6629935503005981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9947283285660501, + -0.04743286967277527, + -0.09091551998397185, + -0.06421488523483276 + ], + [ + 0.046710408469238046, + 0.9988577961921692, + -0.01005908088733129, + -0.13539987802505493 + ], + [ + 0.09128882032261751, + 0.005759350955486298, + 0.9958078006066003, + 0.6642552018165588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9947963673274639, + -0.047551821917295456, + -0.09010541029007707, + -0.06817710399627686 + ], + [ + 0.046823204391990135, + 0.9988512992858887, + -0.010184129937514318, + -0.13439123332500458 + ], + [ + 0.09048616974596982, + 0.0059121111407876015, + 0.995880142408966, + 0.6632059216499329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9947860141261774, + -0.04581461101770401, + -0.09111408639470903, + -0.07196924090385437 + ], + [ + 0.045059825259519036, + 0.9989309310913086, + -0.010324914722240739, + -0.13279826939105988 + ], + [ + 0.09148972331299017, + 0.00616549514234066, + 0.9957869434219413, + 0.6632260084152222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9947663299239071, + -0.04432826489210129, + -0.09205929332842791, + -0.07537822425365448 + ], + [ + 0.04353622086909058, + 0.9989956617355347, + -0.010595065875216655, + -0.13143546879291534 + ], + [ + 0.09243649933221801, + 0.0065317009575665, + 0.995697142460731, + 0.6641026139259338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9948586467774719, + -0.042452987283468246, + -0.09194553517471797, + -0.0783345028758049 + ], + [ + 0.04164822691398548, + 0.9990755319595337, + -0.01065459521366272, + -0.13034316897392273 + ], + [ + 0.09231286457597727, + 0.006770447362214327, + 0.9957070559395683, + 0.6654735207557678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9950660617191599, + -0.041942112147808075, + -0.08991344710469021, + -0.08155648410320282 + ], + [ + 0.04113247392776784, + 0.9990949034690857, + -0.01083958097040738, + -0.1297016739845276 + ], + [ + 0.09028668954944706, + 0.007087736390531063, + 0.9958905728862241, + 0.6664372086524963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9953781502295376, + -0.04089852049946785, + -0.0868886933089803, + -0.08618628978729248 + ], + [ + 0.040144881108876686, + 0.9991397261619568, + -0.010404083178171375, + -0.1303131878376007 + ], + [ + 0.08723945073688807, + 0.006867860443890095, + 0.9961636754549447, + 0.6652597784996033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9956075682677247, + -0.03858504816889763, + -0.08530418190148543, + -0.09062552452087402 + ], + [ + 0.037874909438259614, + 0.9992331862449646, + -0.00992818918653749, + -0.13091769814491272 + ], + [ + 0.08562184361715923, + 0.00665369164198637, + 0.9963054770816407, + 0.6654977202415466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9956432207441659, + -0.03679672256112099, + -0.08567725284172004, + -0.09470047801733017 + ], + [ + 0.036069927605421104, + 0.9992990493774414, + -0.010016109177325573, + -0.13119709491729736 + ], + [ + 0.08598577071741774, + 0.006882098037749529, + 0.9962726214160971, + 0.6649783849716187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9954840054315103, + -0.03616788238286972, + -0.08776925785134605, + -0.09746584296226501 + ], + [ + 0.035381652629124086, + 0.9993187189102173, + -0.010497682142634631, + -0.13067807257175446 + ], + [ + 0.08808914213379182, + 0.0073448531329631805, + 0.9960855103238015, + 0.6652202010154724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.995284136221076, + -0.03595837205648422, + -0.09009146554491415, + -0.09943733364343643 + ], + [ + 0.035097393367246196, + 0.9993219971656799, + -0.01112327231420564, + -0.1290668100118637 + ], + [ + 0.0904303461593576, + 0.007908840663731098, + 0.9958713527606313, + 0.6657525897026062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9951113301955948, + -0.03625234961509705, + -0.09186501469155287, + -0.1014070212841034 + ], + [ + 0.03535411099055849, + 0.9993099570274355, + -0.011386863385083764, + -0.12759658694267273 + ], + [ + 0.0922144347689732, + 0.008083390071988108, + 0.995706356691707, + 0.6663854122161865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9947884591656226, + -0.03734463453292847, + -0.0948749870521109, + -0.10277906805276871 + ], + [ + 0.03639506768196558, + 0.9992687702178955, + -0.011719955154853795, + -0.12655961513519287 + ], + [ + 0.09524328487239175, + 0.008205894380807877, + 0.995420194493683, + 0.6664682626724243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9944307736358324, + -0.03676077723503113, + -0.09877285506780928, + -0.10521915555000305 + ], + [ + 0.03573857757704523, + 0.9992879033088684, + -0.012099075476348144, + -0.12542462348937988 + ], + [ + 0.09914729332496346, + 0.008501690812408924, + 0.9950364353389228, + 0.6665616631507874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9938835464307241, + -0.037054579704999924, + -0.10403090379848123, + -0.1061704009771347 + ], + [ + 0.03590884561421958, + 0.9992722272872925, + -0.012865428011449779, + -0.1239895150065422 + ], + [ + 0.10443192343841107, + 0.009051106870174408, + 0.994490865348272, + 0.6657305359840393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.99342092416407, + -0.03779323771595955, + -0.10810423294081138, + -0.10729221254587173 + ], + [ + 0.036527957811519775, + 0.9992392659187317, + -0.013661336512987697, + -0.12266796827316284 + ], + [ + 0.10853830453649366, + 0.00962262973189354, + 0.9940457023637266, + 0.6650198698043823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9930223530631628, + -0.03928679600358009, + -0.11118946630589804, + -0.10834044963121414 + ], + [ + 0.03786887295579297, + 0.999172568321228, + -0.014836368011505157, + -0.12078002840280533 + ], + [ + 0.11168034182699223, + 0.010522225871682167, + 0.9936884611043431, + 0.6651608943939209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9927363033226655, + -0.040807656943798065, + -0.11317835129373156, + -0.10988607257604599 + ], + [ + 0.03929065133838931, + 0.9991059899330139, + -0.015602967272063754, + -0.11925271153450012 + ], + [ + 0.1137139007935135, + 0.011042780242860317, + 0.9934521833981964, + 0.6656067371368408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9925413221195656, + -0.04114844277501106, + -0.11475437111113873, + -0.1112438440322876 + ], + [ + 0.039551886742476686, + 0.9990869164466858, + -0.016156169816302662, + -0.11744412034749985 + ], + [ + 0.11531437943179425, + 0.011496913619339466, + 0.9932624999570564, + 0.6662415266036987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9924198225948714, + -0.04177621379494668, + -0.115575424921758, + -0.1121583804488182 + ], + [ + 0.04016761299119313, + 0.9990614056587221, + -0.016213349273583512, + -0.1160847544670105 + ], + [ + 0.1161442861044091, + 0.011448059231042864, + 0.9931663976777321, + 0.6671416759490967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9924515773004989, + -0.04155769944190979, + -0.11538125138949114, + -0.11367707699537277 + ], + [ + 0.03997778060663157, + 0.9990728497505188, + -0.015974491130647094, + -0.1153889149427414 + ], + [ + 0.11593814083388607, + 0.011241222731769085, + 0.9931928377989937, + 0.6670175194740295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9924158510514752, + -0.04183449223637581, + -0.11558812109850478, + -0.11501126736402512 + ], + [ + 0.040274331429481676, + 0.9990637302398682, + -0.01580123320765021, + -0.11519380658864975 + ], + [ + 0.1161409427267492, + 0.011026158928871155, + 0.9931715358817219, + 0.6671432852745056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9923606032584494, + -0.04160330072045326, + -0.11614484555407115, + -0.11657536774873734 + ], + [ + 0.040059833192673144, + 0.9990755915641785, + -0.015592940199052299, + -0.1154734194278717 + ], + [ + 0.11668620241739923, + 0.010821076110005379, + 0.993109894681978, + 0.6666832566261292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9922587131979222, + -0.04172558709979058, + -0.11696871376830474, + -0.11765113472938538 + ], + [ + 0.04016579123616851, + 0.9990702867507937, + -0.015661769329952613, + -0.11565378308296204 + ], + [ + 0.11751345529122449, + 0.010842386633157732, + 0.9930120732840855, + 0.6671380996704102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.992125752446903, + -0.041704457253217704, + -0.11809830341800069, + -0.11868206411600113 + ], + [ + 0.040106313940001005, + 0.9990692734718325, + -0.015877731980769583, + -0.11587385088205338 + ], + [ + 0.11865054817237172, + 0.011016218923032286, + 0.9928749461573182, + 0.66697096824646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9919806590598547, + -0.04113752394914627, + -0.11950784748868187, + -0.12027724087238312 + ], + [ + 0.03950927992120566, + 0.9990916848182678, + -0.015963109976541084, + -0.1161261722445488 + ], + [ + 0.12005597290194786, + 0.011113427579402924, + 0.9927049290287004, + 0.6666622161865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9917490687021133, + -0.040383920073509216, + -0.12166732797324542, + -0.1214999333024025 + ], + [ + 0.038712750433323076, + 0.9991211891174316, + -0.016069218091568492, + -0.11629464477300644 + ], + [ + 0.12220933597345833, + 0.011226554401218891, + 0.9924408610577399, + 0.6658285856246948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9913272785479154, + -0.04174836352467537, + -0.12460860582732587, + -0.1218048483133316 + ], + [ + 0.039975938465458286, + 0.9990612268447876, + -0.01669170877874942, + -0.11617238819599152 + ], + [ + 0.12518847580166248, + 0.011565599590539932, + 0.9920655388698597, + 0.6655156016349792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9909742167958228, + -0.04154236614704133, + -0.12745309080044864, + -0.12280050665140152 + ], + [ + 0.039745059626475385, + 0.9990717172622683, + -0.016613771309274925, + -0.11641662567853928 + ], + [ + 0.12802495836776162, + 0.01139818783849478, + 0.9917054168470222, + 0.6651522517204285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9906502220392681, + -0.040945712476968765, + -0.1301367750698938, + -0.12377877533435822 + ], + [ + 0.039102135320737655, + 0.9990957975387573, + -0.0166913079384709, + -0.11635568737983704 + ], + [ + 0.13070254003070852, + 0.011446621268987656, + 0.9913555344550762, + 0.6653725504875183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.990320273572698, + -0.04092920571565629, + -0.13262919267018244, + -0.12472337484359741 + ], + [ + 0.03898360500364474, + 0.9990912079811098, + -0.017234164011226943, + -0.11590293794870377 + ], + [ + 0.13321405230340405, + 0.011896978132426742, + 0.9910158780923645, + 0.6651210188865662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9900185481276779, + -0.041424516588449485, + -0.1347118824715693, + -0.12595663964748383 + ], + [ + 0.03939128048899206, + 0.9990666508674624, + -0.01772490410926577, + -0.11566058546304703 + ], + [ + 0.135320398338455, + 0.012241509743034843, + 0.9907262692462953, + 0.6650540232658386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9897170379237307, + -0.04105403646826745, + -0.13702080931978422, + -0.12730582058429718 + ], + [ + 0.03897324962271961, + 0.999081075191498, + -0.017835409686780535, + -0.11578772217035294 + ], + [ + 0.13762711610300155, + 0.012311862781643871, + 0.9904075796369605, + 0.6644630432128906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9894171885678653, + -0.040385738015174866, + -0.13936493820868526, + -0.12878082692623138 + ], + [ + 0.0382214984141193, + 0.9991040229797363, + -0.018172041542689376, + -0.11541574448347092 + ], + [ + 0.1399739709044607, + 0.012652993202209473, + 0.9900743609367545, + 0.6643636226654053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9891990889022767, + -0.03864942491054535, + -0.1413909554437076, + -0.1305270940065384 + ], + [ + 0.03640138098333846, + 0.9991669058799744, + -0.018452444365122996, + -0.11514024436473846 + ], + [ + 0.14198633294645097, + 0.013106315396726131, + 0.9897818536107494, + 0.6637400388717651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9889321394955625, + -0.03803517296910286, + -0.14341043053740915, + -0.13200141489505768 + ], + [ + 0.0357379986500334, + 0.9991888403892517, + -0.018561147074768827, + -0.1151321679353714 + ], + [ + 0.1440000759974614, + 0.013230513781309128, + 0.9894892429236405, + 0.6636678576469421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9886164966761603, + -0.037470653653144836, + -0.14571677382028894, + -0.13326160609722137 + ], + [ + 0.03511198151149515, + 0.9992079138755798, + -0.018725987558044468, + -0.11493024975061417 + ], + [ + 0.1463030221487906, + 0.013396414928138256, + 0.9891491052362829, + 0.663068413734436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9883532299329961, + -0.03580467402935028, + -0.14790491489229413, + -0.13457725942134857 + ], + [ + 0.03347484694657043, + 0.9992735981941223, + -0.018212322675182947, + -0.1151110902428627 + ], + [ + 0.14844956212153582, + 0.013049113564193249, + 0.9888338677569612, + 0.6634178757667542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/tilt_up/transforms.json b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e96467d241e14f876106b2e684ed9bd4f98565d1 --- /dev/null +++ b/dynpose_eval/camera_controls/14f5af5d-f17f-4fce-b740-9e6ce08f7b32/tilt_up/transforms.json @@ -0,0 +1,4808 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 137, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00015281095693353564, + 9.454473183723167e-05, + -0.00017298538296017796 + ], + [ + -0.00015282332606147975, + 1.0, + 0.0001308531645918265, + -0.0003619329072535038 + ], + [ + -9.452473750570789e-05, + -0.00013086760009173304, + 1.0, + -0.00011619761789916083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999403953552, + 0.0002941725215791602, + 0.00029356627613151814, + 0.00016911688726395369 + ], + [ + -0.00029381419881246984, + 0.9999992063649982, + -0.0012199587075508761, + -0.00047324711340479553 + ], + [ + -0.00029392490978352726, + 0.001219872327542126, + 0.9999992065312794, + 0.00047807683586142957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999985098838808, + 0.0007608197396440582, + 0.0015661372530328002, + 2.7091216907138005e-05 + ], + [ + -0.0007575366762466731, + 0.999997494652074, + -0.002095800092567215, + -0.0013218180974945426 + ], + [ + -0.001567727886140347, + 0.0020946106199067407, + 0.9999966051552578, + 0.001428076415322721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999956488609314, + -6.862597757101176e-05, + 0.0029415760236988515, + 0.0001276489201700315 + ], + [ + 7.824521890142933e-05, + 0.9999946313219932, + -0.003270109023143527, + -0.0015185551019385457 + ], + [ + -0.002941336017102003, + 0.0032703249825989794, + 0.9999903384688292, + 0.004180945456027985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999929070472717, + 0.00016976923004292683, + 0.003755494195353326, + -0.0015555578283965588 + ], + [ + -0.00015295388584490865, + 0.9999899835199505, + -0.004477365609994532, + -0.0012329687597230077 + ], + [ + -0.0037562164943665266, + 0.004476759202658678, + 0.9999828950263652, + 0.006098080892115831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999926090240479, + 0.0007611572464795422, + 0.003761801033624321, + -0.001692118588835001 + ], + [ + -0.0007435694569721818, + 0.9999888104708765, + -0.004674553100715948, + -0.002343103988096118 + ], + [ + -0.0037653169129043818, + 0.004671721227072774, + 0.9999819828767743, + 0.008316236548125744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999907612800598, + 0.000726388728633558, + 0.00423050554173646, + -0.0016577548813074827 + ], + [ + -0.000704616482835263, + 0.9999865252867564, + -0.005145719049887632, + -0.0029585252050310373 + ], + [ + -0.004234186373651028, + 0.0051426909010174205, + 0.999977797796109, + 0.013228733092546463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999868273735046, + 0.001606111988863123, + 0.004879886886558138, + -0.0046974364668130875 + ], + [ + -0.0015756342327222228, + 0.9999792442736233, + -0.006243002755900036, + -0.003386715892702341 + ], + [ + -0.004889812786132097, + 0.006235232281372368, + 0.9999686191766843, + 0.01635466143488884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999898076057434, + 0.0019002077737025982, + 0.004095571718240916, + -0.005950267426669598 + ], + [ + -0.0018679556669667363, + 0.9999673075481882, + -0.007864337475798155, + -0.0027727270498871803 + ], + [ + -0.004110381938517094, + 0.00785660712870218, + 0.9999606904810574, + 0.02169826626777649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999974370002747, + 0.0005308479661401377, + 0.0022053776788736935, + -0.004710194189101458 + ], + [ + -0.0005117107066325843, + 0.999962273421061, + -0.008669068262242344, + -0.004574342630803585 + ], + [ + -0.0022098966874182224, + 0.008667918021075801, + 0.9999599684208804, + 0.027172377333045006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999983906745911, + -0.000453809545981245, + 0.001752738481057689, + -0.0057930732145905495 + ], + [ + 0.0004714640963356942, + 0.9999490543286325, + -0.010085322560133624, + -0.0037898861337453127 + ], + [ + -0.0017480722162872553, + 0.010086131197274485, + 0.9999476079839197, + 0.03322838619351387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999987483024599, + -0.0008332852161401075, + 0.0013452278945453847, + -0.0056221061386168 + ], + [ + 0.0008477658266201618, + 0.9999413142462021, + -0.010800023004763399, + -0.004437072202563286 + ], + [ + -0.0013361495221033695, + 0.01080114946753488, + 0.9999407538277532, + 0.041547197848558426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999989867210388, + -0.0009713105350828913, + 0.0010585840911485431, + -0.0071638463996350765 + ], + [ + 0.0009837731486186385, + 0.999929474807504, + -0.011836668481155551, + -0.0043867286294698715 + ], + [ + -0.001047012279741466, + 0.011837696872374395, + 0.9999293914269451, + 0.05093706026673317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999999403953554, + 9.11069886926053e-05, + 0.00038042462288225877, + -0.010107988491654396 + ], + [ + -8.610408985987307e-05, + 0.9999137821475141, + -0.013130178377545302, + -0.00442089606076479 + ], + [ + -0.0003815880627371372, + 0.013130145231045238, + 0.9999137233538632, + 0.059294335544109344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999988079071045, + -0.0002523042248573123, + -0.0015388220846385217, + -0.010891747660934925 + ], + [ + 0.00023029600561130792, + 0.9998979175530377, + -0.0142854397196443, + -0.005062101874500513 + ], + [ + 0.0015422692522406578, + 0.014285068462566509, + 0.9998967946611778, + 0.06987272202968597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999916553497314, + -0.00044065515122223263, + -0.0040607170851011485, + -0.014067142270505428 + ], + [ + 0.00037866109050810337, + 0.9998835752583366, + -0.015254923426352443, + -0.006438728887587786 + ], + [ + 0.004066966008394957, + 0.01525325789700804, + 0.9998753944925546, + 0.08073484897613525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999650716781616, + -0.0025026759784978364, + -0.007975763039892607, + -0.014245999976992607 + ], + [ + 0.0023709621746093035, + 0.9998613560623831, + -0.01648112017454105, + -0.007726924493908882 + ], + [ + 0.008015904575586319, + 0.016461634955578425, + 0.9998323784635297, + 0.0950428918004036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999201893806458, + -0.005820108643388084, + -0.011211525907638378, + -0.01340645644813776 + ], + [ + 0.005623819772154093, + 0.9998317111784446, + -0.017460420053877733, + -0.01012837328016758 + ], + [ + 0.011311260983347893, + 0.017395975019348607, + 0.9997846803526788, + 0.1091349795460701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998934268951416, + -0.005614531547677693, + -0.013478219178005723, + -0.011844257824122906 + ], + [ + 0.005359760485589504, + 0.999807665955189, + -0.018864671646000798, + -0.011447794735431671 + ], + [ + 0.013581544160842896, + 0.0187904232511504, + 0.9997312160980502, + 0.12415996193885803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998873472213745, + -0.006108259640069775, + -0.013711379865865521, + -0.011462942697107792 + ], + [ + 0.005831229500472546, + 0.9997798514541938, + -0.020154257525176016, + -0.013417365029454231 + ], + [ + 0.013831468299031258, + 0.020072035411537226, + 0.9997028767421517, + 0.13931068778038025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999139904975891, + -0.005970681829668433, + -0.011675916990237602, + -0.009741561487317085 + ], + [ + 0.005725112743675709, + 0.9997640533158749, + -0.020953572134551457, + -0.016330091282725334 + ], + [ + 0.011798269115388393, + 0.020884924708794713, + 0.9997122977942974, + 0.1559232473373413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999696016311646, + -0.004499759953879398, + -0.006371632064766299, + -0.009159195236861706 + ], + [ + 0.004358425736427307, + 0.9997479170150583, + -0.022024551449957002, + -0.01871042512357235 + ], + [ + 0.006469130981713533, + 0.021996111882842687, + 0.9997371366325097, + 0.17317180335521698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999961256980896, + -0.0027732769457623776, + 0.0002867512716855807, + -0.013469716534018517 + ], + [ + 0.0027789915911853313, + 0.9997465118827882, + -0.02234383521954517, + -0.022921958938241005 + ], + [ + -0.00022471294505521655, + 0.02234454384997719, + 0.9997502999750858, + 0.18943612277507782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999899864196777, + -0.0025448625684781306, + 0.003684962367331411, + -0.015492444857954979 + ], + [ + 0.002630546921864152, + 0.9997218744650528, + -0.02343737875833405, + -0.025040797889232635 + ], + [ + -0.003624292556196451, + 0.023446836433738585, + 0.9997185319610882, + 0.2050391286611557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999764561653139, + -0.00048783176602697903, + 0.006847999955361573, + -0.017679719254374504 + ], + [ + 0.0006541556795127691, + 0.9997043494939999, + -0.024306770953812607, + -0.028358178213238716 + ], + [ + -0.006834117695689203, + 0.0243106773173535, + 0.9996810772550274, + 0.22212089598178864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999381899833679, + -0.00037723070660778443, + 0.011112591312537804, + -0.02032850682735443 + ], + [ + 0.0006548821111209691, + 0.9996874468068362, + -0.024992266103415043, + -0.03148331120610237 + ], + [ + -0.011099690571427345, + 0.024997998643896877, + 0.9996258857912169, + 0.23756995797157288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999895453453064, + -0.0005324426746727379, + 0.014448195293855555, + -0.022158870473504066 + ], + [ + 0.0009036760893650353, + 0.999669315905046, + -0.02569974800139852, + -0.03439844772219658 + ], + [ + -0.014429734088480473, + 0.025710118334611645, + 0.9995653123969862, + 0.25256508588790894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9998534917831421, + -0.0009875189296947842, + 0.017088927970069803, + -0.024862127378582954 + ], + [ + 0.0014253167901188135, + 0.999670565177886, + -0.025625617759305653, + -0.037628527730703354 + ], + [ + -0.01705799251794815, + 0.025646221961480767, + 0.9995255325052069, + 0.2677290737628937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998077750205994, + -0.0014207786594981943, + 0.019555006155246225, + -0.025971215218305588 + ], + [ + 0.0019191859755665064, + 0.9996731516864742, + -0.02549233133253766, + -0.03989826515316963 + ], + [ + -0.019512396305799484, + 0.025524962092364867, + 0.9994837216418098, + 0.2831619083881378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9996970891952517, + -0.0005352682090264359, + 0.024606013735426153, + -0.025966577231884003 + ], + [ + 0.001169955939985812, + 0.9996668004002623, + -0.02578684988928255, + -0.04107743501663208 + ], + [ + -0.02458401024341584, + 0.025807823771271183, + 0.9993645731097911, + 0.29722529649734497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9994542002677917, + 0.0004247223800838043, + 0.0330330050367974, + -0.02842785231769085 + ], + [ + 0.000432308588642627, + 0.999663588737474, + -0.02593321701727892, + -0.043901942670345306 + ], + [ + -0.03303290903568268, + 0.025933341266607606, + 0.9991177659842293, + 0.31044286489486694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9991958141326904, + 0.0002665356215517578, + 0.04009541611950008, + -0.03223524987697601 + ], + [ + 0.0007911827997304499, + 0.9996521523684917, + -0.026361849303556922, + -0.04708075150847435 + ], + [ + -0.04008849710226059, + 0.026372376711857957, + 0.9988480531098922, + 0.3213306963443756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9990509152412415, + -0.0006124676001902478, + 0.04355322392928892, + -0.03441808372735977 + ], + [ + 0.001793720293790102, + 0.9996314608382035, + -0.027088147566594303, + -0.050083816051483154 + ], + [ + -0.04352058470249176, + 0.027140556043446236, + 0.9986837896470415, + 0.33252620697021484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.998942494392395, + -0.0010600776877539798, + 0.04596546000354914, + -0.0345519483089447 + ], + [ + 0.002357017481699586, + 0.999600376834351, + -0.02817051369046807, + -0.052762653678655624 + ], + [ + -0.04591722413897514, + 0.028249061984237465, + 0.9985457712278388, + 0.34394657611846924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9987724423408508, + -0.0030567392267179428, + 0.04943905901111069, + -0.03568021208047867 + ], + [ + 0.004490536171942949, + 0.9995717765141064, + -0.028916277262327008, + -0.055947091430425644 + ], + [ + -0.049329496920108795, + 0.029102785444424344, + 0.9983584502736091, + 0.3541165292263031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.998639762401581, + -0.0046708432515251965, + 0.05193023484948937, + -0.03780079260468483 + ], + [ + 0.006214732304215433, + 0.9995422482596698, + -0.029608453201486442, + -0.05899966135621071 + ], + [ + -0.05176816508173944, + 0.029890913759211685, + 0.9982117123973064, + 0.3629840314388275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9985973238945007, + -0.00633103393539915, + 0.05256697869524026, + -0.04067706689238548 + ], + [ + 0.007932771928608418, + 0.9995088546263603, + -0.030317916164519957, + -0.06207069754600525 + ], + [ + -0.05234921723604202, + 0.030692391512772206, + 0.9981570525504575, + 0.3723891079425812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9985966086387634, + -0.010946792697321853, + 0.051817038019942835, + -0.041702255606651306 + ], + [ + 0.012579301372170448, + 0.9994313633982977, + -0.031284689794257255, + -0.06412182003259659 + ], + [ + -0.05144510418176651, + 0.031892605322648704, + 0.9981664561004997, + 0.38156092166900635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9985551834106445, + -0.014753592894626332, + 0.0516711073269925, + -0.042346514761447906 + ], + [ + 0.016463767737150192, + 0.9993253390977936, + -0.03282960898590656, + -0.06511080265045166 + ], + [ + -0.05115189030766487, + 0.03363287673820107, + 0.99812437614326, + 0.39038118720054626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998429536819458, + -0.01883006364853136, + 0.052762875378284294, + -0.04164087399840355 + ], + [ + 0.020647455006837845, + 0.9992046238106274, + -0.03411376670076855, + -0.06658606976270676 + ], + [ + -0.05207854509353638, + 0.03514960884339686, + 0.9980241984892886, + 0.39963290095329285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9981499910354614, + -0.02535407274083641, + 0.05526057260241752, + -0.0422029085457325 + ], + [ + 0.02732277661561966, + 0.9990079107792694, + -0.03516628923948053, + -0.06791076809167862 + ], + [ + -0.05431414395570755, + 0.036611099961665505, + 0.9978524710095622, + 0.40855810046195984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.997906506061554, + -0.031229413401134817, + 0.05663325518899009, + -0.042944636195898056 + ], + [ + 0.03333868458867073, + 0.9987704221346514, + -0.0366900244446759, + -0.06887239217758179 + ], + [ + -0.05541780963540077, + 0.038501292677650595, + 0.9977206826880145, + 0.4164242148399353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9975355267524719, + -0.03945810189689656, + 0.0580165696314476, + -0.04309142380952835 + ], + [ + 0.04171247035264969, + 0.9984001322737471, + -0.038173546011953136, + -0.06940210610628128 + ], + [ + -0.056417498737573624, + 0.040499486671595336, + 0.9975855039444116, + 0.42440494894981384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9971495270729065, + -0.046590965496988414, + 0.059347741712000066, + -0.042045000940561295 + ], + [ + 0.04897664114832878, + 0.9980225861159469, + -0.03939821979048665, + -0.07058104127645493 + ], + [ + -0.057394783943891525, + 0.04219257097731141, + 0.9974595897313983, + 0.4327263832092285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9967167973518372, + -0.05263533228705556, + 0.06152355627073692, + -0.04218920320272446 + ], + [ + 0.055201753973960876, + 0.9976418457750346, + -0.04078605849236933, + -0.07110682129859924 + ], + [ + -0.05923168361186981, + 0.044048361109669656, + 0.9972719676723686, + 0.441280722618103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9965928792953491, + -0.053137234493043105, + 0.06308021325280723, + -0.042100731283426285 + ], + [ + 0.05585945025086403, + 0.997546241834224, + -0.042204730701768, + -0.07146955281496048 + ], + [ + -0.060682788491249084, + 0.04558456008967211, + 0.9971156620848706, + 0.44927778840065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9965658187866211, + -0.05143255580021369, + 0.06489379380030572, + -0.04160381853580475 + ], + [ + 0.05428450182080269, + 0.9976001706387759, + -0.04297721971795598, + -0.07318023592233658 + ], + [ + -0.06252763420343399, + 0.04635236010798381, + 0.9969662578789008, + 0.45818203687667847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9963860511779785, + -0.05030160054885713, + 0.06844432269697555, + -0.04097481071949005 + ], + [ + 0.05339501053094864, + 0.9975973183123314, + -0.0441424624077801, + -0.07492858171463013 + ], + [ + -0.06605943292379379, + 0.04763751662944858, + 0.9966779136915379, + 0.46694502234458923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9960622191429138, + -0.05034025914278834, + 0.07297855672638486, + -0.040152356028556824 + ], + [ + 0.05370757728815079, + 0.9975451120977565, + -0.044936601322673526, + -0.07784461975097656 + ], + [ + -0.07053728401660919, + 0.04867915423976598, + 0.996320646222639, + 0.4747190475463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9959315061569214, + -0.050198750942705275, + 0.07483685368613709, + -0.03970448300242424 + ], + [ + 0.053753811866045, + 0.9974815768594445, + -0.04627109478357359, + -0.08166366070508957 + ], + [ + -0.07232563942670822, + 0.05010560682422625, + 0.9961217227609235, + 0.4819411039352417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9961288571357727, + -0.047513513872198695, + 0.07395818609472571, + -0.038853734731674194 + ], + [ + 0.0511900894343853, + 0.9975039692167831, + -0.048635695877363064, + -0.08585835993289948 + ], + [ + -0.0714627280831337, + 0.05223334457955441, + 0.9960746786377526, + 0.4891901910305023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9962418675422668, + -0.047259748951417734, + 0.07258565644669047, + -0.036779578775167465 + ], + [ + 0.0511179193854332, + 0.9973249848304904, + -0.05224837148814365, + -0.08872482180595398 + ], + [ + -0.06992223858833313, + 0.05576243643091873, + 0.9959926807446666, + 0.497372567653656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9962528347969055, + -0.047256055084088575, + 0.0724369965919655, + -0.03483550250530243 + ], + [ + 0.051276795566082, + 0.9971858933163201, + -0.05469005424077389, + -0.09229286015033722 + ], + [ + -0.06964871287345886, + 0.058199462467640524, + 0.9958724361190938, + 0.5062466263771057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9961004853248596, + -0.04878096217215438, + 0.07351324555498882, + -0.033929623663425446 + ], + [ + 0.0529915951192379, + 0.9969976440507263, + -0.05645851170218407, + -0.09611643850803375 + ], + [ + -0.07053843140602112, + 0.06013393929484127, + 0.9956948685563439, + 0.5139442682266235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9960060119628906, + -0.050310271387915634, + 0.07376232695450559, + -0.03322209417819977 + ], + [ + 0.054644905030727386, + 0.9968214094372496, + -0.057974024195998654, + -0.09974122792482376 + ], + [ + -0.07061117142438889, + 0.061773216638860075, + 0.9955893578746146, + 0.5213579535484314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9959902167320254, + -0.05099629972645779, + 0.07350397161530545, + -0.03103460744023323 + ], + [ + 0.055433340370655074, + 0.9966793195698477, + -0.059644543891493707, + -0.10218917578458786 + ], + [ + -0.07021823525428773, + 0.06347995234836358, + 0.9955097616857299, + 0.5304576754570007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9958760142326355, + -0.050947179896521574, + 0.07506911432367491, + -0.027800757437944412 + ], + [ + 0.05561378598213196, + 0.9965600019686885, + -0.06144353591017573, + -0.10473913699388504 + ], + [ + -0.07168050110340118, + 0.06536501461761793, + 0.9952835153025398, + 0.5392531752586365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9954899549484255, + -0.053439576725571834, + 0.07838378878775484, + -0.025921359658241272 + ], + [ + 0.05847367271780969, + 0.9962737422052036, + -0.06339963425699854, + -0.10782252997159958 + ], + [ + -0.0747036635875702, + 0.06769708064862887, + 0.9949052630294043, + 0.5466031432151794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9952688217163086, + -0.055011549249918655, + 0.08008542977874829, + -0.024717750027775764 + ], + [ + 0.06034436076879501, + 0.9960087775030767, + -0.06576569551245715, + -0.1108107790350914 + ], + [ + -0.07614792138338089, + 0.07028724344700886, + 0.9946160832325736, + 0.5543646812438965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9952049255371094, + -0.055680177698133285, + 0.08041651286518747, + -0.02268337272107601 + ], + [ + 0.0612330287694931, + 0.9957825708375112, + -0.06832011786602606, + -0.1129390224814415 + ], + [ + -0.07627328485250473, + 0.07291666336649666, + 0.994417187172096, + 0.5631794333457947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9950919151306155, + -0.05620985999071438, + 0.08144013785031275, + -0.021465951576828957 + ], + [ + 0.06198070198297502, + 0.9956086696193017, + -0.07015547055869956, + -0.11448425054550171 + ], + [ + -0.07713907212018968, + 0.07485885950066452, + 0.9942060775251466, + 0.571976363658905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9950053095817568, + -0.056359052863081384, + 0.08238994772454318, + -0.02055714651942253 + ], + [ + 0.06223802641034128, + 0.9955597693886603, + -0.07061980079764056, + -0.11733350157737732 + ], + [ + -0.07804404944181444, + 0.07539486321994684, + 0.9940949379392362, + 0.5783793926239014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9949945211410522, + -0.05736178118233222, + 0.08182648385134528, + -0.01924118399620056 + ], + [ + 0.06325368583202362, + 0.9954452338747363, + -0.07132850865689822, + -0.11989245563745499 + ], + [ + -0.07736225426197052, + 0.07614729702720531, + 0.9940908564747701, + 0.5853418111801147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9951032996177676, + -0.05834820231070858, + 0.07978011732527862, + -0.018101710826158524 + ], + [ + 0.06422685831785203, + 0.9952455031575829, + -0.07322089876946342, + -0.12110351026058197 + ], + [ + -0.0751284882426262, + 0.07798638358090336, + 0.9941196256842465, + 0.591980516910553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.995218813419342, + -0.05948453122233703, + 0.07746675071225866, + -0.016924137249588966 + ], + [ + 0.0653330609202385, + 0.9950191202444605, + -0.07528975994449284, + -0.12238746881484985 + ], + [ + -0.07260232418775558, + 0.07999092078388947, + 0.994148042352294, + 0.5969892144203186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9953156113624573, + -0.06073788078219753, + 0.07521769024110216, + -0.015653185546398163 + ], + [ + 0.06653843075037003, + 0.9947946793579614, + -0.07717628178399114, + -0.12386356294155121 + ], + [ + -0.07013863325119019, + 0.08181962337076724, + 0.9941760887036383, + 0.6017687916755676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9953220486640932, + -0.06283884512858584, + 0.07338450430433603, + -0.014725414104759693 + ], + [ + 0.06859711557626726, + 0.9945291738421178, + -0.0787789813887919, + -0.12562653422355652 + ], + [ + -0.06803264468908311, + 0.08344442030176648, + 0.9941873975090066, + 0.6065318584442139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9954203367233276, + -0.0641190108880359, + 0.07090197425544002, + -0.014493555761873722 + ], + [ + 0.06976461410522461, + 0.9943306515482889, + -0.08024619076681563, + -0.12789134681224823 + ], + [ + -0.06535469740629196, + 0.08482513560071722, + 0.9942501940750305, + 0.6099531054496765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9955948591232302, + -0.06479856893556903, + 0.0677644358999469, + -0.014465024694800377 + ], + [ + 0.07025165855884553, + 0.9941982645661266, + -0.08145230626594065, + -0.13071492314338684 + ], + [ + -0.062093291431665434, + 0.08585406381858197, + 0.9943709106355465, + 0.6132451295852661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9958266615867617, + -0.06537746985765346, + 0.0636795906762009, + -0.01292914617806673 + ], + [ + 0.07058323174715044, + 0.9940252586898576, + -0.08325748849264103, + -0.13225151598453522 + ], + [ + -0.05785595998167993, + 0.08740473694700547, + 0.9944913781074711, + 0.6176050901412964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9960190057754519, + -0.06553707981699856, + 0.060423943959772804, + -0.012414512224495411 + ], + [ + 0.07057126611471178, + 0.9938498423671924, + -0.08533551468161414, + -0.13360857963562012 + ], + [ + -0.054459683597087874, + 0.08925999237580635, + 0.994518388212627, + 0.6205903887748718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9961717128753662, + -0.06647443959658954, + 0.05677234228146142, + -0.011750093661248684 + ], + [ + 0.07134799659252167, + 0.9935053827765404, + -0.08863715192264263, + -0.1339617222547531 + ], + [ + -0.050511524081230164, + 0.09234841202000937, + 0.9944447184565584, + 0.6241812109947205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.996304452419281, + -0.0675818112939804, + 0.0530106250130603, + -0.011892170645296574 + ], + [ + 0.07225777953863144, + 0.9931417516376976, + -0.0919142836556476, + -0.1358039230108261 + ], + [ + -0.04643533006310463, + 0.09540504539879334, + 0.994354885763072, + 0.6272630095481873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9965529441833496, + -0.06714355258601587, + 0.04872319840274745, + -0.01198642235249281 + ], + [ + 0.07166951894760132, + 0.9926006117676838, + -0.09801787824928997, + -0.13646650314331055 + ], + [ + -0.041781406849622726, + 0.10117197411731169, + 0.9939912052888449, + 0.630599319934845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9966990351676941, + -0.067154291394925, + 0.04562101070100254, + -0.012254726141691208 + ], + [ + 0.07164378464221954, + 0.9918674665725721, + -0.10519559802200437, + -0.1380632221698761 + ], + [ + -0.038185663521289825, + 0.10811681672227066, + 0.9934045717785408, + 0.6318095326423645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968019127845764, + -0.06767959109057732, + 0.04249066115372156, + -0.012840011157095432 + ], + [ + 0.07209747284650803, + 0.9909868338042668, + -0.11290277539655101, + -0.1381819099187851 + ], + [ + -0.03446647524833679, + 0.1156051716781993, + 0.9926970987161836, + 0.6346486210823059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9969727396965027, + -0.06693978589624379, + 0.03955308062274358, + -0.014585437253117561 + ], + [ + 0.07122749090194702, + 0.9902896777570787, + -0.11938612035016119, + -0.1384008824825287 + ], + [ + -0.031177325174212456, + 0.12184197298609024, + 0.9920597467824238, + 0.6363767981529236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.997091591358185, + -0.06656198675376494, + 0.037120149280580134, + -0.01593111827969551 + ], + [ + 0.07070062309503557, + 0.9897093067803268, + -0.1244061259768824, + -0.13827700912952423 + ], + [ + -0.02845744043588639, + 0.1266687194874464, + 0.9915367949609629, + 0.6375133991241455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9970829486846926, + -0.06732769596078839, + 0.03595188143388925, + -0.017032848671078682 + ], + [ + 0.07139218598604204, + 0.9892890593479051, + -0.12731967770582708, + -0.13941091299057007 + ], + [ + -0.026994662359356887, + 0.12951496600218443, + 0.9912099512528205, + 0.6388193964958191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9972251057624817, + -0.06569696076707472, + 0.03501369087303093, + -0.018444005399942398 + ], + [ + 0.06973440945148468, + 0.9890039194526112, + -0.130416302608765, + -0.1395241767168045 + ], + [ + -0.026060720905661583, + 0.13249606759761054, + 0.9908408643819103, + 0.6415183544158936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9972787499427795, + -0.06491316932055848, + 0.034948679471301494, + -0.02032918855547905 + ], + [ + 0.06902136653661728, + 0.9886836941220594, + -0.13319397298451677, + -0.14034469425678253 + ], + [ + -0.02590714581310749, + 0.13524371632768206, + 0.990473585852485, + 0.6430422067642212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9973351359367371, + -0.06413601418451088, + 0.034774314887115076, + -0.0222061425447464 + ], + [ + 0.06830472499132156, + 0.9883276406077882, + -0.13617251465888774, + -0.14034436643123627 + ], + [ + -0.025634855031967163, + 0.1381848748117329, + 0.9900746278402731, + 0.6451175212860107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9973889589309695, + -0.0633693875754253, + 0.034635701676127756, + -0.024633726105093956 + ], + [ + 0.06759145855903627, + 0.988022639392405, + -0.13871785415865867, + -0.14025485515594482 + ], + [ + -0.025430392473936088, + 0.1406967349314382, + 0.9897261056747417, + 0.6469443440437317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9974722862243652, + -0.062140166864105145, + 0.03446214416252454, + -0.02672836184501648 + ], + [ + 0.06641025096178055, + 0.9877661349991465, + -0.14109470654006792, + -0.1398337334394455 + ], + [ + -0.02527289092540741, + 0.14302670093470704, + 0.9893961110738981, + 0.6488609910011292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9974761605262756, + -0.06154786261931803, + 0.03539955655674426, + -0.028143810108304024 + ], + [ + 0.06600800156593323, + 0.9875213868965599, + -0.14298402910812474, + -0.13981135189533234 + ], + [ + -0.026157459244132042, + 0.14495981911742106, + 0.9890917277664912, + 0.6500517725944519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9974320530891418, + -0.060625104722852936, + 0.03812945868935964, + -0.02931344136595726 + ], + [ + 0.06557229906320572, + 0.98714236703187, + -0.1457744545718867, + -0.13848526775836945 + ], + [ + -0.028801612555980682, + 0.1479003582225867, + 0.9885828227754813, + 0.6531217098236084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9973422884941101, + -0.05774490579310034, + 0.04442783360884758, + -0.0313536673784256 + ], + [ + 0.06373713910579681, + 0.9869223038547134, + -0.14806061706595988, + -0.13877928256988525 + ], + [ + -0.03529707342386246, + 0.15049882514323498, + 0.9879798959555938, + 0.6543930172920227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9971978068351748, + -0.05361443713585814, + 0.05217350853019347, + -0.033457957208156586 + ], + [ + 0.06095363572239877, + 0.9866325548139215, + -0.15113194293871043, + -0.139541357755661 + ], + [ + -0.043373230844736106, + 0.15388860268816648, + 0.9871357809880127, + 0.6547037959098816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9969214200973511, + -0.051164459027057185, + 0.05941256180735047, + -0.037289924919605255 + ], + [ + 0.05985001474618912, + 0.9860890287757875, + -0.15506912138071438, + -0.1411435455083847 + ], + [ + -0.050652049481868744, + 0.15814757521685152, + 0.9861154937581132, + 0.6530114412307739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9968252778053284, + -0.04911731639867323, + 0.06266473765514446, + -0.04093078896403313 + ], + [ + 0.058602262288331985, + 0.9854031348675336, + -0.15983244529415266, + -0.1410517692565918 + ], + [ + -0.05389948561787605, + 0.16299732007335382, + 0.9851531577675366, + 0.6537958979606628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9968588948249817, + -0.04766536853324532, + 0.06324875776147876, + -0.04459498077630997 + ], + [ + 0.057380709797143936, + 0.9851269279169882, + -0.16196408234168014, + -0.14155344665050507 + ], + [ + -0.05458797886967659, + 0.16508459580357607, + 0.9847676213395196, + 0.6537533402442932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9967024326324463, + -0.05199405802355262, + 0.06229674315944485, + -0.047628600150346756 + ], + [ + 0.061561573296785355, + 0.9846867224257175, + -0.16310174836624544, + -0.1421995908021927 + ], + [ + -0.05286245793104172, + 0.16639899391949578, + 0.9846404810364195, + 0.6524772047996521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9970519542694092, + -0.04869080736488247, + 0.05930104399657474, + -0.05082652345299721 + ], + [ + 0.05786430835723877, + 0.9846982361106876, + -0.16438106496858135, + -0.14310063421726227 + ], + [ + -0.050389789044857025, + 0.1673278713276469, + 0.9846127391273665, + 0.6548093557357788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9973938465118408, + -0.04245959352665336, + 0.05833298765622455, + -0.05155029520392418 + ], + [ + 0.051729414612054825, + 0.9844414699719503, + -0.1679257767219848, + -0.14135608077049255 + ], + [ + -0.050295352935791016, + 0.17050566343284732, + 0.984072251774736, + 0.6592794060707092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9970531463623047, + -0.04039674206329595, + 0.06521638252485208, + -0.04902081564068794 + ], + [ + 0.05099886283278465, + 0.9841045071273218, + -0.1701100161934226, + -0.1448870152235031 + ], + [ + -0.05730784311890602, + 0.17293468182149827, + 0.9832646455933345, + 0.6557954549789429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9950366020202637, + -0.035924768986863934, + 0.0927986506862915, + -0.05245975777506828 + ], + [ + 0.0523030050098896, + 0.9821651832761753, + -0.18059901590793134, + -0.13942484557628632 + ], + [ + -0.08465562760829926, + 0.18455626780788598, + 0.9791692190675212, + 0.6623846292495728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9947372078895569, + -0.03494654138209199, + 0.09631529120158885, + -0.055426448583602905 + ], + [ + 0.05202095955610275, + 0.9821208987960193, + -0.18092096273803, + -0.13941065967082977 + ], + [ + -0.08827069401741028, + 0.18497921780968762, + 0.9787701037710526, + 0.6617183685302734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9944118857383728, + -0.03207304144869549, + 0.10058002170020974, + -0.05899406969547272 + ], + [ + 0.050263866782188416, + 0.9816559417295337, + -0.18391622174967515, + -0.13974249362945557 + ], + [ + -0.09283621609210968, + 0.18794401722584894, + 0.9777824519282315, + 0.6610715985298157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9942619204521179, + -0.029225246672519637, + 0.10290319009677901, + -0.0613916851580143 + ], + [ + 0.048201728612184525, + 0.9811626898743375, + -0.1870731622773516, + -0.13772083818912506 + ], + [ + -0.09549751877784729, + 0.19095983688565543, + 0.976941427810867, + 0.6629935503005981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9939408302307129, + -0.027791887144861256, + 0.10634469220589558, + -0.06421488523483276 + ], + [ + 0.04777016490697861, + 0.9805791339727169, + -0.19021702800647064, + -0.13539987802505493 + ], + [ + -0.09899289160966873, + 0.19414458254692837, + 0.9759653083315584, + 0.6642552018165588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9936599135398865, + -0.027183256250528445, + 0.10909179612894362, + -0.06817710399627686 + ], + [ + 0.04790669307112694, + 0.9802030133279314, + -0.19211207270512254, + -0.13439123332500458 + ], + [ + -0.10170987993478775, + 0.1961202864031707, + 0.9752906703146141, + 0.6632059216499329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9936466813087463, + -0.025090799384888705, + 0.10971186687699411, + -0.07196924090385437 + ], + [ + 0.04620564728975296, + 0.979834822431611, + -0.19439330162414772, + -0.13279826939105988 + ], + [ + -0.10262201726436615, + 0.19822757139084154, + 0.9747689834032119, + 0.6632260084152222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9936120510101318, + -0.023230253850082264, + 0.11043281713446065, + -0.07537822425365448 + ], + [ + 0.04476667940616608, + 0.9794299608718897, + -0.19675590531497555, + -0.13143546879291534 + ], + [ + -0.10359051823616028, + 0.20044275096276334, + 0.9742133632570962, + 0.6641026139259338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.993478536605835, + -0.020776819098785156, + 0.11211014997502794, + -0.0783345028758049 + ], + [ + 0.0429309718310833, + 0.9790599219700731, + -0.19899400647774348, + -0.13034316897392273 + ], + [ + -0.10562808811664581, + 0.20250927844346328, + 0.9735670209680892, + 0.6654735207557678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9930721521377563, + -0.019275777249653875, + 0.11591454174025172, + -0.08155648410320282 + ], + [ + 0.04246654361486435, + 0.9786540166033654, + -0.2010793662324432, + -0.1297016739845276 + ], + [ + -0.10956427454948425, + 0.20460880024806732, + 0.9726925845734012, + 0.6664372086524963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9925575256347656, + -0.01703909526128073, + 0.12057870250102933, + -0.08618628978729248 + ], + [ + 0.04141625389456749, + 0.97837129466736, + -0.20266808457492452, + -0.1303131878376007 + ], + [ + -0.1145174577832222, + 0.20615364160375071, + 0.9717954442598685, + 0.6652597784996033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.992238461971283, + -0.013830506380240776, + 0.12357827908730054, + -0.09062552452087402 + ], + [ + 0.039100971072912216, + 0.9780882487313874, + -0.20448601407789999, + -0.13091769814491272 + ], + [ + -0.11804231256246567, + 0.20773090803238523, + 0.9710375160995015, + 0.6654977202415466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9921202659606934, + -0.011524664234078146, + 0.12475805963517873, + -0.09470047801733017 + ], + [ + 0.03735599294304848, + 0.977679566115141, + -0.20675383430379027, + -0.13119709491729736 + ], + [ + -0.1195906326174736, + 0.20978513846276198, + 0.9704062698132591, + 0.6649783849716187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.992163896560669, + -0.01070431864334792, + 0.12448366693559537, + -0.09746584296226501 + ], + [ + 0.03678654134273529, + 0.9771872628862823, + -0.20916923355586675, + -0.13067807257175446 + ], + [ + -0.11940484493970871, + 0.21210949129752057, + 0.9699237260799797, + 0.6652202010154724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9922200441360474, + -0.010343738792576444, + 0.12406602911662742, + -0.09943733364343643 + ], + [ + 0.03664446622133255, + 0.9766609824493118, + -0.2116377014708227, + -0.1290668100118637 + ], + [ + -0.11898133158683777, + 0.21453749747750137, + 0.9694416194007504, + 0.6657525897026062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9921925663948061, + -0.010362977097268964, + 0.12428392155508383, + -0.1014070212841034 + ], + [ + 0.03695765137672425, + 0.9762120051108905, + -0.21364507276777903, + -0.12759658694267273 + ], + [ + -0.11911345273256305, + 0.2165703000348907, + 0.968973313591254, + 0.6663854122161865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9922837615013123, + -0.011424465418445951, + 0.12346004064619219, + -0.10277906805276871 + ], + [ + 0.038052625954151154, + 0.9757515494984207, + -0.21554801029612003, + -0.12655961513519287 + ], + [ + -0.11800380796194077, + 0.21858276753848427, + 0.9686571419565401, + 0.6664682626724243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9925388097763062, + -0.011038796406844168, + 0.12142837912470057, + -0.10521915555000305 + ], + [ + 0.0374995619058609, + 0.9752599009173698, + -0.2178574207447569, + -0.12542462348937988 + ], + [ + -0.1160193458199501, + 0.220785458484965, + 0.9683972660480931, + 0.6665616631507874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9929136037826538, + -0.011813115343528278, + 0.11824973749306848, + -0.1061704009771347 + ], + [ + 0.037839170545339584, + 0.9746854322954408, + -0.22035529016218477, + -0.1239895150065422 + ], + [ + -0.1126532182097435, + 0.2232682481119577, + 0.9682254759309845, + 0.6657305359840393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9931296110153198, + -0.012777755209374587, + 0.1163197801757721, + -0.10729221254587173 + ], + [ + 0.038625892251729965, + 0.9741033633442692, + -0.2227795150819478, + -0.12266796827316284 + ], + [ + -0.11046086251735687, + 0.22574188719492988, + 0.967904445263065, + 0.6650198698043823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9932031631469727, + -0.014271314631313835, + 0.11551514937124115, + -0.10834044963121414 + ], + [ + 0.04020237550139427, + 0.973436908435659, + -0.22539819196174835, + -0.12078002840280533 + ], + [ + -0.10922998189926147, + 0.2285101855567517, + 0.9673943765966969, + 0.6651608943939209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9931519031524658, + -0.015552206792357531, + 0.11579031967346982, + -0.10988607257604599 + ], + [ + 0.04177039861679077, + 0.9728576053094425, + -0.227603384380125, + -0.11925271153450012 + ], + [ + -0.10910775512456894, + 0.230881350054168, + 0.9668450418224498, + 0.6656067371368408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9931012392044067, + -0.015587351011704945, + 0.1162196167860067, + -0.1112438440322876 + ], + [ + 0.04216104373335838, + 0.9723096406507521, + -0.22986180472598974, + -0.11744412034749985 + ], + [ + -0.10941851884126663, + 0.2331759718611071, + 0.9662590402312743, + 0.6662415266036987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9929545521736147, + -0.015731085105664136, + 0.11744711764541896, + -0.1121583804488182 + ], + [ + 0.04278706386685372, + 0.9718774619641153, + -0.23156741609454165, + -0.1160847544670105 + ], + [ + -0.11050139367580417, + 0.2349611374875224, + 0.9657032425115377, + 0.6671416759490967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9927260875701904, + -0.014813592910366262, + 0.11948004588225612, + -0.11367707699537277 + ], + [ + 0.042560867965221405, + 0.9715027800702729, + -0.23317565750205485, + -0.1153889149427414 + ], + [ + -0.11262103170156479, + 0.2365647390279018, + 0.9650666599312595, + 0.6670175194740295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9925193190574646, + -0.014463510534967949, + 0.12122775284023718, + -0.11501126736402512 + ], + [ + 0.04282226786017418, + 0.9711161600673947, + -0.23473324190460157, + -0.11519380658864975 + ], + [ + -0.11433115601539612, + 0.23816852348597733, + 0.9644709096849597, + 0.6671432852745056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9923714399337769, + -0.013692189533899226, + 0.12252132805605359, + -0.11657536774873734 + ], + [ + 0.042577262967824936, + 0.9707284239714997, + -0.2363756993660013, + -0.1154734194278717 + ], + [ + -0.1156984344124794, + 0.23978911963501823, + 0.9639061566445077, + 0.6666832566261292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9922388195991518, + -0.013322734268569723, + 0.12363125886571444, + -0.11765113472938538 + ], + [ + 0.04270765557885171, + 0.9702756796675223, + -0.23820407484585793, + -0.11565378308296204 + ], + [ + -0.11678286641836169, + 0.2416353166099885, + 0.9633141144446318, + 0.6671380996704102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9921472072601321, + -0.012881081658402965, + 0.1244105162538901, + -0.11868206411600113 + ], + [ + 0.04271174594759942, + 0.9697811251348294, + -0.24020888425821008, + -0.11587385088205338 + ], + [ + -0.11755682528018954, + 0.2436363585562878, + 0.9627157867134708, + 0.66697096824646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9921106696128845, + -0.01197112455097407, + 0.12479247114360285, + -0.12027724087238312 + ], + [ + 0.04216334968805313, + 0.9693051555179085, + -0.24221842659572124, + -0.1161261722445488 + ], + [ + -0.11806236207485199, + 0.2455691508883953, + 0.9621627158714539, + 0.6666622161865234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9921705722808838, + -0.011056862831887069, + 0.12439982416507689, + -0.1214999333024025 + ], + [ + 0.041426852345466614, + 0.9688152957446315, + -0.24429651245076503, + -0.11629464477300644 + ], + [ + -0.11781930178403854, + 0.24753729782018707, + 0.9616880566664155, + 0.6658285856246948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9922382235527039, + -0.012393292725409113, + 0.12373244405907127, + -0.1218048483133316 + ], + [ + 0.04281478002667427, + 0.9682319157420142, + -0.24636127076425263, + -0.11617238819599152 + ], + [ + -0.11674846708774567, + 0.24974663730815602, + 0.9612472957395028, + 0.6655156016349792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9923568367958071, + -0.012181653934266687, + 0.1227985043305583, + -0.12280050665140152 + ], + [ + 0.04258453100919724, + 0.9677907853962359, + -0.24812806535349904, + -0.11641662567853928 + ], + [ + -0.11582064628601077, + 0.25146089869558264, + 0.9609125541774837, + 0.6651522517204285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9924716949462891, + -0.011554813325050263, + 0.12192790919946742, + -0.12377877533435822 + ], + [ + 0.041992370039224625, + 0.9672981067783902, + -0.2501419654683603, + -0.11635568737983704 + ], + [ + -0.1150502935051918, + 0.25337886039658947, + 0.9605012013902737, + 0.6653725504875183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9925404191017153, + -0.011448297477208555, + 0.12137709756056562, + -0.12472337484359741 + ], + [ + 0.04202362149953843, + 0.9666937238929666, + -0.25246235195650785, + -0.11590293794870377 + ], + [ + -0.11444421112537387, + 0.2556798022279831, + 0.9599637252123165, + 0.6651210188865662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9925409555435183, + -0.011739608189426183, + 0.12134513034635669, + -0.12595663964748383 + ], + [ + 0.042553763836622245, + 0.9661094466477048, + -0.25460112403753354, + -0.11566058546304703 + ], + [ + -0.11424375325441363, + 0.25786573208189745, + 0.9594027487985227, + 0.6650540232658386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9926025271415713, + -0.011247215622870512, + 0.12088703200264628, + -0.12730582058429718 + ], + [ + 0.042190726846456535, + 0.965599236412927, + -0.2565892983691831, + -0.11578772217035294 + ], + [ + -0.1138425096869469, + 0.2597915000146841, + 0.9589307787127406, + 0.6644630432128906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9926797747612, + -0.010476667027011437, + 0.12032070103909064, + -0.12878082692623138 + ], + [ + 0.04156218469142914, + 0.9650167391209459, + -0.25887300513803135, + -0.11541574448347092 + ], + [ + -0.11339937150478363, + 0.2619788035069892, + 0.9583880946711656, + 0.6643636226654053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9927608966827393, + -0.008591781495520218, + 0.11979983773240978, + -0.1305270940065384 + ], + [ + 0.0398876890540123, + 0.9644123041557071, + -0.2613770053032856, + -0.11514024436473846 + ], + [ + -0.11329074203968048, + 0.2642634008745383, + 0.9577734986468939, + 0.6637400388717651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9927971959114075, + -0.007795260187060532, + 0.11955318567920988, + -0.13200141489505768 + ], + [ + 0.03929052874445915, + 0.963878186141912, + -0.26342960372254515, + -0.1151321679353714 + ], + [ + -0.1131812036037445, + 0.2662294763949806, + 0.9572418248765844, + 0.6636678576469421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9928642511367798, + -0.007122092430232484, + 0.11903722179238035, + -0.13326160609722137 + ], + [ + 0.038744814693927765, + 0.9633249022053605, + -0.26552578242543895, + -0.11493024975061417 + ], + [ + -0.11278042942285538, + 0.2682431334542228, + 0.9567268088155529, + 0.663068413734436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9929565191268921, + -0.005353775620574921, + 0.11835807475893444, + -0.13457725942134857 + ], + [ + 0.037047915160655975, + 0.9629134849072345, + -0.26725465513102553, + -0.1151110902428627 + ], + [ + -0.11253777146339417, + 0.2697571778128784, + 0.956329590096721, + 0.6634178757667542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 637.0768229166666, + "fy": 636.7832438151041, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/448d715f-9310-45a0-a835-74733b639af5/boom_down/transforms.json b/dynpose_eval/camera_controls/448d715f-9310-45a0-a835-74733b639af5/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..07d4210e757942b6f54c4e983dbd5843e08b7692 --- /dev/null +++ b/dynpose_eval/camera_controls/448d715f-9310-45a0-a835-74733b639af5/boom_down/transforms.json @@ -0,0 +1,8448 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 241, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.0001968609867617488, + 1.057356803357834e-05, + -1.0731645488704089e-05 + ], + [ + -0.00019686133600771427, + 1.0, + 3.309702515252866e-05, + -2.932549614342861e-05 + ], + [ + -1.0567052413534839e-05, + -3.3099106076406315e-05, + 1.0, + -0.00010989621659973636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999953508377075, + -0.0028180060908198357, + -0.0011487018782645464, + 0.000733083866459007 + ], + [ + 0.002818117383867502, + 0.9999960064888, + 9.52771952142939e-05, + 0.0005869083682773635 + ], + [ + 0.0011484287679195404, + -9.851393406279385e-05, + 0.9999993443489075, + -0.0020108954742439284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999940991401672, + -0.003417657222598791, + 0.0003431965014897287, + -0.0006714547103426108 + ], + [ + 0.003417222760617733, + 0.9999933838844299, + 0.0012581470655277371, + 0.00045143899818261466 + ], + [ + -0.00034749414771795273, + -0.0012569668469950557, + 0.9999991655349731, + -0.005184592879280293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999912977218628, + -0.003429992822930217, + -0.0023725416976958513, + 0.000876669624412898 + ], + [ + 0.003433098318055272, + 0.9999932646751404, + 0.0013061981881037354, + 0.0015634438511915507 + ], + [ + 0.002368045272305608, + -0.0013143318938091397, + 0.9999963045120239, + -0.012816491598641733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999875426292419, + -0.003383786417543888, + -0.003667987883090973, + 0.0012924303098892172 + ], + [ + 0.0033943881280720234, + 0.9999900460243225, + 0.00288803200237453, + 0.0013041102090695254 + ], + [ + 0.0036581791937351227, + -0.002900446532294154, + 0.9999890923500061, + -0.014775891370372846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999884366989136, + -0.0013838122831657529, + -0.004599221050739288, + 0.0017172469192397936 + ], + [ + 0.0014047460863366723, + 0.9999886751174927, + 0.004551475867629051, + 0.0008318706415593622 + ], + [ + 0.004592870362102985, + -0.00455788429826498, + 0.9999790787696838, + -0.010714346370271717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999784827232361, + 0.005003696773201227, + -0.004240207839757204, + 0.001503963788272813 + ], + [ + -0.004973620641976595, + 0.9999626278877258, + 0.007074103225022554, + -0.0004686021804809564 + ], + [ + 0.00427544629201293, + -0.0070528616197407246, + 0.9999659657478333, + -0.011546651256503537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999657273292542, + 0.007213831413537264, + -0.004065692890435457, + 0.0013884456314068908 + ], + [ + -0.007174672093242407, + 0.9999285340309143, + 0.00956540834158659, + -0.0017660170110563437 + ], + [ + 0.004134405869990587, + -0.00953590963035822, + 0.9999459981918335, + -0.012059970811242238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999496936798096, + 0.009156287647783756, + -0.004090034402906895, + 0.0018602038081735372 + ], + [ + -0.009116754867136478, + 0.9999125599861145, + 0.009581893682479858, + -0.001238174314300219 + ], + [ + 0.004177411086857319, + -0.009544124826788902, + 0.9999457001686096, + -0.013489141830553612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999067783355713, + 0.013421253301203251, + -0.002520390786230564, + 0.0010550014942418784 + ], + [ + -0.013398825190961361, + 0.9998722672462463, + 0.008714457973837852, + -6.33224658668041e-05 + ], + [ + 0.0026370277628302574, + -0.008679874241352081, + 0.999958872795105, + -0.014363497300073504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998684525489807, + 0.016155289486050606, + -0.001436450402252376, + 0.00039137374066437286 + ], + [ + -0.01614338345825672, + 0.99983811378479, + 0.007945233955979347, + 0.000944377388805151 + ], + [ + 0.001564575475640595, + -0.007920999079942703, + 0.9999673962593079, + -0.015363057097420096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998732805252075, + 0.015824533998966217, + -0.0017295866273343563, + 0.0007052937111196419 + ], + [ + -0.015810370445251465, + 0.9998436570167542, + 0.007916326634585857, + 0.0013235283829271796 + ], + [ + 0.0018545885104686022, + -0.007887979038059711, + 0.9999671578407288, + -0.01688874256137448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998632073402405, + 0.01641799509525299, + -0.002002919092774391, + 0.0011086378386244177 + ], + [ + -0.016402866691350937, + 0.9998384714126587, + 0.007348698563873768, + 0.0021755743492394694 + ], + [ + 0.0021232464350759983, + -0.0073148394003510475, + 0.9999709725379944, + -0.023902059760876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998382329940796, + 0.01797134429216385, + 0.0006925371708348393, + -0.0013602455953756968 + ], + [ + -0.01797783374786377, + 0.9997788667678833, + 0.010908505879342556, + -0.00048671670878926935 + ], + [ + -0.0004963435931131244, + -0.010919191874563694, + 0.9999402761459351, + -0.026440116696758196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998492002487183, + 0.017259251326322556, + 0.0019162767566740513, + -0.0027240652435769636 + ], + [ + -0.017286811023950577, + 0.9997313022613525, + 0.015441834926605225, + -0.003852104780574639 + ], + [ + -0.001649247482419014, + -0.01547263190150261, + 0.9998789429664612, + -0.030513801366711658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998385906219482, + 0.017545053735375404, + 0.0038623414002358913, + -0.004890013614203781 + ], + [ + -0.017612097784876823, + 0.9996815919876099, + 0.018068991601467133, + -0.005493932776153087 + ], + [ + -0.0035440903156995773, + -0.01813409850001335, + 0.9998292922973633, + -0.034336473676376045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997692704200745, + 0.020805183798074722, + 0.005341061390936375, + -0.006955666181941827 + ], + [ + -0.020908880978822708, + 0.9995782375335693, + 0.020154783502221107, + -0.006615361447135607 + ], + [ + -0.004919484257698059, + -0.02026180736720562, + 0.9997826218605042, + -0.03250123529384533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997024536132812, + 0.023192308843135834, + 0.007560712285339832, + -0.009536246697728833 + ], + [ + -0.02336258441209793, + 0.9994562268257141, + 0.023269670084118843, + -0.008360513026515642 + ], + [ + -0.007016923278570175, + -0.023439383134245872, + 0.9997006058692932, + -0.035344097989145666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997199177742004, + 0.022788675501942635, + 0.006381989922374487, + -0.009252564371563495 + ], + [ + -0.022929737344384193, + 0.999472975730896, + 0.02297850325703621, + -0.007143782898783684 + ], + [ + -0.005854976829141378, + -0.023118406534194946, + 0.9997155666351318, + -0.03455573506653309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9997497797012329, + 0.0221695676445961, + 0.0029862364754080772, + -0.006859425048654278 + ], + [ + -0.02222689613699913, + 0.9995371699333191, + 0.020771535113453865, + -0.004242367260158062 + ], + [ + -0.002524358220398426, + -0.020832711830735207, + 0.9997797608375549, + -0.03403709787176922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997372627258301, + 0.0229162760078907, + 0.0005268546519801021, + -0.004695357879002889 + ], + [ + -0.022922150790691376, + 0.9995566010475159, + 0.01900537870824337, + -0.001714798559745153 + ], + [ + -9.108861559070647e-05, + -0.019012460485100746, + 0.9998192191123962, + -0.03145723102303843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997361898422241, + 0.02295362576842308, + -0.0008573557715862989, + -0.0028825471224263313 + ], + [ + -0.022935900837183, + 0.999594509601593, + 0.016874615103006363, + 0.0007194013148546213 + ], + [ + 0.0012443417217582464, + -0.01685049757361412, + 0.9998572468757629, + -0.03069900952745229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997541308403015, + 0.021998919546604156, + -0.0027691246941685677, + -0.0007948445389047265 + ], + [ + -0.02195792645215988, + 0.9996601343154907, + 0.014053375460207462, + 0.003634759423633416 + ], + [ + 0.003077342640608549, + -0.013989116065204144, + 0.9998974204063416, + -0.031141850855977586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9996964335441589, + 0.023891720920801163, + -0.006019177846610546, + 0.0020860247779637573 + ], + [ + -0.02380458265542984, + 0.9996164441108704, + 0.014154795557260513, + 0.0041395542336006945 + ], + [ + 0.0063550518825650215, + -0.014007214456796646, + 0.9998816847801208, + -0.032316318339047335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.999738335609436, + 0.021225135773420334, + -0.008530637249350548, + 0.004139775559306145 + ], + [ + -0.021138392388820648, + 0.9997252225875854, + 0.010133330710232258, + 0.00800790040753782 + ], + [ + 0.008743373677134514, + -0.009950355626642704, + 0.9999122619628906, + -0.03325926990248263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.999764084815979, + 0.018501318991184235, + -0.011379804462194443, + 0.006540919421240687 + ], + [ + -0.018406808376312256, + 0.99979567527771, + 0.00835460890084505, + 0.010115847127356878 + ], + [ + 0.011532049626111984, + -0.008143172599375248, + 0.9999003410339355, + -0.03379939854494296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9997592568397522, + 0.018287234008312225, + -0.012124153785407543, + 0.00731451140716672 + ], + [ + -0.01820666342973709, + 0.9998116493225098, + 0.006722765509039164, + 0.01206952697597444 + ], + [ + 0.012244810350239277, + -0.00650040665641427, + 0.9999039173126221, + -0.033415759029254935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9997657537460327, + 0.01790759712457657, + -0.012153519317507744, + 0.007486681016162038 + ], + [ + -0.01784571260213852, + 0.9998273253440857, + 0.005181429907679558, + 0.013867806345224382 + ], + [ + 0.0122442077845335, + -0.004963328130543232, + 0.9999127388000488, + -0.03308694343664684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998254179954529, + 0.013497590087354183, + -0.012920877896249294, + 0.007995359737736484 + ], + [ + -0.013461227528750896, + 0.9999051690101624, + 0.002897096797823906, + 0.016231604386121035 + ], + [ + 0.012958756648004055, + -0.002722660079598427, + 0.9999123215675354, + -0.03335381926037371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998372197151184, + 0.012344535440206528, + -0.01315863523632288, + 0.00815818244436135 + ], + [ + -0.012337451800704002, + 0.9999237060546875, + 0.0006193388253450394, + 0.018660293898234766 + ], + [ + 0.013165277428925037, + -0.00045689402031712234, + 0.999913215637207, + -0.041085671556005156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9998832941055298, + 0.00829967763274908, + -0.01282684039324522, + 0.007251737068872899 + ], + [ + -0.008307666517794132, + 0.9999653100967407, + -0.0005696624866686761, + 0.02022221051156521 + ], + [ + 0.012821667827665806, + 0.0006761571276001632, + 0.9999175667762756, + -0.041724991772935024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.999893069267273, + 0.008522036485373974, + -0.011885271407663822, + 0.006386015594083195 + ], + [ + -0.008547927252948284, + 0.9999611973762512, + -0.0021292506717145443, + 0.021757221842805544 + ], + [ + 0.011866665445268154, + 0.002230617217719555, + 0.9999271035194397, + -0.035956147314282136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999113082885742, + 0.008525420911610126, + -0.010229584760963917, + 0.005400756075978279 + ], + [ + -0.008565262891352177, + 0.9999558925628662, + -0.0038572666235268116, + 0.02348467259357373 + ], + [ + 0.01019624900072813, + 0.003944543655961752, + 0.9999402165412903, + -0.03080007034664353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999029636383057, + 0.010537694208323956, + -0.009111162275075912, + 0.0046471985906828195 + ], + [ + -0.010584159754216671, + 0.9999311566352844, + -0.005066658835858107, + 0.02483992714434862 + ], + [ + 0.009057143703103065, + 0.005162600893527269, + 0.9999456405639648, + -0.028091281296801753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999158978462219, + 0.010077708400785923, + -0.008162366226315498, + 0.0038981437442513803 + ], + [ + -0.010125397704541683, + 0.999931812286377, + -0.005822393111884594, + 0.025904801934957505 + ], + [ + 0.008103132247924805, + 0.005904550664126873, + 0.9999497532844543, + -0.028526892752852293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999232292175293, + 0.009903804399073124, + -0.007444484159350395, + 0.0032718396260558317 + ], + [ + -0.009953592903912067, + 0.9999281167984009, + -0.006680837832391262, + 0.026981056978305183 + ], + [ + 0.007377783767879009, + 0.006754424422979355, + 0.9999499917030334, + -0.026903521510151525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999046921730042, + 0.011975103989243507, + -0.006874089129269123, + 0.0031365631613880394 + ], + [ + -0.012025464326143265, + 0.9999008178710938, + -0.007332210429012775, + 0.027942791506648065 + ], + [ + 0.006785603240132332, + 0.007414175197482109, + 0.9999495148658752, + -0.028566899104043843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999077320098877, + 0.012137564830482006, + -0.006101234350353479, + 0.002835277625902866 + ], + [ + -0.012186470441520214, + 0.9998933672904968, + -0.008043542504310608, + 0.028786579743027688 + ], + [ + 0.006002954673022032, + 0.008117152377963066, + 0.999949038028717, + -0.030156046671327204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999269843101501, + 0.01078248955309391, + -0.00545424735173583, + 0.002477915639368196 + ], + [ + -0.010829469189047813, + 0.9999038577079773, + -0.00865861400961876, + 0.029493654804925124 + ], + [ + 0.0053603616543114185, + 0.008717048913240433, + 0.9999476671218872, + -0.03136323226305346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.999913215637207, + 0.012239675968885422, + -0.004871532786637545, + 0.0019457024475559592 + ], + [ + -0.012284526601433754, + 0.9998814463615417, + -0.009285964071750641, + 0.030203232616186144 + ], + [ + 0.004757297690957785, + 0.009345002472400665, + 0.9999450445175171, + -0.03209839160554111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9998837113380432, + 0.01474247220903635, + -0.0039083994925022125, + 0.0012265556181470553 + ], + [ + -0.014781069941818714, + 0.9998403787612915, + -0.010037590749561787, + 0.03110929348816474 + ], + [ + 0.003759796731173992, + 0.010094192810356617, + 0.9999420046806335, + -0.03555101285067697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9998830556869507, + 0.015096385963261127, + -0.002442378783598542, + 0.0004093265300616622 + ], + [ + -0.01512088906019926, + 0.9998321533203125, + -0.010345839895308018, + 0.03150735764453809 + ], + [ + 0.002285783877596259, + 0.010381561703979969, + 0.9999434947967529, + -0.0360367056770095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9998921155929565, + 0.014620241709053516, + -0.0014205998741090298, + 0.0002267766674776794 + ], + [ + -0.014634710736572742, + 0.9998348951339722, + -0.010772735811769962, + 0.032044593729078766 + ], + [ + 0.001262865262106061, + 0.010792364366352558, + 0.9999409914016724, + -0.03750676128314808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9998822808265686, + 0.015330465510487556, + -0.0006727505242452025, + -0.00010129459512730441 + ], + [ + -0.015337057411670685, + 0.999819278717041, + -0.011232483200728893, + 0.03263351661463579 + ], + [ + 0.0005004297709092498, + 0.01124147791415453, + 0.9999366998672485, + -0.037981850896418715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9998812079429626, + 0.015188997611403465, + -0.0026140413247048855, + 0.0015867978520691395 + ], + [ + -0.015217969194054604, + 0.9998186826705933, + -0.011444905772805214, + 0.03307200548549493 + ], + [ + 0.0024397308006882668, + 0.011483326554298401, + 0.9999310970306396, + -0.03925413606067499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999937117099762, + 0.010928219184279442, + -0.0025205144193023443, + 0.001551325072068721 + ], + [ + -0.010952139273285866, + 0.9998931884765625, + -0.009680172428488731, + 0.031854815594851975 + ], + [ + 0.0024144581984728575, + 0.009707167744636536, + 0.9999499917030334, + -0.03705482268705964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.999934196472168, + 0.010909057222306728, + -0.0035446046385914087, + 0.0027026929527831575 + ], + [ + -0.0109414616599679, + 0.999897301197052, + -0.009254743345081806, + 0.03172953527420759 + ], + [ + 0.003443280002102256, + 0.009292918257415295, + 0.9999508857727051, + -0.03472443601349369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999309778213501, + 0.011646549217402935, + -0.0015555806457996368, + 0.0018463422656835368 + ], + [ + -0.01165934931486845, + 0.9998959898948669, + -0.008489824831485748, + 0.03165863359967867 + ], + [ + 0.001456541707739234, + 0.008507376536726952, + 0.9999627470970154, + -0.04373077267392849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999515414237976, + 0.009833364747464657, + 0.000443716038716957, + 0.0005276498210150749 + ], + [ + -0.009829538874328136, + 0.9999202489852905, + -0.007928735576570034, + 0.031212976984679702 + ], + [ + -0.0005216468125581741, + 0.007923989556729794, + 0.9999684691429138, + -0.040147309768944976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999768137931824, + 0.006780663970857859, + -0.0006243897369131446, + 0.001973379303429586 + ], + [ + -0.0067861066199839115, + 0.9999349117279053, + -0.009171625599265099, + 0.032403342450658484 + ], + [ + 0.0005621593445539474, + 0.009175650775432587, + 0.9999577403068542, + -0.03748934835505982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999955952167511, + 0.008408809080719948, + -0.004162513185292482, + 0.005286727915517986 + ], + [ + -0.008452782407402992, + 0.9999074339866638, + -0.010661911219358444, + 0.03384615356723468 + ], + [ + 0.0040724738501012325, + 0.01069662719964981, + 0.9999344944953918, + -0.033876181114465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999139308929443, + 0.010077192448079586, + -0.008398255333304405, + 0.0073797888483386484 + ], + [ + -0.010174362920224667, + 0.999880850315094, + -0.011609097011387348, + 0.03396534185856581 + ], + [ + 0.00828026793897152, + 0.011693545617163181, + 0.9998973608016968, + -0.003578653520671651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999629855155945, + 0.005797352641820908, + -0.006360561586916447, + 0.006272444936136405 + ], + [ + -0.005870330147445202, + 0.9999164938926697, + -0.011515340767800808, + 0.03414558383325736 + ], + [ + 0.006293271668255329, + 0.011552252806723118, + 0.9999134540557861, + -0.009209524559167525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999493360519409, + 0.009504178538918495, + -0.0033098352141678333, + 0.0043175864662043754 + ], + [ + -0.009539121761918068, + 0.9998971819877625, + -0.010706456378102303, + 0.033615328942735986 + ], + [ + 0.0032077389769256115, + 0.010737486183643341, + 0.9999371767044067, + -0.013923123376443983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999807476997375, + 0.006034740246832371, + 0.001434913370758295, + 0.00147832517279312 + ], + [ + -0.006022613495588303, + 0.9999473094940186, + -0.008310663513839245, + 0.03262400448322296 + ], + [ + -0.0014849905855953693, + 0.008301862515509129, + 0.9999644160270691, + -0.03639531295513734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999833106994629, + 0.0014308454701676965, + 0.005597180221229792, + -0.0017501204568058407 + ], + [ + -0.0013864153297618032, + 0.9999675750732422, + -0.007933779619634151, + 0.03248080015182495 + ], + [ + -0.00560835050418973, + 0.00792588759213686, + 0.9999528527259827, + -0.039090189137884104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999813437461853, + 0.00011037378862965852, + 0.0061084493063390255, + -0.0017778463175151652 + ], + [ + -6.472361565101892e-05, + 0.9999720454216003, + -0.007472978439182043, + 0.03222451966255903 + ], + [ + -0.0061091030947864056, + 0.007472443860024214, + 0.9999534487724304, + -0.03827651363952706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9999779462814331, + 0.004792637657374144, + 0.004597154911607504, + 8.055312151554972e-05 + ], + [ + -0.004757730755954981, + 0.9999600052833557, + -0.007574331946671009, + 0.032773560285568236 + ], + [ + -0.004633271601051092, + 0.007552293129265308, + 0.999960720539093, + -0.04217165912617929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9999739527702332, + 0.005889792926609516, + 0.004168401472270489, + 0.0008929830067791045 + ], + [ + -0.005857106298208237, + 0.9999523162841797, + -0.00781070813536644, + 0.03343381305535635 + ], + [ + -0.004214206710457802, + 0.007786090485751629, + 0.9999607801437378, + -0.04143017213869219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9999656081199646, + 0.004624072462320328, + 0.006882076151669025, + -0.0004739794763736427 + ], + [ + -0.004569794982671738, + 0.9999585151672363, + -0.007881715893745422, + 0.03386533645292123 + ], + [ + -0.006918235681951046, + 0.00784999504685402, + 0.9999452829360962, + -0.039449489049923916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.999947190284729, + 0.005612049251794815, + 0.008611483499407768, + -0.0011119542876258492 + ], + [ + -0.005564775317907333, + 0.9999693632125854, + -0.005503771360963583, + 0.032164919376373294 + ], + [ + -0.008642107248306274, + 0.0054555595852434635, + 0.9999477863311768, + -0.03528446838026866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9999203085899353, + 0.0029070901218801737, + 0.01228476595133543, + -0.0034189203601757375 + ], + [ + -0.0028563423547893763, + 0.9999873042106628, + -0.004146496299654245, + 0.031563626180092494 + ], + [ + -0.012296664528548717, + 0.0041110762394964695, + 0.9999159574508667, + -0.03910031623498071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.999873697757721, + -0.003110160818323493, + 0.015587639063596725, + -0.005307996336875173 + ], + [ + 0.003172235330566764, + 0.9999871253967285, + -0.003959137946367264, + 0.03186516029139359 + ], + [ + -0.015575125813484192, + 0.0040080854669213295, + 0.9998706579208374, + -0.044289106876434135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9998143315315247, + -0.007010294124484062, + 0.01794791780412197, + -0.006303685910534113 + ], + [ + 0.007078621536493301, + 0.9999679327011108, + -0.003746299771592021, + 0.032257859166711575 + ], + [ + -0.01792108081281185, + 0.003872650908306241, + 0.9998319149017334, + -0.04829602552083088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997867941856384, + -0.0069955578073859215, + 0.019428255036473274, + -0.006627926242848237 + ], + [ + 0.0070922886952757835, + 0.9999627470970154, + -0.004914427641779184, + 0.033969173803925515 + ], + [ + -0.019393151625990868, + 0.005051170941442251, + 0.9997991919517517, + -0.05068379383534193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997262358665466, + -0.008378371596336365, + 0.0218473169952631, + -0.007369166053831577 + ], + [ + 0.008520592004060745, + 0.9999430775642395, + -0.006424798630177975, + 0.03584709241986275 + ], + [ + -0.02179224230349064, + 0.006609191186726093, + 0.9997406601905823, + -0.0523043846381673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996150135993958, + -0.013314046896994114, + 0.02434336580336094, + -0.008228874623309821 + ], + [ + 0.013506799004971981, + 0.9998785853385925, + -0.007770852651447058, + 0.03749535888433457 + ], + [ + -0.024236949160695076, + 0.008096661418676376, + 0.9996734261512756, + -0.051304692951962355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9995357394218445, + -0.013722153380513191, + 0.027202365919947624, + -0.009243331442121416 + ], + [ + 0.013977475464344025, + 0.9998598098754883, + -0.009218169376254082, + 0.039175665328900024 + ], + [ + -0.027072058990597725, + 0.009594110772013664, + 0.9995874166488647, + -0.050511622542981055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9994759559631348, + -0.012120023369789124, + 0.03001568093895912, + -0.010348406297465166 + ], + [ + 0.012444902211427689, + 0.999865710735321, + -0.010660603642463684, + 0.040982007582982385 + ], + [ + -0.029882442206144333, + 0.011028559878468513, + 0.9994925856590271, + -0.05288574620770911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9993281364440918, + -0.01778574101626873, + 0.03204573690891266, + -0.011389061997178943 + ], + [ + 0.018189312890172005, + 0.9997583031654358, + -0.012346381321549416, + 0.04277403116226196 + ], + [ + -0.03181840479373932, + 0.012920975685119629, + 0.9994101524353027, + -0.053948097378015515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.999172031879425, + -0.022217513993382454, + 0.03408333286643028, + -0.012799782981164753 + ], + [ + 0.022693922743201256, + 0.9996492266654968, + -0.013655120506882668, + 0.044362947841485346 + ], + [ + -0.03376799449324608, + 0.014417298138141632, + 0.999325692653656, + -0.05855842186138034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9991055727005005, + -0.023362023755908012, + 0.035246461629867554, + -0.014108743022661656 + ], + [ + 0.02388736419379711, + 0.9996086359024048, + -0.01455802470445633, + 0.04575881610314052 + ], + [ + -0.03489256650209427, + 0.015386948361992836, + 0.9992725849151611, + -0.06465550111994768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9990561008453369, + -0.024544820189476013, + 0.035838548094034195, + -0.015047925524413586 + ], + [ + 0.02510010451078415, + 0.9995704889297485, + -0.0151271503418684, + 0.04666616320610047 + ], + [ + -0.03545186296105385, + 0.016012422740459442, + 0.9992430806159973, + -0.06403885386884213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9989861249923706, + -0.02303432859480381, + 0.03867974132299423, + -0.017224895809000978 + ], + [ + 0.023569824174046516, + 0.9996317625045776, + -0.013445839285850525, + 0.04595092836767435 + ], + [ + -0.03835578262805939, + 0.014343881979584694, + 0.9991611838340759, + -0.07348650496064996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9989863038063049, + -0.014354946091771126, + 0.042664479464292526, + -0.020082602061641714 + ], + [ + 0.01479804515838623, + 0.9998396039009094, + -0.010088025592267513, + 0.04339430419107279 + ], + [ + -0.04251282289624214, + 0.010709150694310665, + 0.9990385174751282, + -0.07338147957265997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9989099502563477, + -0.009852373972535133, + 0.04562722146511078, + -0.022389148187357932 + ], + [ + 0.010146714746952057, + 0.9999291300773621, + -0.006223873235285282, + 0.04056896734982729 + ], + [ + -0.04556266963481903, + 0.006680055521428585, + 0.9989391565322876, + -0.079580082121538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9988852143287659, + -0.010445069521665573, + 0.046035680919885635, + -0.022809720989316704 + ], + [ + 0.010652005672454834, + 0.999934196472168, + -0.004252105485647917, + 0.03918124268452327 + ], + [ + -0.04598824307322502, + 0.004737737122923136, + 0.9989307522773743, + -0.08120724958755697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9989014863967896, + -0.008092915639281273, + 0.0461549237370491, + -0.02299923506177341 + ], + [ + 0.008274748921394348, + 0.9999587535858154, + -0.003749939613044262, + 0.03926793900008003 + ], + [ + -0.04612267017364502, + 0.0041277408599853516, + 0.9989272356033325, + -0.08565418660640717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9989849925041199, + -0.0015262371161952615, + 0.04501813277602196, + -0.021871410776220727 + ], + [ + 0.001709067146293819, + 0.9999904632568359, + -0.0040230415761470795, + 0.04007599174976349 + ], + [ + -0.04501156136393547, + 0.004095897078514099, + 0.9989780783653259, + -0.0902214078977704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9990498423576355, + 0.00234889960847795, + 0.043518561869859695, + -0.020128593303476616 + ], + [ + -0.002161766169592738, + 0.9999881982803345, + -0.004346649162471294, + 0.04079628883550565 + ], + [ + -0.04352826252579689, + 0.004248442128300667, + 0.9990431666374207, + -0.0902738003564688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9990570545196533, + 0.007354062516242266, + 0.042789872735738754, + -0.018380157509818675 + ], + [ + -0.007151335012167692, + 0.9999624490737915, + -0.004888893570750952, + 0.0416130015005668 + ], + [ + -0.04282421991229057, + 0.004578278865665197, + 0.9990721344947815, + -0.09053143953594069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9989987015724182, + 0.012019152753055096, + 0.04309409111738205, + -0.017420940556330606 + ], + [ + -0.011793137528002262, + 0.999915361404419, + -0.005495083052664995, + 0.04244081988930702 + ], + [ + -0.04315648972988129, + 0.004981366451829672, + 0.9990559220314026, + -0.09104475502332207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9989802241325378, + 0.011333053931593895, + 0.0437047965824604, + -0.01708619441371411 + ], + [ + -0.011091895401477814, + 0.9999219179153442, + -0.005756443832069635, + 0.043013483708103505 + ], + [ + -0.04376662150025368, + 0.005265804473310709, + 0.9990279078483582, + -0.09095312818380383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9989688396453857, + 0.008332756347954273, + 0.04462950676679611, + -0.01716140564259452 + ], + [ + -0.00806331541389227, + 0.9999482035636902, + -0.006213906686753035, + 0.04363694044450919 + ], + [ + -0.04467897117137909, + 0.005847637075930834, + 0.9989842772483826, + -0.09118116679698383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9989612102508545, + 0.008374053984880447, + 0.04479258134961128, + -0.01676248850300908 + ], + [ + -0.00807441957294941, + 0.9999438524246216, + -0.006866114214062691, + 0.044549391381442545 + ], + [ + -0.04484755918383598, + 0.006497307680547237, + 0.9989727139472961, + -0.09475030090194196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9989692568778992, + 0.008258523419499397, + 0.04463434964418411, + -0.01682074733932192 + ], + [ + -0.007962094619870186, + 0.9999451041221619, + -0.00681496923789382, + 0.044967390286425754 + ], + [ + -0.04468818008899689, + 0.006452561821788549, + 0.9989801645278931, + -0.09780387923140856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9989436864852905, + 0.009766776114702225, + 0.04490157589316368, + -0.017399728276456396 + ], + [ + -0.009466692805290222, + 0.9999314546585083, + -0.006890932563692331, + 0.04541456639766693 + ], + [ + -0.044965799897909164, + 0.006458583753556013, + 0.9989676475524902, + -0.10103022787215499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9988982677459717, + 0.01209238637238741, + 0.045343589037656784, + -0.01798881435650401 + ], + [ + -0.011824383400380611, + 0.9999110102653503, + -0.006174081936478615, + 0.04507054887712002 + ], + [ + -0.045414213091135025, + 0.005631119944155216, + 0.9989523887634277, + -0.10316615842632018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9985829591751099, + 0.01658109948039055, + 0.05056840181350708, + -0.02222498624275128 + ], + [ + -0.01635703817009926, + 0.9998545050621033, + -0.004841490648686886, + 0.04419211748366555 + ], + [ + -0.050641320645809174, + 0.004007481038570404, + 0.9987088441848755, + -0.11310195115705331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.99820476770401, + 0.021559342741966248, + 0.05587870255112648, + -0.02652317256356279 + ], + [ + -0.021652013063430786, + 0.9997650384902954, + 0.0010534613393247128, + 0.038891222019058966 + ], + [ + -0.05584285780787468, + -0.0022614565677940845, + 0.9984369874000549, + -0.10691165785324605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9977205395698547, + 0.024999666959047318, + 0.062679722905159, + -0.03189339158125222 + ], + [ + -0.025225620716810226, + 0.999677836894989, + 0.0028160272631794214, + 0.0373169195605442 + ], + [ + -0.0625891238451004, + -0.0043907430954277515, + 0.9980297088623047, + -0.1077762941538822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9974304437637329, + 0.02776191011071205, + 0.06604356318712234, + -0.03432744497588525 + ], + [ + -0.02814064547419548, + 0.9995924234390259, + 0.004811131861060858, + 0.035447764936834575 + ], + [ + -0.0658830776810646, + -0.006657277699559927, + 0.997805118560791, + -0.10634180514316541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9973975419998169, + 0.03127511590719223, + 0.06496206670999527, + -0.03297361824661493 + ], + [ + -0.03169281780719757, + 0.999483048915863, + 0.0054091946221888065, + 0.03494399948356052 + ], + [ + -0.06475930660963058, + -0.00745394779369235, + 0.997873067855835, + -0.1093157951355291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9974455833435059, + 0.03333758935332298, + 0.06317394226789474, + -0.0307134374929592 + ], + [ + -0.03379565849900246, + 0.999409556388855, + 0.0061959512531757355, + 0.03425097353756428 + ], + [ + -0.06293008476495743, + -0.008315129205584526, + 0.9979832768440247, + -0.11368190096924082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9975699186325073, + 0.03342743590474129, + 0.06113023683428764, + -0.027715585123126704 + ], + [ + -0.034080807119607925, + 0.9993722438812256, + 0.0096766771748662, + 0.030912826669712866 + ], + [ + -0.06076839193701744, + -0.011736529879271984, + 0.9980828762054443, + -0.11517691840495294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9975086450576782, + 0.029230808839201927, + 0.06420337408781052, + -0.0299405362107791 + ], + [ + -0.029600856825709343, + 0.9995501637458801, + 0.004819825291633606, + 0.035287469128767644 + ], + [ + -0.06403360515832901, + -0.006708292290568352, + 0.9979252219200134, + -0.12014332201409464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9975227117538452, + 0.02991569973528385, + 0.06366683542728424, + -0.029089691564440728 + ], + [ + -0.03047712706029415, + 0.9995045065879822, + 0.007865175604820251, + 0.03266712713986636 + ], + [ + -0.06340000033378601, + -0.009786073118448257, + 0.9979402422904968, + -0.1270679874718189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9978545904159546, + 0.025652054697275162, + 0.06023436784744263, + -0.025945520126260817 + ], + [ + -0.026184793561697006, + 0.9996245503425598, + 0.008071688003838062, + 0.032753455893447005 + ], + [ + -0.06000469624996185, + -0.009631595574319363, + 0.9981516003608704, + -0.13509791994739012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9986088275909424, + 0.02410915307700634, + 0.04689503833651543, + -0.01365790446754545 + ], + [ + -0.024333449080586433, + 0.9996950030326843, + 0.00421784957870841, + 0.03664474225292603 + ], + [ + -0.046779047697782516, + -0.005353100132197142, + 0.9988909363746643, + -0.14223790147613424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9987006187438965, + 0.02304677851498127, + 0.04545244574546814, + -0.01252069374313578 + ], + [ + -0.02325119636952877, + 0.9997217655181885, + 0.00397378858178854, + 0.03722361262887716 + ], + [ + -0.04534821957349777, + -0.005025448277592659, + 0.9989585876464844, + -0.14962124303216115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9989341497421265, + 0.016854381188750267, + 0.042971398681402206, + -0.010813097236678004 + ], + [ + -0.016944965347647667, + 0.9998549222946167, + 0.00174465193413198, + 0.039647834375500686 + ], + [ + -0.04293575510382652, + -0.002470941049978137, + 0.9990747570991516, + -0.15628344196011312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9995579719543457, + 0.0090948436409235, + 0.028304362669587135, + 0.0026590911493015786 + ], + [ + -0.008761707693338394, + 0.9998911619186401, + -0.011871598660945892, + 0.05330793472627799 + ], + [ + -0.02840925194323063, + 0.01161835715174675, + 0.9995288252830505, + -0.1647250480344519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9995800852775574, + 0.011278425343334675, + 0.026691267266869545, + 0.003621684827376157 + ], + [ + -0.0109558729454875, + 0.9998655319213867, + -0.012200082652270794, + 0.05411077681928873 + ], + [ + -0.026825277134776115, + 0.011902534402906895, + 0.999569296836853, + -0.17141730284085496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9996493458747864, + 0.009894968941807747, + 0.024562396109104156, + 0.004421042948185155 + ], + [ + -0.009592870250344276, + 0.9998772740364075, + -0.012386753223836422, + 0.05473897378891707 + ], + [ + -0.024681948125362396, + 0.0121467849239707, + 0.999621570110321, + -0.17683059247482258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9996954202651978, + 0.008967283181846142, + 0.022992312908172607, + 0.004812196396912138 + ], + [ + -0.008676975034177303, + 0.9998817443847656, + -0.01269515510648489, + 0.055753260925412176 + ], + [ + -0.023103434592485428, + 0.012491784058511257, + 0.99965500831604, + -0.18530773010415336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.99983811378479, + -0.003319860901683569, + 0.017684757709503174, + 0.008892444460070693 + ], + [ + 0.0035912194289267063, + 0.9998759627342224, + -0.015334608033299446, + 0.05888255406171084 + ], + [ + -0.0176316536962986, + 0.01539563573896885, + 0.9997259974479675, + -0.18945904398569838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9998579621315002, + 0.0007214817451313138, + 0.016838809475302696, + 0.009339312333322596 + ], + [ + -0.0004724909085780382, + 0.9998905658721924, + -0.014786019921302795, + 0.05940176496903102 + ], + [ + -0.016847634688019753, + 0.014775963500142097, + 0.9997488856315613, + -0.20114166164615502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9997844099998474, + 0.007014136761426926, + 0.019541915506124496, + 0.007211155880553027 + ], + [ + -0.006774771027266979, + 0.999901533126831, + -0.012288238853216171, + 0.057500054078797505 + ], + [ + -0.019626181572675705, + 0.012153197079896927, + 0.9997335076332092, + -0.19008914234892776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9998111724853516, + 0.004714554641395807, + 0.018852081149816513, + 0.00730377682717517 + ], + [ + -0.00449376692995429, + 0.9999210238456726, + -0.011736864224076271, + 0.058169404119253164 + ], + [ + -0.01890592649579048, + 0.011649930849671364, + 0.9997534155845642, + -0.19479847530834377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9996152520179749, + 0.009900636039674282, + 0.025910748168826103, + 6.473081613269944e-05 + ], + [ + -0.00968445185571909, + 0.9999173283576965, + -0.008455636911094189, + 0.05600931119173765 + ], + [ + -0.025992324575781822, + 0.008201452903449535, + 0.999628484249115, + -0.20109033751961156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9992963075637817, + 0.01427476480603218, + 0.03468610718846321, + -0.008843568727994959 + ], + [ + -0.014347447082400322, + 0.9998953342437744, + 0.0018474041717126966, + 0.046760896744672216 + ], + [ + -0.0346561037003994, + -0.002343761269003153, + 0.999396562576294, + -0.20562769464643982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9990648627281189, + 0.016544688493013382, + 0.03994591534137726, + -0.01393706865143031 + ], + [ + -0.016834598034620285, + 0.9998342394828796, + 0.00693213427439332, + 0.04297556644305587 + ], + [ + -0.039824604988098145, + -0.007598124910145998, + 0.9991778135299683, + -0.21276098409027328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9988259673118591, + 0.023111211135983467, + 0.04257435351610184, + -0.016208323227862517 + ], + [ + -0.02355673350393772, + 0.999672532081604, + 0.00999273918569088, + 0.04109896117821336 + ], + [ + -0.042329467833042145, + -0.010983919724822044, + 0.999043345451355, + -0.21362639751285314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9985730051994324, + 0.029972663149237633, + 0.04419907554984093, + -0.017113690914120523 + ], + [ + -0.030511220917105675, + 0.9994675517082214, + 0.011560856364667416, + 0.04042455843339364 + ], + [ + -0.04382903501391411, + -0.012892927043139935, + 0.9989558458328247, + -0.21265496161261885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9983298778533936, + 0.031354762613773346, + 0.04852193966507912, + -0.0205745373852551 + ], + [ + -0.03192503750324249, + 0.99942946434021, + 0.011022779159247875, + 0.041770350895822046 + ], + [ + -0.04814864322543144, + -0.012553433887660503, + 0.9987612962722778, + -0.2223596903332509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9981879591941833, + 0.03573637083172798, + 0.048412222415208817, + -0.019326587308508655 + ], + [ + -0.03630449250340462, + 0.9992812275886536, + 0.010906735435128212, + 0.04236829246704778 + ], + [ + -0.04798765853047371, + -0.012644553557038307, + 0.9987679123878479, + -0.22594571477966383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9979681372642517, + 0.0403173491358757, + 0.04933667555451393, + -0.019632813992599647 + ], + [ + -0.0408565029501915, + 0.9991152882575989, + 0.009968401864171028, + 0.04395998795206349 + ], + [ + -0.048891130834817886, + -0.011963870376348495, + 0.9987324476242065, + -0.22951409148052335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9978704452514648, + 0.0419018417596817, + 0.04998800903558731, + -0.020359854865819215 + ], + [ + -0.04240386188030243, + 0.999059796333313, + 0.00902453251183033, + 0.04555066748522222 + ], + [ + -0.04956286400556564, + -0.011124998331069946, + 0.9987090229988098, + -0.23341420393437148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9978923797607422, + 0.04092345014214516, + 0.05035937950015068, + -0.021499936173980435 + ], + [ + -0.04137377813458443, + 0.9991122484207153, + 0.007932166568934917, + 0.04734420091224213 + ], + [ + -0.04999006167054176, + -0.009999006055295467, + 0.9986996650695801, + -0.23933347928415363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9979405999183655, + 0.04100889340043068, + 0.049323368817567825, + -0.021549991209370394 + ], + [ + -0.04144896939396858, + 0.999109148979187, + 0.00793234258890152, + 0.048052835518804696 + ], + [ + -0.048954132944345474, + -0.009960409253835678, + 0.9987513422966003, + -0.24404817930267503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9979770183563232, + 0.04001011326909065, + 0.04940761253237724, + -0.022869826667010783 + ], + [ + -0.04037405923008919, + 0.9991642236709595, + 0.00638994574546814, + 0.05037450230447576 + ], + [ + -0.04911065474152565, + -0.008371804840862751, + 0.9987582564353943, + -0.2481773363891989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.998145341873169, + 0.036270491778850555, + 0.04889053478837013, + -0.02329328437956671 + ], + [ + -0.03665018826723099, + 0.9993044137954712, + 0.006892030593007803, + 0.050514244639004266 + ], + [ + -0.048606548458337784, + -0.008671095594763756, + 0.998780369758606, + -0.2509287272416987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.998211145401001, + 0.03426849842071533, + 0.04899195209145546, + -0.024071487660209338 + ], + [ + -0.03463593125343323, + 0.9993777275085449, + 0.006670442409813404, + 0.051453023104307556 + ], + [ + -0.048732880502939224, + -0.008355392143130302, + 0.998776912689209, + -0.25291075276055686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9982643723487854, + 0.03266827389597893, + 0.04899989813566208, + -0.02465367949102074 + ], + [ + -0.0330156646668911, + 0.9994350075721741, + 0.006296832580119371, + 0.05259391186758876 + ], + [ + -0.04876650869846344, + -0.007903668098151684, + 0.9987789392471313, + -0.2535156505869236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9984389543533325, + 0.029431907460093498, + 0.04747079685330391, + -0.02355840434320271 + ], + [ + -0.029883189126849174, + 0.9995144605636597, + 0.008824852295219898, + 0.050942345336079595 + ], + [ + -0.04718801751732826, + -0.010229655541479588, + 0.9988336563110352, + -0.2541343151886637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9985296130180359, + 0.027807341888546944, + 0.04653386026620865, + -0.022508471020652603 + ], + [ + -0.028333092108368874, + 0.9995415210723877, + 0.01067690085619688, + 0.05000149373275539 + ], + [ + -0.04621563106775284, + -0.011979649774730206, + 0.9988596439361572, + -0.25011686847816844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9983360767364502, + 0.030365081503987312, + 0.04902051016688347, + -0.024226487106643615 + ], + [ + -0.030922172591090202, + 0.9994651079177856, + 0.010646163485944271, + 0.05079627106431872 + ], + [ + -0.048671018332242966, + -0.012144270353019238, + 0.9987410306930542, + -0.24803940772777422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9981579780578613, + 0.03352215886116028, + 0.05056633800268173, + -0.025076137743890285 + ], + [ + -0.034110717475414276, + 0.9993594884872437, + 0.010821320116519928, + 0.051506482825304074 + ], + [ + -0.05017119646072388, + -0.012526240199804306, + 0.9986620545387268, + -0.24622730763163417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9981871843338013, + 0.03539692237973213, + 0.0486769936978817, + -0.02256260596215725 + ], + [ + -0.03613009676337242, + 0.999245285987854, + 0.014265294186770916, + 0.048922575997809574 + ], + [ + -0.04813530668616295, + -0.01599813811480999, + 0.9987127184867859, + -0.24521719763676325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.998046338558197, + 0.03567877039313316, + 0.05128882825374603, + -0.02480609984602779 + ], + [ + -0.03649170324206352, + 0.9992213249206543, + 0.015001760795712471, + 0.04905737552791834 + ], + [ + -0.05071365088224411, + -0.016844069585204124, + 0.9985711574554443, + -0.2427163163968362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9979565739631653, + 0.03888377174735069, + 0.05070267990231514, + -0.02343174288980663 + ], + [ + -0.03984764590859413, + 0.9990410804748535, + 0.018139710649847984, + 0.046498622031261524 + ], + [ + -0.04994871839880943, + -0.02012302540242672, + 0.9985490441322327, + -0.23923528901456545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9978426098823547, + 0.03929414600133896, + 0.05259336158633232, + -0.0249268307009091 + ], + [ + -0.04036550968885422, + 0.9989953637123108, + 0.019465580582618713, + 0.045841735564172266 + ], + [ + -0.05177563801407814, + -0.021546542644500732, + 0.9984262585639954, + -0.2347701569646597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9978761076927185, + 0.03725974261760712, + 0.05343252047896385, + -0.026033913791179655 + ], + [ + -0.03851955384016037, + 0.9989989399909973, + 0.0227445587515831, + 0.04348623838275672 + ], + [ + -0.05253157392144203, + -0.024754449725151062, + 0.9983124136924744, + -0.2344930226355791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9975848197937012, + 0.0437837652862072, + 0.053920846432447433, + -0.026615273370407522 + ], + [ + -0.045266326516866684, + 0.9986211061477661, + 0.026587311178445816, + 0.04069793984293938 + ], + [ + -0.05268240347504616, + -0.02896389737725258, + 0.9981911778450012, + -0.23337732662291577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9969989061355591, + 0.0548623763024807, + 0.05461973696947098, + -0.026538469304020207 + ], + [ + -0.0565732978284359, + 0.9979389905929565, + 0.030285939574241638, + 0.037967982192834225 + ], + [ + -0.052845604717731476, + -0.03328506648540497, + 0.9980478286743164, + -0.22571830750753483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9967822432518005, + 0.056902214884757996, + 0.05645620450377464, + -0.02759326556697488 + ], + [ + -0.05888993293046951, + 0.9976787567138672, + 0.03419119864702225, + 0.034883330762386325 + ], + [ + -0.054379601031541824, + -0.03740587830543518, + 0.9978194236755371, + -0.21810693237930537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9963246583938599, + 0.06186831369996071, + 0.05924065783619881, + -0.029344852603971957 + ], + [ + -0.06419608741998672, + 0.9972047805786133, + 0.03823002427816391, + 0.03149238588909309 + ], + [ + -0.056709837168455124, + -0.041892535984516144, + 0.9975113868713379, + -0.21176119786997635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9952884316444397, + 0.07501077651977539, + 0.061435479670763016, + -0.030188186367352803 + ], + [ + -0.07768957316875458, + 0.9960739016532898, + 0.04243902862071991, + 0.02808471493422985 + ], + [ + -0.05801089480519295, + -0.04701197147369385, + 0.9972084164619446, + -0.20065735802054405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9946194291114807, + 0.08090195059776306, + 0.06470721960067749, + -0.032320276871323585 + ], + [ + -0.08402089774608612, + 0.9953538775444031, + 0.04702337458729744, + 0.024237232804298396 + ], + [ + -0.06060229614377022, + -0.05220712348818779, + 0.9967957735061646, + -0.19122688089497386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9947717785835266, + 0.07646334171295166, + 0.06769385933876038, + -0.03494745895266533 + ], + [ + -0.07998520135879517, + 0.9954936504364014, + 0.050939012318849564, + 0.02097675248980522 + ], + [ + -0.06349383294582367, + -0.056087199598550797, + 0.9964049458503723, + -0.18259732926109185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9943087100982666, + 0.08091901242733002, + 0.06929823011159897, + -0.03613949803014596 + ], + [ + -0.08477763831615448, + 0.9948986172676086, + 0.05467575788497925, + 0.017900596310695023 + ], + [ + -0.06452041119337082, + -0.0602395236492157, + 0.9960965514183044, + -0.1741695207854112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9938941597938538, + 0.08382213115692139, + 0.07175103574991226, + -0.03848356798291206 + ], + [ + -0.08798907697200775, + 0.9944877028465271, + 0.05702701583504677, + 0.016593705490231515 + ], + [ + -0.06657540053129196, + -0.06299212574958801, + 0.9957910180091858, + -0.15807306226342915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9941852688789368, + 0.07984016090631485, + 0.07225802540779114, + -0.03934324958051244 + ], + [ + -0.08417641371488571, + 0.9946969151496887, + 0.05909634754061699, + 0.01456657151381175 + ], + [ + -0.06715656816959381, + -0.06483513861894608, + 0.9956336617469788, + -0.1549673960544169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9946489334106445, + 0.07563278079032898, + 0.0703791007399559, + -0.03834303909291824 + ], + [ + -0.07989959418773651, + 0.9950000643730164, + 0.05992433801293373, + 0.014106969858209292 + ], + [ + -0.06549496203660965, + -0.06522694230079651, + 0.995718777179718, + -0.14909999791532755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9950511455535889, + 0.0746217668056488, + 0.06561104953289032, + -0.03529495865106583 + ], + [ + -0.07857589423656464, + 0.9951066374778748, + 0.059904806315898895, + 0.014896010011434556 + ], + [ + -0.06081978976726532, + -0.06476379185914993, + 0.9960454702377319, + -0.14141967102885247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9960418343544006, + 0.0672813430428505, + 0.05808531120419502, + -0.03018837358492116 + ], + [ + -0.07060686498880386, + 0.9958608150482178, + 0.057235393673181534, + 0.017988891402880354 + ], + [ + -0.053994011133909225, + -0.06111006811261177, + 0.9966695308685303, + -0.1307766347580279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9970135688781738, + 0.05870892480015755, + 0.050171397626399994, + -0.024183985277389488 + ], + [ + -0.06137111410498619, + 0.9966919422149658, + 0.053279850631952286, + 0.022169238229592637 + ], + [ + -0.0468774288892746, + -0.0561998076736927, + 0.9973184466362, + -0.12016484493079285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9975324869155884, + 0.05628731846809387, + 0.04196101427078247, + -0.017810612507164477 + ], + [ + -0.05832146108150482, + 0.9970974922180176, + 0.04894089326262474, + 0.02652443796396256 + ], + [ + -0.03908447176218033, + -0.051267359405756, + 0.9979198575019836, + -0.11306725103873759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9980660080909729, + 0.05271976813673973, + 0.03293778747320175, + -0.011449009273201227 + ], + [ + -0.05417105183005333, + 0.9975242018699646, + 0.04484334588050842, + 0.03078258638580641 + ], + [ + -0.030492112040519714, + -0.046540893614292145, + 0.9984508752822876, + -0.10439207257082064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9986945390701294, + 0.04439365491271019, + 0.025268014520406723, + -0.006720423358492553 + ], + [ + -0.04543207213282585, + 0.9980788826942444, + 0.04212412238121033, + 0.03369351016978423 + ], + [ + -0.023349426686763763, + -0.04321710765361786, + 0.998792827129364, + -0.09670487418149909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9991313815116882, + 0.03617844358086586, + 0.020678311586380005, + -0.004718879936262965 + ], + [ + -0.037003230303525925, + 0.998473584651947, + 0.04100257530808449, + 0.03503911942243576 + ], + [ + -0.0191633403301239, + -0.041732121258974075, + 0.9989450573921204, + -0.09048705105669796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9993106126785278, + 0.03179642930626869, + 0.019163865596055984, + -0.005413522262436648 + ], + [ + -0.03260856494307518, + 0.9985136389732361, + 0.043671686202287674, + 0.03326162457466125 + ], + [ + -0.017746776342391968, + -0.044266488403081894, + 0.9988621473312378, + -0.08153011486089477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9993231892585754, + 0.031168058514595032, + 0.019538618624210358, + -0.007791229796906312 + ], + [ + -0.03208528459072113, + 0.9983059763908386, + 0.04853513836860657, + 0.029703763375679662 + ], + [ + -0.0179927758872509, + -0.0491291880607605, + 0.9986303448677063, + -0.06985355546077092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9995493292808533, + 0.023599037900567055, + 0.018554477021098137, + -0.009439045826438815 + ], + [ + -0.0245546605437994, + 0.998288094997406, + 0.0530846044421196, + 0.026326611265540117 + ], + [ + -0.01726996712386608, + -0.05351627618074417, + 0.9984176158905029, + -0.06116334798745811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9997034668922424, + 0.018811512738466263, + 0.015461571514606476, + -0.008431933109338085 + ], + [ + -0.019669674336910248, + 0.9981594681739807, + 0.05736493691802025, + 0.02328487853209177 + ], + [ + -0.01435399241745472, + -0.057652052491903305, + 0.9982335567474365, + -0.052448347319538395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9997036457061768, + 0.02108297124505043, + 0.012171512469649315, + -0.006518855636628965 + ], + [ + -0.021762840449810028, + 0.9980367422103882, + 0.058728285133838654, + 0.022919239848852163 + ], + [ + -0.010909449309110641, + -0.058975763618946075, + 0.9981998205184937, + -0.04494111523963511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998748898506165, + 0.014369260519742966, + 0.0066093686036765575, + -0.0035996758937835694 + ], + [ + -0.014718487858772278, + 0.9983090162277222, + 0.05623600259423256, + 0.026119592934846877 + ], + [ + -0.00579012231901288, + -0.0563262514770031, + 0.9983956217765808, + -0.033897122722119095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9999993443489075, + -4.664492735173553e-05, + 0.0011233532568439841, + -0.0013569964731080593 + ], + [ + -1.1214624464628287e-05, + 0.998675525188446, + 0.05145110934972763, + 0.03094226780037085 + ], + [ + -0.0011242652544751763, + -0.05145108699798584, + 0.9986748695373535, + -0.028115907485286393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9999738931655884, + -0.005297639407217503, + -0.004912463016808033, + 0.0018837181362323463 + ], + [ + 0.0055192699655890465, + 0.9989143013954163, + 0.0462573803961277, + 0.036161515439550096 + ], + [ + 0.004662075079977512, + -0.046283286064863205, + 0.9989174604415894, + -0.024973851706211764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9999051094055176, + 0.0002569992793723941, + -0.013772435486316681, + 0.007526823548105312 + ], + [ + 0.00019738334231078625, + 0.999455988407135, + 0.03298066556453705, + 0.04785415656864643 + ], + [ + 0.013773418962955475, + -0.03298025578260422, + 0.9993610978126526, + -0.001393019792158157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9995317459106445, + -0.02267860434949398, + -0.02054274082183838, + 0.011984870086113611 + ], + [ + 0.023294223472476006, + 0.9992711544036865, + 0.030241383239626884, + 0.051071333202222985 + ], + [ + 0.019841935485601425, + -0.03070574812591076, + 0.9993314743041992, + -0.016539154636363188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9990519285202026, + -0.035983700305223465, + -0.024504132568836212, + 0.013970471513457598 + ], + [ + 0.03650815412402153, + 0.9991062879562378, + 0.021302537992596626, + 0.059011738238235315 + ], + [ + 0.023715689778327942, + -0.022176941856741905, + 0.9994727373123169, + -0.012487721749736617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9998357892036438, + -0.017899122089147568, + -0.0028234487399458885, + -0.002696883333846927 + ], + [ + 0.018011096864938736, + 0.9987559914588928, + 0.04649860039353371, + 0.039290102571249014 + ], + [ + 0.001987652387470007, + -0.04654182121157646, + 0.998914361000061, + -0.003938271605875343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.996986448764801, + -0.04294900968670845, + -0.06460199505090714, + 0.04807688011632611 + ], + [ + 0.04245344176888466, + 0.9990577101707458, + -0.009024979546666145, + 0.08722345260282358 + ], + [ + 0.06492873281240463, + 0.006255205720663071, + 0.9978703260421753, + -0.05685473544367899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9996765851974487, + -0.025332845747470856, + 0.0022326288744807243, + -0.008674667334804933 + ], + [ + 0.025204747915267944, + 0.998641312122345, + 0.04560941085219383, + 0.04070188462734223 + ], + [ + -0.0033850115723907948, + -0.04553838446736336, + 0.9989568591117859, + -0.02465848312402765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9997254014015198, + -0.023364288732409477, + 0.001788462046533823, + -0.008483932784292847 + ], + [ + 0.0232549998909235, + 0.9986327886581421, + 0.04681655392050743, + 0.0402925156056881 + ], + [ + -0.0028798519633710384, + -0.04676210507750511, + 0.998901903629303, + -0.021957754087634385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9995173215866089, + -0.030995193868875504, + 0.0021034234669059515, + -0.009330088263377547 + ], + [ + 0.03087495267391205, + 0.9985823631286621, + 0.04335910826921463, + 0.04348731132845084 + ], + [ + -0.00344436545856297, + -0.04327324032783508, + 0.9990573525428772, + -0.03999309979379177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9991880655288696, + -0.04019147530198097, + 0.0028059554751962423, + -0.009955041947153707 + ], + [ + 0.04003002122044563, + 0.9982357025146484, + 0.043853044509887695, + 0.042962959582606944 + ], + [ + -0.004563523456454277, + -0.04370511323213577, + 0.99903404712677, + -0.03905410992292067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9989122152328491, + -0.04652152955532074, + 0.0031891088001430035, + -0.010062591023743152 + ], + [ + 0.04633858799934387, + 0.9979735016822815, + 0.043608032166957855, + 0.04295291021466255 + ], + [ + -0.0052113584242761135, + -0.043412819504737854, + 0.9990436434745789, + -0.04262471124529839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9988523721694946, + -0.0478852204978466, + 0.0009443073067814112, + -0.008247672081924975 + ], + [ + 0.047801751643419266, + 0.9979503750801086, + 0.04254484549164772, + 0.04390714630484581 + ], + [ + -0.0029796406161040068, + -0.04245087876915932, + 0.9990941286087036, + -0.04819895148432503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9987608790397644, + -0.049765970557928085, + 0.00013387203216552734, + -0.007816028424228232 + ], + [ + 0.049716051667928696, + 0.9978725910186768, + 0.042174216359853745, + 0.04401044435799123 + ], + [ + -0.0022324277088046074, + -0.04211530461907387, + 0.9991102814674377, + -0.05313649365367989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.998367428779602, + -0.05704987794160843, + 0.0027948881033807993, + -0.010219354042783381 + ], + [ + 0.056893326342105865, + 0.9975825548171997, + 0.039901867508888245, + 0.0456116446107626 + ], + [ + -0.005064528435468674, + -0.03967771679162979, + 0.9991996884346008, + -0.05662127976305783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9980376362800598, + -0.06250055134296417, + 0.0038174008950591087, + -0.010628823669006427 + ], + [ + 0.062308017164468765, + 0.9973143339157104, + 0.03849423676729202, + 0.04648033656179905 + ], + [ + -0.006213059648871422, + -0.038180842995643616, + 0.9992515444755554, + -0.059888013675808906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9979173541069031, + -0.06446751207113266, + 0.002205601893365383, + -0.008736971638475855 + ], + [ + 0.06435132771730423, + 0.9973148703575134, + 0.034955691546201706, + 0.049363158419728284 + ], + [ + -0.004453185945749283, + -0.034740958362817764, + 0.9993864297866821, + -0.06848521494151404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9980611801147461, + -0.062237583100795746, + 0.0006064067129045725, + -0.00677810326218605 + ], + [ + 0.06218656152486801, + 0.9975540041923523, + 0.031918663531541824, + 0.05197433993220328 + ], + [ + -0.0025914637371897697, + -0.031819071620702744, + 0.9994902610778809, + -0.07283432449214161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.997964084148407, + -0.06376641988754272, + 0.0012481538578867912, + -0.006726415439819297 + ], + [ + 0.0636921375989914, + 0.9974386096000671, + 0.032551359385252, + 0.05140957236289978 + ], + [ + -0.003320640418678522, + -0.032405588775873184, + 0.9994692802429199, + -0.07657358108554035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9977912306785583, + -0.06639318913221359, + 0.002137997420504689, + -0.0068518613092601295 + ], + [ + 0.06629086285829544, + 0.9972855448722839, + 0.03204813599586487, + 0.051799409091472626 + ], + [ + -0.004259971901774406, + -0.03183562308549881, + 0.9994840621948242, + -0.08359167998035749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.998098611831665, + -0.06152423843741417, + 0.003729641903191805, + -0.007489953343756498 + ], + [ + 0.06138307973742485, + 0.9976512789726257, + 0.030397329479455948, + 0.053353842273354546 + ], + [ + -0.005591054912656546, + -0.030110593885183334, + 0.9995309114456177, + -0.08730565341655165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.998336136341095, + -0.05760064721107483, + 0.0026650556828826666, + -0.0059249845690404375 + ], + [ + 0.05749538540840149, + 0.9978968501091003, + 0.02993650734424591, + 0.05388445576032003 + ], + [ + -0.0043838126584887505, + -0.02973346784710884, + 0.9995482563972473, + -0.08832739483875533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9983870983123779, + -0.05503039062023163, + 0.013959911651909351, + -0.014379559289664029 + ], + [ + 0.054569244384765625, + 0.9980128407478333, + 0.03150489181280136, + 0.05242765342195829 + ], + [ + -0.015665898099541664, + -0.030692294239997864, + 0.999406099319458, + -0.08078614855185151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9984093904495239, + -0.048872433602809906, + 0.028110630810260773, + -0.025590999238193034 + ], + [ + 0.04789941757917404, + 0.9982629418373108, + 0.03430412337183952, + 0.049929904192686086 + ], + [ + -0.029738325625658035, + -0.03290307894349098, + 0.9990160465240479, + -0.09504334060475231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9986365437507629, + -0.03738913685083389, + 0.03642958775162697, + -0.03136532997402052 + ], + [ + 0.03607428818941116, + 0.9986966848373413, + 0.03610534593462944, + 0.048424170662959426 + ], + [ + -0.03773205354809761, + -0.034741949290037155, + 0.998683750629425, + -0.1005119370156899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9986360669136047, + 0.010070115327835083, + 0.05123106390237808, + -0.03778349665304025 + ], + [ + -0.012201337143778801, + 0.9990656971931458, + 0.04145897552371025, + 0.04142753188808759 + ], + [ + -0.05076570063829422, + -0.042027514427900314, + 0.9978259205818176, + -0.14942833416474363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9987144470214844, + -0.026703862473368645, + 0.043084826320409775, + -0.03379870985401794 + ], + [ + 0.02500534988939762, + 0.9989069700241089, + 0.03949113190174103, + 0.04605858087539673 + ], + [ + -0.04409230127930641, + -0.038363017141819, + 0.9982905983924866, + -0.10094830409623683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9988705515861511, + -0.020883917808532715, + 0.042678654193878174, + -0.031549308846394224 + ], + [ + 0.01927097886800766, + 0.9990971684455872, + 0.03786088898777962, + 0.04779907430211702 + ], + [ + -0.04343080520629883, + -0.03699566796422005, + 0.9983712434768677, + -0.1020340724165241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9978652596473694, + -0.05243794620037079, + 0.038925252854824066, + -0.02833808297291398 + ], + [ + 0.05133318901062012, + 0.9982645511627197, + 0.02885875478386879, + 0.05551874823868275 + ], + [ + -0.04037099331617355, + -0.026798993349075317, + 0.9988253116607666, + -0.06959029318143924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9991921186447144, + -0.010394283570349216, + 0.03882117196917534, + -0.02140244303038344 + ], + [ + 0.009395566768944263, + 0.9996224641799927, + 0.02582053281366825, + 0.05879149466753007 + ], + [ + -0.03907490149140358, + -0.02543492428958416, + 0.998912513256073, + -0.050521164205856624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9991825819015503, + -0.008875417523086071, + 0.03943800926208496, + -0.020652587140987937 + ], + [ + 0.007987904362380505, + 0.9997125864028931, + 0.022604871541261673, + 0.06162271283566953 + ], + [ + -0.03962729871273041, + -0.02227136865258217, + 0.9989662766456604, + -0.051990683927821614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9987469911575317, + -0.025670738890767097, + 0.04295950010418892, + -0.026180695838605363 + ], + [ + 0.024798927828669548, + 0.9994780421257019, + 0.020705198869109154, + 0.06324133691688379 + ], + [ + -0.04346859082579613, + -0.019613904878497124, + 0.9988622665405273, + -0.06953504788689316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9988124370574951, + -0.0075619821436703205, + 0.04813090339303017, + -0.0326400173822185 + ], + [ + 0.006345892790704966, + 0.9996579885482788, + 0.025369131937623024, + 0.059692683741450314 + ], + [ + -0.04830628260970116, + -0.02503356896340847, + 0.9985188245773315, + -0.11771698269294575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9984453320503235, + -0.005497406702488661, + 0.05546822398900986, + -0.040104237053310496 + ], + [ + 0.0037886914797127247, + 0.9995164275169373, + 0.0308635663241148, + 0.05480363517999649 + ], + [ + -0.05561107397079468, + -0.030605429783463478, + 0.9979833364486694, + -0.12002325162757188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9980946183204651, + -0.0010035729501396418, + 0.061694126576185226, + -0.04580868898803601 + ], + [ + -0.0013174063060432673, + 0.9992932081222534, + 0.03756856545805931, + 0.04891990194718043 + ], + [ + -0.06168822571635246, + -0.03757825866341591, + 0.9973878264427185, + -0.12493358516289542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9977803230285645, + 0.014314068481326103, + 0.06503444910049438, + -0.04742305994033814 + ], + [ + -0.01711168698966503, + 0.9989428520202637, + 0.042666126042604446, + 0.04469057321548464 + ], + [ + -0.06435497105121613, + -0.04368427023291588, + 0.9969704747200012, + -0.12751098930835725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.997496485710144, + 0.025485901162028313, + 0.06596392393112183, + -0.046977079995752624 + ], + [ + -0.02856442518532276, + 0.9985257983207703, + 0.046155307441949844, + 0.04194504193961622 + ], + [ + -0.06469036638736725, + -0.0479239784181118, + 0.9967539310455322, + -0.13030943202320486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9973195791244507, + 0.03298912197351456, + 0.0653102919459343, + -0.04526468909656008 + ], + [ + -0.036199361085891724, + 0.9981623291969299, + 0.04859623685479164, + 0.04016870235403379 + ], + [ + -0.06358712166547775, + -0.0508301667869091, + 0.9966809749603271, + -0.13572047664163014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9966530799865723, + 0.048373326659202576, + 0.06589880585670471, + -0.044093513209372756 + ], + [ + -0.0518527552485466, + 0.9972919821739197, + 0.05215386673808098, + 0.037331528589129456 + ], + [ + -0.06319749355316162, + -0.055396344512701035, + 0.9964624047279358, + -0.14177116516511887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9958540797233582, + 0.06296443194150925, + 0.06565196812152863, + -0.0423368376120925 + ], + [ + -0.0665505900979042, + 0.9963235855102539, + 0.05394703894853592, + 0.03623323033253352 + ], + [ + -0.062013864517211914, + -0.05809255689382553, + 0.9963832497596741, + -0.1450478223338723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9953272342681885, + 0.07009734958410263, + 0.06640823185443878, + -0.04229215383840104 + ], + [ + -0.07381429523229599, + 0.9957389831542969, + 0.05527501925826073, + 0.035451380312442785 + ], + [ + -0.06225063279271126, + -0.0599186085164547, + 0.9962603449821472, + -0.14885501278409113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9950593709945679, + 0.07337968051433563, + 0.06687531620264053, + -0.042605739422142505 + ], + [ + -0.07717007398605347, + 0.9954454302787781, + 0.05597479268908501, + 0.035299528241157535 + ], + [ + -0.062463317066431046, + -0.060859013348817825, + 0.9961900115013123, + -0.15300482195802034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.994552493095398, + 0.07981855422258377, + 0.0670400932431221, + -0.042972381118064125 + ], + [ + -0.08366435021162033, + 0.994881808757782, + 0.056661106646060944, + 0.03519825893143813 + ], + [ + -0.06217435747385025, + -0.06196130812168121, + 0.9961401224136353, + -0.161536979470402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9939469695091248, + 0.087579146027565, + 0.06632731854915619, + -0.042804463456074394 + ], + [ + -0.09142065048217773, + 0.9941635727882385, + 0.057280801236629486, + 0.03552595774332683 + ], + [ + -0.06092360243201256, + -0.06299776583909988, + 0.996152400970459, + -0.16838866534332433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9937043786048889, + 0.09110651165246964, + 0.06520161777734756, + -0.04254507922567427 + ], + [ + -0.09497035294771194, + 0.9937397837638855, + 0.05883730575442314, + 0.03603732056915761 + ], + [ + -0.0594329833984375, + -0.06465910375118256, + 0.9961360096931458, + -0.16952895993366837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9932535290718079, + 0.09662381559610367, + 0.06411932408809662, + -0.04215404932076732 + ], + [ + -0.10049792379140854, + 0.9931128621101379, + 0.06022458150982857, + 0.03649135028322538 + ], + [ + -0.057858601212501526, + -0.0662621334195137, + 0.9961233139038086, + -0.16939898364866773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.992298424243927, + 0.10662929713726044, + 0.06303993612527847, + -0.04093524867668748 + ], + [ + -0.1105087548494339, + 0.991962194442749, + 0.061634570360183716, + 0.03693990016976993 + ], + [ + -0.05596118047833443, + -0.06812635064125061, + 0.996105968952179, + -0.16475534467647474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.991500735282898, + 0.11408960074186325, + 0.06252924352884293, + -0.03980482745915651 + ], + [ + -0.11800134927034378, + 0.9910189509391785, + 0.06290603429079056, + 0.03737203419208528 + ], + [ + -0.054790738970041275, + -0.06974991410970688, + 0.9960587024688721, + -0.1580326436087489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9907872080802917, + 0.12039413303136826, + 0.06201600283384323, + -0.03872293067785601 + ], + [ + -0.12432118505239487, + 0.9901812672615051, + 0.0639161542057991, + 0.03784123621881008 + ], + [ + -0.05371195822954178, + -0.07103721052408218, + 0.9960264563560486, + -0.15029943878762425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9904877543449402, + 0.12253909558057785, + 0.0625956729054451, + -0.03951504170273741 + ], + [ + -0.12663160264492035, + 0.9897364377975464, + 0.0662289634346962, + 0.03707389240463574 + ], + [ + -0.053837575018405914, + -0.073525570333004, + 0.9958391189575195, + -0.15177992486084502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9903844594955444, + 0.12257798761129379, + 0.06413468718528748, + -0.04157007121481002 + ], + [ + -0.12692268192768097, + 0.9895287752151489, + 0.06872740387916565, + 0.035693788677453986 + ], + [ + -0.05503865331411362, + -0.07620669901371002, + 0.9955718517303467, + -0.16110286125913262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9904029965400696, + 0.12111389636993408, + 0.06658367067575455, + -0.043913886398077015 + ], + [ + -0.12571465969085693, + 0.9896013736724854, + 0.06989240646362305, + 0.0351312954723835 + ], + [ + -0.05742634832859039, + -0.07759219408035278, + 0.9953299164772034, + -0.1687425684928894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9902304410934448, + 0.12181653827428818, + 0.06785593926906586, + -0.0446981475657473 + ], + [ + -0.12664861977100372, + 0.9893202781677246, + 0.07214906811714172, + 0.03375321775674821 + ], + [ + -0.058342307806015015, + -0.08003805577754974, + 0.9950829744338989, + -0.1694215757586062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9899293184280396, + 0.12528786063194275, + 0.06590109318494797, + -0.041988160088658334 + ], + [ + -0.13025742769241333, + 0.9884495139122009, + 0.07746320962905884, + 0.029060935229063042 + ], + [ + -0.055434707552194595, + -0.08526720106601715, + 0.9948148131370544, + -0.1663659242913127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.990505039691925, + 0.12001820653676987, + 0.06704811751842499, + -0.043459189183389146 + ], + [ + -0.12500333786010742, + 0.9892494082450867, + 0.07589305192232132, + 0.030923862283428513 + ], + [ + -0.0572187677025795, + -0.08355367928743362, + 0.9948591589927673, + -0.17096656075057884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9906491637229919, + 0.1199980080127716, + 0.06492067873477936, + -0.04054873213171959 + ], + [ + -0.12486349046230316, + 0.9891854524612427, + 0.07694979757070541, + 0.03037927389144897 + ], + [ + -0.054984770715236664, + -0.08433648198843002, + 0.9949191212654114, + -0.16595133273551863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9911662936210632, + 0.11687768250703812, + 0.06268151104450226, + -0.03881325342692435 + ], + [ + -0.12152109295129776, + 0.9896565079689026, + 0.07624021172523499, + 0.031164571717381476 + ], + [ + -0.0531223900616169, + -0.08318385481834412, + 0.9951173067092896, + -0.16929193872958423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9917363524436951, + 0.11320722103118896, + 0.06035875529050827, + -0.037161995271841684 + ], + [ + -0.11744745075702667, + 0.9904611110687256, + 0.07206158339977264, + 0.03561444878578186 + ], + [ + -0.05162511020898819, + -0.07855507731437683, + 0.9955721497535706, + -0.16719780358175437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.991814136505127, + 0.11418146640062332, + 0.0571603924036026, + -0.03368905231667062 + ], + [ + -0.11804621666669846, + 0.9905698895454407, + 0.06954452395439148, + 0.03812513438363871 + ], + [ + -0.048680663108825684, + -0.07572281360626221, + 0.9959399104118347, + -0.16513315017024677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9921613931655884, + 0.11185505241155624, + 0.055715858936309814, + -0.03246590279042721 + ], + [ + -0.11538144201040268, + 0.9912117123603821, + 0.06470293551683426, + 0.04215744554996491 + ], + [ + -0.04798886179924011, + -0.07062432914972305, + 0.996347963809967, + -0.16356661416590212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9926964044570923, + 0.1071927472949028, + 0.055349476635456085, + -0.03328924117299417 + ], + [ + -0.11049189418554306, + 0.9920371174812317, + 0.06044728308916092, + 0.04575166744490465 + ], + [ + -0.048429228365421295, + -0.06612146645784378, + 0.9966356158256531, + -0.16441259049189588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9933434128761292, + 0.09993728250265121, + 0.05728345364332199, + -0.03737040425961216 + ], + [ + -0.10316287726163864, + 0.9930627942085266, + 0.056424181908369064, + 0.04921224395434062 + ], + [ + -0.051247186958789825, + -0.06195811554789543, + 0.996762216091156, + -0.1669707959362616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9938260316848755, + 0.09400705993175507, + 0.05892752856016159, + -0.04082814211025834 + ], + [ + -0.0972958654165268, + 0.9936972260475159, + 0.05567188933491707, + 0.049670292362570756 + ], + [ + -0.05332256853580475, + -0.06106157973408699, + 0.9967086911201477, + -0.16388278915081173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9940928816795349, + 0.09036840498447418, + 0.060107409954071045, + -0.043317203596234324 + ], + [ + -0.09370668232440948, + 0.9940655827522278, + 0.05525154247879982, + 0.049766837557156884 + ], + [ + -0.05475771427154541, + -0.06055762991309166, + 0.9966616034507751, + -0.1612509205006063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.994465708732605, + 0.08479765802621841, + 0.06202679127454758, + -0.046074829595163465 + ], + [ + -0.08832871168851852, + 0.9944825768470764, + 0.05658966675400734, + 0.04821529063085715 + ], + [ + -0.056885890662670135, + -0.0617552287876606, + 0.9964689016342163, + -0.15897147505388906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9949186444282532, + 0.07809634506702423, + 0.06354406476020813, + -0.047730240635573865 + ], + [ + -0.0817856639623642, + 0.9949788451194763, + 0.057690247893333435, + 0.046836644411087036 + ], + [ + -0.05871960520744324, + -0.06259409338235855, + 0.9963101744651794, + -0.15503126697614789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9948772192001343, + 0.07571900635957718, + 0.06697703152894974, + -0.050522379083558916 + ], + [ + -0.07986434549093246, + 0.9949039816856384, + 0.06154456362128258, + 0.043092680151263885 + ], + [ + -0.061975620687007904, + -0.06657835841178894, + 0.9958545565605164, + -0.14783748210718234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9949102401733398, + 0.07431703060865402, + 0.06804833561182022, + -0.051143616090218225 + ], + [ + -0.07884778827428818, + 0.9946655035018921, + 0.06650996953248978, + 0.03829426149527232 + ], + [ + -0.06274250894784927, + -0.07153690606355667, + 0.9954626560211182, + -0.14443099468946458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9954691529273987, + 0.06667076051235199, + 0.06779544055461884, + -0.05107233813032508 + ], + [ + -0.0716223269701004, + 0.9947246313095093, + 0.07343816757202148, + 0.03173311427235603 + ], + [ + -0.06254161894321442, + -0.07796110212802887, + 0.9949927926063538, + -0.1410618401132524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9957563281059265, + 0.06295331567525864, + 0.06712818145751953, + -0.050441163511325916 + ], + [ + -0.06829572468996048, + 0.9944114089012146, + 0.08050879091024399, + 0.025578072418769207 + ], + [ + -0.061684731394052505, + -0.08475170284509659, + 0.994490921497345, + -0.1379878586344421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9957114458084106, + 0.06479835510253906, + 0.06602948904037476, + -0.049357909162839254 + ], + [ + -0.07033513486385345, + 0.9938695430755615, + 0.0853009968996048, + 0.02187000532944998 + ], + [ + -0.060097336769104004, + -0.08957937359809875, + 0.9941648840904236, + -0.13532752289126318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9960200786590576, + 0.06280595064163208, + 0.06324133276939392, + -0.04696433365345001 + ], + [ + -0.06818464398384094, + 0.9938870072364807, + 0.0868302583694458, + 0.021624373793601992 + ], + [ + -0.05740128085017204, + -0.09079676866531372, + 0.9942137598991394, + -0.1249540963768959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9966930747032166, + 0.05509248003363609, + 0.059730637818574905, + -0.044899625276836254 + ], + [ + -0.060158055275678635, + 0.9944234490394592, + 0.08661994338035583, + 0.022531543001532553 + ], + [ + -0.05462544038891792, + -0.08992677927017212, + 0.9944491982460022, + -0.1228146406263113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9969671368598938, + 0.05061538144946098, + 0.059115465730428696, + -0.04527537169245382 + ], + [ + -0.055521409958601, + 0.9948726892471313, + 0.08453220129013062, + 0.025554433961709352 + ], + [ + -0.05453373119235039, + -0.08755800127983093, + 0.9946656227111816, + -0.11754993808766206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9967435598373413, + 0.048099860548973083, + 0.06472025066614151, + -0.05101536998525262 + ], + [ + -0.05339682847261429, + 0.9951369762420654, + 0.08277153968811035, + 0.028571803569793705 + ], + [ + -0.06042421609163284, + -0.0859578549861908, + 0.9944647550582886, + -0.10557954605668783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.998308539390564, + 0.038597241044044495, + 0.04347839206457138, + -0.033626706997553504 + ], + [ + -0.04201112687587738, + 0.9958643317222595, + 0.08055611699819565, + 0.031089541614055652 + ], + [ + -0.04018933326005936, + -0.08224643021821976, + 0.9958013296127319, + -0.10927273683249951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.998953640460968, + 0.02706991508603096, + 0.03686320409178734, + -0.030016956967301667 + ], + [ + -0.029819011688232422, + 0.9966472387313843, + 0.07619123160839081, + 0.03619459216793379 + ], + [ + -0.03467712178826332, + -0.07721072435379028, + 0.9964115619659424, + -0.10652477475504081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9992357492446899, + 0.02638021856546402, + 0.02884436771273613, + -0.023851444441825152 + ], + [ + -0.02844429761171341, + 0.9968776106834412, + 0.07366115599870682, + 0.03969827800989151 + ], + [ + -0.026811107993125916, + -0.07442531734704971, + 0.9968661069869995, + -0.10854158332571387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9988536238670349, + 0.024193482473492622, + 0.0413052998483181, + -0.035547037147140755 + ], + [ + -0.027190042659640312, + 0.9969173073768616, + 0.07359763234853745, + 0.04154680532713731 + ], + [ + -0.039397384971380234, + -0.07463634759187698, + 0.9964322447776794, + -0.09410850155788163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9990971684455872, + 0.013898216187953949, + 0.040145594626665115, + -0.03512028812120358 + ], + [ + -0.016809621825814247, + 0.9971815347671509, + 0.07311888039112091, + 0.04328837444384892 + ], + [ + -0.039016228169202805, + -0.07372769713401794, + 0.9965149164199829, + -0.08637020582954089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9994269609451294, + 0.014211030676960945, + 0.03072202019393444, + -0.026427406745497137 + ], + [ + -0.016677170991897583, + 0.9965282678604126, + 0.08156759291887283, + 0.037388565391302114 + ], + [ + -0.029456203803420067, + -0.08203320950269699, + 0.9961941838264465, + -0.07354728289879858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9997735023498535, + -0.00149566400796175, + 0.02123083919286728, + -0.02049541417742148 + ], + [ + 0.000251477409619838, + 0.9982882738113403, + 0.058484893292188644, + 0.058895112921794265 + ], + [ + -0.021281972527503967, + -0.05846630409359932, + 0.9980624914169312, + -0.0898201547904561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9998621344566345, + -0.0020224554464221, + 0.01647966355085373, + -0.0167148454755079 + ], + [ + 0.0011119829723611474, + 0.998481810092926, + 0.055071230977773666, + 0.06293933726847173 + ], + [ + -0.016566023230552673, + -0.055045317858457565, + 0.9983464479446411, + -0.07988801891139398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.9998680949211121, + -0.007598291151225567, + 0.014355476945638657, + -0.01452377187088132 + ], + [ + 0.00683596171438694, + 0.9986013770103455, + 0.0524262934923172, + 0.06595967561006547 + ], + [ + -0.014733750373125076, + -0.05232124775648117, + 0.998521625995636, + -0.09339030012488365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/448d715f-9310-45a0-a835-74733b639af5/pan_left/transforms.json b/dynpose_eval/camera_controls/448d715f-9310-45a0-a835-74733b639af5/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..07085696f91f936516378d8622928d45ba19da6d --- /dev/null +++ b/dynpose_eval/camera_controls/448d715f-9310-45a0-a835-74733b639af5/pan_left/transforms.json @@ -0,0 +1,8448 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 241, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.0001968609867617488, + 1.057356803357834e-05, + -1.0731645488704089e-05 + ], + [ + -0.00019686133600771427, + 1.0, + 3.309702515252866e-05, + -2.932549614342861e-05 + ], + [ + -1.0567052413534839e-05, + -3.3099106076406315e-05, + 1.0, + -0.00010989621659973636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999935028455142, + -0.0028180060908198357, + -0.00223952668955372, + 0.0007342580356635153 + ], + [ + 0.002818219638488908, + 0.9999960064888, + 9.220304994720835e-05, + 0.0001702433655736968 + ], + [ + 0.002239257935615286, + -9.851393406279385e-05, + 0.9999974966522555, + -0.0020108544267714024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999924680695849, + -0.003417657222598792, + -0.0018384512759249626, + -0.0006686066626571119 + ], + [ + 0.0034199594771521648, + 0.9999933838844302, + 0.001250688853719035, + -0.00038188882172107697 + ], + [ + 0.0018341646930744274, + -0.001256966846995056, + 0.9999975438283358, + -0.005183545406907797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999781790594644, + -0.003429992822930217, + -0.005644987022126947, + 0.0008809571154415607 + ], + [ + 0.003437354451138261, + 0.9999932646751404, + 0.001294956426015718, + 0.000313452270347625 + ], + [ + 0.005640507005466498, + -0.0013143318938091397, + 0.9999832005373077, + -0.012814848683774471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999962018902975, + -0.003383786417543888, + -0.00803120789587505, + 0.001298069953918457 + ], + [ + 0.0034069571927941027, + 0.9999900460243225, + 0.0028731937451561213, + -0.000362539867637679 + ], + [ + 0.008021406061801852, + -0.002900446532294154, + 0.9999636114073323, + -0.014771057292819023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999484782752075, + -0.0013838122831657529, + -0.01005321644586928, + 0.001720129861496389 + ], + [ + 0.0014295495191716428, + 0.9999886751174927, + 0.004543746506235129, + -0.0012514390982687473 + ], + [ + 0.010046814812358964, + -0.00455788429826498, + 0.9999391551226278, + -0.010704850777983665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999293129509497, + 0.005003696773201227, + -0.010784914159671742, + 0.00149145454633981 + ], + [ + -0.004927214548516775, + 0.9999626278877258, + 0.007106503748078574, + -0.0029685087502002716 + ], + [ + 0.010820069934350912, + -0.0070528616197407246, + 0.9999165656101555, + -0.011529019102454185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999055310520216, + 0.007213831413537266, + -0.011701053943066192, + 0.0013674052897840738 + ], + [ + -0.007101423948904595, + 0.9999285340309145, + 0.009619913423974771, + -0.004682475235313177 + ], + [ + 0.011769614272863686, + -0.009535909630358221, + 0.9998852778152244, + -0.012032157741487026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998759268290848, + 0.009156287647783756, + -0.012815975165414396, + 0.0018296828493475914 + ], + [ + -0.00903279099368463, + 0.9999125599861145, + 0.009661086518307032, + -0.004571216180920601 + ], + [ + 0.012903313672811183, + -0.009544124826788902, + 0.9998711709742113, + -0.013457328081130981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998338483061454, + 0.013421253301203251, + -0.012336673476276453, + 0.0010046717943623662 + ], + [ + -0.013312626870852289, + 0.9998722672462463, + 0.008845578560681513, + -0.003812843468040228 + ], + [ + 0.012453816259963802, + -0.008679874241352081, + 0.9998847951927472, + -0.014330947771668434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997932964431314, + 0.016155289486050606, + -0.012343021503186734, + 0.0003240600344724953 + ], + [ + -0.01605575566872578, + 0.99983811378479, + 0.00812085475807466, + -0.0032216147519648075 + ], + [ + 0.012472218240818754, + -0.007920999079942703, + 0.9998908366667794, + -0.015330052934587002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997805477960129, + 0.015824533998966217, + -0.013726792299963172, + 0.0006327645969577134 + ], + [ + -0.01571424545450133, + 0.9998436570167542, + 0.008105463021766172, + -0.0032590883783996105 + ], + [ + 0.01385291160425225, + -0.007887979038059711, + 0.9998729184744894, + -0.016852589324116707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9997513292327201, + 0.01641799509525299, + -0.015090552508587705, + 0.0010265478631481528 + ], + [ + -0.016305269925791423, + 0.9998384714126587, + 0.007562775874240371, + -0.002823618007823825 + ], + [ + 0.015212280145009248, + -0.0073148394003510475, + 0.9998575101617212, + -0.023865485563874245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9997475237993587, + 0.01797134429216385, + -0.013485563447887056, + -0.001457590376958251 + ], + [ + -0.01782133999358066, + 0.9997788667678833, + 0.01116234059768304, + -0.005902185570448637 + ], + [ + 0.013683184304203108, + -0.010919191874563694, + 0.999846774602523, + -0.02638097107410431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9997618722775962, + 0.017259251326322556, + -0.013352681176654906, + -0.0028247442096471786 + ], + [ + -0.01704898238678855, + 0.9997313022613525, + 0.01570402180504338, + -0.00968387071043253 + ], + [ + 0.013620133515022802, + -0.01547263190150261, + 0.999787533713048, + -0.030423544347286224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997679447315472, + 0.017545053735375404, + -0.012497266310419029, + -0.004999670200049877 + ], + [ + -0.017314100201305888, + 0.9996815919876099, + 0.018354737265814845, + -0.01174194272607565 + ], + [ + 0.012815322656508449, + -0.01813409850001335, + 0.9997534405128204, + -0.03422313556075096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997102150918994, + 0.020805183798074722, + -0.012108131729461019, + -0.007094367407262325 + ], + [ + -0.020553946981638975, + 0.9995782375335693, + 0.020516624120063033, + -0.01327921636402607 + ], + [ + 0.01252987766922489, + -0.02026180736720562, + 0.9997162069633662, + -0.032366156578063965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9996707661905723, + 0.023192308843135837, + -0.01097813074393556, + -0.009700525552034378 + ], + [ + -0.02292707661202824, + 0.9994562268257143, + 0.023698882974991134, + -0.015439994633197784 + ], + [ + 0.011521791990248291, + -0.02343938313424588, + 0.9996588352518389, + -0.03517806902527809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9996525142722029, + 0.022788675501942635, + -0.013247433679269676, + -0.009423479437828064 + ], + [ + -0.022474164553113116, + 0.999472975730896, + 0.023424269343048133, + -0.014639830216765404 + ], + [ + 0.013774259756786662, + -0.023118406534194946, + 0.9996378167588624, + -0.03438234701752663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9995969497142465, + 0.0221695676445961, + -0.017733520319584722, + -0.007034934125840664 + ], + [ + -0.021791646888063246, + 0.9995371699333191, + 0.021227710869529882, + -0.012155369855463505 + ], + [ + 0.01819592071445488, + -0.020832711830735207, + 0.9996173523074601, + -0.033872172236442566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9995108456037584, + 0.0229162760078907, + -0.021282424176290702, + -0.0048863268457353115 + ], + [ + -0.022502095787974324, + 0.9995566010475159, + 0.019500900027018542, + -0.010044436901807785 + ], + [ + 0.021719874381314726, + -0.019012460485100746, + 0.999583276300938, + -0.031298793852329254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994542568650076, + 0.02295362576842308, + -0.02375653117738648, + -0.003083391347900033 + ], + [ + -0.022543362745755247, + 0.999594509601593, + 0.017395544780230275, + -0.008027050644159317 + ], + [ + 0.024146188461332065, + -0.01685049757361412, + 0.9995664180528929, + -0.030551567673683167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9993998089586323, + 0.02199891954660416, + -0.02675840124648596, + -0.0009965013014152646 + ], + [ + -0.021614379351626592, + 0.999660134315491, + 0.014576230690682765, + -0.005528791807591915 + ], + [ + 0.02706996881582952, + -0.013989116065204147, + 0.9995356612754215, + -0.031013617292046547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9992308139596671, + 0.02389172092080117, + -0.031096144075457383, + 0.0018570624524727464 + ], + [ + -0.02344199705378666, + 0.9996164441108706, + 0.014747513919209941, + -0.005440103355795145 + ], + [ + 0.03143655970743953, + -0.01400721445679665, + 0.9994075809983252, + -0.032182082533836365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9991724442005354, + 0.021225135773420337, + -0.034697812745669965, + 0.003927524201571941 + ], + [ + -0.0208658891155038, + 0.9997252225875857, + 0.010683196875757143, + -0.0019893518183380365 + ], + [ + 0.0349150291351571, + -0.009950355626642706, + 0.9993407421632994, + -0.0331597663462162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9990820505825516, + 0.018501318991184238, + -0.03863652988162891, + 0.006348197348415852 + ], + [ + -0.018172155900968223, + 0.9997956752777102, + 0.008853408066912104, + -0.00029869115678593516 + ], + [ + 0.03879243378844773, + -0.00814317259937525, + 0.9992141048089388, + -0.033714573830366135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9990133761225624, + 0.018287234008312225, + -0.040470249195992035, + 0.007116399705410004 + ], + [ + -0.01800869855123941, + 0.9998116493225098, + 0.0072363627482209805, + 0.0012382341083139181 + ], + [ + 0.04059495948969386, + -0.00650040665641427, + 0.9991545568637871, + -0.033345337957143784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9989742648962284, + 0.01790759712457657, + -0.041589523563202876, + 0.0072852205485105515 + ], + [ + -0.01768538942271408, + 0.9998273253440857, + 0.005704706402022359, + 0.0026197489351034164 + ], + [ + 0.041684501140747045, + -0.004963328130543232, + 0.9991185155943877, + -0.03303110599517822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9989645058584954, + 0.013497590087354183, + -0.04344803321537137, + 0.007837887853384018 + ], + [ + -0.013366476060051915, + 0.9999051690101624, + 0.003306831440037659, + 0.004566044081002474 + ], + [ + 0.04348854820601324, + -0.002722660079598427, + 0.9990502121371948, + -0.0333220548927784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9989207929077727, + 0.012344535440206528, + -0.044775720043871876, + 0.008009019307792187 + ], + [ + -0.01231169021961816, + 0.9999237060546875, + 0.001009247963303744, + 0.0065778824500739574 + ], + [ + 0.044784762574377406, + -0.00045689402031712234, + 0.9989965407231783, + -0.04108015075325966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9989282616145247, + 0.00829967763274908, + -0.04553523705420919, + 0.007147991098463535 + ], + [ + -0.0083218573231801, + 0.9999653100967407, + -0.00029753825338766634, + 0.007722644135355949 + ], + [ + 0.04553118862843883, + 0.0006761571276001632, + 0.9989626851768549, + -0.04173344373703003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.998919599438812, + 0.008522036485373974, + -0.0456841712430542, + 0.006275939289480448 + ], + [ + -0.00861502891463248, + 0.9999611973762512, + -0.0018390338617706825, + 0.008841056376695633 + ], + [ + 0.045666726592230505, + 0.002230617217719555, + 0.9989542432884085, + -0.035984959453344345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9989451819766311, + 0.008525420911610126, + -0.04511975458073218, + 0.005287083797156811 + ], + [ + -0.008694661828432865, + 0.9999558925628662, + -0.0035559935168868162, + 0.01015192735940218 + ], + [ + 0.04508744801121117, + 0.003944543655961752, + 0.998975236020475, + -0.03085266426205635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9989272820215048, + 0.010537694208323956, + -0.045091409423511204, + 0.004502305295318365 + ], + [ + -0.010759650181427537, + 0.9999311566352844, + -0.004682456346306421, + 0.01109087374061346 + ], + [ + 0.045038961774044775, + 0.005162600893527269, + 0.9989718754085386, + -0.028162267059087753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9989256070444494, + 0.010077708400785925, + -0.045233379034811935, + 0.00375537620857358 + ], + [ + -0.010334327416746803, + 0.9999318122863772, + -0.005442941949711991, + 0.011739101260900497 + ], + [ + 0.045175441142045455, + 0.005904550664126875, + 0.9989616355814123, + -0.02861054055392742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.998910398221012, + 0.009903804399073124, + -0.045605931622426536, + 0.0031274091452360153 + ], + [ + -0.010201345660549185, + 0.9999281167984009, + -0.00629604261052237, + 0.012398771941661835 + ], + [ + 0.04554030135648962, + 0.006754424422979355, + 0.9989396871446155, + -0.02700202353298664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988639264198813, + 0.01197510398924351, + -0.04612486344701277, + 0.002956936601549387 + ], + [ + -0.012304054359509094, + 0.999900817871094, + -0.006854440046634978, + 0.012944279238581657 + ], + [ + 0.04603820550795366, + 0.007414175197482111, + 0.9989121884957854, + -0.028678111732006073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9988472396121654, + 0.01213756483048201, + -0.04644232458558892, + 0.0026481568347662687 + ], + [ + -0.012501101160570571, + 0.999893367290497, + -0.0075452705461022665, + 0.013371556997299194 + ], + [ + 0.046345791634514535, + 0.008117152377963068, + 0.9988924775555842, + -0.0302811861038208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9988420313448553, + 0.01078248955309391, + -0.046886236622791316, + 0.002307192888110876 + ], + [ + -0.011178977116004725, + 0.9999038577079773, + -0.00820240636179072, + 0.013661843724548817 + ], + [ + 0.046793288662070213, + 0.008717048913240433, + 0.998866586985348, + -0.031501252204179764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9988013185220985, + 0.012239675968885422, + -0.04739300324044082, + 0.0017468077130615711 + ], + [ + -0.012668339717269932, + 0.9998814463615417, + -0.008755106588215728, + 0.013955159112811089 + ], + [ + 0.047280225172262325, + 0.009345002472400665, + 0.9988379769733026, + -0.03225024789571762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9987615616094978, + 0.01474247220903635, + -0.04751899448735967, + 0.0009808477479964495 + ], + [ + -0.01520483519757089, + 0.9998403787612915, + -0.009383295971849896, + 0.014445287175476551 + ], + [ + 0.04737307588282383, + 0.010094192810356617, + 0.9988262814311527, + -0.03571924939751625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9987740217686195, + 0.015096385963261127, + -0.04714386178638032, + 0.00015142993652261794 + ], + [ + -0.015568322610710126, + 0.9998321533203125, + -0.009659452375732926, + 0.014426891691982746 + ], + [ + 0.04699012564955981, + 0.010381561703979969, + 0.998841401667811, + -0.036214057356119156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9987778482923317, + 0.014620241709053516, + -0.04721303516509758, + -2.9077562430757098e-05 + ], + [ + -0.01511273335577471, + 0.9998348951339722, + -0.01009117860958783, + 0.014547483064234257 + ], + [ + 0.04705770452362313, + 0.010792364366352558, + 0.9988338968812568, + -0.03769562765955925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9987509942457389, + 0.01533046551048756, + -0.04755501653198529, + -0.0003759654355235398 + ], + [ + -0.015846863191482787, + 0.9998192787170412, + -0.01050099690000752, + 0.014720087870955467 + ], + [ + 0.04738543693796589, + 0.011241477914154531, + 0.9988134332985105, + -0.03818326070904732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.998604314419815, + 0.015188997611403465, + -0.05058346006015054, + 0.001308332895860076 + ], + [ + -0.015749549135141448, + 0.9998186826705933, + -0.010701595982812583, + 0.014741996303200722 + ], + [ + 0.05041174385954957, + 0.011483326554298401, + 0.9986625091472683, + -0.039464663714170456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9986089732694778, + 0.010928219184279442, + -0.051582067159047174, + 0.0013464209623634815 + ], + [ + -0.011413930490038478, + 0.9998931884765625, + -0.009131116233807019, + 0.013106818310916424 + ], + [ + 0.05147677041442081, + 0.009707167744636536, + 0.9986270362968298, + -0.037236832082271576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9984978294354331, + 0.010909057222306728, + -0.05369400440657205, + 0.002493602689355612 + ], + [ + -0.011391881710790553, + 0.999897301197052, + -0.008694302083965063, + 0.012564837001264095 + ], + [ + 0.05359364439155503, + 0.009292918257415295, + 0.998519579885954, + -0.03490255028009415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9985373805865182, + 0.011646549217402935, + -0.05279658899324772, + 0.0016182640101760626 + ], + [ + -0.012079103850789233, + 0.9998959898948669, + -0.00788116757068927, + 0.012077337130904198 + ], + [ + 0.05269930825638178, + 0.008507376536726952, + 0.9985741835261188, + -0.04389737546443939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9986043648923528, + 0.009833364747464659, + -0.05189031217571305, + 0.0003309825260657817 + ], + [ + -0.010231025791119548, + 0.9999202489852907, + -0.0074034312036070195, + 0.011214572004973888 + ], + [ + 0.0518133741316559, + 0.007923989556729795, + 0.998625347994188, + -0.040305789560079575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9985153396753742, + 0.00678066397085786, + -0.054047520012307025, + 0.001834940747357905 + ], + [ + -0.007266411537207258, + 0.9999349117279055, + -0.008795977635420955, + 0.011988004669547081 + ], + [ + 0.05398435948824331, + 0.009175650775432588, + 0.9984996181037643, + -0.03767668455839157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9982420792754709, + 0.008408809080719948, + -0.05866842383289239, + 0.005111544393002987 + ], + [ + -0.00902144171857758, + 0.9999074339866638, + -0.010185257512438801, + 0.013014748692512512 + ], + [ + 0.05857734863378693, + 0.01069662719964981, + 0.9982255619608479, + -0.0340990275144577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9979000089501455, + 0.010077192448079586, + -0.06398415447376814, + 0.0071656485088169575 + ], + [ + -0.010804130842870692, + 0.999880850315094, + -0.011025404799025544, + 0.01271787378937006 + ], + [ + 0.06386542825750385, + 0.011693545617163181, + 0.9978900250272199, + -0.0038271413650363684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9979941176375975, + 0.005797352641820908, + -0.06304102081752073, + 0.006146835628896952 + ], + [ + -0.006513725490499814, + 0.9999164938926697, + -0.01116401492622579, + 0.012480726465582848 + ], + [ + 0.06297103104668839, + 0.011552252806723118, + 0.9979484806937581, + -0.009459823369979858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9980874066967425, + 0.009504178538918497, + -0.06108320778441533, + 0.004107702523469925 + ], + [ + -0.010141822766963867, + 0.9998971819877627, + -0.010137380486516216, + 0.011534266173839569 + ], + [ + 0.060980579536709094, + 0.010737486183643343, + 0.9980811669720511, + -0.01416024286299944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9983308657787534, + 0.006034740246832371, + -0.057437245581178215, + 0.0013425435172393918 + ], + [ + -0.006501423376014493, + 0.9999473094940186, + -0.007941693487116808, + 0.010125190019607544 + ], + [ + 0.057386293761057576, + 0.008301862515509129, + 0.9983175105174538, + -0.0365821048617363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9985197442031499, + 0.0014308454701676967, + -0.05437159681638871, + -0.0017829106654971838 + ], + [ + -0.001859627992298662, + 0.9999675750732424, + -0.007836376091649763, + 0.009564876556396484 + ], + [ + 0.0543586203798483, + 0.007925887592136862, + 0.998490010796607, + -0.039271824061870575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9984890888747011, + 0.00011037378862965852, + -0.054950344780755396, + -0.001780421705916524 + ], + [ + -0.0005208173127485021, + 0.9999720454216003, + -0.007455088545795017, + 0.008891838602721691 + ], + [ + 0.054947989264347165, + 0.007472443860024214, + 0.9984612858435251, + -0.03845087066292763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.998331254650625, + 0.004792637657374144, + -0.05754765738258053, + -3.327202284708619e-05 + ], + [ + -0.005219185499314788, + 0.9999600052833557, + -0.007264062851343126, + 0.009024510160088539 + ], + [ + 0.057510540123526625, + 0.007552293129265308, + 0.9983163063886572, + -0.042351026087999344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9982367920643462, + 0.005889792926609516, + -0.05906427650316143, + 0.0007506463443860412 + ], + [ + -0.006339227324374302, + 0.9999523162841797, + -0.007424759436796341, + 0.009268298745155334 + ], + [ + 0.059017730058167454, + 0.007786090485751629, + 0.9982265418744648, + -0.041618335992097855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9983379705540358, + 0.004624072462320328, + -0.0574445553985489, + -0.0005876545910723507 + ], + [ + -0.005067243382062955, + 0.9999585151672363, + -0.007571493651870162, + 0.009283022955060005 + ], + [ + 0.05740716352433329, + 0.00784999504685402, + 0.998320013035495, + -0.039642468094825745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9983694445611618, + 0.005612049251794815, + -0.05680662965730455, + -0.0012522555189207196 + ], + [ + -0.005912824576366031, + 0.9999693632125854, + -0.005128033644748781, + 0.007165685296058655 + ], + [ + 0.05677611045950601, + 0.0054555595852434635, + 0.9983720422204351, + -0.03542085736989975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9985243043358203, + 0.0029070901218801737, + -0.05422870693402762, + -0.0034928089007735252 + ], + [ + -0.0031257283412058382, + 0.9999873042106628, + -0.003947397313140985, + 0.00614728219807148 + ], + [ + 0.054216545374399704, + 0.0041110762394964695, + 0.9985207539811463, + -0.039204806089401245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9986412596939481, + -0.003110160818323493, + -0.05201942325862397, + -0.005227650515735149 + ], + [ + 0.0028974247668595516, + 0.9999871253967285, + -0.004164466351316828, + 0.006032159551978111 + ], + [ + 0.05203170246964702, + 0.0040080854669213295, + 0.9986373811615827, + -0.044392649084329605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9986867713060256, + -0.007010294124484062, + -0.0507499567258871, + -0.006119665689766407 + ], + [ + 0.006804660916383244, + 0.9999679327011108, + -0.004223533431687687, + 0.006008700933307409 + ], + [ + 0.050777937789218436, + 0.003872650908306241, + 0.9987024703220878, + -0.04839768260717392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9987066103664567, + -0.0069955578073859215, + -0.050360672474668564, + -0.0064413780346512794 + ], + [ + 0.006732199093710102, + 0.9999627470970154, + -0.005397189393199842, + 0.007303500548005104 + ], + [ + 0.0503965551994537, + 0.005051170941442251, + 0.9987165292421032, + -0.050818491727113724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9987620525515567, + -0.008378371596336365, + -0.04903278824202501, + -0.007142251823097467 + ], + [ + 0.00804402053504798, + 0.9999430775642395, + -0.007012293431519185, + 0.00876530073583126 + ], + [ + 0.04908874643670588, + 0.006609191186726093, + 0.998772538887703, + -0.05248338356614113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9987765851363538, + -0.013314046896994114, + -0.04762465596012536, + -0.007862738333642483 + ], + [ + 0.012912831476636442, + 0.9998785853385925, + -0.008722302078419496, + 0.00999869778752327 + ], + [ + 0.04773499869939092, + 0.008096661418676376, + 0.9988271915385651, + -0.05152735114097595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9988537438753992, + -0.013722153380513195, + -0.045856967184006524, + -0.008860254660248756 + ], + [ + 0.013267045239201362, + 0.9998598098754885, + -0.010214204698684688, + 0.011262912303209305 + ], + [ + 0.04599069975299843, + 0.009594110772013666, + 0.9988957680543908, + -0.05077945813536644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9989519988832946, + -0.012120023369789124, + -0.04413651071076716, + -0.01000500563532114 + ], + [ + 0.011620639793376703, + 0.999865710735321, + -0.011553561869237452, + 0.012652479112148285 + ], + [ + 0.04427061546338412, + 0.011028559878468513, + 0.998958708729277, + -0.05319822207093239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9989085107419027, + -0.017785741016268734, + -0.04319074797049772, + -0.010877721942961216 + ], + [ + 0.01720941252305448, + 0.999758303165436, + -0.01367919426592873, + 0.014030979946255684 + ], + [ + 0.043423603749269346, + 0.012920975685119632, + 0.9989731999967767, + -0.05431957542896271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9988605888688438, + -0.022217513993382454, + -0.042236795261117614, + -0.012151772156357765 + ], + [ + 0.02158612879023948, + 0.9996492266654968, + -0.015346513916296076, + 0.015206512063741684 + ], + [ + 0.042562936634586726, + 0.014417298138141632, + 0.9989897466314885, + -0.05897892639040947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9988376545591382, + -0.023362023755908012, + -0.04216157365920271, + -0.013417616486549377 + ], + [ + 0.0226893802780072, + 0.9996086359024048, + -0.016362587632237108, + 0.016187060624361038 + ], + [ + 0.04252732992393981, + 0.015386948361992836, + 0.9989767847000606, + -0.0651106983423233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9987882043802053, + -0.02454482018947602, + -0.042656968442940764, + -0.014311580918729305 + ], + [ + 0.023835866728551643, + 0.9995704889297488, + -0.01704984988838615, + 0.016679048538208008 + ], + [ + 0.04305713181843118, + 0.016012422740459446, + 0.9989442687887691, + -0.06451922655105591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.998897331535296, + -0.02303432859480381, + -0.04090869550292478, + -0.016524268314242363 + ], + [ + 0.0224255653726765, + 0.9996317625045776, + -0.015278128923798286, + 0.015545462258160114 + ], + [ + 0.04124555294409775, + 0.014343881979584694, + 0.9990460658568546, + -0.07392279803752899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9991735957634289, + -0.014354946091771126, + -0.03802655032634319, + -0.019639991223812103 + ], + [ + 0.013936423341581393, + 0.9998396039009094, + -0.011248400121977692, + 0.012565916404128075 + ], + [ + 0.03818192325758997, + 0.010709150694310665, + 0.9992134107616153, + -0.07371167838573456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9992975410689252, + -0.009852373972535133, + -0.036157384769434864, + -0.02208126150071621 + ], + [ + 0.009604154808266189, + 0.9999291300773621, + -0.007032256296792109, + 0.009321182034909725 + ], + [ + 0.03622410745754339, + 0.006680055521428585, + 0.9993213744119527, + -0.07978883385658264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9992666777737101, + -0.010445069521665573, + -0.036838322620256714, + -0.02247896045446396 + ], + [ + 0.010263312152159641, + 0.999934196472168, + -0.005119575136124021, + 0.0075166597962379456 + ], + [ + 0.0368893684576495, + 0.004737737122923136, + 0.9993081310792975, + -0.08135727792978287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9992521174930377, + -0.008092915639281273, + -0.03781087405190269, + -0.022739587351679802 + ], + [ + 0.007930974862247324, + 0.9999587535858154, + -0.004430931566611757, + 0.007185928989201784 + ], + [ + 0.03784517414386822, + 0.0041277408599853516, + 0.9992750700022908, + -0.0857866182923317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.999196874775529, + -0.0015262371161952615, + -0.040040641427329694, + -0.02182180806994438 + ], + [ + 0.0013609977143970778, + 0.9999904632568359, + -0.00415372835598993, + 0.007576301693916321 + ], + [ + 0.04004660148857637, + 0.004095897078514099, + 0.9991894271959216, + -0.09035452455282211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9990881453639608, + 0.00234889960847795, + -0.04263015992508575, + -0.020205911248922348 + ], + [ + -0.002527856034894642, + 0.9999881982803345, + -0.004144458442360691, + 0.007880010642111301 + ], + [ + 0.04261992069392202, + 0.004248442128300667, + 0.9990823293420236, + -0.0904136449098587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9989847239439958, + 0.0073540625162422674, + -0.04444651528258451, + -0.01862529292702675 + ], + [ + -0.007550217173772374, + 0.9999624490737917, + -0.004247009940094112, + 0.00828091986477375 + ], + [ + 0.044413613113842086, + 0.004578278865665198, + 0.9990027400889495, + -0.09068404883146286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9989043656115952, + 0.012019152753055096, + -0.04522803107263699, + -0.017826586961746216 + ], + [ + -0.012232032045420713, + 0.999915361404419, + -0.004432992505053682, + 0.008693676441907883 + ], + [ + 0.045170925143993304, + 0.004981366451829672, + 0.9989668690569559, + -0.09121287614107132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9988905852617322, + 0.011333053931593897, + -0.04570772503290998, + -0.017473407089710236 + ], + [ + -0.011561768791870866, + 0.9999219179153445, + -0.0047426038831445885, + 0.008849484845995903 + ], + [ + 0.04565040681337762, + 0.00526580447331071, + 0.998943601098274, + -0.09113304316997528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9989124016821591, + 0.008332756347954273, + -0.04587536618139277, + -0.017449580132961273 + ], + [ + -0.00859212156430859, + 0.9999482035636902, + -0.0054594082829304905, + 0.009055398404598236 + ], + [ + 0.04582750017135338, + 0.005847637075930834, + 0.9989322483944799, + -0.09138339757919312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9988690893213501, + 0.008374053984880447, + -0.04680189449317281, + -0.017055580392479897 + ], + [ + -0.008668807362562848, + 0.9999438524246216, + -0.006098487906961723, + 0.009551356546580791 + ], + [ + 0.0467481999017895, + 0.006497307680547237, + 0.9988855753197742, + -0.09497770667076111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9988108038357726, + 0.008258523419499397, + -0.048049760626660026, + -0.01711323671042919 + ], + [ + -0.008558876756487848, + 0.9999451041221619, + -0.006048502716909112, + 0.00955266784876585 + ], + [ + 0.04799717132483954, + 0.006452561821788549, + 0.9988266486756634, + -0.0980324074625969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9987573696092031, + 0.009766776114702225, + -0.04887081887811623, + -0.01774970442056656 + ], + [ + -0.010070567702990507, + 0.9999314546585083, + -0.005973850551074533, + 0.009583689272403717 + ], + [ + 0.048809121797482584, + 0.006458583753556013, + 0.9987872414315141, + -0.10126166045665741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9987001363630768, + 0.01209238637238741, + -0.04951593683947194, + -0.018427163362503052 + ], + [ + -0.012356230844916914, + 0.9999110102653503, + -0.005025822307311704, + 0.008823774755001068 + ], + [ + 0.049450759084595015, + 0.005631119944155216, + 0.998760706171805, + -0.1033702865242958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9988324478427127, + 0.01658109948039055, + -0.0453743402533416, + -0.0228329598903656 + ], + [ + -0.016745769925606658, + 0.9998545050621033, + -0.0032514487537179822, + 0.007530785631388426 + ], + [ + 0.04531382266837072, + 0.004007481038570404, + 0.9989647422632197, + -0.11324889212846756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9989206827138016, + 0.021559342741966248, + -0.04114191673228614, + -0.027322664856910706 + ], + [ + -0.021447941325588832, + 0.9997650384902954, + 0.0031472628403945166, + 0.0018166018417105079 + ], + [ + 0.04120010208901983, + -0.0022614565677940845, + 0.999148334415117, + -0.10682779550552368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9990599296628756, + 0.024999666959047318, + -0.03541581122944368, + -0.03283087909221649 + ], + [ + -0.024828133518768367, + 0.999677836894989, + 0.005275010527908527, + -0.00017099932301789522 + ], + [ + 0.03553627792018851, + -0.0043907430954277515, + 0.9993587299598944, + -0.10761164128780365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9990654004097627, + 0.02776191011071206, + -0.03312956518352388, + -0.035380084067583084 + ], + [ + -0.02752531914765511, + 0.9995924234390261, + 0.007576260509552501, + -0.002453447785228491 + ], + [ + 0.03332639192285575, + -0.006657277699559929, + 0.9994223262226274, + -0.10608938336372375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9988875780126479, + 0.03127511590719223, + -0.03529211513265022, + -0.03417249768972397 + ], + [ + -0.03099141924874391, + 0.999483048915863, + 0.008557220341297815, + -0.0033695173915475607 + ], + [ + 0.03554149706303135, + -0.00745394779369235, + 0.9993403971275725, + -0.10903006047010422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9987151910045974, + 0.03333758935332298, + -0.03816550759238879, + -0.03200526908040047 + ], + [ + -0.03299441808448015, + 0.999409556388855, + 0.0095866949768654, + -0.004476146772503853 + ], + [ + 0.03846256535453454, + -0.008315129205584526, + 0.9992254237634319, + -0.11335968971252441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9985874563030618, + 0.03342743590474129, + -0.04130061173958922, + -0.029024826362729073 + ], + [ + -0.0329113099877023, + 0.9993722438812256, + 0.013114311646589057, + -0.008229252882301807 + ], + [ + 0.04171306164418609, + -0.011736529879271984, + 0.9990606817012727, + -0.11471723765134811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9987987615712806, + 0.029230808839201934, + -0.03932688765642304, + -0.031097589060664177 + ], + [ + -0.0289434780737363, + 0.9995501637458803, + 0.007855986103167487, + -0.004278058186173439 + ], + [ + 0.0395388380189329, + -0.0067082922905683535, + 0.9991955421346683, + -0.11987778544425964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9987131744346626, + 0.02991569973528385, + -0.04095145429296924, + -0.03028631955385208 + ], + [ + -0.029488035450081336, + 0.9995045065879822, + 0.011007816606335707, + -0.007313053123652935 + ], + [ + 0.041260471461269384, + -0.009786073118448257, + 0.9991005258330783, + -0.126676544547081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9986354176272254, + 0.025652054697275162, + -0.045489178324859464, + -0.026982290670275688 + ], + [ + -0.025185872113574377, + 0.9996245503425598, + 0.01079200662428767, + -0.007648036349564791 + ], + [ + 0.045748933620929015, + -0.009631595574319363, + 0.9989065101137167, + -0.13470864295959473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9979118553435955, + 0.02410915307700634, + -0.059922150560897766, + -0.014642361551523209 + ], + [ + -0.023744505384138203, + 0.9996950030326843, + 0.006790100388708212, + -0.004176137037575245 + ], + [ + 0.060067579486379516, + -0.005353100132197142, + 0.9981799777443008, + -0.14201931655406952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9977816669578446, + 0.02304677851498127, + -0.062454749911524686, + -0.013471373356878757 + ], + [ + -0.02268744185335446, + 0.9997217655181885, + 0.006456710498218218, + -0.004014910198748112 + ], + [ + 0.06258617343786028, + -0.005025448277592659, + 0.9980268993096083, + -0.14941394329071045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9976749849003466, + 0.016854381188750267, + -0.06603484784380363, + -0.011515363119542599 + ], + [ + -0.01665431540101335, + 0.9998549222946167, + 0.0035790277349889584, + -0.002012787386775017 + ], + [ + 0.06608558705155018, + -0.002470941049978137, + 0.9978108761298988, + -0.1561804860830307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9966097408891575, + 0.009094843640923502, + -0.08176980254631151, + 0.002276349812746048 + ], + [ + -0.010013881394639521, + 0.9998911619186404, + -0.010836261157990334, + 0.011229181662201881 + ], + [ + 0.08166234450699186, + 0.011618357151746752, + 0.9965923036313851, + -0.16521398723125458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9963628169892365, + 0.011278425343334677, + -0.08446246239054327, + 0.0031423517502844334 + ], + [ + -0.012242766831106157, + 0.9998655319213869, + -0.010908154245291488, + 0.011616491712629795 + ], + [ + 0.0843280832798973, + 0.011902534402906898, + 0.9963669750862969, + -0.17192316055297852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9961002262502203, + 0.009894968941807747, + -0.0876724886995276, + 0.003996383864432573 + ], + [ + -0.010921179251791844, + 0.9998772740364075, + -0.011233105484165704, + 0.011827574111521244 + ], + [ + 0.08755057628856854, + 0.0121467849239707, + 0.9960860297106, + -0.17735189199447632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9958720375374411, + 0.008967283181846144, + -0.09032421936060873, + 0.004423614125698805 + ], + [ + -0.010058330543703108, + 0.9998817443847658, + -0.011631287357599537, + 0.012425052002072334 + ], + [ + 0.09020923722000085, + 0.01249178405851126, + 0.9958444646939085, + -0.18584904074668884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9953080908032834, + -0.003319860901683569, + -0.09669958021363714, + 0.009037688374519348 + ], + [ + 0.0018151431545566992, + 0.9998759627342224, + -0.01564456186187707, + 0.015137980692088604 + ], + [ + 0.0967395228417536, + 0.01539563573896885, + 0.9951906399809786, + -0.19013260304927826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9951241340522905, + 0.0007214817451313138, + -0.09862782451712634, + 0.009307446889579296 + ], + [ + -0.0021752075568934387, + 0.9998905658721924, + -0.014632775022403842, + 0.015239931643009186 + ], + [ + 0.09860647401550718, + 0.014775963500142097, + 0.9950168040783828, + -0.20179426670074463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9952576917296885, + 0.007014136761426926, + -0.09701999790395643, + 0.006898442283272743 + ], + [ + -0.00815969130522488, + 0.999901533126831, + -0.011415681074251552, + 0.012921110726892948 + ], + [ + 0.09693037738986018, + 0.012153197079896927, + 0.9952169488241159, + -0.1906309723854065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9950967628613372, + 0.004714554641395807, + -0.0987937960253601, + 0.007091621868312359 + ], + [ + -0.005842138666258712, + 0.9999210238456726, + -0.011127323974763978, + 0.013172958046197891 + ], + [ + 0.09873353531491574, + 0.011649930849671364, + 0.9950457351468248, + -0.19532272219657898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9956311696249192, + 0.009900636039674282, + -0.0928471486311955, + -0.0003849230706691742 + ], + [ + -0.010619088960600433, + 0.9999173283576965, + -0.007247161717862617, + 0.010596399195492268 + ], + [ + 0.09276771779715823, + 0.008201452903449535, + 0.9956539850740029, + -0.20146282017230988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9962630881745351, + 0.01427476480603218, + -0.08518271822051818, + -0.009497828781604767 + ], + [ + -0.014023143128128253, + 0.9998953342437744, + 0.0035515625806070593, + 0.0009323605918325484 + ], + [ + 0.08522450686497228, + -0.002343761269003153, + 0.9963590307929302, + -0.20552027225494385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9965751394090222, + 0.016544688493013382, + -0.08102016787383062, + -0.014702260494232178 + ], + [ + -0.01587403479362332, + 0.9998342394828796, + 0.008914774027214379, + -0.003266767133027315 + ], + [ + 0.08115423299342078, + -0.007598124910145998, + 0.9966726105799415, + -0.21240957081317902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9965693785237129, + 0.02311121113598347, + -0.07946925407128351, + -0.017286846414208412 + ], + [ + -0.02216333662119455, + 0.9996725320816042, + 0.012789098468007852, + -0.005552423652261496 + ], + [ + 0.07973880614472745, + -0.010983919724822046, + 0.9967552923021166, + -0.21311381459236145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.996430818099882, + 0.02997266314923764, + -0.07891279828574276, + -0.018524903804063797 + ], + [ + -0.02885829068877273, + 0.9994675517082217, + 0.015224554517593978, + -0.006633705459535122 + ], + [ + 0.07932710219465808, + -0.012892927043139938, + 0.9967652567637094, + -0.21204791963100433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9966390789590421, + 0.03135476261377335, + -0.0756800497839793, + -0.022063888609409332 + ], + [ + -0.030311305191145006, + 0.9994294643402102, + 0.014897464803994504, + -0.005702548660337925 + ], + [ + 0.07610397434264142, + -0.012553433887660507, + 0.9970208643078566, + -0.22176340222358704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9964014009563251, + 0.03573637083172799, + -0.0768582678161643, + -0.021038955077528954 + ], + [ + -0.03465459690044001, + 0.9992812275886538, + 0.015363331912370373, + -0.0055139330215752125 + ], + [ + 0.0773520573657691, + -0.01264455355703831, + 0.9969236768219021, + -0.2253398299217224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9962155693843515, + 0.0403173491358757, + -0.07700032380233277, + -0.021581485867500305 + ], + [ + -0.03927185111400378, + 0.9991152882575989, + 0.015044752544463313, + -0.004330584313720465 + ], + [ + 0.07753876154910104, + -0.011963870376348495, + 0.9969175417601887, + -0.2289358377456665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9961169872981522, + 0.0419018417596817, + -0.07742851005767394, + -0.0224025696516037 + ], + [ + -0.0409103269035719, + 0.999059796333313, + 0.014348339348639941, + -0.0031534975860267878 + ], + [ + 0.07795693227177147, + -0.011124998331069946, + 0.996894631753249, + -0.2328718602657318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9961013565026458, + 0.04092345014214516, + -0.07814957620989857, + -0.02351200580596924 + ], + [ + -0.040013308065226974, + 0.9991122484207153, + 0.013177403434834476, + -0.001778817968443036 + ], + [ + 0.07861946424341282, + -0.009999006055295467, + 0.9968545566520699, + -0.23884186148643494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9959292243794028, + 0.04100889340043068, + -0.0802696437265191, + -0.023583348840475082 + ], + [ + -0.04007344580905206, + 0.999109148979187, + 0.013230950977114712, + -0.0014863264514133334 + ], + [ + 0.08074071932637836, + -0.009960409253835678, + 0.9966853501051636, + -0.24355430901050568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9958881741490686, + 0.04001011326909066, + -0.08127721657119774, + -0.024870332330465317 + ], + [ + -0.03919459826982512, + 0.9991642236709597, + 0.011605151089572201, + 0.00041629112092778087 + ], + [ + 0.08167360587866092, + -0.008371804840862753, + 0.9966239678583833, + -0.24775874614715576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9958977300201363, + 0.036270491778850555, + -0.08289824627661463, + -0.02512192167341709 + ], + [ + -0.035424357187054153, + 0.9993044137954712, + 0.011655526740668408, + 0.00013264711014926434 + ], + [ + 0.0832633369663228, + -0.008671095594763756, + 0.9964898595998873, + -0.25049155950546265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9958853881879126, + 0.03426849842071533, + -0.08389276349197454, + -0.025813469663262367 + ], + [ + -0.033444577767613476, + 0.9993777275085449, + 0.011207263434096854, + 0.0006513219559565187 + ], + [ + 0.0842246153277984, + -0.008355392143130302, + 0.996411776895469, + -0.2524860203266144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9958470943972506, + 0.03266827389597893, + -0.08497830134083134, + -0.02632792852818966 + ], + [ + -0.031876606134174666, + 0.9994350075721741, + 0.01065674412310589, + 0.0013728677295148373 + ], + [ + 0.08527842677421239, + -0.007903668098151684, + 0.9963258160768381, + -0.2531105875968933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9957205916078382, + 0.029431907460093498, + -0.08760322809235077, + -0.02507905289530754 + ], + [ + -0.02842019346941873, + 0.9995144605636597, + 0.01277402104211097, + -0.000699235126376152 + ], + [ + 0.08793665041903181, + -0.010229655541479588, + 0.9960735552608392, + -0.25360578298568726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.995586896710162, + 0.027807341888546944, + -0.0896299019538279, + -0.023956770077347755 + ], + [ + -0.02661878078655205, + 0.9995415210723877, + 0.014429165940963447, + -0.0020579604897648096 + ], + [ + 0.08999003908448053, + -0.011979649774730206, + 0.9958706069087646, + -0.24949292838573456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9956375239622635, + 0.030365081503987312, + -0.08822614923503255, + -0.02582065388560295 + ], + [ + -0.029171900319500395, + 0.9994651079177856, + 0.01478248241912555, + -0.0016756471013650298 + ], + [ + 0.0886278288210305, + -0.012144270353019238, + 0.9959907742413039, + -0.24740183353424072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9955777671536442, + 0.03352215886116028, + -0.0877565567289633, + -0.02685001865029335 + ], + [ + -0.03228956628241298, + 0.9993594884872437, + 0.015428088833209083, + -0.0013762901071459055 + ], + [ + 0.08821752187033047, + -0.012526240199804306, + 0.9960224480225681, + -0.24556446075439453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9952474234311671, + 0.03539692237973214, + -0.0907175332409847, + -0.02445044182240963 + ], + [ + -0.03379313591723037, + 0.9992452859878542, + 0.019154802928909753, + -0.0043705059215426445 + ], + [ + 0.09132708880967311, + -0.015998138114809993, + 0.9956924548607303, + -0.2443639636039734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9953747384760309, + 0.03567877039313316, + -0.0891973531941321, + -0.0267238337546587 + ], + [ + -0.03402696158373031, + 0.9992213249206543, + 0.019971557722369766, + -0.00465077068656683 + ], + [ + 0.08984045286697666, + -0.016844069585204124, + 0.9958136994018352, + -0.24181094765663147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.995105141306285, + 0.0388837717473507, + -0.09085066324124491, + -0.025537947192788124 + ], + [ + -0.03688391526106446, + 0.9990410804748537, + 0.02358942097491001, + -0.007616103161126375 + ], + [ + 0.09168079224590553, + -0.020123025402426723, + 0.9955851045190676, + -0.23814529180526733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9951619017408994, + 0.03929414600133896, + -0.090048459749274, + -0.02707163617014885 + ], + [ + -0.037181925510319395, + 0.9989953637123108, + 0.025015747344512146, + -0.008686761371791363 + ], + [ + 0.09094096768679684, + -0.021546542644500732, + 0.9956231470180131, + -0.23359407484531403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9952166463154373, + 0.03725974261760712, + -0.09030829112190361, + -0.02808319963514805 + ], + [ + -0.034857253506292575, + 0.9989989399909973, + 0.02803645588956069, + -0.011458703316748142 + ], + [ + 0.09126252082390093, + -0.024754449725151062, + 0.9955191579693606, + -0.2331315279006958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9948999137517329, + 0.043783765286207206, + -0.0908685422993988, + -0.029041623696684837 + ], + [ + -0.04094698795610611, + 0.9986211061477663, + 0.0328522390310554, + -0.014642313122749329 + ], + [ + 0.09218163695565434, + -0.028963897377252586, + 0.9953208572976227, + -0.23177224397659302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9943223285433105, + 0.05486237630248071, + -0.09117697879577273, + -0.02960161864757538 + ], + [ + -0.0515588106382979, + 0.9979389905929568, + 0.03820294764339091, + -0.017750278115272522 + ], + [ + 0.09308496866251727, + -0.033285066485404975, + 0.9951016605697123, + -0.22385989129543304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9942774262474692, + 0.056902214884757996, + -0.09041318014411474, + -0.030794015154242516 + ], + [ + -0.05323564752854675, + 0.9976787567138672, + 0.04246207834870623, + -0.021236099302768707 + ], + [ + 0.09261949349502945, + -0.03740587830543518, + 0.9949986797464883, + -0.21600285172462463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9941372189598695, + 0.06186831369996071, + -0.08867621069511081, + -0.0328507237136364 + ], + [ + -0.05784019144810914, + 0.9972047805786133, + 0.04729888634618857, + -0.02501588501036167 + ], + [ + 0.09135464212026026, + -0.041892535984516144, + 0.9949368331370249, + -0.20938728749752045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9933420027742204, + 0.0750107765197754, + -0.08743595285765694, + -0.034470051527023315 + ], + [ + -0.0705049788978341, + 0.99607390165329, + 0.05353306342840402, + -0.028774503618478775 + ], + [ + 0.09110823046661591, + -0.04701197147369386, + 0.994730707337358, + -0.19797375798225403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9930752493819863, + 0.08090195059776306, + -0.08518440056374064, + -0.03697213903069496 + ], + [ + -0.0760187658374784, + 0.9953538775444031, + 0.05909193055047514, + -0.032995615154504776 + ], + [ + 0.08956928091258785, + -0.05220712348818779, + 0.9946113795319517, + -0.18822497129440308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9935834558231987, + 0.07646334171295166, + -0.08333826475778279, + -0.03937596082687378 + ], + [ + -0.07137342890419862, + 0.9954936504364014, + 0.062435959661754366, + -0.036678921431303024 + ], + [ + 0.08773678568599945, + -0.056087199598550797, + 0.9945634918770769, + -0.17934894561767578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9932783400055181, + 0.08091901242733002, + -0.08276590451243411, + -0.04085977375507355 + ], + [ + -0.07547349322808088, + 0.9948986172676086, + 0.06693607606300511, + -0.040135156363248825 + ], + [ + 0.08776008931076994, + -0.0602395236492157, + 0.9943185555606243, + -0.17065554857254028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9931535822726965, + 0.08382213115692139, + -0.08136199372204553, + -0.043408118188381195 + ], + [ + -0.07821374388862824, + 0.9944877028465271, + 0.06983386333549539, + -0.04183244705200195 + ], + [ + 0.08676713186395164, + -0.06299212574958801, + 0.9942351333219804, + -0.15437227487564087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9934300809629621, + 0.07984016090631485, + -0.08198930009238649, + -0.044067125767469406 + ], + [ + -0.07405125011465517, + 0.9946969151496887, + 0.07137548090904727, + -0.0442863292992115 + ], + [ + 0.08725313602280428, + -0.06483513861894608, + 0.994074083409381, + -0.15113131701946259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9935061843363191, + 0.075632780790329, + -0.08500106023683501, + -0.04284949228167534 + ], + [ + -0.06961982132906681, + 0.9950000643730166, + 0.07160971942245081, + -0.045178450644016266 + ], + [ + 0.089992105352179, + -0.06522694230079652, + 0.9938042534899579, + -0.1452135592699051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9930642441935208, + 0.0746217668056488, + -0.09085702500449871, + -0.039772264659404755 + ], + [ + -0.0682373182599253, + 0.9951066374778748, + 0.07145925672377805, + -0.04481038823723793 + ], + [ + 0.09574484306180935, + -0.06476379185914993, + 0.9932968089325106, + -0.13753384351730347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9927574735008053, + 0.06728134304285051, + -0.09952807629039034, + -0.03425328806042671 + ], + [ + -0.06071023890940533, + 0.995860815048218, + 0.06764234298155392, + -0.042177699506282806 + ], + [ + 0.10366717470036137, + -0.061110068112611785, + 0.992732906621751, + -0.12708456814289093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9923526927296784, + 0.05870892480015755, + -0.10857881422789614, + -0.02775544486939907 + ], + [ + -0.05214485192930057, + 0.9966919422149658, + 0.062338355345017735, + -0.03846285492181778 + ], + [ + 0.11187944703934163, + -0.0561998076736927, + 0.9921313253144883, + -0.11674602329730988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9914350045104244, + 0.056287318468093886, + -0.11784914510528416, + -0.021258210763335228 + ], + [ + -0.049759074128699364, + 0.9970974922180178, + 0.05762498067574264, + -0.03454778343439102 + ], + [ + 0.12075063464561947, + -0.05126735940575601, + 0.9913581200365429, + -0.10992712527513504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9903820280368214, + 0.052719768136739745, + -0.1279222142239288, + -0.01470006164163351 + ], + [ + -0.046258396861915956, + 0.9975242018699648, + 0.05296781330108617, + -0.030731406062841415 + ], + [ + 0.13039795152952025, + -0.04654089361429215, + 0.9903687664125738, + -0.1015220507979393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9896210286796375, + 0.04439365491271019, + -0.13667287412415782, + -0.00947652943432331 + ], + [ + -0.03801680901385711, + 0.9980788826942444, + 0.04892072257309155, + -0.028270553797483444 + ], + [ + 0.13858208069433287, + -0.04321710765361786, + 0.9894075571583723, + -0.09402181208133698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9891547188001248, + 0.03617844358086586, + -0.14235186112926054, + -0.0069800326600670815 + ], + [ + -0.029829856529367295, + 0.998473584651947, + 0.046482576243451514, + -0.02736547961831093 + ], + [ + 0.14381624606188403, + -0.041732121258974075, + 0.9887241013899796, + -0.08787879347801208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9889273276296433, + 0.03179642930626869, + -0.14495411351117574, + -0.007414047606289387 + ], + [ + -0.02500629188295972, + 0.9985136389732361, + 0.0484274720552504, + -0.029561525210738182 + ], + [ + 0.146278486940694, + -0.044266488403081894, + 0.9882525697917813, + -0.07874501496553421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9888428750737494, + 0.031168058514595032, + -0.14566524164519884, + -0.009765206836163998 + ], + [ + -0.02363464582519742, + 0.9983059763908386, + 0.0531651075466309, + -0.03352228179574013 + ], + [ + 0.14707553177095592, + -0.0491291880607605, + 0.987904394984157, + -0.06674204021692276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9887428995313982, + 0.023599037900567055, + -0.14775184909020064, + -0.010943484492599964 + ], + [ + -0.015394879123066094, + 0.998288094997406, + 0.056426095735782625, + -0.03731425479054451 + ], + [ + 0.14883050663978598, + -0.05351627618074417, + 0.9874135242026411, + -0.05775168538093567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9882159763216324, + 0.018811512738466266, + -0.15190545103041278, + -0.009639005176723003 + ], + [ + -0.009801430427564454, + 0.9981594681739809, + 0.05984616978305431, + -0.04076368734240532 + ], + [ + 0.15275167149537358, + -0.05765205249190332, + 0.9865815717771783, + -0.048749007284641266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9874962290554489, + 0.02108297124505043, + -0.1562265104112871, + -0.00788046419620514 + ], + [ + -0.011570044051246484, + 0.9980367422103882, + 0.06155295914785541, + -0.04153729975223541 + ], + [ + 0.15721752163549182, + -0.058975763618946075, + 0.9858014752769314, + -0.04113226383924484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.986552049286091, + 0.014369260519742966, + -0.16281441323339835, + -0.004533677827566862 + ], + [ + -0.004982355751600027, + 0.9983090162277222, + 0.057916301710242646, + -0.03877049311995506 + ], + [ + 0.1633713130587118, + -0.0563262514770031, + 0.984955408720916, + -0.03023591637611389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9855615419133255, + -4.664492735173553e-05, + -0.16931744659725084, + -0.0013539451174438 + ], + [ + 0.008757477878663001, + 0.998675525188446, + 0.05070032899587694, + -0.03438775613903999 + ], + [ + 0.16909082501339393, + -0.05145108699798584, + 0.9842565986134421, + -0.024750148877501488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9843160468392288, + -0.005297639407217503, + -0.17633445278909046, + 0.0022324793972074986 + ], + [ + 0.013370603838724062, + 0.9989143013954163, + 0.04462549198667741, + -0.029600342735648155 + ], + [ + 0.17590659711851034, + -0.046283286064863205, + 0.9833182073008266, + -0.021926868706941605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9825263591763902, + 0.0002569992793723941, + -0.18612324228336377, + 0.007509797345846891 + ], + [ + 0.005886021227884426, + 0.999455988407135, + 0.032451779849009134, + -0.018359802663326263 + ], + [ + 0.18603032884799264, + -0.03298025578260422, + 0.981990339891359, + 0.0007919221534393728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9807794032466349, + -0.02267860434949398, + -0.19379751662709546, + 0.013496777042746544 + ], + [ + 0.02819169296578179, + 0.9992711544036865, + 0.02573694922003631, + -0.015546743758022785 + ], + [ + 0.1930725812991193, + -0.03070574812591076, + 0.9807038677854362, + -0.014492104761302471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9794028391467969, + -0.03598370030522347, + -0.19868388727846284, + 0.01638437807559967 + ], + [ + 0.039668605568799545, + 0.999106287956238, + 0.014596067096870294, + -0.008011641912162304 + ], + [ + 0.19798109720874366, + -0.02217694185674191, + 0.9799549335149346, + -0.011000018566846848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9837685628341236, + -0.017899122089147568, + -0.1785468902404727, + -0.0014886925928294659 + ], + [ + 0.025904883245623588, + 0.9987559914588928, + 0.04260817377999613, + -0.028125926852226257 + ], + [ + 0.1775621264551664, + -0.04654182121157646, + 0.9830084143194774, + -0.0007966986740939319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9698420221760468, + -0.04294900968670845, + -0.23992050518178537, + 0.05099383369088173 + ], + [ + 0.04018788178538313, + 0.9990577101707458, + -0.016391434697606365, + 0.019370783120393753 + ], + [ + 0.2403984230570096, + 0.006255205720663071, + 0.9706541743236079, + -0.057279568165540695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9841197262160116, + -0.025332845747470856, + -0.1756889982219878, + -0.0069435895420610905 + ], + [ + 0.03291839799655165, + 0.998641312122345, + 0.04039649426741193, + -0.02753860503435135 + ], + [ + 0.174426936136528, + -0.04553838446736336, + 0.9836165455195705, + -0.02154669351875782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9838960080548125, + -0.02336428873240948, + -0.17720813225618734, + -0.006877637933939695 + ], + [ + 0.03126029129915719, + 0.9986327886581423, + 0.04189724249649934, + -0.028363488614559174 + ], + [ + 0.1759869526591474, + -0.04676210507750512, + 0.9832811902580684, + -0.018742859363555908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9835541622839757, + -0.030995193868875504, + -0.17793400573194593, + -0.007186254020780325 + ], + [ + 0.03817869187890608, + 0.9985823631286621, + 0.037089923954267356, + -0.025581302121281624 + ], + [ + 0.17653215214084647, + -0.04327324032783508, + 0.9833432038631862, + -0.037000034004449844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9831629460689252, + -0.04019147530198097, + -0.1782562345572385, + -0.007158385124057531 + ], + [ + 0.047312191525682966, + 0.9982357025146484, + 0.03587546020238086, + -0.026497608050704002 + ], + [ + 0.17649984644581618, + -0.04370511323213577, + 0.98332988222134, + -0.03601296246051788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9827665067713259, + -0.04652152955532074, + -0.1789015855849873, + -0.006806083954870701 + ], + [ + 0.05350957671756307, + 0.9979735016822815, + 0.03443327470274356, + -0.026905234903097153 + ], + [ + 0.1769371496124352, + -0.043412819504737854, + 0.9832642599579293, + -0.039585813879966736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9821004516653411, + -0.0478852204978466, + -0.18216930571215706, + -0.004875754471868277 + ], + [ + 0.05479058626494738, + 0.9979503750801086, + 0.033061503214927686, + -0.026365192607045174 + ], + [ + 0.18021277592280194, + -0.04245087876915932, + 0.9827112045116734, + -0.04520970210433006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9816617987989378, + -0.049765970557928085, + -0.18402017335291695, + -0.004290938843041658 + ], + [ + 0.05663976081918335, + 0.9978725910186768, + 0.03228448254752757, + -0.02667219750583172 + ], + [ + 0.18202202032716783, + -0.04211530461907387, + 0.9823921428754577, + -0.050153326243162155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9815673461212902, + -0.05704987794160843, + -0.18240306816474203, + -0.006154550239443779 + ], + [ + 0.06330630433645819, + 0.9975825548171997, + 0.028658706255271945, + -0.025466112419962883 + ], + [ + 0.18032714306522413, + -0.03967771679162979, + 0.9828060786798234, + -0.053794242441654205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9812345097303821, + -0.06250055134296417, + -0.1824076009799457, + -0.006149617489427328 + ], + [ + 0.06839463664963136, + 0.9973143339157104, + 0.02619673538494776, + -0.024993857368826866 + ], + [ + 0.18028040814041615, + -0.038180842995643616, + 0.9828739622595097, + -0.05715171992778778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.980614437007251, + -0.06446751207113266, + -0.18503847232504536, + -0.004089938476681709 + ], + [ + 0.06976639092783575, + 0.9973148703575134, + 0.022263073627814364, + -0.02252662181854248 + ], + [ + 0.18310638325097292, + -0.034740958362817764, + 0.98247906813305, + -0.06598097085952759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9802515357177288, + -0.062237583100795746, + -0.18770565709156284, + -0.002265878487378359 + ], + [ + 0.06709175837116756, + 0.9975540041923523, + 0.01961289052105377, + -0.02034832537174225 + ], + [ + 0.18602586982054992, + -0.031819071620702744, + 0.9820294666817995, + -0.07052744179964066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9800726291297435, + -0.06376641988754274, + -0.18812632130814194, + -0.002076780656352639 + ], + [ + 0.0687113861925315, + 0.9974386096000674, + 0.019875230747276325, + -0.021320326253771782 + ], + [ + 0.18637707504161963, + -0.03240558877587319, + 0.9819437125930495, + -0.07421067357063293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9798669445796958, + -0.0663931891322136, + -0.18828882593519355, + -0.0019830274395644665 + ], + [ + 0.07118798562896578, + 0.9972855448722842, + 0.018810428527732872, + -0.02133486419916153 + ], + [ + 0.1865288455827574, + -0.03183562308549882, + 0.981933565832045, + -0.08125706762075424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9802680441525411, + -0.06152423843741417, + -0.1878544936443491, + -0.002952540758997202 + ], + [ + 0.06607511710648221, + 0.9976512789726257, + 0.01805433512756207, + -0.020222939550876617 + ], + [ + 0.18630249773517782, + -0.030110593885183334, + 0.9820308967481511, + -0.08508499711751938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9800901925595119, + -0.05760064721107484, + -0.1900140997266188, + -0.0016529365675523877 + ], + [ + 0.06219121734837916, + 0.9978968501091006, + 0.018280216080762857, + -0.020126227289438248 + ], + [ + 0.18856151936523874, + -0.029733467847108848, + 0.981611169503931, + -0.08612216264009476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9821237615711607, + -0.05503039062023164, + -0.18001276112335265, + -0.010275209322571754 + ], + [ + 0.05964488239601996, + 0.9980128407478335, + 0.020318677241039626, + -0.022007470950484276 + ], + [ + 0.17853689958777524, + -0.03069229423999787, + 0.9834543950818383, + -0.078497014939785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.984709345986105, + -0.048872433602809906, + -0.16720951656517066, + -0.021925566717982292 + ], + [ + 0.05367144617663481, + 0.9982629418373108, + 0.02430026646033058, + -0.02493981644511223 + ], + [ + 0.16573145017817228, + -0.03290307894349098, + 0.9856218928399452, + -0.09257560968399048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9863809502470944, + -0.03738913685083389, + -0.16017079124441547, + -0.028545565903186798 + ], + [ + 0.04245586024108176, + 0.9986966848373413, + 0.028327552040755054, + -0.026894204318523407 + ], + [ + 0.15890289000633814, + -0.034741949290037155, + 0.9866827317754405, + -0.09789181500673294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9891244659132141, + 0.010070115327835083, + -0.1467358408199652, + -0.03854714706540108 + ], + [ + -0.0037847331919224573, + 0.9990656971931458, + 0.043051075180972224, + -0.034334950149059296 + ], + [ + 0.14703227826996376, + -0.042027514427900314, + 0.9882384496127403, + -0.14624124765396118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9874252472705727, + -0.026703862473368645, + -0.15581472973097737, + -0.031762540340423584 + ], + [ + 0.03233983098857758, + 0.9989069700241089, + 0.03374836816206293, + -0.030108075588941574 + ], + [ + 0.15474321290446447, + -0.038363017141819, + 0.9872095967579213, + -0.09802312403917313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9873266853478437, + -0.020883917808532715, + -0.15732089101534671, + -0.02994820848107338 + ], + [ + 0.026432355507679087, + 0.9990971684455872, + 0.033258805206919824, + -0.02879837527871132 + ], + [ + 0.15648429363028457, + -0.03699566796422005, + 0.9869873557900555, + -0.09919773787260056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9854172767459684, + -0.05243794620037079, + -0.1618735383300294, + -0.0242959912866354 + ], + [ + 0.05607582133062645, + 0.9982645511627197, + 0.01798405637700181, + -0.021430810913443565 + ], + [ + 0.16064956649625392, + -0.026798993349075317, + 0.9866476255989916, + -0.06752453744411469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9865187827057595, + -0.010394283570349216, + -0.16331768037637368, + -0.020596886053681374 + ], + [ + 0.014405814237045384, + 0.9996224641799927, + 0.023397630347091754, + -0.018679246306419373 + ], + [ + 0.1630128135274182, + -0.02543492428958416, + 0.9862960405943045, + -0.04854995757341385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9864556598211149, + -0.008875417523086071, + -0.16378772773591238, + -0.019961044192314148 + ], + [ + 0.012401442869927573, + 0.9997125864028931, + 0.02051806638656289, + -0.0162715595215559 + ], + [ + 0.16355854507125628, + -0.02227136865258217, + 0.986282184272197, + -0.05025537312030792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9865670676797059, + -0.025670738890767097, + -0.1613272821480959, + -0.02416982129216194 + ], + [ + 0.028495720968541888, + 0.9994780421257019, + 0.0152212341202651, + -0.015051109716296196 + ], + [ + 0.16085233406287905, + -0.019613904878497124, + 0.986783599647554, + -0.06799862533807755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9875131958339203, + -0.0075619821436703205, + -0.15735487388714484, + -0.032044511288404465 + ], + [ + 0.01140480916119672, + 0.9996579885482788, + 0.023532818330500263, + -0.019030382856726646 + ], + [ + 0.1571231034255887, + -0.02503356896340847, + 0.9872617030680243, + -0.11574558913707733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9884915656236647, + -0.005497406702488661, + -0.15117615439100085, + -0.03966902568936348 + ], + [ + 0.01005862777397108, + 0.9995164275169373, + 0.029423424625222988, + -0.024324748665094376 + ], + [ + 0.15094129339462894, + -0.030605429783463478, + 0.9880688525228188, + -0.11760032176971436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9892707349821034, + -0.0010035729501396418, + -0.1460905379627389, + -0.04572882130742073 + ], + [ + 0.006481938077319576, + 0.9992932081222534, + 0.03702859906495903, + -0.030607182532548904 + ], + [ + 0.14595011514475573, + -0.03757825866341591, + 0.9885780077552782, + -0.12194298207759857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9894978513036774, + 0.014314068481326107, + -0.14383690367286556, + -0.04856818541884422 + ], + [ + -0.007866969167287205, + 0.9989428520202639, + 0.0452914885959452, + -0.035224854946136475 + ], + [ + 0.14433315656537907, + -0.043684270232915885, + 0.9885644286935988, + -0.12401624768972397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9892570309635944, + 0.02548590116202832, + -0.14394792445038118, + -0.049026571214199066 + ], + [ + -0.018288259323593178, + 0.9985257983207705, + 0.051105560970816276, + -0.038353074342012405 + ], + [ + 0.14503818412190328, + -0.047923978418111815, + 0.9882647255187623, + -0.12645554542541504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9887891672575233, + 0.032989121973514564, + -0.145628842792932, + -0.047931309789419174 + ], + [ + -0.025184408783524733, + 0.9981623291969302, + 0.055115637832634255, + -0.04051608592271805 + ], + [ + 0.14717943631245917, + -0.05083016678690912, + 0.9878028656651668, + -0.13161170482635498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9881024871002797, + 0.048373326659202576, + -0.14599140196019153, + -0.04802384600043297 + ], + [ + -0.03967381278291115, + 0.9972919821739197, + 0.06192513723735865, + -0.043698444962501526 + ], + [ + 0.14859157826950495, + -0.055396344512701035, + 0.9873458310515926, + -0.13727021217346191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9871094659719453, + 0.06296443194150925, + -0.14714085499434823, + -0.04747893288731575 + ], + [ + -0.05358894965328563, + 0.9963235855102539, + 0.06683927384967414, + -0.04513319581747055 + ], + [ + 0.15080840107150095, + -0.05809255689382553, + 0.9868546630382132, + -0.1403035968542099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9865949137759779, + 0.07009734958410264, + -0.14736632127241722, + -0.04804597795009613 + ], + [ + -0.060329457424242665, + 0.9957389831542971, + 0.06974406427459001, + -0.046282194554805756 + ], + [ + 0.15162727154199634, + -0.05991860851645471, + 0.9866199809408737, + -0.14393669366836548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9862720358524473, + 0.07337968051433563, + -0.14792880387800372, + -0.048659563064575195 + ], + [ + -0.06338118491439484, + 0.9954454302787781, + 0.07121252091062566, + -0.04682471975684166 + ], + [ + 0.1524806007120917, + -0.060859013348817825, + 0.9864308751252698, + -0.14798395335674286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9856505903299043, + 0.07981855422258377, + -0.14873449299550273, + -0.04959066957235336 + ], + [ + -0.06949751734528134, + 0.994881808757782, + 0.073350525461862, + -0.047294024378061295 + ], + [ + 0.15382797225663636, + -0.06196130812168121, + 0.9861530049444406, + -0.15639935433864594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9847423168410456, + 0.087579146027565, + -0.1503744020929892, + -0.05010272562503815 + ], + [ + -0.07685578152833585, + 0.9941635727882385, + 0.0757100678282847, + -0.047321006655693054 + ], + [ + 0.15612737129582427, + -0.06299776583909988, + 0.9857258925404974, + -0.16313885152339935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9840960699168585, + 0.09110651165246965, + -0.15249448578065236, + -0.050175249576568604 + ], + [ + -0.07989932247448818, + 0.9937397837638857, + 0.07808517628570871, + -0.04718838632106781 + ], + [ + 0.15865390577567876, + -0.06465910375118257, + 0.9852147824231751, + -0.16411375999450684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9832526342178428, + 0.09662381559610367, + -0.15452546081079288, + -0.05028655380010605 + ], + [ + -0.08490480409955672, + 0.9931128621101379, + 0.08073417581937427, + -0.0470956489443779 + ], + [ + 0.16126205484033262, + -0.0662621334195137, + 0.9846846316997369, + -0.16382192075252533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9819146349734851, + 0.10662929713726044, + -0.15644118999978068, + -0.049954310059547424 + ], + [ + -0.09427339710245697, + 0.991962194442749, + 0.0844010175330794, + -0.04696356877684593 + ], + [ + 0.16418336389315555, + -0.06812635064125061, + 0.9840744779351894, + -0.15899299085140228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9808526715973688, + 0.11408960074186325, + -0.15783425161580433, + -0.04950244352221489 + ], + [ + -0.10120850940512054, + 0.9910189509391785, + 0.08739751257220889, + -0.046864576637744904 + ], + [ + 0.1663878742763083, + -0.06974991410970688, + 0.9835903817823087, + -0.15210390090942383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9798703396294828, + 0.12039413303136826, + -0.15924633062469146, + -0.04900659620761871 + ], + [ + -0.10705158604075704, + 0.9901812672615051, + 0.0898943254463244, + -0.04673674702644348 + ], + [ + 0.16850547497333632, + -0.07103721052408218, + 0.9831376206422221, + -0.1442316770553589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9795332857151188, + 0.12253909558057788, + -0.15968328638248838, + -0.05003298074007034 + ], + [ + -0.10869044193372102, + 0.9897364377975466, + 0.09278052715040883, + -0.047878485172986984 + ], + [ + 0.16941360927773844, + -0.07352557033300401, + 0.9827985878711066, + -0.14546898007392883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9796024097330523, + 0.12257798761129379, + -0.15922862354436637, + -0.0521424226462841 + ], + [ + -0.1083134886758539, + 0.9895287752151489, + 0.09539922118419468, + -0.0496530681848526 + ], + [ + 0.1692551485211008, + -0.07620669901371002, + 0.9826216260674924, + -0.15453003346920013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9799970988228343, + 0.12111389636993408, + -0.15791506278703818, + -0.0544104240834713 + ], + [ + -0.10677023058281208, + 0.9896013736724854, + 0.09638071385789482, + -0.05063415691256523 + ], + [ + 0.16794599939022986, + -0.07759219408035278, + 0.9827377928042098, + -0.16201791167259216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9799437170217635, + 0.12181653827428818, + -0.157705632213233, + -0.055306337773799896 + ], + [ + -0.10706478839438646, + 0.9893202781677246, + 0.09890648111290526, + -0.05240008980035782 + ], + [ + 0.16806982938175433, + -0.08003805577754974, + 0.9825204747688139, + -0.1624515950679779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9790339482990869, + 0.12528786063194275, + -0.16060989273477208, + -0.05295084789395332 + ], + [ + -0.10926465404430825, + 0.9884495139122009, + 0.10501800651153798, + -0.05742839723825455 + ], + [ + 0.1719122446403469, + -0.08526720106601715, + 0.9814151513916154, + -0.1589050441980362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.979680386749676, + 0.12001820653676987, + -0.16069232569065617, + -0.0540107898414135 + ], + [ + -0.10439271290728017, + 0.9892494082450867, + 0.10240972267373107, + -0.056047648191452026 + ], + [ + 0.1712558048391242, + -0.08355367928743362, + 0.9816772294996466, + -0.16362079977989197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9791571933241091, + 0.1199980080127716, + -0.16386473346666383, + -0.05114855617284775 + ], + [ + -0.1039026080703736, + 0.9891854524612427, + 0.10352009772395186, + -0.05699877440929413 + ], + [ + 0.1745148161848022, + -0.08433648198843002, + 0.9810361674281586, + -0.15850161015987396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9789655006992696, + 0.11687768250703812, + -0.1672308042137166, + -0.04918614774942398 + ], + [ + -0.10070043124206705, + 0.9896565079689026, + 0.10217323066071825, + -0.05666744336485863 + ], + [ + 0.1774428271709043, + -0.08318385481834412, + 0.9806092420142722, + -0.16190937161445618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9787997870248655, + 0.11320722103118896, + -0.17069021359943903, + -0.04725630581378937 + ], + [ + -0.09759237986603393, + 0.9904611110687256, + 0.09727539711299217, + -0.052701666951179504 + ], + [ + 0.18007428497556963, + -0.07855507731437683, + 0.9805112489204666, + -0.1601933091878891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.977945415154691, + 0.11418146640062332, + -0.17488669706144946, + -0.043917808681726456 + ], + [ + -0.09865351060184796, + 0.9905698895454407, + 0.09507278752248256, + -0.050613418221473694 + ], + [ + 0.18409305125984995, + -0.07572281360626221, + 0.9799876838969388, + -0.1583496481180191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9777545038560023, + 0.11185505241155624, + -0.17743905211253508, + -0.04253285750746727 + ], + [ + -0.09708884325875182, + 0.9912117123603821, + 0.08985045097033763, + -0.04705160856246948 + ], + [ + 0.18592988721100603, + -0.07062432914972305, + 0.9800215675620392, + -0.15721042454242706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9779945397137288, + 0.1071927472949028, + -0.1789871399737691, + -0.04298125207424164 + ], + [ + -0.09323554826630759, + 0.9920371174812317, + 0.08467269484935172, + -0.04394502192735672 + ], + [ + 0.18663818336261126, + -0.06612146645784378, + 0.9802010658040284, + -0.15843410789966583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9788830933070618, + 0.09993728250265124, + -0.17832672150662382, + -0.04644804075360298 + ], + [ + -0.0869680698568675, + 0.9930627942085268, + 0.07913799576878139, + -0.040990959852933884 + ], + [ + 0.18499847187629193, + -0.061958115547895445, + 0.9807837452780193, + -0.16134293377399445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9795459306503181, + 0.09400705993175507, + -0.17791122680459964, + -0.04940628632903099 + ], + [ + -0.08135931088046751, + 0.9936972260475159, + 0.07711359946420338, + -0.04100457951426506 + ], + [ + 0.18403912295709435, + -0.06106157973408699, + 0.9810204444816004, + -0.1583109200000763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9798909206475775, + 0.09036840498447418, + -0.17789699764119543, + -0.051600974053144455 + ], + [ + -0.07788873058785468, + 0.9940655827522278, + 0.07594090403693526, + -0.04135584086179733 + ], + [ + 0.18370393104466587, + -0.06055762991309166, + 0.981114480977654, + -0.15569980442523956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9805165712028849, + 0.08479765802621843, + -0.1771909204146667, + -0.053883280605077744 + ], + [ + -0.07226392303178705, + 0.9944825768470766, + 0.07604128562786792, + -0.04335997998714447 + ], + [ + 0.18266141050894846, + -0.06175522878766061, + 0.9812344702421886, + -0.15328484773635864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9811262711021435, + 0.07809634506702424, + -0.17689600716354775, + -0.054954152554273605 + ], + [ + -0.06556487810806506, + 0.9949788451194765, + 0.07561948353720484, + -0.04519889876246452 + ], + [ + 0.1819133899321263, + -0.06259409338235856, + 0.981320271033854, + -0.14924131333827972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9817193939590049, + 0.07571900635957718, + -0.17462426967803202, + -0.05755793675780296 + ], + [ + -0.06268923473966168, + 0.9949039816856384, + 0.07896902455890359, + -0.04935048148036003 + ], + [ + 0.1797138389321299, + -0.06657835841178894, + 0.9814633011367053, + -0.1416512429714203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.981819536412031, + 0.07431703060865404, + -0.1746635620299112, + -0.05807987228035927 + ], + [ + -0.06041545408328039, + 0.9946655035018923, + 0.08360934559527863, + -0.05454118549823761 + ], + [ + 0.17994542445537726, + -0.07153690606355669, + 0.9810719475039863, + -0.13775421679019928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9821091382732582, + 0.066670760512352, + -0.17611557770437591, + -0.05732272192835808 + ], + [ + -0.051631876419100074, + 0.9947246313095095, + 0.08864012361448433, + -0.06152231991291046 + ], + [ + 0.18109620274964086, + -0.07796110212802888, + 0.9803704793537442, + -0.1337529867887497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.982032097630728, + 0.06295331567525864, + -0.17790395423312955, + -0.05636926740407944 + ], + [ + -0.04658362778584263, + 0.9944114089012146, + 0.09474142202366571, + -0.06806233525276184 + ], + [ + 0.18287401747127907, + -0.08475170284509659, + 0.9794765401793496, + -0.1300070732831955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9815246519736003, + 0.06479835510253908, + -0.180029259579968, + -0.05548675358295441 + ], + [ + -0.04728290909534412, + 0.9938695430755617, + 0.09993806970251261, + -0.07213348895311356 + ], + [ + 0.18540141844786204, + -0.08957937359809877, + 0.9785713160944304, + -0.126854807138443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9809405092416402, + 0.06280595064163208, + -0.18387816779377641, + -0.05293089896440506 + ], + [ + -0.044713110484291975, + 0.9938870072364807, + 0.10094244496012246, + -0.07279489189386368 + ], + [ + 0.18909389531716458, + -0.09079676866531372, + 0.9777522212553676, + -0.1163284033536911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9805235728226073, + 0.05509248003363609, + -0.18851619929002, + -0.0501563660800457 + ], + [ + -0.036877506817689795, + 0.9944234490394592, + 0.09880311582474967, + -0.07235302776098251 + ], + [ + 0.19290823106434696, + -0.08992677927017212, + 0.9770872842368917, + -0.11423412710428238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9804301048495836, + 0.05061538144946098, + -0.1902496248925988, + -0.05012601241469383 + ], + [ + -0.032796546103939464, + 0.9948726892471313, + 0.0956697788353165, + -0.06978753209114075 + ], + [ + 0.19411652199898397, + -0.08755800127983093, + 0.9770631528863426, + -0.1091589629650116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.981402881039544, + 0.0480998605489731, + -0.18583546488974254, + -0.05564498156309128 + ], + [ + -0.031073654261863135, + 0.9951369762420657, + 0.09347072848805885, + -0.0672101303935051 + ], + [ + 0.18942767129502427, + -0.08595785498619081, + 0.9781249369539531, + -0.09730610251426697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.9773961767616978, + 0.038597241044044495, + -0.20786299345544376, + -0.03735777363181114 + ], + [ + -0.02050333245388771, + 0.9958643317222595, + 0.08850896070733973, + -0.06517734378576279 + ], + [ + 0.210419532781758, + -0.08224643021821976, + 0.9741453129745477, + -0.1013222485780716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.9761299324563755, + 0.02706991508603096, + -0.2154939130668089, + -0.03264499455690384 + ], + [ + -0.00970383044656638, + 0.9966472387313843, + 0.0812410789362788, + -0.06056324392557144 + ], + [ + 0.21697059526764317, + -0.07721072435379028, + 0.9731198612628001, + -0.09902890026569366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.97414256391488, + 0.02638021856546402, + -0.2243888261181656, + -0.026423515751957893 + ], + [ + -0.008923855109045952, + 0.9968776106834412, + 0.07845641324762623, + -0.057497289031744 + ], + [ + 0.22575789166678714, + -0.07442531734704971, + 0.9713363192640344, + -0.10128511488437653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9766870063331234, + 0.02419348247349263, + -0.21330068299916272, + -0.03791598230600357 + ], + [ + -0.007641103594164667, + 0.9969173073768618, + 0.07808664061801347, + -0.05606801435351372 + ], + [ + 0.21453231992115482, + -0.074636347591877, + 0.973861004499367, + -0.08680035918951035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9763940059295434, + 0.013898216187953952, + -0.2155494512838708, + -0.036486946046352386 + ], + [ + 0.002360532876853487, + 0.9971815347671511, + 0.07498907880561831, + -0.05476780980825424 + ], + [ + 0.21598415413362887, + -0.07372769713401796, + 0.9736093106946225, + -0.07912031561136246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9740679300502105, + 0.014211030676960949, + -0.22580912390005928, + -0.02783074602484703 + ], + [ + 0.004730350826418873, + 0.9965282678604128, + 0.0831205391460555, + -0.061018601059913635 + ], + [ + 0.22620639315416294, + -0.082033209502697, + 0.9706189713416554, + -0.06544650346040726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.971719467613776, + -0.00149566400796175, + -0.23613360793018331, + -0.020347094163298607 + ], + [ + 0.015256771678396903, + 0.9982882738113403, + 0.05646040118737652, + -0.040101807564496994 + ], + [ + 0.23564495265484275, + -0.05846630409359932, + 0.9700789222616529, + -0.08402224630117416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9703222568590082, + -0.0020224554464221, + -0.24180691692953576, + -0.016513442620635033 + ], + [ + 0.015269854878866404, + 0.998481810092926, + 0.05292361022753908, + -0.036492809653282166 + ], + [ + 0.2413327842705439, + -0.055045317858457565, + 0.9688800495859043, + -0.07440642267465591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.969513886601813, + -0.007598291151225567, + -0.2449185796254691, + -0.013763942755758762 + ], + [ + 0.020171955187395674, + 0.9986013770103455, + 0.04887063377756467, + -0.033900462090969086 + ], + [ + 0.24420470375090916, + -0.05232124775648117, + 0.9683112018596898, + -0.08815817534923553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/448d715f-9310-45a0-a835-74733b639af5/tilt_up/transforms.json b/dynpose_eval/camera_controls/448d715f-9310-45a0-a835-74733b639af5/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..370b6b529164b60c4d876c32b02d15f051763d76 --- /dev/null +++ b/dynpose_eval/camera_controls/448d715f-9310-45a0-a835-74733b639af5/tilt_up/transforms.json @@ -0,0 +1,8448 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 241, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.0001968609867617488, + 1.057356803357834e-05, + -1.0731645488704089e-05 + ], + [ + -0.00019686133600771427, + 1.0, + 3.309702515252866e-05, + -2.932549614342861e-05 + ], + [ + -1.0567052413534839e-05, + -3.3099106076406315e-05, + 1.0, + -0.00010989621659973636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999953508377075, + -0.002819257453350879, + -0.001145627227658153, + 0.0007342580356635153 + ], + [ + 0.002818117383867502, + 0.9999955154666138, + -0.000995549071391746, + 0.0001702433655736968 + ], + [ + 0.0011484287679195404, + 0.0009923159755087932, + 0.999998856855469, + -0.0020108544267714024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999940991401675, + -0.0034169003511581447, + 0.0003506518502329965, + -0.0006686066626571119 + ], + [ + 0.003417222760617734, + 0.9999937489264458, + -0.0009235013288623152, + -0.00038188882172107697 + ], + [ + -0.0003474941477179528, + 0.000924694158181052, + 0.9999995279883943, + -0.005183545406907797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999912977218628, + -0.003437738567388347, + -0.0023613043884575793, + 0.0008809571154415607 + ], + [ + 0.003433098318055272, + 0.9999921846288471, + -0.0019662732713297717, + 0.000313452270347625 + ], + [ + 0.002368045272305608, + 0.001958149557002278, + 0.9999952510668957, + -0.012814848683774471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999875426292419, + -0.0033997587719226336, + -0.003653188459796703, + 0.001298069953918457 + ], + [ + 0.0033943881280720234, + 0.9999931282166622, + -0.0014752613420807048, + -0.000362539867637679 + ], + [ + 0.0036581791937351227, + 0.0014628427691624583, + 0.9999922287198578, + -0.014771057292819023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999884366989136, + -0.001408876435653356, + -0.004591605154808556, + 0.001720129861496389 + ], + [ + 0.0014047460863366723, + 0.9999986257521912, + -0.0009026569340562783, + -0.0012514390982687473 + ], + [ + 0.004592870362102985, + 0.0008961962590400045, + 0.999989064499511, + -0.010704850777983665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999784827232361, + 0.004975837705063254, + -0.004272865906549571, + 0.00149145454633981 + ], + [ + -0.004973620641976595, + 0.9999875099190859, + 0.0005292583403083815, + -0.0029685087502002716 + ], + [ + 0.00427544629201293, + -0.0005079953438990413, + 0.999990708682713, + -0.011529019102454185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999657273292544, + 0.0071825765318751025, + -0.004120657314802033, + 0.0013674052897840738 + ], + [ + -0.007174672093242409, + 0.9999724224002786, + 0.0019299339039903368, + -0.004682475235313177 + ], + [ + 0.004134405869990588, + -0.0019003027009145883, + 0.9999896608075435, + -0.012032157741487026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999496936798096, + 0.009120247174000024, + -0.004169781336121105, + 0.0018296828493475914 + ], + [ + -0.009116754867136478, + 0.9999581031150954, + 0.0008557563833402102, + -0.004571216180920601 + ], + [ + 0.004177411086857319, + -0.0008176997667925812, + 0.9999909124444539, + -0.013457328081130981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999067783355713, + 0.013395863035836708, + -0.0026520300555383613, + 0.0010046717943623662 + ], + [ + -0.013398825190961361, + 0.9999096349779281, + -0.0011020273288770007, + -0.003812843468040228 + ], + [ + 0.0026370277628302574, + 0.001137459629066227, + 0.9999958968336294, + -0.014330947771668434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998684525489807, + 0.01613865939469043, + -0.0016125883164647516, + 0.0003240600344724953 + ], + [ + -0.01614338345825672, + 0.9998652957552946, + -0.002961564370248887, + -0.0032216147519648075 + ], + [ + 0.001564575475640595, + 0.0029872080294922206, + 0.9999943061819065, + -0.015330052934587002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998732805252075, + 0.015802641758089563, + -0.001919338336869166, + 0.0006327645969577134 + ], + [ + -0.015810370445251465, + 0.9998666662929409, + -0.004081217987708447, + -0.0032590883783996105 + ], + [ + 0.0018545885104686022, + 0.004111045411469822, + 0.9999898180876617, + -0.016852589324116707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998632073402405, + 0.0163903711248967, + -0.002217652413725824, + 0.0010265478631481528 + ], + [ + -0.016402866691350937, + 0.9998490043173887, + -0.005739412244423022, + -0.002823618007823825 + ], + [ + 0.0021232464350759983, + 0.005775002893292453, + 0.9999810508882745, + -0.023865485563874245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998382329940796, + 0.017979357749948906, + 0.00043762803821321717, + -0.001457590376958251 + ], + [ + -0.01797783374786377, + 0.9998330292976015, + -0.0032697800803820534, + -0.005902185570448637 + ], + [ + -0.0004963435931131244, + 0.0032613839970154967, + 0.9999945739774924, + -0.02638097107410431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998492002487183, + 0.017286502274654888, + 0.0016524866298060024, + -0.0028247442096471786 + ], + [ + -0.017286811023950577, + 0.999850537342155, + 0.00017310021481906703, + -0.00968387071043253 + ], + [ + -0.001649247482419014, + -0.00020163897178764118, + 0.9999986311327692, + -0.030423544347286224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998385906219482, + 0.017605899711246063, + 0.0035747569185515674, + -0.004999670200049877 + ], + [ + -0.017612097784876823, + 0.9998434125112781, + 0.001710050928438917, + -0.01174194272607565 + ], + [ + -0.0035440903156995773, + -0.0017727324788102607, + 0.9999921583111604, + -0.03422313556075096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997692704200745, + 0.02089522944201121, + 0.0049771473977701375, + -0.007094367407262325 + ], + [ + -0.020908880978822708, + 0.9997777463997634, + 0.002706668163772466, + -0.01327921636402607 + ], + [ + -0.004919484257698059, + -0.002810108730160882, + 0.9999839674219654, + -0.032366156578063965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997024536132815, + 0.02332851996472955, + 0.007129355931099269, + -0.009700525552034378 + ], + [ + -0.023362584412097934, + 0.9997158738931411, + 0.004732691896839959, + -0.015439994633197784 + ], + [ + -0.007016923278570177, + -0.004897844231573314, + 0.9999633579181937, + -0.03517806902527809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9997199177742004, + 0.02290958479526123, + 0.005933333886683387, + -0.009423479437828064 + ], + [ + -0.022929737344384193, + 0.999731470668059, + 0.0033507289036160894, + -0.014639830216765404 + ], + [ + -0.005854976829141378, + -0.0034858422578790504, + 0.9999767616285071, + -0.03438234701752663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9997497797012329, + 0.022226693919521614, + 0.002526146322618852, + -0.007034934125840664 + ], + [ + -0.02222689613699913, + 0.9997529734925588, + 5.236473397634176e-05, + -0.012155369855463505 + ], + [ + -0.002524358220398426, + -0.00010850078531093992, + 0.9999967801399166, + -0.033872172236442566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9997372627258301, + 0.02292231582843436, + 2.6813348307699972e-05, + -0.0048863268457353115 + ], + [ + -0.022922150790691376, + 0.999733333795927, + -0.0028043563946134947, + -0.010044436901807785 + ], + [ + -9.108861559070647e-05, + 0.002803005285920602, + 0.9999960438529676, + -0.031298793852329254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9997361898422241, + 0.022927965447781886, + -0.0013828937996854095, + -0.003083391347900033 + ], + [ + -0.022935900837183, + 0.9997187724449252, + -0.006025967286298063, + -0.008027050644159317 + ], + [ + 0.0012443417217582464, + 0.006056096601783278, + 0.999980888363577, + -0.030551567673683167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997541308403017, + 0.021926137227800294, + -0.0032962128355867376, + -0.0009965013014152646 + ], + [ + -0.021957926452159885, + 0.9997095117722098, + -0.009938489505994562, + -0.005528791807591915 + ], + [ + 0.00307734264060855, + 0.01000842430865079, + 0.9999451875709989, + -0.031013617292046547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9996964335441592, + 0.023733201873607584, + -0.006616642602798248, + 0.0018570624524727464 + ], + [ + -0.023804582655429847, + 0.9996569435992406, + -0.010926513073879499, + -0.005440103355795145 + ], + [ + 0.006355051882565023, + 0.011080701682008443, + 0.9999183985035011, + -0.032182082533836365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9997383356094363, + 0.020994556399190914, + -0.009083323294991029, + 0.003927524201571941 + ], + [ + -0.02113839238882065, + 0.9996479013966878, + -0.016039897202868764, + -0.0019893518183380365 + ], + [ + 0.008743373677134516, + 0.016227705705525976, + 0.9998300869489657, + -0.0331597663462162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9997640848159792, + 0.018184142188804785, + -0.01188005584450953, + 0.006348197348415852 + ], + [ + -0.01840680837631226, + 0.9996517352338928, + -0.018910315644259122, + -0.00029869115678593516 + ], + [ + 0.011532049626111986, + 0.019124527290497007, + 0.9997505967568507, + -0.033714573830366135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9997592568397522, + 0.01793606524830435, + -0.012637863589054615, + 0.007116399705410004 + ], + [ + -0.01820666342973709, + 0.9996002046698889, + -0.021632395174907785, + 0.0012382341083139181 + ], + [ + 0.012244810350239277, + 0.021857281120026776, + 0.9996861299457276, + -0.033345337957143784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9997657537460327, + 0.01754193180951998, + -0.012675594462088479, + 0.0072852205485105515 + ], + [ + -0.01784571260213852, + 0.9995462923792308, + -0.024263905529199048, + 0.0026197489351034164 + ], + [ + 0.0122442077845335, + 0.024484427987697843, + 0.9996252460931854, + -0.03303110599517822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9998254179954529, + 0.013096710287338035, + -0.013327047813584209, + 0.007837887853384018 + ], + [ + -0.013461227528750896, + 0.9995272771057485, + -0.027639871647056332, + 0.004566044081002474 + ], + [ + 0.012958756648004055, + 0.027814445434865838, + 0.9995290992890794, + -0.0333220548927784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998372197151184, + 0.0119221672056568, + -0.013542494808471393, + 0.008009019307792187 + ], + [ + -0.012337451800704002, + 0.9994430169947603, + -0.031007374786220315, + 0.0065778824500739574 + ], + [ + 0.013165277428925037, + 0.031169406517990068, + 0.9994273938888216, + -0.04108015075325966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9998832941055298, + 0.007875551428234085, + -0.013091530582119978, + 0.007147991098463535 + ], + [ + -0.008307666517794132, + 0.9994112773124333, + -0.03328730528219739, + 0.007722644135355949 + ], + [ + 0.012821667827665806, + 0.033392180786907935, + 0.9993600751473631, + -0.04173344373703003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.999893069267273, + 0.008115331628999392, + -0.012166600792466172, + 0.006275939289480448 + ], + [ + -0.008547927252948284, + 0.9993175329273074, + -0.03593603137032775, + 0.008841056376695633 + ], + [ + 0.011866665445268154, + 0.03603618727549745, + 0.9992800314289252, + -0.035984959453344345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9999113082885742, + 0.008163220095906722, + -0.010520886073313838, + 0.005287083797156811 + ], + [ + -0.008565262891352177, + 0.9992121297872125, + -0.038752874256063774, + 0.01015192735940218 + ], + [ + 0.01019624900072813, + 0.038839551036425404, + 0.9991934173905397, + -0.03085266426205635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9999029636383057, + 0.010202960031505615, + -0.009484507568999547, + 0.004502305295318365 + ], + [ + -0.010584159754216671, + 0.9991010169848639, + -0.04105054081918491, + 0.01109087374061346 + ], + [ + 0.009057143703103065, + 0.041146941993446075, + 0.9991120386100109, + -0.028162267059087753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9999158978462221, + 0.009768119605666266, + -0.00853043189956789, + 0.00375537620857358 + ], + [ + -0.010125397704541685, + 0.9990282761455594, + -0.0428956052002971, + 0.011739101260900497 + ], + [ + 0.008103132247924806, + 0.042978371501221475, + 0.9990431584247448, + -0.02861054055392742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9999232292175293, + 0.009612432682932454, + -0.00781708538331334, + 0.0031274091452360153 + ], + [ + -0.009953592903912067, + 0.9989444304698736, + -0.044843028347323864, + 0.012398771941661835 + ], + [ + 0.007377783767879009, + 0.04491739627377222, + 0.9989634806479, + -0.02700202353298664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9999046921730044, + 0.011695996145327707, + -0.007338929831985805, + 0.002956936601549387 + ], + [ + -0.012025464326143268, + 0.9988420693470941, + -0.04658247944745777, + 0.012944279238581657 + ], + [ + 0.006785603240132334, + 0.04666629285910422, + 0.9988875108765486, + -0.028678111732006073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9999077320098879, + 0.01188149671529007, + -0.006586013696967101, + 0.0026481568347662687 + ], + [ + -0.012186470441520218, + 0.9987545148806296, + -0.04838247134144353, + 0.013371556997299194 + ], + [ + 0.0060029546730220335, + 0.04845826757053762, + 0.9988071701391346, + -0.0302811861038208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9999269843101501, + 0.010547205091728485, + -0.005896385324036531, + 0.002307192888110876 + ], + [ + -0.010829469189047813, + 0.9986861366147053, + -0.05008689239169107, + 0.013661843724548817 + ], + [ + 0.0053603616543114185, + 0.05014709254909899, + 0.9987274868717355, + -0.031501252204179764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.999913215637207, + 0.012021417424600403, + -0.005387673210033217, + 0.0017468077130615711 + ], + [ + -0.012284526601433754, + 0.9985818341307281, + -0.051802089252281185, + 0.013955159112811089 + ], + [ + 0.004757297690957785, + 0.05186377903765897, + 0.9986428638658973, + -0.03225024789571762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9998837113380432, + 0.014557958650715791, + -0.004547737168224428, + 0.0009808477479964495 + ], + [ + -0.014781069941818714, + 0.9984509187080796, + -0.05364046197200924, + 0.014445287175476551 + ], + [ + 0.003759796731173992, + 0.053701443020526325, + 0.9985499789548493, + -0.03571924939751625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9998830556869507, + 0.014972093580630553, + -0.003114883157866641, + 0.00015142993652261794 + ], + [ + -0.01512088906019926, + 0.9983698132440073, + -0.055037143997467425, + 0.014426891691982746 + ], + [ + 0.002285783877596259, + 0.05507780806915691, + 0.9984794462922381, + -0.036214057356119156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9998921155929565, + 0.01453983855228588, + -0.002088699716792239, + -2.9077562430757098e-05 + ], + [ + -0.014634710736572742, + 0.9982923706464605, + -0.05655273709999758, + 0.014547483064234257 + ], + [ + 0.001262865262106061, + 0.05657720414681882, + 0.9983974566198096, + -0.03769562765955925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9998822808265688, + 0.0152820596839543, + -0.00139083350987074, + -0.0003759654355235398 + ], + [ + -0.015337057411670688, + 0.9981929311342533, + -0.058100180780502296, + 0.014720087870955467 + ], + [ + 0.0005004297709092499, + 0.05811467130550699, + 0.9983098013874008, + -0.03818326070904732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9998812079429626, + 0.015046088945837328, + -0.00333977063889676, + 0.001308332895860076 + ], + [ + -0.015217969194054604, + 0.9981181728029488, + -0.0594011549198493, + 0.014741996303200722 + ], + [ + 0.0024397308006882668, + 0.05944492488606521, + 0.9982286143479064, + -0.039464663714170456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.999937117099762, + 0.010791379885008614, + -0.0030537006492116657, + 0.0013464209623634815 + ], + [ + -0.010952139273285866, + 0.9982137897927383, + -0.0587309455712287, + 0.013106818310916424 + ], + [ + 0.0024144581984728575, + 0.05876069557255317, + 0.9982691999998542, + -0.037236832082271576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.999934196472168, + 0.010717539092304624, + -0.004087310525077401, + 0.002493602689355612 + ], + [ + -0.0109414616599679, + 0.9981745762483174, + -0.05939510541301855, + 0.012564837001264095 + ], + [ + 0.003443280002102256, + 0.05943591992624761, + 0.9982261786338191, + -0.03490255028009415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9999309778213501, + 0.011551527801563707, + -0.002150382586582235, + 0.0016182640101760626 + ], + [ + -0.01165934931486845, + 0.9981470822679416, + -0.05971992878010185, + 0.012077337130904198 + ], + [ + 0.001456541707739234, + 0.059740878501867385, + 0.9982128522881142, + -0.04389737546443939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9999515414237978, + 0.009843110766019243, + -7.153060583715944e-05, + 0.0003309825260657817 + ], + [ + -0.009829538874328138, + 0.9981349350776613, + -0.06024965191734984, + 0.011214572004973888 + ], + [ + -0.0005216468125581742, + 0.06024743604982425, + 0.9981833375387211, + -0.040305789560079575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9999768137931826, + 0.00673762198758272, + -0.0009857567558450814, + 0.001834940747357905 + ], + [ + -0.006786106619983913, + 0.9980168591480577, + -0.06258031051914803, + 0.011988004669547081 + ], + [ + 0.0005621593445539476, + 0.06258554956954637, + 0.9980394400783071, + -0.03767668455839157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999955952167511, + 0.008169387672667557, + -0.004614725476927029, + 0.005111544393002987 + ], + [ + -0.008452782407402992, + 0.9978393217974063, + -0.06515551218075356, + 0.013014748692512512 + ], + [ + 0.0040724738501012325, + 0.06519165172779849, + 0.9978644495422235, + -0.0340990275144577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9999139308929443, + 0.00959462833028488, + -0.008945591511057439, + 0.0071656485088169575 + ], + [ + -0.010174362920224667, + 0.9976884449448783, + -0.06718818931721486, + 0.01271787378937006 + ], + [ + 0.00828026793897152, + 0.06727342531791443, + 0.997700234235361, + -0.0038271413650363684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9999629855155945, + 0.0054274306220468025, + -0.0066789997901971505, + 0.006146835628896952 + ], + [ + -0.005870330147445202, + 0.9976554619874807, + -0.06818487367557617, + 0.012480726465582848 + ], + [ + 0.006293271668255329, + 0.06822155401095283, + 0.9976503343932751, + -0.009459823369979858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9999493360519411, + 0.009297050948097959, + -0.0038534740836101613, + 0.004107702523469925 + ], + [ + -0.00953912176191807, + 0.9976079494632265, + -0.06846445737038673, + 0.011534266173839569 + ], + [ + 0.0032077389769256124, + 0.06849774630031144, + 0.9976460843991232, + -0.01416024286299944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999807476997375, + 0.006108748158116757, + 0.0010771546634650404, + 0.0013425435172393918 + ], + [ + -0.006022613495588303, + 0.9977237556246772, + -0.06716395130243971, + 0.010125190019607544 + ], + [ + -0.0014849905855953693, + 0.06715617264381983, + 0.9977413506101755, + -0.0365821048617363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999833106994631, + 0.0017638763779882862, + 0.005501316688902788, + -0.0017829106654971838 + ], + [ + -0.0013864153297618034, + 0.9976927244974048, + -0.0678772682262563, + 0.009564876556396484 + ], + [ + -0.0056083505041897306, + 0.06786850765047722, + 0.9976785018422776, + -0.039271824061870575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999813437461853, + 0.00048307982823962904, + 0.006090317658454127, + -0.001780421705916524 + ], + [ + -6.472361565101892e-05, + 0.9976506815647036, + -0.06850587277667619, + 0.008891838602721691 + ], + [ + -0.0061091030947864056, + 0.06850420389634418, + 0.9976321522373099, + -0.03845087066292763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9999779462814331, + 0.005069031206937496, + 0.004290469859967729, + -3.327202284708619e-05 + ], + [ + -0.004757730755954981, + 0.9975570450013893, + -0.06969450938792286, + 0.009024510160088539 + ], + [ + -0.004633271601051092, + 0.06967255760214602, + 0.9975591283075645, + -0.042351026087999344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9999739527702332, + 0.006141560128645853, + 0.0037876735258722863, + 0.0007506463443860412 + ], + [ + -0.005857106298208237, + 0.9974578078652389, + -0.07101805075010324, + 0.009268298745155334 + ], + [ + -0.004214206710457802, + 0.0709940174904544, + 0.9974678112657521, + -0.041618335992097855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9999656081199646, + 0.00505711706413421, + 0.006570432656515347, + -0.0005876545910723507 + ], + [ + -0.004569794982671738, + 0.9973813649754841, + -0.07217732539055328, + 0.009283022955060005 + ], + [ + -0.006918235681951046, + 0.07214481919058774, + 0.9973702002528161, + -0.039642468094825745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.999947190284729, + 0.0061632513917329965, + 0.008226000069744974, + -0.0012522555189207196 + ], + [ + -0.005564775317907333, + 0.9974683881773283, + -0.07089311285237918, + 0.007165685296058655 + ], + [ + -0.008642107248306274, + 0.07084359310620852, + 0.9974500106946769, + -0.03542085736989975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9999203085899353, + 0.003717490253771168, + 0.012064282559229951, + -0.0034928089007735252 + ], + [ + -0.0028563423547893763, + 0.9974986110182095, + -0.07062806121376082, + 0.00614728219807148 + ], + [ + -0.012296664528548717, + 0.0705879755795311, + 0.9974297772857567, + -0.039204806089401245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.999873697757721, + -0.002049638498283838, + 0.01576218810695882, + -0.005227650515735149 + ], + [ + 0.003172235330566764, + 0.9974334575678993, + -0.07152917905747651, + 0.006032159551978111 + ], + [ + -0.015575125813484192, + 0.0715701438095696, + 0.9973139484812373, + -0.044392649084329605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9998143315315247, + -0.005761294404230374, + 0.018386937319822407, + -0.006119665689766407 + ], + [ + 0.007078621536493301, + 0.9973503057588321, + -0.07240351369426717, + 0.006008700933307409 + ], + [ + -0.01792108081281185, + 0.07252022647988507, + 0.9972059327102055, + -0.04839768260717392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9997867941856384, + -0.0056232704178167175, + 0.019868914228181538, + -0.0064413780346512794 + ], + [ + 0.0070922886952757835, + 0.9971840749602778, + -0.07465633145601842, + 0.007303500548005104 + ], + [ + -0.019393151625990868, + 0.0747813326256799, + 0.9970113794967351, + -0.050818491727113724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997262358665466, + -0.006809555244472419, + 0.022385985077058506, + -0.007142251823097467 + ], + [ + 0.008520592004060745, + 0.9969754225240927, + -0.07724922840383727, + 0.00876530073583126 + ], + [ + -0.02179224230349064, + 0.07741881747005423, + 0.9967604505336187, + -0.05248338356614113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996150135993958, + -0.011528473854172243, + 0.025238018820923098, + -0.007862738333642483 + ], + [ + 0.013506799004971981, + 0.9967294131531682, + -0.07967464166832955, + 0.00999869778752327 + ], + [ + -0.024236949160695076, + 0.07998484878046182, + 0.9965013491434547, + -0.05152735114097595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9995357394218447, + -0.011699187661079635, + 0.02813174742371863, + -0.008860254660248756 + ], + [ + 0.013977475464344028, + 0.996517499310464, + -0.08220393919342721, + 0.011262912303209305 + ], + [ + -0.027072058990597732, + 0.08255898666694855, + 0.996218381784227, + -0.05077945813536644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9994759559631348, + -0.009862278752359212, + 0.030831340005332115, + -0.01000500563532114 + ], + [ + 0.012444902211427689, + 0.9963262238649132, + -0.08472982717646359, + 0.012652479112148285 + ], + [ + -0.029882442206144333, + 0.08506911986486973, + 0.9959268561324055, + -0.05319822207093239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.999328136444092, + -0.015325665060017642, + 0.03329242898920392, + -0.010877721942961216 + ], + [ + 0.018189312890172008, + 0.9959993375315784, + -0.08748952803979317, + 0.014030979946255684 + ], + [ + -0.031818404793739326, + 0.08803631594543387, + 0.9956089651455367, + -0.05431957542896271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.999172031879425, + -0.01955276300168959, + 0.03567885881484707, + -0.012151772156357765 + ], + [ + 0.022693922743201256, + 0.995694714212456, + -0.08987254741220548, + 0.015206512063741684 + ], + [ + -0.03376799449324608, + 0.09060782369837603, + 0.9953139809969302, + -0.05897892639040947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9991055727005005, + -0.02056491756297791, + 0.036948360951810276, + -0.013417616486549377 + ], + [ + 0.02388736419379711, + 0.9954857578856788, + -0.0918556851846281, + 0.016187060624361038 + ], + [ + -0.03489256650209427, + 0.09265612320319729, + 0.995086579135643, + -0.0651106983423233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9990561008453371, + -0.021657296624594678, + 0.037653834207639895, + -0.014311580918729305 + ], + [ + 0.025100104510784156, + 0.9953022841654021, + -0.09350591506346355, + 0.016679048538208008 + ], + [ + -0.035451862961053855, + 0.09436277030246376, + 0.9949064274703489, + -0.06451922655105591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9989861249923706, + -0.01988449767985088, + 0.04038947182926696, + -0.016524268314242363 + ], + [ + 0.023569824174046516, + 0.9953945147410097, + -0.09292045644323527, + 0.015545462258160114 + ], + [ + -0.03835578262805939, + 0.09377822048470962, + 0.9948539910930033, + -0.07392279803752899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9989863038063049, + -0.01086800241472754, + 0.04368304944449471, + -0.019639991223812103 + ], + [ + 0.01479804515838623, + 0.9957704800961771, + -0.09067608702467653, + 0.012565916404128075 + ], + [ + -0.04251282289624214, + 0.09123059493557063, + 0.994921918471594, + -0.07371167838573456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9989099502563477, + -0.006090714591496927, + 0.04627975591212512, + -0.02208126150071621 + ], + [ + 0.010146714746952057, + 0.9960759848234144, + -0.08791833843620973, + 0.009321182034909725 + ], + [ + -0.04556266963481903, + 0.08829209320030709, + 0.9950520427965142, + -0.07978883385658264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9988852143287659, + -0.0065970637379031884, + 0.04674250897318191, + -0.02247896045446396 + ], + [ + 0.010652005672454834, + 0.9961478157385619, + -0.08704026007999478, + 0.0075166597962379456 + ], + [ + -0.04598824307322502, + 0.08744113040151538, + 0.995107603584955, + -0.08135727792978287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9989014863967896, + -0.004192206198650975, + 0.04667116535833806, + -0.022739587351679802 + ], + [ + 0.008274748921394348, + 0.99611887676551, + -0.0876285014787869, + 0.007185928989201784 + ], + [ + -0.04612267017364502, + 0.08791843136646836, + 0.9950592995901213, + -0.0857866182923317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9989849925041199, + 0.002305023034605653, + 0.044984981351383624, + -0.02182180806994438 + ], + [ + 0.001709067146293819, + 0.9960310824318007, + -0.0889898550278647, + 0.007576301693916321 + ], + [ + -0.04501156136393547, + 0.08897641230095665, + 0.9950161684522556, + -0.09035452455282211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9990498423576355, + 0.006085782850987662, + 0.04315490474653071, + -0.020205911248922348 + ], + [ + -0.002161766169592738, + 0.9959033078267802, + -0.09039851502413652, + 0.007880010642111301 + ], + [ + -0.04352826252579689, + 0.09021933447971131, + 0.9949702356108351, + -0.0904136449098587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9990570545196535, + 0.011055461228476865, + 0.04198609557054768, + -0.01862529292702675 + ], + [ + -0.007151335012167694, + 0.9957311949077753, + -0.09202275982351052, + 0.00828091986477375 + ], + [ + -0.04282421991229058, + 0.09163573107274207, + 0.9948713400998618, + -0.09068404883146286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9989987015724182, + 0.015774991193441126, + 0.041865383970308374, + -0.017826586961746216 + ], + [ + -0.011793137528002262, + 0.9955298256736798, + -0.09370854872645526, + 0.008693676441907883 + ], + [ + -0.04315648972988129, + 0.09312099714940435, + 0.9947190705157131, + -0.09121287614107132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9989802241325381, + 0.015191847567813789, + 0.04251770364456398, + -0.017473407089710236 + ], + [ + -0.011091895401477815, + 0.9954101964581564, + -0.09505534893011967, + 0.008849484845995903 + ], + [ + -0.043766621500253684, + 0.09448681012778433, + 0.9945635887506112, + -0.09113304316997528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9989688396453857, + 0.012333817289426504, + 0.04369330216031876, + -0.017449580132961273 + ], + [ + -0.00806331541389227, + 0.9952907312934598, + -0.09659908202406972, + 0.009055398404598236 + ], + [ + -0.04467897117137909, + 0.09614715890301553, + 0.9943638694581192, + -0.09138339757919312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9989612102508545, + 0.012437517919521742, + 0.043838433732340525, + -0.017055580392479897 + ], + [ + -0.00807441957294941, + 0.995120754977914, + -0.0983337914370253, + 0.009551356546580791 + ], + [ + -0.04484755918383598, + 0.09787767133100728, + 0.9941874368916263, + -0.09497770667076111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9989692568778992, + 0.012355646188364993, + 0.04367798512406039, + -0.01711323671042919 + ], + [ + -0.007962094619870186, + 0.9950188791423052, + -0.09936843167719434, + 0.00955266784876585 + ], + [ + -0.04468818008899689, + 0.09891823932185602, + 0.9940916389366247, + -0.0980324074625969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9989436864852905, + 0.013929937051781308, + 0.04378924853314642, + -0.01774970442056656 + ], + [ + -0.009466692805290222, + 0.9948891877997579, + -0.10052812027594964, + 0.009583689272403717 + ], + [ + -0.044965799897909164, + 0.10000738895410963, + 0.9939701184216956, + -0.10126166045665741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9988982677459717, + 0.016334725908536973, + 0.04399367686938636, + -0.018427163362503052 + ], + [ + -0.011824383400380611, + 0.9948265130260163, + -0.10089775378138643, + 0.008823774755001068 + ], + [ + -0.045414213091135025, + 0.10026639616734327, + 0.9939236561867301, + -0.1033702865242958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9985829591751099, + 0.021351529913089404, + 0.048746366965358175, + -0.0228329598903656 + ], + [ + -0.01635703817009926, + 0.9947873369445718, + -0.10065100883454654, + 0.007530785631388426 + ], + [ + -0.050641320645809174, + 0.09971103211032403, + 0.9937268867414519, + -0.11324889212846756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.99820476770401, + 0.02687422766087774, + 0.053525793276645195, + -0.027322664856910706 + ], + [ + -0.021652013063430786, + 0.9951593131772373, + -0.09586022827484189, + 0.0018166018417105079 + ], + [ + -0.05584285780787468, + 0.09452919144016574, + 0.9939546086014059, + -0.10682779550552368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9977205395698547, + 0.0310229739253484, + 0.059927507042742474, + -0.03283087909221649 + ], + [ + -0.025225620716810226, + 0.9951401338100196, + -0.09518309550107906, + -0.00017099932301789522 + ], + [ + -0.0625891238451004, + 0.09345441755931592, + 0.9936542911070005, + -0.10761164128780365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9974304437637331, + 0.034170336965114546, + 0.06296716575436126, + -0.035380084067583084 + ], + [ + -0.028140645474195487, + 0.9951484403042858, + -0.09427482032036438, + -0.002453447785228491 + ], + [ + -0.06588307768106462, + 0.09226063599430764, + 0.9935528919078286, + -0.10608938336372375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9973975419998169, + 0.03762617927429338, + 0.061501818017526265, + -0.03417249768972397 + ], + [ + -0.03169281780719757, + 0.9949961049207992, + -0.09475429092683833, + -0.0033695173915475607 + ], + [ + -0.06475930660963058, + 0.09255852501196223, + 0.9935990843078191, + -0.10903006047010422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9974455833435059, + 0.039564025133181316, + 0.05947293301006004, + -0.03200526908040047 + ], + [ + -0.03379565849900246, + 0.9948987148649043, + -0.09504945225229623, + -0.004476146772503853 + ], + [ + -0.06293008476495743, + 0.09279672566160228, + 0.9936943845773348, + -0.11335968971252441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9975699186325073, + 0.03950906049162835, + 0.05738757239725808, + -0.029024826362729073 + ], + [ + -0.034080807119607925, + 0.995113605475103, + -0.09266839871112323, + -0.008229252882301807 + ], + [ + -0.06076839193701744, + 0.09048738748132279, + 0.9940418535529298, + -0.11471723765134811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9975086450576784, + 0.035715419787429335, + 0.060835205424663495, + -0.031097589060664177 + ], + [ + -0.02960085682570935, + 0.9946864833051469, + -0.09860304503562643, + -0.004278058186173439 + ], + [ + -0.06403360515832902, + 0.09655661930069996, + 0.9932656084848522, + -0.11987778544425964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9975227117538452, + 0.03640681487033127, + 0.06019101972033689, + -0.03028631955385208 + ], + [ + -0.03047712706029415, + 0.9948512510403131, + -0.09665458075282587, + -0.007313053123652935 + ], + [ + -0.06340000033378601, + 0.09458069597360375, + 0.9934963444115151, + -0.126676544547081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9978545904159546, + 0.0318701376682536, + 0.057188296924979246, + -0.026982290670275688 + ], + [ + -0.026184793561697006, + 0.9948864082071337, + -0.09754705817965419, + -0.007648036349564791 + ], + [ + -0.06000469624996185, + 0.095840311690715, + 0.9935864429385601, + -0.13470864295959473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9986088275909424, + 0.028975128756263468, + 0.044054940656318334, + -0.014642361551523209 + ], + [ + -0.024333449080586433, + 0.9944382629352324, + -0.10247160852619147, + -0.004176137037575245 + ], + [ + -0.046779047697782516, + 0.10125704632739972, + 0.993759915181494, + -0.14201931655406952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9987006187438965, + 0.02781149610930609, + 0.04270362406547458, + -0.013471373356878757 + ], + [ + -0.02325119636952877, + 0.9943261932109576, + -0.1038018349601867, + -0.004014910198748112 + ], + [ + -0.04534821957349777, + 0.10267404451496168, + 0.9936808117026258, + -0.14941394329071045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9989341497421265, + 0.021432366329954326, + 0.04088110741394311, + -0.011515363119542599 + ], + [ + -0.016944965347647667, + 0.9941020576135219, + -0.10711679838245308, + -0.002012787386775017 + ], + [ + -0.04293575510382652, + 0.10630989193676577, + 0.9934055982823905, + -0.1561804860830307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9995579719543459, + 0.01215179895355567, + 0.02713276449565595, + 0.002276349812746048 + ], + [ + -0.008761707693338396, + 0.9925235172831938, + -0.12173881130343304, + 0.011229181662201881 + ], + [ + -0.028409251943230636, + 0.12144726586731001, + 0.9921912216946771, + -0.16521398723125458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9995800852775576, + 0.014172357868961412, + 0.025273917364957956, + 0.0031423517502844334 + ], + [ + -0.010955872945487501, + 0.9923281855245486, + -0.12314502082795331, + 0.011616491712629795 + ], + [ + -0.026825277134776122, + 0.1228164199254636, + 0.9920668205825783, + -0.17192316055297852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9996493458747864, + 0.012586498032148962, + 0.023298106795758864, + 0.003996383864432573 + ], + [ + -0.009592870250344276, + 0.9921840034793447, + -0.12441421956354212, + 0.011827574111521244 + ], + [ + -0.024681948125362396, + 0.1241470949714563, + 0.9919568169149104, + -0.17735189199447632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.999695420265198, + 0.011512443904526793, + 0.021829389727517932, + 0.004423614125698805 + ], + [ + -0.008676975034177305, + 0.9920172278681789, + -0.1258033756694684, + 0.012425052002072334 + ], + [ + -0.02310343459248543, + 0.12557564466828552, + 0.9918149715478444, + -0.18584904074668884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.99983811378479, + -0.0012769711546378763, + 0.01794830009556844, + 0.009037688374519348 + ], + [ + 0.0035912194289267063, + 0.9915720086621601, + -0.12950692141701295, + 0.015137980692088604 + ], + [ + -0.0176316536962986, + 0.12955041017825242, + 0.9914160513103403, + -0.19013260304927826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9998579621315002, + 0.0026593672839978935, + 0.016643130898448863, + 0.009307446889579296 + ], + [ + -0.0004724909085780382, + 0.9915079451667619, + -0.13004524126822936, + 0.015239931643009186 + ], + [ + -0.016847634688019753, + 0.1300189062670565, + 0.9913683712082128, + -0.20179426670074463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9997844099998474, + 0.009242148496345944, + 0.01859212917683179, + 0.006898442283272743 + ], + [ + -0.006774771027266979, + 0.9916672673150977, + -0.1286472218872503, + 0.012921110726892948 + ], + [ + -0.019626181572675705, + 0.12849353167682298, + 0.9915161112160912, + -0.1906309723854065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9998111724853516, + 0.006897700057974013, + 0.018167270655114906, + 0.007091621868312359 + ], + [ + -0.00449376692995429, + 0.9916105077519983, + -0.12918362445068968, + 0.013172958046197891 + ], + [ + -0.01890592649579048, + 0.1290775934199084, + 0.9914542791973463, + -0.19532272219657898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9996152520179749, + 0.012904282526459561, + 0.02455338993165166, + -0.0003849230706691742 + ], + [ + -0.00968445185571909, + 0.9918545520874027, + -0.12700672757402956, + 0.010596399195492268 + ], + [ + -0.025992324575781822, + 0.1267200753331605, + 0.9915978987772559, + -0.20146282017230988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9992963075637817, + 0.01832417831246817, + 0.03272796100171786, + -0.009497828781604767 + ], + [ + -0.014347447082400322, + 0.992926894866649, + -0.11785700571080782, + 0.0009323605918325484 + ], + [ + -0.0346561037003994, + 0.11730451279456934, + 0.9924911252924264, + -0.20552027225494385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9990648627281189, + 0.02124848670321061, + 0.037655075124275225, + -0.014702260494232178 + ], + [ + -0.016834598034620285, + 0.9933512617538015, + -0.1138851689204407, + -0.003266767133027315 + ], + [ + -0.039824604988098145, + 0.11314476689506711, + 0.9927800845489092, + -0.21240957081317902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9988259673118594, + 0.028127452181696426, + 0.03944046261458403, + -0.017286846414208412 + ], + [ + -0.023556733503937728, + 0.9934389331825113, + -0.11191118028183339, + -0.005552423652261496 + ], + [ + -0.04232946783304215, + 0.11085070929062925, + 0.9929352309354933, + -0.21311381459236145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9985730051994326, + 0.03517961267032355, + 0.040178522472637354, + -0.018524903804063797 + ], + [ + -0.03051122091710568, + 0.9933056439814522, + -0.11141336523103329, + -0.006633705459535122 + ], + [ + -0.043829035013914115, + 0.11002848623016423, + 0.992961601326664, + -0.21204791963100433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9983298778533938, + 0.037131030550644886, + 0.044258178201036856, + -0.022063888609409332 + ], + [ + -0.0319250375032425, + 0.9930789865391659, + -0.1130260250831467, + -0.005702548660337925 + ], + [ + -0.048148643225431456, + 0.1114243143452996, + 0.992605832043381, + -0.22176340222358704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9981879591941836, + 0.041512736796724535, + 0.04356058038006724, + -0.021038955077528954 + ], + [ + -0.036304492503404624, + 0.9927935125301399, + -0.11420582370004431, + -0.0055139330215752125 + ], + [ + -0.04798765853047372, + 0.11241743696866154, + 0.992501661165176, + -0.2253398299217224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9979681372642517, + 0.04622124749632243, + 0.043854218451583174, + -0.021581485867500305 + ], + [ + -0.0408565029501915, + 0.9923853132914034, + -0.1161986154363022, + -0.004330584313720465 + ], + [ + -0.048891130834817886, + 0.1141707867020147, + 0.9922573595573195, + -0.2289358377456665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9978704452514648, + 0.04792356536410893, + 0.044248132988718776, + -0.0224025696516037 + ], + [ + -0.04240386188030243, + 0.9920827926345877, + -0.11821020004625521, + -0.0031534975860267878 + ], + [ + -0.04956286400556564, + 0.11608217116833786, + 0.9920022216426474, + -0.2328718602657318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9978923797607422, + 0.047049176608723285, + 0.044689717560284524, + -0.02351200580596924 + ], + [ + -0.04137377813458443, + 0.9918650540097407, + -0.12038238594175175, + -0.001778817968443036 + ], + [ + -0.04999006167054176, + 0.11827968447964882, + 0.991721189332758, + -0.23884186148643494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9979405999183655, + 0.047048515915804265, + 0.04360001375644303, + -0.023583348840475082 + ], + [ + -0.04144896939396858, + 0.9917300965276065, + -0.12146369529290375, + -0.0014863264514133334 + ], + [ + -0.048954132944345474, + 0.11940637530690916, + 0.9916378225077089, + -0.24355430901050568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9979770183563235, + 0.046116808734158944, + 0.04376255582266634, + -0.024870332330465317 + ], + [ + -0.040374059230089195, + 0.9914502905137742, + -0.12408182264447248, + 0.00041629112092778087 + ], + [ + -0.049110654741525664, + 0.12206392927095212, + 0.9913064809054255, + -0.24775874614715576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.998145341873169, + 0.04238937361318683, + 0.04369180667418271, + -0.02512192167341709 + ], + [ + -0.03665018826723099, + 0.9915193973233821, + -0.1246839855325554, + 0.00013264711014926434 + ], + [ + -0.048606548458337784, + 0.12285142684992854, + 0.9912340499775459, + -0.25049155950546265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.998211145401001, + 0.0404661744909891, + 0.04401170385030395, + -0.025813469663262367 + ], + [ + -0.03463593125343323, + 0.9914260614774336, + -0.12599484777335154, + 0.0006513219559565187 + ], + [ + -0.048732880502939224, + 0.12424507536308751, + 0.9910541333080015, + -0.2524860203266144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9982643723487854, + 0.03892938031082068, + 0.04418947256149869, + -0.02632792852818966 + ], + [ + -0.0330156646668911, + 0.9912948200646763, + -0.1274541649938308, + 0.0013728677295148373 + ], + [ + -0.04876650869846344, + 0.12577400880999628, + 0.9908595945747781, + -0.2531105875968933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9984389543533325, + 0.035564554513756175, + 0.04306827362299563, + -0.02507905289530754 + ], + [ + -0.029883189126849174, + 0.9915748324591149, + -0.12604120964023816, + -0.000699235126376152 + ], + [ + -0.04718801751732826, + 0.12455743092418034, + 0.991089685767003, + -0.25360578298568726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9985296130180359, + 0.033874667452464355, + 0.042322042946513365, + -0.023956770077347755 + ], + [ + -0.028333092108368874, + 0.9917153143911159, + -0.1252915949364745, + -0.0020579604897648096 + ], + [ + -0.04621563106775284, + 0.12390824913216739, + 0.991216851193518, + -0.24949292838573456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9983360767364502, + 0.03679513364632961, + 0.04439782350199231, + -0.02582065388560295 + ], + [ + -0.030922172591090202, + 0.991498148535628, + -0.1263932917227104, + -0.0016756471013650298 + ], + [ + -0.048671018332242966, + 0.12481010547535892, + 0.9909861589666433, + -0.24740183353424072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9981579780578613, + 0.040183840284055916, + 0.04545270788126718, + -0.02685001865029335 + ], + [ + -0.034110717475414276, + 0.9912792653203962, + -0.12728670922136842, + -0.0013762901071459055 + ], + [ + -0.05017119646072388, + 0.12550181286722117, + 0.9908239504756107, + -0.24556446075439453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9981871843338015, + 0.041826970122720374, + 0.04327697308931685, + -0.02445044182240963 + ], + [ + -0.03613009676337243, + 0.9915060447823909, + -0.1249415997462931, + -0.0043705059215426445 + ], + [ + -0.04813530668616296, + 0.12315150066564909, + 0.9912198254545788, + -0.2443639636039734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.998046338558197, + 0.04251953345597366, + 0.04577780941782284, + -0.0267238337546587 + ], + [ + -0.03649170324206352, + 0.9914487323588795, + -0.12529054276812143, + -0.00465077068656683 + ], + [ + -0.05071365088224411, + 0.12337525588643912, + 0.9910633811301136, + -0.24181094765663147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9979565739631655, + 0.045659431590517205, + 0.04469816284152606, + -0.025537947192788124 + ], + [ + -0.03984764590859414, + 0.9915765330573165, + -0.12324004490771591, + -0.007616103161126375 + ], + [ + -0.04994871839880945, + 0.12120709743284272, + 0.9913697439505847, + -0.23814529180526733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9978426098823547, + 0.04638361163022038, + 0.0464612974965414, + -0.02707163617014885 + ], + [ + -0.04036550968885422, + 0.9915850794263306, + -0.12300274714488446, + -0.008686761371791363 + ], + [ + -0.05177563801407814, + 0.12086194768630203, + 0.9913181310212696, + -0.23359407484531403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9978761076927185, + 0.04454132841718276, + 0.04753306983036007, + -0.02808319963514805 + ], + [ + -0.03851955384016037, + 0.991924362764768, + -0.12083979315461134, + -0.011458703316748142 + ], + [ + -0.05253157392144203, + 0.1187521903066225, + 0.9915333455870603, + -0.2331315279006958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9975848197937014, + 0.0511192338008771, + 0.04702445872352522, + -0.029041623696684837 + ], + [ + -0.04526632651686669, + 0.9919736471558984, + -0.11806473693577162, + -0.014642313122749329 + ], + [ + -0.05268240347504617, + 0.11565096287703627, + 0.9918918235697306, + -0.23177224397659302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9969989061355593, + 0.06223276194522965, + 0.04604649108061947, + -0.02960161864757538 + ], + [ + -0.05657329782843591, + 0.9917081371587373, + -0.1153882046603161, + -0.017750278115272522 + ], + [ + -0.05284560471773149, + 0.11243691291482713, + 0.9922526415115454, + -0.22385989129543304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9967822432518005, + 0.06457018000175871, + 0.047495862349300255, + -0.030794015154242516 + ], + [ + -0.05888993293046951, + 0.9918972814318999, + -0.11256874677748714, + -0.021236099302768707 + ], + [ + -0.054379601031541824, + 0.1094095013023495, + 0.9925081173576129, + -0.21600285172462463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9963246583938599, + 0.06994507043841185, + 0.04944523134042286, + -0.0328507237136364 + ], + [ + -0.06419608741998672, + 0.9919021043886143, + -0.10958615092514204, + -0.02501588501036167 + ], + [ + -0.056709837168455124, + 0.10600918804338723, + 0.9927466965744968, + -0.20938728749752045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9952884316444399, + 0.08332172565836717, + 0.04958250487609744, + -0.034470051527023315 + ], + [ + -0.07768957316875459, + 0.9912903710958265, + -0.10633761741630622, + -0.028774503618478775 + ], + [ + -0.05801089480519296, + 0.10198456023771195, + 0.993093097749402, + -0.19797375798225403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9946194291114807, + 0.08969096544474249, + 0.05184284518198442, + -0.03697213903069496 + ], + [ + -0.08402089774608612, + 0.9911494031044524, + -0.10277840252671588, + -0.032995615154504776 + ], + [ + -0.06060229614377022, + 0.09786951289493907, + 0.993352382726478, + -0.18822497129440308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9947717785835266, + 0.08581089720383242, + 0.05536778069564277, + -0.03937596082687378 + ], + [ + -0.07998520135879517, + 0.9917663069803587, + -0.1000099163770901, + -0.036678921431303024 + ], + [ + -0.06349383294582367, + 0.095058441716213, + 0.9934447557526167, + -0.17934894561767578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9943087100982666, + 0.09051911876977989, + 0.05618202920825303, + -0.04085977375507355 + ], + [ + -0.08477763831615448, + 0.9916369615568634, + -0.09730793192524687, + -0.040135156363248825 + ], + [ + -0.06452041119337082, + 0.09199115379005371, + 0.9936673324515092, + -0.17065554857254028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9938941597938538, + 0.09382497068203817, + 0.05806234304080396, + -0.043408118188381195 + ], + [ + -0.08798907697200775, + 0.9914843776231388, + -0.09600312795565696, + -0.04183244705200195 + ], + [ + -0.06657540053129196, + 0.09030810602091394, + 0.9936861704990856, + -0.15437227487564087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9941852688789368, + 0.09003217382146769, + 0.05907521651555975, + -0.044067125767469406 + ], + [ + -0.08417641371488571, + 0.9919050270815233, + -0.09507233325921535, + -0.0442863292992115 + ], + [ + -0.06715656816959381, + 0.08954677174015575, + 0.9937159349000859, + -0.15113131701946259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9946489334106448, + 0.08564836148773654, + 0.05777450584391724, + -0.04284949228167534 + ], + [ + -0.07989959418773653, + 0.9922288317324395, + -0.0953834360225803, + -0.045178450644016266 + ], + [ + -0.06549496203660966, + 0.09025687089861907, + 0.9937626147555435, + -0.1452135592699051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9950511455535889, + 0.08396687846295439, + 0.0531298524672473, + -0.039772264659404755 + ], + [ + -0.07857589423656464, + 0.9922263998150956, + -0.09650169574801094, + -0.04481038823723793 + ], + [ + -0.06081978976726532, + 0.09184939818037208, + 0.9939137867898721, + -0.13753384351730347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9960418343544009, + 0.07559059773262757, + 0.04676263501730834, + -0.03425328806042671 + ], + [ + -0.07060686498880388, + 0.9924448418219316, + -0.10033887172211133, + -0.042177699506282806 + ], + [ + -0.05399401113390924, + 0.09663994668194255, + 0.9938537693703918, + -0.12708456814289093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9970135688781738, + 0.06592257233343544, + 0.04022588032498308, + -0.02775544486939907 + ], + [ + -0.06137111410498619, + 0.9925281024675963, + -0.1054586932010677, + -0.03846285492181778 + ], + [ + -0.0468774288892746, + 0.10267504572454887, + 0.9936097510435699, + -0.11674602329730988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9975324869155886, + 0.06226495526659192, + 0.032435540455043155, + -0.021258210763335228 + ], + [ + -0.058321461081504836, + 0.9921200384384488, + -0.11088935634087962, + -0.03454778343439102 + ], + [ + -0.039084471762180335, + 0.10872403977832826, + 0.9933033108328488, + -0.10992712527513504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9980660080909731, + 0.05732872406061602, + 0.02403516577024487, + -0.01470006164163351 + ], + [ + -0.05417105183005334, + 0.9917609972686432, + -0.11608438001202151, + -0.030731406062841415 + ], + [ + -0.03049211204051972, + 0.11455786242848806, + 0.9929484887375573, + -0.1015220507979393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9986945390701294, + 0.047897413683068095, + 0.017751251132957484, + -0.00947652943432331 + ], + [ + -0.04543207213282585, + 0.9917411268555252, + -0.11993929743796154, + -0.028270553797483444 + ], + [ + -0.023349426686763763, + 0.11897624709162812, + 0.9926225277249172, + -0.09402181208133698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9991313815116882, + 0.039063623479134474, + 0.014508813551690767, + -0.0069800326600670815 + ], + [ + -0.037003230303525925, + 0.9918164384749383, + -0.12219190971784119, + -0.02736547961831093 + ], + [ + -0.0191633403301239, + 0.12154890884514963, + 0.9924004536433234, + -0.08787879347801208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9993106126785278, + 0.03450839676007824, + 0.013690771134646246, + -0.007414047606289387 + ], + [ + -0.03260856494307518, + 0.9921597283892475, + -0.12064732385718253, + -0.029561525210738182 + ], + [ + -0.017746776342391968, + 0.12011771775826043, + 0.9926010503960081, + -0.07874501496553421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9993231892585754, + 0.033965409566565755, + 0.014126444785826447, + -0.009765206836163998 + ], + [ + -0.03208528459072113, + 0.9926254188307068, + -0.11689850317814018, + -0.03352228179574013 + ], + [ + -0.0179927758872509, + 0.11636613676069482, + 0.9930433852684861, + -0.06674204021692276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9995493292808533, + 0.026353461099547996, + 0.014376310216236624, + -0.010943484492599964 + ], + [ + -0.0245546605437994, + 0.993235451543866, + -0.11349199812664576, + -0.03731425479054451 + ], + [ + -0.01726996712386608, + 0.11308784092559158, + 0.9934348835084852, + -0.05775168538093567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9997034668922427, + 0.021131864961381534, + 0.01209865647353889, + -0.009639005176723003 + ], + [ + -0.01966967433691025, + 0.9936999110131429, + -0.11033379693205801, + -0.04076368734240532 + ], + [ + -0.014353992417454723, + 0.11006311056529137, + 0.9938209620781097, + -0.048749007284641266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9997036457061768, + 0.02283048546925878, + 0.00845022636125304, + -0.00788046419620514 + ], + [ + -0.021762840449810028, + 0.993687404916397, + -0.11005313074693837, + -0.04153729975223541 + ], + [ + -0.010909449309110641, + 0.10983662314724228, + 0.9938898020370273, + -0.04113226383924484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9998748898506165, + 0.015281005063204647, + 0.004080476134205809, + -0.004533677827566862 + ], + [ + -0.014718487858772278, + 0.993413038893326, + -0.11363940349222092, + -0.03877049311995506 + ], + [ + -0.00579012231901288, + 0.11356512476571297, + 0.9935136771202718, + -0.03023591637611389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9999993443489075, + 0.00014548434551375653, + 0.0011148688685760622, + -0.0013539451174438 + ], + [ + -1.1214624464628287e-05, + 0.9928341707954617, + -0.11950033709000311, + -0.03438775613903999 + ], + [ + -0.0011242652544751763, + 0.11950024737576044, + 0.9928335209267747, + -0.024750148877501488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9999738931655884, + -0.006061634626953808, + -0.00393114001655055, + 0.0022324793972074986 + ], + [ + 0.0055192699655890465, + 0.9920477434266238, + -0.12574100976033187, + -0.029600342735648155 + ], + [ + 0.004662075079977512, + 0.12571602967753834, + 0.9920552984718908, + -0.021926868706941605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9999051094055176, + -0.0021236183336119418, + -0.013610153306539207, + 0.007509797345846891 + ], + [ + 0.00019738334231078625, + 0.990152337581541, + -0.13999409075304944, + -0.018359802663326263 + ], + [ + 0.013773418962955475, + 0.13997811875486693, + 0.9900587999521263, + 0.0007919221534393728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9995317459106445, + -0.02590127489887435, + -0.016292552112147866, + 0.013496777042746544 + ], + [ + 0.023294223472476006, + 0.9893413413078983, + -0.14373966628113188, + -0.015546743758022785 + ], + [ + 0.019841935485601425, + 0.14329283058169398, + 0.9894813809298598, + -0.014492104761302471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9990519285202029, + -0.03971160910455627, + -0.017840047727911583, + 0.01638437807559967 + ], + [ + 0.03650815412402154, + 0.9874598107483277, + -0.15359132434970424, + -0.008011641912162304 + ], + [ + 0.02371568977832795, + 0.15279439767391517, + 0.987973401170375, + -0.011000018566846848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9998357892036438, + -0.018116723115109343, + 0.00036712112412031427, + -0.0014886925928294659 + ], + [ + 0.018011096864938736, + 0.9913762140024324, + -0.12980313025423165, + -0.028125926852226257 + ], + [ + 0.001987652387470007, + 0.12978842330884807, + 0.9915397152453622, + -0.0007966986740939319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.996986448764801, + -0.05369804100516346, + -0.055987101995318436, + 0.05099383369088173 + ], + [ + 0.04245344176888466, + 0.9817105362560704, + -0.18558604880553478, + 0.019370783120393753 + ], + [ + 0.06492873281240463, + 0.18264992997651727, + 0.9810317621125721, + -0.057279568165540695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9996765851974487, + -0.024531269305054722, + 0.006704814064476164, + -0.0069435895420610905 + ], + [ + 0.025204747915267944, + 0.9908195937532921, + -0.13282025926147034, + -0.02753860503435135 + ], + [ + -0.0033850115723907948, + 0.13294630166481494, + 0.9911174661461829, + -0.02154669351875782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.99972540140152, + -0.02266669728862522, + 0.005942172876071408, + -0.006877637933939695 + ], + [ + 0.023254999890923504, + 0.99088183304777, + -0.13271182780755056, + -0.028363488614559174 + ], + [ + -0.002879851963371039, + 0.13281357320172552, + 0.9911368534763074, + -0.018742859363555908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9995173215866089, + -0.030109621440919068, + 0.007650956145139953, + -0.007186254020780325 + ], + [ + 0.03087495267391205, + 0.9900642250561648, + -0.13718446882012708, + -0.025581302121281624 + ], + [ + -0.00344436545856297, + 0.137354473659526, + 0.9905159845071496, + -0.037000034004449844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9991880655288696, + -0.03901809650938234, + 0.010040727954837559, + -0.007158385124057531 + ], + [ + 0.04003002122044563, + 0.9896625494390332, + -0.1377158143625239, + -0.026497608050704002 + ], + [ + -0.004563523456454277, + 0.13800592822505167, + 0.9904208842789358, + -0.03601296246051788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9989122152328491, + -0.04516135332460498, + 0.011613582263708346, + -0.006806083954870701 + ], + [ + 0.04633858799934387, + 0.9892092758055119, + -0.13898841386894092, + -0.026905234903097153 + ], + [ + -0.0052113584242761135, + 0.1393753755289578, + 0.9902259232924951, + -0.039585813879966736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9988523721694946, + -0.046900731964251534, + 0.009706049641046745, + -0.004875754471868277 + ], + [ + 0.047801751643419266, + 0.9888394491217349, + -0.14110832314594837, + -0.026365192607045174 + ], + [ + -0.0029796406161040068, + 0.14141035680329736, + 0.9899465975078771, + -0.04520970210433006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9987608790397644, + -0.04888804922324672, + 0.009307437372282769, + -0.004290938843041658 + ], + [ + 0.049716051667928696, + 0.9885401484001636, + -0.1425368283387753, + -0.02667219750583172 + ], + [ + -0.0022324277088046074, + 0.1428229356739369, + 0.9897457564761661, + -0.050153326243162155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.998367428779602, + -0.055541931390694924, + 0.0133264335084139, + -0.006154550239443779 + ], + [ + 0.056893326342105865, + 0.9876776595285862, + -0.1457942165328999, + -0.025466112419962883 + ], + [ + -0.005064528435468674, + 0.1463143800189508, + 0.9892251719286514, + -0.053794242441654205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9980376362800598, + -0.060691654502949006, + 0.015408262116889355, + -0.006149617489427328 + ], + [ + 0.062308017164468765, + 0.9869919644177526, + -0.1482044165091552, + -0.024993857368826866 + ], + [ + -0.006213059648871422, + 0.1488736466769769, + 0.9888367222316026, + -0.05715171992778778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9979173541069031, + -0.06290921700099861, + 0.014260266781337586, + -0.004089938476681709 + ], + [ + 0.06435132771730423, + 0.9861664226553589, + -0.1527567930889787, + -0.02252662181854248 + ], + [ + -0.004453185945749283, + 0.15335632943278063, + 0.9881609213344973, + -0.06598097085952759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9980611801147461, + -0.06100545737789045, + 0.01233769222522203, + -0.002265878487378359 + ], + [ + 0.06218656152486801, + 0.9856610565544323, + -0.15686004575364598, + -0.02034832537174225 + ], + [ + -0.0025914637371897697, + 0.15732315681551937, + 0.9875437507462307, + -0.07052744179964066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9979640841484072, + -0.06237126393968877, + 0.013324399719801398, + -0.002076780656352639 + ], + [ + 0.06369213759899141, + 0.985496110482313, + -0.15729204411849876, + -0.021320326253771782 + ], + [ + -0.003320640418678523, + 0.15782046234193328, + 0.9874622352269428, + -0.07421067357063293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9977912306785586, + -0.06476541010803874, + 0.014767134104270996, + -0.0019830274395644665 + ], + [ + 0.06629086285829545, + 0.985077673139111, + -0.15883173144826204, + -0.02133486419916153 + ], + [ + -0.004259971901774407, + 0.15945983677954279, + 0.9871952481312656, + -0.08125706762075424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.998098611831665, + -0.059665380826360866, + 0.015465590026738883, + -0.002952540758997202 + ], + [ + 0.06138307973742485, + 0.9849460105401622, + -0.16159649871274215, + -0.020222939550876617 + ], + [ + -0.005591054912656546, + 0.16223856957797703, + 0.9867356978141197, + -0.08508499711751938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9983361363410952, + -0.05600402570167558, + 0.0137290271371875, + -0.0016529365675523877 + ], + [ + 0.0574953854084015, + 0.9849211909582128, + -0.16317035739095628, + -0.020126227289438248 + ], + [ + -0.004383812658488751, + 0.16368822052296353, + 0.9865023884608787, + -0.08612216264009476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9983870983123782, + -0.051276169287184474, + 0.024371653377979755, + -0.010275209322571754 + ], + [ + 0.05456924438476564, + 0.985160698768339, + -0.1627285657405439, + -0.022007470950484276 + ], + [ + -0.015665898099541668, + 0.16379604242929785, + 0.9863698215006118, + -0.078497014939785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9984093904495239, + -0.04244925147826991, + 0.03710503173083734, + -0.021925566717982292 + ], + [ + 0.04789941757917404, + 0.9857740018011538, + -0.16110645951957187, + -0.02493981644511223 + ], + [ + -0.029738325625658035, + 0.16262750670793444, + 0.9862393055838228, + -0.09257560968399048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9986365437507629, + -0.02951670573188394, + 0.04305608552738213, + -0.028545565903186798 + ], + [ + 0.03607428818941116, + 0.9863763196061808, + -0.1605005309347007, + -0.026894204318523407 + ], + [ + -0.03773205354809761, + 0.16183490217917587, + 0.9860961926954104, + -0.09789181500673294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9986360669136047, + 0.01997659344864273, + 0.04823862400061894, + -0.03854714706540108 + ], + [ + -0.012201337143778801, + 0.9876183120465366, + -0.15640071505543696, + -0.034334950149059296 + ], + [ + -0.05076570063829422, + 0.1555988231336807, + 0.9865150206628143, + -0.14624124765396118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9987144470214844, + -0.01762989346809601, + 0.047524576656294865, + -0.031762540340423584 + ], + [ + 0.02500534988939762, + 0.9869013214814708, + -0.1593752362186592, + -0.030108075588941574 + ], + [ + -0.04409230127930641, + 0.16035872261578502, + 0.9860734861074433, + -0.09802312403917313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9988705515861511, + -0.011955911859512766, + 0.04598545116057629, + -0.02994820848107338 + ], + [ + 0.01927097886800766, + 0.9865882449092418, + -0.16208711829703526, + -0.02879837527871132 + ], + [ + -0.04343080520629883, + 0.1627902435914231, + 0.985704395770411, + -0.09919773787260056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9978652596473694, + -0.04357175325859301, + 0.04864582026749327, + -0.0242959912866354 + ], + [ + 0.05133318901062012, + 0.9837907691635485, + -0.17181578607443346, + -0.021430810913443565 + ], + [ + -0.04037099331617355, + 0.17394614504958159, + 0.9839272980668547, + -0.06752453744411469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9991921186447144, + -0.0023583972217795087, + 0.04011935301753281, + -0.020596886053681374 + ], + [ + 0.009395566768944263, + 0.9843206027601586, + -0.1761383597912173, + -0.018679246306419373 + ], + [ + -0.03907490149140358, + 0.17637299959967262, + 0.9835475125917379, + -0.04854995757341385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9991825819015503, + -0.0007023019747056096, + 0.04041826793297465, + -0.019961044192314148 + ], + [ + 0.007987904362380505, + 0.983564725483123, + -0.180379229444711, + -0.0162715595215559 + ], + [ + -0.03962729871273041, + 0.1805546351305839, + 0.9827663300448459, + -0.05025537312030792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9987469911575317, + -0.01638447285701579, + 0.04728693829798524, + -0.02416982129216194 + ], + [ + 0.024798927828669548, + 0.9827508949463357, + -0.18326412751493976, + -0.015051109716296196 + ], + [ + -0.04346859082579613, + 0.18420715633712378, + 0.9819257896283471, + -0.06799862533807755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9988124370574951, + 0.002451017944110795, + 0.04865963364440837, + -0.032044511288404465 + ], + [ + 0.006345892790704966, + 0.9836812876789384, + -0.17980770615845387, + -0.019030382856726646 + ], + [ + -0.04830628260970116, + 0.179902965028212, + 0.9824975551035227, + -0.11574558913707733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9984453320503235, + 0.0060343404522579, + 0.055412382084275895, + -0.03966902568936348 + ], + [ + 0.0037886914797127247, + 0.9844766606078168, + -0.175474651505411, + -0.024324748665094376 + ], + [ + -0.05561107397079468, + 0.17541178842747138, + 0.9829232608103873, + -0.11760032176971436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9980946183204651, + 0.011779225822682225, + 0.060567501613347674, + -0.04572882130742073 + ], + [ + -0.0013174063060432673, + 0.9854531624517385, + -0.1699422770346134, + -0.030607182532548904 + ], + [ + -0.06168822571635246, + 0.16953867559484234, + 0.9835909918954382, + -0.12194298207759857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9977803230285647, + 0.027522694015633814, + 0.06063722817225969, + -0.04856818541884422 + ], + [ + -0.017111686989665035, + 0.9859843403799677, + -0.1659581285726681, + -0.035224854946136475 + ], + [ + -0.06435497105121614, + 0.16455215297628578, + 0.9842667483360781, + -0.12401624768972397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9974964857101443, + 0.03870822399402488, + 0.059181448222056045, + -0.049026571214199066 + ], + [ + -0.02856442518532277, + 0.9861240404228169, + -0.16353427535954468, + -0.038353074342012405 + ], + [ + -0.06469036638736726, + 0.16143437397283364, + 0.9847609098974942, + -0.12645554542541504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9973195791244509, + 0.04597130221121866, + 0.05692412296778401, + -0.047931309789419174 + ], + [ + -0.03619936108589173, + 0.9861024102591482, + -0.1621470509919498, + -0.04051608592271805 + ], + [ + -0.06358712166547777, + 0.1596518049635943, + 0.9851233287641299, + -0.13161170482635498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9966530799865723, + 0.061195086613905686, + 0.05420140883532604, + -0.04802384600043297 + ], + [ + -0.0518527552485466, + 0.9858252742597079, + -0.15956143692913713, + -0.043698444962501526 + ], + [ + -0.06319749355316162, + 0.1562169048174227, + 0.9856989183674774, + -0.13727021217346191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9958540797233582, + 0.07546068326251028, + 0.05079749885085152, + -0.04747893288731575 + ], + [ + -0.0665505900979042, + 0.9850847570068824, + -0.1586788945260667, + -0.04513319581747055 + ], + [ + -0.062013864517211914, + 0.15464042485908336, + 0.9860226491148738, + -0.1403035968542099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9953272342681887, + 0.08264617212638259, + 0.049932974171434406, + -0.04804597795009613 + ], + [ + -0.073814295232296, + 0.984623106397099, + -0.15833126247232837, + -0.046282194554805756 + ], + [ + -0.06225063279271127, + 0.15390565710315685, + 0.9861226918300485, + -0.14393669366836548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9950593709945679, + 0.08600676068497445, + 0.04959558998607293, + -0.048659563064575195 + ], + [ + -0.07717007398605347, + 0.9843130434272752, + -0.15865879937281263, + -0.04682471975684166 + ], + [ + -0.062463317066431046, + 0.15404762984673256, + 0.986087058154289, + -0.14798395335674286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.994552493095398, + 0.09238406183784982, + 0.04827588236967182, + -0.04959066957235336 + ], + [ + -0.08366435021162033, + 0.9837368082863097, + -0.158940826807263, + -0.047294024378061295 + ], + [ + -0.06217435747385025, + 0.15403602166545574, + 0.986107119544262, + -0.15639935433864594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9939469695091248, + 0.09985902979401423, + 0.04579949970727818, + -0.05010272562503815 + ], + [ + -0.09142065048217773, + 0.9829957610429659, + -0.15925336235365947, + -0.047321006655693054 + ], + [ + -0.06092360243201256, + 0.15410237384337064, + 0.9861748236675718, + -0.16313885152339935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9937043786048891, + 0.1031070030585326, + 0.043824574687641456, + -0.050175249576568604 + ], + [ + -0.09497035294771197, + 0.9827463612110374, + -0.15871413267254703, + -0.04718838632106781 + ], + [ + -0.059432983398437514, + 0.15355290225968343, + 0.9863514869015596, + -0.16411375999450684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9932535290718079, + 0.10830209473588495, + 0.04145003905527246, + -0.05028655380010605 + ], + [ + -0.10049792379140854, + 0.9822640982098287, + -0.15829528885805697, + -0.0470956489443779 + ], + [ + -0.057858601212501526, + 0.1530617075536279, + 0.986521383705786, + -0.16382192075252533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.992298424243927, + 0.1178713481869854, + 0.03808130553497111, + -0.049954310059547424 + ], + [ + -0.1105087548494339, + 0.9812779498491736, + -0.15773839293894673, + -0.04696356877684593 + ], + [ + -0.05596118047833443, + 0.15231523697060875, + 0.9867463552607839, + -0.15899299085140228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.991500735282898, + 0.12507645959410907, + 0.0358081352367072, + -0.04950244352221489 + ], + [ + -0.11800134927034378, + 0.9804659236922824, + -0.15736042307080778, + -0.046864576637744904 + ], + [ + -0.054790738970041275, + 0.1517975576826936, + 0.9868918333656703, + -0.15210390090942383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9907872080802917, + 0.13114918461552336, + 0.03377311431516822, + -0.04900659620761871 + ], + [ + -0.12432118505239487, + 0.9797008660517366, + -0.15725911694250638, + -0.04673674702644348 + ], + [ + -0.05371195822954178, + 0.1516116041925927, + 0.9869796900212175, + -0.1442316770553589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9904877543449404, + 0.1334061471866041, + 0.033717178188834226, + -0.05003298074007034 + ], + [ + -0.12663160264492038, + 0.9796104455277737, + -0.1559739302405623, + -0.047878485172986984 + ], + [ + -0.05383757501840593, + 0.15022059944854038, + 0.9871855609966161, + -0.14546898007392883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9903844594955444, + 0.13382531919855573, + 0.03506287336476934, + -0.0521424226462841 + ], + [ + -0.12692268192768097, + 0.9797967014855419, + -0.15456091608428946, + -0.0496530681848526 + ], + [ + -0.05503865331411362, + 0.14862445644383096, + 0.9873608984961545, + -0.15453003346920013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9904029965400696, + 0.1329878219729606, + 0.037632436825863445, + -0.0544104240834713 + ], + [ + -0.12571465969085693, + 0.9799603251014393, + -0.1545108037738063, + -0.05063415691256523 + ], + [ + -0.05742634832859039, + 0.14829700295863607, + 0.9872741210678044, + -0.16201791167259216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9902304410934448, + 0.13400080412795748, + 0.03856788799349856, + -0.055306337773799896 + ], + [ + -0.12664861977100372, + 0.9800274117149107, + -0.15331788255584872, + -0.05240008980035782 + ], + [ + -0.058342307806015015, + 0.14693547838061427, + 0.9874240130632462, + -0.1624515950679779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9899293184280396, + 0.13697953722267395, + 0.03572965836615828, + -0.05295084789395332 + ], + [ + -0.13025742769241333, + 0.9802182829421779, + -0.14901378521865055, + -0.05742839723825455 + ], + [ + -0.055434707552194595, + 0.14285906597279474, + 0.9881894025357314, + -0.1589050441980362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.990505039691925, + 0.1321494246411893, + 0.037899202235270144, + -0.0540107898414135 + ], + [ + -0.12500333786010742, + 0.9804757376764353, + -0.15179418589388846, + -0.056047648191452026 + ], + [ + -0.0572187677025795, + 0.14561537915726314, + 0.9876852357442376, + -0.16362079977989197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9906491637229919, + 0.13168341700116246, + 0.0356888517791703, + -0.05114855617284775 + ], + [ + -0.12486349046230316, + 0.9804895258811939, + -0.15182035550082706, + -0.05699877440929413 + ], + [ + -0.054984770715236664, + 0.14594446923115606, + 0.9877635911262164, + -0.15850161015987396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9911662936210632, + 0.12817019563125123, + 0.034084680530772946, + -0.04918614774942398 + ], + [ + -0.12152109295129776, + 0.9806183391752146, + -0.15368879764756815, + -0.05666744336485863 + ], + [ + -0.0531223900616169, + 0.14818915423800186, + 0.9875312564071151, + -0.16190937161445618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9917363524436951, + 0.12409908496436466, + 0.03253415658705994, + -0.04725630581378937 + ], + [ + -0.11744745075702667, + 0.9802662724575701, + -0.15900980920596502, + -0.052701666951179504 + ], + [ + -0.05162511020898819, + 0.1538747419343106, + 0.9867407812244626, + -0.1601933091878891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.991814136505127, + 0.12433882473351514, + 0.02906156212282302, + -0.043917808681726456 + ], + [ + -0.11804621666669846, + 0.979613111351801, + -0.16255244985466466, + -0.050613418221473694 + ], + [ + -0.048680663108825684, + 0.15779120691189005, + 0.9862718614423058, + -0.1583496481180191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9921613931655884, + 0.12177109737143403, + 0.028064381909450632, + -0.04253285750746727 + ], + [ + -0.11538144201040268, + 0.9789290541693819, + -0.16847859059220432, + -0.04705160856246948 + ], + [ + -0.04798886179924011, + 0.16391983962525272, + 0.9853057124737211, + -0.15721042454242706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9926964044570923, + 0.11718342428660948, + 0.028668706090653237, + -0.04298125207424164 + ], + [ + -0.11049189418554306, + 0.9785491029288751, + -0.1738768807243395, + -0.04394502192735672 + ], + [ + -0.048429228365421295, + 0.1694392987690145, + 0.9843500003003908, + -0.15843410789966583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9933434128761294, + 0.11061892312488214, + 0.0321295555838041, + -0.04644804075360298 + ], + [ + -0.10316287726163867, + 0.978407956355927, + -0.17909570761102517, + -0.040990959852933884 + ], + [ + -0.05124718695878984, + 0.17458896694104747, + 0.9833068779031584, + -0.16134293377399445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9938260316848755, + 0.10528112758411631, + 0.03500950033688385, + -0.04940628632903099 + ], + [ + -0.0972958654165268, + 0.9786504135167335, + -0.1810439295866431, + -0.04100457951426506 + ], + [ + -0.05332256853580475, + 0.1765198937414542, + 0.9828516971484385, + -0.1583109200000763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9940928816795349, + 0.10206531691369068, + 0.03690556101907388, + -0.051600974053144455 + ], + [ + -0.09370668232440948, + 0.978710232857146, + -0.18260721743546776, + -0.04135584086179733 + ], + [ + -0.05475771427154541, + 0.17807022898066402, + 0.9824930391023313, + -0.15569980442523956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9944657087326052, + 0.09715410390608759, + 0.039988069930329426, + -0.053883280605077744 + ], + [ + -0.08832871168851854, + 0.9792348634924433, + -0.18247484253087357, + -0.04335997998714447 + ], + [ + -0.05688589066267015, + 0.1779328828478376, + 0.9823970019336256, + -0.15328484773635864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9949186444282534, + 0.09105573852352025, + 0.04296207351855306, + -0.054954152554273605 + ], + [ + -0.08178566396236421, + 0.9797809437899955, + -0.18259345312268763, + -0.04519889876246452 + ], + [ + -0.05871960520744325, + 0.17815195464011915, + 0.9822493905964518, + -0.14924131333827972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9948772192001343, + 0.0896220768924569, + 0.046767232225075714, + -0.05755793675780296 + ], + [ + -0.07986434549093246, + 0.9804368862567024, + -0.17990324664255827, + -0.04935048148036003 + ], + [ + -0.061975620687007904, + 0.17524661020254184, + 0.9825719318419744, + -0.1416512429714203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9949102401733401, + 0.08857187953271335, + 0.04804809230415976, + -0.05807987228035927 + ], + [ + -0.07884778827428819, + 0.9812099050276244, + -0.17609702490265408, + -0.05454118549823761 + ], + [ + -0.06274250894784929, + 0.17141225851883243, + 0.9831995047248745, + -0.13775421679019928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.9954691529273989, + 0.08114566971381246, + 0.04956402277849443, + -0.05732272192835808 + ], + [ + -0.07162232697010042, + 0.98275799986106, + -0.1704610521475935, + -0.06152231991291046 + ], + [ + -0.06254161894321443, + 0.1661388221522631, + 0.9841171081520057, + -0.1337529867887497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.9957563281059265, + 0.07743180047533864, + 0.04973559063135553, + -0.05636926740407944 + ], + [ + -0.06829572468996048, + 0.9839932207287639, + -0.16459968750444842, + -0.06806233525276184 + ], + [ + -0.061684731394052505, + 0.1605044614653262, + 0.9851057617969288, + -0.1300070732831955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.9957114458084109, + 0.07900548611760705, + 0.048133703475302256, + -0.05548675358295441 + ], + [ + -0.07033513486385347, + 0.9844622965775583, + -0.16089411220592148, + -0.07213348895311356 + ], + [ + -0.06009733676910402, + 0.15681861780589854, + 0.9857972418515893, + -0.126854807138443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.9960200786590576, + 0.07644053099211527, + 0.045835562918893125, + -0.05293089896440506 + ], + [ + -0.06818464398384094, + 0.9846795622017352, + -0.16048998942049986, + -0.07279489189386368 + ], + [ + -0.05740128085017204, + 0.15672595628199398, + 0.9859726305533744, + -0.1163284033536911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.9966930747032166, + 0.06814854546615631, + 0.044257272863537235, + -0.0501563660800457 + ], + [ + -0.060158055275678635, + 0.9849717085460389, + -0.16190041369510771, + -0.07235302776098251 + ], + [ + -0.05462544038891792, + 0.1587025814398309, + 0.9858141428110863, + -0.11423412710428238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.9969671368598938, + 0.06370712732781521, + 0.04469851289961971, + -0.05012601241469383 + ], + [ + -0.055521409958601, + 0.9847113738529015, + -0.16510866442893213, + -0.06978753209114075 + ], + [ + -0.05453373119235039, + 0.16212618961781947, + 0.9852619972532933, + -0.1091589629650116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.9967435598373415, + 0.06271717281983401, + 0.05068395865168705, + -0.05564498156309128 + ], + [ + -0.0533968284726143, + 0.9843476484877557, + -0.16795367272902176, + -0.0672101303935051 + ], + [ + -0.06042421609163286, + 0.16470037995384945, + 0.9844910800662577, + -0.09730610251426697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.998308539390564, + 0.04825394782330471, + 0.032429525315650916, + -0.03735777363181114 + ], + [ + -0.04201112687587738, + 0.984313343794245, + -0.17135430082446695, + -0.06517734378576279 + ], + [ + -0.04018933326005936, + 0.16970205360056173, + 0.9846755690814499, + -0.1013222485780716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.998953640460968, + 0.035468999806597484, + 0.02887258511801949, + -0.03264499455690384 + ], + [ + -0.029819011688232422, + 0.9837861058940602, + -0.17684942774772305, + -0.06056324392557144 + ], + [ + -0.03467712178826332, + 0.1758034296760921, + 0.9838143376108976, + -0.09902890026569366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.9992357492446899, + 0.03280843543200211, + 0.021249001030950503, + -0.026423515751957893 + ], + [ + -0.02844429761171341, + 0.9831766927344351, + -0.18042873232600853, + -0.057497289031744 + ], + [ + -0.026811107993125916, + 0.17968642591247908, + 0.9833585060721365, + -0.10128511488437653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.9988536238670351, + 0.03387574553804416, + 0.033821387523227726, + -0.03791598230600357 + ], + [ + -0.02719004265964032, + 0.9830015839142415, + -0.18157261703499022, + -0.05606801435351372 + ], + [ + -0.03939738497138024, + 0.1804448576701194, + 0.9827957347053107, + -0.08680035918951035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.9990971684455874, + 0.023661360126527194, + 0.03528412133096725, + -0.036486946046352386 + ], + [ + -0.01680962182581425, + 0.9829365629547328, + -0.1831750451261269, + -0.05476780980825424 + ], + [ + -0.03901622816920281, + 0.182416569037467, + 0.9824469183181401, + -0.07912031561136246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.9994269609451296, + 0.02159305421796475, + 0.026067909913111097, + -0.02783074602484703 + ], + [ + -0.016677170991897586, + 0.9842645777047134, + -0.17591219950650266, + -0.061018601059913635 + ], + [ + -0.029456203803420074, + 0.1753766456475233, + 0.9840606340629507, + -0.06544650346040726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.9997735023498535, + 0.004004650655130792, + 0.02090330875216797, + -0.020347094163298607 + ], + [ + 0.000251477409619838, + 0.9798475412724527, + -0.19974673022343434, + -0.040101807564496994 + ], + [ + -0.021281972527503967, + 0.19970673561565522, + 0.979624553202642, + -0.08402224630117416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.9998621344566345, + 0.002293772479382296, + 0.01644409452037198, + -0.016513442620635033 + ], + [ + 0.0011119829723611474, + 0.9789361412391657, + -0.20416365235669576, + -0.036492809653282166 + ], + [ + -0.016566023230552673, + 0.20415379815373763, + 0.9787986738043855, + -0.07440642267465591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.9998680949211121, + -0.003623914823571023, + 0.015832908390660823, + -0.013763942755758762 + ], + [ + 0.00683596171438694, + 0.9781437834420653, + -0.20781714397504025, + -0.033900462090969086 + ], + [ + -0.014733750373125076, + 0.20789796928275273, + 0.9780395620402434, + -0.08815817534923553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5726.493489583333, + "fy": 5733.225911458333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/5c90c029-608c-420e-887d-a573130beebe/move_right/transforms.json b/dynpose_eval/camera_controls/5c90c029-608c-420e-887d-a573130beebe/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1e9bc47a7e7c7dad3d9ba4aca91a83883290c119 --- /dev/null +++ b/dynpose_eval/camera_controls/5c90c029-608c-420e-887d-a573130beebe/move_right/transforms.json @@ -0,0 +1,7888 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 225, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 2.2169029762153514e-05, + 2.57108604273526e-05, + -0.00025681365514174104 + ], + [ + -2.216802204202395e-05, + 1.0, + -3.922016185242683e-05, + 0.0006863243761472404 + ], + [ + -2.5711729904287495e-05, + 3.921959432773292e-05, + 1.0, + 0.000321356812492013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999978542327881, + -0.0016015485161915421, + -0.0012914326507598162, + -0.01151277031749487 + ], + [ + 0.0016012209234759212, + 0.9999986886978149, + -0.00025469803949818015, + 0.000359677051840533 + ], + [ + 0.0012918389402329922, + 0.0002526296302676201, + 0.9999991059303284, + -0.000502961986473695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999808669090271, + -0.001900534494780004, + -0.005883850157260895, + -0.007065032874899251 + ], + [ + 0.0018999198218807578, + 0.9999982118606567, + -0.00011006581189576536, + 0.0017584909912589605 + ], + [ + 0.005884048528969288, + 9.888486238196492e-05, + 0.9999826550483704, + 0.0010407893228278097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999600052833557, + -0.0018280777148902416, + -0.008755889721214771, + 0.004210365304191197 + ], + [ + 0.0018297056667506695, + 0.9999983310699463, + 0.00017791148275136948, + 0.0051580268916690585 + ], + [ + 0.008755548857152462, + -0.0001939250505529344, + 0.9999616742134094, + -0.004030821014644711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999568462371826, + -0.0031881132163107395, + -0.008724363520741463, + 0.001063894826386656 + ], + [ + 0.0031975400634109974, + 0.9999943375587463, + 0.0010667614405974746, + 0.005338524888169819 + ], + [ + 0.008720913901925087, + -0.0010946119436994195, + 0.9999613761901855, + 0.00038508006504603794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999936044216156, + -0.0045044817961752415, + -0.010373769327998161, + 0.0011234485843617998 + ], + [ + 0.004529579076915979, + 0.9999868869781494, + 0.002397074131295085, + 0.004822467217828879 + ], + [ + 0.010362835600972176, + -0.0024439094122499228, + 0.9999433159828186, + -0.0015867950153603619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999367594718933, + -0.003957266919314861, + -0.010525805875658989, + 0.004680681308465344 + ], + [ + 0.00399266742169857, + 0.9999864101409912, + 0.0033443463034927845, + 0.006128540530335158 + ], + [ + 0.010512428358197212, + -0.0033861608244478703, + 0.9999390244483948, + 0.001552015178770359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999676942825317, + -0.0030507289338856936, + -0.007433424703776836, + 0.0024610315915197137 + ], + [ + 0.003081956645473838, + 0.999986469745636, + 0.0041931867599487305, + 0.0063449007742747195 + ], + [ + 0.00742053147405386, + -0.004215961322188377, + 0.9999635815620422, + -0.000884496679645963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999778866767883, + -0.0027950885705649853, + -0.006030387710779905, + 0.002588437221545194 + ], + [ + 0.0028270967304706573, + 0.9999819397926331, + 0.005305822938680649, + 0.003983041111912046 + ], + [ + 0.006015448365360498, + -0.005322754383087158, + 0.9999677538871765, + 0.006114040962087789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999872446060181, + -0.0025161332450807095, + -0.004374914336949587, + 0.0017908634418355562 + ], + [ + 0.0025422810576856136, + 0.9999788999557495, + 0.00598151283338666, + 0.006032860148323899 + ], + [ + 0.004359771963208914, + -0.005992559250444174, + 0.9999725222587585, + 0.0029912450556626676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999942183494568, + -0.0012723448453471065, + -0.0031455892603844404, + 0.0017862348551196706 + ], + [ + 0.0012940062442794442, + 0.9999753832817078, + 0.006893831770867109, + 0.00841578450646401 + ], + [ + 0.0031367407646030188, + -0.006897862534970045, + 0.9999712705612183, + 0.007372978549808197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999908804893494, + -0.00044650951167568564, + -0.004245355259627104, + 0.0030969594172867284 + ], + [ + 0.0004823581548407674, + 0.9999642372131348, + 0.008446935564279556, + 0.010738777366506318 + ], + [ + 0.004241431597620249, + -0.008448906242847443, + 0.9999552965164185, + 0.006957407004457699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999897480010986, + 0.0016372535610571504, + -0.004227959085255861, + 0.009368423252765622 + ], + [ + -0.0015929528744891286, + 0.9999440312385559, + 0.010460229590535164, + 0.011155555988703521 + ], + [ + 0.004244848620146513, + -0.01045338623225689, + 0.9999363422393799, + 0.009497909963829442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999926090240479, + 0.003331052605062723, + -0.0019157216884195805, + 0.018943473058087485 + ], + [ + -0.0033084945753216743, + 0.9999265670776367, + 0.011660248041152954, + 0.013757572502280319 + ], + [ + 0.001954421866685152, + -0.011653823778033257, + 0.999930202960968, + 0.008881539155637646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999922513961792, + 0.003931254148483276, + 5.163699097465724e-05, + 0.01612271126359701 + ], + [ + -0.003931593149900436, + 0.9999049305915833, + 0.013218373991549015, + 0.014802834508009255 + ], + [ + 3.326986188767478e-07, + -0.013218474574387074, + 0.9999126195907593, + 0.01284436344420783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999762177467346, + 0.006890750490128994, + -0.00021394991199485958, + 0.020076689709510123 + ], + [ + -0.006886661052703857, + 0.9998587965965271, + 0.01532951183617115, + 0.02187160894806896 + ], + [ + 0.00031955153099261224, + -0.01532767340540886, + 0.9998824596405029, + 0.014048302220869249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999222755432129, + 0.01244592759758234, + 0.0007052363362163305, + 0.01827804217381137 + ], + [ + -0.012456404976546764, + 0.9997678399085999, + 0.01758221909403801, + 0.01909064739011228 + ], + [ + -0.0004862456116825342, + -0.017589636147022247, + 0.9998451471328735, + 0.016162235940074814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998093843460083, + 0.019333217293024063, + 0.0027256363537162542, + 0.01321771943143436 + ], + [ + -0.01938202604651451, + 0.999627947807312, + 0.01918995939195156, + 0.017411622366801438 + ], + [ + -0.0023536186199635267, + -0.01923912949860096, + 0.999812126159668, + 0.013928058108701537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9996944665908813, + 0.024383140727877617, + 0.004059433471411467, + 0.01118732223819409 + ], + [ + -0.024461323395371437, + 0.9994910955429077, + 0.020475586876273155, + 0.01755274347129411 + ], + [ + -0.003558108350262046, + -0.02056862972676754, + 0.9997820854187012, + 0.02091402526566526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9995435476303101, + 0.029831955209374428, + 0.004764263052493334, + 0.011657679539972118 + ], + [ + -0.029927553609013557, + 0.9993219971656799, + 0.021443955600261688, + 0.01839254318620078 + ], + [ + -0.004121317993849516, + -0.02157675102353096, + 0.9997587203979492, + 0.02073674886882405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9993934631347656, + 0.03434780612587929, + 0.005734493024647236, + 0.0048855032904871875 + ], + [ + -0.034469250589609146, + 0.9991496205329895, + 0.02262577787041664, + 0.017968444120404974 + ], + [ + -0.004952470771968365, + -0.022809717804193497, + 0.9997275471687317, + 0.02375643398512953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9993037581443787, + 0.036996129900217056, + 0.004827071912586689, + -0.0074206804856657965 + ], + [ + -0.03710008040070534, + 0.9990329742431641, + 0.023595016449689865, + 0.020765507931355388 + ], + [ + -0.003949479199945927, + -0.023757673799991608, + 0.999709963798523, + 0.026242538579390386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9992445111274719, + 0.03879363462328911, + 0.0023362187203019857, + -0.009646324919802803 + ], + [ + -0.038840021938085556, + 0.998931884765625, + 0.025031637400388718, + 0.019838370020235224 + ], + [ + -0.0013626553118228912, + -0.025103464722633362, + 0.9996839165687561, + 0.027539752307347953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9992185235023499, + 0.03948388621211052, + 0.0018194916192442179, + -0.01676485700798886 + ], + [ + -0.03951737657189369, + 0.998896598815918, + 0.025377420708537102, + 0.016624495229085108 + ], + [ + -0.0008154847309924662, + -0.025429492816329002, + 0.9996762871742249, + 0.02874261630539487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9992193579673767, + 0.03943890333175659, + 0.0022958610206842422, + -0.01923546205673899 + ], + [ + -0.0394836887717247, + 0.9989139437675476, + 0.024737490341067314, + 0.013837059746895518 + ], + [ + -0.0013177481014281511, + -0.02480882965028286, + 0.999691367149353, + 0.027898877979688614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9992493391036987, + 0.03873370587825775, + 0.0006979754543863237, + -0.019687583670020103 + ], + [ + -0.0387393981218338, + 0.9989716410636902, + 0.023557987064123154, + 0.017155240921835815 + ], + [ + 0.00021523037867154926, + -0.02356734126806259, + 0.9997222423553467, + 0.030055574385284802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9992908239364624, + 0.03760040923953056, + -0.002006423193961382, + -0.025203920687947953 + ], + [ + -0.03754672780632973, + 0.9990484118461609, + 0.022192353382706642, + 0.024205530364997684 + ], + [ + 0.0028389552608132362, + -0.022101281210780144, + 0.9997516870498657, + 0.030697453871003484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9993129372596741, + 0.036798492074012756, + -0.004419882316142321, + -0.029607315068798407 + ], + [ + -0.03669256716966629, + 0.9990835785865784, + 0.022038960829377174, + 0.024062530367103006 + ], + [ + 0.00522683234885335, + -0.021861640736460686, + 0.9997473359107971, + 0.032085671908446654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9992497563362122, + 0.037878409028053284, + -0.008068110793828964, + -0.027447943389415738 + ], + [ + -0.037694573402404785, + 0.9990507364273071, + 0.02183433063328266, + 0.02723345346748829 + ], + [ + 0.008887501433491707, + -0.02151382528245449, + 0.9997290372848511, + 0.03212251702789217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9989870190620422, + 0.04296804964542389, + -0.0133657930418849, + -0.03369329845798867 + ], + [ + -0.0426783561706543, + 0.9988628029823303, + 0.021252671256661415, + 0.029563254650150028 + ], + [ + 0.014263779856264591, + -0.02066071145236492, + 0.9996848106384277, + 0.03209836272664168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9988600611686707, + 0.04458339512348175, + -0.017056874930858612, + -0.03490557335317135 + ], + [ + -0.04422026872634888, + 0.9987988471984863, + 0.021105026826262474, + 0.022129475804311887 + ], + [ + 0.017977319657802582, + -0.020326709374785423, + 0.9996317625045776, + 0.03077660158409604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9990410208702087, + 0.03946121037006378, + -0.01896825060248375, + -0.03786099177918264 + ], + [ + -0.03905195742845535, + 0.9990062117576599, + 0.02148263528943062, + 0.027223597230788852 + ], + [ + 0.019797131419181824, + -0.02072128653526306, + 0.9995892643928528, + 0.03353690151790423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9990063309669495, + 0.039402324706315994, + -0.020827217027544975, + -0.025757716170379093 + ], + [ + -0.03891979530453682, + 0.9989755749702454, + 0.023086950182914734, + 0.03890690830137048 + ], + [ + 0.0217155609279871, + -0.02225342020392418, + 0.999516487121582, + 0.029893698782793115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9989072680473328, + 0.04238591715693474, + -0.019691629335284233, + -0.018965564162603445 + ], + [ + -0.04188833013176918, + 0.998808741569519, + 0.02502930536866188, + 0.04162496765909184 + ], + [ + 0.0207290630787611, + -0.024177104234695435, + 0.9994927644729614, + 0.025954482197994365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9989433884620667, + 0.044054169207811356, + -0.013089122250676155, + -0.01882437015218394 + ], + [ + -0.04370572790503502, + 0.9987109899520874, + 0.025810537859797478, + 0.03925547177038555 + ], + [ + 0.014209311455488205, + -0.02521119825541973, + 0.9995811581611633, + 0.02571968498440193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9988853335380554, + 0.04685915261507034, + -0.005685233045369387, + -0.02413079608231783 + ], + [ + -0.046705588698387146, + 0.9986041784286499, + 0.024663858115673065, + 0.027319230372086167 + ], + [ + 0.00683302478864789, + -0.024370834231376648, + 0.9996796250343323, + 0.024384747383010108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988196492195129, + 0.04852776974439621, + -0.002090774942189455, + -0.036351743872676576 + ], + [ + -0.04848378896713257, + 0.9986699819564819, + 0.017537936568260193, + -0.001019652933713847 + ], + [ + 0.0029390710406005383, + -0.017415866255760193, + 0.9998440146446228, + 0.026071876539416346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9987730383872986, + 0.04931074008345604, + -0.004566780757158995, + -0.03500799390354327 + ], + [ + -0.04927697405219078, + 0.9987589716911316, + 0.007232318166643381, + 0.028410931884510708 + ], + [ + 0.00491774408146739, + -0.0069984071888029575, + 0.9999634027481079, + 0.02591859799472981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9983761310577393, + 0.056707870215177536, + -0.005410991609096527, + -0.03617751236472811 + ], + [ + -0.05669743940234184, + 0.9983893036842346, + 0.002062093000859022, + 0.007392668374814093 + ], + [ + 0.005519213154911995, + -0.0017519552493467927, + 0.9999832510948181, + 0.02404353760149596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9980113506317139, + 0.06294703483581543, + -0.003316055051982403, + -0.0254112676850387 + ], + [ + -0.06296367943286896, + 0.9980023503303528, + -0.00518036400899291, + 0.012841697256746037 + ], + [ + 0.0029833423905074596, + 0.005378853064030409, + 0.9999811053276062, + 0.01189777760654189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9977139234542847, + 0.06754455715417862, + 0.0021465448662638664, + -0.01223154366016388 + ], + [ + -0.06752117723226547, + 0.9976721405982971, + -0.009551053866744041, + 0.002464256315891232 + ], + [ + -0.0027866694144904613, + 0.009384281933307648, + 0.9999520778656006, + 0.009179886904478605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9975740909576416, + 0.06898754835128784, + 0.009307125583291054, + -0.024309272851262772 + ], + [ + -0.06886227428913116, + 0.9975392818450928, + -0.01316918432712555, + 0.01855335604798581 + ], + [ + -0.010192733258008957, + 0.012496327981352806, + 0.9998699426651001, + 0.010342306505689132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9977222681045532, + 0.06664679199457169, + 0.0104147894307971, + -0.025563833862543104 + ], + [ + -0.06649894267320633, + 0.9976889491081238, + -0.013950406573712826, + 0.018838859582319855 + ], + [ + -0.011320470832288265, + 0.013226059265434742, + 0.9998484253883362, + 0.02350412757950835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9978363513946533, + 0.06504304707050323, + 0.009594072587788105, + -0.03445690210376467 + ], + [ + -0.06489868462085724, + 0.9977841377258301, + -0.01466141827404499, + 0.019369374754439506 + ], + [ + -0.010526436381042004, + 0.014007054269313812, + 0.9998464584350586, + 0.020218468277432424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9977788925170898, + 0.06601767987012863, + 0.008882930502295494, + -0.016797390686614174 + ], + [ + -0.06587614864110947, + 0.9977092742919922, + -0.01538064144551754, + 0.017926555699003595 + ], + [ + -0.009877976030111313, + 0.014761306345462799, + 0.9998422265052795, + 0.020990092380504522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9976215958595276, + 0.0677158534526825, + 0.01287100836634636, + -0.015695409450147836 + ], + [ + -0.06748485565185547, + 0.9975649118423462, + -0.017606772482395172, + 0.03111153468489647 + ], + [ + -0.014031924307346344, + 0.016696300357580185, + 0.9997621178627014, + 0.011741993466525205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9977825880050659, + 0.06493118405342102, + 0.014623938128352165, + -0.041706225595303945 + ], + [ + -0.06466495990753174, + 0.9977447390556335, + -0.017996449023485184, + 0.03556733770029885 + ], + [ + -0.015759488567709923, + 0.0170108862221241, + 0.9997311234474182, + 0.027110655238253196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9975435733795166, + 0.06914646923542023, + 0.011206720024347305, + -0.05243955690945898 + ], + [ + -0.06893382966518402, + 0.9974521994590759, + -0.01836441643536091, + 0.03823379974679223 + ], + [ + -0.012448001652956009, + 0.01754678227007389, + 0.9997685551643372, + 0.025887904630508274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9973952174186707, + 0.07176382094621658, + 0.0072596208192408085, + -0.057339336190904894 + ], + [ + -0.07161641865968704, + 0.9972540140151978, + -0.018855400383472443, + 0.04084665652896677 + ], + [ + -0.008592821657657623, + 0.01828637719154358, + 0.9997958540916443, + 0.0247058774211577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.997252345085144, + 0.07404987514019012, + 0.002104144776239991, + -0.07397005967795849 + ], + [ + -0.07399588823318481, + 0.9970725178718567, + -0.01926003210246563, + 0.05132914800196886 + ], + [ + -0.003524187719449401, + 0.019051412120461464, + 0.9998123049736023, + 0.02214390739609371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9971527457237244, + 0.0752437561750412, + -0.0049829306080937386, + -0.09095003269612789 + ], + [ + -0.07532109320163727, + 0.9970009922981262, + -0.017768215388059616, + 0.03896645210417254 + ], + [ + 0.003631039522588253, + 0.018092945218086243, + 0.9998297095298767, + 0.027572293545485342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9972449541091919, + 0.07273045182228088, + -0.014585740864276886, + -0.11241146139800548 + ], + [ + -0.07296547293663025, + 0.9972015023231506, + -0.016285186633467674, + 0.035615339542606046 + ], + [ + 0.013360492885112762, + 0.017304575070738792, + 0.9997609853744507, + 0.02495173113753221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9967439770698547, + 0.07654779404401779, + -0.02533610537648201, + -0.10031900054642132 + ], + [ + -0.07695835083723068, + 0.9969115257263184, + -0.015645021572709084, + 0.045018520804920366 + ], + [ + 0.024060264229774475, + 0.017543906345963478, + 0.9995565414428711, + 0.026954864843615464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9964255690574646, + 0.07796094566583633, + -0.032529521733522415, + -0.08847979426916157 + ], + [ + -0.0784030631184578, + 0.9968428611755371, + -0.012542515061795712, + 0.06328828921208957 + ], + [ + 0.03144899383187294, + 0.015048096887767315, + 0.9993920922279358, + 0.019053035756639605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9959313869476318, + 0.08091215789318085, + -0.039672933518886566, + -0.02713580791439329 + ], + [ + -0.08114418387413025, + 0.9966932535171509, + -0.004270695615559816, + 0.1195279836388571 + ], + [ + 0.0391961932182312, + 0.007472547236829996, + 0.999203622341156, + 0.005906303865568978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9959762096405029, + 0.08154245465993881, + -0.0371781662106514, + -0.01364223233291081 + ], + [ + -0.081048883497715, + 0.99660325050354, + 0.014597732573747635, + 0.1048367203246536 + ], + [ + 0.03824221342802048, + -0.011525746434926987, + 0.9992020130157471, + 0.0073893910573263255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9960011839866638, + 0.08309272676706314, + -0.032822027802467346, + -0.04529663622379303 + ], + [ + -0.08219421654939651, + 0.9962274432182312, + 0.02783866971731186, + 0.06282189469784498 + ], + [ + 0.03501139581203461, + -0.025029566138982773, + 0.9990734457969666, + 0.02959398739039898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9958826899528503, + 0.08401700109243393, + -0.03404061868786812, + -0.07270811703056097 + ], + [ + -0.08295897394418716, + 0.9960585236549377, + 0.031387507915496826, + 0.06485926424751856 + ], + [ + 0.03654353693127632, + -0.028434302657842636, + 0.9989274740219116, + 0.03611336202260905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9954281449317932, + 0.08606007695198059, + -0.041430696845054626, + -0.06907258198729584 + ], + [ + -0.08465144038200378, + 0.995808482170105, + 0.034634433686733246, + 0.018563957911516937 + ], + [ + 0.04423768073320389, + -0.0309689212590456, + 0.9985409379005432, + 0.04031434168906084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9949881434440613, + 0.08728183805942535, + -0.04879031702876091, + -0.09007618445903062 + ], + [ + -0.08604252338409424, + 0.9959267973899841, + 0.026952743530273438, + -0.04015612192451954 + ], + [ + 0.050944071263074875, + -0.022619616240262985, + 0.9984453320503235, + 0.030620991693077877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9941197633743286, + 0.09169680625200272, + -0.057598941028118134, + -0.07606030574866704 + ], + [ + -0.09139624983072281, + 0.9957837462425232, + 0.007836575619876385, + -0.030778182870043178 + ], + [ + 0.05807468295097351, + -0.002526167780160904, + 0.9983090162277222, + 0.02707996458879539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9940087795257568, + 0.09077505767345428, + -0.060880403965711594, + -0.07308497865285192 + ], + [ + -0.09146085381507874, + 0.9957718253135681, + -0.008568402379751205, + -0.028958301951310463 + ], + [ + 0.05984519049525261, + 0.014085240662097931, + 0.9981082677841187, + 0.01774889674935756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9941005706787109, + 0.08830038458108902, + -0.06298448145389557, + -0.0743007819567408 + ], + [ + -0.08995310217142105, + 0.9956591725349426, + -0.0239003524184227, + -0.02519335578461843 + ], + [ + 0.06060066819190979, + 0.0294250026345253, + 0.9977282881736755, + 0.019372362670089516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9939905405044556, + 0.08851873129606247, + -0.06439860165119171, + -0.0618208821862936 + ], + [ + -0.09100387245416641, + 0.9951728582382202, + -0.03673291206359863, + -9.253451135009553e-05 + ], + [ + 0.06083619222044945, + 0.0423726886510849, + 0.9972479939460754, + 0.002058838919037953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9941962957382202, + 0.08718555420637131, + -0.06302699446678162, + -0.054051323022161216 + ], + [ + -0.08990970999002457, + 0.9950741529464722, + -0.041756853461265564, + -0.002737123581131787 + ], + [ + 0.059075936675071716, + 0.04718124866485596, + 0.9971379041671753, + 0.004289868327655963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.994422197341919, + 0.08602318912744522, + -0.06102897226810455, + -0.05308969372085163 + ], + [ + -0.08890356868505478, + 0.9949699640274048, + -0.04616152495145798, + 0.0024022254593936464 + ], + [ + 0.056751035153865814, + 0.05132973939180374, + 0.9970679879188538, + 0.006843083521484264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9939894080162048, + 0.09108878672122955, + -0.06072814762592316, + -0.04697995020874909 + ], + [ + -0.09427204728126526, + 0.9941985011100769, + -0.05178947001695633, + 0.007766632230154105 + ], + [ + 0.05565839260816574, + 0.057203151285648346, + 0.9968098998069763, + 0.004952526245532291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9936172962188721, + 0.09480889141559601, + -0.06112232059240341, + -0.04264092115419252 + ], + [ + -0.09829983115196228, + 0.9935296773910522, + -0.05688541755080223, + 0.008571822927998645 + ], + [ + 0.05533359944820404, + 0.06253065168857574, + 0.9965079426765442, + -0.002501807009269084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9936500191688538, + 0.09471812099218369, + -0.06072961911559105, + -0.04685764791710036 + ], + [ + -0.09842608124017715, + 0.9932554960250854, + -0.061284396797418594, + -0.002433575091085264 + ], + [ + 0.054515283554792404, + 0.06687261909246445, + 0.9962711334228516, + 0.003661384041021977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9935973882675171, + 0.09577199816703796, + -0.05993271246552467, + -0.0403359271053757 + ], + [ + -0.09977670013904572, + 0.9926948547363281, + -0.06783436983823776, + 0.0003317865676113539 + ], + [ + 0.05299826338887215, + 0.07337994128465652, + 0.9958948493003845, + -0.002481971439971988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9938170313835144, + 0.09516812860965729, + -0.05718998610973358, + -0.048658790066838264 + ], + [ + -0.09930971264839172, + 0.9922590255737305, + -0.07456286996603012, + 4.824995994567871e-05 + ], + [ + 0.04965127259492874, + 0.07978137582540512, + 0.9955750703811646, + 0.003774552373215556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9940477609634399, + 0.09372510015964508, + -0.05553937703371048, + -0.06468473763338158 + ], + [ + -0.09808747470378876, + 0.9918050765991211, + -0.08186270296573639, + 0.0035736089239695244 + ], + [ + 0.04741165041923523, + 0.08682315051555634, + 0.995094895362854, + 0.0007740251986043793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9938132762908936, + 0.0945465937256813, + -0.05827666074037552, + -0.07262911008937019 + ], + [ + -0.09943554550409317, + 0.9911759495735168, + -0.08765190839767456, + 0.005559140896158559 + ], + [ + 0.04947523772716522, + 0.09290440380573273, + 0.9944450855255127, + -0.001476236093523247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.993102490901947, + 0.09797559678554535, + -0.06440666317939758, + -0.06856037849294289 + ], + [ + -0.10363155603408813, + 0.9904168248176575, + -0.0912959948182106, + 0.00465075107557433 + ], + [ + 0.05484466627240181, + 0.09734084457159042, + 0.9937388300895691, + -0.009124890121165663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9924895763397217, + 0.10013806074857712, + -0.07026214897632599, + -0.06579173015696663 + ], + [ + -0.10660380870103836, + 0.9897269010543823, + -0.09526954591274261, + 0.016746820901919687 + ], + [ + 0.060000229626894, + 0.1020442396402359, + 0.992968738079071, + -0.003227008197323552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9919323325157166, + 0.10165482759475708, + -0.07574015855789185, + -0.06068649236112833 + ], + [ + -0.10886214673519135, + 0.9892099499702454, + -0.09804457426071167, + 0.013881234152774726 + ], + [ + 0.06495621800422668, + 0.10549882054328918, + 0.9922956824302673, + -0.00796104734763503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9914406538009644, + 0.10199199616909027, + -0.08150462061166763, + -0.05326709832463946 + ], + [ + -0.11002093553543091, + 0.9887855052947998, + -0.10098839551210403, + 0.012669661481465613 + ], + [ + 0.07029057294130325, + 0.10909121483564377, + 0.9915434122085571, + -0.009270103129425219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.990986168384552, + 0.10252439975738525, + -0.08622770756483078, + -0.06149611640721559 + ], + [ + -0.11131395399570465, + 0.9883073568344116, + -0.10420043021440506, + 0.01554922186769545 + ], + [ + 0.07453639060258865, + 0.11285952478647232, + 0.990811288356781, + -0.013747132499702275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.990470826625824, + 0.10191075503826141, + -0.09263776242733002, + -0.06907271609774657 + ], + [ + -0.11151932179927826, + 0.9881716370582581, + -0.10526285320520401, + 0.014192002891962017 + ], + [ + 0.08081458508968353, + 0.11459068208932877, + 0.9901201725006104, + -0.01631096690627081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9898901581764221, + 0.10124155879020691, + -0.09933565557003021, + -0.06845893713512591 + ], + [ + -0.11163409054279327, + 0.988150954246521, + -0.10533533245325089, + 0.059772081919280545 + ], + [ + 0.08749431371688843, + 0.11535965651273727, + 0.9894629120826721, + -0.021715088907097068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9889763593673706, + 0.10323461890220642, + -0.1061527281999588, + -0.05662561527320317 + ], + [ + -0.11353230476379395, + 0.9888825416564941, + -0.09603002667427063, + 0.06973974406719208 + ], + [ + 0.09505896270275116, + 0.1070231944322586, + 0.9897018671035767, + -0.024459205833928927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9882043600082397, + 0.10430971533060074, + -0.11212330311536789, + -0.041553245112299915 + ], + [ + -0.11419869214296341, + 0.9897531867027283, + -0.08571603149175644, + 0.07470796294177749 + ], + [ + 0.10203338414430618, + 0.09750928729772568, + 0.9899904727935791, + -0.02320761243879263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9874843955039978, + 0.10587172210216522, + -0.11690053343772888, + -0.03539802671543189 + ], + [ + -0.11509795486927032, + 0.9905034899711609, + -0.07520177215337753, + 0.06287045067708408 + ], + [ + 0.10782864689826965, + 0.08771558851003647, + 0.9902923703193665, + -0.01927480503384556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9870619177818298, + 0.10650812089443207, + -0.1198531836271286, + -0.044099249664161885 + ], + [ + -0.11517924070358276, + 0.9910218715667725, + -0.06789275258779526, + 0.05100978748606784 + ], + [ + 0.11154599487781525, + 0.08081894367933273, + 0.9904674887657166, + -0.011932718068627375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9866971969604492, + 0.10749143362045288, + -0.1219601035118103, + -0.04234675616025924 + ], + [ + -0.1157439798116684, + 0.9912974238395691, + -0.06271130591630936, + 0.042987927608191964 + ], + [ + 0.11415781080722809, + 0.07599321752786636, + 0.9905518889427185, + -0.012025111727416514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9865428805351257, + 0.1070828065276146, + -0.12355741858482361, + -0.04350381198206118 + ], + [ + -0.11493254452943802, + 0.991664707660675, + -0.058237187564373016, + 0.04232981772760727 + ], + [ + 0.11629132926464081, + 0.07165425270795822, + 0.9906270503997803, + -0.012235893368987099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9863806962966919, + 0.1059727668762207, + -0.12578904628753662, + -0.03483833553535597 + ], + [ + -0.11352694034576416, + 0.992040753364563, + -0.054468005895614624, + 0.04865467878324645 + ], + [ + 0.11901573836803436, + 0.06800663471221924, + 0.9905606508255005, + -0.0005253439236964494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9862300157546997, + 0.10518054664134979, + -0.12762224674224854, + -0.03277361504733562 + ], + [ + -0.11230616271495819, + 0.9924166202545166, + -0.04996608942747116, + 0.04588204533793032 + ], + [ + 0.12139897793531418, + 0.06361082196235657, + 0.9905634522438049, + -0.005830858883980129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9859954714775085, + 0.1056356355547905, + -0.12905053794384003, + -0.03143115575824465 + ], + [ + -0.11222276836633682, + 0.9926697015762329, + -0.04486498981714249, + 0.033568243496119976 + ], + [ + 0.12336521595716476, + 0.05871908366680145, + 0.9906225800514221, + -0.0075006106070109775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9856727719306946, + 0.10803892463445663, + -0.12952500581741333, + -0.023947363320205896 + ], + [ + -0.11421696096658707, + 0.992599606513977, + -0.0412365160882473, + 0.034440369115743254 + ], + [ + 0.12411132454872131, + 0.05543966218829155, + 0.9907183647155762, + -0.010684070909129723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9858422875404358, + 0.10755693167448044, + -0.12863335013389587, + -0.01719397599143642 + ], + [ + -0.11338666826486588, + 0.9927903413772583, + -0.03886926919221878, + 0.028765655089435835 + ], + [ + 0.12352529168128967, + 0.052904270589351654, + 0.9909301996231079, + -0.005417523373450552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.986384928226471, + 0.10589217394590378, + -0.1258237361907959, + -0.0016052184626460034 + ], + [ + -0.11147851496934891, + 0.9930323958396912, + -0.038199231028556824, + 0.043614371004514395 + ], + [ + 0.12090204656124115, + 0.05170578509569168, + 0.9913169145584106, + -0.004293974163010716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.98703533411026, + 0.10521291196346283, + -0.12120844423770905, + -0.008481186415467946 + ], + [ + -0.11019133031368256, + 0.9932900071144104, + -0.03511149436235428, + 0.04276181211961167 + ], + [ + 0.11670096218585968, + 0.04801240563392639, + 0.9920058846473694, + -0.0012387355390403951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9876003265380859, + 0.10495460033416748, + -0.11674825847148895, + -0.019063419742243633 + ], + [ + -0.10928304493427277, + 0.9935178756713867, + -0.031295549124479294, + 0.034865171562082 + ], + [ + 0.11270686984062195, + 0.04366609826683998, + 0.9926683306694031, + -0.001774981285312346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9879480600357056, + 0.10436582565307617, + -0.11430834233760834, + -0.01781068869999477 + ], + [ + -0.1082589328289032, + 0.9937175512313843, + -0.02837977558374405, + 0.04311967031764133 + ], + [ + 0.11062832176685333, + 0.04041264206171036, + 0.9930398464202881, + 0.010003388752894742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9882451891899109, + 0.10491707921028137, + -0.11119276285171509, + -0.010408802623195303 + ], + [ + -0.1083543598651886, + 0.9937899112701416, + -0.02531774342060089, + 0.04740904464519449 + ], + [ + 0.1078459769487381, + 0.037068359553813934, + 0.9934763312339783, + 0.013450449432379434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9885666370391846, + 0.10564040392637253, + -0.10759231448173523, + 0.005087256325142724 + ], + [ + -0.10854079574346542, + 0.9938605427742004, + -0.021451227366924286, + 0.042577850818634036 + ], + [ + 0.10466563701629639, + 0.03288412466645241, + 0.9939636588096619, + 0.00844090399997575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.989079475402832, + 0.10583502799272537, + -0.1025705337524414, + 0.001026009874684472 + ], + [ + -0.1081821396946907, + 0.9939756393432617, + -0.017581116408109665, + 0.039081683991077754 + ], + [ + 0.10009191930294037, + 0.02848542109131813, + 0.9945703744888306, + 0.003697471610004348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9894738793373108, + 0.10606830567121506, + -0.09844259917736053, + 0.006109896674752237 + ], + [ + -0.10795023292303085, + 0.9940580725669861, + -0.01397654041647911, + 0.04474386549554765 + ], + [ + 0.09637519717216492, + 0.024456322193145752, + 0.9950445890426636, + 0.013933599926531315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9899798035621643, + 0.10596095025539398, + -0.09333936125040054, + 0.010794807092419693 + ], + [ + -0.10729019343852997, + 0.9941840171813965, + -0.009325601160526276, + 0.029193703504279255 + ], + [ + 0.09180835634469986, + 0.019246554002165794, + 0.9955906867980957, + 0.01135400766174176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9905864596366882, + 0.10534948855638504, + -0.08740677684545517, + 0.005327680813414712 + ], + [ + -0.10641362518072128, + 0.9942929744720459, + -0.007592587731778622, + 0.03350064271528806 + ], + [ + 0.08610806614160538, + 0.016822386533021927, + 0.9961437582969666, + 0.020611053133117303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9909928441047668, + 0.10557084530591965, + -0.08238934725522995, + 0.001797226417277538 + ], + [ + -0.1064399853348732, + 0.9942997097969055, + -0.006216858047991991, + 0.0412851904884779 + ], + [ + 0.08126338571310043, + 0.014930382370948792, + 0.9965808391571045, + 0.022831691452302037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9913748502731323, + 0.1045815572142601, + -0.07898508757352829, + -0.002671869205577028 + ], + [ + -0.10522336512804031, + 0.9944405555725098, + -0.003996359650045633, + 0.04156041031570307 + ], + [ + 0.07812803238630295, + 0.012272967025637627, + 0.9968677759170532, + 0.03001334409761642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9917486310005188, + 0.10313042998313904, + -0.07614985853433609, + -0.0035252612882426745 + ], + [ + -0.10355372726917267, + 0.994622528553009, + -0.0016207098960876465, + 0.0388978673211698 + ], + [ + 0.07557322829961777, + 0.009492938406765461, + 0.9970950484275818, + 0.02962610797757017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9919881224632263, + 0.10262415558099747, + -0.07367407530546188, + -0.0032814401601042043 + ], + [ + -0.10287640243768692, + 0.9946940541267395, + 0.00037287292070686817, + 0.0410147261140602 + ], + [ + 0.07332143932580948, + 0.00720943883061409, + 0.9972823262214661, + 0.04102501488689865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9922360181808472, + 0.10229475051164627, + -0.07073540985584259, + 0.004662198945879936 + ], + [ + -0.10239129513502121, + 0.9947416186332703, + 0.0022692426573485136, + 0.04387353116180748 + ], + [ + 0.07059559226036072, + 0.004991065710783005, + 0.9974925518035889, + 0.045856904704123735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9926767349243164, + 0.10183980315923691, + -0.06497388333082199, + 0.013443833802427564 + ], + [ + -0.10175634175539017, + 0.9947987198829651, + 0.004601127468049526, + 0.036501879637528746 + ], + [ + 0.06510450690984726, + 0.0020440714433789253, + 0.9978763461112976, + 0.051953331480867095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9932929277420044, + 0.10012398660182953, + -0.057830192148685455, + 0.008162448182702065 + ], + [ + -0.09992413222789764, + 0.9949748516082764, + 0.006344618741422892, + 0.03656907815353147 + ], + [ + 0.05817483365535736, + -0.0005234335549175739, + 0.9983062744140625, + 0.052038460364565255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9939696192741394, + 0.09695696830749512, + -0.05122200399637222, + -0.008940655631678451 + ], + [ + -0.09670542180538177, + 0.9952857494354248, + 0.007372487336397171, + 0.04459590632468462 + ], + [ + 0.05169534683227539, + -0.0023745831567794085, + 0.9986600875854492, + 0.06803057002169745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9946482181549072, + 0.09124989062547684, + -0.04846053943037987, + -0.005753928210054125 + ], + [ + -0.09091111272573471, + 0.9958169460296631, + 0.009154199622571468, + 0.047243342977682394 + ], + [ + 0.04909314587712288, + -0.004699607379734516, + 0.9987831711769104, + 0.07164905773908166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9950724244117737, + 0.08802970498800278, + -0.04562503844499588, + -0.0094661395996809 + ], + [ + -0.08761953562498093, + 0.9960941672325134, + 0.010917238891124725, + 0.054350859186212935 + ], + [ + 0.046407878398895264, + -0.006865799427032471, + 0.998898983001709, + 0.085380402260593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9950484037399292, + 0.08967527747154236, + -0.04286075755953789, + -0.0009408566036394686 + ], + [ + -0.08918027579784393, + 0.9959263205528259, + 0.013328677043318748, + 0.06212469830976001 + ], + [ + 0.04388141259551048, + -0.009440343827009201, + 0.9989921450614929, + 0.08932004765374586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.994839072227478, + 0.09398898482322693, + -0.038227181881666183, + -0.0004889294505119324 + ], + [ + -0.09341907501220703, + 0.9954912066459656, + 0.01643507555127144, + 0.06475547105073928 + ], + [ + 0.03959954157471657, + -0.012779107317328453, + 0.9991338849067688, + 0.09398463387042284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9950065612792969, + 0.09476043283939362, + -0.03134303167462349, + 0.006072252456630983 + ], + [ + -0.0941585898399353, + 0.9953532218933105, + 0.020153691992163658, + 0.07407262583396265 + ], + [ + 0.03310715779662132, + -0.017101841047406197, + 0.9993054866790771, + 0.09479729913540982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9952622056007385, + 0.09464821964502335, + -0.02224421687424183, + 0.012190733796783856 + ], + [ + -0.09409790486097336, + 0.9952588081359863, + 0.024607770144939423, + 0.08847831349952945 + ], + [ + 0.02446783520281315, + -0.022398050874471664, + 0.9994496703147888, + 0.11094067261188424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9955410361289978, + 0.09406047314405441, + -0.0071157291531562805, + 0.039397909572081904 + ], + [ + -0.09381165355443954, + 0.9951490163803101, + 0.029628820717334747, + 0.08307592908386141 + ], + [ + 0.009868111461400986, + -0.028829168528318405, + 0.9995356202125549, + 0.11057364662078076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9954784512519836, + 0.09398278594017029, + 0.013782056979835033, + 0.03366276334439005 + ], + [ + -0.09439302980899811, + 0.9949889183044434, + 0.032969750463962555, + 0.0878249667318804 + ], + [ + -0.010614405386149883, + -0.03412160277366638, + 0.9993613362312317, + 0.13115945405360044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9949063062667847, + 0.09472235292196274, + 0.034482747316360474, + 0.027762791567615096 + ], + [ + -0.09591177850961685, + 0.9947866797447205, + 0.03464622050523758, + 0.08651079564421837 + ], + [ + -0.031021207571029663, + -0.037777043879032135, + 0.9988045692443848, + 0.1407873068670077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9940546154975891, + 0.09305116534233093, + 0.05654161050915718, + 0.0060443612613848355 + ], + [ + -0.09517338871955872, + 0.9948068857192993, + 0.03607260435819626, + 0.08488468264362642 + ], + [ + -0.052891384810209274, + -0.04123939573764801, + 0.9977483749389648, + 0.1608141574975369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9930383563041687, + 0.0931694507598877, + 0.07207100093364716, + -0.022787965275347224 + ], + [ + -0.09604094922542572, + 0.9946725368499756, + 0.037452805787324905, + 0.09268311862833797 + ], + [ + -0.0681975930929184, + -0.04411384090781212, + 0.9966960549354553, + 0.17989919749088584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.991825520992279, + 0.09590531885623932, + 0.08416810631752014, + -0.011019609868526452 + ], + [ + -0.09956599771976471, + 0.9942096471786499, + 0.04042040929198265, + 0.08017978843833719 + ], + [ + -0.07980421185493469, + -0.04847027733922005, + 0.9956313967704773, + 0.1940645793718951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.989759087562561, + 0.09797359257936478, + 0.10381758213043213, + -0.03637114268328462 + ], + [ + -0.10270162671804428, + 0.9938583374023438, + 0.04120693355798721, + 0.07112192648928613 + ], + [ + -0.09914277493953705, + -0.05144716799259186, + 0.9937423467636108, + 0.20357636815336133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9876902103424072, + 0.09983855485916138, + 0.12041732668876648, + -0.032799011256013595 + ], + [ + -0.10557934641838074, + 0.9935125112533569, + 0.04225999861955643, + 0.06728527176060847 + ], + [ + -0.11541694402694702, + -0.054453372955322266, + 0.9918234348297119, + 0.20907524041831493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9858947992324829, + 0.09745467454195023, + 0.13606621325016022, + -0.06338465879006044 + ], + [ + -0.1044059619307518, + 0.9935204386711121, + 0.044905245304107666, + 0.04443678980626698 + ], + [ + -0.13080833852291107, + -0.058477967977523804, + 0.9896815419197083, + 0.22377606988884507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9848458170890808, + 0.09527671337127686, + 0.1449173539876938, + -0.07550060951284 + ], + [ + -0.10282176733016968, + 0.993659496307373, + 0.04548092558979988, + 0.06384905076452664 + ], + [ + -0.13966523110866547, + -0.05969235673546791, + 0.9883978962898254, + 0.2456217103504709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9842654466629028, + 0.09731234610080719, + 0.1474848985671997, + -0.08835903209234987 + ], + [ + -0.10541553795337677, + 0.9932622909545898, + 0.04814184084534645, + 0.0736880428490362 + ], + [ + -0.14180639386177063, + -0.06293155252933502, + 0.9878919720649719, + 0.24879847779603942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9836001396179199, + 0.1015235185623169, + 0.1490761637687683, + -0.09692763984203338 + ], + [ + -0.1099328100681305, + 0.9927168488502502, + 0.049275677651166916, + 0.07947935219854116 + ], + [ + -0.14298778772354126, + -0.06485592573881149, + 0.9875971674919128, + 0.25490330420434476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9833716750144958, + 0.10262977331876755, + 0.14982423186302185, + -0.08088198429239649 + ], + [ + -0.1115146204829216, + 0.9923942685127258, + 0.052135221660137177, + 0.06902057679835708 + ], + [ + -0.14333409070968628, + -0.06797589361667633, + 0.9873371124267578, + 0.24855973920119662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9828119874000549, + 0.10415977984666824, + 0.15241828560829163, + -0.07583012027399881 + ], + [ + -0.11273614317178726, + 0.9924293756484985, + 0.048729125410318375, + 0.06674179903098515 + ], + [ + -0.14618876576423645, + -0.0650746151804924, + 0.9871140718460083, + 0.24749935354505267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9818927645683289, + 0.10626082122325897, + 0.15682873129844666, + -0.10730970536491702 + ], + [ + -0.11330802738666534, + 0.9928827881813049, + 0.03667560964822769, + 0.08183919081597456 + ], + [ + -0.15181535482406616, + -0.05378147214651108, + 0.9869446158409119, + 0.2593294884743435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9813063740730286, + 0.10751645267009735, + 0.1596182882785797, + -0.1258515031742198 + ], + [ + -0.11359080672264099, + 0.9930923581123352, + 0.02940528094768524, + 0.04269535320677928 + ], + [ + -0.15535414218902588, + -0.04698675870895386, + 0.98674076795578, + 0.26514861785939764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9810237288475037, + 0.10889872163534164, + 0.16041681170463562, + -0.1270589595128383 + ], + [ + -0.11429903656244278, + 0.9931367039680481, + 0.024802502244710922, + 0.03337854118019875 + ], + [ + -0.15661486983299255, + -0.04266732558608055, + 0.9867376685142517, + 0.2552559419269008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9810535907745361, + 0.11098171770572662, + 0.15879830718040466, + -0.14185192499841962 + ], + [ + -0.11564107239246368, + 0.9930819869041443, + 0.02037901058793068, + 0.042131634881453855 + ], + [ + -0.15543803572654724, + -0.03835650533437729, + 0.9871007204055786, + 0.26254692913166117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.981422483921051, + 0.11380794644355774, + 0.1544591784477234, + -0.16728132907301188 + ], + [ + -0.11780638992786407, + 0.9928918480873108, + 0.01695503294467926, + 0.0444541719276458 + ], + [ + -0.15143164992332458, + -0.03483632951974869, + 0.9878537058830261, + 0.2627634874545038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.982372522354126, + 0.118330217897892, + 0.14471405744552612, + -0.1432496196457318 + ], + [ + -0.12153726071119308, + 0.9924951195716858, + 0.013493496924638748, + 0.04129475830788059 + ], + [ + -0.14203131198883057, + -0.030843790620565414, + 0.9893814921379089, + 0.25925139284559656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.982467532157898, + 0.12294826656579971, + 0.14014731347560883, + -0.15000024091984543 + ], + [ + -0.12514029443264008, + 0.9921150207519531, + 0.006903132423758507, + 0.03627391382386642 + ], + [ + -0.1381935328245163, + -0.024320177733898163, + 0.9901065826416016, + 0.26027651473746766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9829066395759583, + 0.12447657436132431, + 0.13564687967300415, + -0.11674381175211498 + ], + [ + -0.12573154270648956, + 0.9920640587806702, + 0.0006902413442730904, + 0.04849575848451682 + ], + [ + -0.13448446989059448, + -0.017733529210090637, + 0.9907569885253906, + 0.2613314911723137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9822073578834534, + 0.12859024107456207, + 0.13686934113502502, + -0.18744485865214042 + ], + [ + -0.12949006259441376, + 0.9915779232978821, + -0.0023463116958737373, + 0.03711558301667017 + ], + [ + -0.13601833581924438, + -0.01541865710169077, + 0.9905863404273987, + 0.2553383230896933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9826602339744568, + 0.131680428981781, + 0.13053400814533234, + -0.20921456670122487 + ], + [ + -0.13238859176635742, + 0.9911924600601196, + -0.0032760784961283207, + 0.042648543311016904 + ], + [ + -0.1298157125711441, + -0.0140619408339262, + 0.9914384484291077, + 0.2644259604359312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9829944372177124, + 0.13525491952896118, + 0.12420971691608429, + -0.2050987830651658 + ], + [ + -0.1357799470424652, + 0.990729808807373, + -0.004268223885446787, + 0.041057471172618015 + ], + [ + -0.12363557517528534, + -0.012669548392295837, + 0.9922468066215515, + 0.2574753291838403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9832128882408142, + 0.13690809905529022, + 0.12061743438243866, + -0.21700677648186684 + ], + [ + -0.13704191148281097, + 0.9905388951301575, + -0.007224676664918661, + 0.039794267155230045 + ], + [ + -0.12046538293361664, + -0.009426245465874672, + 0.9926728010177612, + 0.26300471369177103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9837590456008911, + 0.1370040774345398, + 0.11596562713384628, + -0.23259894182639462 + ], + [ + -0.13678330183029175, + 0.9905515313148499, + -0.009897650219500065, + 0.03544189134346587 + ], + [ + -0.1162259504199028, + -0.006125257350504398, + 0.9932039380073547, + 0.2652158585410299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9843875765800476, + 0.1398259699344635, + 0.10691004991531372, + -0.23037964249295848 + ], + [ + -0.13948878645896912, + 0.9901662468910217, + -0.010662518441677094, + 0.04030788910708257 + ], + [ + -0.10734961926937103, + -0.004416698589920998, + 0.9942114949226379, + 0.2633220675667482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9847398400306702, + 0.1442430466413498, + 0.0973726212978363, + -0.2303486370880689 + ], + [ + -0.14388160407543182, + 0.9895364046096802, + -0.010760600678622723, + 0.03882501318917743 + ], + [ + -0.09790588915348053, + -0.0034137358888983727, + 0.9951898455619812, + 0.2585185074446989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9849211573600769, + 0.1481834203004837, + 0.08928588032722473, + -0.23992042243480682 + ], + [ + -0.14775268733501434, + 0.9889580607414246, + -0.011451231315732002, + 0.04507398658565113 + ], + [ + -0.08999687433242798, + -0.001913669053465128, + 0.9959402084350586, + 0.25848756389958516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9852904677391052, + 0.150261789560318, + 0.08138822764158249, + -0.23496587747441872 + ], + [ + -0.14981693029403687, + 0.9886459112167358, + -0.011580569669604301, + 0.04461435507982969 + ], + [ + -0.08220425993204117, + -0.0007831091061234474, + 0.9966151714324951, + 0.2582254771509075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9854867458343506, + 0.15222708880901337, + 0.07511840015649796, + -0.24893727834735596 + ], + [ + -0.15180756151676178, + 0.9883455038070679, + -0.011297257617115974, + 0.04733958296211702 + ], + [ + -0.07596268504858017, + -0.0002702432684600353, + 0.9971106052398682, + 0.25969899693903115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9857757687568665, + 0.15375089645385742, + 0.06787316501140594, + -0.24055881183594463 + ], + [ + -0.15341439843177795, + 0.9881095886230469, + -0.010173924267292023, + 0.061983116623014214 + ], + [ + -0.06863036751747131, + -0.0003835107199847698, + 0.9976420998573303, + 0.2516704878769815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9860621094703674, + 0.1547786295413971, + 0.06103372201323509, + -0.257457283032792 + ], + [ + -0.15479975938796997, + 0.9879360198974609, + -0.004410617984831333, + 0.06429039974297796 + ], + [ + -0.06098008528351784, + -0.005098862573504448, + 0.9981259703636169, + 0.25631039756616314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9862703084945679, + 0.15680493414402008, + 0.05179809778928757, + -0.2622897425400359 + ], + [ + -0.1571262925863266, + 0.9875761270523071, + 0.0021656653843820095, + 0.06709370760114065 + ], + [ + -0.050814978778362274, + -0.010274773463606834, + 0.9986552000045776, + 0.25514359912236356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9863760471343994, + 0.15908634662628174, + 0.04187888652086258, + -0.2650725468993187 + ], + [ + -0.15962094068527222, + 0.9871304631233215, + 0.00972510501742363, + 0.06820031122437545 + ], + [ + -0.03979279100894928, + -0.016277356073260307, + 0.9990753531455994, + 0.2579388810720827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9864739775657654, + 0.1609342396259308, + 0.031133027747273445, + -0.26794754455664327 + ], + [ + -0.16155576705932617, + 0.9866886138916016, + 0.018583735451102257, + 0.06961159259080887 + ], + [ + -0.027727844193577766, + -0.023362090811133385, + 0.9993425011634827, + 0.2567044379264449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9863792061805725, + 0.1632765680551529, + 0.01992115005850792, + -0.27831314227410725 + ], + [ + -0.1637801080942154, + 0.9861274361610413, + 0.026995539665222168, + 0.06811579407325813 + ], + [ + -0.015237054787576199, + -0.029890526086091995, + 0.9994370341300964, + 0.25605024784204683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.986090898513794, + 0.16599197685718536, + 0.008449111133813858, + -0.2789470718375274 + ], + [ + -0.166184201836586, + 0.9855212569236755, + 0.03362573683261871, + 0.06161312007877443 + ], + [ + -0.002745176898315549, + -0.034562140703201294, + 0.9993987679481506, + 0.25143210182380116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9858554005622864, + 0.167596235871315, + 0.0007794278208166361, + -0.28454382754862306 + ], + [ + -0.16751109063625336, + 0.9851835370063782, + 0.03678847849369049, + 0.0573169413022697 + ], + [ + 0.005397730506956577, + -0.03639868646860123, + 0.999322772026062, + 0.25087829969706943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9857106804847717, + 0.16835223138332367, + -0.005656345747411251, + -0.2860287950773324 + ], + [ + -0.1680082529783249, + 0.9850100874900818, + 0.039094045758247375, + 0.05481624054456396 + ], + [ + 0.01215312723070383, + -0.03758510202169418, + 0.999219536781311, + 0.24686694742039045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9856983423233032, + 0.16821317374706268, + -0.010151521302759647, + -0.3054845624736377 + ], + [ + -0.1676623672246933, + 0.9849724769592285, + 0.04145488888025284, + 0.05007500603262867 + ], + [ + 0.01697222888469696, + -0.03915999084711075, + 0.9990888237953186, + 0.24808007939053434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9854156374931335, + 0.16931414604187012, + -0.01699388399720192, + -0.30004949636225187 + ], + [ + -0.1684492528438568, + 0.9847493767738342, + 0.04351457208395004, + 0.0499181302663471 + ], + [ + 0.0241023488342762, + -0.04001732915639877, + 0.9989082217216492, + 0.23774212755961344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9851363897323608, + 0.16989777982234955, + -0.025317933410406113, + -0.30330110053930964 + ], + [ + -0.16862894594669342, + 0.9846124053001404, + 0.04585471749305725, + 0.046332609666777505 + ], + [ + 0.0327189676463604, + -0.040903814136981964, + 0.998627245426178, + 0.24293916788550893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9845020771026611, + 0.1720282882452011, + -0.03408673405647278, + -0.3040201941771167 + ], + [ + -0.17030633985996246, + 0.9842089414596558, + 0.048254113644361496, + 0.04272668399581952 + ], + [ + 0.041849538683891296, + -0.04170108959078789, + 0.9982532858848572, + 0.23206123074383608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9840127229690552, + 0.17358815670013428, + -0.039826229214668274, + -0.3116793121610369 + ], + [ + -0.17155194282531738, + 0.9839119911193848, + 0.04987076669931412, + 0.03980921847479684 + ], + [ + 0.04784248024225235, + -0.04224120080471039, + 0.9979612827301025, + 0.22667974925466947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.983839213848114, + 0.17355799674987793, + -0.04402342066168785, + -0.31513665821403264 + ], + [ + -0.17133194208145142, + 0.9839370250701904, + 0.050133347511291504, + 0.029326476342976093 + ], + [ + 0.05201731249690056, + -0.04178053140640259, + 0.9977717995643616, + 0.22610495813423767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9837604761123657, + 0.17300744354724884, + -0.04778822138905525, + -0.317920180197273 + ], + [ + -0.170850470662117, + 0.9842195510864258, + 0.04606487229466438, + 0.03459488678989665 + ], + [ + 0.05500366911292076, + -0.037152159959077835, + 0.9977947473526001, + 0.22312111106501625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9836288690567017, + 0.1728116124868393, + -0.051091764122247696, + -0.31836184907172405 + ], + [ + -0.17077921330928802, + 0.9844218492507935, + 0.04181007295846939, + 0.036085467273369434 + ], + [ + 0.057521115988492966, + -0.032400183379650116, + 0.9978184103965759, + 0.21966530070141224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9835469722747803, + 0.17255036532878876, + -0.05349563807249069, + -0.31656464295727865 + ], + [ + -0.17068450152873993, + 0.9846037030220032, + 0.037713583558797836, + 0.04068697448819876 + ], + [ + 0.05917949974536896, + -0.027962204068899155, + 0.9978556632995605, + 0.2167229394029294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9835363030433655, + 0.17198343575000763, + -0.055479731410741806, + -0.3185237932151982 + ], + [ + -0.17011605203151703, + 0.9847357869148254, + 0.036823198199272156, + 0.04308461853569107 + ], + [ + 0.06096585467457771, + -0.02677896060049534, + 0.9977805614471436, + 0.21159848135929288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9831055998802185, + 0.17355255782604218, + -0.05816258490085602, + -0.3136154091251748 + ], + [ + -0.17163993418216705, + 0.984485387802124, + 0.03644566237926483, + 0.04179076633549162 + ], + [ + 0.06358545273542404, + -0.02584691531956196, + 0.9976416230201721, + 0.2147260771598667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9827005863189697, + 0.17493648827075958, + -0.06080165505409241, + -0.30642755382827347 + ], + [ + -0.17297415435314178, + 0.9842607378959656, + 0.036204710602760315, + 0.03958025965174394 + ], + [ + 0.06617820262908936, + -0.02506127767264843, + 0.9974930286407471, + 0.20784247139734882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.982544481754303, + 0.1751476526260376, + -0.06268700212240219, + -0.3058409050107002 + ], + [ + -0.17317530512809753, + 0.9842450022697449, + 0.03566562384366989, + 0.043963706493377684 + ], + [ + 0.06794611364603043, + -0.024187222123146057, + 0.9973957538604736, + 0.2126699982210994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9823439717292786, + 0.17569157481193542, + -0.0642869845032692, + -0.3070932410391314 + ], + [ + -0.17370420694351196, + 0.9841635227203369, + 0.035340774804353714, + 0.042775400594941206 + ], + [ + 0.06947798281908035, + -0.023549877107143402, + 0.9973054528236389, + 0.2078509427640321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9821685552597046, + 0.17619812488555908, + -0.0655682384967804, + -0.3094443322292396 + ], + [ + -0.17419961094856262, + 0.9840850830078125, + 0.03508654981851578, + 0.041525596353624544 + ], + [ + 0.07070690393447876, + -0.023038944229483604, + 0.9972310066223145, + 0.2059517079698188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9822636842727661, + 0.1751115620136261, + -0.06703713536262512, + -0.31009973825088566 + ], + [ + -0.1731068193912506, + 0.9842925071716309, + 0.03467393293976784, + 0.043989633994975255 + ], + [ + 0.07205595076084137, + -0.022454358637332916, + 0.997147798538208, + 0.2041991012636572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9822244048118591, + 0.17436014115810394, + -0.06952506303787231, + -0.31077691348535674 + ], + [ + -0.17229227721691132, + 0.9844326972961426, + 0.03475184738636017, + 0.04458897994565112 + ], + [ + 0.07450208067893982, + -0.022155484184622765, + 0.9969747066497803, + 0.20215015672147274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9819951057434082, + 0.1744941622018814, + -0.0723700225353241, + -0.3083461120724678 + ], + [ + -0.17236293852329254, + 0.9844198226928711, + 0.03476530313491821, + 0.04532531720053937 + ], + [ + 0.07730883359909058, + -0.02166544646024704, + 0.9967717528343201, + 0.19866062251052685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9822079539299011, + 0.17216633260250092, + -0.07500870525836945, + -0.3048221146953958 + ], + [ + -0.16999997198581696, + 0.9848428964614868, + 0.03441552072763443, + 0.04822008504665323 + ], + [ + 0.07979698479175568, + -0.021051717922091484, + 0.9965888261795044, + 0.20328625072059886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9824211597442627, + 0.16992878913879395, + -0.07728444039821625, + -0.30466535314917564 + ], + [ + -0.16770926117897034, + 0.9852360486984253, + 0.03440326824784279, + 0.04557565553113818 + ], + [ + 0.08198952674865723, + -0.02083718404173851, + 0.9964153170585632, + 0.2032736875116825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.982245683670044, + 0.16983577609062195, + -0.07968208938837051, + -0.3044799021312169 + ], + [ + -0.16755741834640503, + 0.9852582216262817, + 0.03450661897659302, + 0.044497391687972204 + ], + [ + 0.08436789363622665, + -0.020542655140161514, + 0.9962229132652283, + 0.2042349479560341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9820454120635986, + 0.16961340606212616, + -0.08257197588682175, + -0.3027385612683637 + ], + [ + -0.1672518104314804, + 0.9853007793426514, + 0.03477383777499199, + 0.04417825235453035 + ], + [ + 0.08725633472204208, + -0.020339176058769226, + 0.9959782361984253, + 0.20154489237216433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9820548295974731, + 0.16821032762527466, + -0.0852852463722229, + -0.3054798142186233 + ], + [ + -0.16575592756271362, + 0.9855406284332275, + 0.03513740003108978, + 0.04380957053175995 + ], + [ + 0.08996254205703735, + -0.020370319485664368, + 0.995736837387085, + 0.19888056011072228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9818719029426575, + 0.16749975085258484, + -0.08872122317552567, + -0.3064440876511591 + ], + [ + -0.16494059562683105, + 0.9856650233268738, + 0.03548335283994675, + 0.046547710469790865 + ], + [ + 0.09339285641908646, + -0.020206378772854805, + 0.9954242706298828, + 0.19813670937437564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.981553316116333, + 0.16724532842636108, + -0.09263981133699417, + -0.30510089440005167 + ], + [ + -0.16449368000030518, + 0.9856975078582764, + 0.0366363450884819, + 0.04987042823008129 + ], + [ + 0.09744208306074142, + -0.020721860229969025, + 0.9950254559516907, + 0.19930615482319677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9811412692070007, + 0.16738539934158325, + -0.09666382521390915, + -0.3081068418121764 + ], + [ + -0.16436144709587097, + 0.9856486320495605, + 0.03849833831191063, + 0.04585200501605868 + ], + [ + 0.10172062367200851, + -0.021884504705667496, + 0.9945722818374634, + 0.19241724765659976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9804856777191162, + 0.16758200526237488, + -0.10278180241584778, + -0.3122095838189125 + ], + [ + -0.1640981137752533, + 0.9855696558952332, + 0.04152369126677513, + 0.05628958959132433 + ], + [ + 0.1082572489976883, + -0.023847084492444992, + 0.9938368797302246, + 0.19355176324024798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9793279767036438, + 0.1682242900133133, + -0.11232680827379227, + -0.3270792213135532 + ], + [ + -0.163950577378273, + 0.985380232334137, + 0.04632462561130524, + 0.05749273332767189 + ], + [ + 0.11847754567861557, + -0.026950955390930176, + 0.9925909042358398, + 0.18698548678907434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9780520796775818, + 0.16783632338047028, + -0.12347085028886795, + -0.3265774009483201 + ], + [ + -0.16283370554447174, + 0.985404908657074, + 0.04962218925356865, + 0.054794459736772945 + ], + [ + 0.12999719381332397, + -0.02842787280678749, + 0.9911067485809326, + 0.19334869576351982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9773265719413757, + 0.16452576220035553, + -0.1332818865776062, + -0.32366236631891554 + ], + [ + -0.15891210734844208, + 0.9859335422515869, + 0.05178828537464142, + 0.05638992656687541 + ], + [ + 0.13992759585380554, + -0.02943396009504795, + 0.9897241592407227, + 0.19909132930583187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9759918451309204, + 0.16442693769931793, + -0.1428413838148117, + -0.32618253475853376 + ], + [ + -0.15819402039051056, + 0.9859288930892944, + 0.05402631312608719, + 0.05334834018722177 + ], + [ + 0.14971484243869781, + -0.030132591724395752, + 0.9882699251174927, + 0.19416166614474994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9742119908332825, + 0.16628089547157288, + -0.15251769125461578, + -0.3253183477957334 + ], + [ + -0.15948328375816345, + 0.9856191873550415, + 0.05585654824972153, + 0.053479629209531206 + ], + [ + 0.15961222350597382, + -0.03009209968149662, + 0.9867210388183594, + 0.19340986322744616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9728977680206299, + 0.16647683084011078, + -0.16048483550548553, + -0.32653346955776213 + ], + [ + -0.15910767018795013, + 0.9855669140815735, + 0.05781576409935951, + 0.051211628929844925 + ], + [ + 0.16779352724552155, + -0.03071446344256401, + 0.9853435754776001, + 0.1908749201201967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9723252058029175, + 0.16411983966827393, + -0.16627787053585052, + -0.3227620851248503 + ], + [ + -0.156331866979599, + 0.985942006111145, + 0.05898085981607437, + 0.05783411776646972 + ], + [ + 0.17362026870250702, + -0.03135404735803604, + 0.984313428401947, + 0.19799944539554418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9718669056892395, + 0.1611853837966919, + -0.17173808813095093, + -0.32164575824780123 + ], + [ + -0.15297722816467285, + 0.9864010810852051, + 0.06009099259972572, + 0.06362683113132205 + ], + [ + 0.17908841371536255, + -0.032128434628248215, + 0.9833082556724548, + 0.20587893655257566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9712246656417847, + 0.15868139266967773, + -0.177603080868721, + -0.3189081851392984 + ], + [ + -0.14994826912879944, + 0.9867700934410095, + 0.061646468937397, + 0.06290195378075752 + ], + [ + 0.1850355714559555, + -0.03324130177497864, + 0.9821694493293762, + 0.20289467153405505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9718085527420044, + 0.14844444394111633, + -0.183173269033432, + -0.3187647785459246 + ], + [ + -0.13906675577163696, + 0.9882709980010986, + 0.06309369951486588, + 0.06247820449726922 + ], + [ + 0.19039073586463928, + -0.0358416847884655, + 0.98105388879776, + 0.20333958225590842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9723052978515625, + 0.13676895201206207, + -0.18951702117919922, + -0.3104809999465942 + ], + [ + -0.1267307549715042, + 0.9898594617843628, + 0.06416864693164825, + 0.06580065283259111 + ], + [ + 0.19637149572372437, + -0.038373880088329315, + 0.9797784090042114, + 0.21007189130676646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9721367359161377, + 0.13019900023937225, + -0.194931760430336, + -0.30862577706575395 + ], + [ + -0.11950302124023438, + 0.990656852722168, + 0.06571146845817566, + 0.06375131245170321 + ], + [ + 0.20166604220867157, + -0.04058559611439705, + 0.9786131381988525, + 0.2222275079760168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9702981114387512, + 0.13600292801856995, + -0.2000618577003479, + -0.3005807119022523 + ], + [ + -0.12496167421340942, + 0.9899049401283264, + 0.0668788030743599, + 0.06390866065131767 + ], + [ + 0.20713794231414795, + -0.03989231213927269, + 0.9774980545043945, + 0.22690221055277757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9686759114265442, + 0.14720380306243896, + -0.19999495148658752, + -0.2962919510900974 + ], + [ + -0.13598409295082092, + 0.9883191585540771, + 0.06880082935094833, + 0.05927913524210453 + ], + [ + 0.20778658986091614, + -0.039449580013751984, + 0.9773783683776855, + 0.21730128191411496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9672756791114807, + 0.15725606679916382, + -0.1991187483072281, + -0.29895719191325565 + ], + [ + -0.14609172940254211, + 0.9868150353431702, + 0.06966531276702881, + 0.06059659744745918 + ], + [ + 0.20744867622852325, + -0.03829595819115639, + 0.9774960279464722, + 0.22413121100648173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9677567481994629, + 0.1545819193124771, + -0.19887515902519226, + -0.305537833912032 + ], + [ + -0.1427767425775528, + 0.9870975613594055, + 0.07247907668352127, + 0.0688355464621314 + ], + [ + 0.20751312375068665, + -0.04174737632274628, + 0.9773409962654114, + 0.22640195901372603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9675725698471069, + 0.15398240089416504, + -0.2002318650484085, + -0.30779656272913725 + ], + [ + -0.14107516407966614, + 0.9869769811630249, + 0.07729347795248032, + 0.0673123595038695 + ], + [ + 0.20952607691287994, + -0.0465392991900444, + 0.9766948819160461, + 0.2276673951784947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9673705101013184, + 0.15469883382320404, + -0.2006554901599884, + -0.308657773903438 + ], + [ + -0.1412695199251175, + 0.9867584705352783, + 0.07969090342521667, + 0.06878552452794143 + ], + [ + 0.21032658219337463, + -0.04874412715435028, + 0.9764152765274048, + 0.23982138984969684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9672166705131531, + 0.1547788381576538, + -0.20133408904075623, + -0.3057415963549699 + ], + [ + -0.14098775386810303, + 0.9866747856140137, + 0.0812116488814354, + 0.07085481759692941 + ], + [ + 0.2112210988998413, + -0.050163619220256805, + 0.9761502146720886, + 0.24809330547494549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9670317769050598, + 0.1544431895017624, + -0.20247682929039001, + -0.303788915223309 + ], + [ + -0.14023496210575104, + 0.9866482615470886, + 0.08282154053449631, + 0.072466182003596 + ], + [ + 0.212564617395401, + -0.05169673636555672, + 0.9757785201072693, + 0.25013444745647057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.9670157432556152, + 0.1542350947856903, + -0.20271193981170654, + -0.30351020246744154 + ], + [ + -0.13966482877731323, + 0.986595094203949, + 0.08440309017896652, + 0.073097269423306 + ], + [ + 0.21301251649856567, + -0.053307391703128815, + 0.975594162940979, + 0.25013485420495274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9669678807258606, + 0.1540209949016571, + -0.20310261845588684, + -0.300363813234227 + ], + [ + -0.13913089036941528, + 0.9865548014640808, + 0.08574514091014862, + 0.07528111668569701 + ], + [ + 0.21357840299606323, + -0.05465495586395264, + 0.9753958582878113, + 0.2578416638076305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9666524529457092, + 0.1543377786874771, + -0.20435984432697296, + -0.3015653766425592 + ], + [ + -0.13897229731082916, + 0.9864137172698975, + 0.08760519325733185, + 0.07453497469292156 + ], + [ + 0.2151041477918625, + -0.056283414363861084, + 0.974967896938324, + 0.2606112423153328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9665634036064148, + 0.15551933646202087, + -0.20388470590114594, + -0.2971832630357572 + ], + [ + -0.13974064588546753, + 0.9861153364181519, + 0.08971649408340454, + 0.069419011633311 + ], + [ + 0.215006485581398, + -0.05822570621967316, + 0.9748753905296326, + 0.25991733456030486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9675633311271667, + 0.1544208973646164, + -0.19993841648101807, + -0.29841754550912547 + ], + [ + -0.1387152522802353, + 0.9861980080604553, + 0.09039674699306488, + 0.06700591050487543 + ], + [ + 0.21113801002502441, + -0.05973007157444954, + 0.9756295680999756, + 0.25489464178681376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9683980941772461, + 0.15236565470695496, + -0.19745834171772003, + -0.30530689784458703 + ], + [ + -0.1366805136203766, + 0.9864406585693359, + 0.09084723144769669, + 0.07221769200904028 + ], + [ + 0.20862294733524323, + -0.06098758429288864, + 0.9760926961898804, + 0.2663789196738175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9687500596046448, + 0.1510292887687683, + -0.19675740599632263, + -0.30501438248902557 + ], + [ + -0.13519611954689026, + 0.986572265625, + 0.0916360393166542, + 0.07127869048022797 + ], + [ + 0.20795512199401855, + -0.062171585857868195, + 0.9761605262756348, + 0.26955253343497004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9687740206718445, + 0.1502801477909088, + -0.19721265137195587, + -0.3060541581362486 + ], + [ + -0.1343325972557068, + 0.9866592884063721, + 0.0919685885310173, + 0.07001316361129284 + ], + [ + 0.20840273797512054, + -0.06260468810796738, + 0.9760373830795288, + 0.2757879295386374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9688063859939575, + 0.146807000041008, + -0.19965451955795288, + -0.300974465534091 + ], + [ + -0.13089273869991302, + 0.9872323274612427, + 0.09077131748199463, + 0.06396808679481703 + ], + [ + 0.21043124794960022, + -0.06180650368332863, + 0.9756529331207275, + 0.2746503846852907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9689670205116272, + 0.14175564050674438, + -0.20250490307807922, + -0.2964405037462711 + ], + [ + -0.12600407004356384, + 0.988053560256958, + 0.08873066306114197, + 0.05865612546248095 + ], + [ + 0.21266376972198486, + -0.0604606457054615, + 0.9752531051635742, + 0.2799977253590311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.9685389399528503, + 0.14189264178276062, + -0.20444755256175995, + -0.29146697502583263 + ], + [ + -0.12646269798278809, + 0.9881731271743774, + 0.08672377467155457, + 0.05606718797768866 + ], + [ + 0.21433503925800323, + -0.05814036726951599, + 0.9750282764434814, + 0.2760153630548822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.9676082730293274, + 0.1464899629354477, + -0.2056085765361786, + -0.29381024246769294 + ], + [ + -0.1317007690668106, + 0.9877296686172485, + 0.08393482863903046, + 0.0558783523339246 + ], + [ + 0.21538129448890686, + -0.054137229919433594, + 0.9750282168388367, + 0.2800047493140612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.9676892757415771, + 0.14443397521972656, + -0.20667928457260132, + -0.29242126590439255 + ], + [ + -0.13018450140953064, + 0.9881729483604431, + 0.08103188127279282, + 0.058095920764442005 + ], + [ + 0.21593862771987915, + -0.051507242023944855, + 0.9750474691390991, + 0.276552814857236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.9682770371437073, + 0.14129818975925446, + -0.20609328150749207, + -0.28591874433415276 + ], + [ + -0.1274816244840622, + 0.9886966943740845, + 0.07891339063644409, + 0.06061621601028102 + ], + [ + 0.21491405367851257, + -0.05013692006468773, + 0.9753451943397522, + 0.272868519702128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.9690102338790894, + 0.14028985798358917, + -0.20331737399101257, + -0.27946213744580745 + ], + [ + -0.12681375443935394, + 0.9888610243797302, + 0.0779241994023323, + 0.05985565590672195 + ], + [ + 0.21198460459709167, + -0.049725908786058426, + 0.9760071039199829, + 0.2675115794874728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.9700928926467896, + 0.1387723982334137, + -0.1991533786058426, + -0.27847297053251946 + ], + [ + -0.12566155195236206, + 0.9890734553337097, + 0.07708991318941116, + 0.06263917689876897 + ], + [ + 0.2076752632856369, + -0.04975845664739609, + 0.9769314527511597, + 0.27713737262945093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.9707017540931702, + 0.1380895972251892, + -0.19664525985717773, + -0.27789161495332204 + ], + [ + -0.1252080500125885, + 0.9891722798347473, + 0.07655775547027588, + 0.062190297791468244 + ], + [ + 0.20508787035942078, + -0.04969318211078644, + 0.9774812459945679, + 0.2702250769760992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.9712496399879456, + 0.13835211098194122, + -0.19373396039009094, + -0.270130990339177 + ], + [ + -0.12573881447315216, + 0.9891468286514282, + 0.07601550966501236, + 0.06373271785144295 + ], + [ + 0.2021482288837433, + -0.04947016388177872, + 0.9781047105789185, + 0.2724730508135898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.9723514318466187, + 0.13843262195587158, + -0.18806666135787964, + -0.2612745604876961 + ], + [ + -0.12620919942855835, + 0.9891230463981628, + 0.07554347068071365, + 0.06204303090593645 + ], + [ + 0.19647875428199768, + -0.04971906170248985, + 0.9792467355728149, + 0.2637622280977666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.9741142988204956, + 0.13824079930782318, + -0.1788598895072937, + -0.2550961851009301 + ], + [ + -0.12668778002262115, + 0.9891385436058044, + 0.07453274726867676, + 0.062172675997551 + ], + [ + 0.18722069263458252, + -0.04994405061006546, + 0.9810473918914795, + 0.2613898484834603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.9756948947906494, + 0.13804146647453308, + -0.17018838226795197, + -0.25009694024920465 + ], + [ + -0.12702053785324097, + 0.9891298413276672, + 0.07408052682876587, + 0.0626723028453333 + ], + [ + 0.17856459319591522, + -0.0506625697016716, + 0.9826230406761169, + 0.260417595911505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.977450966835022, + 0.13830815255641937, + -0.15956318378448486, + -0.24036093950271606 + ], + [ + -0.12796913087368011, + 0.9890586137771606, + 0.07339601218700409, + 0.06785323023796082 + ], + [ + 0.16796860098838806, + -0.051321841776371, + 0.9844554662704468, + 0.2605030119419098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/5c90c029-608c-420e-887d-a573130beebe/orbit_right/transforms.json b/dynpose_eval/camera_controls/5c90c029-608c-420e-887d-a573130beebe/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..00eabdd87038a191496524c49601a932caeee9ee --- /dev/null +++ b/dynpose_eval/camera_controls/5c90c029-608c-420e-887d-a573130beebe/orbit_right/transforms.json @@ -0,0 +1,7888 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 225, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 2.2169029762153514e-05, + 2.57108604273526e-05, + -0.00025681365514174104 + ], + [ + -2.216802204202395e-05, + 1.0, + -3.922016185242683e-05, + 0.0006863243761472404 + ], + [ + -2.5711729904287495e-05, + 3.921959432773292e-05, + 1.0, + 0.000321356812492013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999956618912069, + -0.0016015485161915421, + -0.002460176261753204, + -0.010803954693328158 + ], + [ + 0.0016009221522962401, + 0.9999986886978149, + -0.0002565692876952985, + 0.00036077359537992103 + ], + [ + 0.002460584013866636, + 0.0002526296302676201, + 0.9999969131130427, + -0.00034992934418280017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999643815671371, + -0.0019005344947800045, + -0.008221281764775412, + -0.0056488228831944745 + ], + [ + 0.0018996573534161138, + 0.999998211860657, + -0.00011450655935697543, + 0.0017611516434936773 + ], + [ + 0.008221484315703999, + 9.888486238196495e-05, + 0.9999661692379029, + 0.001353361480548744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999231584660707, + -0.0018280777148902416, + -0.012261930285884293, + 0.0063333252614116405 + ], + [ + 0.0018303182192065763, + 0.9999983310699463, + 0.00017149501180725322, + 0.005161999940243797 + ], + [ + 0.012261595275577554, + -0.0001939250505529344, + 0.9999248285810152, + -0.003555864554373329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999051328117505, + -0.0031881132163107404, + -0.013399038479323257, + 0.0038945183261186993 + ], + [ + 0.0032024922014266518, + 0.9999943375587466, + 0.001051801372914814, + 0.005348242375208801 + ], + [ + 0.013395610075607049, + -0.0010946119436994197, + 0.9999096788421229, + 0.0010182569374541045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998583495018679, + -0.0045044817961752415, + -0.016216921536633993, + 0.0046603997023948905 + ], + [ + 0.004543509525734093, + 0.9999868869781494, + 0.0023705636870842896, + 0.004840348060330215 + ], + [ + 0.016206030490341992, + -0.0024439094122499228, + 0.9998656850378225, + -0.000789516937133031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998383622282861, + -0.003957266919314862, + -0.017537529733167502, + 0.008924886928939817 + ], + [ + 0.004016021233940343, + 0.9999864101409914, + 0.0033162657894866103, + 0.006148578051698216 + ], + [ + 0.017524168427603994, + -0.003386160824447871, + 0.9998407209579508, + 0.0025093813355458513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998734153958418, + -0.0030507289338856936, + -0.015614051242524225, + 0.007416051170729009 + ], + [ + 0.0031161585507266955, + 0.999986469745636, + 0.004167832512844367, + 0.00636466179882292 + ], + [ + 0.015601124797546662, + -0.004215961322188377, + 0.9998694082943013, + 0.00021711127365443904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999877793744536, + -0.0027950885705649853, + -0.015379759265911484, + 0.00825308195751815 + ], + [ + 0.0028765817616633375, + 0.9999819397926331, + 0.00527915810982523, + 0.004005533552470541 + ], + [ + 0.015364725833520812, + -0.005322754383087158, + 0.9998678010783536, + 0.007365056773392499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998859063557304, + -0.00251613324508071, + -0.014893069575205146, + 0.008165914912404612 + ], + [ + 0.0026050571461880964, + 0.9999788999557497, + 0.005954440865214024, + 0.006057271754644103 + ], + [ + 0.014877773181687596, + -0.0059925592504441755, + 0.999871344098464, + 0.004388079297836709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998891578615321, + -0.0012723448453471065, + -0.014832513444867695, + 0.008871544833308096 + ], + [ + 0.0013744875027083608, + 0.9999753832817078, + 0.006878237619488693, + 0.008435445866167924 + ], + [ + 0.014823397357876479, + -0.006897862534970045, + 0.9998663150547737, + 0.008916343235165894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998536634682709, + -0.00044650951167568564, + -0.017100752972383917, + 0.010888934138526143 + ], + [ + 0.0005909109626725581, + 0.9999642372131348, + 0.008440036377340181, + 0.010756673483132242 + ], + [ + 0.0170963721718485, + -0.008448906242847443, + 0.9998181328780736, + 0.008663697078214627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998321057253621, + 0.0016372535610571504, + -0.01825190691724695, + 0.017868781431919074 + ], + [ + -0.0014460966428322152, + 0.9999440312385559, + 0.010481541224774153, + 0.011161097011509117 + ], + [ + 0.01826804580157988, + -0.01045338623225689, + 0.9997784683485986, + 0.011359311790425587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998480818094092, + 0.003331052605062723, + -0.017108518181141022, + 0.028156793282799093 + ], + [ + -0.003130957038227728, + 0.9999265670776367, + 0.011709168576842528, + 0.013750135885249674 + ], + [ + 0.017146265749121557, + -0.011653823778033257, + 0.9997850949725425, + 0.0108769343924154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998592352135736, + 0.003931254148483276, + -0.01630997476717148, + 0.02604893463637585 + ], + [ + -0.00371479137083438, + 0.9999049305915833, + 0.013280932224357516, + 0.014791959089369587 + ], + [ + 0.016360634585764516, + -0.013218474574387074, + 0.9997787637537197, + 0.014973816515118157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998188030840136, + 0.006890750490128994, + -0.017743811126140176, + 0.030711152512722176 + ], + [ + -0.0066168716852873675, + 0.9998587965965271, + 0.015447881495227167, + 0.021833346058573937 + ], + [ + 0.017847752908817925, + -0.01532767340540886, + 0.999723208156152, + 0.01633318522238604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997606371652856, + 0.012445927597582344, + -0.017992300038327386, + 0.029623094411235666 + ], + [ + -0.012125459543671929, + 0.9997678399086001, + 0.01781206568776539, + 0.018992132050387172 + ], + [ + 0.018209810260879825, + -0.01758963614702225, + 0.9996794273616995, + 0.018590212523196592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.999666197069748, + 0.019333217293024063, + -0.017138510903358578, + 0.025275701456971618 + ], + [ + -0.018996945967357258, + 0.999627947807312, + 0.019571242143661335, + 0.017227631301607003 + ], + [ + 0.017510509682364443, + -0.01923912949860096, + 0.9996615473184851, + 0.016485189958059303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995586490248067, + 0.024383140727877617, + -0.016970936693029102, + 0.02395678278976189 + ], + [ + -0.024025188239154505, + 0.9994910955429077, + 0.020985621988731898, + 0.017296626347402387 + ], + [ + 0.017473994022271927, + -0.02056862972676754, + 0.9996357026397712, + 0.023606122388251598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9994029001569676, + 0.029831955209374435, + -0.017431149407359646, + 0.025136558610944677 + ], + [ + -0.02944402545545384, + 0.9993219971656802, + 0.022103191212695095, + 0.018051359132865787 + ], + [ + 0.018078713725926024, + -0.021576751023530964, + 0.9996037436823492, + 0.023570752270032615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999254478488314, + 0.03434780612587929, + -0.017625713823781204, + 0.019074620576936353 + ], + [ + -0.03393100606438287, + 0.9991496205329895, + 0.023425240402384757, + 0.017548496015178217 + ], + [ + 0.018415330927283244, + -0.022809717804193497, + 0.999570193193852, + 0.026727714648248177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9991212488105159, + 0.036996129900217056, + -0.019698523803651724, + 0.007473658307088751 + ], + [ + -0.03650985585942561, + 0.9990329742431641, + 0.02449839162320459, + 0.02028848743261341 + ], + [ + 0.020585820987560746, + -0.023757673799991608, + 0.9995057949198007, + 0.029377260934249673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9989742775459898, + 0.03879363462328911, + -0.02335473694471809, + 0.005948008132346555 + ], + [ + -0.038183629947975355, + 0.998931884765625, + 0.026021924968986938, + 0.019316301884662938 + ], + [ + 0.02433927548625414, + -0.025103464722633362, + 0.9993885078109267, + 0.0308640100390566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9989064326812707, + 0.03948388621211052, + -0.02503811110979439, + -0.0004639222902542532 + ], + [ + -0.038821006796857516, + 0.998896598815918, + 0.02643039848775047, + 0.016068860677645038 + ], + [ + 0.026054059022119585, + -0.025429492816329002, + 0.9993370453266813, + 0.032226872850148636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9988906817409696, + 0.0394389033317566, + -0.02572940429983176, + -0.0022240377159281795 + ], + [ + -0.03877436293653476, + 0.9989139437675478, + 0.0258351289190261, + 0.013255504153524474 + ], + [ + 0.026720370545753293, + -0.024808829650282867, + 0.9993350728413866, + 0.03152613231608983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9988432152219995, + 0.03873370587825775, + -0.02849491663248019, + -0.0019728951886972164 + ], + [ + -0.03803462739165053, + 0.9989716410636902, + 0.024679684773789984, + 0.016558161092142375 + ], + [ + 0.02942154832061079, + -0.02356734126806259, + 0.9992892377477786, + 0.03386125429956113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9987685282845424, + 0.03760040923953056, + -0.032366702735627056, + -0.006790575920777697 + ], + [ + -0.03685512911275532, + 0.9990484118461609, + 0.023322880947852058, + 0.023601152315129697 + ], + [ + 0.03321285274366834, + -0.022101281210780144, + 0.999203884018999, + 0.03470384410856856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9986759730657339, + 0.036798492074012756, + -0.03594694361771953, + -0.010495253860577102 + ], + [ + -0.035978949684544896, + 0.9990835785865784, + 0.023185673583837944, + 0.0234506285112346 + ], + [ + 0.03676719759191869, + -0.021861640736460686, + 0.9990846954179491, + 0.03629184821497514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9984507643171526, + 0.037878409028053284, + -0.04075832656347203, + -0.007644821150473768 + ], + [ + -0.036959991983383664, + 0.9990507364273071, + 0.02305597212830123, + 0.02657812479518124 + ], + [ + 0.041592960124177965, + -0.02151382528245449, + 0.9989029789425669, + 0.03655707269930729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9979603363224787, + 0.042968049645423896, + -0.04721097123793343, + -0.013211694232911637 + ], + [ + -0.041933651343993746, + 0.9988628029823305, + 0.0226867143044849, + 0.028779481934618396 + ], + [ + 0.04813208849657907, + -0.020660711452364925, + 0.9986272968900534, + 0.03680164406555127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9976482054469288, + 0.04458339512348175, + -0.052061664867829836, + -0.013737251631765902 + ], + [ + -0.043453248244575575, + 0.9987988471984863, + 0.022642207060334395, + 0.021285205558368544 + ], + [ + 0.0530085960388687, + -0.020326709374785423, + 0.998387166071397, + 0.035720811458752395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9976982818775131, + 0.03946121037006378, + -0.05514430388504553, + -0.015992095269844207 + ], + [ + -0.038248157898722476, + 0.9990062117576599, + 0.02288312512151636, + 0.02646656179423493 + ], + [ + 0.05599249988260449, + -0.02072128653526306, + 0.998216140852656, + 0.03868571639295026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9975289761052326, + 0.039402324706315994, + -0.058166692458871086, + -0.0031932074097174024 + ], + [ + -0.03802933023850663, + 0.9989755749702454, + 0.024526063216628105, + 0.03813626030496137 + ], + [ + 0.0590734904925665, + -0.02225342020392418, + 0.9980055592707435, + 0.035251776362731614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9974051106494999, + 0.04238591715693474, + -0.058193948774103076, + 0.004307468163890174 + ], + [ + -0.04089207122891424, + 0.998808741569519, + 0.026625867855812942, + 0.04077053111496442 + ], + [ + 0.05925318721465445, + -0.024177104234695435, + 0.9979501691441467, + 0.031456799085297145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9976348048023584, + 0.04405416920781136, + -0.05276376332606482, + 0.0051889243005784486 + ], + [ + -0.042645851483603, + 0.9987109899520876, + 0.027526457591914584, + 0.0383353726922313 + ], + [ + 0.053908404868321214, + -0.025211198255419738, + 0.9982275693284598, + 0.031232027770748415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9978172297609217, + 0.04685915261507034, + -0.046529640278559006, + 0.0006267500459715206 + ], + [ + -0.04565789536016857, + 0.9986041784286499, + 0.026553239050873968, + 0.026291521557677774 + ], + [ + 0.047708954197962374, + -0.024370834231376648, + 0.9985639181473973, + 0.02987669608157164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9978477325551829, + 0.04852776974439621, + -0.04410176460562589, + -0.010868831847480796 + ], + [ + -0.04770319068067119, + 0.9986699819564819, + 0.01956176399421302, + -0.002161135528820728 + ], + [ + 0.04499239730557891, + -0.017415866255760193, + 0.9988355099534434, + 0.03162224710825448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9976419018191126, + 0.04931074008345605, + -0.047739642129205125, + -0.008832381737695898 + ], + [ + -0.0489182525750438, + 0.9987589716911318, + 0.009355809040808018, + 0.02715893006369908 + ], + [ + 0.048141737008211706, + -0.006998407188802959, + 0.9988159811498102, + 0.03167572500378763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9971514278270092, + 0.056707870215177536, + -0.04973135709560664, + -0.009310024814064295 + ], + [ + -0.056549979463744765, + 0.9983893036842346, + 0.004577301058097755, + 0.005877016478922545 + ], + [ + 0.049910824517219336, + -0.0017519552493467927, + 0.9987521583356017, + 0.02997258246049008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9968236784043342, + 0.06294703483581543, + -0.04878735884732863, + 0.0021656006053374227 + ], + [ + -0.06313432796598471, + 0.9980023503303528, + -0.0023060206578077143, + 0.011069922370116071 + ], + [ + 0.04854474433949713, + 0.005378853064030409, + 0.9988065474059793, + 0.017912716524979423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9967241582303211, + 0.06754455715417862, + -0.04448182898063629, + 0.016077226759684385 + ], + [ + -0.06789375323491104, + 0.9976721405982971, + -0.006385160645861387, + 0.0004912039657475951 + ], + [ + 0.04394699918241018, + 0.009384281933307648, + 0.9989897821384455, + 0.015185237730973924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.996874811468615, + 0.06898754835128784, + -0.03848765770999259, + 0.004747811003692919 + ], + [ + -0.0694140366829164, + 0.9975392818450928, + -0.009855543997977998, + 0.016469426768772243 + ], + [ + 0.037713038594335675, + 0.012496327981352806, + 0.9992104486925473, + 0.016281987845060637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9970314974335256, + 0.06664679199457169, + -0.038553666959753256, + 0.004213448620353284 + ], + [ + -0.06710335579094073, + 0.9976889491081238, + -0.010670654235832609, + 0.016769488241204222 + ], + [ + 0.037753402084343884, + 0.013226059265434742, + 0.9991995333477983, + 0.029554959310181234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9970584675506691, + 0.06504304707050325, + -0.040544329799929356, + -0.003972526909566232 + ], + [ + -0.06555326130535048, + 0.9977841377258303, + -0.011382723029066148, + 0.017294869924887976 + ], + [ + 0.03971412087162754, + 0.014007054269313816, + 0.9991128739593979, + 0.026437562756843492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9969164633121992, + 0.06601767987012863, + -0.04241685966729943, + 0.014389371169638232 + ], + [ + -0.06657966156677178, + 0.9977092742919922, + -0.01197412864116852, + 0.015768499156561786 + ], + [ + 0.04152918949914096, + 0.014761306345462799, + 0.9990282171855961, + 0.02737401839616515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9969187794926307, + 0.06771585345268251, + -0.03959114139048034, + 0.016222423224556512 + ], + [ + -0.06831711976762012, + 0.9975649118423464, + -0.014034789854331544, + 0.028837866180028877 + ], + [ + 0.03854435660114055, + 0.01669630035758019, + 0.9991173703761164, + 0.01813792608456028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9971267823938572, + 0.06493118405342102, + -0.03901451429073909, + -0.009061591144721576 + ], + [ + -0.06553859464932371, + 0.9977447390556335, + -0.014495579625845398, + 0.033332386358966695 + ], + [ + 0.0379853119833912, + 0.0170108862221241, + 0.9991335229802257, + 0.03359215895160786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.996654231926944, + 0.06914646923542024, + -0.04357881763646915, + -0.019117652702471774 + ], + [ + -0.06983812512483452, + 0.9974521994590761, + -0.01455200819020926, + 0.03580537745230595 + ], + [ + 0.0424615675647948, + 0.017546782270073894, + 0.998944008401111, + 0.03262092901051572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9962331804274335, + 0.0717638209462166, + -0.048676195820109375, + -0.023342324419235325 + ], + [ + -0.07256098351771148, + 0.997254014015198, + -0.01481017272698149, + 0.03827168508327046 + ], + [ + 0.04747969712513742, + 0.018286377191543583, + 0.9987047936221125, + 0.0317135589663111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9957378861304274, + 0.07404987514019012, + -0.05497935364813808, + -0.03930816795386367 + ], + [ + -0.07497697201200552, + 0.9970725178718567, + -0.0149931310911673, + 0.04861484856660281 + ], + [ + 0.053708163958373745, + 0.019051412120461464, + 0.9983749286715538, + 0.029473797715075828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9951596054297518, + 0.0752437561750412, + -0.06321224266475753, + -0.05563818946977324 + ], + [ + -0.07623025862885496, + 0.9970009922981262, + -0.013338824106497877, + 0.036161125908630576 + ], + [ + 0.06201900491239754, + 0.018092945218086243, + 0.9979109557151321, + 0.035305563508337655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9946050439693497, + 0.0727304518222809, + -0.07396653867481304, + -0.0764645452902918 + ], + [ + -0.07380601415872944, + 0.9972015023231509, + -0.011909652327185239, + 0.03285059060603832 + ], + [ + 0.07289334868471489, + 0.017304575070738796, + 0.9971895959969471, + 0.03319094739005841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9933649146268424, + 0.0765477940440178, + -0.08582901868882019, + -0.06377074952277555 + ], + [ + -0.07776650728250975, + 0.9969115257263186, + -0.0109418832326148, + 0.042057412614199374 + ], + [ + 0.08472636102325325, + 0.01754390634596348, + 0.9962497777183181, + 0.035748503922540906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9925008251809653, + 0.07796094566583633, + -0.0941498617673288, + -0.05129865202177084 + ], + [ + -0.07902912637969076, + 0.9968428611755371, + -0.007664996679393668, + 0.060240960644712745 + ], + [ + 0.09325504585069698, + 0.015048096887767315, + 0.9955285478800457, + 0.02829210907388568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9914463734301904, + 0.08091215789318085, + -0.10240780133149638, + 0.010669266502805752 + ], + [ + -0.08125198675823112, + 0.9966932535171509, + 0.0008556082512794637, + 0.11638615703157885 + ], + [ + 0.10213839158530619, + 0.007472547236829996, + 0.9947421622847075, + 0.015614766133676914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9915309935644967, + 0.08154245465993881, + -0.10107974581315385, + 0.024885556236919265 + ], + [ + -0.07994377952252839, + 0.99660325050354, + 0.019773907761851253, + 0.10179828937174025 + ], + [ + 0.10234881084912603, + -0.011525746434926987, + 0.9946817835973298, + 0.017240425044237444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9917220056713465, + 0.08309272676706314, + -0.09789334747113285, + -0.006030242852579096 + ], + [ + -0.0801974963093048, + 0.9962274432182312, + 0.03315482395546247, + 0.05979553786847098 + ], + [ + 0.10027896341194074, + -0.025029566138982773, + 0.9946444980144202, + 0.03949475703855865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9914075638154431, + 0.08401700109243393, + -0.10026035247247903, + -0.03275589284221957 + ], + [ + -0.08068550916778708, + 0.9960585236549377, + 0.03684040745367302, + 0.06177872936910881 + ], + [ + 0.10296040798064694, + -0.028434302657842636, + 0.9942789763621189, + 0.04625158506336223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9903356364547035, + 0.08606007695198059, + -0.10876130530329044, + -0.02850333475636413 + ], + [ + -0.08211104438545669, + 0.995808482170105, + 0.04028879180961161, + 0.015388426524661242 + ], + [ + 0.1117726888373821, + -0.0309689212590456, + 0.9932511480436412, + 0.05094342261786284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9892618012728275, + 0.08728183805942537, + -0.11723049591496189, + -0.04889192531419263 + ], + [ + -0.08398095757937549, + 0.9959267973899844, + 0.03281714457661175, + -0.0435135377159711 + ], + [ + 0.11961733701366371, + -0.02261961624026299, + 0.9925623769696784, + 0.04171301498669612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9876406698337087, + 0.09169680625200273, + -0.1271127421992588, + -0.03429534631621249 + ], + [ + -0.0906225334126128, + 0.9957837462425234, + 0.014221210864262626, + -0.034594729374979684 + ], + [ + 0.12788084483207038, + -0.0025261677801609044, + 0.9917862926086722, + 0.03866208615853771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9871469816206089, + 0.0907750576734543, + -0.1315321787192577, + -0.03065918570920688 + ], + [ + -0.09183886953184539, + 0.9957718253135683, + -0.0020315863351608437, + -0.03299347556111125 + ], + [ + 0.13079161469563222, + 0.014085240662097934, + 0.9913097974749048, + 0.029598765057129377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9869317968796415, + 0.08830038458108902, + -0.1347910154115509, + -0.03119529324713155 + ], + [ + -0.09144740311095212, + 0.9956591725349426, + -0.017325123383397412, + -0.029373000133537216 + ], + [ + 0.1326761007385212, + 0.0294250026345253, + 0.9907225798880839, + 0.03144611735877682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9865598250470881, + 0.08851873129606247, + -0.13734659118459386, + -0.018038610495666393 + ], + [ + -0.0934595341650485, + 0.9951728582382202, + -0.029938722484073907, + -0.004509507191140459 + ], + [ + 0.13403346739741143, + 0.0423726886510849, + 0.9900705193726266, + 0.01433324910692849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9867063080586433, + 0.08718555420637132, + -0.1371471404309854, + -0.009551404857684534 + ], + [ + -0.09277879777254618, + 0.9950741529464724, + -0.03492113178802934, + -0.007223467742423602 + ], + [ + 0.13342695727140041, + 0.04718124866485597, + 0.9899349540723573, + 0.016678163759546977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9869222348334598, + 0.08602318912744522, + -0.13632514226569148, + -0.007864297825635053 + ], + [ + -0.09215060384622026, + 0.9949699640274048, + -0.03928100204372731, + -0.0021514005263522295 + ], + [ + 0.13226034733794584, + 0.05132973939180374, + 0.9898850706246827, + 0.019317109625005366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9863539106006931, + 0.09108878672122955, + -0.13714523034068987, + -0.0010760111313423415 + ], + [ + -0.09798265951307335, + 0.9941985011100769, + -0.04437078473481697, + 0.0028352301088574268 + ], + [ + 0.1323079002705204, + 0.057203151285648346, + 0.9895566949634188, + 0.017564739217044704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9857911427439738, + 0.09480889141559601, + -0.1386617910869198, + 0.00393683804265739 + ], + [ + -0.10244852805164881, + 0.9935296773910522, + -0.049021491557111364, + 0.0033224300824268357 + ], + [ + 0.13311693252879542, + 0.06253065168857574, + 0.9891257601131704, + 0.010282993657510833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9856922056045789, + 0.09471812099218369, + -0.13942497280820487, + 0.00042094146734682203 + ], + [ + -0.10298084352601196, + 0.9932554960250854, + -0.053276792562920346, + -0.007812906771547416 + ], + [ + 0.13343834590109457, + 0.06687261909246445, + 0.9887984098267414, + 0.016595099683856612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.985540315774119, + 0.09577199816703796, + -0.1397783458886107, + 0.007643725228636225 + ], + [ + -0.10491691057550785, + 0.9926948547363281, + -0.05957628300992565, + -0.005261476751715613 + ], + [ + 0.13305150797260476, + 0.07337994128465652, + 0.9883889229506205, + 0.01056378083534642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9858193241484987, + 0.09516812860965729, + -0.13821449458927948, + 5.632568620012046e-05 + ], + [ + -0.1050709032494218, + 0.9922590255737305, + -0.06619777862004053, + -0.00567454438875164 + ], + [ + 0.13084466510235515, + 0.07978137582540512, + 0.9881875546924325, + 0.016839854120744423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9860238608694354, + 0.0937251001596451, + -0.13774076837978444, + -0.015244249669459795 + ], + [ + -0.10453522056895954, + 0.9918050765991213, + -0.07345095296333305, + -0.0022482525722334872 + ], + [ + 0.12972780151894603, + 0.08682315051555635, + 0.9877410657078839, + 0.01390804557920199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9853984782403977, + 0.0945465937256813, + -0.1416009759874451, + -0.0225342272892166 + ], + [ + -0.10645088115328405, + 0.9911759495735168, + -0.07898414180796237, + -0.00047694205567744806 + ], + [ + 0.13288380075916525, + 0.09290440380573273, + 0.9867678160387083, + 0.011940997528621218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9840017409066825, + 0.09797559678554535, + -0.14879969620323347, + -0.017874593051333057 + ], + [ + -0.11103439991597797, + 0.9904168248176575, + -0.08213294169328018, + -0.0017268093090731258 + ], + [ + 0.13932670599149827, + 0.09734084457159042, + 0.9854505917821935, + 0.004748762175114284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9827107419435112, + 0.10013806074857712, + -0.15573030016861092, + -0.01450968981409681 + ], + [ + -0.11443469342387189, + 0.9897269010543823, + -0.08570507189759666, + 0.010081222617255636 + ], + [ + 0.14554812650952761, + 0.1020442396402359, + 0.9840745323537183, + 0.011098522450050809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9814933910927106, + 0.10165482759475711, + -0.16228692846245069, + -0.008803580797445157 + ], + [ + -0.11702738696421705, + 0.9892099499702456, + -0.08813793867617932, + 0.006973811145944118 + ], + [ + 0.15157620008058953, + 0.10549882054328921, + 0.9827994135103522, + 0.0068139325539181665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9803019539231369, + 0.10199199616909027, + -0.16913205587592078, + -0.0007855509868014837 + ], + [ + -0.11854567906327647, + 0.9887855052947998, + -0.09083052493312618, + 0.0055736649629776515 + ], + [ + 0.15797133316528988, + 0.10909121483564377, + 0.9813990833685277, + 0.005980621490782861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9792264917387261, + 0.10252439975738525, + -0.17494079386594777, + -0.008404156096272153 + ], + [ + -0.12022821437390015, + 0.9883073568344116, + -0.09377474329204244, + 0.00825164331017373 + ], + [ + 0.16328107115856122, + 0.11285952478647232, + 0.980103042776931, + 0.0019274805529926851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9779246133528161, + 0.10191075503826141, + -0.18242166544336447, + -0.0153958058171966 + ], + [ + -0.12063896505801451, + 0.9881716370582581, + -0.09467347838334908, + 0.00677568734893955 + ], + [ + 0.17061566054477262, + 0.11459068208932877, + 0.9786517508964704, + -9.378425015873701e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9765150004724273, + 0.10124155879020691, + -0.1901803133197676, + -0.014206875910768663 + ], + [ + -0.12087049447499601, + 0.988150954246521, + -0.09459400615114796, + 0.05225338597255001 + ], + [ + 0.1783500174082211, + 0.11535965651273727, + 0.9771813447924589, + -0.004923746649255881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9747457869486957, + 0.10323461890220642, + -0.19802346304819793, + -0.0018216100863751583 + ], + [ + -0.12200211442909759, + 0.9888825416564941, + -0.08501078944974869, + 0.06213144548103543 + ], + [ + 0.18704589026314036, + 0.1070231944322586, + 0.9765038797025326, + -0.0070233318958547244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9731807576711506, + 0.10430971533060074, + -0.2050334244444077, + 0.01381790791062884 + ], + [ + -0.12178983774393201, + 0.9897531867027283, + -0.07453733805392992, + 0.06709337345525034 + ], + [ + 0.19515752151697113, + 0.09750928729772568, + 0.9759126443987427, + -0.0051496923029820535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9717666639212954, + 0.10587172210216522, + -0.21085710083655632, + 0.0205552735188307 + ], + [ + -0.12176588981197255, + 0.9905034899711609, + -0.0638428839291871, + 0.05524072204435282 + ], + [ + 0.20209554097118576, + 0.08771558851003647, + 0.9754298478743741, + -0.0006532504229165362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9708130942815546, + 0.10650812089443207, + -0.21489055617261382, + 0.012474266596363512 + ], + [ + -0.12121341905784551, + 0.9910218715667725, + -0.05641799698064945, + 0.04337451133886249 + ], + [ + 0.20695226582164256, + 0.08081894367933273, + 0.9750072384072, + 0.007136898635280227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9699917996847827, + 0.10749143362045288, + -0.21808606989557022, + 0.014859725167388663 + ], + [ + -0.12133342378507639, + 0.9912974238395691, + -0.051064439926076725, + 0.035293233502634594 + ], + [ + 0.21069917324789741, + 0.07599321752786636, + 0.9745926886904802, + 0.007430890136429943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9694242721716909, + 0.1070828065276146, + -0.2207937303146906, + 0.014353745652257333 + ], + [ + -0.12014184391530212, + 0.991664707660675, + -0.046551016616722764, + 0.0346502722516957 + ], + [ + 0.21396853527605486, + 0.07165425270795822, + 0.9742089571327733, + 0.007581278352327903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9687802639195309, + 0.1059727668762207, + -0.22413068159598093, + 0.02366081577364798 + ], + [ + -0.11841944686339233, + 0.992040753364563, + -0.042801453889834244, + 0.041019801284950794 + ], + [ + 0.21781098891657644, + 0.06800663471221924, + 0.9736187765497905, + 0.019690223657648595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9681816672856963, + 0.10518054664134979, + -0.22707122444498237, + 0.026372203466680275 + ], + [ + -0.11679794678333512, + 0.9924166202545166, + -0.03830827461045364, + 0.03829327197314316 + ], + [ + 0.2213199685284051, + 0.06361082196235657, + 0.973124419740605, + 0.014766818695993451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9675356718044246, + 0.10563563555479052, + -0.22959929203660487, + 0.02836074627350109 + ], + [ + -0.11623596363326136, + 0.9926697015762331, + -0.03310615968885452, + 0.02596573085183475 + ], + [ + 0.2244190718634837, + 0.058719083666801467, + 0.9727220326484988, + 0.013457293264063776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9668964476796781, + 0.10803892463445663, + -0.2311683367634064, + 0.03649720555362246 + ], + [ + -0.11788124269529929, + 0.992599606513977, + -0.029154365919208402, + 0.02667475004877525 + ], + [ + 0.22630780580562762, + 0.05543966218829155, + 0.9724768768959938, + 0.010560368832458426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9668878066396518, + 0.10755693167448044, + -0.23142930678976653, + 0.04395276956670542 + ], + [ + -0.11684098737864691, + 0.9927903413772583, + -0.026749584971112766, + 0.020998172700824484 + ], + [ + 0.22688367812234833, + 0.052904270589351654, + 0.9724839097957944, + 0.01603112259323645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.967454494741251, + 0.10589217394590378, + -0.22982306199835997, + 0.06029483914006645 + ], + [ + -0.11490367143616317, + 0.9930323958396912, + -0.026149318182978776, + 0.035892972851470285 + ], + [ + 0.22545274022344977, + 0.05170578509569168, + 0.9728810779730694, + 0.017229090848101286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9683271810231806, + 0.10521291196346286, + -0.2264347769852928, + 0.0542061069455675 + ], + [ + -0.1133230352901818, + 0.9932900071144106, + -0.023083240354788707, + 0.03508273763042557 + ], + [ + 0.2224867545574968, + 0.048012405633926405, + 0.9737527580431226, + 0.020256455048295752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9691073720944652, + 0.10495460033416748, + -0.22319377721258152, + 0.04440560951606998 + ], + [ + -0.11203305885564764, + 0.9935178756713867, + -0.019255882959656013, + 0.027216503302157306 + ], + [ + 0.21972601318740104, + 0.04366609826683998, + 0.9745838765093646, + 0.019699860697040727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9694590059977176, + 0.10436582565307617, + -0.221939185693296, + 0.04639886705036146 + ], + [ + -0.11071786022278896, + 0.9937175512313843, + -0.016339021608518, + 0.035498705195099914 + ], + [ + 0.21883962165203122, + 0.04041264206171036, + 0.9749235775949702, + 0.03157592574125251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9698394682210025, + 0.10491707921028137, + -0.2200086142595414, + 0.054548870577527525 + ], + [ + -0.11049243786613436, + 0.9937899112701416, + -0.013155858318810438, + 0.03974482754873102 + ], + [ + 0.21726206280067853, + 0.037068359553813934, + 0.9754092328524204, + 0.03507138075248974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9703042203952493, + 0.10564040392637253, + -0.21760014220047505, + 0.07080315208278343 + ], + [ + -0.11026008943572072, + 0.9938605427742004, + -0.009163633220455483, + 0.03487673151195195 + ], + [ + 0.21529614178369869, + 0.03288412466645241, + 0.9759949907347735, + 0.030080069813665275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.971126877416316, + 0.10583502799272537, + -0.21380250470244203, + 0.06753581437486213 + ], + [ + -0.10947656099045468, + 0.9939756393432617, + -0.005230066613374775, + 0.031382115797398774 + ], + [ + 0.21196096362919142, + 0.02848542109131813, + 0.9768629238629051, + 0.025256443374121685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9717399219419769, + 0.10606830567121506, + -0.21088154809708304, + 0.0733943107445769 + ], + [ + -0.10884025552695258, + 0.9940580725669861, + -0.0015476585468893395, + 0.037034769005409154 + ], + [ + 0.20946435167161723, + 0.024456322193145752, + 0.9775104082268619, + 0.03546364822311189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9725844909477985, + 0.10596095025539398, + -0.20700641484607582, + 0.07887816138196359 + ], + [ + -0.10764942233932608, + 0.9941840171813965, + 0.0031231898904470565, + 0.021522313619266778 + ], + [ + 0.20613341207515587, + 0.019246554002165794, + 0.9783346085875083, + 0.0327914170541975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9736361977016094, + 0.10534948855638504, + -0.20232160828545212, + 0.0742320030961115 + ], + [ + -0.10657302569125203, + 0.9942929744720459, + 0.004867977771059336, + 0.025840275978507785 + ], + [ + 0.2016797875811245, + 0.016822386533021927, + 0.9793070251611008, + 0.04186925683914661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9743935266620781, + 0.10557084530591965, + -0.19852475111943937, + 0.07149678005860954 + ], + [ + -0.10643142115245893, + 0.9942997097969055, + 0.006361791692976109, + 0.0335674688616917 + ], + [ + 0.1980647207081365, + 0.014930382370948792, + 0.9800752385625516, + 0.043962263046359834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9749449996862263, + 0.1045815572142601, + -0.1963287686506932, + 0.06779822569342717 + ], + [ + -0.1049518437275905, + 0.9944405555725098, + 0.00854622475136364, + 0.033888713902516916 + ], + [ + 0.1961310702554201, + 0.012272967025637627, + 0.9805008696512363, + 0.05113083452976572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9754264346812458, + 0.10313042998313904, + -0.19469827572743406, + 0.06770743597111309 + ], + [ + -0.10299893625991698, + 0.994622528553009, + 0.010826830618007788, + 0.031310110943849216 + ], + [ + 0.19476787214429547, + 0.009492938406765461, + 0.9808034076280584, + 0.05076762028806128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9757361302166732, + 0.10262415558099747, + -0.19340969125155874, + 0.06869966343257859 + ], + [ + -0.10207216142936923, + 0.9946940541267395, + 0.012843950866952994, + 0.03343478516381629 + ], + [ + 0.19370158260983497, + 0.00720943883061409, + 0.9810340302726264, + 0.06220870626629639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9761151722552576, + 0.1022947505116463, + -0.19166372759587494, + 0.07740082064003663 + ], + [ + -0.10134348541668814, + 0.9947416186332705, + 0.014785964468456961, + 0.036287109996968867 + ], + [ + 0.19216841732374956, + 0.004991065710783006, + 0.9813492894650264, + 0.06704471362760189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9770397931702619, + 0.10183980315923694, + -0.1871415190087458, + 0.08700122761216532 + ], + [ + -0.10040789589918227, + 0.9947987198829653, + 0.017139950481724876, + 0.028928527254068644 + ], + [ + 0.18791366027053039, + 0.0020440714433789258, + 0.9821834122159366, + 0.07293643256722498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9783228199708529, + 0.10012398660182956, + -0.18127225753135864, + 0.08257680111016888 + ], + [ + -0.09835242771292085, + 0.9949748516082766, + 0.018758634050673014, + 0.029091656566233075 + ], + [ + 0.1822395236299581, + -0.000523433554917574, + 0.9832540286377881, + 0.0727007970820324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.979613501727191, + 0.09695696830749514, + -0.1759451191911077, + 0.06632953856412677 + ], + [ + -0.0950079351682995, + 0.995285749435425, + 0.01948805868059584, + 0.037311956574756056 + ], + [ + 0.1770051782872548, + -0.002374583156779409, + 0.9842070647377937, + 0.08839566857371663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9804311388679473, + 0.09124989062547685, + -0.17443704795345355, + 0.07031144314974712 + ], + [ + -0.08901137418753319, + 0.9958169460296633, + 0.020630197599831288, + 0.0403692899360032 + ], + [ + 0.175589870298216, + -0.004699607379734517, + 0.9844522118655501, + 0.09200365828713412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9810108367397623, + 0.08802970498800278, + -0.17282509122515644, + 0.06737760970573156 + ], + [ + -0.0854967530129611, + 0.9960941672325134, + 0.022060697005849932, + 0.0476999571351181 + ], + [ + 0.17409206732971866, + -0.006865799427032471, + 0.9847054491126774, + 0.1057142520993973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.981141966803469, + 0.08967527747154236, + -0.1712273672663905, + 0.07664625660165961 + ], + [ + -0.08670657473299541, + 0.9959263205528259, + 0.024753689041758682, + 0.05533121952766935 + ], + [ + 0.1727496368520171, + -0.009440343827009201, + 0.9849205283846189, + 0.10964148956689934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.981338437563505, + 0.09398898482322696, + -0.1677526990109616, + 0.07785948647245328 + ], + [ + -0.09047465404459089, + 0.9954912066459658, + 0.02848810734366117, + 0.057617112716482705 + ], + [ + 0.16967390352191916, + -0.012779107317328457, + 0.9854173786398609, + 0.11415154533751551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9822142756519565, + 0.09476043283939364, + -0.1620973760704052, + 0.08525195984535863 + ], + [ + -0.09068468626931783, + 0.9953532218933108, + 0.032377446128371054, + 0.066875203367474 + ], + [ + 0.16441224288511214, + -0.0171018410474062, + 0.9862434557419201, + 0.11462706172545442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9834862494118588, + 0.09464821964502335, + -0.15426101354324834, + 0.09224959512881223 + ], + [ + -0.0899949415830591, + 0.9952588081359863, + 0.03688995175102222, + 0.08129934164406707 + ], + [ + 0.1570212008099547, + -0.022398050874471664, + 0.9873412079661479, + 0.1302501248845962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.985608843382057, + 0.09406047314405441, + -0.14045567295507747, + 0.12044642575342451 + ], + [ + -0.08899526650751939, + 0.9951490163803101, + 0.04193251601053474, + 0.07594515917270656 + ], + [ + 0.1437185126057104, + -0.028829168528318405, + 0.9891985770470527, + 0.1288635723134366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9882065418927563, + 0.09398278594017032, + -0.12089302114681354, + 0.11577965492111206 + ], + [ + -0.08907067945914052, + 0.9949889183044436, + 0.04542535176380487, + 0.08064332705744418 + ], + [ + 0.12455641553728375, + -0.03412160277366639, + 0.9916256578488065, + 0.147920750825854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9903196394284539, + 0.09472235292196274, + -0.1014624554906796, + 0.11090854940704806 + ], + [ + -0.09029356683645635, + 0.9947866797447205, + 0.04739727460651865, + 0.07917109536875445 + ], + [ + 0.10542308451121415, + -0.037777043879032135, + 0.9937096437666123, + 0.15599035050213114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9923893264076118, + 0.09305116534233093, + -0.0806533145213216, + 0.09022546300081746 + ], + [ + -0.08931063811885713, + 0.9948068857192993, + 0.04881410271990798, + 0.07756962952593212 + ], + [ + 0.08477668309961156, + -0.04123939573764801, + 0.9955461979652751, + 0.1742984453622512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9934408248416049, + 0.09316945075988771, + -0.06629278848332511, + 0.06230190272976391 + ], + [ + -0.08992136755055756, + 0.9946725368499758, + 0.05040559738066216, + 0.0852578594590203 + ], + [ + 0.07063587166904153, + -0.044113840907812125, + 0.9965262220639869, + 0.19218728512502894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9938527986737277, + 0.09590531885623935, + -0.055305956108564626, + 0.07490292986069885 + ], + [ + -0.0929379889283125, + 0.9942096471786501, + 0.05394189098673178, + 0.0724463859553814 + ], + [ + 0.060159026705641216, + -0.04847027733922006, + 0.9970112747460528, + 0.2054489838952816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9945112216408005, + 0.09797359257936478, + -0.0367229056939262, + 0.0504518085266025 + ], + [ + -0.09586834862071561, + 0.9938583374023438, + 0.055271106706142714, + 0.06306954822626844 + ], + [ + 0.041912475096725056, + -0.05144716799259186, + 0.9977958137841764, + 0.21336180479997435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9947786394407646, + 0.09983855485916138, + -0.021159931131245265, + 0.054870590130025404 + ], + [ + -0.09850255554773386, + 0.9935125112533569, + 0.056834429917286586, + 0.05893696619587215 + ], + [ + 0.026696918009452106, + -0.054453372955322266, + 0.9981593416958656, + 0.21749822671623398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.99521821778738, + 0.09745467454195023, + -0.006577881574422771, + 0.025139766958915566 + ], + [ + -0.09689582084580077, + 0.9935204386711121, + 0.05939937579744553, + 0.03617187836036145 + ], + [ + 0.012324014437071906, + -0.058477967977523804, + 0.9982126499458172, + 0.23088575836899206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9954501277365725, + 0.09527671337127686, + 0.0011688087505616913, + 0.013818257477176965 + ], + [ + -0.09517560614382432, + 0.993659496307373, + 0.05985344120900728, + 0.05566708240264165 + ], + [ + 0.004541238767317654, + -0.05969235673546791, + 0.9982064692844099, + 0.2519863109259161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9952503944182712, + 0.09731234610080719, + 0.002630058968239422, + 0.001677532874126808 + ], + [ + -0.09728436682367786, + 0.9932622909545898, + 0.06297479220842712, + 0.06526080979714141 + ], + [ + 0.0035158832870781213, + -0.06293155252933502, + 0.9980116434066341, + 0.25501502165832646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9948281695479019, + 0.1015235185623169, + 0.0031385242352309052, + -0.006199718696085654 + ], + [ + -0.10151270983294926, + 0.9927168488502502, + 0.0648728362246388, + 0.07060287949328943 + ], + [ + 0.003470440128902245, + -0.06485592573881149, + 0.9978885853247513, + 0.2610583893172022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9947158349015901, + 0.10262977331876755, + 0.0027494490706392208, + 0.010559879494559166 + ], + [ + -0.1025783500663759, + 0.9923942685127258, + 0.06805346439867489, + 0.05998646528283566 + ], + [ + 0.004255763266532461, + -0.06797589361667633, + 0.997677865652937, + 0.2547274674761606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9945515562185043, + 0.10415977984666827, + 0.004235373462650639, + 0.016331473151559278 + ], + [ + -0.10421427431805594, + 0.9924293756484988, + 0.06498731159899787, + 0.05745937507494438 + ], + [ + 0.002565760206838438, + -0.06507461518049242, + 0.9978771281809392, + 0.2534522313583063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9943094713983024, + 0.10626082122325897, + 0.007571470130984763, + -0.014425627643274846 + ], + [ + -0.10651405839430936, + 0.9928827881813049, + 0.05327818294292826, + 0.07219541479495616 + ], + [ + -0.0018561883717816074, + -0.05378147214651108, + 0.9985510158536971, + 0.2648109245688273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.994160214805734, + 0.10751645267009735, + 0.009255541408005791, + -0.03224627847100389 + ], + [ + -0.10783162640516504, + 0.9930923581123352, + 0.04625886148976859, + 0.03280698282882836 + ], + [ + -0.004218006250768183, + -0.04698675870895386, + 0.9988866107144089, + 0.27034233829053217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9940127958538632, + 0.10889872163534164, + 0.008925901530206842, + -0.03274403450743002 + ], + [ + -0.10917939546128196, + 0.9931367039680481, + 0.04194393261737062, + 0.02325660449016593 + ], + [ + -0.004297010197784847, + -0.04266732558608055, + 0.9990800666718892, + 0.26037245492213706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.993803351444814, + 0.11098171770572662, + 0.006160275320861642, + -0.04684674260007013 + ], + [ + -0.11113612459781506, + 0.9930819869041443, + 0.03790677388015163, + 0.03171800947804864 + ], + [ + -0.0019106905011734014, + -0.03835650533437729, + 0.9992623101255989, + 0.26781992901289803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9935025419860709, + 0.11380794644355774, + 0.0006548432842359093, + -0.07160941151966635 + ], + [ + -0.11376104943337167, + 0.9928918480873108, + 0.03498917378002915, + 0.033688196217262885 + ], + [ + 0.003331852198188634, + -0.03483632951974869, + 0.999387506218813, + 0.26846946576657754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9929210671641221, + 0.118330217897892, + -0.010280344372426536, + -0.04696674449312177 + ], + [ + -0.11794519339979619, + 0.9924951195716858, + 0.03228485022917757, + 0.030022814741207087 + ], + [ + 0.014023464662930885, + -0.030843790620565414, + 0.9994258216641949, + 0.26592452075166056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9922846445535074, + 0.12294826656579971, + -0.015965757175292, + -0.053083524434065 + ], + [ + -0.12250118277036344, + 0.9921150207519531, + 0.02648030868041028, + 0.024437642052177716 + ], + [ + 0.019095570142637647, + -0.024320177733898163, + 0.9995218140219247, + 0.26738167247634714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9919865450754031, + 0.12447657436132434, + -0.02163868010972423, + -0.019159956842008385 + ], + [ + -0.12403732899685496, + 0.9920640587806704, + 0.020582475064800217, + 0.036386267394389965 + ], + [ + 0.024028999014058073, + -0.01773352921009064, + 0.9995539455977541, + 0.2688603847771081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9914651438758967, + 0.1285902410745621, + -0.021479732360484918, + -0.08918592392140826 + ], + [ + -0.12820776408807968, + 0.9915779232978823, + 0.01832895842143514, + 0.024488686448979374 + ], + [ + 0.023655755632027337, + -0.015418657101690773, + 0.9996012658784807, + 0.26277002804262606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9908689774917805, + 0.131680428981781, + -0.028964325671650748, + -0.11032709441796415 + ], + [ + -0.1311964750353128, + 0.9911924600601196, + 0.01802655980769991, + 0.0296263585054348 + ], + [ + 0.031082981326103966, + -0.0140619408339262, + 0.9994179128501507, + 0.27253668766796346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9901413466380692, + 0.13525491952896118, + -0.03641745536266571, + -0.10559552054293378 + ], + [ + -0.13468249018887388, + 0.990729808807373, + 0.01774932648059748, + 0.027585716684985703 + ], + [ + 0.038480536223586694, + -0.012669548392295837, + 0.9991790275178595, + 0.2662709923210865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9897284742760829, + 0.13690809905529022, + -0.04115454151102973, + -0.11684248182273455 + ], + [ + -0.13638835530613644, + 0.9905388951301575, + 0.015195327987980598, + 0.026037366899973817 + ], + [ + 0.042845539029216125, + -0.009426245465874672, + 0.9990372656468259, + 0.2721874064258772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9894553352347691, + 0.1370040774345398, + -0.04698963772549518, + -0.13176436224111487 + ], + [ + -0.1365538938793121, + 0.9905515313148499, + 0.01267553572287313, + 0.021555249751435426 + ], + [ + 0.048282261646306814, + -0.006125257350504398, + 0.9988149764769473, + 0.27489935397122334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9885236422092915, + 0.1398259699344635, + -0.05718101513011772, + -0.12896224942135548 + ], + [ + -0.1393336542624326, + 0.9901662468910217, + 0.012527714763351256, + 0.026033851084595574 + ], + [ + 0.05837040959430301, + -0.004416698589920998, + 0.9982851960624172, + 0.2739896724978482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9872169037665938, + 0.1442430466413498, + -0.06779944571706781, + -0.12838878631411982 + ], + [ + -0.14366684234307173, + 0.9895364046096802, + 0.013324598660187705, + 0.0240029370786033 + ], + [ + 0.06901200726801834, + -0.0034137358888983727, + 0.9976100113237901, + 0.27024000795465614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9859611651747907, + 0.1481834203004837, + -0.07695606154481807, + -0.13740619223590667 + ], + [ + -0.14758324486166424, + 0.9889580607414246, + 0.01346005755808518, + 0.02973790175490746 + ], + [ + 0.07810087279072017, + -0.001913669053465128, + 0.9969436242017914, + 0.27111496377230443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9849025644488855, + 0.150261789560318, + -0.08595515085317339, + -0.13187597329122405 + ], + [ + -0.14962389845179197, + 0.9886459112167358, + 0.013853202109573984, + 0.028956698284954223 + ], + [ + 0.08706081433035287, + -0.0007831091061234474, + 0.9962026675775025, + 0.2717565900046723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9839301785978428, + 0.15222708880901337, + -0.09331829349954257, + -0.14525533836002744 + ], + [ + -0.15152121693605583, + 0.9883455038070679, + 0.014645292129199718, + 0.031374172270247344 + ], + [ + 0.09446012060111132, + -0.0002702432684600353, + 0.9955285903567157, + 0.2739805337019374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9828665498514013, + 0.15375089645385745, + -0.10165617531689823, + -0.13629861014295583 + ], + [ + -0.1528951301042204, + 0.9881095886230471, + 0.016203875203001036, + 0.04576600028360539 + ], + [ + 0.10293881099450156, + -0.00038351071998476993, + 0.9946876333524839, + 0.26682593901235857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9818519767260067, + 0.1547786295413971, + -0.10959149034105177, + -0.15261175977374383 + ], + [ + -0.15324883314849835, + 0.9879360198974609, + 0.022298300298570373, + 0.0479473424061039 + ], + [ + 0.11172067771562859, + -0.005098862573504448, + 0.9937265789372133, + 0.27238261533453545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9803280656726328, + 0.15680493414402008, + -0.11987096398675125, + -0.15692313801987284 + ], + [ + -0.15437457610387909, + 0.9875761270523071, + 0.029357319040209866, + 0.05054349635519279 + ], + [ + 0.12298507568946104, + -0.010274773463606834, + 0.9923553001430918, + 0.27241028076974627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9785613514663887, + 0.15908634662628174, + -0.13080225117705407, + -0.15921387031091475 + ], + [ + -0.1554780868217426, + 0.9871304631233215, + 0.03741639869230836, + 0.051446201541152044 + ], + [ + 0.13507132654109744, + -0.016277356073260307, + 0.9907021571722322, + 0.2765032654895301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9766176085000519, + 0.1609342396259308, + -0.14254199591269276, + -0.16161948747184726 + ], + [ + -0.1557837484895323, + 0.9866886138916016, + 0.04665881267235544, + 0.05274212388095843 + ], + [ + 0.14815356625700196, + -0.023362090811133385, + 0.9886884184517593, + 0.2766904071086399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9743757407541457, + 0.16327656805515292, + -0.15470199234295667, + -0.17155037774261706 + ], + [ + -0.15643193781123998, + 0.9861274361610415, + 0.05551334796055646, + 0.051089385371100346 + ], + [ + 0.16161990371528226, + -0.029890526086092002, + 0.9864003040107127, + 0.27751689340734836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9718700616282056, + 0.1659919768571854, + -0.16707851723510533, + -0.1717801948772204 + ], + [ + -0.157553416889502, + 0.9855212569236758, + 0.06264822379000445, + 0.04436821204989398 + ], + [ + 0.17505852883453726, + -0.0345621407032013, + 0.9839511902806828, + 0.27439419213784155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.970069428986919, + 0.16759623587131503, + -0.17571790253285907, + -0.176881897014892 + ], + [ + -0.15821935951988317, + 0.9851835370063784, + 0.06618150730487919, + 0.039888531366398236 + ], + [ + 0.18420616165070955, + -0.036398686468601234, + 0.9822134331164442, + 0.27487779728791667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9685615332972939, + 0.16835223138332367, + -0.1831559337989383, + -0.17783540880175627 + ], + [ + -0.15821554262258816, + 0.9850100874900818, + 0.06872379176978483, + 0.037274383333960145 + ], + [ + 0.19198024744626213, + -0.03758510202169418, + 0.980678829065569, + 0.2717622503698641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9675196274591573, + 0.16821317374706268, + -0.18870624241121858, + -0.19670119056866733 + ], + [ + -0.15736690230788664, + 0.9849724769592285, + 0.07116765595045323, + 0.03251425597695272 + ], + [ + 0.1978418058033306, + -0.03915999084711075, + 0.9794514557968174, + 0.27366591748796043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9657719637977201, + 0.16931414604187012, + -0.19651281040075805, + -0.19076367614259154 + ], + [ + -0.1576814726218565, + 0.9847493767738342, + 0.07352021462907736, + 0.03220640908648281 + ], + [ + 0.20596386952564014, + -0.04001732915639877, + 0.9777409897782038, + 0.26428135449838575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9637387153568365, + 0.16989777982234955, + -0.2057726722610122, + -0.19355053883298096 + ], + [ + -0.15734239212610418, + 0.9846124053001404, + 0.07603780748743483, + 0.028544189144961707 + ], + [ + 0.21552499154847565, + -0.040903814136981964, + 0.9756412681766535, + 0.2706059507523395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9612540183548103, + 0.17202828824520114, + -0.21539952983890526, + -0.1938586040172199 + ], + [ + -0.1584586101787156, + 0.984208941459656, + 0.07888965547097959, + 0.024694613798855885 + ], + [ + 0.22556939900619646, + -0.041701089590787895, + 0.9733341938409195, + 0.2609233931686503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9594537525438515, + 0.17358815670013428, + -0.22207130437757, + -0.2010200870337765 + ], + [ + -0.15928963305067453, + 0.9839119911193848, + 0.08089484075576037, + 0.021561782348090155 + ], + [ + 0.23254100304108027, + -0.04224120080471039, + 0.9716688256029881, + 0.25639618006319836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9582379796423576, + 0.17355799674987796, + -0.22728315961145007, + -0.20390841183027275 + ], + [ + -0.15892974292313675, + 0.9839370250701907, + 0.08129774735178959, + 0.010996537904291597 + ], + [ + 0.23774217483236215, + -0.041780531406402595, + 0.9704292983578369, + 0.2564790381030186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9571857930214474, + 0.17300744354724884, + -0.23208564389522443, + -0.20610289469035856 + ], + [ + -0.15912746966405525, + 0.9842195510864258, + 0.07739705539169961, + 0.016106140559789484 + ], + [ + 0.24181350584348477, + -0.037152159959077835, + 0.9696112570778074, + 0.25402742894125324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9561591195529199, + 0.17281161248683932, + -0.2364230498464029, + -0.20595145462577671 + ], + [ + -0.15977260516579608, + 0.9844218492507937, + 0.073391665316073, + 0.01738533019103544 + ], + [ + 0.24542295436290787, + -0.03240018337965012, + 0.9688745183885752, + 0.25105392440525964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.955343805495788, + 0.17255036532878879, + -0.23988464574560953, + -0.20353410683739345 + ], + [ + -0.1603741361785366, + 0.9846037030220034, + 0.06953883729218557, + 0.021780929768285363 + ], + [ + 0.2481902658409494, + -0.02796220406889916, + 0.9683076628380658, + 0.24849789463159602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9546720650879233, + 0.17198343575000763, + -0.24294630711821658, + -0.2048550939869166 + ], + [ + -0.1599054836127168, + 0.9847357869148254, + 0.06874340255614246, + 0.024107446363563115 + ], + [ + 0.251060651493464, + -0.02677896060049534, + 0.9676008647731028, + 0.2437742820508273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9534476010444821, + 0.17355255782604218, + -0.2466113923984768, + -0.1993762466369438 + ], + [ + -0.16139311063048786, + 0.984485387802124, + 0.06885359216001079, + 0.022509692467276715 + ], + [ + 0.25473502448465984, + -0.02584691531956196, + 0.9666653945821645, + 0.2474016912004151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9522495685582065, + 0.1749364882707596, + -0.2502359742116904, + -0.1916152010084744 + ], + [ + -0.16266814592700898, + 0.9842607378959658, + 0.06906455997603599, + 0.020018935014544062 + ], + [ + 0.25837933918270717, + -0.025061277672648437, + 0.9657183925832702, + 0.2410181469188252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9514355376157557, + 0.1751476526260376, + -0.253167408294875, + -0.19040782858827532 + ], + [ + -0.16288977215840847, + 0.9842450022697449, + 0.06876514492495174, + 0.024247511543309563 + ], + [ + 0.26122280692279054, + -0.024187222123146057, + 0.9649754449320876, + 0.2462524280185574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9506284128138275, + 0.17569157481193545, + -0.25580874871755394, + -0.19103822068615928 + ], + [ + -0.16339165724729376, + 0.9841635227203371, + 0.06874073185258764, + 0.02287012144510571 + ], + [ + 0.2638348047381512, + -0.02354987710714341, + 0.9642803286063415, + 0.2418145001562632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9499039254673194, + 0.17619812488555908, + -0.2581410413364818, + -0.19275687218596452 + ], + [ + -0.16384704237195327, + 0.9840850830078125, + 0.0687802089176902, + 0.02143624807375779 + ], + [ + 0.26615167395024464, + -0.023038944229483604, + 0.9636557649318748, + 0.24026243269072484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9494031934836201, + 0.1751115620136261, + -0.26070960696115303, + -0.192752556733381 + ], + [ + -0.16277742002104767, + 0.9842925071716309, + 0.06835030414385881, + 0.02390387159176107 + ], + [ + 0.26858343716943356, + -0.022454358637332916, + 0.9629946674036655, + 0.23887304959413946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9485625801992805, + 0.17436014115810394, + -0.2642490250580209, + -0.19281337566649964 + ], + [ + -0.16188372784794952, + 0.9844326972961426, + 0.06845420617759654, + 0.024487129198420214 + ], + [ + 0.27207106005377224, + -0.022155484184622765, + 0.9620220704360807, + 0.2373206542573461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.947457143951293, + 0.17449416220188144, + -0.268098430136079, + -0.18979973397094155 + ], + [ + -0.16187013130205377, + 0.9844198226928713, + 0.06867073227149222, + 0.025098282062361497 + ], + [ + 0.27590405288873276, + -0.021665446460247043, + 0.9609409641598314, + 0.23437453320093446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9468187028313927, + 0.17216633260250092, + -0.2718328799030364, + -0.18563408020992758 + ], + [ + -0.15954613206880064, + 0.9848428964614868, + 0.0680400638155022, + 0.028158387792763147 + ], + [ + 0.27942689499822865, + -0.021051717922091484, + 0.959936173711225, + 0.23950871758329692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9462468947337578, + 0.16992878913879395, + -0.2752108901327278, + -0.1848264570305711 + ], + [ + -0.1572260259156979, + 0.9852360486984253, + 0.06774922823239692, + 0.025682560393019006 + ], + [ + 0.28266022711449934, + -0.02083718404173851, + 0.9589937239486844, + 0.23997175544005428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9452630952526672, + 0.16983577609062198, + -0.2786278866356982, + -0.18404230056036852 + ], + [ + -0.15697698549971262, + 0.985258221626282, + 0.06800309713190263, + 0.024512336603916704 + ], + [ + 0.2860697832239555, + -0.020542655140161518, + 0.9579885769243136, + 0.2414343558107691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9441472315548475, + 0.16961340606212616, + -0.2825196058760073, + -0.18171959758444547 + ], + [ + -0.1565434221760975, + 0.9853007793426514, + 0.06838526785503897, + 0.024125192991693377 + ], + [ + 0.2899658349534435, + -0.020339176058769226, + 0.9568208450330729, + 0.23931155873388427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9432652093457885, + 0.16821032762527469, + -0.28627959484102017, + -0.18384940572053474 + ], + [ + -0.15492467117328668, + 0.9855406284332278, + 0.06861494490976003, + 0.023841848179766367 + ], + [ + 0.29368191670698496, + -0.02037031948566437, + 0.9556861619288574, + 0.23719559648828997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9420374444176804, + 0.16749975085258484, + -0.29070490629675005, + -0.1842471360235907 + ], + [ + -0.1539749687390562, + 0.9856650233268738, + 0.06896504488728056, + 0.02658070639748389 + ], + [ + 0.2980892770287082, + -0.020206378772854805, + 0.9543240996169237, + 0.2370938408846521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9405671739209707, + 0.16724532842636108, + -0.29557137609356265, + -0.18236923205818775 + ], + [ + -0.15321642355907142, + 0.9856975078582764, + 0.07017919986187045, + 0.02988048323299864 + ], + [ + 0.30308110636321617, + -0.020721860229969025, + 0.9527394504840949, + 0.2389867761943253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9389733036113801, + 0.16738539934158325, + -0.3005182529418813, + -0.18485700925826795 + ], + [ + -0.15261405115128943, + 0.9856486320495605, + 0.07215094410621896, + 0.02581924094815488 + ], + [ + 0.3082824217914669, + -0.021884504705667496, + 0.9510431417627642, + 0.2328549109793649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9366890410849518, + 0.16758200526237488, + -0.3074571570666692, + -0.18853278862711878 + ], + [ + -0.15163353545227076, + 0.9855696558952332, + 0.07523083681084099, + 0.03626388562717586 + ], + [ + 0.3156277908786763, + -0.023847084492444992, + 0.9485834033428495, + 0.23503596849583902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.93317177551128, + 0.16822429001331332, + -0.31763349193772916, + -0.20313880238843024 + ], + [ + -0.15038231473197963, + 0.9853802323341372, + 0.08006823450375634, + 0.03750978624303666 + ], + [ + 0.32645918910683397, + -0.026950955390930183, + 0.944826984081985, + 0.22998902080024894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9291753055769713, + 0.16783632338047028, + -0.3293389939540125, + -0.20243807975043365 + ], + [ + -0.1484938007089207, + 0.985404908657074, + 0.08322720996573209, + 0.034940318802619025 + ], + [ + 0.33850081991717773, + -0.02842787280678749, + 0.940536576852493, + 0.23804851702092145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9259763073014959, + 0.16452576220035556, + -0.3398516850460697, + -0.19921963636642714 + ], + [ + -0.14410143220315852, + 0.9859335422515871, + 0.08467503528766074, + 0.037003226429516166 + ], + [ + 0.34900240099242485, + -0.029433960095047958, + 0.9366594725767227, + 0.2452977222330658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9222133796873102, + 0.16442693769931796, + -0.3499803209009017, + -0.2015136344066752 + ], + [ + -0.1428184885158647, + 0.9859288930892947, + 0.08687387372136184, + 0.03401486805216374 + ], + [ + 0.35934013043412083, + -0.03013259172439576, + 0.9327200274454108, + 0.24186738574871786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9179681804965335, + 0.1662808954715729, + -0.3601181317635506, + -0.20049041827931136 + ], + [ + -0.1435786197846627, + 0.9856191873550417, + 0.08910696786105805, + 0.03392333858784348 + ], + [ + 0.3697561076282481, + -0.030092099681496627, + 0.9286414222997545, + 0.2426402554413053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9145275162223554, + 0.1664768308401108, + -0.3686799038717948, + -0.20144103388254753 + ], + [ + -0.14268076318661663, + 0.9855669140815737, + 0.09110495654746202, + 0.03165685604853233 + ], + [ + 0.37852557408805926, + -0.030714463442564018, + 0.9250810879494727, + 0.2414197070591737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9122680867470089, + 0.16411983966827393, + -0.3752753308873029, + -0.197247539778449 + ], + [ + -0.13961055607367429, + 0.985942006111145, + 0.09180025648531656, + 0.03858079427319997 + ], + [ + 0.3850659588568246, + -0.03135404735803604, + 0.9223562925282182, + 0.24956427492182354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9101792488482339, + 0.1611853837966919, + -0.38156649257359576, + -0.19568666587590675 + ], + [ + -0.13598640523882213, + 0.9864010810852051, + 0.0923074066301806, + 0.04475563554178945 + ], + [ + 0.39125619316751414, + -0.032128434628248215, + 0.9197208146545098, + 0.2584241720988763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9078079682277876, + 0.15868139266967773, + -0.38820728780793634, + -0.19254352671120908 + ], + [ + -0.13258027248929463, + 0.9867700934410095, + 0.0933126030814525, + 0.04438681588131334 + ], + [ + 0.3978783292181246, + -0.03324130177497864, + 0.9168357677570154, + 0.2564887473061211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9066833964640515, + 0.14844444394111633, + -0.39482847952916833, + -0.19182172547675025 + ], + [ + -0.12154039291553458, + 0.9882709980010986, + 0.09245707311643485, + 0.04538970420027895 + ], + [ + 0.40392227021202554, + -0.0358416847884655, + 0.9140908951822296, + 0.25791067553568114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9052866387255848, + 0.13676895201206207, + -0.4021820424780119, + -0.18299505410262426 + ], + [ + -0.1091683329374842, + 0.9898594617843628, + 0.09088770317450308, + 0.050342762536167804 + ], + [ + 0.4105343115525728, + -0.038373880088329315, + 0.911037361539938, + 0.2657081677200044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9034344946413084, + 0.13019900023937225, + -0.4084780758307061, + -0.18066226031809024 + ], + [ + -0.1016724679170802, + 0.990656852722168, + 0.09089377558515226, + 0.04925302407909597 + ], + [ + 0.4164958845263599, + -0.04058559611439705, + 0.9082312728639778, + 0.27884592498527966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9000063059290409, + 0.13600292801856995, + -0.414115709984641, + -0.17236396627235348 + ], + [ + -0.10661992306131307, + 0.9899049401283264, + 0.09338300878252406, + 0.04861556469242055 + ], + [ + 0.4226355591020139, + -0.03989231213927269, + 0.9054213151282356, + 0.28453593063872545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.8979570643094857, + 0.14720380306243896, + -0.4147337852826299, + -0.16764112061032235 + ], + [ + -0.11680874245003467, + 0.9883191585540771, + 0.09788230351946814, + 0.042433169408885786 + ], + [ + 0.42429800392992506, + -0.039449580013751984, + 0.9046628906723966, + 0.2753171314948145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.8963084127949099, + 0.15725606679916382, + -0.414610352597572, + -0.16981930084617788 + ], + [ + -0.126337880743599, + 0.9868150353431702, + 0.10116713444577588, + 0.04227879782482177 + ], + [ + 0.4250528913776309, + -0.03829595819115639, + 0.9043580471536774, + 0.28239938741052106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.8963473392144036, + 0.15458191931247714, + -0.4155308653351198, + -0.17566954912105498 + ], + [ + -0.12234759210833446, + 0.9870975613594057, + 0.10329318217213158, + 0.05097488462552767 + ], + [ + 0.42613673956952414, + -0.041747376322746284, + 0.9036949699422314, + 0.284970290988252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.8953691507503443, + 0.15398240089416504, + -0.41785591007655526, + -0.17733943310673161 + ], + [ + -0.11946135279403101, + 0.9869769811630249, + 0.10772868161597143, + 0.049747312276121794 + ], + [ + 0.4290024707481128, + -0.0465392991900444, + 0.9021036245130135, + 0.2867959831389629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.8945854838453969, + 0.15469883382320404, + -0.4192673868048015, + -0.17758662154016466 + ], + [ + -0.11896912634098265, + 0.9867584705352783, + 0.11024547304204235, + 0.051177588304631816 + ], + [ + 0.43077047994652706, + -0.04874412715435028, + 0.9011441932453838, + 0.29935211368008147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.8937872882150872, + 0.1547788381576538, + -0.42093679638817605, + -0.17405776066684256 + ], + [ + -0.11821219518963859, + 0.9866747856140137, + 0.11179783344618593, + 0.05324549419318848 + ], + [ + 0.43263164596239306, + -0.050163619220256805, + 0.9001741237875546, + 0.3080410576549055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.8928476575153352, + 0.1544431895017624, + -0.42304891491767893, + -0.17151153034334665 + ], + [ + -0.11697298771097109, + 0.9866482615470886, + 0.11332507365661691, + 0.05492653353523118 + ], + [ + 0.43490273716418754, + -0.05169673636555672, + 0.8989922391646566, + 0.3105614455978989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.8922817666131145, + 0.15423509478569034, + -0.42431689480412466, + -0.17058754691482975 + ], + [ + -0.11591457625904593, + 0.9865950942039492, + 0.11486495131170699, + 0.0556016879750138 + ], + [ + 0.4363451559749673, + -0.05330739170312883, + 0.8981988687405161, + 0.31091976901412965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.891646462208972, + 0.1540209949016571, + -0.4257277797012123, + -0.16680541252845565 + ], + [ + -0.11494446033268618, + 0.9865548014640808, + 0.11617833224622841, + 0.05781822460264059 + ], + [ + 0.43789766949316555, + -0.05465495586395264, + 0.8973619368146942, + 0.3190017070658358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.8905435186307149, + 0.1543377786874771, + -0.4279160574039338, + -0.16743732989710977 + ], + [ + -0.11421313167495871, + 0.9864137172698975, + 0.11808187777344371, + 0.05706753513388681 + ], + [ + 0.44032676234543106, + -0.056283414363861084, + 0.896071725265334, + 0.32227950780959363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.8900695972105317, + 0.15551933646202087, + -0.4284739182413508, + -0.16239905042583458 + ], + [ + -0.11431780842549376, + 0.9861153364181519, + 0.12044889414144616, + 0.05182030238908965 + ], + [ + 0.44125683997841225, + -0.05822570621967316, + 0.8954899313083501, + 0.32186925784453235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.8914844608357531, + 0.1544208973646164, + -0.4259220893722501, + -0.16270802392800163 + ], + [ + -0.11301845144371543, + 0.9861980080604553, + 0.12099720127078163, + 0.04949368329143802 + ], + [ + 0.4387280089210429, + -0.05973007157444954, + 0.896632615744291, + 0.3166032902833405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.8923932588951541, + 0.15236565470695496, + -0.4247575037577567, + -0.1687401978531872 + ], + [ + -0.1107936117307696, + 0.9864406585693359, + 0.1210766611073034, + 0.05493519086236491 + ], + [ + 0.4374460152670029, + -0.06098758429288864, + 0.8971741578072202, + 0.32802942266043406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.8924072512344609, + 0.1510292887687683, + -0.42520518898827947, + -0.16771667179203884 + ], + [ + -0.10902092861535297, + 0.986572265625, + 0.12161246468198296, + 0.05415814171324363 + ], + [ + 0.4378626898980881, + -0.062171585857868195, + 0.896889608936062, + 0.3314026286288977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.891822311825069, + 0.15028014779090884, + -0.4266953211846102, + -0.16811049556525742 + ], + [ + -0.10796027347411541, + 0.9866592884063723, + 0.12185256383534043, + 0.052949893773101185 + ], + [ + 0.4393149080201552, + -0.06260468810796739, + 0.8961490311078312, + 0.337996671271176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.8907582964447898, + 0.146807000041008, + -0.43011323862137274, + -0.16244746226676077 + ], + [ + -0.10477426406041639, + 0.9872323274612427, + 0.11997789259850711, + 0.047299744162187504 + ], + [ + 0.4422352706194159, + -0.06180650368332863, + 0.894766964880173, + 0.3374464878459454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.8897116754706855, + 0.14175564050674438, + -0.433956745702827, + -0.15732475064804347 + ], + [ + -0.10039506114709808, + 0.988053560256958, + 0.11692300001318683, + 0.042577797444515286 + ], + [ + 0.4453470101799161, + -0.0604606457054615, + 0.8933143559841455, + 0.34341411873918665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.888310368223044, + 0.14189264178276062, + -0.43677359084647605, + -0.1518226077954575 + ], + [ + -0.10119728599450291, + 0.9881731271743774, + 0.1152082305293994, + 0.03977873187960973 + ], + [ + 0.44795512111078584, + -0.05814036726951599, + 0.8921635827518949, + 0.33997600066660105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.8866102069045083, + 0.14648996293544772, + -0.4387060494143842, + -0.1536892717760515 + ], + [ + -0.10682795338700352, + 0.9877296686172488, + 0.11392074616415132, + 0.03862786922447291 + ], + [ + 0.4500112146370835, + -0.05413722991943361, + 0.8913804083265998, + 0.3444244168339813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.8859090980106923, + 0.14443397521972656, + -0.4407991959141739, + -0.15166819407352827 + ], + [ + -0.10594788915057693, + 0.9881729483604431, + 0.11085673175045865, + 0.04090102336482018 + ], + [ + 0.4515973225074032, + -0.051507242023944855, + 0.8907339200458528, + 0.34135909722973606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.8861088114274914, + 0.14129818975925446, + -0.4414136785973915, + -0.14440173875214482 + ], + [ + -0.10373019720037935, + 0.9886966943740845, + 0.10825402529054466, + 0.04368567191112652 + ], + [ + 0.45172032276998914, + -0.05013692006468773, + 0.8907497115277425, + 0.3378290986963597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.8869985452022751, + 0.14028985798358917, + -0.4399458702363919, + -0.13708552294261248 + ], + [ + -0.10320529528367513, + 0.9888610243797302, + 0.10725006383638487, + 0.042916832873743656 + ], + [ + 0.4500914149757014, + -0.049725908786058426, + 0.8915969143360852, + 0.3323440379405718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.8885809513592258, + 0.1387723982334137, + -0.4372255498658226, + -0.1351348172664871 + ], + [ + -0.10217514346925406, + 0.9890734553337097, + 0.10627285830194128, + 0.045772718749447404 + ], + [ + 0.4471959079690387, + -0.04975845664739609, + 0.8930508934271311, + 0.34163317775798596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.8892933447844342, + 0.13808959722518924, + -0.43599151430500105, + -0.13371785244611423 + ], + [ + -0.10174686633224854, + 0.9891722798347475, + 0.10576256853050124, + 0.04529915953410078 + ], + [ + 0.4458754439634047, + -0.04969318211078645, + 0.8937145569532212, + 0.33463329521808993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.8900533929428419, + 0.13835211098194122, + -0.43435431193448326, + -0.12511601057585986 + ], + [ + -0.10227439626502573, + 0.9891468286514282, + 0.10549196672434286, + 0.04666351424207845 + ], + [ + 0.4442352115504509, + -0.04947016388177872, + 0.8945433517254657, + 0.33673770112238566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.892057979385774, + 0.13843262195587158, + -0.43019639415345967, + -0.11523725749405861 + ], + [ + -0.1027263872865803, + 0.9891230463981628, + 0.10527519811395736, + 0.04480666552287037 + ], + [ + 0.4400907080241688, + -0.04971906170248985, + 0.8965758410335436, + 0.32746902150893314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.8956205339088557, + 0.1382407993078232, + -0.42279236805070614, + -0.10780969064202267 + ], + [ + -0.1033251503797288, + 0.9891385436058047, + 0.1045410795882792, + 0.04474885686928387 + ], + [ + 0.4326520776202303, + -0.049944050610065474, + 0.9001765119233813, + 0.3239884876568195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.8988875606750517, + 0.1380414664745331, + -0.4158674866386821, + -0.10160292967224188 + ], + [ + -0.10364095021765339, + 0.9891298413276675, + 0.10431056959740953, + 0.04510204544675556 + ], + [ + 0.4257461268630473, + -0.050662569701671614, + 0.9034232615291211, + 0.3219830440296798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.9028471419365488, + 0.13830815255641937, + -0.40710912601311905, + -0.09056009395758408 + ], + [ + -0.10461240269008, + 0.9890586137771606, + 0.10401595197337984, + 0.05003020353895307 + ], + [ + 0.4170410334264014, + -0.051321841776371, + 0.9074374867870503, + 0.3207241313264674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 695.2379557291666, + "fy": 695.227783203125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/move_left/transforms.json b/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..3571d28c2eacf77cf19e049376a9c65676ff0a6a --- /dev/null +++ b/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/move_left/transforms.json @@ -0,0 +1,7468 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 213, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 6.597780156880617e-05, + -3.258811921114102e-05, + 9.966214565793052e-05 + ], + [ + -6.597592437174171e-05, + 1.0, + 5.750449054175988e-05, + -5.614464680547826e-05 + ], + [ + 3.259190998505801e-05, + -5.750233685830608e-05, + 1.0, + -8.36895196698606e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999340176582336, + -0.00508520333096385, + 0.010301491245627403, + 0.021698029177649965 + ], + [ + 0.005017182324081659, + 0.999965488910675, + 0.006618116982281208, + 0.0016893907566554844 + ], + [ + -0.010334789752960205, + -0.006565995514392853, + 0.9999250173568726, + 0.009256763742217478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999375343322754, + -0.004210783168673515, + 0.01035455334931612, + 0.021519323150223157 + ], + [ + 0.00414626020938158, + 0.9999719262123108, + 0.006244986783713102, + 0.0021374209204091214 + ], + [ + -0.010380559600889683, + -0.0062016635201871395, + 0.9999268651008606, + 0.008833914187754381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9989750385284424, + -0.011278491467237473, + 0.04383661970496178, + 0.014369947273495063 + ], + [ + 0.010703209787607193, + 0.999853789806366, + 0.013335945084691048, + 0.008560102480410968 + ], + [ + -0.043980617076158524, + -0.01285308413207531, + 0.9989497065544128, + 0.005677718363421143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9983026385307312, + -0.014161881990730762, + 0.056491609662771225, + 0.021720801258705697 + ], + [ + 0.013204927556216717, + 0.999763548374176, + 0.017277229577302933, + 0.0065548254809570765 + ], + [ + -0.05672292783856392, + -0.016501937061548233, + 0.998253583908081, + 0.006374755470117308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9980803728103638, + -0.013104797340929508, + 0.06052977591753006, + 0.011975661218869237 + ], + [ + 0.012174625881016254, + 0.9998024702072144, + 0.015710515901446342, + 0.010248832270626049 + ], + [ + -0.06072369962930679, + -0.01494342926889658, + 0.9980427622795105, + 0.005671790150820084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9946815967559814, + -0.012290656566619873, + 0.10226165503263474, + -0.05286368904811031 + ], + [ + 0.010445047169923782, + 0.9997731447219849, + 0.01856386475265026, + 0.012946636071604378 + ], + [ + -0.10246662050485611, + -0.01739700697362423, + 0.994584321975708, + -0.010690827864520955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9975388646125793, + -0.02895125187933445, + 0.06385938078165054, + 0.04859400512474888 + ], + [ + 0.027375994250178337, + 0.9993022680282593, + 0.025406377390027046, + -0.01497411461248291 + ], + [ + -0.06455037742853165, + -0.02359563671052456, + 0.9976354241371155, + 0.021849896038337698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.993456244468689, + -0.03982264921069145, + 0.10704585164785385, + 0.05262636990760857 + ], + [ + 0.037695202976465225, + 0.9990509152412415, + 0.021825406700372696, + -0.0008461622354346064 + ], + [ + -0.10781339555978775, + -0.01764747127890587, + 0.9940145015716553, + 0.004313310000272292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9920204877853394, + -0.043617140501737595, + 0.11829148232936859, + 0.056247658451210776 + ], + [ + 0.04139364883303642, + 0.9989181756973267, + 0.021190088242292404, + 0.0018409090213266745 + ], + [ + -0.11908777058124542, + -0.016124486923217773, + 0.9927527904510498, + 0.0015050125558737594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9899319410324097, + -0.05102046951651573, + 0.13202905654907227, + 0.060233746637713234 + ], + [ + 0.04852863773703575, + 0.9985789060592651, + 0.02202485129237175, + 0.000978751167356265 + ], + [ + -0.13296514749526978, + -0.015395913273096085, + 0.9910011291503906, + 0.0011113828195276547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9884827733039856, + -0.05601997300982475, + 0.140582874417305, + 0.062454596189957745 + ], + [ + 0.053376104682683945, + 0.9983207583427429, + 0.022510122507810593, + 0.0006287210673656103 + ], + [ + -0.14160780608654022, + -0.014747102744877338, + 0.989812970161438, + -0.0020612293467769083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9884790182113647, + -0.056010808795690536, + 0.1406128704547882, + 0.061884781465215505 + ], + [ + 0.05336523428559303, + 0.9983211159706116, + 0.022518256679177284, + 0.0005655395334920371 + ], + [ + -0.14163807034492493, + -0.014754986390471458, + 0.9898085594177246, + -0.0019351250166952047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9847776293754578, + -0.06266412138938904, + 0.16213014721870422, + 0.06696521698866251 + ], + [ + 0.05981123447418213, + 0.9979578256607056, + 0.022422637790441513, + 0.005300563693327724 + ], + [ + -0.1632041335105896, + -0.012384109199047089, + 0.9865145683288574, + -0.008523895953483176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9847552180290222, + -0.0625380128622055, + 0.16231508553028107, + 0.06618200709234993 + ], + [ + 0.05969236418604851, + 0.997966468334198, + 0.0223544891923666, + 0.00543041526744107 + ], + [ + -0.16338302195072174, + -0.012324729934334755, + 0.9864857196807861, + -0.008350236510049621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9831426739692688, + -0.06643491238355637, + 0.17034335434436798, + 0.06395288472467998 + ], + [ + 0.0635409727692604, + 0.9977279901504517, + 0.022390879690647125, + 0.009925545773135041 + ], + [ + -0.1714438647031784, + -0.011189647018909454, + 0.9851303696632385, + -0.013326120141120452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9809273481369019, + -0.06555657088756561, + 0.18298585712909698, + 0.07165575716293084 + ], + [ + 0.062350090593099594, + 0.9977840185165405, + 0.023227958008646965, + 0.020494871614676603 + ], + [ + -0.1841031163930893, + -0.011375756934285164, + 0.9828411340713501, + -0.016593632650262903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9778662323951721, + -0.06938645988702774, + 0.1973908543586731, + 0.06792609967150778 + ], + [ + 0.06548171490430832, + 0.9975084662437439, + 0.026248574256896973, + 0.01955982832202934 + ], + [ + -0.19872033596038818, + -0.012742103077471256, + 0.9799733757972717, + -0.021153635700356284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9760248064994812, + -0.07899979501962662, + 0.20281662046909332, + 0.06521079894506707 + ], + [ + 0.07477710396051407, + 0.9967954754829407, + 0.02841150015592575, + 0.019967106525909224 + ], + [ + -0.20441119372844696, + -0.012564289383590221, + 0.9788044691085815, + -0.025423662181732788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.976059079170227, + -0.07903439551591873, + 0.2026381641626358, + 0.06526577230894341 + ], + [ + 0.0748022124171257, + 0.9967918395996094, + 0.028471732512116432, + 0.0198232294077862 + ], + [ + -0.20423831045627594, + -0.012632308527827263, + 0.9788396954536438, + -0.025357248725475005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9730823636054993, + -0.08718551695346832, + 0.21332938969135284, + 0.06487705010288167 + ], + [ + 0.08285444974899292, + 0.9961344599723816, + 0.02917693741619587, + 0.032935509704193976 + ], + [ + -0.21504856646060944, + -0.010716276243329048, + 0.9765445590019226, + -0.03140553782852191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9700542092323303, + -0.09248379617929459, + 0.2245919406414032, + 0.06010782088873522 + ], + [ + 0.08750269562005997, + 0.9956484436988831, + 0.032053619623184204, + 0.035825284819979715 + ], + [ + -0.22657907009124756, + -0.011441349051892757, + 0.9739255905151367, + -0.03633974623286499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9687354564666748, + -0.09972970187664032, + 0.22716866433620453, + 0.06361677179921349 + ], + [ + 0.09428858757019043, + 0.9949397444725037, + 0.034706998616456985, + 0.03947104478500924 + ], + [ + -0.22948046028614044, + -0.012202487327158451, + 0.9732367992401123, + -0.04281999370399511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9658815860748291, + -0.10325167328119278, + 0.23751190304756165, + 0.06738453591769597 + ], + [ + 0.09641890972852707, + 0.9945271015167236, + 0.040239423513412476, + 0.04050749153390808 + ], + [ + -0.24036681652069092, + -0.015965882688760757, + 0.9705508351325989, + -0.04215034313921658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9614095091819763, + -0.11049814522266388, + 0.25195610523223877, + 0.06514219335227642 + ], + [ + 0.102664515376091, + 0.9937393069267273, + 0.04407002031803131, + 0.041908042990374116 + ], + [ + -0.25524836778640747, + -0.016502389684319496, + 0.9667347073554993, + -0.04722311268999892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9596675634384155, + -0.12148299813270569, + 0.2535350024700165, + 0.07080375543742809 + ], + [ + 0.11353825032711029, + 0.9924777150154114, + 0.04579327255487442, + 0.04436977675079175 + ], + [ + -0.2571909725666046, + -0.015160400420427322, + 0.9662416577339172, + -0.055534659972730674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9576095938682556, + -0.13088959455490112, + 0.2566160559654236, + 0.07148790322947052 + ], + [ + 0.12314415723085403, + 0.991317629814148, + 0.046096622943878174, + 0.0487931112284368 + ], + [ + -0.2604215741157532, + -0.01254180446267128, + 0.9654135704040527, + -0.06161865426122018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9539016485214233, + -0.13147401809692383, + 0.2697891294956207, + 0.07083821836507545 + ], + [ + 0.12362685799598694, + 0.9912642240524292, + 0.04595301300287247, + 0.05769485701929848 + ], + [ + -0.27347394824028015, + -0.010481474921107292, + 0.9618223309516907, + -0.06366069613481468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9539126753807068, + -0.13135948777198792, + 0.26980602741241455, + 0.07024769057642738 + ], + [ + 0.12354732304811478, + 0.9912805557250977, + 0.04581345245242119, + 0.05789655648031325 + ], + [ + -0.27347153425216675, + -0.0103682242333889, + 0.9618242383003235, + -0.06362282912123877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9464294910430908, + -0.15048497915267944, + 0.2857017517089844, + 0.07155435594185343 + ], + [ + 0.14198747277259827, + 0.9885868430137634, + 0.050354450941085815, + 0.05998953353121596 + ], + [ + -0.29001855850219727, + -0.007090875878930092, + 0.9569947719573975, + -0.07698911228832209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9437201023101807, + -0.15839006006717682, + 0.2903531491756439, + 0.07210369675226931 + ], + [ + 0.15043659508228302, + 0.9873714447021484, + 0.04966297373175621, + 0.06611044444846657 + ], + [ + -0.2945525348186493, + -0.0031882114708423615, + 0.9556299448013306, + -0.08351390190281958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9393248558044434, + -0.16526363790035248, + 0.3005940020084381, + 0.07242786431649946 + ], + [ + 0.15749503672122955, + 0.9862493872642517, + 0.050074681639671326, + 0.07227770574390888 + ], + [ + -0.3047361671924591, + 0.00030567124485969543, + 0.9524367451667786, + -0.08794743864322609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9364156723022461, + -0.17067654430866241, + 0.3065864145755768, + 0.07481306268359131 + ], + [ + 0.16258065402507782, + 0.9853264093399048, + 0.051956094801425934, + 0.07446670759961291 + ], + [ + -0.31095537543296814, + 0.0011925119906663895, + 0.9504237771034241, + -0.09505233025213458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9340404868125916, + -0.17107662558555603, + 0.31353023648262024, + 0.07631431458131323 + ], + [ + 0.16286790370941162, + 0.9852554202079773, + 0.052399978041648865, + 0.08159294091867951 + ], + [ + -0.3178717792034149, + 0.0021203085780143738, + 0.9481313228607178, + -0.10078543521604448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9300751686096191, + -0.17409954965114594, + 0.3234957754611969, + 0.07466919065084097 + ], + [ + 0.1651090830564499, + 0.9847260117530823, + 0.05526033788919449, + 0.08347793442179571 + ], + [ + -0.32817551493644714, + 0.0020158234983682632, + 0.9446146488189697, + -0.10523988528634018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9262558221817017, + -0.1764795184135437, + 0.333024263381958, + 0.07097415597933643 + ], + [ + 0.16703960299491882, + 0.9843002557754517, + 0.05701514333486557, + 0.0884512129397887 + ], + [ + -0.3378579020500183, + 0.002817632630467415, + 0.9411929249763489, + -0.10972974168242149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9226822853088379, + -0.17992539703845978, + 0.34100469946861267, + 0.07309303559222312 + ], + [ + 0.1702171415090561, + 0.9836716651916504, + 0.05844834819436073, + 0.09402142743457038 + ], + [ + -0.3459530174732208, + 0.00411558523774147, + 0.9382427930831909, + -0.1163837657784516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9193195104598999, + -0.1847243756055832, + 0.3474601209163666, + 0.07543527450201647 + ], + [ + 0.1748935431241989, + 0.9827730059623718, + 0.05974520370364189, + 0.09820275388939201 + ], + [ + -0.35251083970069885, + 0.00584358349442482, + 0.9357895255088806, + -0.12338473413069292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9154187440872192, + -0.19094941020011902, + 0.35432592034339905, + 0.07769452951989084 + ], + [ + 0.1810201108455658, + 0.9815670847892761, + 0.06130077689886093, + 0.10097709092891441 + ], + [ + -0.3595000207424164, + 0.008024228736758232, + 0.9331105947494507, + -0.12943420289260035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9153828620910645, + -0.19107303023338318, + 0.3543519675731659, + 0.07739517418843395 + ], + [ + 0.18112879991531372, + 0.9815431237220764, + 0.06136336550116539, + 0.10074821063932383 + ], + [ + -0.35953661799430847, + 0.00801236554980278, + 0.9330965876579285, + -0.12911883175091923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9120259284973145, + -0.1953897774219513, + 0.3605988323688507, + 0.0791931409599646 + ], + [ + 0.18559330701828003, + 0.9806704521179199, + 0.061972133815288544, + 0.1050096277920705 + ], + [ + -0.36573734879493713, + 0.010404536500573158, + 0.9306599497795105, + -0.13607431273415405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.90641850233078, + -0.20232263207435608, + 0.3707709312438965, + 0.07317234705079277 + ], + [ + 0.192642480134964, + 0.9792193174362183, + 0.06339098513126373, + 0.10684696600403426 + ], + [ + -0.3758915066719055, + 0.013967465609312057, + 0.9265584349632263, + -0.14038304104557578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9019455313682556, + -0.20690149068832397, + 0.379059374332428, + 0.07505709199972872 + ], + [ + 0.1977631151676178, + 0.9781996607780457, + 0.06336578726768494, + 0.11760090181850037 + ], + [ + -0.3839062452316284, + 0.017811480909585953, + 0.923200249671936, + -0.15182816684246064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8980618119239807, + -0.20471122860908508, + 0.38933059573173523, + 0.07391692526497931 + ], + [ + 0.19470709562301636, + 0.9786744713783264, + 0.06546273827552795, + 0.12000961562372603 + ], + [ + -0.39442887902259827, + 0.017015840858221054, + 0.9187689423561096, + -0.15661269579574746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8958472609519958, + -0.20947705209255219, + 0.39188912510871887, + 0.07838194980373922 + ], + [ + 0.19830240309238434, + 0.9776884913444519, + 0.06929163634777069, + 0.11597829104032156 + ], + [ + -0.3976605236530304, + 0.015637828037142754, + 0.9173993468284607, + -0.1630558712864822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8929647207260132, + -0.2138884961605072, + 0.3960628807544708, + 0.07590878867315796 + ], + [ + 0.20347225666046143, + 0.9766683578491211, + 0.06868752092123032, + 0.11913257415564556 + ], + [ + -0.40151354670524597, + 0.019252264872193336, + 0.9156507253646851, + -0.1681378445113605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8911955952644348, + -0.21822954714298248, + 0.39767614006996155, + 0.07692504305884523 + ], + [ + 0.20853103697299957, + 0.9756435751914978, + 0.06807626783847809, + 0.1229792908818092 + ], + [ + -0.40284642577171326, + 0.022258540615439415, + 0.914996862411499, + -0.17349545547984682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8911577463150024, + -0.21821890771389008, + 0.3977667987346649, + 0.07631029421990773 + ], + [ + 0.20852087438106537, + 0.9756456017494202, + 0.06807839125394821, + 0.12289077863800076 + ], + [ + -0.4029354155063629, + 0.022274086251854897, + 0.9149573445320129, + -0.1732519026775405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8871584534645081, + -0.21857018768787384, + 0.4064197540283203, + 0.07009884203380008 + ], + [ + 0.20814423263072968, + 0.9755681753158569, + 0.07030466943979263, + 0.1283606005164812 + ], + [ + -0.41185665130615234, + 0.02222253568470478, + 0.9109776616096497, + -0.1785165230620582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8856538534164429, + -0.2183382213115692, + 0.4098118245601654, + 0.0692822163116257 + ], + [ + 0.20611336827278137, + 0.9756962060928345, + 0.07439190149307251, + 0.12754424404142037 + ], + [ + -0.41609445214271545, + 0.018582211807370186, + 0.9091315269470215, + -0.18336003179538923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8842892050743103, + -0.2201564610004425, + 0.4117811918258667, + 0.06923460594888003 + ], + [ + 0.20710527896881104, + 0.9753081798553467, + 0.07668986171483994, + 0.1302970473496419 + ], + [ + -0.41849732398986816, + 0.017466029152274132, + 0.9080500602722168, + -0.18617082766766818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8843111395835876, + -0.22015975415706635, + 0.41173234581947327, + 0.06888140080110082 + ], + [ + 0.20711569488048553, + 0.9753073453903198, + 0.07667285203933716, + 0.13021779166499398 + ], + [ + -0.4184458553791046, + 0.017473571002483368, + 0.9080736637115479, + -0.18602820130170516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8826433420181274, + -0.22155141830444336, + 0.4145548641681671, + 0.062102420403147646 + ], + [ + 0.2057981789112091, + 0.975073516368866, + 0.08293840289115906, + 0.1375259834078123 + ], + [ + -0.42259660363197327, + 0.012109614908695221, + 0.906237006187439, + -0.18534311500360381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8830949664115906, + -0.21492041647434235, + 0.41707614064216614, + 0.05540904402732849 + ], + [ + 0.19599072635173798, + 0.9766242504119873, + 0.08827661722898483, + 0.141577722504735 + ], + [ + -0.426299124956131, + 0.003786414861679077, + 0.9045743346214294, + -0.18592102453112602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8830915689468384, + -0.21490712463855743, + 0.41709020733833313, + 0.054966313040481427 + ], + [ + 0.19598399102687836, + 0.9766271114349365, + 0.08825981616973877, + 0.14151739369866984 + ], + [ + -0.4263092577457428, + 0.003801494836807251, + 0.9045695066452026, + -0.18571658249733583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8840147256851196, + -0.21141038835048676, + 0.41692158579826355, + 0.05550711911241963 + ], + [ + 0.18897081911563873, + 0.9773839116096497, + 0.09492463618516922, + 0.1424481091704571 + ], + [ + -0.4275605380535126, + -0.005128771066665649, + 0.9039721488952637, + -0.18813886472357894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8852142095565796, + -0.21080604195594788, + 0.4146764576435089, + 0.057638962594967966 + ], + [ + 0.18732061982154846, + 0.9774932861328125, + 0.09704580157995224, + 0.15286472704050677 + ], + [ + -0.4258013069629669, + -0.008228875696659088, + 0.9047792553901672, + -0.19259102001505077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8864651918411255, + -0.20773163437843323, + 0.4135541319847107, + 0.05706265622152472 + ], + [ + 0.18382948637008667, + 0.9781325459480286, + 0.09728021919727325, + 0.15547637222510463 + ], + [ + -0.4247189164161682, + -0.010212104767560959, + 0.9052676558494568, + -0.19541024832793003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8879844546318054, + -0.1996399462223053, + 0.4142795503139496, + 0.05326902877609685 + ], + [ + 0.17483431100845337, + 0.9797684550285339, + 0.09739984571933746, + 0.15850640372285302 + ], + [ + -0.42534294724464417, + -0.014059264212846756, + 0.9049230813980103, + -0.1980173666803342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8888961672782898, + -0.1927836537361145, + 0.415569543838501, + 0.04843281189788062 + ], + [ + 0.1667499840259552, + 0.9810722470283508, + 0.09844626486301422, + 0.15861666203950936 + ], + [ + -0.42668259143829346, + -0.018212299793958664, + 0.9042180776596069, + -0.20082630599444767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8889093995094299, + -0.19283618032932281, + 0.4155169427394867, + 0.04810931885017539 + ], + [ + 0.1667756587266922, + 0.981060802936554, + 0.09851717203855515, + 0.1584078035545799 + ], + [ + -0.42664507031440735, + -0.018274739384651184, + 0.9042345285415649, + -0.20064837977571306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8901877403259277, + -0.18782494962215424, + 0.4150753915309906, + 0.04833460256176175 + ], + [ + 0.1617235690355301, + 0.9820051789283752, + 0.0975262001156807, + 0.16070687528348193 + ], + [ + -0.42592403292655945, + -0.019689157605171204, + 0.9045447111129761, + -0.2091081235346929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8898264169692993, + -0.191708505153656, + 0.41407346725463867, + 0.04994997241587009 + ], + [ + 0.16572245955467224, + 0.9812729358673096, + 0.09818099439144135, + 0.15808618313299036 + ], + [ + -0.42514121532440186, + -0.018742773681879044, + 0.904932975769043, + -0.21337695892127054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8897904753684998, + -0.19514916837215424, + 0.41254058480262756, + 0.05327984715970058 + ], + [ + 0.17015154659748077, + 0.9806427359580994, + 0.09689323604106903, + 0.15864325152393782 + ], + [ + -0.4234635531902313, + -0.016020268201828003, + 0.9057714939117432, + -0.21919724546232314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8888635635375977, + -0.19798551499843597, + 0.4131866991519928, + 0.05361863144163816 + ], + [ + 0.1744871586561203, + 0.9801349639892578, + 0.09428487718105316, + 0.16183462120452016 + ], + [ + -0.4236457645893097, + -0.011710628867149353, + 0.9057522416114807, + -0.22259712511638424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8884546160697937, + -0.19761426746845245, + 0.4142427146434784, + 0.052865189342003946 + ], + [ + 0.17549552023410797, + 0.9802442789077759, + 0.09122776985168457, + 0.16602659798315111 + ], + [ + -0.42408695816993713, + -0.008353997021913528, + 0.9055829644203186, + -0.22527648276596698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.889158308506012, + -0.1938505321741104, + 0.41451120376586914, + 0.05286722599335436 + ], + [ + 0.17199291288852692, + 0.9809935092926025, + 0.08983398973941803, + 0.16774824012844067 + ], + [ + -0.42404717206954956, + -0.00858364999294281, + 0.9055994153022766, + -0.22914657654627313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8897611498832703, + -0.19007238745689392, + 0.41496703028678894, + 0.05106671154499054 + ], + [ + 0.16783848404884338, + 0.9817166328430176, + 0.08979281783103943, + 0.16710504109285912 + ], + [ + -0.4244471490383148, + -0.010246720165014267, + 0.9053947329521179, + -0.23277291457326907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8892051577568054, + -0.19014106690883636, + 0.41612574458122253, + 0.049413849413394925 + ], + [ + 0.16789411008358002, + 0.9817059636116028, + 0.08980536460876465, + 0.1672553984905189 + ], + [ + -0.42558881640434265, + -0.009990345686674118, + 0.9048615097999573, + -0.23496793874029842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.88739013671875, + -0.19590428471565247, + 0.4173251688480377, + 0.04981755130695847 + ], + [ + 0.17356956005096436, + 0.9805859327316284, + 0.0912407636642456, + 0.16396261369282344 + ], + [ + -0.4270976483821869, + -0.008531216531991959, + 0.9041652679443359, + -0.23468915793412137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.886238694190979, + -0.19840086996555328, + 0.4185905456542969, + 0.04898681885228967 + ], + [ + 0.17698656022548676, + 0.9801054000854492, + 0.08982862532138824, + 0.1663430599530913 + ], + [ + -0.4280849099159241, + -0.005524706095457077, + 0.9037216305732727, + -0.2357401597612309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8847891092300415, + -0.20001426339149475, + 0.42088302969932556, + 0.04590680048150836 + ], + [ + 0.1793152093887329, + 0.9797884821891785, + 0.08866007626056671, + 0.16903559245028585 + ], + [ + -0.43010959029197693, + -0.0029747560620307922, + 0.9027717709541321, + -0.23451150569994494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8835011720657349, + -0.2021462321281433, + 0.422566682100296, + 0.04546655784800367 + ], + [ + 0.18165531754493713, + 0.9793540239334106, + 0.08869615197181702, + 0.16982303317987693 + ], + [ + -0.4317719638347626, + -0.0016016773879528046, + 0.9019813537597656, + -0.23341528683338525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8827604651451111, + -0.2033817321062088, + 0.4235208034515381, + 0.04519638942097718 + ], + [ + 0.18281643092632294, + 0.9790987372398376, + 0.08912830054759979, + 0.16959627549743878 + ], + [ + -0.43279576301574707, + -0.0012523829936981201, + 0.9014911651611328, + -0.2319476474006221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8827114105224609, + -0.202385812997818, + 0.4240996241569519, + 0.044400436698265794 + ], + [ + 0.18155553936958313, + 0.9793038964271545, + 0.08945082128047943, + 0.17003618065478668 + ], + [ + -0.43342602252960205, + -0.0019616298377513885, + 0.901187002658844, + -0.23108930216645296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8821051716804504, + -0.2010613977909088, + 0.42598676681518555, + 0.041337874841015296 + ], + [ + 0.18013572692871094, + 0.9795764684677124, + 0.08933696150779724, + 0.17170978464045614 + ], + [ + -0.43524885177612305, + -0.0020691603422164917, + 0.900307834148407, + -0.22877643636937411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8822486400604248, + -0.20061951875686646, + 0.42589810490608215, + 0.04181277032168407 + ], + [ + 0.17981988191604614, + 0.9796673655509949, + 0.08897560834884644, + 0.1732301745212303 + ], + [ + -0.43508872389793396, + -0.001913655549287796, + 0.9003855586051941, + -0.22672707039230275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8828585743904114, + -0.1981777548789978, + 0.4257773458957672, + 0.03979775526051251 + ], + [ + 0.1769598126411438, + 0.9801599383354187, + 0.08928470313549042, + 0.1744217613676809 + ], + [ + -0.43502411246299744, + -0.003480292856693268, + 0.9004120826721191, + -0.2250648115744006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8833820819854736, + -0.19559991359710693, + 0.42588356137275696, + 0.03805863193745883 + ], + [ + 0.1736409068107605, + 0.9806668758392334, + 0.0902291089296341, + 0.17489892671693047 + ], + [ + -0.43529871106147766, + -0.005755964666604996, + 0.9002676606178284, + -0.222279177268721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8840605020523071, + -0.1916607916355133, + 0.42626655101776123, + 0.03562085960271224 + ], + [ + 0.16901183128356934, + 0.9814270734786987, + 0.09075167775154114, + 0.17803902693514553 + ], + [ + -0.4357430934906006, + -0.00818588212132454, + 0.9000338315963745, + -0.2190464638314157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8846383690834045, + -0.18796925246715546, + 0.42671123147010803, + 0.03310165526169651 + ], + [ + 0.16426627337932587, + 0.9821091890335083, + 0.09207651019096375, + 0.17980267782256287 + ], + [ + -0.4363845884799957, + -0.011360157281160355, + 0.8996885418891907, + -0.21549743891886947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.8853110671043396, + -0.18604972958564758, + 0.42615705728530884, + 0.031577286152344834 + ], + [ + 0.160433828830719, + 0.9824056029319763, + 0.0956043154001236, + 0.17922695310048337 + ], + [ + -0.43644624948501587, + -0.01626954972743988, + 0.8995832204818726, + -0.21383138611069266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.8859239816665649, + -0.18392467498779297, + 0.42580562829971313, + 0.02996053122124582 + ], + [ + 0.1568724811077118, + 0.9827345609664917, + 0.09810121357440948, + 0.18096195057315648 + ], + [ + -0.43649715185165405, + -0.020113036036491394, + 0.8994808197021484, + -0.21171803058318373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.8864114284515381, + -0.1840037703514099, + 0.4247557520866394, + 0.029957234493966374 + ], + [ + 0.15576499700546265, + 0.9826556444168091, + 0.10062365978956223, + 0.18204916847764321 + ], + [ + -0.43590378761291504, + -0.02303188294172287, + 0.8996984958648682, + -0.21062617211971643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.8869139552116394, + -0.18417760729789734, + 0.4236298203468323, + 0.0299650546514763 + ], + [ + 0.15466105937957764, + 0.9825447201728821, + 0.10337254405021667, + 0.18262478011959005 + ], + [ + -0.4352741241455078, + -0.02616352215409279, + 0.899917721748352, + -0.20953485139136044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.8872201442718506, + -0.18486790359020233, + 0.42268702387809753, + 0.030298658418205553 + ], + [ + 0.15474598109722137, + 0.98237544298172, + 0.10484342277050018, + 0.1832374218007866 + ], + [ + -0.4346195161342621, + -0.027610089629888535, + 0.9001908302307129, + -0.20868464608518583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.8876171112060547, + -0.18573443591594696, + 0.42147189378738403, + 0.030643445309602994 + ], + [ + 0.1554526835680008, + 0.9821985960006714, + 0.10545340180397034, + 0.18342892573970668 + ], + [ + -0.4335554242134094, + -0.02808332070708275, + 0.9006891846656799, + -0.2088758113811601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.8878536224365234, + -0.1869693100452423, + 0.42042651772499084, + 0.030818638542913043 + ], + [ + 0.15651923418045044, + 0.9819539189338684, + 0.10615193843841553, + 0.1830234927107703 + ], + [ + -0.43268659710884094, + -0.028442561626434326, + 0.9010956287384033, + -0.20858362189160204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.8880231976509094, + -0.1875583678483963, + 0.41980549693107605, + 0.0309439573928995 + ], + [ + 0.15701667964458466, + 0.9818348288536072, + 0.10651808977127075, + 0.18209057056678915 + ], + [ + -0.4321580231189728, + -0.02867407724261284, + 0.9013419151306152, + -0.20787776393710442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.8881186842918396, + -0.1879255771636963, + 0.4194391965866089, + 0.030146462146965966 + ], + [ + 0.15730345249176025, + 0.9817590117454529, + 0.10679380595684052, + 0.18109694162629686 + ], + [ + -0.43185746669769287, + -0.02886636182665825, + 0.9014798402786255, + -0.2075738509308617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.8883989453315735, + -0.18921595811843872, + 0.41826382279396057, + 0.03091774684078289 + ], + [ + 0.15868622064590454, + 0.9815171360969543, + 0.10697084665298462, + 0.17978960444342415 + ], + [ + -0.43077370524406433, + -0.028660088777542114, + 0.9020047783851624, + -0.20782662070584748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.8885194659233093, + -0.19008386135101318, + 0.41761383414268494, + 0.03054702751479059 + ], + [ + 0.15989083051681519, + 0.981372594833374, + 0.10650263726711273, + 0.1795477399567388 + ], + [ + -0.4300791919231415, + -0.027857039123773575, + 0.902361273765564, + -0.20790131175011958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.8885946869850159, + -0.1912873387336731, + 0.4169035851955414, + 0.03087412650292775 + ], + [ + 0.16104057431221008, + 0.9811380505561829, + 0.1069299578666687, + 0.1781741996418755 + ], + [ + -0.42949435114860535, + -0.027878999710083008, + 0.9026390910148621, + -0.20802049130763647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.8886528015136719, + -0.19257134199142456, + 0.41618797183036804, + 0.031104592922723523 + ], + [ + 0.1623292863368988, + 0.9808905124664307, + 0.1072520911693573, + 0.1767761930682749 + ], + [ + -0.4288885295391083, + -0.02775038406252861, + 0.9029310941696167, + -0.20807738091866926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.8886252045631409, + -0.19267058372497559, + 0.41620105504989624, + 0.030629934342402333 + ], + [ + 0.16262495517730713, + 0.9808844327926636, + 0.10685926675796509, + 0.17738931117192755 + ], + [ + -0.4288337826728821, + -0.027273159474134445, + 0.902971625328064, + -0.2078926867471551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.8881931304931641, + -0.19414183497428894, + 0.4164395034313202, + 0.02896582194656696 + ], + [ + 0.16430369019508362, + 0.9806188941001892, + 0.10672793537378311, + 0.17686548667415133 + ], + [ + -0.4290888011455536, + -0.02637246996164322, + 0.9028772115707397, + -0.20737942090293146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.8879721164703369, + -0.19624893367290497, + 0.4159228801727295, + 0.02959610043831591 + ], + [ + 0.16673977673053741, + 0.9802290797233582, + 0.10653091222047806, + 0.1771822398001293 + ], + [ + -0.4286062717437744, + -0.025245599448680878, + 0.9031385779380798, + -0.20767369641447966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.8877565264701843, + -0.1976463347673416, + 0.41572141647338867, + 0.03022776232013162 + ], + [ + 0.16820429265499115, + 0.9799594879150391, + 0.1067083328962326, + 0.17699503601300268 + ], + [ + -0.42848068475723267, + -0.024804890155792236, + 0.9032104015350342, + -0.20730529554047675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.887389063835144, + -0.19823190569877625, + 0.416226863861084, + 0.029293785848707517 + ], + [ + 0.16859757900238037, + 0.9798372387886047, + 0.10720925033092499, + 0.17616308061581737 + ], + [ + -0.4290868639945984, + -0.024961475282907486, + 0.90291827917099, + -0.20642728783049674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.8871541619300842, + -0.19886605441570282, + 0.41642504930496216, + 0.028774610583512286 + ], + [ + 0.1691780835390091, + 0.9797109961509705, + 0.10744842886924744, + 0.17548145388235462 + ], + [ + -0.4293440580368042, + -0.02487333118915558, + 0.9027984142303467, + -0.20584680106279984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.887079119682312, + -0.19965310394763947, + 0.41620826721191406, + 0.02944323420524597 + ], + [ + 0.17019708454608917, + 0.9795675277709961, + 0.10714684426784515, + 0.17556136860600058 + ], + [ + -0.4290962815284729, + -0.02421030029654503, + 0.9029342532157898, + -0.2056085225546135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8869052529335022, + -0.19999684393405914, + 0.41641363501548767, + 0.028789464848221473 + ], + [ + 0.1707983762025833, + 0.9795151352882385, + 0.1066678911447525, + 0.17568945839017067 + ], + [ + -0.4292167127132416, + -0.023481547832489014, + 0.9028962850570679, + -0.20555387798626468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8868274688720703, + -0.20003390312194824, + 0.4165615439414978, + 0.028059003291265018 + ], + [ + 0.17087388038635254, + 0.9795108437538147, + 0.10658621788024902, + 0.17568925821556236 + ], + [ + -0.4293473958969116, + -0.023344088345766068, + 0.9028376340866089, + -0.20519443424242848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8873620629310608, + -0.20063646137714386, + 0.41513076424598694, + 0.030327069309522517 + ], + [ + 0.17181457579135895, + 0.9794000387191772, + 0.1060909628868103, + 0.17424889483120082 + ], + [ + -0.42786481976509094, + -0.022815581411123276, + 0.9035547375679016, + -0.20659830037434146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8875550627708435, + -0.20040491223335266, + 0.41482987999916077, + 0.029591668130091897 + ], + [ + 0.1714983880519867, + 0.9794396162033081, + 0.10623694211244583, + 0.17228388049692478 + ], + [ + -0.4275912344455719, + -0.023148484528064728, + 0.9036757349967957, + -0.20704275082867102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.887717604637146, + -0.20150069892406464, + 0.4139504134654999, + 0.030383442510973732 + ], + [ + 0.17228762805461884, + 0.9791985750198364, + 0.10717813670635223, + 0.16927953714610272 + ], + [ + -0.4269361197948456, + -0.02382539212703705, + 0.9039678573608398, + -0.20742718601283036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.8877789974212646, + -0.2017865628004074, + 0.41367945075035095, + 0.029999345541000366 + ], + [ + 0.1731085628271103, + 0.979168713092804, + 0.10612310469150543, + 0.1697241820394993 + ], + [ + -0.4264761507511139, + -0.022602424025535583, + 0.9042163491249084, + -0.20783814042806625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.887485146522522, + -0.2033243030309677, + 0.41355690360069275, + 0.029805288421657854 + ], + [ + 0.17459426820278168, + 0.9788556098937988, + 0.10657615959644318, + 0.1680521077915745 + ], + [ + -0.42648205161094666, + -0.022380094975233078, + 0.9042190909385681, + -0.20732853349368527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8874814510345459, + -0.2034638226032257, + 0.413496196269989, + 0.029447082106797196 + ], + [ + 0.17470473051071167, + 0.9788255095481873, + 0.1066717654466629, + 0.16776020228862762 + ], + [ + -0.42644447088241577, + -0.02242947742342949, + 0.9042356014251709, + -0.20716219386964474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8876821398735046, + -0.20430795848369598, + 0.41264837980270386, + 0.030247560649547943 + ], + [ + 0.17552067339420319, + 0.9786475300788879, + 0.10696496069431305, + 0.16686269586800404 + ], + [ + -0.4256911277770996, + -0.022522572427988052, + 0.9045882225036621, + -0.20680079881875021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.8873720765113831, + -0.2034614235162735, + 0.41373205184936523, + 0.02694746711344089 + ], + [ + 0.17483799159526825, + 0.9788345694541931, + 0.10637007653713226, + 0.16832500661038002 + ], + [ + -0.42661744356155396, + -0.022053752094507217, + 0.9041632413864136, + -0.2042679173766442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.886978805065155, + -0.20389887690544128, + 0.41435953974723816, + 0.025152174791075156 + ], + [ + 0.17538145184516907, + 0.9787551760673523, + 0.10620592534542084, + 0.16929581599696628 + ], + [ + -0.42721179127693176, + -0.021531429141759872, + 0.9038951396942139, + -0.2021399421652533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8866037130355835, + -0.2049611359834671, + 0.4146381914615631, + 0.024090517973000145 + ], + [ + 0.17656661570072174, + 0.978546679019928, + 0.10616341978311539, + 0.170087863814156 + ], + [ + -0.42750218510627747, + -0.020913608372211456, + 0.9037723541259766, + -0.20045234099873957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.886550784111023, + -0.2047787606716156, + 0.4148413836956024, + 0.022436299498351117 + ], + [ + 0.17652025818824768, + 0.9785916805267334, + 0.10582509636878967, + 0.17099487639541897 + ], + [ + -0.42763105034828186, + -0.02059142291545868, + 0.9037188291549683, + -0.19850847573494013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8866128921508789, + -0.2038067877292633, + 0.415187269449234, + 0.020866864441700703 + ], + [ + 0.17567718029022217, + 0.9787977337837219, + 0.10532107949256897, + 0.1727417638279357 + ], + [ + -0.42784950137138367, + -0.02044011279940605, + 0.9036188721656799, + -0.1961546281879803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8867459893226624, + -0.20469284057617188, + 0.41446635127067566, + 0.020430575423645528 + ], + [ + 0.17645803093910217, + 0.9786081910133362, + 0.10577608644962311, + 0.17151801126464358 + ], + [ + -0.42725178599357605, + -0.020660609006881714, + 0.9038965702056885, + -0.19544766133405128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8867858052253723, + -0.20580914616584778, + 0.41382795572280884, + 0.020345180467614583 + ], + [ + 0.17769557237625122, + 0.978381872177124, + 0.1057976707816124, + 0.17091354497198788 + ], + [ + -0.4266558885574341, + -0.020284481346607208, + 0.9041865468025208, + -0.1944495729680331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8868610858917236, + -0.20654799044132233, + 0.4132980704307556, + 0.020179485093872504 + ], + [ + 0.17876137793064117, + 0.9782421588897705, + 0.10529310256242752, + 0.17121116071236583 + ], + [ + -0.4260537028312683, + -0.01949862390756607, + 0.9044877290725708, + -0.19334573130000313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8871352076530457, + -0.20613393187522888, + 0.4129164218902588, + 0.0195914312353674 + ], + [ + 0.17834118008613586, + 0.9783251285552979, + 0.1052350252866745, + 0.17049842108533067 + ], + [ + -0.4256590008735657, + -0.019717711955308914, + 0.9046688079833984, + -0.19268339776767873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8872523307800293, + -0.2052428275346756, + 0.4131086468696594, + 0.017958106409828624 + ], + [ + 0.1775987297296524, + 0.9785159826278687, + 0.10471461713314056, + 0.17054383041301988 + ], + [ + -0.4257253408432007, + -0.01954071596264839, + 0.9046414494514465, + -0.19151977817967253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8869819641113281, + -0.20663386583328247, + 0.41299572587013245, + 0.01769315535729786 + ], + [ + 0.1789674162864685, + 0.9782282710075378, + 0.10507182776927948, + 0.1686217739896954 + ], + [ + -0.42571547627449036, + -0.01928403601050377, + 0.9046515822410583, + -0.19121488675756274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8868364095687866, + -0.20789064466953278, + 0.41267749667167664, + 0.017429635603472875 + ], + [ + 0.1804300993680954, + 0.9779753684997559, + 0.10492447018623352, + 0.16732384251114332 + ], + [ + -0.4254012405872345, + -0.01859140768647194, + 0.9048138856887817, + -0.19135331155837706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8866552114486694, + -0.20911911129951477, + 0.4124460518360138, + 0.017659431724053508 + ], + [ + 0.18174248933792114, + 0.9777215123176575, + 0.10502544045448303, + 0.16601048561761964 + ], + [ + -0.42522022128105164, + -0.01816238835453987, + 0.9049077033996582, + -0.1914168494208804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8864707946777344, + -0.20973935723304749, + 0.412527471780777, + 0.016477141712071763 + ], + [ + 0.18252110481262207, + 0.9775984883308411, + 0.10482025891542435, + 0.16480281083089002 + ], + [ + -0.4252711832523346, + -0.01762513816356659, + 0.9048943519592285, + -0.19184023874267092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8864700794219971, + -0.2102314680814743, + 0.41227856278419495, + 0.016734238362537242 + ], + [ + 0.18289540708065033, + 0.9774887561798096, + 0.10519008338451385, + 0.16363792815860712 + ], + [ + -0.42511191964149475, + -0.01784401759505272, + 0.9049649238586426, + -0.1916063372256621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8862473368644714, + -0.21070237457752228, + 0.41251689195632935, + 0.016427670025600583 + ], + [ + 0.18359757959842682, + 0.9774001240730286, + 0.10479004681110382, + 0.16355157597869072 + ], + [ + -0.425273597240448, + -0.01713280752301216, + 0.9049026966094971, + -0.19080497197947413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8862506151199341, + -0.21072401106357574, + 0.4124987721443176, + 0.016090973143307666 + ], + [ + 0.18365149199962616, + 0.9773967266082764, + 0.10472692549228668, + 0.16347544838516218 + ], + [ + -0.42524343729019165, + -0.01705828681588173, + 0.9049182534217834, + -0.19057440937690015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8864191770553589, + -0.210275799036026, + 0.4123653173446655, + 0.015623821346264971 + ], + [ + 0.18310579657554626, + 0.9774867296218872, + 0.10484226793050766, + 0.16391076039312022 + ], + [ + -0.42512744665145874, + -0.017427705228328705, + 0.9049656987190247, + -0.19074215430696057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.8861995935440063, + -0.20910407602787018, + 0.41343164443969727, + 0.013664676445835043 + ], + [ + 0.18137021362781525, + 0.9777142405509949, + 0.10573409497737885, + 0.1645323339498268 + ], + [ + -0.4263274669647217, + -0.018717333674430847, + 0.9043752551078796, + -0.18927212835482832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8861666917800903, + -0.2090587615966797, + 0.41352516412734985, + 0.013092696807294517 + ], + [ + 0.18136560916900635, + 0.9777259826660156, + 0.10563333332538605, + 0.16467342567893695 + ], + [ + -0.4263978600502014, + -0.018609508872032166, + 0.9043442606925964, + -0.18902384669713254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8855673670768738, + -0.20970578491687775, + 0.4144802987575531, + 0.012003885406368181 + ], + [ + 0.18152062594890594, + 0.9775737524032593, + 0.10677017271518707, + 0.16601148929517223 + ], + [ + -0.42757537961006165, + -0.019315477460622787, + 0.903773307800293, + -0.18778060756202014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8847714066505432, + -0.2100733071565628, + 0.41599127650260925, + 0.009572916829361101 + ], + [ + 0.18173129856586456, + 0.9774977564811707, + 0.10710684955120087, + 0.1671116467987029 + ], + [ + -0.42913082242012024, + -0.01916643977165222, + 0.9030389785766602, + -0.1862968975221211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8840813636779785, + -0.21133555471897125, + 0.4168182909488678, + 0.008408387792560292 + ], + [ + 0.1824975162744522, + 0.9772139191627502, + 0.1083863377571106, + 0.16640677196237277 + ], + [ + -0.43022653460502625, + -0.019754040986299515, + 0.9025048017501831, + -0.18562506977117288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8835634589195251, + -0.21274106204509735, + 0.4172011911869049, + 0.008389675532871822 + ], + [ + 0.18348349630832672, + 0.976898729801178, + 0.1095566600561142, + 0.16572616012450658 + ], + [ + -0.43087050318717957, + -0.020250733941793442, + 0.9021865129470825, + -0.18492083989505498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.8831459283828735, + -0.2151147425174713, + 0.41686803102493286, + 0.00999118176833639 + ], + [ + 0.18557608127593994, + 0.9763758778572083, + 0.11068747937679291, + 0.16549570633555358 + ], + [ + -0.43083035945892334, + -0.020392462611198425, + 0.9022024869918823, + -0.1852978395965864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.8827674984931946, + -0.21580517292022705, + 0.41731247305870056, + 0.009168199632527692 + ], + [ + 0.1862708032131195, + 0.9762298464775085, + 0.11080819368362427, + 0.16568286063255006 + ], + [ + -0.431305855512619, + -0.02008475363254547, + 0.9019821882247925, + -0.18487191980458656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.8828835487365723, + -0.21487969160079956, + 0.4175444543361664, + 0.007997330123523494 + ], + [ + 0.1851930022239685, + 0.9764233827590942, + 0.11090964078903198, + 0.16634024938322464 + ], + [ + -0.4315324127674103, + -0.020593974739313126, + 0.9018623232841492, + -0.18525457579009938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.8828200101852417, + -0.21529780328273773, + 0.41746342182159424, + 0.0081578791422664 + ], + [ + 0.18564532697200775, + 0.9763345718383789, + 0.11093495786190033, + 0.16644949087135072 + ], + [ + -0.43146800994873047, + -0.020435456186532974, + 0.9018967151641846, + -0.18551053432923442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.8828133344650269, + -0.21586407721042633, + 0.4171850383281708, + 0.008608831268436506 + ], + [ + 0.18632934987545013, + 0.9762163758277893, + 0.11082857847213745, + 0.1664757658428741 + ], + [ + -0.4311867654323578, + -0.020107131451368332, + 0.9020386338233948, + -0.18583712929262305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.8828927874565125, + -0.21561425924301147, + 0.41714605689048767, + 0.008385564724229418 + ], + [ + 0.18590247631072998, + 0.9762617349624634, + 0.11114566028118134, + 0.1660507100933003 + ], + [ + -0.4312082827091217, + -0.020581241697072983, + 0.9020176529884338, + -0.18556183111274016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.883556067943573, + -0.21429473161697388, + 0.41642096638679504, + 0.009057695713807955 + ], + [ + 0.18446147441864014, + 0.9765347838401794, + 0.11114765703678131, + 0.1660311053384025 + ], + [ + -0.4304679334163666, + -0.021391574293375015, + 0.9023523330688477, + -0.18632562093014987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.8836978673934937, + -0.21391189098358154, + 0.4163169860839844, + 0.008806894550908287 + ], + [ + 0.1840347945690155, + 0.9766137599945068, + 0.11116082966327667, + 0.1660247765200318 + ], + [ + -0.43035954236984253, + -0.02161577343940735, + 0.9023987054824829, + -0.18620641571733187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.8841350078582764, + -0.21186403930187225, + 0.41643598675727844, + 0.007884497406347744 + ], + [ + 0.18176423013210297, + 0.9770379066467285, + 0.1111697107553482, + 0.16651992132922389 + ], + [ + -0.43042662739753723, + -0.022595863789319992, + 0.902342677116394, + -0.186234927093083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.8846789598464966, + -0.210813969373703, + 0.41581323742866516, + 0.008951492045285565 + ], + [ + 0.1809074878692627, + 0.9772650599479675, + 0.1105690449476242, + 0.1678607938424596 + ], + [ + -0.42966923117637634, + -0.022594381123781204, + 0.9027036428451538, + -0.1863658976301832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.8848726749420166, + -0.20930133759975433, + 0.41616499423980713, + 0.008010943543236212 + ], + [ + 0.17922215163707733, + 0.9775744676589966, + 0.11057840287685394, + 0.16846871179229808 + ], + [ + -0.4299764633178711, + -0.02326182648539543, + 0.902540385723114, + -0.18579943444368974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.885430097579956, + -0.2065705806016922, + 0.4163438081741333, + 0.006764262914657593 + ], + [ + 0.17592240869998932, + 0.9781076312065125, + 0.11116116493940353, + 0.167931130015344 + ], + [ + -0.43019169569015503, + -0.02518124133348465, + 0.9023863077163696, + -0.18547694539686418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.8854452967643738, + -0.20657694339752197, + 0.41630834341049194, + 0.006409501354649384 + ], + [ + 0.17592760920524597, + 0.9781059622764587, + 0.1111672967672348, + 0.16783609218754858 + ], + [ + -0.43015825748443604, + -0.02519242838025093, + 0.9024019241333008, + -0.185305429573329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.8857118487358093, + -0.2055087834596634, + 0.4162699580192566, + 0.006410809254871225 + ], + [ + 0.1749059110879898, + 0.9783265590667725, + 0.11083786189556122, + 0.1688635609411406 + ], + [ + -0.430026113986969, + -0.025362331420183182, + 0.9024601578712463, + -0.18535214755332696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.8856887817382812, + -0.20481927692890167, + 0.4166587293148041, + 0.005437163643117221 + ], + [ + 0.174244686961174, + 0.9784712791442871, + 0.11060181260108948, + 0.16958696968712897 + ], + [ + -0.4303419888019562, + -0.02535821497440338, + 0.9023096561431885, + -0.18506709742096236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.8859667181968689, + -0.20297101140022278, + 0.4169721007347107, + 0.00511117082721782 + ], + [ + 0.1722850501537323, + 0.9788400530815125, + 0.11040862649679184, + 0.17083515222623663 + ], + [ + -0.4305587410926819, + -0.02598031610250473, + 0.9021885395050049, + -0.18573854574055043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.8859967589378357, + -0.2033616602420807, + 0.41671785712242126, + 0.005269294077495365 + ], + [ + 0.17243587970733643, + 0.9787449836730957, + 0.11101411283016205, + 0.16972024907480995 + ], + [ + -0.43043652176856995, + -0.026501040905714035, + 0.902231752872467, + -0.18575739480976788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.8853579759597778, + -0.2046298384666443, + 0.4174540936946869, + 0.004774158237115397 + ], + [ + 0.1732860505580902, + 0.9784690737724304, + 0.11211717128753662, + 0.16875329437964368 + ], + [ + -0.43140843510627747, + -0.02692486345767975, + 0.9017548561096191, + -0.18682668435404887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.885339081287384, + -0.20636337995529175, + 0.416640043258667, + 0.006881410361460921 + ], + [ + 0.17539000511169434, + 0.9781329035758972, + 0.11177805066108704, + 0.16948642055943328 + ], + [ + -0.4305962324142456, + -0.025886986404657364, + 0.9021733403205872, + -0.18789500357969752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.8852968811988831, + -0.2069467157125473, + 0.41644030809402466, + 0.007493063779372089 + ], + [ + 0.17617927491664886, + 0.9780242443084717, + 0.11148764193058014, + 0.1697519352483862 + ], + [ + -0.43036073446273804, + -0.0253315232694149, + 0.9023014903068542, + -0.1889651005841651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.8856185674667358, + -0.2057948112487793, + 0.4163270592689514, + 0.007575685235689272 + ], + [ + 0.1750776171684265, + 0.9782619476318359, + 0.11113680154085159, + 0.17046399442654736 + ], + [ + -0.43014830350875854, + -0.025535278022289276, + 0.9023970365524292, + -0.1903137220526641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8856126070022583, + -0.20581987500190735, + 0.4163273572921753, + 0.0071805791472489 + ], + [ + 0.174934983253479, + 0.978246808052063, + 0.1114940196275711, + 0.16854019097562106 + ], + [ + -0.43021857738494873, + -0.025910288095474243, + 0.9023528099060059, + -0.191597618022055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.8857756853103638, + -0.2055022269487381, + 0.41613736748695374, + 0.0072033706138718845 + ], + [ + 0.1748824268579483, + 0.9783259630203247, + 0.11088057607412338, + 0.16885524541139602 + ], + [ + -0.42990419268608093, + -0.025440208613872528, + 0.9025160074234009, + -0.1937333846429609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8857172727584839, + -0.2054828256368637, + 0.4162712097167969, + 0.006650693433464694 + ], + [ + 0.1748538464307785, + 0.9783303141593933, + 0.11088687181472778, + 0.16877093636342938 + ], + [ + -0.4300360679626465, + -0.02542780339717865, + 0.9024535417556763, + -0.19335048333653865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.885636568069458, + -0.20670300722122192, + 0.41583865880966187, + 0.00818170064462806 + ], + [ + 0.17657262086868286, + 0.9781065583229065, + 0.110135018825531, + 0.16877456498595902 + ], + [ + -0.4294997453689575, + -0.024113882333040237, + 0.9027450084686279, + -0.1949792335618217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8856477737426758, + -0.20609372854232788, + 0.4161170721054077, + 0.007435855269432051 + ], + [ + 0.17628681659698486, + 0.9782512784004211, + 0.10930442810058594, + 0.1682113766670227 + ], + [ + -0.4295939803123474, + -0.023449275642633438, + 0.902717649936676, + -0.19656714349985122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8857399225234985, + -0.20614708960056305, + 0.415894478559494, + 0.008176971859527093 + ], + [ + 0.17653696238994598, + 0.9782494902610779, + 0.10891574621200562, + 0.1669650983135655 + ], + [ + -0.4293012320995331, + -0.02305026724934578, + 0.9028671979904175, + -0.19810228893217052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.885338544845581, + -0.2071029543876648, + 0.41627395153045654, + 0.009453172925508235 + ], + [ + 0.17872139811515808, + 0.978116512298584, + 0.106520876288414, + 0.16661573728581644 + ], + [ + -0.42922520637512207, + -0.019909977912902832, + 0.9029780030250549, + -0.20107740827326503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8851776719093323, + -0.20835116505622864, + 0.41599318385124207, + 0.010612490351470008 + ], + [ + 0.18032923340797424, + 0.9778722524642944, + 0.1060531809926033, + 0.16505481626065271 + ], + [ + -0.42888447642326355, + -0.01886017620563507, + 0.9031624794006348, + -0.2018373545329526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8852043151855469, + -0.2089560627937317, + 0.4156329333782196, + 0.012485106120694353 + ], + [ + 0.18086031079292297, + 0.9777408838272095, + 0.10635960847139359, + 0.16214999001262323 + ], + [ + -0.4286057651042938, + -0.018978483974933624, + 0.9032922387123108, + -0.2020745020289466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8848662376403809, + -0.2091396450996399, + 0.4162600040435791, + 0.010876009542987036 + ], + [ + 0.18133428692817688, + 0.9777182340621948, + 0.10575858503580093, + 0.16113225896403474 + ], + [ + -0.4291033148765564, + -0.018099993467330933, + 0.9030740261077881, + -0.2031628743657526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.8848719596862793, + -0.2091173678636551, + 0.4162589907646179, + 0.010491828732895392 + ], + [ + 0.18129010498523712, + 0.9777219891548157, + 0.10579977929592133, + 0.16096409350493043 + ], + [ + -0.42911016941070557, + -0.01815563067793846, + 0.9030696749687195, + -0.20294181384005636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8844425678253174, + -0.20996007323265076, + 0.416747123003006, + 0.011761796811841571 + ], + [ + 0.1833377480506897, + 0.9775937795639038, + 0.10342951118946075, + 0.16177001364950863 + ], + [ + -0.42912545800209045, + -0.015071988105773926, + 0.9031191468238831, + -0.20390843914927176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8842412233352661, + -0.20936064422130585, + 0.41747525334358215, + 0.010360085542471892 + ], + [ + 0.18261022865772247, + 0.9777185320854187, + 0.10353738069534302, + 0.1607408557649491 + ], + [ + -0.4298499524593353, + -0.01531677320599556, + 0.9027704000473022, + -0.2025045263739127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.8842896223068237, + -0.2092447131872177, + 0.4174308478832245, + 0.009917250528650473 + ], + [ + 0.18259881436824799, + 0.9777464270591736, + 0.10329380631446838, + 0.1609082576801192 + ], + [ + -0.42975518107414246, + -0.015119269490242004, + 0.9028188586235046, + -0.20276757726129496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.8840424418449402, + -0.20890645682811737, + 0.4181232154369354, + 0.0091129387043557 + ], + [ + 0.18240274488925934, + 0.9778252243995667, + 0.1028936430811882, + 0.16066536469701326 + ], + [ + -0.4303465783596039, + -0.014695532619953156, + 0.9025441408157349, + -0.2020304948794392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.8835613131523132, + -0.2094825953245163, + 0.4188513159751892, + 0.008879104594014725 + ], + [ + 0.1838846653699875, + 0.9777349233627319, + 0.10109812021255493, + 0.1612204963446788 + ], + [ + -0.43070387840270996, + -0.012306060642004013, + 0.9024094343185425, + -0.20161254057344402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.883660614490509, + -0.20939506590366364, + 0.41868558526039124, + 0.00910656688348302 + ], + [ + 0.18375758826732635, + 0.9777517318725586, + 0.1011667400598526, + 0.15956534956283164 + ], + [ + -0.4305543601512909, + -0.012460421770811081, + 0.9024786353111267, + -0.2018196124934925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.8834261298179626, + -0.20969949662685394, + 0.4190279543399811, + 0.008870276302661545 + ], + [ + 0.1844329684972763, + 0.977698802947998, + 0.10044684261083603, + 0.15889232223326305 + ], + [ + -0.43074676394462585, + -0.011454790830612183, + 0.9024001359939575, + -0.20167486515809904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.883086085319519, + -0.20967113971710205, + 0.41975829005241394, + 0.007886065542697898 + ], + [ + 0.18489482998847961, + 0.9777191281318665, + 0.09939394891262054, + 0.15884491333140516 + ], + [ + -0.4312457740306854, + -0.01016228273510933, + 0.9021772742271423, + -0.20126114798323164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.8830887079238892, + -0.20971180498600006, + 0.4197324812412262, + 0.007523115794613677 + ], + [ + 0.18492569029331207, + 0.9777102470397949, + 0.09942425787448883, + 0.15868213532387085 + ], + [ + -0.4312271773815155, + -0.010181117802858353, + 0.9021859169006348, + -0.20104407221078874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.8830685019493103, + -0.2090039998292923, + 0.4201277792453766, + 0.007141603613799466 + ], + [ + 0.18520359694957733, + 0.977881908416748, + 0.09719367325305939, + 0.1581146342785291 + ], + [ + -0.4311492145061493, + -0.008019495755434036, + 0.9022449851036072, + -0.20159156079281051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.88314288854599, + -0.2084570974111557, + 0.42024311423301697, + 0.00726223486774373 + ], + [ + 0.18532590568065643, + 0.9780092239379883, + 0.09566772729158401, + 0.15884751716874682 + ], + [ + -0.4309442341327667, + -0.006606332957744598, + 0.90235435962677, + -0.2017097258905195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.8829700350761414, + -0.20811106264591217, + 0.42077749967575073, + 0.0064622882683322 + ], + [ + 0.18550096452236176, + 0.9780904054641724, + 0.09449087083339691, + 0.15901540316079021 + ], + [ + -0.4312230348587036, + -0.0053779855370521545, + 0.902229368686676, + -0.20115841717090246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.8830883502960205, + -0.20763619244098663, + 0.4207637906074524, + 0.0064632019063211865 + ], + [ + 0.18530119955539703, + 0.978193998336792, + 0.09380828589200974, + 0.1588806004316177 + ], + [ + -0.431066632270813, + -0.004872970283031464, + 0.9023069739341736, + -0.2009939210032517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.8831766843795776, + -0.2076425850391388, + 0.42057523131370544, + 0.006510680042347811 + ], + [ + 0.18543866276741028, + 0.9781938791275024, + 0.0935375839471817, + 0.1577323223762917 + ], + [ + -0.4308265149593353, + -0.00461931899189949, + 0.9024229645729065, + -0.20089897230829834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.8831361532211304, + -0.2072921097278595, + 0.42083311080932617, + 0.005942988648729511 + ], + [ + 0.18531638383865356, + 0.978270411491394, + 0.09297780692577362, + 0.1582290324962364 + ], + [ + -0.43096214532852173, + -0.004124805331230164, + 0.9023605585098267, + -0.20002025562637257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.8831573724746704, + -0.20720992982387543, + 0.4208291172981262, + 0.005856720428421808 + ], + [ + 0.1854490488767624, + 0.9782896637916565, + 0.09250936657190323, + 0.158422593695094 + ], + [ + -0.4308616518974304, + -0.0036579668521881104, + 0.902410626411438, + -0.1994221621245708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.8832443952560425, + -0.20691175758838654, + 0.42079320549964905, + 0.0057374393883741215 + ], + [ + 0.18530617654323578, + 0.97835373878479, + 0.09211711585521698, + 0.15866811577722711 + ], + [ + -0.4307447373867035, + -0.0033863484859466553, + 0.9024674892425537, + -0.19849964006329482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.883513867855072, + -0.2073136270046234, + 0.420028954744339, + 0.006707978304826986 + ], + [ + 0.18549349904060364, + 0.9782665371894836, + 0.09266483783721924, + 0.1573886569519088 + ], + [ + -0.43011096119880676, + -0.003958035260438919, + 0.9027673602104187, + -0.19827073015413194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8834450840950012, + -0.20735132694244385, + 0.42015501856803894, + 0.005993160549199808 + ], + [ + 0.18551191687583923, + 0.978258490562439, + 0.09271250665187836, + 0.15716633020706897 + ], + [ + -0.4302442967891693, + -0.00396265834569931, + 0.9027038216590881, + -0.1979656164376241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.8833292722702026, + -0.2078811228275299, + 0.4201367199420929, + 0.005344194904813221 + ], + [ + 0.18614476919174194, + 0.9781474471092224, + 0.0926157683134079, + 0.1569470370996673 + ], + [ + -0.4302087128162384, + -0.0036039836704730988, + 0.9027222394943237, + -0.19715579718632517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8832823634147644, + -0.20798732340335846, + 0.4201827347278595, + 0.005061405053678553 + ], + [ + 0.18665306270122528, + 0.9781279563903809, + 0.09179538488388062, + 0.1583079125661895 + ], + [ + -0.4300847351551056, + -0.0026528574526309967, + 0.9027846455574036, + -0.1955772821914475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8832755088806152, + -0.2081688940525055, + 0.4201072156429291, + 0.004580167020266909 + ], + [ + 0.18673589825630188, + 0.9780887365341187, + 0.09204414486885071, + 0.15781298731014415 + ], + [ + -0.430062860250473, + -0.002851255238056183, + 0.9027944803237915, + -0.19534689687051862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8831462264060974, + -0.20787329971790314, + 0.4205251634120941, + 0.0031519083763068695 + ], + [ + 0.1866273432970047, + 0.9781528115272522, + 0.09158217906951904, + 0.15908523176638587 + ], + [ + -0.4303753674030304, + -0.002398967742919922, + 0.9026468396186829, + -0.19332167298164007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8830721974372864, + -0.20804773271083832, + 0.42059433460235596, + 0.0024644328457004566 + ], + [ + 0.18687020242214203, + 0.9781162142753601, + 0.0914776474237442, + 0.15938315524385785 + ], + [ + -0.4304218888282776, + -0.002184823155403137, + 0.9026252031326294, + -0.19220444478516308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.883192777633667, + -0.20756663382053375, + 0.4205789566040039, + 0.0018024638576327745 + ], + [ + 0.18646489083766937, + 0.9782185554504395, + 0.09121018648147583, + 0.16020059325503852 + ], + [ + -0.43035030364990234, + -0.0021329782903194427, + 0.9026594161987305, + -0.19143693795743977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.8831981420516968, + -0.2073035091161728, + 0.4206973612308502, + 0.0010007886672919603 + ], + [ + 0.18613164126873016, + 0.9782739281654358, + 0.09129717200994492, + 0.16019500979696805 + ], + [ + -0.43048349022865295, + -0.0023284107446670532, + 0.9025954604148865, + -0.19016998079868982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.8831745982170105, + -0.2074655145406723, + 0.42066699266433716, + 0.0005733987351633357 + ], + [ + 0.1863318234682083, + 0.9782398343086243, + 0.09125392138957977, + 0.15999881090982904 + ], + [ + -0.43044525384902954, + -0.0022095106542110443, + 0.9026139974594116, + -0.18955552223718392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.883306622505188, + -0.20745718479156494, + 0.42039379477500916, + 0.0004953301177834518 + ], + [ + 0.18650171160697937, + 0.9782423377037048, + 0.09087954461574554, + 0.16036415343295854 + ], + [ + -0.43010058999061584, + -0.0018703527748584747, + 0.9027790427207947, + -0.1890163073983957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.8833600282669067, + -0.2077762484550476, + 0.4201239347457886, + 0.000445222714037255 + ], + [ + 0.18684151768684387, + 0.9781746864318848, + 0.09090922772884369, + 0.1599275715227397 + ], + [ + -0.42984336614608765, + -0.0018089860677719116, + 0.9029016494750977, + -0.18854223810276893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.8835831880569458, + -0.20759178698062897, + 0.41974571347236633, + 0.00045674308291020205 + ], + [ + 0.18675963580608368, + 0.9782140254974365, + 0.09065380692481995, + 0.15960545229883688 + ], + [ + -0.42942014336586, + -0.001708637923002243, + 0.903103232383728, + -0.18807535049206806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.8838689923286438, + -0.20729105174541473, + 0.41929227113723755, + -0.00015897559669783567 + ], + [ + 0.1862354427576065, + 0.9782763719558716, + 0.09105871617794037, + 0.1578943431096257 + ], + [ + -0.42905938625335693, + -0.0023969002068042755, + 0.9032731056213379, + -0.18852867264792605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.8840441703796387, + -0.20727474987506866, + 0.41893094778060913, + -0.00014246367620972256 + ], + [ + 0.1866212636232376, + 0.9782814979553223, + 0.09020966291427612, + 0.15853236153862385 + ], + [ + -0.42853057384490967, + -0.0015679039061069489, + 0.9035259485244751, + -0.18787683293504534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.8842923641204834, + -0.20698560774326324, + 0.4185497760772705, + -0.00025900768221549797 + ], + [ + 0.18651936948299408, + 0.97834312915802, + 0.08975103497505188, + 0.1590362014494977 + ], + [ + -0.4280624985694885, + -0.0012985095381736755, + 0.9037482142448425, + -0.18816298848053195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.8846633434295654, + -0.20661842823028564, + 0.4179469347000122, + -0.0009504933964531448 + ], + [ + 0.1860385239124298, + 0.9784199595451355, + 0.08991127461194992, + 0.15745834327250158 + ], + [ + -0.4275049567222595, + -0.0017869845032691956, + 0.9040112495422363, + -0.1878941684117857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.885221540927887, + -0.20623679459095, + 0.4169522821903229, + -0.0004930588996635288 + ], + [ + 0.1855769008398056, + 0.9784994125366211, + 0.09000048786401749, + 0.15673138229352124 + ], + [ + -0.4265489876270294, + -0.0022936537861824036, + 0.9044615626335144, + -0.18904177450908805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.8850829005241394, + -0.205656036734581, + 0.41753309965133667, + -0.002549250367677447 + ], + [ + 0.18499843776226044, + 0.9786216616630554, + 0.08986233174800873, + 0.1565172394280726 + ], + [ + -0.427087664604187, + -0.0022926367819309235, + 0.9042073488235474, + -0.1879413551879379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.8850552439689636, + -0.2060127854347229, + 0.4174158573150635, + -0.0029116699155771614 + ], + [ + 0.18538200855255127, + 0.9785468578338623, + 0.08988605439662933, + 0.1561804161319193 + ], + [ + -0.4269786477088928, + -0.0021727345883846283, + 0.9042590856552124, + -0.18792060647370679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.8848535418510437, + -0.20655246078968048, + 0.4175766408443451, + -0.0038646647109175647 + ], + [ + 0.18610318005084991, + 0.9784342646598816, + 0.08962173759937286, + 0.1562360491463036 + ], + [ + -0.4270828664302826, + -0.0015897788107395172, + 0.9042111039161682, + -0.18774443346093286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.8847768902778625, + -0.2068059742450714, + 0.4176136553287506, + -0.0044492769072640714 + ], + [ + 0.18633291125297546, + 0.9783806800842285, + 0.08972866833209991, + 0.15590381819122243 + ], + [ + -0.42714157700538635, + -0.0015746839344501495, + 0.9041833877563477, + -0.18753621218339453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.8846212029457092, + -0.20817531645298004, + 0.4172629415988922, + -0.003952016526798038 + ], + [ + 0.18789972364902496, + 0.9780911207199097, + 0.08961816877126694, + 0.1559091541775555 + ], + [ + -0.4267774522304535, + -0.0008745491504669189, + 0.9043562412261963, + -0.1877502330209849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.8840556144714355, + -0.210230752825737, + 0.417431116104126, + -0.005159876594003646 + ], + [ + 0.19013787806034088, + 0.9776517748832703, + 0.08969148248434067, + 0.15617421760030512 + ], + [ + -0.42695820331573486, + 7.721036672592163e-05, + 0.9042713642120361, + -0.1882184071923202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.8840669989585876, + -0.21026131510734558, + 0.4173915982246399, + -0.005515664000556156 + ], + [ + 0.19016873836517334, + 0.977645218372345, + 0.0896976962685585, + 0.1560613107006505 + ], + [ + -0.4269208312034607, + 7.605552673339844e-05, + 0.9042890071868896, + -0.18806257784928915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.8836727142333984, + -0.212773859500885, + 0.41695308685302734, + -0.005224877905170872 + ], + [ + 0.19304916262626648, + 0.9771004319190979, + 0.08948050439357758, + 0.1571619209815871 + ], + [ + -0.4264441728591919, + 0.0014209486544132233, + 0.9045127630233765, + -0.18883492311216749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.883501410484314, + -0.21391081809997559, + 0.4167343080043793, + -0.005459279693522542 + ], + [ + 0.19421228766441345, + 0.9768517017364502, + 0.08967901766300201, + 0.15696191552956149 + ], + [ + -0.4262709319591522, + 0.0017033666372299194, + 0.9045939445495605, + -0.18894741204830834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.8832874894142151, + -0.21464018523693085, + 0.4168126881122589, + -0.006360819176682894 + ], + [ + 0.1948918253183365, + 0.9766915440559387, + 0.08994867652654648, + 0.15689290687441826 + ], + [ + -0.42640402913093567, + 0.001782834529876709, + 0.9045310616493225, + -0.18879904963497846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.8833481669425964, + -0.21467998623847961, + 0.41666364669799805, + -0.0071589977111456565 + ], + [ + 0.19510650634765625, + 0.9766820669174194, + 0.08958572149276733, + 0.1578145700805592 + ], + [ + -0.4261801838874817, + 0.0021584071218967438, + 0.9046357274055481, + -0.1888972667871781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.8836703300476074, + -0.21549734473228455, + 0.41555699706077576, + -0.00614404231309891 + ], + [ + 0.19557401537895203, + 0.9765035510063171, + 0.0905073881149292, + 0.1568877398967743 + ], + [ + -0.42529699206352234, + 0.0012934431433677673, + 0.905052900314331, + -0.1894660621881485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/move_right/transforms.json b/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..cbbe9119caeb60c9d9bd86cc6471a5f1ea8ac70b --- /dev/null +++ b/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/move_right/transforms.json @@ -0,0 +1,7468 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 213, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 6.597780156880617e-05, + -3.258811921114102e-05, + 9.966214565793052e-05 + ], + [ + -6.597592437174171e-05, + 1.0, + 5.750449054175988e-05, + -5.614464680547826e-05 + ], + [ + 3.259190998505801e-05, + -5.750233685830608e-05, + 1.0, + -8.36895196698606e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999340176582336, + -0.00508520333096385, + 0.010301491245627403, + 0.02264136315657283 + ], + [ + 0.005017182324081659, + 0.999965488910675, + 0.006618116982281208, + 0.0016941239475272596 + ], + [ + -0.010334789752960205, + -0.006565995514392853, + 0.9999250173568726, + 0.009247013940563742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999375343322754, + -0.004210783168673515, + 0.01035455334931612, + 0.02340599774330292 + ], + [ + 0.00414626020938158, + 0.9999719262123108, + 0.006244986783713102, + 0.002145244052879653 + ], + [ + -0.010380559600889683, + -0.0062016635201871395, + 0.9999268651008606, + 0.008814328226243269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9989750385284424, + -0.011278491467237473, + 0.04383661970496178, + 0.017197235118386882 + ], + [ + 0.010703209787607193, + 0.999853789806366, + 0.013335945084691048, + 0.00859039458358344 + ], + [ + -0.043980617076158524, + -0.01285308413207531, + 0.9989497065544128, + 0.005553244918865978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9983026385307312, + -0.014161881990730762, + 0.056491609662771225, + 0.025487981026746192 + ], + [ + 0.013204927556216717, + 0.999763548374176, + 0.017277229577302933, + 0.006604655396263554 + ], + [ + -0.05672292783856392, + -0.016501937061548233, + 0.998253583908081, + 0.00616070668582084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9980803728103638, + -0.013104797340929508, + 0.06052977591753006, + 0.016683587505710574 + ], + [ + 0.012174625881016254, + 0.9998024702072144, + 0.015710515901446342, + 0.01030625975119688 + ], + [ + -0.06072369962930679, + -0.01494342926889658, + 0.9980427622795105, + 0.005385357605398826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9946815967559814, + -0.012290656566619873, + 0.10226165503263474, + -0.047233415858925515 + ], + [ + 0.010445047169923782, + 0.9997731447219849, + 0.01856386475265026, + 0.01300575898011338 + ], + [ + -0.10246662050485611, + -0.01739700697362423, + 0.994584321975708, + -0.011270827603227687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9975388646125793, + -0.02895125187933445, + 0.06385938078165054, + 0.05518152592879421 + ], + [ + 0.027375994250178337, + 0.9993022680282593, + 0.025406377390027046, + -0.014793329744793053 + ], + [ + -0.06455037742853165, + -0.02359563671052456, + 0.9976354241371155, + 0.02142361996097947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.993456244468689, + -0.03982264921069145, + 0.10704585164785385, + 0.060124152884730754 + ], + [ + 0.037695202976465225, + 0.9990509152412415, + 0.021825406700372696, + -0.0005616701374990198 + ], + [ + -0.10781339555978775, + -0.01764747127890587, + 0.9940145015716553, + 0.0034996239960474788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9920204877853394, + -0.043617140501737595, + 0.11829148232936859, + 0.06467047391353913 + ], + [ + 0.04139364883303642, + 0.9989181756973267, + 0.021190088242292404, + 0.0021923645302864177 + ], + [ + -0.11908777058124542, + -0.016124486923217773, + 0.9927527904510498, + 0.0004938899754669588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9899319410324097, + -0.05102046951651573, + 0.13202905654907227, + 0.06957272721349068 + ], + [ + 0.04852863773703575, + 0.9985789060592651, + 0.02202485129237175, + 0.0014365685044981117 + ], + [ + -0.13296514749526978, + -0.015395913273096085, + 0.9910011291503906, + -0.00014300536438998463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9884827733039856, + -0.05601997300982475, + 0.140582874417305, + 0.07271243629028212 + ], + [ + 0.053376104682683945, + 0.9983207583427429, + 0.022510122507810593, + 0.0011826240404878023 + ], + [ + -0.14160780608654022, + -0.014747102744877338, + 0.989812970161438, + -0.0035307443155994955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9884790182113647, + -0.056010808795690536, + 0.1406128704547882, + 0.07307510997326869 + ], + [ + 0.05336523428559303, + 0.9983211159706116, + 0.022518256679177284, + 0.0011696742612534677 + ], + [ + -0.14163807034492493, + -0.014754986390471458, + 0.9898085594177246, + -0.0035385748696566193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9847776293754578, + -0.06266412138938904, + 0.16213014721870422, + 0.07904267848100302 + ], + [ + 0.05981123447418213, + 0.9979578256607056, + 0.022422637790441513, + 0.006034097701029958 + ], + [ + -0.1632041335105896, + -0.012384109199047089, + 0.9865145683288574, + -0.010525456081443238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9847552180290222, + -0.0625380128622055, + 0.16231508553028107, + 0.07918820808518608 + ], + [ + 0.05969236418604851, + 0.997966468334198, + 0.0223544891923666, + 0.006218804983105862 + ], + [ + -0.16338302195072174, + -0.012324729934334755, + 0.9864857196807861, + -0.010508125479210099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9831426739692688, + -0.06643491238355637, + 0.17034335434436798, + 0.07786528105443379 + ], + [ + 0.0635409727692604, + 0.9977279901504517, + 0.022390879690647125, + 0.01082471048213401 + ], + [ + -0.1714438647031784, + -0.011189647018909454, + 0.9851303696632385, + -0.01575221256616543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9809273481369019, + -0.06555657088756561, + 0.18298585712909698, + 0.08646220770084632 + ], + [ + 0.062350090593099594, + 0.9977840185165405, + 0.023227958008646965, + 0.02143600505759131 + ], + [ + -0.1841031163930893, + -0.011375756934285164, + 0.9828411340713501, + -0.019372547614686896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9778662323951721, + -0.06938645988702774, + 0.1973908543586731, + 0.08360886000237375 + ], + [ + 0.06548171490430832, + 0.9975084662437439, + 0.026248574256896973, + 0.02061000676860787 + ], + [ + -0.19872033596038818, + -0.012742103077471256, + 0.9799733757972717, + -0.024340659956324777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9760248064994812, + -0.07899979501962662, + 0.20281662046909332, + 0.08178480509317146 + ], + [ + 0.07477710396051407, + 0.9967954754829407, + 0.02841150015592575, + 0.021236906404483995 + ], + [ + -0.20441119372844696, + -0.012564289383590221, + 0.9788044691085815, + -0.02889479566014038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.976059079170227, + -0.07903439551591873, + 0.2026381641626358, + 0.0827611708978437 + ], + [ + 0.0748022124171257, + 0.9967918395996094, + 0.028471732512116432, + 0.021164023781300716 + ], + [ + -0.20423831045627594, + -0.012632308527827263, + 0.9788396954536438, + -0.029018124101578065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9730823636054993, + -0.08718551695346832, + 0.21332938969135284, + 0.08323709469921184 + ], + [ + 0.08285444974899292, + 0.9961344599723816, + 0.02917693741619587, + 0.03449880120889196 + ], + [ + -0.21504856646060944, + -0.010716276243329048, + 0.9765445590019226, + -0.0354630579504202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9700542092323303, + -0.09248379617929459, + 0.2245919406414032, + 0.07932587597730024 + ], + [ + 0.08750269562005997, + 0.9956484436988831, + 0.032053619623184204, + 0.03755882878981109 + ], + [ + -0.22657907009124756, + -0.011441349051892757, + 0.9739255905151367, + -0.0408285768667482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9687354564666748, + -0.09972970187664032, + 0.22716866433620453, + 0.0837226020277671 + ], + [ + 0.09428858757019043, + 0.9949397444725037, + 0.034706998616456985, + 0.04142797773457923 + ], + [ + -0.22948046028614044, + -0.012202487327158451, + 0.9732367992401123, + -0.04758279570993387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9658815860748291, + -0.10325167328119278, + 0.23751190304756165, + 0.08834234391743281 + ], + [ + 0.09641890972852707, + 0.9945271015167236, + 0.040239423513412476, + 0.04259959995254593 + ], + [ + -0.24036681652069092, + -0.015965882688760757, + 0.9705508351325989, + -0.04736584953542026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9614095091819763, + -0.11049814522266388, + 0.25195610523223877, + 0.08690995582432118 + ], + [ + 0.102664515376091, + 0.9937393069267273, + 0.04407002031803131, + 0.04423252258379504 + ], + [ + -0.25524836778640747, + -0.016502389684319496, + 0.9667347073554993, + -0.05300232101723833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9596675634384155, + -0.12148299813270569, + 0.2535350024700165, + 0.09343742438644734 + ], + [ + 0.11353825032711029, + 0.9924777150154114, + 0.04579327255487442, + 0.04704756567360095 + ], + [ + -0.2571909725666046, + -0.015160400420427322, + 0.9662416577339172, + -0.06160048479741474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9576095938682556, + -0.13088959455490112, + 0.2566160559654236, + 0.09497644043755982 + ], + [ + 0.12314415723085403, + 0.991317629814148, + 0.046096622943878174, + 0.051813628292589814 + ], + [ + -0.2604215741157532, + -0.01254180446267128, + 0.9654135704040527, + -0.06800635324896506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9539016485214233, + -0.13147401809692383, + 0.2697891294956207, + 0.09513571318590416 + ], + [ + 0.12362685799598694, + 0.9912642240524292, + 0.04595301300287247, + 0.06084384302485664 + ], + [ + -0.27347394824028015, + -0.010481474921107292, + 0.9618223309516907, + -0.07062654198621804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9539126753807068, + -0.13135948777198792, + 0.26980602741241455, + 0.0954453838883706 + ], + [ + 0.12354732304811478, + 0.9912805557250977, + 0.04581345245242119, + 0.06116007067403703 + ], + [ + -0.27347153425216675, + -0.0103682242333889, + 0.9618242383003235, + -0.07084660549771112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9464294910430908, + -0.15048497915267944, + 0.2857017517089844, + 0.09744723824397573 + ], + [ + 0.14198747277259827, + 0.9885868430137634, + 0.050354450941085815, + 0.06387409646556062 + ], + [ + -0.29001855850219727, + -0.007090875878930092, + 0.9569947719573975, + -0.08492358228508032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9437201023101807, + -0.15839006006717682, + 0.2903531491756439, + 0.09881275625161405 + ], + [ + 0.15043659508228302, + 0.9873714447021484, + 0.04966297373175621, + 0.07036808393192741 + ], + [ + -0.2945525348186493, + -0.0031882114708423615, + 0.9556299448013306, + -0.09185029439768701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9393248558044434, + -0.16526363790035248, + 0.3005940020084381, + 0.0998986855711577 + ], + [ + 0.15749503672122955, + 0.9862493872642517, + 0.050074681639671326, + 0.07688369266688824 + ], + [ + -0.3047361671924591, + 0.00030567124485969543, + 0.9524367451667786, + -0.0968595340988546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9364156723022461, + -0.17067654430866241, + 0.3065864145755768, + 0.10308221505497986 + ], + [ + 0.16258065402507782, + 0.9853264093399048, + 0.051956094801425934, + 0.0793748028154643 + ], + [ + -0.31095537543296814, + 0.0011925119906663895, + 0.9504237771034241, + -0.104439662340677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9340404868125916, + -0.17107662558555603, + 0.31353023648262024, + 0.10539293351038447 + ], + [ + 0.16286790370941162, + 0.9852554202079773, + 0.052399978041648865, + 0.08666335678887817 + ], + [ + -0.3178717792034149, + 0.0021203085780143738, + 0.9481313228607178, + -0.11068144343652815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9300751686096191, + -0.17409954965114594, + 0.3234957754611969, + 0.10450179039869668 + ], + [ + 0.1651090830564499, + 0.9847260117530823, + 0.05526033788919449, + 0.0887738861424743 + ], + [ + -0.32817551493644714, + 0.0020158234983682632, + 0.9446146488189697, + -0.1157662697276979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9262558221817017, + -0.1764795184135437, + 0.333024263381958, + 0.10155807463627942 + ], + [ + 0.16703960299491882, + 0.9843002557754517, + 0.05701514333486557, + 0.09396667152924358 + ], + [ + -0.3378579020500183, + 0.002817632630467415, + 0.9411929249763489, + -0.12088542712746926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9226822853088379, + -0.17992539703845978, + 0.34100469946861267, + 0.10442941509327798 + ], + [ + 0.1702171415090561, + 0.9836716651916504, + 0.05844834819436073, + 0.09980238695751946 + ], + [ + -0.3459530174732208, + 0.00411558523774147, + 0.9382427930831909, + -0.12813311354169304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9193195104598999, + -0.1847243756055832, + 0.3474601209163666, + 0.10752472911240919 + ], + [ + 0.1748935431241989, + 0.9827730059623718, + 0.05974520370364189, + 0.1043075285078782 + ], + [ + -0.35251083970069885, + 0.00584358349442482, + 0.9357895255088806, + -0.135689357780623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9154187440872192, + -0.19094941020011902, + 0.35432592034339905, + 0.11051142789282889 + ], + [ + 0.1810201108455658, + 0.9815670847892761, + 0.06130077689886093, + 0.10746649112903847 + ], + [ + -0.3595000207424164, + 0.008024228736758232, + 0.9331105947494507, + -0.14232193948525304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9153828620910645, + -0.19107303023338318, + 0.3543519675731659, + 0.11107435496348256 + ], + [ + 0.18112879991531372, + 0.9815431237220764, + 0.06136336550116539, + 0.10741238346639669 + ], + [ + -0.35953661799430847, + 0.00801236554980278, + 0.9330965876579285, + -0.1423470658092004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9120259284973145, + -0.1953897774219513, + 0.3605988323688507, + 0.11360921373344818 + ], + [ + 0.18559330701828003, + 0.9806704521179199, + 0.061972133815288544, + 0.11201314881162823 + ], + [ + -0.36573734879493713, + 0.010404536500573158, + 0.9306599497795105, + -0.14987572212264222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.90641850233078, + -0.20232263207435608, + 0.3707709312438965, + 0.10823193063151161 + ], + [ + 0.192642480134964, + 0.9792193174362183, + 0.06339098513126373, + 0.11429823174510362 + ], + [ + -0.3758915066719055, + 0.013967465609312057, + 0.9265584349632263, + -0.15492224083194192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9019455313682556, + -0.20690149068832397, + 0.379059374332428, + 0.11079455645016904 + ], + [ + 0.1977631151676178, + 0.9781996607780457, + 0.06336578726768494, + 0.12543679883457579 + ], + [ + -0.3839062452316284, + 0.017811480909585953, + 0.923200249671936, + -0.16703954637050628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8980618119239807, + -0.20471122860908508, + 0.38933059573173523, + 0.11034773461661249 + ], + [ + 0.19470709562301636, + 0.9786744713783264, + 0.06546273827552795, + 0.1279081110122069 + ], + [ + -0.39442887902259827, + 0.017015840858221054, + 0.9187689423561096, + -0.17261311258628684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8958472609519958, + -0.20947705209255219, + 0.39188912510871887, + 0.11556806252250132 + ], + [ + 0.19830240309238434, + 0.9776884913444519, + 0.06929163634777069, + 0.12420971154604318 + ], + [ + -0.3976605236530304, + 0.015637828037142754, + 0.9173993468284607, + -0.17956253453245702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8929647207260132, + -0.2138884961605072, + 0.3960628807544708, + 0.11381766832662078 + ], + [ + 0.20347225666046143, + 0.9766683578491211, + 0.06868752092123032, + 0.1277705473157595 + ], + [ + -0.40151354670524597, + 0.019252264872193336, + 0.9156507253646851, + -0.18518323092809263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8911955952644348, + -0.21822954714298248, + 0.39767614006996155, + 0.11559956889107542 + ], + [ + 0.20853103697299957, + 0.9756435751914978, + 0.06807626783847809, + 0.1320287509768639 + ], + [ + -0.40284642577171326, + 0.022258540615439415, + 0.914996862411499, + -0.19097747018314756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8911577463150024, + -0.21821890771389008, + 0.3977667987346649, + 0.11582389240557292 + ], + [ + 0.20852087438106537, + 0.9756456017494202, + 0.06807839125394821, + 0.13213651552093478 + ], + [ + -0.4029354155063629, + 0.022274086251854897, + 0.9149573445320129, + -0.19111790694999245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8871584534645081, + -0.21857018768787384, + 0.4064197540283203, + 0.11027205502087216 + ], + [ + 0.20814423263072968, + 0.9755681753158569, + 0.07030466943979263, + 0.13778599972994823 + ], + [ + -0.41185665130615234, + 0.02222253568470478, + 0.9109776616096497, + -0.19716663557403494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8856538534164429, + -0.2183382213115692, + 0.4098118245601654, + 0.11022281896955563 + ], + [ + 0.20611336827278137, + 0.9756962060928345, + 0.07439190149307251, + 0.13707212615969047 + ], + [ + -0.41609445214271545, + 0.018582211807370186, + 0.9091315269470215, + -0.20259458665859026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8842892050743103, + -0.2201564610004425, + 0.4117811918258667, + 0.11094636090521542 + ], + [ + 0.20710527896881104, + 0.9753081798553467, + 0.07668986171483994, + 0.140066164282133 + ], + [ + -0.41849732398986816, + 0.017466029152274132, + 0.9080500602722168, + -0.20591126747851102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8843111395835876, + -0.22015975415706635, + 0.41173234581947327, + 0.11142844619616023 + ], + [ + 0.20711569488048553, + 0.9753073453903198, + 0.07667285203933716, + 0.1401827920790551 + ], + [ + -0.4184458553791046, + 0.017473571002483368, + 0.9080736637115479, + -0.20616097358881302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8826433420181274, + -0.22155141830444336, + 0.4145548641681671, + 0.1054019051059237 + ], + [ + 0.2057981789112091, + 0.975073516368866, + 0.08293840289115906, + 0.14762174312798482 + ], + [ + -0.42259660363197327, + 0.012109614908695221, + 0.906237006187439, + -0.20607426914404023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8830949664115906, + -0.21492041647434235, + 0.41707614064216614, + 0.09956379234790802 + ], + [ + 0.19599072635173798, + 0.9766242504119873, + 0.08827661722898483, + 0.1513772588223219 + ], + [ + -0.426299124956131, + 0.003786414861679077, + 0.9045743346214294, + -0.20723598077893257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8830915689468384, + -0.21490712463855743, + 0.41709020733833313, + 0.09995399674154677 + ], + [ + 0.19598399102687836, + 0.9766271114349365, + 0.08825981616973877, + 0.15150148380758627 + ], + [ + -0.4263092577457428, + 0.003801494836807251, + 0.9045695066452026, + -0.20743422392966612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8840147256851196, + -0.21141038835048676, + 0.41692158579826355, + 0.10137580770928906 + ], + [ + 0.18897081911563873, + 0.9773839116096497, + 0.09492463618516922, + 0.15225319884155156 + ], + [ + -0.4275605380535126, + -0.005128771066665649, + 0.9039721488952637, + -0.21032360962258195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8852142095565796, + -0.21080604195594788, + 0.4146764576435089, + 0.10440499630739104 + ], + [ + 0.18732061982154846, + 0.9774932861328125, + 0.09704580157995224, + 0.16276091072919233 + ], + [ + -0.4258013069629669, + -0.008228875696659088, + 0.9047792553901672, + -0.21508618340177357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8864651918411255, + -0.20773163437843323, + 0.4135541319847107, + 0.104731067480906 + ], + [ + 0.18382948637008667, + 0.9781325459480286, + 0.09728021919727325, + 0.16536154271859044 + ], + [ + -0.4247189164161682, + -0.010212104767560959, + 0.9052676558494568, + -0.2182489070408749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8879844546318054, + -0.1996399462223053, + 0.4142795503139496, + 0.10185685742576167 + ], + [ + 0.17483431100845337, + 0.9797684550285339, + 0.09739984571933746, + 0.168072809419542 + ], + [ + -0.42534294724464417, + -0.014059264212846756, + 0.9049230813980103, + -0.22129084869938076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8888961672782898, + -0.1927836537361145, + 0.415569543838501, + 0.0979091080011062 + ], + [ + 0.1667499840259552, + 0.9810722470283508, + 0.09844626486301422, + 0.1678980290749163 + ], + [ + -0.42668259143829346, + -0.018212299793958664, + 0.9042180776596069, + -0.22457562004620174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8889093995094299, + -0.19283618032932281, + 0.4155169427394867, + 0.09842494523750162 + ], + [ + 0.1667756587266922, + 0.981060802936554, + 0.09851717203855515, + 0.16784793518061908 + ], + [ + -0.42664507031440735, + -0.018274739384651184, + 0.9042345285415649, + -0.22479810073690595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8901877403259277, + -0.18782494962215424, + 0.4150753915309906, + 0.09956238761825381 + ], + [ + 0.1617235690355301, + 0.9820051789283752, + 0.0975262001156807, + 0.17001360897326245 + ], + [ + -0.42592403292655945, + -0.019689157605171204, + 0.9045447111129761, + -0.2336188461842402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8898264169692993, + -0.191708505153656, + 0.41407346725463867, + 0.10199642321973476 + ], + [ + 0.16572245955467224, + 0.9812729358673096, + 0.09818099439144135, + 0.1677793835975089 + ], + [ + -0.42514121532440186, + -0.018742773681879044, + 0.904932975769043, + -0.23824370925156577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8897904753684998, + -0.19514916837215424, + 0.41254058480262756, + 0.10616362069575291 + ], + [ + 0.17015154659748077, + 0.9806427359580994, + 0.09689323604106903, + 0.1687560321235994 + ], + [ + -0.4234635531902313, + -0.016020268201828003, + 0.9057714939117432, + -0.24436536230287462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8888635635375977, + -0.19798551499843597, + 0.4131866991519928, + 0.10728586546654971 + ], + [ + 0.1744871586561203, + 0.9801349639892578, + 0.09428487718105316, + 0.17236969493470103 + ], + [ + -0.4236457645893097, + -0.011710628867149353, + 0.9057522416114807, + -0.24817573731800296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8884546160697937, + -0.19761426746845245, + 0.4142427146434784, + 0.10734589693118941 + ], + [ + 0.17549552023410797, + 0.9802442789077759, + 0.09122776985168457, + 0.17678811573335584 + ], + [ + -0.42408695816993713, + -0.008353997021913528, + 0.9055829644203186, + -0.2512818151065763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.889158308506012, + -0.1938505321741104, + 0.41451120376586914, + 0.10822991312674757 + ], + [ + 0.17199291288852692, + 0.9809935092926025, + 0.08983398973941803, + 0.17845723281772632 + ], + [ + -0.42404717206954956, + -0.00858364999294281, + 0.9055994153022766, + -0.2555495136751319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8897611498832703, + -0.19007238745689392, + 0.41496703028678894, + 0.1073063313961029 + ], + [ + 0.16783848404884338, + 0.9817166328430176, + 0.08979281783103943, + 0.17771369999028602 + ], + [ + -0.4244471490383148, + -0.010246720165014267, + 0.9053947329521179, + -0.25960117776720026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8892051577568054, + -0.19014106690883636, + 0.41612574458122253, + 0.10645719915628434 + ], + [ + 0.16789411008358002, + 0.9817059636116028, + 0.08980536460876465, + 0.17802596404305043 + ], + [ + -0.42558881640434265, + -0.009990345686674118, + 0.9048615097999573, + -0.2622698628115204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.88739013671875, + -0.19590428471565247, + 0.4173251688480377, + 0.10758162624431106 + ], + [ + 0.17356956005096436, + 0.9805859327316284, + 0.0912407636642456, + 0.1752610095829334 + ], + [ + -0.4270976483821869, + -0.008531216531991959, + 0.9041652679443359, + -0.26249079730994296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.886238694190979, + -0.19840086996555328, + 0.4185905456542969, + 0.10751201563848639 + ], + [ + 0.17698656022548676, + 0.9801054000854492, + 0.08982862532138824, + 0.1780308516660951 + ], + [ + -0.4280849099159241, + -0.005524706095457077, + 0.9037216305732727, + -0.26400991796322587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8847891092300415, + -0.20001426339149475, + 0.42088302969932556, + 0.10517097666578473 + ], + [ + 0.1793152093887329, + 0.9797884821891785, + 0.08866007626056671, + 0.18104632817349345 + ], + [ + -0.43010959029197693, + -0.0029747560620307922, + 0.9027717709541321, + -0.2633207329742189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8835011720657349, + -0.2021462321281433, + 0.422566682100296, + 0.10547795821473284 + ], + [ + 0.18165531754493713, + 0.9793540239334106, + 0.08869615197181702, + 0.18216188493764626 + ], + [ + -0.4317719638347626, + -0.0016016773879528046, + 0.9019813537597656, + -0.2627431938108408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8827604651451111, + -0.2033817321062088, + 0.4235208034515381, + 0.10599027051115936 + ], + [ + 0.18281643092632294, + 0.9790987372398376, + 0.08912830054759979, + 0.1821864636650063 + ], + [ + -0.43279576301574707, + -0.0012523829936981201, + 0.9014911651611328, + -0.26175339334415937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8827114105224609, + -0.202385812997818, + 0.4240996241569519, + 0.10602368611209798 + ], + [ + 0.18155553936958313, + 0.9793038964271545, + 0.08945082128047943, + 0.18271081264851227 + ], + [ + -0.43342602252960205, + -0.0019616298377513885, + 0.901187002658844, + -0.2613473452487082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8821051716804504, + -0.2010613977909088, + 0.42598676681518555, + 0.10375097661085848 + ], + [ + 0.18013572692871094, + 0.9795764684677124, + 0.08933696150779724, + 0.1844552370174876 + ], + [ + -0.43524885177612305, + -0.0020691603422164917, + 0.900307834148407, + -0.2595723456931564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8822486400604248, + -0.20061951875686646, + 0.42589810490608215, + 0.10506833319394093 + ], + [ + 0.17981988191604614, + 0.9796673655509949, + 0.08897560834884644, + 0.18612292077181475 + ], + [ + -0.43508872389793396, + -0.001913655549287796, + 0.9003855586051941, + -0.2579221109736641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8828585743904114, + -0.1981777548789978, + 0.4257773458957672, + 0.10392993472094805 + ], + [ + 0.1769598126411438, + 0.9801599383354187, + 0.08928470313549042, + 0.18727638926708473 + ], + [ + -0.43502411246299744, + -0.003480292856693268, + 0.9004120826721191, + -0.25666561974388247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8833820819854736, + -0.19559991359710693, + 0.42588356137275696, + 0.10306221910242765 + ], + [ + 0.1736409068107605, + 0.9806668758392334, + 0.0902291089296341, + 0.18767627646338264 + ], + [ + -0.43529871106147766, + -0.005755964666604996, + 0.9002676606178284, + -0.2543105918562637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8840605020523071, + -0.1916607916355133, + 0.42626655101776123, + 0.10150838758585587 + ], + [ + 0.16901183128356934, + 0.9814270734786987, + 0.09075167775154114, + 0.19063519171948703 + ], + [ + -0.4357430934906006, + -0.00818588212132454, + 0.9000338315963745, + -0.251521656648168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8846383690834045, + -0.18796925246715546, + 0.42671123147010803, + 0.0998668151925195 + ], + [ + 0.16426627337932587, + 0.9821091890335083, + 0.09207651019096375, + 0.192200132417229 + ], + [ + -0.4363845884799957, + -0.011360157281160355, + 0.8996885418891907, + -0.24843212484188798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.8853110671043396, + -0.18604972958564758, + 0.42615705728530884, + 0.09922841486503492 + ], + [ + 0.160433828830719, + 0.9824056029319763, + 0.0956043154001236, + 0.19148651926584964 + ], + [ + -0.43644624948501587, + -0.01626954972743988, + 0.8995832204818726, + -0.2471824674392646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.8859239816665649, + -0.18392467498779297, + 0.42580562829971313, + 0.09849427319922538 + ], + [ + 0.1568724811077118, + 0.9827345609664917, + 0.09810121357440948, + 0.1930973689229983 + ], + [ + -0.43649715185165405, + -0.020113036036491394, + 0.8994808197021484, + -0.24548479138680224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.8864114284515381, + -0.1840037703514099, + 0.4247557520866394, + 0.09936492181611511 + ], + [ + 0.15576499700546265, + 0.9826556444168091, + 0.10062365978956223, + 0.1942458616393917 + ], + [ + -0.43590378761291504, + -0.02303188294172287, + 0.8996984958648682, + -0.2447582611497843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.8869139552116394, + -0.18417760729789734, + 0.4236298203468323, + 0.10024880204560621 + ], + [ + 0.15466105937957764, + 0.9825447201728821, + 0.10337254405021667, + 0.1948809395421226 + ], + [ + -0.4352741241455078, + -0.02616352215409279, + 0.899917721748352, + -0.24402827255006107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.8872201442718506, + -0.18486790359020233, + 0.42268702387809753, + 0.10144366998717469 + ], + [ + 0.15474598109722137, + 0.98237544298172, + 0.10484342277050018, + 0.19564629764348831 + ], + [ + -0.4346195161342621, + -0.027610089629888535, + 0.9001908302307129, + -0.24353621105821627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.8876171112060547, + -0.18573443591594696, + 0.42147189378738403, + 0.10265766376594326 + ], + [ + 0.1554526835680008, + 0.9821985960006714, + 0.10545340180397034, + 0.19604112459522374 + ], + [ + -0.4335554242134094, + -0.02808332070708275, + 0.9006891846656799, + -0.2440510627796065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.8878536224365234, + -0.1869693100452423, + 0.42042651772499084, + 0.10368964340326921 + ], + [ + 0.15651923418045044, + 0.9819539189338684, + 0.10615193843841553, + 0.1958698826859582 + ], + [ + -0.43268659710884094, + -0.028442561626434326, + 0.9010956287384033, + -0.2440965784467616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.8880231976509094, + -0.1875583678483963, + 0.41980549693107605, + 0.10466663795259763 + ], + [ + 0.15701667964458466, + 0.9818348288536072, + 0.10651808977127075, + 0.1951259175561509 + ], + [ + -0.4321580231189728, + -0.02867407724261284, + 0.9013419151306152, + -0.24375503378094368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.8881186842918396, + -0.1879255771636963, + 0.4194391965866089, + 0.1047149177148657 + ], + [ + 0.15730345249176025, + 0.9817590117454529, + 0.10679380595684052, + 0.1943044956562654 + ], + [ + -0.43185746669769287, + -0.02886636182665825, + 0.9014798402786255, + -0.24383358162529065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.8883989453315735, + -0.18921595811843872, + 0.41826382279396057, + 0.10634784597270894 + ], + [ + 0.15868622064590454, + 0.9815171360969543, + 0.10697084665298462, + 0.1932629628001519 + ], + [ + -0.43077370524406433, + -0.028660088777542114, + 0.9020047783851624, + -0.24440174662279632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.8885194659233093, + -0.19008386135101318, + 0.41761383414268494, + 0.10682558543839545 + ], + [ + 0.15989083051681519, + 0.981372594833374, + 0.10650263726711273, + 0.19327421691620125 + ], + [ + -0.4300791919231415, + -0.027857039123773575, + 0.902361273765564, + -0.24482320464163457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.8885946869850159, + -0.1912873387336731, + 0.4169035851955414, + 0.107997438958231 + ], + [ + 0.16104057431221008, + 0.9811380505561829, + 0.1069299578666687, + 0.1921513060916145 + ], + [ + -0.42949435114860535, + -0.027878999710083008, + 0.9026390910148621, + -0.2452973595205343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.8886528015136719, + -0.19257134199142456, + 0.41618797183036804, + 0.1090713009800551 + ], + [ + 0.1623292863368988, + 0.9808905124664307, + 0.1072520911693573, + 0.19101829083179528 + ], + [ + -0.4288885295391083, + -0.02775038406252861, + 0.9029310941696167, + -0.2457062802084212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.8886252045631409, + -0.19267058372497559, + 0.41620105504989624, + 0.10943254682252992 + ], + [ + 0.16262495517730713, + 0.9808844327926636, + 0.10685926675796509, + 0.1918107694612359 + ], + [ + -0.4288337826728821, + -0.027273159474134445, + 0.902971625328064, + -0.2459213429464484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.8881931304931641, + -0.19414183497428894, + 0.4164395034313202, + 0.1085680364718977 + ], + [ + 0.16430369019508362, + 0.9806188941001892, + 0.10672793537378311, + 0.1915908173991824 + ], + [ + -0.4290888011455536, + -0.02637246996164322, + 0.9028772115707397, + -0.24583549270371222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.8879721164703369, + -0.19624893367290497, + 0.4159228801727295, + 0.1100162166469502 + ], + [ + 0.16673977673053741, + 0.9802290797233582, + 0.10653091222047806, + 0.1922832007115742 + ], + [ + -0.4286062717437744, + -0.025245599448680878, + 0.9031385779380798, + -0.24649086819504792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.8877565264701843, + -0.1976463347673416, + 0.41572141647338867, + 0.11146585955372397 + ], + [ + 0.16820429265499115, + 0.9799594879150391, + 0.1067083328962326, + 0.19238731562388392 + ], + [ + -0.42848068475723267, + -0.024804890155792236, + 0.9032104015350342, + -0.24651532046637445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.887389063835144, + -0.19823190569877625, + 0.416226863861084, + 0.11133541627874916 + ], + [ + 0.16859757900238037, + 0.9798372387886047, + 0.10720925033092499, + 0.1917504039575469 + ], + [ + -0.4290868639945984, + -0.024961475282907486, + 0.90291827917099, + -0.24609758280358224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.8871541619300842, + -0.19886605441570282, + 0.41642504930496216, + 0.1116314615562277 + ], + [ + 0.1691780835390091, + 0.9797109961509705, + 0.10744842886924744, + 0.19128204847703564 + ], + [ + -0.4293440580368042, + -0.02487333118915558, + 0.9027984142303467, + -0.24594591591718062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.887079119682312, + -0.19965310394763947, + 0.41620826721191406, + 0.11312994360923767 + ], + [ + 0.17019708454608917, + 0.9795675277709961, + 0.10714684426784515, + 0.1916176973367637 + ], + [ + -0.4290962815284729, + -0.02421030029654503, + 0.9029342532157898, + -0.24608930383088454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8869052529335022, + -0.19999684393405914, + 0.41641363501548767, + 0.11329647479754573 + ], + [ + 0.1707983762025833, + 0.9795151352882385, + 0.1066678911447525, + 0.1919636432924923 + ], + [ + -0.4292167127132416, + -0.023481547832489014, + 0.9028962850570679, + -0.24645094212214902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8868274688720703, + -0.20003390312194824, + 0.4165615439414978, + 0.11339523142801142 + ], + [ + 0.17087388038635254, + 0.9795108437538147, + 0.10658621788024902, + 0.19213183915840004 + ], + [ + -0.4293473958969116, + -0.023344088345766068, + 0.9028376340866089, + -0.24650899497967846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8873620629310608, + -0.20063646137714386, + 0.41513076424598694, + 0.11655187353772938 + ], + [ + 0.17181457579135895, + 0.9794000387191772, + 0.1060909628868103, + 0.19094408474300267 + ], + [ + -0.42786481976509094, + -0.022815581411123276, + 0.9035547375679016, + -0.24817384418170407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8875550627708435, + -0.20040491223335266, + 0.41482987999916077, + 0.116672542213269 + ], + [ + 0.1714983880519867, + 0.9794396162033081, + 0.10623694211244583, + 0.18911013743787441 + ], + [ + -0.4275912344455719, + -0.023148484528064728, + 0.9036757349967957, + -0.24899509835917993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.887717604637146, + -0.20150069892406464, + 0.4139504134654999, + 0.1183177335363514 + ], + [ + 0.17228762805461884, + 0.9791985750198364, + 0.10717813670635223, + 0.18634576445339984 + ], + [ + -0.4269361197948456, + -0.02382539212703705, + 0.9039678573608398, + -0.24971802806798019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.8877789974212646, + -0.2017865628004074, + 0.41367945075035095, + 0.11877724528312683 + ], + [ + 0.1731085628271103, + 0.979168713092804, + 0.10612310469150543, + 0.1870350383222103 + ], + [ + -0.4264761507511139, + -0.022602424025535583, + 0.9042163491249084, + -0.25048575550317764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.887485146522522, + -0.2033243030309677, + 0.41355690360069275, + 0.11939105321213883 + ], + [ + 0.17459426820278168, + 0.9788556098937988, + 0.10657615959644318, + 0.18567624618562886 + ], + [ + -0.42648205161094666, + -0.022380094975233078, + 0.9042190909385681, + -0.25037908021290345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8874814510345459, + -0.2034638226032257, + 0.413496196269989, + 0.11986972051409056 + ], + [ + 0.17470473051071167, + 0.9788255095481873, + 0.1066717654466629, + 0.18556030690670014 + ], + [ + -0.42644447088241577, + -0.02242947742342949, + 0.9042356014251709, + -0.2506112531670984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8876821398735046, + -0.20430795848369598, + 0.41264837980270386, + 0.12152808257993661 + ], + [ + 0.17552067339420319, + 0.9786475300788879, + 0.10696496069431305, + 0.18491151983023815 + ], + [ + -0.4256911277770996, + -0.022522572427988052, + 0.9045882225036621, + -0.2505746978071501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.8873720765113831, + -0.2034614235162735, + 0.41373205184936523, + 0.11903324863820705 + ], + [ + 0.17483799159526825, + 0.9788345694541931, + 0.10637007653713226, + 0.18646857177592674 + ], + [ + -0.42661744356155396, + -0.022053752094507217, + 0.9041632413864136, + -0.2485395388783149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.886978805065155, + -0.20389887690544128, + 0.41435953974723816, + 0.11803391758563384 + ], + [ + 0.17538145184516907, + 0.9787551760673523, + 0.10620592534542084, + 0.18766123218075284 + ], + [ + -0.42721179127693176, + -0.021531429141759872, + 0.9038951396942139, + -0.24687627125179992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8866037130355835, + -0.2049611359834671, + 0.4146381914615631, + 0.11776940085977879 + ], + [ + 0.17656661570072174, + 0.978546679019928, + 0.10616341978311539, + 0.18874395905800587 + ], + [ + -0.42750218510627747, + -0.020913608372211456, + 0.9037723541259766, + -0.24562238319864813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.886550784111023, + -0.2047787606716156, + 0.4148413836956024, + 0.11694595855924318 + ], + [ + 0.17652025818824768, + 0.9785916805267334, + 0.10582509636878967, + 0.189812602032468 + ], + [ + -0.42763105034828186, + -0.02059142291545868, + 0.9037188291549683, + -0.24409555940414374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8866128921508789, + -0.2038067877292633, + 0.415187269449234, + 0.11621957171075749 + ], + [ + 0.17567718029022217, + 0.9787977337837219, + 0.10532107949256897, + 0.19163534736858223 + ], + [ + -0.42784950137138367, + -0.02044011279940605, + 0.9036188721656799, + -0.2421686311656574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8867459893226624, + -0.20469284057617188, + 0.41446635127067566, + 0.11663414973695323 + ], + [ + 0.17645803093910217, + 0.9786081910133362, + 0.10577608644962311, + 0.19066204292313108 + ], + [ + -0.42725178599357605, + -0.020660609006881714, + 0.9038965702056885, + -0.24180044943712792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8867858052253723, + -0.20580914616584778, + 0.41382795572280884, + 0.1173896648130327 + ], + [ + 0.17769557237625122, + 0.978381872177124, + 0.1057976707816124, + 0.19035947553391727 + ], + [ + -0.4266558885574341, + -0.020284481346607208, + 0.9041865468025208, + -0.24114021737620517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8868610858917236, + -0.20654799044132233, + 0.4132980704307556, + 0.11806886910267596 + ], + [ + 0.17876137793064117, + 0.9782421588897705, + 0.10529310256242752, + 0.19094236940848378 + ], + [ + -0.4260537028312683, + -0.01949862390756607, + 0.9044877290725708, + -0.24037241359364311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8871352076530457, + -0.20613393187522888, + 0.4129164218902588, + 0.11834799208731021 + ], + [ + 0.17834118008613586, + 0.9783251285552979, + 0.1052350252866745, + 0.19035149584963637 + ], + [ + -0.4256590008735657, + -0.019717711955308914, + 0.9046688079833984, + -0.24006807899700022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8872523307800293, + -0.2052428275346756, + 0.4131086468696594, + 0.11756473599739795 + ], + [ + 0.1775987297296524, + 0.9785159826278687, + 0.10471461713314056, + 0.19048180101474502 + ], + [ + -0.4257253408432007, + -0.01954071596264839, + 0.9046414494514465, + -0.23931347210452242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8869819641113281, + -0.20663386583328247, + 0.41299572587013245, + 0.11810620789820293 + ], + [ + 0.1789674162864685, + 0.9782282710075378, + 0.10507182776927948, + 0.18888223621080508 + ], + [ + -0.42571547627449036, + -0.01928403601050377, + 0.9046515822410583, + -0.23940909161882581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8868364095687866, + -0.20789064466953278, + 0.41267749667167664, + 0.11866284839387209 + ], + [ + 0.1804300993680954, + 0.9779753684997559, + 0.10492447018623352, + 0.1879201085710863 + ], + [ + -0.4254012405872345, + -0.01859140768647194, + 0.9048138856887817, + -0.23991326449333497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8866552114486694, + -0.20911911129951477, + 0.4124460518360138, + 0.11970842775871168 + ], + [ + 0.18174248933792114, + 0.9777215123176575, + 0.10502544045448303, + 0.18692801740934264 + ], + [ + -0.42522022128105164, + -0.01816238835453987, + 0.9049077033996582, + -0.2403572899834165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8864707946777344, + -0.20973935723304749, + 0.412527471780777, + 0.11934120562278999 + ], + [ + 0.18252110481262207, + 0.9775984883308411, + 0.10482025891542435, + 0.185982146578015 + ], + [ + -0.4252711832523346, + -0.01762513816356659, + 0.9048943519592285, + -0.24118774396912107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8864700794219971, + -0.2102314680814743, + 0.41227856278419495, + 0.12043451180435577 + ], + [ + 0.18289540708065033, + 0.9774887561798096, + 0.10519008338451385, + 0.18503323993030585 + ], + [ + -0.42511191964149475, + -0.01784401759505272, + 0.9049649238586426, + -0.2413364108441011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8862473368644714, + -0.21070237457752228, + 0.41251689195632935, + 0.12093796918414673 + ], + [ + 0.18359757959842682, + 0.9774001240730286, + 0.10479004681110382, + 0.18520223395020333 + ], + [ + -0.425273597240448, + -0.01713280752301216, + 0.9049026966094971, + -0.24095516033330053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8862506151199341, + -0.21072401106357574, + 0.4124987721443176, + 0.12143774437454512 + ], + [ + 0.18365149199962616, + 0.9773967266082764, + 0.10472692549228668, + 0.18530572007568377 + ], + [ + -0.42524343729019165, + -0.01705828681588173, + 0.9049182534217834, + -0.24112221418686633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8864191770553589, + -0.210275799036026, + 0.4123653173446655, + 0.12182687369157683 + ], + [ + 0.18310579657554626, + 0.9774867296218872, + 0.10484226793050766, + 0.18584890771868093 + ], + [ + -0.42512744665145874, + -0.017427705228328705, + 0.9049656987190247, + -0.2416772351793523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.8861995935440063, + -0.20910407602787018, + 0.41343164443969727, + 0.1206774575530358 + ], + [ + 0.18137021362781525, + 0.9777142405509949, + 0.10573409497737885, + 0.1864336427652611 + ], + [ + -0.4263274669647217, + -0.018717333674430847, + 0.9043752551078796, + -0.2407531809694362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8861666917800903, + -0.2090587615966797, + 0.41352516412734985, + 0.12093751118430551 + ], + [ + 0.18136560916900635, + 0.9777259826660156, + 0.10563333332538605, + 0.18674527811554242 + ], + [ + -0.4263978600502014, + -0.018609508872032166, + 0.9043442606925964, + -0.2409156617409778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8855673670768738, + -0.20970578491687775, + 0.4144802987575531, + 0.12061120401013573 + ], + [ + 0.18152062594890594, + 0.9775737524032593, + 0.10677017271518707, + 0.18827345285494373 + ], + [ + -0.42757537961006165, + -0.019315477460622787, + 0.903773307800293, + -0.2402190975141975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8847714066505432, + -0.2100733071565628, + 0.41599127650260925, + 0.11891730765126787 + ], + [ + 0.18173129856586456, + 0.9774977564811707, + 0.10710684955120087, + 0.18957089218750314 + ], + [ + -0.42913082242012024, + -0.01916643977165222, + 0.9030389785766602, + -0.2393309897268718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8840813636779785, + -0.21133555471897125, + 0.4168182909488678, + 0.11850153874113875 + ], + [ + 0.1824975162744522, + 0.9772139191627502, + 0.1083863377571106, + 0.18913287776258755 + ], + [ + -0.43022653460502625, + -0.019754040986299515, + 0.9025048017501831, + -0.23920044955217612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8835634589195251, + -0.21274106204509735, + 0.4172011911869049, + 0.11925188311428395 + ], + [ + 0.18348349630832672, + 0.976898729801178, + 0.1095566600561142, + 0.1887481459820608 + ], + [ + -0.43087050318717957, + -0.020250733941793442, + 0.9021865129470825, + -0.2389828935968426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.8831459283828735, + -0.2151147425174713, + 0.41686803102493286, + 0.12163415762051097 + ], + [ + 0.18557608127593994, + 0.9763758778572083, + 0.11068747937679291, + 0.18895532415722902 + ], + [ + -0.43083035945892334, + -0.020392462611198425, + 0.9022024869918823, + -0.23976130013195973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.8827674984931946, + -0.21580517292022705, + 0.41731247305870056, + 0.12159613576137795 + ], + [ + 0.1862708032131195, + 0.9762298464775085, + 0.11080819368362427, + 0.18940602896629638 + ], + [ + -0.431305855512619, + -0.02008475363254547, + 0.9019821882247925, + -0.23980238253496727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.8828835487365723, + -0.21487969160079956, + 0.4175444543361664, + 0.1212729552444422 + ], + [ + 0.1851930022239685, + 0.9764233827590942, + 0.11090964078903198, + 0.1901008609893187 + ], + [ + -0.4315324127674103, + -0.020593974739313126, + 0.9018623232841492, + -0.24062099856025768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.8828200101852417, + -0.21529780328273773, + 0.41746342182159424, + 0.12225820121337783 + ], + [ + 0.18564532697200775, + 0.9763345718383789, + 0.11093495786190033, + 0.19044327369697814 + ], + [ + -0.43146800994873047, + -0.020435456186532974, + 0.9018967151641846, + -0.24127573938864583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.8828133344650269, + -0.21586407721042633, + 0.4171850383281708, + 0.12354113330256264 + ], + [ + 0.18632934987545013, + 0.9762163758277893, + 0.11082857847213745, + 0.19073373780779118 + ], + [ + -0.4311867654323578, + -0.020107131451368332, + 0.9020386338233948, + -0.24197276479230737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.8828927874565125, + -0.21561425924301147, + 0.41714605689048767, + 0.12416112836239473 + ], + [ + 0.18590247631072998, + 0.9762617349624634, + 0.11114566028118134, + 0.1904284876472545 + ], + [ + -0.4312082827091217, + -0.020581241697072983, + 0.9020176529884338, + -0.24210706818497407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.883556067943573, + -0.21429473161697388, + 0.41642096638679504, + 0.1257537801591855 + ], + [ + 0.18446147441864014, + 0.9765347838401794, + 0.11114765703678131, + 0.19039394158237385 + ], + [ + -0.4304679334163666, + -0.021391574293375015, + 0.9023523330688477, + -0.24317987628702847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.8836978673934937, + -0.21391189098358154, + 0.4163169860839844, + 0.12635538445891076 + ], + [ + 0.1840347945690155, + 0.9766137599945068, + 0.11116082966327667, + 0.19050487655232537 + ], + [ + -0.43035954236984253, + -0.02161577343940735, + 0.9023987054824829, + -0.2434523548438864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.8841350078582764, + -0.21186403930187225, + 0.41643598675727844, + 0.12632522487415457 + ], + [ + 0.18176423013210297, + 0.9770379066467285, + 0.1111697107553482, + 0.19086946913937353 + ], + [ + -0.43042662739753723, + -0.022595863789319992, + 0.902342677116394, + -0.24389585265011157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.8846789598464966, + -0.210813969373703, + 0.41581323742866516, + 0.1282996913453318 + ], + [ + 0.1809074878692627, + 0.9772650599479675, + 0.1105690449476242, + 0.1922662379606715 + ], + [ + -0.42966923117637634, + -0.022594381123781204, + 0.9027036428451538, + -0.24433070900586415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.8848726749420166, + -0.20930133759975433, + 0.41616499423980713, + 0.12822006164856675 + ], + [ + 0.17922215163707733, + 0.9775744676589966, + 0.11057840287685394, + 0.1928158720146935 + ], + [ + -0.4299764633178711, + -0.02326182648539543, + 0.902540385723114, + -0.2442113313472496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.885430097579956, + -0.2065705806016922, + 0.4163438081741333, + 0.1278844177722931 + ], + [ + 0.17592240869998932, + 0.9781076312065125, + 0.11116116493940353, + 0.19199598780921046 + ], + [ + -0.43019169569015503, + -0.02518124133348465, + 0.9023863077163696, + -0.2443239226374986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.8854452967643738, + -0.20657694339752197, + 0.41630834341049194, + 0.1283670610976669 + ], + [ + 0.17592760920524597, + 0.9781059622764587, + 0.1111672967672348, + 0.19206763081393152 + ], + [ + -0.43015825748443604, + -0.02519242838025093, + 0.9024019241333008, + -0.24455364239665697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.8857118487358093, + -0.2055087834596634, + 0.4162699580192566, + 0.12924065997578063 + ], + [ + 0.1749059110879898, + 0.9783265590667725, + 0.11083786189556122, + 0.19311938068636184 + ], + [ + -0.430026113986969, + -0.025362331420183182, + 0.9024601578712463, + -0.24498784449302924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.8856887817382812, + -0.20481927692890167, + 0.4166587293148041, + 0.12909937090468857 + ], + [ + 0.174244686961174, + 0.9784712791442871, + 0.11060181260108948, + 0.1939154731496325 + ], + [ + -0.4303419888019562, + -0.02535821497440338, + 0.9023096561431885, + -0.2451525826499147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.8859667181968689, + -0.20297101140022278, + 0.4169721007347107, + 0.12964800196998524 + ], + [ + 0.1722850501537323, + 0.9788400530815125, + 0.11040862649679184, + 0.1950525790874688 + ], + [ + -0.4305587410926819, + -0.02598031610250473, + 0.9021885395050049, + -0.246260481988484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.8859967589378357, + -0.2033616602420807, + 0.41671785712242126, + 0.13064619392718907 + ], + [ + 0.17243587970733643, + 0.9787449836730957, + 0.11101411283016205, + 0.1941215528069802 + ], + [ + -0.43043652176856995, + -0.026501040905714035, + 0.902231752872467, + -0.246668223361924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.8853579759597778, + -0.2046298384666443, + 0.4174540936946869, + 0.13089590764270637 + ], + [ + 0.1732860505580902, + 0.9784690737724304, + 0.11211717128753662, + 0.19343838271386218 + ], + [ + -0.43140843510627747, + -0.02692486345767975, + 0.9017548561096191, + -0.24828203690220724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.885339081287384, + -0.20636337995529175, + 0.416640043258667, + 0.13383569371587825 + ], + [ + 0.17539000511169434, + 0.9781329035758972, + 0.11177805066108704, + 0.19463668544337434 + ], + [ + -0.4305962324142456, + -0.025886986404657364, + 0.9021733403205872, + -0.24964087841645727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.8852968811988831, + -0.2069467157125473, + 0.41644030809402466, + 0.13527648153732408 + ], + [ + 0.17617927491664886, + 0.9780242443084717, + 0.11148764193058014, + 0.19518158530711002 + ], + [ + -0.43036073446273804, + -0.0253315232694149, + 0.9023014903068542, + -0.25108320659623956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.8856185674667358, + -0.2057948112487793, + 0.4163270592689514, + 0.13624102428274334 + ], + [ + 0.1750776171684265, + 0.9782619476318359, + 0.11113680154085159, + 0.19589979918497913 + ], + [ + -0.43014830350875854, + -0.025535278022289276, + 0.9023970365524292, + -0.25280696614733283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8856126070022583, + -0.20581987500190735, + 0.4163273572921753, + 0.13668053583154138 + ], + [ + 0.174934983253479, + 0.978246808052063, + 0.1114940196275711, + 0.19412030645136563 + ], + [ + -0.43021857738494873, + -0.025910288095474243, + 0.9023528099060059, + -0.2545069383000428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.8857756853103638, + -0.2055022269487381, + 0.41613736748695374, + 0.13756281109351032 + ], + [ + 0.1748824268579483, + 0.9783259630203247, + 0.11088057607412338, + 0.19459265917539598 + ], + [ + -0.42990419268608093, + -0.025440208613872528, + 0.9025160074234009, + -0.2570023035665728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8857172727584839, + -0.2054828256368637, + 0.4162712097167969, + 0.13783711968165524 + ], + [ + 0.1748538464307785, + 0.9783303141593933, + 0.11088687181472778, + 0.19466910041025226 + ], + [ + -0.4300360679626465, + -0.02542780339717865, + 0.9024535417556763, + -0.2570445047234589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.885636568069458, + -0.20670300722122192, + 0.41583865880966187, + 0.14019167965875481 + ], + [ + 0.17657262086868286, + 0.9781065583229065, + 0.110135018825531, + 0.19509388017204574 + ], + [ + -0.4294997453689575, + -0.024113882333040237, + 0.9027450084686279, + -0.25899900692813804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8856477737426758, + -0.20609372854232788, + 0.4161170721054077, + 0.14028302133083345 + ], + [ + 0.17628681659698486, + 0.9782512784004211, + 0.10930442810058594, + 0.19465439915657043 + ], + [ + -0.4295939803123474, + -0.023449275642633438, + 0.902717649936676, + -0.26100624054670335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8857399225234985, + -0.20614708960056305, + 0.415894478559494, + 0.14187356393854572 + ], + [ + 0.17653696238994598, + 0.9782494902610779, + 0.10891574621200562, + 0.1936121869761989 + ], + [ + -0.4293012320995331, + -0.02305026724934578, + 0.9028671979904175, + -0.2629024749094585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.885338544845581, + -0.2071029543876648, + 0.41627395153045654, + 0.14392440473695972 + ], + [ + 0.17872139811515808, + 0.978116512298584, + 0.106520876288414, + 0.1937611571882131 + ], + [ + -0.42922520637512207, + -0.019909977912902832, + 0.9029780030250549, + -0.26627104810948643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8851776719093323, + -0.20835116505622864, + 0.41599318385124207, + 0.14589436096402836 + ], + [ + 0.18032923340797424, + 0.9778722524642944, + 0.1060531809926033, + 0.1926145670267771 + ], + [ + -0.42888447642326355, + -0.01886017620563507, + 0.9031624794006348, + -0.26738384998631926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8852043151855469, + -0.2089560627937317, + 0.4156329333782196, + 0.148606147040736 + ], + [ + 0.18086031079292297, + 0.9777408838272095, + 0.10635960847139359, + 0.1899615283704029 + ], + [ + -0.4286057651042938, + -0.018978483974933624, + 0.9032922387123108, + -0.26798274704026726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8848662376403809, + -0.2091396450996399, + 0.4162600040435791, + 0.14777984253640444 + ], + [ + 0.18133428692817688, + 0.9777182340621948, + 0.10575858503580093, + 0.18918775241329985 + ], + [ + -0.4291033148765564, + -0.018099993467330933, + 0.9030740261077881, + -0.2695524438372198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.8848719596862793, + -0.2091173678636551, + 0.4162589907646179, + 0.1482313318916087 + ], + [ + 0.18129010498523712, + 0.9777219891548157, + 0.10579977929592133, + 0.18918377965829283 + ], + [ + -0.42911016941070557, + -0.01815563067793846, + 0.9030696749687195, + -0.2697372647388926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8844425678253174, + -0.20996007323265076, + 0.416747123003006, + 0.15026884045241012 + ], + [ + 0.1833377480506897, + 0.9775937795639038, + 0.10342951118946075, + 0.19048139683480533 + ], + [ + -0.42912545800209045, + -0.015071988105773926, + 0.9031191468238831, + -0.2711111052137501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8842412233352661, + -0.20936064422130585, + 0.41747525334358215, + 0.1496697877094431 + ], + [ + 0.18261022865772247, + 0.9777185320854187, + 0.10353738069534302, + 0.18951058046857142 + ], + [ + -0.4298499524593353, + -0.01531677320599556, + 0.9027704000473022, + -0.27022616982741177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.8842896223068237, + -0.2092447131872177, + 0.4174308478832245, + 0.1500688133093546 + ], + [ + 0.18259881436824799, + 0.9777464270591736, + 0.10329380631446838, + 0.18984844712716228 + ], + [ + -0.42975518107414246, + -0.015119269490242004, + 0.9028188586235046, + -0.27087971916738546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.8840424418449402, + -0.20890645682811737, + 0.4181232154369354, + 0.15005932801736976 + ], + [ + 0.18240274488925934, + 0.9778252243995667, + 0.1028936430811882, + 0.189746557042565 + ], + [ + -0.4303465783596039, + -0.014695532619953156, + 0.9025441408157349, + -0.27064235501413075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.8835613131523132, + -0.2094825953245163, + 0.4188513159751892, + 0.15058233406183855 + ], + [ + 0.1838846653699875, + 0.9777349233627319, + 0.10109812021255493, + 0.19071143324363907 + ], + [ + -0.43070387840270996, + -0.012306060642004013, + 0.9024094343185425, + -0.27068769088331257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.883660614490509, + -0.20939506590366364, + 0.41868558526039124, + 0.15165936412676326 + ], + [ + 0.18375758826732635, + 0.9777517318725586, + 0.1011667400598526, + 0.18920926238708902 + ], + [ + -0.4305543601512909, + -0.012460421770811081, + 0.9024786353111267, + -0.2712769668197857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.8834261298179626, + -0.20969949662685394, + 0.4190279543399811, + 0.15221866717878377 + ], + [ + 0.1844329684972763, + 0.977698802947998, + 0.10044684261083603, + 0.18881918127244374 + ], + [ + -0.43074676394462585, + -0.011454790830612183, + 0.9024001359939575, + -0.27156962308118926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.883086085319519, + -0.20967113971710205, + 0.41975829005241394, + 0.15201237946748736 + ], + [ + 0.18489482998847961, + 0.9777191281318665, + 0.09939394891262054, + 0.18902114501820422 + ], + [ + -0.4312457740306854, + -0.01016228273510933, + 0.9021772742271423, + -0.2716437129901265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.8830887079238892, + -0.20971180498600006, + 0.4197324812412262, + 0.15248296030287473 + ], + [ + 0.18492569029331207, + 0.9777102470397949, + 0.09942425787448883, + 0.18903786184371643 + ], + [ + -0.4312271773815155, + -0.010181117802858353, + 0.9021859169006348, + -0.27183042019605635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.8830685019493103, + -0.2090039998292923, + 0.4201277792453766, + 0.1529312147846762 + ], + [ + 0.18520359694957733, + 0.977881908416748, + 0.09719367325305939, + 0.18869069981265743 + ], + [ + -0.4311492145061493, + -0.008019495755434036, + 0.9022449851036072, + -0.27277185564052386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.88314288854599, + -0.2084570974111557, + 0.42024311423301697, + 0.15389728051311563 + ], + [ + 0.18532590568065643, + 0.9780092239379883, + 0.09566772729158401, + 0.1896186109421388 + ], + [ + -0.4309442341327667, + -0.006606332957744598, + 0.90235435962677, + -0.2732627308031298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.8829700350761414, + -0.20811106264591217, + 0.42077749967575073, + 0.15390162431406526 + ], + [ + 0.18550096452236176, + 0.9780904054641724, + 0.09449087083339691, + 0.18999056421782612 + ], + [ + -0.4312230348587036, + -0.0053779855370521545, + 0.902229368686676, + -0.2731645277086294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.8830883502960205, + -0.20763619244098663, + 0.4207637906074524, + 0.1547553965786718 + ], + [ + 0.18530119955539703, + 0.978193998336792, + 0.09380828589200974, + 0.18999721696073155 + ], + [ + -0.431066632270813, + -0.004872970283031464, + 0.9023069739341736, + -0.2733805818940109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.8831766843795776, + -0.2076425850391388, + 0.42057523131370544, + 0.15565089372531424 + ], + [ + 0.18543866276741028, + 0.9781938791275024, + 0.0935375839471817, + 0.18904696448512798 + ], + [ + -0.4308265149593353, + -0.00461931899189949, + 0.9024229645729065, + -0.2736517517212427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.8831361532211304, + -0.2072921097278595, + 0.42083311080932617, + 0.15590950523344976 + ], + [ + 0.18531638383865356, + 0.978270411491394, + 0.09297780692577362, + 0.18969785239336626 + ], + [ + -0.43096214532852173, + -0.004124805331230164, + 0.9023605585098267, + -0.2732025067198951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.8831573724746704, + -0.20720992982387543, + 0.4208291172981262, + 0.1566600076151344 + ], + [ + 0.1854490488767624, + 0.9782896637916565, + 0.09250936657190323, + 0.19008889355046568 + ], + [ + -0.4308616518974304, + -0.0036579668521881104, + 0.902410626411438, + -0.2729938215523396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.8832443952560425, + -0.20691175758838654, + 0.42079320549964905, + 0.15738883555497762 + ], + [ + 0.18530617654323578, + 0.97835373878479, + 0.09211711585521698, + 0.19048483665540533 + ], + [ + -0.4307447373867035, + -0.0033863484859466553, + 0.9024674892425537, + -0.2724576987466722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.883513867855072, + -0.2073136270046234, + 0.420028954744339, + 0.15923914605716488 + ], + [ + 0.18549349904060364, + 0.9782665371894836, + 0.09266483783721924, + 0.18941253461646584 + ], + [ + -0.43011096119880676, + -0.003958035260438919, + 0.9027673602104187, + -0.2725257357195863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8834450840950012, + -0.20735132694244385, + 0.42015501856803894, + 0.15934589212795475 + ], + [ + 0.18551191687583923, + 0.978258490562439, + 0.09271250665187836, + 0.18936839879683728 + ], + [ + -0.4302442967891693, + -0.00396265834569931, + 0.9027038216590881, + -0.2726495321066874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.8833292722702026, + -0.2078811228275299, + 0.4201367199420929, + 0.15951015280102784 + ], + [ + 0.18614476919174194, + 0.9781474471092224, + 0.0926157683134079, + 0.18943456757181096 + ], + [ + -0.4302087128162384, + -0.0036039836704730988, + 0.9027222394943237, + -0.272239393291046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8832823634147644, + -0.20798732340335846, + 0.4201827347278595, + 0.16005246127551456 + ], + [ + 0.18665306270122528, + 0.9781279563903809, + 0.09179538488388062, + 0.1910602424364045 + ], + [ + -0.4300847351551056, + -0.0026528574526309967, + 0.9027846455574036, + -0.271044981001683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8832755088806152, + -0.2081688940525055, + 0.4201072156429291, + 0.16040329924731883 + ], + [ + 0.18673589825630188, + 0.9780887365341187, + 0.09204414486885071, + 0.1907560184176238 + ], + [ + -0.430062860250473, + -0.002851255238056183, + 0.9027944803237915, + -0.27121647693357376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8831462264060974, + -0.20787329971790314, + 0.4205251634120941, + 0.15978539004078451 + ], + [ + 0.1866273432970047, + 0.9781528115272522, + 0.09158217906951904, + 0.19218517567189233 + ], + [ + -0.4303753674030304, + -0.002398967742919922, + 0.9026468396186829, + -0.26965239852104544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8830721974372864, + -0.20804773271083832, + 0.42059433460235596, + 0.15991787182272604 + ], + [ + 0.18687020242214203, + 0.9781162142753601, + 0.0914776474237442, + 0.19270246492101337 + ], + [ + -0.4304218888282776, + -0.002184823155403137, + 0.9026252031326294, + -0.26894947968001637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.883192777633667, + -0.20756663382053375, + 0.4205789566040039, + 0.16011060324479948 + ], + [ + 0.18646489083766937, + 0.9782185554504395, + 0.09121018648147583, + 0.1936235453863189 + ], + [ + -0.43035030364990234, + -0.0021329782903194427, + 0.9026594161987305, + -0.2685751999324223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.8831981420516968, + -0.2073035091161728, + 0.4206973612308502, + 0.16014309539547505 + ], + [ + 0.18613164126873016, + 0.9782739281654358, + 0.09129717200994492, + 0.19373382440293735 + ], + [ + -0.43048349022865295, + -0.0023284107446670532, + 0.9025954604148865, + -0.2677382323398905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.8831745982170105, + -0.2074655145406723, + 0.42066699266433716, + 0.16054464671409358 + ], + [ + 0.1863318234682083, + 0.9782398343086243, + 0.09125392138957977, + 0.1937494808210517 + ], + [ + -0.43044525384902954, + -0.0022095106542110443, + 0.9026139974594116, + -0.2675229644438006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.883306622505188, + -0.20745718479156494, + 0.42039379477500916, + 0.16132380006448277 + ], + [ + 0.18650171160697937, + 0.9782423377037048, + 0.09087954461574554, + 0.19432154054630477 + ], + [ + -0.43010058999061584, + -0.0018703527748584747, + 0.9027790427207947, + -0.2673270751985739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.8833600282669067, + -0.2077762484550476, + 0.4201239347457886, + 0.16211677505722588 + ], + [ + 0.18684151768684387, + 0.9781746864318848, + 0.09090922772884369, + 0.1941230945710866 + ], + [ + -0.42984336614608765, + -0.0018089860677719116, + 0.9029016494750977, + -0.26721168435969445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.8835831880569458, + -0.20759178698062897, + 0.41974571347236633, + 0.16300270692357477 + ], + [ + 0.18675963580608368, + 0.9782140254974365, + 0.09065380692481995, + 0.19396217775372965 + ], + [ + -0.42942014336586, + -0.001708637923002243, + 0.903103232383728, + -0.2670724523376744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.8838689923286438, + -0.20729105174541473, + 0.41929227113723755, + 0.16327340411690047 + ], + [ + 0.1862354427576065, + 0.9782763719558716, + 0.09105871617794037, + 0.19233033063839067 + ], + [ + -0.42905938625335693, + -0.0023969002068042755, + 0.9032731056213379, + -0.2678641818042071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.8840441703796387, + -0.20727474987506866, + 0.41893094778060913, + 0.16415631138491182 + ], + [ + 0.1866212636232376, + 0.9782814979553223, + 0.09020966291427612, + 0.19321574732520672 + ], + [ + -0.42853057384490967, + -0.0015679039061069489, + 0.9035259485244751, + -0.2675188358099955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.8842923641204834, + -0.20698560774326324, + 0.4185497760772705, + 0.16492013203085593 + ], + [ + 0.18651936948299408, + 0.97834312915802, + 0.08975103497505188, + 0.19387661197556638 + ], + [ + -0.4280624985694885, + -0.0012985095381736755, + 0.9037482142448425, + -0.26812183255294586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.8846633434295654, + -0.20661842823028564, + 0.4179469347000122, + 0.1651325305115502 + ], + [ + 0.1860385239124298, + 0.9784199595451355, + 0.08991127461194992, + 0.19238444351643885 + ], + [ + -0.4275049567222595, + -0.0017869845032691956, + 0.9040112495422363, + -0.26815217443794576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.885221540927887, + -0.20623679459095, + 0.4169522821903229, + 0.16652987335088118 + ], + [ + 0.1855769008398056, + 0.9784994125366211, + 0.09000048786401749, + 0.19174589188593738 + ], + [ + -0.4265489876270294, + -0.0022936537861824036, + 0.9044615626335144, + -0.2695227155707917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.8850829005241394, + -0.205656036734581, + 0.41753309965133667, + 0.16528250718454146 + ], + [ + 0.18499843776226044, + 0.9786216616630554, + 0.08986233174800873, + 0.19159713187167104 + ], + [ + -0.427087664604187, + -0.0022926367819309235, + 0.9042073488235474, + -0.268926846306279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.8850552439689636, + -0.2060127854347229, + 0.4174158573150635, + 0.1657498011049235 + ], + [ + 0.18538200855255127, + 0.9785468578338623, + 0.08988605439662933, + 0.19150793096929225 + ], + [ + -0.4269786477088928, + -0.0021727345883846283, + 0.9042590856552124, + -0.2692882355654015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.8848535418510437, + -0.20655246078968048, + 0.4175766408443451, + 0.16559313622848043 + ], + [ + 0.18610318005084991, + 0.9784342646598816, + 0.08962173759937286, + 0.19187656381641918 + ], + [ + -0.4270828664302826, + -0.0015897788107395172, + 0.9042111039161682, + -0.26953483146597756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.8847768902778625, + -0.2068059742450714, + 0.4176136553287506, + 0.16582853971224912 + ], + [ + 0.18633291125297546, + 0.9783806800842285, + 0.08972866833209991, + 0.19176411431915355 + ], + [ + -0.42714157700538635, + -0.0015746839344501495, + 0.9041833877563477, + -0.2697408175693368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.8846212029457092, + -0.20817531645298004, + 0.4172629415988922, + 0.1671303859296835 + ], + [ + 0.18789972364902496, + 0.9780911207199097, + 0.08961816877126694, + 0.192248251675716 + ], + [ + -0.4267774522304535, + -0.0008745491504669189, + 0.9043562412261963, + -0.27028738180140277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.8840556144714355, + -0.210230752825737, + 0.417431116104126, + 0.16664715791648288 + ], + [ + 0.19013787806034088, + 0.9776517748832703, + 0.08969148248434067, + 0.19312554107240912 + ], + [ + -0.42695820331573486, + 7.721036672592163e-05, + 0.9042713642120361, + -0.27119330330839697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.8840669989585876, + -0.21026131510734558, + 0.4173915982246399, + 0.16712760843758312 + ], + [ + 0.19016873836517334, + 0.977645218372345, + 0.0896976962685585, + 0.19319803602290603 + ], + [ + -0.4269208312034607, + 7.605552673339844e-05, + 0.9042890071868896, + -0.2714329665843046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.8836727142333984, + -0.212773859500885, + 0.41695308685302734, + 0.16817505092553373 + ], + [ + 0.19304916262626648, + 0.9771004319190979, + 0.08948050439357758, + 0.19504326610070355 + ], + [ + -0.4264441728591919, + 0.0014209486544132233, + 0.9045127630233765, + -0.2725145343901976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.883501410484314, + -0.21391081809997559, + 0.4167343080043793, + 0.16874052671329032 + ], + [ + 0.19421228766441345, + 0.9768517017364502, + 0.08967901766300201, + 0.19525471564452604 + ], + [ + -0.4262709319591522, + 0.0017033666372299194, + 0.9045939445495605, + -0.2729951712742167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.8832874894142151, + -0.21464018523693085, + 0.4168126881122589, + 0.1686300985374541 + ], + [ + 0.1948918253183365, + 0.9766915440559387, + 0.08994867652654648, + 0.19550355151295662 + ], + [ + -0.42640402913093567, + 0.001782834529876709, + 0.9045310616493225, + -0.27327531955714496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.8833481669425964, + -0.21467998623847961, + 0.41666364669799805, + 0.1686772883500693 + ], + [ + 0.19510650634765625, + 0.9766820669174194, + 0.08958572149276733, + 0.19665180860825304 + ], + [ + -0.4261801838874817, + 0.0021584071218967438, + 0.9046357274055481, + -0.2737312467874221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.8836703300476074, + -0.21549734473228455, + 0.41555699706077576, + 0.17059002369642257 + ], + [ + 0.19557401537895203, + 0.9765035510063171, + 0.0905073881149292, + 0.1960025429725647 + ], + [ + -0.42529699206352234, + 0.0012934431433677673, + 0.905052900314331, + -0.274525460600853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/orbit_left/transforms.json b/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f9ba377e76a11b3a9fe4673dc9018e70046f7cdb --- /dev/null +++ b/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/orbit_left/transforms.json @@ -0,0 +1,7468 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 213, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 6.597780156880617e-05, + -3.258811921114102e-05, + 9.966214565793052e-05 + ], + [ + -6.597592437174171e-05, + 1.0, + 5.750449054175988e-05, + -5.614464680547826e-05 + ], + [ + 3.259190998505801e-05, + -5.750233685830608e-05, + 1.0, + -8.36895196698606e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999205338793445, + -0.005085203330963851, + 0.011536304367832756, + 0.020950587899122502 + ], + [ + 0.005009005769584766, + 0.9999654889106753, + 0.006624307666805862, + 0.0016866958640228318 + ], + [ + -0.011569591735281421, + -0.0065659955143928545, + 0.9999114924644377, + 0.009425221195893067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999908910847347, + -0.004210783168673515, + 0.012824170524694072, + 0.02002445238121092 + ], + [ + 0.00413082367611216, + 0.9999719262123108, + 0.006255208182748479, + 0.0021332160871760097 + ], + [ + -0.012850150346049274, + -0.0062016635201871395, + 0.999898177418154, + 0.009170898265708317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9988057816199913, + -0.011278491467237473, + 0.04753722154836905, + 0.012145948710679767 + ], + [ + 0.010653730663975404, + 0.999853789806366, + 0.013375505747406188, + 0.008542478014629111 + ], + [ + -0.04768112408403456, + -0.01285308413207531, + 0.998779916352762, + 0.0062582374026193665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9980114139374002, + -0.014161881990730762, + 0.06142212720495761, + 0.018765620752027992 + ], + [ + 0.013119424010250506, + 0.999763548374176, + 0.01734224573897583, + 0.0065263634684426305 + ], + [ + -0.061653200248929625, + -0.016501937061548233, + 0.9979612172960293, + 0.007186516739181157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.997687607586868, + -0.013104797340929508, + 0.06669124402417996, + 0.008285763349859514 + ], + [ + 0.01207738962339814, + 0.9998024702072144, + 0.015785388342291238, + 0.010215854921357436 + ], + [ + -0.06688493181406582, + -0.01494342926889658, + 0.9976488003959176, + 0.006701308132967937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9938966008670265, + -0.012290656566619873, + 0.10962879092653101, + -0.057236044707929735 + ], + [ + 0.010307214307756895, + 0.9997731447219849, + 0.01864074618009148, + 0.012917589164097302 + ], + [ + -0.10983303002975135, + -0.01739700697362423, + 0.993797810096223, + -0.00927111211601247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.996949580659064, + -0.02895125187933445, + 0.07247993205078343, + 0.043434733897974476 + ], + [ + 0.027155353325104162, + 0.9993022680282593, + 0.025642072050811912, + -0.01508909053532699 + ], + [ + -0.0731717375616962, + -0.02359563671052456, + 0.9970401634546175, + 0.023310830115342587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9923502521298716, + -0.03982264921069145, + 0.11685504322290073, + 0.046810057713134234 + ], + [ + 0.037477748949135276, + 0.9990509152412415, + 0.022196734867524458, + -0.0010440125540175376 + ], + [ + -0.11762806473561095, + -0.01764747127890587, + 0.9929008993768877, + 0.006237575786302617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9906445401095139, + -0.043617140501737595, + 0.12930938917476895, + 0.049730254872564036 + ], + [ + 0.041155587869465236, + 0.9989181756973267, + 0.02164882423014244, + 0.0015924722982168318 + ], + [ + -0.1301137669826609, + -0.016124486923217773, + 0.9913679476823624, + 0.0037440018642156663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9882260713899893, + -0.05102046951651573, + 0.14424337584284405, + 0.05302991340264207 + ], + [ + 0.048252958925737874, + 0.9985789060592651, + 0.022622438196944938, + 0.0006506005401568096 + ], + [ + -0.14519259851185498, + -0.015395913273096085, + 0.9892836184649796, + 0.0037002951959198447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9864819664537003, + -0.05601997300982475, + 0.15399697256703065, + 0.054557444805050745 + ], + [ + 0.053065413658481386, + 0.9983207583427429, + 0.023233080718400922, + 0.0002286672481367607 + ], + [ + -0.15503987842186673, + -0.014747102744877338, + 0.9877981184145794, + 0.0008556943886558958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9862868438583663, + -0.05601080879569055, + 0.15524500125138183, + 0.05326979883866813 + ], + [ + 0.053025692869933784, + 0.9983211159706118, + 0.023306565810710958, + 0.00012923059606808132 + ], + [ + -0.1562897901061258, + -0.014754986390471462, + 0.9876010473750059, + 0.0012472371649941104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9820480496636604, + -0.06266412138938904, + 0.17791793644066892, + 0.05771332597374209 + ], + [ + 0.05944357564426708, + 0.9979578256607056, + 0.023379900971373397, + 0.004764918911365323 + ], + [ + -0.17901966750210302, + -0.012384109199047089, + 0.9837675240459256, + -0.004873189753780349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9818019843928109, + -0.0625380128622055, + 0.1793150575619028, + 0.05621908334925736 + ], + [ + 0.05929698403601882, + 0.997966468334198, + 0.023383096745375954, + 0.00485466041155558 + ], + [ + -0.18041275091245607, + -0.012324729934334755, + 0.9835137651828106, + -0.004416895480280371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9798188282854937, + -0.06643491238355637, + 0.1885243737185648, + 0.05331579946763479 + ], + [ + 0.06311533726823537, + 0.9977279901504517, + 0.02356397494697841, + 0.009265505733325168 + ], + [ + -0.1896615123366558, + -0.011189647018909454, + 0.9817857987949119, + -0.009024512530884786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9771205986144369, + -0.06555657088756561, + 0.20233047717911834, + 0.06036859845624479 + ], + [ + 0.061879001917600304, + 0.9977840185165405, + 0.024455284743809716, + 0.019807255888343405 + ], + [ + -0.2034853293359481, + -0.011375756934285164, + 0.9790119371250515, + -0.011859400146221777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.973507167050819, + -0.06938645988702774, + 0.2178745362447496, + 0.05601183803418334 + ], + [ + 0.06491628090724674, + 0.9975084662437439, + 0.02761736972451181, + 0.01879760726440657 + ], + [ + -0.21924795763593266, + -0.012742103077471256, + 0.97558593792048, + -0.015945191975556047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.971275804610345, + -0.07899979501962662, + 0.22446005395032095, + 0.05263622657652339 + ], + [ + 0.07412714530067187, + 0.9967954754829407, + 0.030066508733219754, + 0.019040961538234168 + ], + [ + -0.2261160152376297, + -0.012564289383590221, + 0.9740193388847457, + -0.01983548202181823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9710363277481554, + -0.07903439551591873, + 0.22548171056476346, + 0.05199157978387235 + ], + [ + 0.0741136480080078, + 0.9967918395996094, + 0.03021883044863624, + 0.018845458471110157 + ], + [ + -0.2271466524611134, + -0.012632308527827263, + 0.9737786376428302, + -0.019460967320271437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9675173060632567, + -0.08718551695346832, + 0.23729512707649267, + 0.05098318320552893 + ], + [ + 0.08210864031845169, + 0.9961344599723816, + 0.031214174748856228, + 0.03178789795346215 + ], + [ + -0.23909928032946975, + -0.010716276243329048, + 0.9709359895476902, + -0.02504433434589581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9639043572900778, + -0.09248379617929459, + 0.24966997946816782, + 0.045604913970915165 + ], + [ + 0.08664212167546155, + 0.9956484436988831, + 0.03431179131580217, + 0.03455687551270344 + ], + [ + -0.2517568258813706, + -0.011441349051892757, + 0.9677229104892627, + -0.029487923556441812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9622070426742503, + -0.09972970187664032, + 0.25340006649577984, + 0.048454096215723705 + ], + [ + 0.09331099392742798, + 0.9949397444725037, + 0.037255495047304306, + 0.03803977759101557 + ], + [ + -0.2558332861499078, + -0.012202487327158451, + 0.9666439255206734, + -0.03559651086770629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9587469282289819, + -0.10325167328119281, + 0.2648461251730777, + 0.05162005716858234 + ], + [ + 0.09523726377775821, + 0.9945271015167239, + 0.04296138901450153, + 0.0389949123663609 + ], + [ + -0.2678324889176337, + -0.01596588268876076, + 0.9633332175011212, + -0.03442087352321574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9535209953622035, + -0.11049814522266388, + 0.2803352184667502, + 0.04882842609527059 + ], + [ + 0.10131348750986442, + 0.9937393069267273, + 0.04709295761393487, + 0.040232182903183596 + ], + [ + -0.28378383852259775, + -0.016502389684319496, + 0.9587462942075595, + -0.038904736646229225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.951384229115897, + -0.12148299813270569, + 0.28303688519846104, + 0.053849216483986224 + ], + [ + 0.1120706156763089, + 0.9924777150154114, + 0.04927611186528054, + 0.042427363003653094 + ], + [ + -0.28689404009525055, + -0.015160400420427322, + 0.9578423394630085, + -0.04683528370334614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9488781640126451, + -0.13088959455490115, + 0.28722493677911576, + 0.053908142892249225 + ], + [ + 0.12160089690436837, + 0.9913176298141482, + 0.05002603301262809, + 0.046587166600060716 + ], + [ + -0.2912790164731379, + -0.012541804462671283, + 0.9565559537986628, + -0.05251183840708838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9443777210904216, + -0.13147401809692383, + 0.30143863281596117, + 0.052714480174246556 + ], + [ + 0.12202624680017991, + 0.9912642240524292, + 0.05004872140088766, + 0.05539368158587693 + ], + [ + -0.30538544895071396, + -0.010481474921107292, + 0.9521711633171013, + -0.0539551930329107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9440151898014272, + -0.13135948777198794, + 0.30262188636022674, + 0.05145254756922109 + ], + [ + 0.12188968572227762, + 0.9912805557250979, + 0.050057147067026166, + 0.055511192587102104 + ], + [ + -0.30655870799999346, + -0.010368224233388902, + 0.9517953057131594, + -0.05355790499378291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9355932363995377, + -0.15048497915267947, + 0.3194050225796474, + 0.052324623251734134 + ], + [ + 0.1400935149191391, + 0.9885868430137636, + 0.0554059584478827, + 0.05713952726951976 + ], + [ + -0.3240973463647524, + -0.007090875878930094, + 0.945997181765786, + -0.0662277489766226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.932318278029562, + -0.15839006006717685, + 0.3251079992749243, + 0.05229418988664255 + ], + [ + 0.14849392331900213, + 0.9873714447021487, + 0.055200859025582326, + 0.06296893903542335 + ], + [ + -0.32974562745088043, + -0.0031882114708423623, + 0.9440644090029616, + -0.07228613967806201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9271321197823532, + -0.16526363790035248, + 0.3363242055567331, + 0.05211113923928354 + ], + [ + 0.15546315543058745, + 0.9862493872642517, + 0.056065743878957776, + 0.0688696128376258 + ], + [ + -0.3409651624896294, + 0.00030567124485969543, + 0.9400758709314149, + -0.07612482794633427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9235724330584941, + -0.17067654430866244, + 0.34334166923050385, + 0.05394152092564145 + ], + [ + 0.16040111993008252, + 0.985326409339905, + 0.0583385427947262, + 0.07083643692417128 + ], + [ + -0.34826063194000423, + 0.0011925119906663897, + 0.9373969990537342, + -0.08270960713126187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9204916269864701, + -0.17107662558555603, + 0.35132321990120713, + 0.054886086103873 + ], + [ + 0.16059788238296316, + 0.9852554202079773, + 0.05899179545980431, + 0.07784447730219672 + ], + [ + -0.35623522599103263, + 0.0021203085780143738, + 0.9343938875906013, + -0.08789817499659218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9156769545775971, + -0.17409954965114594, + 0.36224998393505836, + 0.05274708139259965 + ], + [ + 0.16264405321299505, + 0.9847260117530823, + 0.06214198424429373, + 0.07957442704957224 + ], + [ + -0.3675358844641225, + 0.0020158234983682632, + 0.9300071919067955, + -0.09171887345413537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9110014252231051, + -0.17647951841354373, + 0.3727350417764171, + 0.04856102460684084 + ], + [ + 0.1644200850383171, + 0.9843002557754519, + 0.06417936719996498, + 0.08439214962831043 + ], + [ + -0.37820957071829797, + 0.0028176326304674153, + 0.9257157255984452, + -0.09557642837498087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9066157676487453, + -0.1799253970384598, + 0.38167349204928464, + 0.05018208096810211 + ], + [ + 0.16745140914373957, + 0.9836716651916506, + 0.06595536555837751, + 0.08976898776767386 + ], + [ + -0.3873084588480409, + 0.004115585237741471, + 0.9219409887710438, + -0.10162482271807781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9024896269671452, + -0.1847243756055832, + 0.3890878707389237, + 0.05201950506676928 + ], + [ + 0.1719821194813015, + 0.9827730059623718, + 0.06767120045370141, + 0.09371028072252885 + ], + [ + -0.39488559450623295, + 0.00584358349442482, + 0.918711758610984, + -0.10804863732621808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.897789912626081, + -0.19094941020011902, + 0.39687732064237724, + 0.053798880566575086 + ], + [ + 0.17794527386839362, + 0.9815670847892761, + 0.06972478244388605, + 0.09619829197858056 + ], + [ + -0.40287563372111507, + 0.008024228736758232, + 0.9152195751300785, + -0.11350101395290829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8972620289178941, + -0.19107303023338318, + 0.39800999057202957, + 0.052871903995311054 + ], + [ + 0.1779645847455231, + 0.9815431237220764, + 0.07001222293817627, + 0.09584087061274779 + ], + [ + -0.40404141391388065, + 0.00801236554980278, + 0.9147056124350216, + -0.11276536691563147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8931085568810713, + -0.1953897774219513, + 0.4051912113841774, + 0.05418182401306122 + ], + [ + 0.1823069937884207, + 0.9806704521179199, + 0.07106040385074036, + 0.09984658957599447 + ], + [ + -0.41124353407269265, + 0.010404536500573158, + 0.9114661299853947, + -0.11913138343443073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8864924602232047, + -0.20232263207435613, + 0.416169079570372, + 0.04777501156354851 + ], + [ + 0.18918743469234536, + 0.9792193174362185, + 0.07305926842633771, + 0.10134768642201536 + ], + [ + -0.4223023626954096, + 0.013967465609312061, + 0.9063474348457403, + -0.12273168174397257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8810812050742106, + -0.20690149068832397, + 0.42530890055280257, + 0.04923699903528281 + ], + [ + 0.19421212482730954, + 0.9781996607780457, + 0.07353314413865017, + 0.11180620693586482 + ], + [ + -0.4312511549504407, + 0.017811480909585953, + 0.9020560667032196, + -0.13351677921952246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8761319189832296, + -0.20471122860908508, + 0.4364472377593592, + 0.04767816278524776 + ], + [ + 0.19095816095425489, + 0.9786744713783264, + 0.0757047155298109, + 0.11418988887704971 + ], + [ + -0.44263738385422113, + 0.017015840858221054, + 0.8965392665465794, + -0.1375569799930166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8732420473389692, + -0.20947705209255219, + 0.4399633258499124, + 0.051624074471758534 + ], + [ + 0.19424658526073546, + 0.9776884913444519, + 0.07995897732281235, + 0.10993178965320027 + ], + [ + -0.44689667883981743, + 0.015637828037142754, + 0.8944488873464095, + -0.14346016217658822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8695881602597991, + -0.2138884961605072, + 0.4450485698311981, + 0.04867014245358292 + ], + [ + 0.1993431225317479, + 0.9766683578491211, + 0.07988275320804669, + 0.1127699988987532 + ], + [ + -0.451750848566228, + 0.019252264872193336, + 0.8919364046098761, + -0.14797953414290216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.867180041002123, + -0.21822954714298248, + 0.44763230210433924, + 0.049153986512366285 + ], + [ + 0.20432964750751317, + 0.9756435751914978, + 0.07980580663902934, + 0.11629647649899306 + ], + [ + -0.45414556464382627, + 0.022258540615439415, + 0.8906493738246676, + -0.15284808496973115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.866583553422749, + -0.21821890771389008, + 0.44879115402385045, + 0.04793753656179436 + ], + [ + 0.20422067066669689, + 0.9756456017494202, + 0.0800596033016292, + 0.11606305954597719 + ], + [ + -0.4553316310030028, + 0.022274086251854897, + 0.8900432557974379, + -0.15215284149383262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8615238038356279, + -0.21857018768787384, + 0.458261795748422, + 0.04133297611631772 + ], + [ + 0.2036137827650473, + 0.9755681753158569, + 0.0825117906155354, + 0.12141833000685971 + ], + [ + -0.46510020922271356, + 0.02222253568470478, + 0.8849790938535728, + -0.1566784495900513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8592502622071656, + -0.2183382213115692, + 0.4626202184488297, + 0.039999007351185105 + ], + [ + 0.20123741752212046, + 0.9756962060928345, + 0.08672010941836938, + 0.12056408176721516 + ], + [ + -0.4703111204345383, + 0.018582211807370186, + 0.882305035907978, + -0.16092597600428096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8571947467523848, + -0.22015646100044256, + 0.4655623634837786, + 0.0394207230990687 + ], + [ + 0.20197839595684697, + 0.9753081798553469, + 0.0893233398014733, + 0.12315574570540158 + ], + [ + -0.4737318824692334, + 0.017466029152274135, + 0.880495897593631, + -0.16319761991626047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8566441343529928, + -0.22015975415706635, + 0.46657319175477857, + 0.03847000185909806 + ], + [ + 0.20187940216115388, + 0.9753073453903198, + 0.08955637491953083, + 0.12293312660284539 + ], + [ + -0.4747689667944878, + 0.017473571002483368, + 0.8799370095520238, + -0.162597302349628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8542218253511723, + -0.22155141830444336, + 0.47034038494278596, + 0.031183279690251337 + ], + [ + 0.20005178882523442, + 0.975073516368866, + 0.09597369902806745, + 0.13020217274282664 + ], + [ + -0.47987957460782443, + 0.012109614908695221, + 0.8772508162772292, + -0.16130644215608397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8539261075756716, + -0.21492041647434235, + 0.4739403228204104, + 0.023898850418977165 + ], + [ + 0.1897975281574699, + 0.9766242504119873, + 0.10090601701875349, + 0.13454794570022033 + ], + [ + -0.48454837791179983, + 0.003786414861679077, + 0.8747562747744131, + -0.16128926378964753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8533358591410178, + -0.2149071246385575, + 0.47500828593466, + 0.022861847006644453 + ], + [ + 0.18966717353914825, + 0.9766271114349367, + 0.1011231089850893, + 0.13435510624522648 + ], + [ + -0.4856380356765254, + 0.003801494836807252, + 0.8741517453487796, + -0.1606197035455645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8536810917509213, + -0.21141038835048676, + 0.4759561298267218, + 0.022768598438668367 + ], + [ + 0.1820928254692408, + 0.9773839116096497, + 0.1075307395341016, + 0.13550106786114033 + ], + [ + -0.4879250116663428, + -0.005128771066665649, + 0.8728704615630715, + -0.16253095282515245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8544444353842602, + -0.21080604195594788, + 0.4748531016698973, + 0.02423466732139591 + ], + [ + 0.18016707034285515, + 0.9774932861328125, + 0.10975759189549145, + 0.14587969740768295 + ], + [ + -0.4873032939847429, + -0.008228875696659088, + 0.8731939954370825, + -0.1665840487903591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8551842057467681, + -0.20773163437843323, + 0.474876331973726, + 0.022998154913484822 + ], + [ + 0.17653241783550794, + 0.9781325459480286, + 0.10996829797404821, + 0.14851783362714774 + ], + [ + -0.4873358714868603, + -0.010212104767560959, + 0.8731548746076134, + -0.16898061197961756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8560605820240778, + -0.1996399462223053, + 0.47676432058268636, + 0.018547654400073894 + ], + [ + 0.1674158098819184, + 0.9797684550285339, + 0.1096618112814698, + 0.15181774548861934 + ], + [ + -0.4890115330280851, + -0.014059264212846756, + 0.8721640479767279, + -0.17110015023883293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8562865608239717, + -0.1927836537361145, + 0.4791740474195444, + 0.013084728653798249 + ], + [ + 0.15914120793607472, + 0.9810722470283508, + 0.11032361567127001, + 0.1521799295483775 + ], + [ + -0.49137296710273937, + -0.018212299793958664, + 0.8707588489378577, + -0.17339247330810154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8557112644977812, + -0.19283618032932287, + 0.48017963519020024, + 0.012161013512627585 + ], + [ + 0.15902520294229788, + 0.9810608029365542, + 0.11059266865103382, + 0.15186150365879716 + ], + [ + -0.49241169430102905, + -0.018274739384651188, + 0.8701705706043857, + -0.1727510947570396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8564255827845775, + -0.18782494962215424, + 0.48089189516281455, + 0.011724412141625673 + ], + [ + 0.15392532643626422, + 0.9820051789283752, + 0.10942059391212958, + 0.15427262459781294 + ], + [ + -0.4927902456876444, + -0.019689157605171204, + 0.8699253933424369, + -0.18077579254179615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.855547446731964, + -0.191708505153656, + 0.4809225041637339, + 0.012746413090116163 + ], + [ + 0.15772717603697528, + 0.9812729358673096, + 0.11056934113913866, + 0.15136724122604928 + ], + [ + -0.4931133167271693, + -0.018742773681879044, + 0.8697631864295332, + -0.18461265398538193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8550362053791863, + -0.1951491683721543, + 0.48044761593388846, + 0.015462405048058833 + ], + [ + 0.16210628844791047, + 0.9806427359580996, + 0.10982440186801769, + 0.15159386379085182 + ], + [ + -0.49257959587779204, + -0.016020268201828006, + 0.8701199467823263, + -0.19003968876468555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8534672173303268, + -0.19798551499843603, + 0.4820740522817063, + 0.015251999886766149 + ], + [ + 0.16649855458415846, + 0.980134963989258, + 0.10776659000969825, + 0.15443863489899987 + ], + [ + -0.493833856171123, + -0.011710628867149355, + 0.869477417497339, + -0.1929682119047505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8523789474225772, + -0.1976142674684525, + 0.48414745836542655, + 0.01393002514836103 + ], + [ + 0.16761558780258173, + 0.9802442789077761, + 0.10500570622564831, + 0.15843400928361973 + ], + [ + -0.49533339938191595, + -0.00835399702191353, + 0.8686628097224364, + -0.1951649025609692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8524599204709682, + -0.1938505321741104, + 0.4855245818939891, + 0.013301114272519385 + ], + [ + 0.16410828037362396, + 0.9809935092926025, + 0.10353830261885846, + 0.16019723890024834 + ], + [ + -0.49636742082813, + -0.00858364999294281, + 0.8680700943336532, + -0.1985735339209028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8524228027274307, + -0.19007238745689392, + 0.4870810050258049, + 0.010875763649683096 + ], + [ + 0.15984348110151175, + 0.9817166328430176, + 0.10335651121822342, + 0.1596477098495259 + ], + [ + -0.49782071715033566, + -0.010246720165014267, + 0.8672194291873977, + -0.20171877222864731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8511694353980265, + -0.19014106690883636, + 0.4892412902942542, + 0.008664024063805245 + ], + [ + 0.15977010168024752, + 0.9817059636116028, + 0.10357099170305266, + 0.1596840672260792 + ], + [ + -0.4999841895016259, + -0.009990345686674118, + 0.8659769066287561, + -0.20339797079978034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8486541077628569, + -0.19590428471565247, + 0.4913326334338015, + 0.008575586091694912 + ], + [ + 0.16517477909311584, + 0.9805859327316284, + 0.1056814150258239, + 0.15600248787804694 + ], + [ + -0.5024973093515799, + -0.008531216531991959, + 0.8645366892763254, + -0.2025846540149737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.846790322584526, + -0.19840086996555328, + 0.49354150541741454, + 0.007221762567121481 + ], + [ + 0.16857030617101693, + 0.9801054000854492, + 0.10477345229107332, + 0.15807249381379718 + ], + [ + -0.5045098182066505, + -0.005524706095457077, + 0.863388278236873, + -0.20312359225675541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8445354413636406, + -0.20001426339149475, + 0.49674357648760253, + 0.003648364073424587 + ], + [ + 0.17086282179102932, + 0.9797884821891785, + 0.10402138996505285, + 0.16050968086712425 + ], + [ + -0.5075093616560128, + -0.0029747560620307922, + 0.8616410957726532, + -0.20133213515242535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8424890165156972, + -0.2021462321281433, + 0.49934875479287344, + 0.002701885482837521 + ], + [ + 0.17306189622481533, + 0.9793540239334106, + 0.10447603477367841, + 0.16105123379027209 + ], + [ + -0.5101586384949696, + -0.0016016773879528046, + 0.8600788073502252, + -0.19968808219290307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8410481323041497, + -0.2033817321062088, + 0.5012723301032591, + 0.0018894656133499055 + ], + [ + 0.17405024060839475, + 0.9790987372398376, + 0.1052245936998674, + 0.16064421738935108 + ], + [ + -0.5121958752621938, + -0.0012523829936981201, + 0.8588677888431693, + -0.19770177157608512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.840326797964278, + -0.202385812997818, + 0.502882489354843, + 0.0005098711787145938 + ], + [ + 0.1726351034588282, + 0.9793038964271545, + 0.10564556004533363, + 0.1610352274548283 + ], + [ + -0.513855975861315, + -0.0019616298377513885, + 0.8578742138790965, + -0.19634298281429677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8389269728168642, + -0.20106139779090887, + 0.505742813777304, + -0.003088995662026736 + ], + [ + 0.17110131303627601, + 0.9795764684677126, + 0.10561398337740631, + 0.16266559796789384 + ], + [ + -0.5166486814999367, + -0.002069160342216492, + 0.8561950123107506, + -0.19346875268241492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.83845293602485, + -0.20061951875686646, + 0.5067035945425787, + -0.0032157098746496554 + ], + [ + 0.17069016877431403, + 0.9796673655509949, + 0.10543583402783084, + 0.16407896734335556 + ], + [ + -0.5175534656566586, + -0.001913655549287796, + 0.8556487375054684, + -0.19095678506576758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8384452115794181, + -0.1981777548789978, + 0.507676312065334, + -0.005859883071680921 + ], + [ + 0.16768333970683444, + 0.9801599383354187, + 0.10568269058243994, + 0.165318949950119 + ], + [ + -0.5185479125060818, + -0.003480292856693268, + 0.8550414957659932, + -0.18882726340089162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8383285073454279, + -0.195599913597107, + 0.5088673937211149, + -0.00822122148291661 + ], + [ + 0.16415835587447938, + 0.9806668758392336, + 0.10651051972874218, + 0.16588367175013968 + ], + [ + -0.5198628461018309, + -0.005755964666604997, + 0.854230325994685, + -0.18555677643008567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.838337356545437, + -0.1916607916355133, + 0.5103495081078886, + -0.011287612921527482 + ], + [ + 0.15936873647709388, + 0.9814270734786987, + 0.10678235791665155, + 0.1691887876491342 + ], + [ + -0.5213368346918577, + -0.00818588212132454, + 0.85331169354245, + -0.1818299323210556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8382376752736115, + -0.1879692524671555, + 0.5118838919805679, + -0.014429510177307092 + ], + [ + 0.1543836601797979, + 0.9821091890335085, + 0.10782939195027842, + 0.171141854547955 + ], + [ + -0.5229945044789468, + -0.011360157281160356, + 0.8522603650026055, + -0.17777580597475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.8383295850168464, + -0.18604972958564758, + 0.5124344152152357, + -0.016596053491750404 + ], + [ + 0.1500848077132049, + 0.9824056029319763, + 0.11114742034838714, + 0.17073635373646082 + ], + [ + -0.5240973994712724, + -0.01626954972743988, + 0.8515029155144002, + -0.17563586228136266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.8383414397373132, + -0.18392467498779297, + 0.5131816099616416, + -0.018849824062651663 + ], + [ + 0.14615192367097452, + 0.9827345609664917, + 0.11345676992112434, + 0.1726182108160631 + ], + [ + -0.5251888129097284, + -0.020113036036491394, + 0.8507480351908697, + -0.17304917974887704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.8382993806078288, + -0.1840037703514099, + 0.5132219966960824, + -0.019492683781153042 + ], + [ + 0.1446519418588784, + 0.9826556444168091, + 0.11603305959084687, + 0.173706188563485 + ], + [ + -0.5256710252546403, + -0.02303188294172287, + 0.8503760748777726, + -0.17151974094194308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.8382813734390699, + -0.18417760729789734, + 0.5131889784293403, + -0.02012747022986061 + ], + [ + 0.14312590274815004, + 0.9825447201728821, + 0.1188314020549885, + 0.1742878642216973 + ], + [ + -0.5261171770598655, + -0.02616352215409279, + 0.8500095205760588, + -0.16999392225642607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.8380502803750083, + -0.18486790359020233, + 0.5133182561725784, + -0.020422583693680024 + ], + [ + 0.1429093927618457, + 0.98237544298172, + 0.12047973864686112, + 0.17481594417876992 + ], + [ + -0.5265440643580317, + -0.027610089629888535, + 0.8496993603184395, + -0.16871094421302196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.8379392801336272, + -0.185734435915947, + 0.5131865705254227, + -0.02071688871204158 + ], + [ + 0.1433985648439255, + 0.9821985960006716, + 0.12133758025123591, + 0.1748712729382828 + ], + [ + -0.5265876885994959, + -0.028083320707082755, + 0.8496568245203692, + -0.16849349795616714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.8376521490696178, + -0.1869693100452423, + 0.5132069649167571, + -0.021168941234647853 + ], + [ + 0.14423411250172216, + 0.9819539189338684, + 0.12232344621334212, + 0.17430658691894274 + ], + [ + -0.5268162957114082, + -0.028442561626434326, + 0.8495031571583457, + -0.1677826897152848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.8372536791983554, + -0.1875583678483963, + 0.5136420265987894, + -0.02166114371571487 + ], + [ + 0.1445377441433047, + 0.9818348288536072, + 0.1229194112135883, + 0.17324585526289923 + ], + [ + -0.5273662032382561, + -0.02867407724261284, + 0.8491541041527683, + -0.16663921823533911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.836753831238948, + -0.1879255771636963, + 0.5143219448248642, + -0.023068030506256415 + ], + [ + 0.14464064102992824, + 0.9817590117454529, + 0.12340331486239024, + 0.1721365419355539 + ], + [ + -0.5281308089894713, + -0.02886636182665825, + 0.8486722704127028, + -0.16588475171919592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.8365269514030458, + -0.18921595811843878, + 0.5142178245654231, + -0.022930559862750374 + ], + [ + 0.1458427403495784, + 0.9815171360969546, + 0.12391115262099099, + 0.17063785645250618 + ], + [ + -0.5281595811818368, + -0.02866008877754212, + 0.8486613353777777, + -0.1657345818256441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.8360839546871202, + -0.19008386135101318, + 0.5146180880096833, + -0.023917316726667345 + ], + [ + 0.14693912758057764, + 0.981372594833374, + 0.12376098825585481, + 0.17020533670627652 + ], + [ + -0.5285570371093338, + -0.027857039123773575, + 0.8484405920506607, + -0.16538371597251475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.8356030688197686, + -0.1912873387336731, + 0.5149530352040654, + -0.02420441374635189 + ], + [ + 0.14788007045017043, + 0.9811380505561829, + 0.12449725791288187, + 0.1686562093335202 + ], + [ + -0.5290548002918004, + -0.027878999710083008, + 0.8481295564858597, + -0.1650718692326757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.8351062513620648, + -0.19257134199142456, + 0.5152802911720694, + -0.024587372712864028 + ], + [ + 0.1489695238555869, + 0.9808905124664307, + 0.12514746991084852, + 0.16706977610957863 + ], + [ + -0.529533385148802, + -0.02775038406252861, + 0.8478350816057392, + -0.16469976920557342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.8344403671704707, + -0.19267058372497559, + 0.516320971921479, + -0.02565872859658283 + ], + [ + 0.14915404144902714, + 0.9808844327926636, + 0.12497540101113093, + 0.16755176827542353 + ], + [ + -0.530530290913604, + -0.027273159474134445, + 0.8472271122504665, + -0.1640518920037952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.8333451110840231, + -0.194141834974289, + 0.5175372671660746, + -0.027887265425109192 + ], + [ + 0.15068216327037703, + 0.9806188941001894, + 0.125225558385786, + 0.16680181001133304 + ], + [ + -0.5318183439762183, + -0.026372469961643226, + 0.8464476991832844, + -0.16305552695086356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.8325470075453816, + -0.19624893367290502, + 0.5180268353157188, + -0.027847516986345217 + ], + [ + 0.15296969745747654, + 0.9802290797233584, + 0.1255040240886513, + 0.16683439105490655 + ], + [ + -0.5324149888685503, + -0.025245599448680885, + 0.846106912137123, + -0.16291390490066665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.831716689752976, + -0.1976463347673416, + 0.5188287717459391, + -0.02780170072493386 + ], + [ + 0.15424741555986882, + 0.9799594879150391, + 0.12604398902827635, + 0.1664357409828152 + ], + [ + -0.5333433382173164, + -0.024804890155792236, + 0.8455351028965705, + -0.16208726248485422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.8306495573759515, + -0.19823190569877625, + 0.5203128536226859, + -0.029298979879854428 + ], + [ + 0.15442158235266315, + 0.9798372387886047, + 0.1267791067395669, + 0.1654739433106905 + ], + [ + -0.5349535639868305, + -0.024961475282907486, + 0.8445126642576823, + -0.16070318731588965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.8297490708412713, + -0.19886605441570282, + 0.5215062877440284, + -0.030395465366947066 + ], + [ + 0.1548119084190079, + 0.9797109961509705, + 0.1272778921418263, + 0.16464399614783307 + ], + [ + -0.5362367035737747, + -0.02487333118915558, + 0.8437010694841337, + -0.15963896046035544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8290566604755458, + -0.19965310394763947, + 0.5223061745691173, + -0.030322381795426137 + ], + [ + 0.1557030038451623, + 0.9795675277709961, + 0.12729520186613424, + 0.16453325621794296 + ], + [ + -0.5370490257826074, + -0.02421030029654503, + 0.8432035509637462, + -0.15895031487394384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8282129668373404, + -0.19999684393405914, + 0.5235117235271259, + -0.03155731806711444 + ], + [ + 0.1562018914753109, + 0.9795151352882385, + 0.12708695217937652, + 0.16449779381048982 + ], + [ + -0.5382046627707028, + -0.023481547832489014, + 0.8424870497604633, + -0.15842059230310385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8274701002043515, + -0.20003390312194824, + 0.5246710519027782, + -0.03287690397040431 + ], + [ + 0.156129998774678, + 0.9795108437538147, + 0.12720820855166728, + 0.16437967661323516 + ], + [ + -0.5393669214095402, + -0.023344088345766068, + 0.841747173429029, + -0.15758545801297574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8275333247787919, + -0.20063646137714386, + 0.5243410898768888, + -0.03127118562108208 + ], + [ + 0.15696871033591858, + 0.9794000387191772, + 0.1270289921084698, + 0.16274765006128925 + ], + [ + -0.5390263527044047, + -0.022815581411123276, + 0.8419798446900021, + -0.15862509655873946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8271151304117381, + -0.20040491223335266, + 0.525088925644264, + -0.03262469443582354 + ], + [ + 0.15647944195088564, + 0.9794396162033081, + 0.12732701685256115, + 0.16069804786708533 + ], + [ + -0.5398098695549914, + -0.023148484528064728, + 0.8414685986581496, + -0.15862308057284646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.8267409600785888, + -0.2015006989240647, + 0.5252588650554164, + -0.032458782108217205 + ], + [ + 0.15698300264122436, + 0.9791985750198366, + 0.12855550027236318, + 0.1575361043024282 + ], + [ + -0.5402367463750426, + -0.023825392127037055, + 0.8411757220659276, + -0.1585885436072997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.8261879215227806, + -0.20178656280040747, + 0.5260187777687085, + -0.03345086804250373 + ], + [ + 0.15777575031279184, + 0.9791687130928042, + 0.12781040836593627, + 0.15778574226786446 + ], + [ + -0.5408515051550655, + -0.022602424025535587, + 0.8408143448798704, + -0.15856666044124768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8252625659420633, + -0.20332430303096777, + 0.5268784443005965, + -0.03422206492861757 + ], + [ + 0.1590308608042411, + 0.978855609893799, + 0.12864999648446745, + 0.15588974061824318 + ], + [ + -0.541895627118486, + -0.02238009497523308, + 0.8401477453840578, + -0.1575917080657005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8246157030542677, + -0.2034638226032257, + 0.5278365017090504, + -0.03517941252023697 + ], + [ + 0.15896863755378696, + 0.9788255095481873, + 0.12895573147642947, + 0.15547689044644794 + ], + [ + -0.5428976629253967, + -0.02242947742342949, + 0.8394992776775133, + -0.1569632922741569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8242758967352677, + -0.20430795848369598, + 0.528041203757312, + -0.03500856821150444 + ], + [ + 0.15957848455705545, + 0.9786475300788879, + 0.1295519852088886, + 0.15440415880627473 + ], + [ + -0.5432347411040356, + -0.022522572427988052, + 0.8392787407161612, + -0.15619243062471094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.823169228823625, + -0.2034614235162735, + 0.5300904013633226, + -0.038862631396677824 + ], + [ + 0.15882254622867645, + 0.9788345694541931, + 0.12906709610517472, + 0.15579791064436357 + ], + [ + -0.5451309850901491, + -0.022053752094507217, + 0.8380607491823164, + -0.15312643181220048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8220386653442056, + -0.20389887690544134, + 0.531674394242821, + -0.041212299916777675 + ], + [ + 0.15922383296117912, + 0.9787551760673525, + 0.1291747779055455, + 0.15660671718887825 + ], + [ + -0.5467176306132995, + -0.021531429141759876, + 0.8370401248120948, + -0.15048889399712245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8209715451154523, + -0.2049611359834671, + 0.5329134037512527, + -0.04283534687826701 + ], + [ + 0.16024389965633076, + 0.978546679019928, + 0.12949260250293881, + 0.15718424317521626 + ], + [ + -0.5480215691057029, + -0.020913608372211456, + 0.8362026944156391, + -0.1483138130702774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8202321463003434, + -0.2047787606716156, + 0.5341206723296559, + -0.04507894668300284 + ], + [ + 0.16008501777952178, + 0.9785916805267334, + 0.12934890666271376, + 0.15797382449590494 + ], + [ + -0.5491739477447038, + -0.02059142291545868, + 0.8354543748821348, + -0.14589448846581082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8195848948126018, + -0.20380678772926336, + 0.5354843503183577, + -0.04724482835657055 + ], + [ + 0.15916114591089323, + 0.9787977337837221, + 0.12892917083629532, + 0.15966824745123007 + ], + [ + -0.5504074981516789, + -0.020440112799406055, + 0.8346459416639651, + -0.14305820560854243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8191567927809481, + -0.20469284057617193, + 0.5358012269081562, + -0.04830338011668919 + ], + [ + 0.15971039911162485, + 0.9786081910133364, + 0.12968656662549438, + 0.15827095338029776 + ], + [ + -0.5508853911667015, + -0.020660609006881717, + 0.8343251069357904, + -0.1419318420733377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8186250509204918, + -0.20580914616584778, + 0.536186224452245, + -0.04900182415978392 + ], + [ + 0.16077191154767126, + 0.978381872177124, + 0.13008172831818365, + 0.15744415413371984 + ], + [ + -0.5513668841874843, + -0.020284481346607208, + 0.8340162574439337, + -0.14051477640471283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8181130789638, + -0.20654799044132233, + 0.5366832126303229, + -0.04978190143809898 + ], + [ + 0.161738499452147, + 0.9782421588897705, + 0.1299343121806217, + 0.15752274798786123 + ], + [ + -0.5518438459789929, + -0.01949862390756607, + 0.8337194848353999, + -0.13899309749449384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8177763369696931, + -0.20613393187522888, + 0.5373552929084235, + -0.050999386306643815 + ], + [ + 0.161170608427112, + 0.9783251285552979, + 0.13001546846755235, + 0.15672905708432108 + ], + [ + -0.552508761875051, + -0.019717711955308914, + 0.8332738476719904, + -0.13789766859640412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8171998462365272, + -0.20524282753467565, + 0.5385720600848805, + -0.05323770314300581 + ], + [ + 0.1603516818712282, + 0.9785159826278689, + 0.1295908868863655, + 0.15671401155959974 + ], + [ + -0.553598971481029, + -0.019540715962648395, + 0.8325541403877713, + -0.1362643723381527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8162834080636132, + -0.20663386583328247, + 0.5394292094110585, + -0.05407881093976717 + ], + [ + 0.16149247258493787, + 0.9782282710075378, + 0.1303441843023091, + 0.15455958618919727 + ], + [ + -0.5546184121377665, + -0.01928403601050377, + 0.8318813430463801, + -0.13549584114147006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8155200846402181, + -0.20789064466953278, + 0.5401004768970955, + -0.05493342529097628 + ], + [ + 0.16279970845285846, + 0.9779753684997559, + 0.1306155432156023, + 0.1530090165802253 + ], + [ + -0.5553587091300869, + -0.01859140768647194, + 0.8314030836013021, + -0.135195268519536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8147080830935569, + -0.20911911129951477, + 0.540851133867927, + -0.055289648574521816 + ], + [ + 0.1639206562419064, + 0.9777215123176575, + 0.13111328701022365, + 0.15145938822087887 + ], + [ + -0.55622009956534, + -0.01816238835453987, + 0.8308365597985403, + -0.13480939509457374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.813844950394116, + -0.20973935723304754, + 0.5419093849606342, + -0.057051279154551354 + ], + [ + 0.16455931589796932, + 0.9775984883308413, + 0.13123060592830135, + 0.15005664028559418 + ], + [ + -0.5572940325768, + -0.017625138163566593, + 0.8301281399680666, + -0.1347643569482751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8132123838684701, + -0.2102314680814743, + 0.5426678853265624, + -0.05739686890094986 + ], + [ + 0.1647106465035483, + 0.9774887561798096, + 0.13185631005765677, + 0.14874447022086174 + ], + [ + -0.5581720992359503, + -0.01784401759505272, + 0.8295333418677562, + -0.13407981202061198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8122848845719859, + -0.21070237457752228, + 0.5438729580927453, + -0.058275622150256584 + ], + [ + 0.16530302054755372, + 0.9774001240730286, + 0.13177229049739186, + 0.1484642186575009 + ], + [ + -0.5593462541263691, + -0.01713280752301216, + 0.8287570758888092, + -0.13280063336107528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8116186818480176, + -0.21072401106357574, + 0.5448582431204629, + -0.059210621768282096 + ], + [ + 0.1652032116213041, + 0.9773967266082764, + 0.13192231921385528, + 0.14826102497200494 + ], + [ + -0.5603418770391467, + -0.01705828681588173, + 0.8280857486821965, + -0.1321085678703605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8111325537513151, + -0.210275799036026, + 0.5457546084506629, + -0.06029416665008383 + ], + [ + 0.1644831609882245, + 0.9774867296218872, + 0.13215492285836167, + 0.1486298603335713 + ], + [ + -0.5612568983361049, + -0.017427705228328705, + 0.8274581293482691, + -0.13182236524955576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.8100732848229046, + -0.20910407602787018, + 0.5477743307584824, + -0.06280809731819012 + ], + [ + 0.16246550852532765, + 0.9777142405509949, + 0.13296545330156773, + 0.149315885817611 + ], + [ + -0.5633704186806708, + -0.018717333674430847, + 0.8259924227833835, + -0.1297854803568041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8093488991282393, + -0.20905876159667974, + 0.5488613909421292, + -0.06397240185915615 + ], + [ + 0.16231262289746595, + 0.9777259826660158, + 0.13306576474368564, + 0.14933645484680894 + ], + [ + -0.5644545943396868, + -0.01860950887203217, + 0.8252543170634431, + -0.12906629911395856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8079261964101694, + -0.20970578491687775, + 0.5507074911818557, + -0.06558029237076504 + ], + [ + 0.16211947712011676, + 0.9775737524032593, + 0.13441310414097815, + 0.15056428401800917 + ], + [ + -0.5665443849255775, + -0.019315477460622787, + 0.8238048051876553, + -0.1272555250905103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8062165729327466, + -0.2100733071565628, + 0.5530678273785489, + -0.06849813416394895 + ], + [ + 0.16210706065305264, + 0.9774977564811707, + 0.13497941689623089, + 0.15153203065853033 + ], + [ + -0.5689781288700975, + -0.01916643977165222, + 0.8221292772108467, + -0.12516905065957012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8047178647430735, + -0.2113355547189713, + 0.5547670713331838, + -0.07017284298063448 + ], + [ + 0.162488667821433, + 0.9772139191627505, + 0.13656637392988957, + 0.15065960384665822 + ], + [ + -0.5709874420686555, + -0.019754040986299518, + 0.8207211032136807, + -0.12393357916388523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8034586268750349, + -0.21274106204509735, + 0.5560534639454118, + -0.07072708023740407 + ], + [ + 0.16310125591086483, + 0.976898729801178, + 0.13808271253302237, + 0.1497864733589127 + ], + [ + -0.5725837779213241, + -0.020250733941793442, + 0.8195960663166544, + -0.12270463072131475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.8024143945032669, + -0.2151147425174713, + 0.5566478470306047, + -0.06968569818443773 + ], + [ + 0.1648083411814337, + 0.9763758778572083, + 0.13974409007019353, + 0.1492504618196331 + ], + [ + -0.5735584984566628, + -0.020392462611198425, + 0.8189107246910257, + -0.12261752518940959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.801279442609373, + -0.2158051729202271, + 0.5580138093433833, + -0.07105536790063774 + ], + [ + 0.16530070390288923, + 0.9762298464775088, + 0.14018182908743068, + 0.1492487416861195 + ], + [ + -0.57500168310389, + -0.020084753632545475, + 0.8179056628376838, + -0.1216805327549356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.8006653788260752, + -0.21487969160079956, + 0.5592510018997443, + -0.0728272388548036 + ], + [ + 0.16404787285227862, + 0.9764233827590942, + 0.14030570874102574, + 0.14989642433005135 + ], + [ + -0.5762146115630772, + -0.020593974739313126, + 0.8170389188095987, + -0.1215746419678955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.7999251603955241, + -0.2152978032827378, + 0.5601487451638715, + -0.07325625128736335 + ], + [ + 0.16431608797506345, + 0.9763345718383791, + 0.14060930102570204, + 0.1498388893384666 + ], + [ + -0.5771654430007862, + -0.020435456186532978, + 0.8163714717203011, + -0.12136821826149546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.7992734542462212, + -0.21586407721042633, + 0.5608606645606827, + -0.07340504738190246 + ], + [ + 0.16483447939071175, + 0.9762163758277893, + 0.14082327518970603, + 0.1496708437118457 + ], + [ + -0.5779200399875303, + -0.020107131451368332, + 0.81584566614943, + -0.12125254900933981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.7986651803560609, + -0.21561425924301147, + 0.5618224244446222, + -0.0742317618298918 + ], + [ + 0.16418568977793865, + 0.9762617349624634, + 0.14126623011160094, + 0.14917554803878358 + ], + [ + -0.5789447064741987, + -0.020581241697072983, + 0.8151070213323011, + -0.120507474735949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.798748902735074, + -0.21429473161697393, + 0.5622080903241571, + -0.07423988113700236 + ], + [ + 0.16259125115779616, + 0.9765347838401797, + 0.14122295230027965, + 0.14918571717202894 + ], + [ + -0.5792791041000533, + -0.02139157429337502, + 0.8148485099989997, + -0.12087336489757756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.7982116907006311, + -0.21391189098358154, + 0.5631161963278104, + -0.07510299967544234 + ], + [ + 0.16199422046247589, + 0.9766137599945068, + 0.14136268319553968, + 0.14910443271993676 + ], + [ + -0.5801862024369913, + -0.02161577343940735, + 0.814196984683058, + -0.12029704196164162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.797925364450537, + -0.2118640393018723, + 0.5642949193050923, + -0.07666428894424882 + ], + [ + 0.15958223432703966, + 0.9770379066467287, + 0.14117524723595737, + 0.14972131769368655 + ], + [ + -0.5812474955043592, + -0.022595863789319996, + 0.8134130177765228, + -0.11985225329634074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.7978728007574867, + -0.210813969373703, + 0.5647623431385902, + -0.07626529401725105 + ], + [ + 0.15866987834110619, + 0.9772650599479675, + 0.14063037571952844, + 0.1510218655160946 + ], + [ + -0.5815693331940931, + -0.022594381123781204, + 0.8131830210437176, + -0.11958858207836102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.7973032039407536, + -0.2093013375997544, + 0.5661276837211441, + -0.07781452020689314 + ], + [ + 0.15683567777927107, + 0.9775744676589968, + 0.14053730108315027, + 0.15169405447280765 + ], + [ + -0.5828466001350068, + -0.023261826485395435, + 0.8122491905687784, + -0.11852577988937457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.7971201459991751, + -0.2065705806016922, + 0.5673870787633816, + -0.0797135943831028 + ], + [ + 0.15331123054739565, + 0.9781076312065125, + 0.14071661259970217, + 0.15141200219891535 + ], + [ + -0.5840335531952482, + -0.02518124133348465, + 0.8113388639384205, + -0.11771632366108319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.7964401828810783, + -0.20657694339752203, + 0.5683388473856886, + -0.08066724959792451 + ], + [ + 0.1531413590035414, + 0.978105962276459, + 0.1409127947127466, + 0.15120261443500957 + ], + [ + -0.5850049363816915, + -0.025192428380250938, + 0.8106383802723527, + -0.11708078406375654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.7960068346034376, + -0.2055087834596634, + 0.5693323073609775, + -0.08129261863770809 + ], + [ + 0.1520217932313907, + 0.9783265590667725, + 0.14059332752947987, + 0.15222088575432413 + ], + [ + -0.585886090715197, + -0.025362331420183182, + 0.8099964715739153, + -0.11667338630841419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.795209815865433, + -0.20481927692890167, + 0.5706929678579649, + -0.08285108073716729 + ], + [ + 0.1512407488753989, + 0.9784712791442871, + 0.14042865720518932, + 0.1528987763170201 + ], + [ + -0.5871691708131723, + -0.02535821497440338, + 0.8090669365026814, + -0.11588969159718397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.7947203684665193, + -0.20297101140022278, + 0.5720334732234538, + -0.08379713506502523 + ], + [ + 0.14917600658836208, + 0.9788400530815125, + 0.14006684964591407, + 0.15424831448835752 + ], + [ + -0.5883587752924982, + -0.02598031610250473, + 0.8081824929320114, + -0.11607243105535096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.7940897098488687, + -0.2033616602420807, + 0.5727700777844386, + -0.08424521717231503 + ], + [ + 0.14903965602820698, + 0.9787449836730957, + 0.14087386836778742, + 0.15301973898641913 + ], + [ + -0.5892441836612581, + -0.026501040905714035, + 0.8075202952154991, + -0.1156364144988508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.7926175876332742, + -0.2046298384666443, + 0.5743553131228577, + -0.08524698825652591 + ], + [ + 0.14949651207593498, + 0.9784690737724304, + 0.14229936153289532, + 0.15187204630687115 + ], + [ + -0.5911075954844318, + -0.02692486345767975, + 0.8061432062349347, + -0.11613986111819706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.7920410535062518, + -0.20636337995529175, + 0.574530403078967, + -0.08375363881546394 + ], + [ + 0.1514509525038353, + 0.9781329035758972, + 0.14254331092111525, + 0.1522455133924772 + ], + [ + -0.5913828078255706, + -0.025886986404657364, + 0.8059753259020361, + -0.11682231762225048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.7913270253406782, + -0.2069467157125473, + 0.5753039518649156, + -0.08373834340751729 + ], + [ + 0.15210457776305908, + 0.9780242443084717, + 0.14259322787888248, + 0.15229999390641993 + ], + [ + -0.5921704196900267, + -0.0253315232694149, + 0.805414511429621, + -0.11744867243108494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.7909532718468228, + -0.20579481124877935, + 0.5762303264113862, + -0.08429192127135698 + ], + [ + 0.1509128965434613, + 0.9782619476318362, + 0.14222819111191462, + 0.15301640076803502 + ], + [ + -0.5929740366341311, + -0.025535278022289283, + 0.8048166042446527, + -0.11835200915597095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.7902351721988005, + -0.20581987500190735, + 0.5772057958225604, + -0.08528287071920967 + ], + [ + 0.15052915620681914, + 0.978246808052063, + 0.14273800443564857, + 0.1510047628509155 + ], + [ + -0.5940280311409326, + -0.025910288095474243, + 0.8040269374164155, + -0.119161563040764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.789718212952724, + -0.2055022269487381, + 0.5780259660575574, + -0.08588043978571003 + ], + [ + 0.1504186368689773, + 0.9783259630203247, + 0.14231162656906796, + 0.15119744644704802 + ], + [ + -0.5947431491072105, + -0.025440208613872528, + 0.8035131269211385, + -0.12086264949785182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.7889206999385623, + -0.2054828256368637, + 0.5791208306651222, + -0.08701956040988981 + ], + [ + 0.1502135232666857, + 0.9783303141593933, + 0.14249794167040808, + 0.15100346676316778 + ], + [ + -0.5958523253373323, + -0.02542780339717865, + 0.8026913610885769, + -0.11999869372265236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.7882096298379279, + -0.20670300722122192, + 0.5796546388093714, + -0.08608661098613068 + ], + [ + 0.15186936764304032, + 0.9781065583229065, + 0.1422789794166332, + 0.1506713905832688 + ], + [ + -0.5963734797006627, + -0.024113882333040237, + 0.802344847491866, + -0.12121631522546036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.7874498865152547, + -0.20609372854232788, + 0.5809028086177993, + -0.0874233109735538 + ], + [ + 0.15157527877153462, + 0.9782512784004211, + 0.14159602598105184, + 0.15000644231280552 + ], + [ + -0.5974509294559742, + -0.023449275642633438, + 0.801562555462762, + -0.1223268456867029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.7868659790957447, + -0.20614708960056305, + 0.5816746157345202, + -0.08729556247746098 + ], + [ + 0.15172188355447322, + 0.9782494902610779, + 0.1414510831116895, + 0.14860568870165064 + ], + [ + -0.5981826295683825, + -0.02305026724934578, + 0.8010282559135478, + -0.12342631498076591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.7856786464899422, + -0.2071029543876648, + 0.5829385955328437, + -0.08655783390088967 + ], + [ + 0.1541615086356096, + 0.978116512298584, + 0.13972209733854307, + 0.14781613869037913 + ], + [ + -0.5991187225014428, + -0.019909977912902832, + 0.8004125861598639, + -0.12594101183190898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.7848563055116856, + -0.2083511650562287, + 0.583601250475071, + -0.08598264489152757 + ], + [ + 0.15565755780688426, + 0.9778722524642947, + 0.13977351078710884, + 0.14593114254822817 + ], + [ + -0.5998094223897942, + -0.018860176205635074, + 0.7999206305167912, + -0.1262708206123153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.7842331476056825, + -0.2089560627937317, + 0.584222376435703, + -0.08471898685900936 + ], + [ + 0.15594392236425436, + 0.9777408838272095, + 0.14037204640508819, + 0.14285144656263277 + ], + [ + -0.6005496480728277, + -0.018978483974933624, + 0.7993621773627634, + -0.12607214219948537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.7830537935452865, + -0.20913964509963995, + 0.5857366352692477, + -0.08686636223005575 + ], + [ + 0.15635563800446764, + 0.977718234062195, + 0.14007111189942417, + 0.1416412442895019 + ], + [ + -0.6019798135136432, + -0.018099993467330936, + 0.7983061164682748, + -0.12663886534129268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.7823356775738266, + -0.2091173678636551, + 0.5867033492545581, + -0.08784726728138698 + ], + [ + 0.15613094094009364, + 0.9777219891548157, + 0.14029549082484777, + 0.1413607849444243 + ], + [ + -0.6029710169667485, + -0.01815563067793846, + 0.7975564732593411, + -0.12595046311342709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.7810907935263303, + -0.20996007323265076, + 0.5880595144890791, + -0.08710687155802765 + ], + [ + 0.15844483513821264, + 0.9775937795639038, + 0.13858437091971654, + 0.14173001526761522 + ], + [ + -0.6039805006859148, + -0.015071988105773926, + 0.7968565785990563, + -0.1264472529676831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.7800178245089906, + -0.2093606442213059, + 0.5896951090589085, + -0.08905944344558092 + ], + [ + 0.15753938436501494, + 0.9777185320854189, + 0.13873653875446867, + 0.1406740479749519 + ], + [ + -0.6056018099114139, + -0.015316773205995563, + 0.7956204023671585, + -0.12449542775119797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.7793455215145065, + -0.2092447131872177, + 0.5906244212520632, + -0.09010489535440777 + ], + [ + 0.15740693973707628, + 0.9777464270591736, + 0.13869027635068448, + 0.14071614888996464 + ], + [ + -0.6065011040121355, + -0.015119269490242004, + 0.7949388768819761, + -0.12430197740505836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.7782302972561915, + -0.20890645682811737, + 0.5922125181917606, + -0.0914544759149071 + ], + [ + 0.1571266442830234, + 0.9778252243995667, + 0.1384524495486137, + 0.140367018711257 + ], + [ + -0.6080039603889582, + -0.014695532619953156, + 0.7937980144709195, + -0.12303042571844357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.7768760813702874, + -0.2094825953245163, + 0.5937849553401758, + -0.09220221504095738 + ], + [ + 0.15877911148410834, + 0.9777349233627319, + 0.13719910285807843, + 0.14056425177380738 + ], + [ + -0.6093051432149964, + -0.012306060642004013, + 0.7928403751512665, + -0.12210319214302837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.7762740555995664, + -0.20939506590366364, + 0.5946026332851057, + -0.09258662465419851 + ], + [ + 0.15847092571842625, + 0.9777517318725586, + 0.13743553485946441, + 0.13880576273372394 + ], + [ + -0.6101520668958307, + -0.012460421770811081, + 0.7921863414002207, + -0.12185981396091906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.7752377975713238, + -0.20969949662685394, + 0.5958460460389549, + -0.09337793334199243 + ], + [ + 0.15911304930488682, + 0.977698802947998, + 0.13706978368737596, + 0.1379044077904715 + ], + [ + -0.6113014060198744, + -0.011454790830612183, + 0.7913149632660849, + -0.12122484374269428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.774014237359657, + -0.2096711397171021, + 0.5974445719204654, + -0.09489223229924587 + ], + [ + 0.15961825283031195, + 0.9777191281318667, + 0.13633513340409373, + 0.1376458412392205 + ], + [ + -0.6127185518755557, + -0.010162282735109331, + 0.7902358685473367, + -0.12028491786564201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.7732839267457217, + -0.20971180498600012, + 0.5983752923611719, + -0.09585033989799066 + ], + [ + 0.15947345857503492, + 0.9777102470397951, + 0.1365683345232981, + 0.13735735019305115 + ], + [ + -0.6136776227292758, + -0.010181117802858354, + 0.7894910275155842, + -0.11960195379396425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.7724399023700816, + -0.2090039998292923, + 0.5997115367033968, + -0.09681218473081799 + ], + [ + 0.16005443454174834, + 0.977881908416748, + 0.134646056113817, + 0.13656811892742177 + ], + [ + -0.6145886157843844, + -0.008019495755434036, + 0.7888070053328077, + -0.11968994377893781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.7717464943560349, + -0.2084570974111557, + 0.6007936293760031, + -0.0972921203851114 + ], + [ + 0.1603365175931638, + 0.9780092239379883, + 0.13337993285194563, + 0.13711858654522377 + ], + [ + -0.6153856739597532, + -0.006606332957744598, + 0.788198449348142, + -0.11936403226655237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.7707193667109182, + -0.20811106264591223, + 0.6022303918372603, + -0.09864800305571134 + ], + [ + 0.16059776905505369, + 0.9780904054641726, + 0.13246693581463964, + 0.13710632003042714 + ], + [ + -0.6166036168894923, + -0.005377985537052155, + 0.7872554345016014, + -0.11831143744494883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.770093540826037, + -0.2076361924409867, + 0.6031941149355787, + -0.09925710218617298 + ], + [ + 0.16038794005274382, + 0.9781939983367922, + 0.13195543847944874, + 0.1368548470644004 + ], + [ + -0.6174396127067128, + -0.0048729702830314645, + 0.7866032299248018, + -0.11769751498431491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.7694755944788004, + -0.2076425850391388, + 0.6039800414978772, + -0.09982082858105817 + ], + [ + 0.16041833606287462, + 0.9781938791275024, + 0.13191942508387458, + 0.1355566072457325 + ], + [ + -0.6182016764900959, + -0.00461931899189949, + 0.7860059670036827, + -0.11716347094337352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.7686327661383183, + -0.2072921097278595, + 0.6051724077469393, + -0.10096962458349515 + ], + [ + 0.16025944215109264, + 0.978270411491394, + 0.13154446359000524, + 0.13592972470303716 + ], + [ + -0.6192903814206356, + -0.004124805331230164, + 0.7851511776340986, + -0.11580047436668382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.7679064277720808, + -0.20720992982387543, + 0.6061219421111611, + -0.10165284517936196 + ], + [ + 0.16033007511626557, + 0.9782896637916565, + 0.13131488737398822, + 0.13596778438250579 + ], + [ + -0.6201725988941666, + -0.0036579668521881104, + 0.7844569136140758, + -0.1147466630919636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.7672501783531346, + -0.20691175758838654, + 0.6070541552143148, + -0.10237901731557905 + ], + [ + 0.16011593170657987, + 0.97835373878479, + 0.1310985526704631, + 0.13609725236539355 + ], + [ + -0.6210395524845242, + -0.0033863484859466553, + 0.7837719516389451, + -0.1133705978904963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.7669338060628605, + -0.2073136270046234, + 0.6073167333721228, + -0.10206194685828412 + ], + [ + 0.16001374792854495, + 0.9782665371894836, + 0.13187194861525567, + 0.1346842072469759 + ], + [ + -0.6214564911164305, + -0.003958035260438919, + 0.7834386863398456, + -0.11275201264634595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.766087829978392, + -0.20735132694244385, + 0.6083706871624663, + -0.10335792624590864 + ], + [ + 0.15985798290278486, + 0.978258490562439, + 0.13212004198786734, + 0.134336683450838 + ], + [ + -0.6225390824934329, + -0.00396265834569931, + 0.7825787087097147, + -0.11196308324031516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.765227308877915, + -0.20788112282752996, + 0.6092722153853487, + -0.104585684773257 + ], + [ + 0.16033302336849936, + 0.9781474471092226, + 0.13236645064080996, + 0.1339027313805346 + ], + [ + -0.6234745279664409, + -0.0036039836704730996, + 0.781835335117105, + -0.11069024292868636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.7644181802391241, + -0.20798732340335846, + 0.6102508580926871, + -0.10545477822800126 + ], + [ + 0.16085116832883195, + 0.9781279563903809, + 0.13188123501460353, + 0.13504369120510917 + ], + [ + -0.6243330298242148, + -0.0026528574526309967, + 0.7811538027419187, + -0.10865975611435881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.7636746093085176, + -0.2081688940525055, + 0.6111192913998439, + -0.10653149883656371 + ], + [ + 0.16071188573374123, + 0.9780887365341187, + 0.13234088592015245, + 0.13441956175373285 + ], + [ + -0.6252781592781266, + -0.002851255238056183, + 0.7803967971485278, + -0.10796484113625818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.7626973781350019, + -0.20787329971790314, + 0.61243887830876, + -0.10852310041807234 + ], + [ + 0.1605489824517749, + 0.9781528115272522, + 0.1320647001394361, + 0.13556803741584855 + ], + [ + -0.6265115499858662, + -0.002398967742919922, + 0.7794084626658843, + -0.10543278138407111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.7618524743818126, + -0.20804773271083837, + 0.6134304422382592, + -0.10979200904496234 + ], + [ + 0.16064622379018156, + 0.9781162142753603, + 0.13221733363455077, + 0.1357033079272206 + ], + [ + -0.6275138216060417, + -0.0021848231554031376, + 0.7786023782432877, + -0.10384212943751395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.7612152181695535, + -0.20756663382053375, + 0.6143838643954311, + -0.1110655601997238 + ], + [ + 0.16015080026881048, + 0.9782185554504395, + 0.13206125399355076, + 0.1364449791407671 + ], + [ + -0.6284131713850565, + -0.0021329782903194427, + 0.7778767842875707, + -0.10261624160565677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.7604334800473073, + -0.2073035091161728, + 0.6154398023310739, + -0.11245841030825582 + ], + [ + 0.15964324549698086, + 0.9782739281654358, + 0.13226562541187875, + 0.13636472016595547 + ], + [ + -0.6294878475781596, + -0.0023284107446670532, + 0.7770068534269305, + -0.10086471320603169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.7596571401031904, + -0.20746551454067236, + 0.6163433451764345, + -0.1134773781691037 + ], + [ + 0.15968452927627744, + 0.9782398343086245, + 0.13246764780797182, + 0.13601362723628935 + ], + [ + -0.630414082728224, + -0.0022095106542110447, + 0.7762559044984757, + -0.09978761552452084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.7590882274554195, + -0.20745718479156494, + 0.6170466716427895, + -0.11417702471177851 + ], + [ + 0.15977429385133415, + 0.9782423377037048, + 0.132341055935812, + 0.13621787030570387 + ], + [ + -0.6310762463404195, + -0.0018703527748584747, + 0.7757185628764058, + -0.09882557305666323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.7584415707046251, + -0.20777624845504766, + 0.617734120729214, + -0.1148374656173633 + ], + [ + 0.15993380150058528, + 0.978174686431885, + 0.13264772729055463, + 0.13560771815598321 + ], + [ + -0.6318129172936919, + -0.001808986067771912, + 0.7751187944989377, + -0.0979177547207088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.7579850720499346, + -0.20759178698062897, + 0.6183561633433902, + -0.1154646400251601 + ], + [ + 0.15975126743655596, + 0.9782140254974365, + 0.1325775502443665, + 0.1351641951089684 + ], + [ + -0.6324066951084024, + -0.001708637923002243, + 0.7746346750903692, + -0.09703923851292373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.7576070409893659, + -0.2072910517454148, + 0.6189200074959709, + -0.11673107733394453 + ], + [ + 0.15898146153398207, + 0.9782763719558718, + 0.13304219187767247, + 0.13341747049013009 + ], + [ + -0.633053285826442, + -0.002396900206804276, + 0.7741045133412345, + -0.09707332831598428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.7570992140163534, + -0.20727474987506872, + 0.6195466199781929, + -0.11734661481241149 + ], + [ + 0.15939602895133742, + 0.9782814979553225, + 0.13250730271945652, + 0.13384678296077113 + ], + [ + -0.6335564112833254, + -0.0015679039061069493, + 0.773694943823917, + -0.09602491698431284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.7566666432028787, + -0.20698560774326324, + 0.6201713403247643, + -0.11810704897796445 + ], + [ + 0.15924443584107156, + 0.97834312915802, + 0.13223438707494167, + 0.13422583405331073 + ], + [ + -0.6341110196551843, + -0.0012985095381736755, + 0.773240940576841, + -0.09590717583805355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.7564067078499396, + -0.20661842823028564, + 0.6206107989333811, + -0.11946831418026302 + ], + [ + 0.15857563566827423, + 0.9784199595451355, + 0.13246938308252193, + 0.13259948073598843 + ], + [ + -0.6345886132546547, + -0.0017869845032691956, + 0.7728480570257978, + -0.09524712262878715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.75642416622204, + -0.20623679459095, + 0.6207164110137195, + -0.11972205450516027 + ], + [ + 0.1579425022447406, + 0.9784994125366211, + 0.132638757253445, + 0.13181963330586466 + ], + [ + -0.6347256524228332, + -0.0022936537861824036, + 0.7727341737515633, + -0.09605792233511934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.7553799817869946, + -0.205656036734581, + 0.6221790041621111, + -0.1223347507062443 + ], + [ + 0.15725179276025245, + 0.9786216616630554, + 0.13255766411397246, + 0.1315635724644374 + ], + [ + -0.6361391337404375, + -0.0022926367819309235, + 0.7715709983193592, + -0.09441968329291217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.7546132186729443, + -0.2060127854347229, + 0.6229909092587873, + -0.12329273931280466 + ], + [ + 0.15745381923520338, + 0.9785468578338623, + 0.13286943470271823, + 0.1310453269326169 + ], + [ + -0.636998593322099, + -0.0021727345883846283, + 0.7708618888588169, + -0.0939484701573654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.7536080276086212, + -0.20655246078968048, + 0.6240280300026814, + -0.12480575981301917 + ], + [ + 0.1580538164824994, + 0.9784342646598816, + 0.13298661801356668, + 0.13085823138088223 + ], + [ + -0.6380391052512366, + -0.0015897788107395172, + 0.7700023346807484, + -0.09329280483727043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.7527533807515249, + -0.20680597424507147, + 0.6249749262602105, + -0.1259732129630362 + ], + [ + 0.15808529635648486, + 0.9783806800842287, + 0.1333425168974382, + 0.13036938375644205 + ], + [ + -0.6390394452973237, + -0.00157468393445015, + 0.7691723557534315, + -0.09261124087337624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.7519181382544536, + -0.20817531645298004, + 0.6255254978790477, + -0.12605930416213612 + ], + [ + 0.1594650599257065, + 0.9780911207199097, + 0.133823080909782, + 0.13000528684221316 + ], + [ + -0.6396795846627698, + -0.0008745491504669189, + 0.7686411605832447, + -0.0924101683304191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.7505553938459893, + -0.210230752825737, + 0.626473995421275, + -0.1277699573390578 + ], + [ + 0.1614473539876976, + 0.9776517748832703, + 0.13465409980352963, + 0.12980101602567826 + ], + [ + -0.6407818680128486, + 7.721036672592163e-05, + 0.7677230002666728, + -0.09238818501672277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.7498021939266136, + -0.21026131510734564, + 0.6273650252436773, + -0.1287240195235652 + ], + [ + 0.1613092325650909, + 0.9776452183723452, + 0.13486718376443455, + 0.12955550500189475 + ], + [ + -0.6416977457453191, + 7.605552673339845e-05, + 0.7669576309939686, + -0.09177236884641565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.7487569398159271, + -0.212773859500885, + 0.627766188635847, + -0.12898166444935977 + ], + [ + 0.16398366292511285, + 0.9771004319190979, + 0.1355879719993433, + 0.1300719721209039 + ], + [ + -0.6422401979072279, + 0.0014209486544132233, + 0.7665021195207669, + -0.09214633765235031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.7478713499022884, + -0.21391081809997559, + 0.6284350959255777, + -0.1297915787026687 + ], + [ + 0.16489003174189223, + 0.9768517017364502, + 0.13627918520817361, + 0.12956628263133346 + ], + [ + -0.6430394814090068, + 0.0017033666372299194, + 0.7658311415046357, + -0.09181837517666247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.7468678563940301, + -0.2146401852369309, + 0.6293790678219456, + -0.131251709803208 + ], + [ + 0.16530928053781793, + 0.9766915440559389, + 0.13691760205634373, + 0.12926839073797758 + ], + [ + -0.6440972393133003, + 0.0017828345298767094, + 0.7649415558436683, + -0.09118646405118991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.7461870914421443, + -0.21467998623847967, + 0.6301725185103144, + -0.1326592526632514 + ], + [ + 0.165441015677491, + 0.9766820669174197, + 0.13682624253471223, + 0.13001226496452217 + ], + [ + -0.644852051743339, + 0.002158407121896744, + 0.7643043764099086, + -0.09085169298570364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.7460059285534277, + -0.21549734473228455, + 0.6301079467644848, + -0.13232795901204725 + ], + [ + 0.16548495663895596, + 0.9765035510063171, + 0.13804170355742446, + 0.12891082599217424 + ], + [ + -0.6450502759038351, + 0.0012934431433677673, + 0.7641390092005828, + -0.09108187028075249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/orbit_right/transforms.json b/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2911634751897ce4a0f290413ecd75888ca1a2c2 --- /dev/null +++ b/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/orbit_right/transforms.json @@ -0,0 +1,7468 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 213, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 6.597780156880617e-05, + -3.258811921114102e-05, + 9.966214565793052e-05 + ], + [ + -6.597592437174171e-05, + 1.0, + 5.750449054175988e-05, + -5.614464680547826e-05 + ], + [ + 3.259190998505801e-05, + -5.750233685830608e-05, + 1.0, + -8.36895196698606e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999945976553081, + -0.005085203330963851, + 0.009066662413805888, + 0.023392115895498267 + ], + [ + 0.0050253512274524535, + 0.9999654889106753, + 0.006611916205229654, + 0.0016989462634400398 + ], + [ + -0.009099972010243115, + -0.0065659955143928545, + 0.9999370173789912, + 0.009399986852353477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999600582619096, + -0.004210783168673515, + 0.007884873011822006, + 0.024907525547211835 + ], + [ + 0.0041616714507277126, + 0.9999719262123108, + 0.006234727290655959, + 0.002153463843933344 + ], + [ + -0.00791090553497745, + -0.0062016635201871395, + 0.9999494532933547, + 0.009120206067151108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9991305846563108, + -0.011278491467237473, + 0.04013541621061121, + 0.01946350811312841 + ], + [ + 0.010752542011311287, + 0.999853789806366, + 0.013296201388156377, + 0.008620879746801577 + ], + [ + -0.04027950644099716, + -0.01285308413207531, + 0.9991057863231586, + 0.0059360764220154705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9985695048310731, + -0.014161881990730762, + 0.0515597137417982, + 0.02851579945496576 + ], + [ + 0.013290108905804895, + 0.999763548374176, + 0.017211791856271336, + 0.006655332779414252 + ], + [ + -0.05179127140531561, + -0.016501937061548233, + 0.9985215934240622, + 0.006632517719611485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9984350867183639, + -0.013104797340929508, + 0.05436600014341865, + 0.020470773209592827 + ], + [ + 0.012271397987106036, + 0.9998024702072144, + 0.015635044505032888, + 0.010364488178197297 + ], + [ + -0.05456015238384164, + -0.01494342926889658, + 0.9983986742814905, + 0.0059599661540457914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9954119854173182, + -0.012290656566619873, + 0.09488890505530595, + -0.04266382540301839 + ], + [ + 0.01058230660731821, + 0.9997731447219849, + 0.018485964183816133, + 0.01307061051133714 + ], + [ + -0.09509458564408714, + -0.01739700697362423, + 0.9953162319678828, + -0.01077226190133035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9980536086787382, + -0.02895125187933445, + 0.05523405769738445, + 0.06048449233893451 + ], + [ + 0.027594589537132463, + 0.9993022680282593, + 0.025168784268364146, + -0.014621184867082247 + ], + [ + -0.05592419384634367, + -0.02359563671052456, + 0.998156137716963, + 0.02220754644242354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9944652772294017, + -0.03982264921069145, + 0.09722621258639635, + 0.06621574801838122 + ], + [ + 0.03790897801843722, + 0.9990509152412415, + 0.021451948412002802, + -0.0003076928227485241 + ], + [ + -0.09798820398662124, + -0.01764747127890587, + 0.9950310897034091, + 0.004131601440035098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9932738986084959, + -0.043617140501737595, + 0.10725896382410774, + 0.07153010542290975 + ], + [ + 0.04162659674953758, + 0.9989181756973267, + 0.020728734801725456, + 0.0025021060904666433 + ], + [ + -0.1080470641604523, + -0.016124486923217773, + 0.9940150059112108, + 0.0011270240567908172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9914868494712514, + -0.05102046951651573, + 0.11979460327996555, + 0.07720097375117915 + ], + [ + 0.0487969160986086, + 0.9985789060592651, + 0.02142390567401035, + 0.0018355190004611251 + ], + [ + -0.12071741975271193, + -0.015395913273096085, + 0.9925675155847261, + 0.0004536996764253589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9903011849863268, + -0.05601997300982475, + 0.12714283586914052, + 0.08110668860085375 + ], + [ + 0.05367694673041394, + 0.9983207583427429, + 0.021783010721977334, + 0.0016622736339660898 + ], + [ + -0.12814960423204463, + -0.014747102744877338, + 0.9916451812919886, + -0.0029476902212893295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9904541286995832, + -0.05601080879569055, + 0.12594986194350727, + 0.08223250022704653 + ], + [ + 0.05369305702661629, + 0.9983211159706118, + 0.021725002678068393, + 0.0016928463295929294 + ], + [ + -0.1269552477414961, + -0.014754986390471462, + 0.9917987156366562, + -0.002902796433138395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.987253415243558, + -0.06266412138938904, + 0.14630057431683618, + 0.08897209648084248 + ], + [ + 0.0601634789378071, + 0.9979578256607056, + 0.02145959591667491, + 0.006663444625602494 + ], + [ + -0.14734653905474865, + -0.012384109199047089, + 0.9890073711295593, + -0.010053608564119371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9874141185845616, + -0.0625380128622055, + 0.14526659920973864, + 0.08988160856303043 + ], + [ + 0.06006990290998387, + 0.997966468334198, + 0.02131920011530906, + 0.006895163145325672 + ], + [ + -0.14630445950499077, + -0.012324729934334755, + 0.9891628238691653, + -0.010001923104634141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9861291918181229, + -0.06643491238355637, + 0.15210388815829368, + 0.08932373079918172 + ], + [ + 0.06394480661388241, + 0.9977279901504517, + 0.021210101859682466, + 0.011592715247055158 + ], + [ + -0.15316739265975315, + -0.011189647018909454, + 0.9881369306948322, + -0.015303701778690783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9843511598834691, + -0.06555657088756561, + 0.16356980243380567, + 0.09869051235205473 + ], + [ + 0.06279683882680766, + 0.9977840185165405, + 0.02199156346372708, + 0.022243088478435737 + ], + [ + -0.16464903264546465, + -0.011375756934285164, + 0.9862866461314469, + -0.019051761321355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.981794347751198, + -0.06938645988702774, + 0.17682018144707215, + 0.09660180856824756 + ], + [ + 0.0660182908190077, + 0.9975084662437439, + 0.02486821092611755, + 0.021515669091713607 + ], + [ + -0.1781051373508772, + -0.012742103077471256, + 0.9839289350582874, + -0.024193817722039407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9802915791762347, + -0.07899979501962662, + 0.18107298041678713, + 0.09553291102428027 + ], + [ + 0.07539011714140224, + 0.9967954754829407, + 0.026742454173791657, + 0.022327445458674346 + ], + [ + -0.18260537780980102, + -0.012564289383590221, + 0.9831059967589257, + -0.028819436544866666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9805445156540556, + -0.07903439551591873, + 0.17968306661059694, + 0.09727300334854398 + ], + [ + 0.07544959863631323, + 0.9967918395996094, + 0.026708961049759002, + 0.022315689665428753 + ], + [ + -0.1812175364301484, + -0.012632308527827263, + 0.9833619076128606, + -0.028936010011094693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9780538769722089, + -0.08718551695346832, + 0.18923352928532902, + 0.09850247531014764 + ], + [ + 0.08354972103609962, + 0.9961344599723816, + 0.027121903233123894, + 0.03583399409809029 + ], + [ + -0.19086668093675535, + -0.010716276243329048, + 0.9815574724697529, + -0.0355459691802356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9755517185058267, + -0.09248379617929459, + 0.19936286808420914, + 0.09534490063841558 + ], + [ + 0.08830442569651072, + 0.9956484436988831, + 0.029773892492149213, + 0.03904361746185334 + ], + [ + -0.20124894426462459, + -0.011441349051892757, + 0.9794733244433186, + -0.04110587213932775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9745488976962992, + -0.09972970187664032, + 0.20076960096319457, + 0.10049181402320016 + ], + [ + 0.09519659177793441, + 0.9949397444725037, + 0.03213288677989465, + 0.04310469276438921 + ], + [ + -0.2029582669942397, + -0.012202487327158451, + 0.9791113781929881, + -0.0479235495396007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9722371032159932, + -0.10325167328119281, + 0.20998608891513806, + 0.10586285570792098 + ], + [ + 0.0975227781355952, + 0.9945271015167239, + 0.03748499836794849, + 0.04440968739798883 + ], + [ + -0.2127072491644628, + -0.01596588268876076, + 0.976985545550068, + -0.04791959737513097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.968453591088688, + -0.11049814522266388, + 0.22335569215211867, + 0.10516754106560167 + ], + [ + 0.10392537022832661, + 0.9937393069267273, + 0.04100837513416702, + 0.0462483787904786 + ], + [ + -0.22648870552157402, + -0.016502389684319496, + 0.9738740113251354, + -0.05386242845327564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9670362963435287, + -0.12148299813270569, + 0.2237914907843629, + 0.11242946232950354 + ], + [ + 0.11489767850242465, + 0.9924777150154114, + 0.04226679043149643, + 0.049357990723528956 + ], + [ + -0.22724279179560794, + -0.015160400420427322, + 0.9737201092136705, + -0.06253479359218511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9653539185998026, + -0.13088959455490115, + 0.22574265501180965, + 0.11470095060277621 + ], + [ + 0.12456048041157652, + 0.9913176298141482, + 0.04211969642061351, + 0.05440484002266026 + ], + [ + -0.22929568888574856, + -0.012541804462671283, + 0.9732760375369559, + -0.06904441993119309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9623652084128858, + -0.13147401809692383, + 0.2378397256185707, + 0.11560102425334985 + ], + [ + 0.12509004421990366, + 0.9912642240524292, + 0.04180622273136664, + 0.06354385709587457 + ], + [ + -0.2412584508881872, + -0.010481474921107292, + 0.9704043263292386, + -0.07198412874882644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9626697879144427, + -0.13135948777198794, + 0.23666762371902222, + 0.11666897678705421 + ], + [ + 0.12505726337747694, + 0.9912805557250979, + 0.041514989274981894, + 0.06395778886008324 + ], + [ + -0.24005743375891211, + -0.010368224233388902, + 0.9707033398136206, + -0.07225441403171007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.956052067977346, + -0.15048497915267947, + 0.2516321039968998, + 0.11934033397560666 + ], + [ + 0.1436993494120478, + 0.9885868430137636, + 0.04523837013511608, + 0.0671935159625971 + ], + [ + -0.25556785803223925, + -0.007090875878930094, + 0.9667651357854694, + -0.08676366845617825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9538268317464875, + -0.15839006006717685, + 0.25519983891258563, + 0.1214223226387107 + ], + [ + 0.15217281828289164, + 0.9873714447021487, + 0.04405693447885289, + 0.07398852089042458 + ], + [ + -0.25895521908224906, + -0.0031882114708423623, + 0.9658840415283557, + -0.09386231112927611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.950141169544988, + -0.16526363790035248, + 0.2644233286061765, + 0.12321085649241033 + ], + [ + 0.15929613557655506, + 0.9862493872642517, + 0.044010243393006555, + 0.08079078420922794 + ], + [ + -0.268060632396281, + 0.00030567124485969543, + 0.9634019838563462, + -0.09919102830321715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9477968096329282, + -0.17067654430866244, + 0.26935246162828763, + 0.12710747115184592 + ], + [ + 0.16450633772829806, + 0.985326409339905, + 0.04549252353365288, + 0.08353952209456039 + ], + [ + -0.27316459901981804, + 0.0011925119906663897, + 0.9619665812472592, + -0.10700581040342991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9460383923114534, + -0.17107662558555603, + 0.27521664278657215, + 0.13014708994509605 + ], + [ + 0.16486748635188844, + 0.9852554202079773, + 0.045721151576413085, + 0.09096767924017157 + ], + [ + -0.27898051309915106, + 0.0021203085780143738, + 0.9602944062705425, + -0.11351092897611498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9428340102635209, + -0.17409954965114594, + 0.2841713657212136, + 0.1299595311892568 + ], + [ + 0.16728308774486897, + 0.9847260117530823, + 0.048281288362181124, + 0.09328135872212306 + ], + [ + -0.28823669552373027, + 0.0020158234983682632, + 0.957557105723073, + -0.11896316114907779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9397801440192415, + -0.17647951841354373, + 0.292691457056351, + 0.12771803082967234 + ], + [ + 0.16934712176678993, + 0.9843002557754519, + 0.049744425692728626, + 0.09866720688256247 + ], + [ + -0.2968751771046376, + 0.0028176326304674153, + 0.9549121494788225, + -0.1244494669184944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.936925532126554, + -0.1799253970384598, + 0.29966206288383007, + 0.13128659916243438 + ], + [ + 0.17264651545942566, + 0.9836716651916506, + 0.0508258336860456, + 0.1047312120027339 + ], + [ + -0.3039139539462967, + 0.004115585237741471, + 0.9526905781354734, + -0.13203437240467375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9342304605667566, + -0.1847243756055832, + 0.30510710330746493, + 0.13507312506799457 + ], + [ + 0.17743990428875178, + 0.9827730059623718, + 0.05169449833516434, + 0.10951060009575586 + ], + [ + -0.30940027453598484, + 0.00584358349442482, + 0.9509139804817706, + -0.13989534676042598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.931032121837457, + -0.19094941020011902, + 0.31099440985371635, + 0.138735263567678 + ], + [ + 0.18369640053876782, + 0.9815670847892761, + 0.05274180702294362, + 0.11299409560942271 + ], + [ + -0.31533290589033564, + 0.008024228736758232, + 0.9489472089690912, + -0.14685693073734005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9313808732851319, + -0.19107303023338318, + 0.30987218334601757, + 0.14004003807564358 + ], + [ + 0.1838729676782407, + 0.9815431237220764, + 0.05257220312663358, + 0.11308901908775942 + ], + [ + -0.31419803736390267, + 0.00801236554980278, + 0.9493236618215767, + -0.14700255598920117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9287184313847303, + -0.1953897774219513, + 0.3151267798259183, + 0.14325717492718 + ], + [ + 0.18842686914516915, + 0.9806704521179199, + 0.05273268401808203, + 0.11797303580236812 + ], + [ + -0.31933895468312057, + 0.010404536500573158, + 0.9475834435283482, + -0.15485205942440552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9240214373563549, + -0.20232263207435613, + 0.3244225148304857, + 0.13851589100408518 + ], + [ + 0.1956037921545061, + 0.9792193174362185, + 0.053560233786260555, + 0.12063298126110233 + ], + [ + -0.3285172587726091, + 0.013967465609312061, + 0.944394710318789, + -0.16036189979659318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9203841019415212, + -0.20690149068832397, + 0.3317903791820315, + 0.14173236326976524 + ], + [ + 0.20078222748282037, + 0.9781996607780457, + 0.05302800999369038, + 0.13208700076808813 + ], + [ + -0.3355288310674525, + 0.017811480909585953, + 0.9418615129862146, + -0.17288672646093053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9174600376276164, + -0.20471122860908508, + 0.34111641732016346, + 0.14196803567226457 + ], + [ + 0.19790714427048423, + 0.9786744713783264, + 0.055036219303132135, + 0.1346326992189825 + ], + [ + -0.3451084655705049, + 0.017015840858221054, + 0.9384085768132979, + -0.17896910594271398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9158082520301717, + -0.20947705209255219, + 0.3426582070330611, + 0.14786881632120558 + ], + [ + 0.20177290275002358, + 0.9776884913444519, + 0.05841977110358882, + 0.13123627360448203 + ], + [ + -0.34725061601568996, + 0.015637828037142754, + 0.937641969682465, + -0.18618255036810907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9135844314554108, + -0.2138884961605072, + 0.34585442685487017, + 0.14678554278173916 + ], + [ + 0.2069732109471228, + 0.9766683578491211, + 0.05728022966995642, + 0.1351267185479721 + ], + [ + -0.3500366521818992, + 0.019252264872193336, + 0.9365381578867932, + -0.19209624050072305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9123361522427674, + -0.21822954714298248, + 0.3464370746766806, + 0.14925102496927217 + ], + [ + 0.21205970524449838, + 0.9756435751914978, + 0.05612711497544822, + 0.1397182027039473 + ], + [ + -0.35024770419731954, + 0.022258540615439415, + 0.936392570818692, + -0.19809486848949648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.912730746286306, + -0.21821890771389008, + 0.34540286590661184, + 0.15020625407157998 + ], + [ + 0.21211883275823004, + 0.9756456017494202, + 0.05586790847754845, + 0.13999278745907862 + ], + [ + -0.34918221588248155, + 0.022274086251854897, + 0.9367900893443302, + -0.19839346314976827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9096769266697211, + -0.21857018768787384, + 0.35315014809951406, + 0.1453089023564595 + ], + [ + 0.21194356828799396, + 0.9755681753158569, + 0.05785060054853588, + 0.14581305824825552 + ], + [ + -0.35716643188090713, + 0.02222253568470478, + 0.9337763871047309, + -0.20494849270409518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9088156224381936, + -0.2183382213115692, + 0.35550336711908154, + 0.1459610842096565 + ], + [ + 0.21023486750964263, + 0.9756962060928345, + 0.061791391566376065, + 0.14522405528421561 + ], + [ + -0.3603547235470735, + 0.018582211807370186, + 0.9326302587897743, + -0.21070866723093823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9080134152263872, + -0.22015646100044256, + 0.3564306186642775, + 0.14737868897255935 + ], + [ + 0.21144283176685263, + 0.9753081798553469, + 0.06376409931148388, + 0.1484400808650237 + ], + [ + -0.3616677671409991, + 0.017466029152274135, + 0.9321434161964035, + -0.21428963773372178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.908471696652477, + -0.22015975415706635, + 0.35525890920144376, + 0.14858985846992684 + ], + [ + 0.21153073768554378, + 0.9753073453903198, + 0.06348530790570474, + 0.14872444551898056 + ], + [ + -0.360463533042712, + 0.017473571002483368, + 0.9326096471497759, + -0.21470475133578548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9074264772537156, + -0.22155141830444336, + 0.35706048926383416, + 0.1432505925322884 + ], + [ + 0.21069623962436188, + 0.975073516368866, + 0.0695612228577082, + 0.1563319216464221 + ], + [ + -0.3635716293322226, + 0.012109614908695221, + 0.9314875582258544, + -0.21496261734109323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9084822770261295, + -0.21492041647434235, + 0.3584259743989982, + 0.1381797483897224 + ], + [ + 0.20134466216672423, + 0.9766242504119873, + 0.07526920341176885, + 0.15991101202187347 + ], + [ + -0.36622439370076776, + 0.003786414861679077, + 0.9305188682948187, + -0.21645643001424053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9089217528579494, + -0.2149071246385575, + 0.3573180759269748, + 0.13929854037548417 + ], + [ + 0.2014296188681689, + 0.9766271114349367, + 0.07500419009471301, + 0.16019583292729925 + ], + [ + -0.3650854464013459, + 0.003801494836807252, + 0.9309662681418709, + -0.2168290957195112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9102718971286886, + -0.21141038835048676, + 0.35596448872101627, + 0.1414855002661346 + ], + [ + 0.19497741047249742, + 0.9773839116096497, + 0.08188080628304444, + 0.1608785073193129 + ], + [ + -0.36522445192653824, + -0.005128771066665649, + 0.9309053439495821, + -0.21994929773118221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9117522641960414, + -0.21080604195594788, + 0.35251747482648443, + 0.14527406920821223 + ], + [ + 0.1935786930220165, + 0.9774932861328125, + 0.08387008896211129, + 0.17149290553233038 + ], + [ + -0.3622637993990002, + -0.008228875696659088, + 0.932039266147493, + -0.22480581586212683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9133558434719001, + -0.20773163437843323, + 0.35018375122681655, + 0.1463730817505579 + ], + [ + 0.19021611540082312, + 0.9781325459480286, + 0.08411034744893263, + 0.17410253750514382 + ], + [ + -0.3599984855257379, + -0.010212104767560959, + 0.9328969809727491, + -0.2280914103746852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9153548705418665, + -0.1996399462223053, + 0.3496704140349254, + 0.1443022085471854 + ], + [ + 0.18135628690834632, + 0.9797684550285339, + 0.08463842774277483, + 0.17657742536342286 + ], + [ + -0.3594932639410451, + -0.014059264212846756, + 0.9330417992773122, + -0.23133635416263612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.916789180105848, + -0.1927836537361145, + 0.34975997656824653, + 0.14113880578026233 + ], + [ + 0.17347396395980397, + 0.9810722470283508, + 0.08604654592839678, + 0.17620187508187787 + ], + [ + -0.3597281848718027, + -0.018212299793958664, + 0.9328794127923346, + -0.2348602211552502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9172297025723694, + -0.19283618032932287, + 0.3485741283554882, + 0.14238743726565728 + ], + [ + 0.17361094403718552, + 0.9810608029365542, + 0.08590106891484894, + 0.17629436218973282 + ], + [ + -0.3585372595252978, + -0.018274739384651188, + 0.933336558890983, + -0.23525517194372225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9189009436253257, + -0.18782494962215424, + 0.34690466916095636, + 0.14431167625201025 + ], + [ + 0.16860455018205273, + 0.9820051789283752, + 0.08507865859603889, + 0.17836022386393743 + ], + [ + -0.3566420702563524, + -0.019689157605171204, + 0.9340336449776022, + -0.24421421085108172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9188917351951095, + -0.191708505153656, + 0.3447982998954898, + 0.14745254007043196 + ], + [ + 0.17274674556304048, + 0.9812729358673096, + 0.08521738765017595, + 0.17645509010818933 + ], + [ + -0.35467813555755334, + -0.018742773681879044, + 0.9348006010690956, + -0.2489725397382799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9191618576682318, + -0.1951491683721543, + 0.34213784294298744, + 0.15233568272824904 + ], + [ + 0.17716745380332072, + 0.9806427359580996, + 0.08337590367050438, + 0.17776766597220894 + ], + [ + -0.3517857200468781, + -0.016020268201828006, + 0.9359434743801074, + -0.2551795684416876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9187106569555725, + -0.19798551499843603, + 0.3417197854048503, + 0.15415302252297733 + ], + [ + 0.18138642417086293, + 0.980134963989258, + 0.08021453563687939, + 0.18170541212830046 + ], + [ + -0.3508128155318854, + -0.011710628867149355, + 0.9363723754454072, + -0.25917053175545685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9188089902854829, + -0.1976142674684525, + 0.3416704125637668, + 0.1549364722957874 + ], + [ + 0.1822453313015121, + 0.9802442789077761, + 0.07686236291680239, + 0.18628686676323788 + ], + [ + -0.35010956558646983, + -0.00835399702191353, + 0.9366715249344221, + -0.26247165540067136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9199534344131532, + -0.1938505321741104, + 0.34074582043533047, + 0.15659029245426376 + ], + [ + 0.17873565735131414, + 0.9809935092926025, + 0.07553325484563672, + 0.1879141515187562 + ], + [ + -0.3489116073122598, + -0.00858364999294281, + 0.9371163190441104, + -0.2669093636768339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9210119713195121, + -0.19007238745689392, + 0.34001395376187526, + 0.1564346107176198 + ], + [ + 0.17468517760042346, + 0.9817166328430176, + 0.07561478419304393, + 0.18710493950602977 + ], + [ + -0.348169618512651, + -0.010246720165014267, + 0.9373755498885948, + -0.2711554268447711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9209743069942017, + -0.19014106690883636, + 0.34007759958740574, + 0.1563030771628428 + ], + [ + 0.17483490367050003, + 0.9817059636116028, + 0.07540684432992409, + 0.18756034214128237 + ], + [ + -0.3481941540942432, + -0.009990345686674118, + 0.9373692034734775, + -0.2740605499755323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.919687208602425, + -0.19590428471565247, + 0.3402895673288336, + 0.1580800132568554 + ], + [ + 0.18070490967194403, + 0.9805859327316284, + 0.07613806374458572, + 0.18524488823273194 + ], + [ + -0.34859894077052783, + -0.008531216531991959, + 0.9372331681626046, + -0.27454059157032157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9190688356372244, + -0.19840086996555328, + 0.3405136463534614, + 0.15869611803352698 + ], + [ + 0.18408111867073362, + 0.9801054000854492, + 0.07421297849103944, + 0.18832272471896527 + ], + [ + -0.3484631603221652, + -0.005524706095457077, + 0.9373061941340346, + -0.27629111048795035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9182453624757285, + -0.20001426339149475, + 0.3417890384327614, + 0.15703533896144417 + ], + [ + 0.18639000337311093, + 0.9797884821891785, + 0.07261762928673957, + 0.19159575237571747 + ], + [ + -0.349405491165471, + -0.0029747560620307922, + 0.9369668792631938, + -0.27589590208511605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9175333902571726, + -0.2021462321281433, + 0.34244619960799505, + 0.15802281886465658 + ], + [ + 0.18881360467688846, + 0.9793540239334106, + 0.07221554165052899, + 0.1929865320863462 + ], + [ + -0.3499741547515872, + -0.0016016773879528046, + 0.9367579635583244, + -0.27559429098050914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9173037746589803, + -0.2033817321062088, + 0.34232980410100994, + 0.15923560813172133 + ], + [ + 0.1900979429995462, + 0.9790987372398376, + 0.07230818378637073, + 0.19323002218125993 + ], + [ + -0.34988085480433095, + -0.0012523829936981201, + 0.9367934034723719, + -0.27484471861283166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.917729789868729, + -0.202385812997818, + 0.3417776444768129, + 0.16000257687273972 + ], + [ + 0.18896089296921242, + 0.9793038964271545, + 0.07250961475425426, + 0.1938395889512475 + ], + [ + -0.3493791258526387, + -0.0019616298377513885, + 0.9369793792744365, + -0.2746565609864991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9177220446829941, + -0.20106139779090887, + 0.3425791997625031, + 0.15844799835754586 + ], + [ + 0.18762603363953967, + 0.9795764684677126, + 0.07229415127294257, + 0.19565325610412312 + ], + [ + -0.3501181082059998, + -0.002069160342216492, + 0.9367032985463867, + -0.2731744311248664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9182789248684191, + -0.20061951875686646, + 0.3413439245007324, + 0.16050173392555023 + ], + [ + 0.1873668476268086, + 0.9796673655509949, + 0.07173223280883137, + 0.19744785007660925 + ], + [ + -0.3487943969306347, + -0.001913655549287796, + 0.9371973220606827, + -0.27169549121779074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9192954647663985, + -0.1981777548789978, + 0.34003155605420654, + 0.16012641141125328 + ], + [ + 0.18463748469320476, + 0.9801599383354187, + 0.07208004404929257, + 0.19858917513083824 + ], + [ + -0.3475699458331469, + -0.003480292856693268, + 0.9376476042734313, + -0.270616173349824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9202459656519337, + -0.195599913597107, + 0.33895143209886736, + 0.1600204420998404 + ], + [ + 0.18151366126582127, + 0.9806668758392336, + 0.07311119880138538, + 0.19895388635331657 + ], + [ + -0.3466989927808791, + -0.005755964666604997, + 0.9379587608262985, + -0.26846017779839315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9213763343508147, + -0.1916607916355133, + 0.33812984828880566, + 0.159241857846101 + ], + [ + 0.17704764310633353, + 0.9814270734786987, + 0.0738579596187007, + 0.20179006106350683 + ], + [ + -0.3460054858267521, + -0.00818588212132454, + 0.9381967519239248, + -0.2658819162645763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9224120980946601, + -0.1879692524671555, + 0.3373772968145447, + 0.15837143921681973 + ], + [ + 0.17254696718720605, + 0.9821091890335085, + 0.07542570127864455, + 0.2032288281468884 + ], + [ + -0.34551906407086236, + -0.011360157281160356, + 0.938342985178207, + -0.2630170455882209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9234420182678966, + -0.18604972958564758, + 0.33561937058044217, + 0.15849795184351134 + ], + [ + 0.16917897915516142, + 0.9824056029319763, + 0.07910544588350545, + 0.2024664458193735 + ], + [ + -0.34443190878395513, + -0.01626954972743988, + 0.938670314579893, + -0.2619548125073377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9244300205449136, + -0.18392467498779297, + 0.3340671661492402, + 0.15852855249778042 + ], + [ + 0.1659858424612159, + 0.9827345609664917, + 0.08174058683482593, + 0.20402698470831987 + ], + [ + -0.34333347308948836, + -0.020113036036491394, + 0.9389982081148848, + -0.26044398762285476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.925219323828174, + -0.1840037703514099, + 0.33183108991642085, + 0.16014762977377564 + ], + [ + 0.16524307629923804, + 0.9826556444168091, + 0.08415807113237297, + 0.20527355333880687 + ], + [ + -0.34156111787414406, + -0.02303188294172287, + 0.9395772976574928, + -0.259860087843107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9260116372825777, + -0.18417760729789734, + 0.3295163672012106, + 0.16178025363789422 + ], + [ + 0.16453350940878428, + 0.9825447201728821, + 0.0868023642158249, + 0.20600913900533868 + ], + [ + -0.3397515923571793, + -0.02616352215409279, + 0.9401512243028483, + -0.25926946552256586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9266235749485043, + -0.18486790359020233, + 0.32740289385761456, + 0.16371425588720384 + ], + [ + 0.16487914069482992, + 0.98237544298172, + 0.08805300067408214, + 0.20693247814280788 + ], + [ + -0.3379107184680955, + -0.027610089629888535, + 0.9407730868709073, + -0.25891343187950394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.927293103070701, + -0.185734435915947, + 0.3250079912187025, + 0.16566962383470157 + ], + [ + 0.16575513175098816, + 0.9821985960006716, + 0.08838095427599302, + 0.20751404558256306 + ], + [ + -0.3356377744670162, + -0.028083320707082755, + 0.9415724069817603, + -0.2595337477380372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9278168010971239, + -0.1869693100452423, + 0.32279791709662387, + 0.16743509770153744 + ], + [ + 0.1669994524311261, + 0.9819539189338684, + 0.08875633831097307, + 0.20755549078287006 + ], + [ + -0.3335673678170689, + -0.028442561626434326, + 0.9422971052575081, + -0.25969698475902186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9283159380137551, + -0.1875583678483963, + 0.3210161585486565, + 0.16914719413287754 + ], + [ + 0.16764315350593137, + 0.9818348288536072, + 0.08886008225135375, + 0.2069838158665655 + ], + [ + -0.33185130084461795, + -0.02867407724261284, + 0.9428958155836512, + -0.2594964254540185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9287663866024234, + -0.1879255771636963, + 0.31949497044392744, + 0.16992933414227912 + ], + [ + 0.1680680437692214, + 0.9817590117454529, + 0.08889558943030784, + 0.20632020715731797 + ], + [ + -0.3303727921238098, + -0.02886636182665825, + 0.9434090269843951, + -0.25973184045926245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9293083916844296, + -0.18921595811843878, + 0.31714858452997857, + 0.17229690243038537 + ], + [ + 0.16957156574567778, + 0.9815171360969546, + 0.08871055600714237, + 0.2055094738946296 + ], + [ + -0.3280722250241144, + -0.02866008877754212, + 0.944217782361195, + -0.26039797346893573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9297462014776658, + -0.19008386135101318, + 0.3153413335258292, + 0.1735061185091799 + ], + [ + 0.17082549215955384, + 0.981372594833374, + 0.08790074320876536, + 0.20573207329897472 + ], + [ + -0.32617584805900973, + -0.027857039123773575, + 0.9448985637940504, + -0.2609446065881093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9301291258125413, + -0.1912873387336731, + 0.3134787495223436, + 0.17540540710189745 + ], + [ + 0.1721246863529065, + 0.9811380505561829, + 0.08798394633163237, + 0.2048316227796975 + ], + [ + -0.3243961761133682, + -0.027878999710083008, + 0.9455103633592403, + -0.26155150358542295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9304912592146133, + -0.19257134199142456, + 0.31161233297091456, + 0.17720531657899163 + ], + [ + 0.1735503437034058, + 0.9808905124664307, + 0.08794365504842706, + 0.2039310375436895 + ], + [ + -0.32259302325198386, + -0.02775038406252861, + 0.9461308963022531, + -0.2620905270298986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9308494646333073, + -0.19267058372497559, + 0.31047922088509516, + 0.1782974405403232 + ], + [ + 0.17390699519259908, + 0.9808844327926636, + 0.087304845006176, + 0.2048772489096698 + ], + [ + -0.3213653251448536, + -0.027273159474134445, + 0.9465624633925014, + -0.2624772968441267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9308309718886014, + -0.194141834974289, + 0.30961685814292045, + 0.17813842608981187 + ], + [ + 0.17566649968918313, + 0.9806188941001894, + 0.08676310095785351, + 0.20491377038204656 + ], + [ + -0.3204604842016904, + -0.026372469961643226, + 0.9468946807895275, + -0.26258716476958405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9309320433389336, + -0.19624893367290502, + 0.30798027950631257, + 0.18029505985517957 + ], + [ + 0.1781691950363998, + 0.9802290797233584, + 0.08606233986336886, + 0.20591855388721317 + ], + [ + -0.31878086208025075, + -0.025245599448680885, + 0.9474921578089646, + -0.2633801382389386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9310735391973943, + -0.1976463347673416, + 0.30665617719440474, + 0.18245796679450715 + ], + [ + 0.17975056104603487, + 0.9799594879150391, + 0.08584339334331331, + 0.20627389209120806 + ], + [ + -0.3174772886805265, + -0.024804890155792236, + 0.9479413999943068, + -0.263570274582523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9311477650073604, + -0.19823190569877625, + 0.3060522709205802, + 0.18304038458571836 + ], + [ + 0.18030731543538156, + 0.9798372387886047, + 0.08607112757753695, + 0.20581690474079714 + ], + [ + -0.3169434436102522, + -0.024961475282907486, + 0.9481159260693259, + -0.26337746595458283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9313160200161129, + -0.19886605441570282, + 0.30512751363955637, + 0.18405384512265363 + ], + [ + 0.18101880719249483, + 0.9797109961509705, + 0.08601500019768676, + 0.20553894419830704 + ], + [ + -0.31604226328660984, + -0.02487333118915558, + 0.9484189921785711, + -0.2634231066210268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9315909393368478, + -0.19965310394763947, + 0.30377130874620045, + 0.1862747603617066 + ], + [ + 0.1820989821924017, + 0.9795675277709961, + 0.0853665889504662, + 0.20609009291742578 + ], + [ + -0.31460819553953384, + -0.02421030029654503, + 0.9489128346435605, + -0.26372228642322854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9318183889850713, + -0.19999684393405914, + 0.30284605504631834, + 0.18716291812841884 + ], + [ + 0.1827413007606223, + 0.9795151352882385, + 0.08459161489783563, + 0.2066184837728972 + ], + [ + -0.31356035983985286, + -0.023481547832489014, + 0.9492779302076486, + -0.2642699831745652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9321330773948132, + -0.20003390312194824, + 0.3018516282272511, + 0.18798950681963134 + ], + [ + 0.182910269428718, + 0.9795108437538147, + 0.08427537112240584, + 0.20693620759969675 + ], + [ + -0.3125248711112827, + -0.023344088345766068, + 0.9496226539123006, + -0.2645154096014271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9328539016902422, + -0.20063646137714386, + 0.2992132688468497, + 0.19189502932388083 + ], + [ + 0.1838844737017702, + 0.9794000387191772, + 0.08343884702006721, + 0.2059579811690672 + ], + [ + -0.3097903759283343, + -0.022815581411123276, + 0.9505311098308117, + -0.2662305220371356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9333755635436443, + -0.20040491223335266, + 0.2977379320306008, + 0.1927571923331839 + ], + [ + 0.1836924852434772, + 0.9794396162033081, + 0.08339697739671319, + 0.2042476054081478 + ], + [ + -0.30832949737990284, + -0.023148484528064728, + 0.9509979068547646, + -0.26720374584940065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9337899899648853, + -0.2015006989240647, + 0.295691976611389, + 0.1951319102413369 + ], + [ + 0.18469964498827232, + 0.9791985750198366, + 0.08400131492862717, + 0.20170675085420034 + ], + [ + -0.3064674855383529, + -0.023825392127037055, + 0.9515829011887647, + -0.2680452971802537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.934179928535032, + -0.20178656280040747, + 0.2942619536360431, + 0.1963232443321412 + ], + [ + 0.18547943983669607, + 0.9791687130928042, + 0.08262000527291971, + 0.20258953519784687 + ], + [ + -0.3048036711662833, + -0.022602424025535587, + 0.9521469609402856, + -0.2689468105376496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9342351660239089, + -0.20332430303096777, + 0.293025344259118, + 0.19764295604989557 + ], + [ + 0.18711377059693038, + 0.978855609893799, + 0.08264425652512529, + 0.20150436731728144 + ], + [ + -0.3036331183190719, + -0.02238009497523308, + 0.9525261330923627, + -0.2690147219957956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9345845761998229, + -0.2034638226032257, + 0.291811754714456, + 0.19885159676202485 + ], + [ + 0.18733788000011195, + 0.9788255095481873, + 0.08249319440652013, + 0.2015469512461929 + ], + [ + -0.302417167472683, + -0.02242947742342949, + 0.9529117306701201, + -0.2694177326538545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9350293206167515, + -0.20430795848369598, + 0.28979033177657443, + 0.2012428070133246 + ], + [ + 0.1882875167793743, + 0.9786475300788879, + 0.08244283249711475, + 0.20111795263756396 + ], + [ + -0.30044633395447357, + -0.022522572427988052, + 0.9535327938638455, + -0.2694876179906295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9352260163548518, + -0.2034614235162735, + 0.2897511194674565, + 0.1994729090209154 + ], + [ + 0.1876322287585219, + 0.9788345694541931, + 0.08171329890961555, + 0.20275691275338514 + ], + [ + -0.3002439192205914, + -0.022053752094507217, + 0.9536074659923971, + -0.2677098198342268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9352792783562944, + -0.20389887690544134, + 0.2892713264250065, + 0.19918333985867845 + ], + [ + 0.1882489257561176, + 0.9787551760673525, + 0.0812446563255959, + 0.20413991198485845 + ], + [ + -0.2996914856859757, + -0.021531429141759876, + 0.9537931387760136, + -0.26627503375284367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9353026942982655, + -0.2049611359834671, + 0.28844383131799567, + 0.19962344327200215 + ], + [ + 0.18951709743436554, + 0.978546679019928, + 0.08080662881289828, + 0.2054697707387652 + ], + [ + -0.29881796467492805, + -0.020913608372211456, + 0.9540809244191945, + -0.2652224849644864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9356340290313011, + -0.2047787606716156, + 0.2874971828609907, + 0.19953005042804597 + ], + [ + 0.18952377640179185, + 0.9785916805267334, + 0.08024394525889687, + 0.20667768229972752 + ], + [ + -0.2977745974319939, + -0.02059142291545868, + 0.9544141273657968, + -0.2638825431085308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9360983729414784, + -0.20380678772926336, + 0.2866752961403793, + 0.1995461380766041 + ], + [ + 0.1887172671962246, + 0.9787977337837221, + 0.07962910599895025, + 0.20856843995677846 + ], + [ + -0.29682607731818356, + -0.020440112799406055, + 0.9547128059168459, + -0.2621512087288118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9364813959235113, + -0.20469284057617193, + 0.28478658852657757, + 0.20068979227550773 + ], + [ + 0.1896528475797052, + 0.9786081910133364, + 0.07973590503915036, + 0.20781935331291937 + ], + [ + -0.2950158711051108, + -0.020660609006881717, + 0.9552689328458246, + -0.2619016856201155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9367806367006482, + -0.20580914616584778, + 0.2829923673699683, + 0.20216778354769246 + ], + [ + 0.19097911623867267, + 0.978381872177124, + 0.0793463341663213, + 0.20777392592540472 + ], + [ + -0.2932047914274946, + -0.020284481346607208, + 0.9558344568717744, + -0.2613590564141572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.937127592999087, + -0.20654799044132233, + 0.2813001157670766, + 0.20357446751022576 + ], + [ + 0.19205900740824325, + 0.9782421588897705, + 0.07845766603872299, + 0.20859087392233921 + ], + [ + -0.29138492969550234, + -0.01949862390756607, + 0.9564071478640456, + -0.2607071075502891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9376900565652799, + -0.20613393187522888, + 0.2797252329391625, + 0.2046014014664444 + ], + [ + 0.19173157099695276, + 0.9783251285552979, + 0.07822398445900736, + 0.20811259561278658 + ], + [ + -0.2897868258697388, + -0.019717711955308914, + 0.9568880983245256, + -0.2605382480790073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9381787822664326, + -0.20524282753467565, + 0.27874006726365963, + 0.20456322441434596 + ], + [ + 0.1910173749365763, + 0.9785159826278689, + 0.0775810693098889, + 0.208317276683806 + ], + [ + -0.2886745723611097, + -0.019540715962648395, + 0.9572278773488601, + -0.2599635545736706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9382382078084845, + -0.20663386583328247, + 0.27750953074463913, + 0.20580929280489577 + ], + [ + 0.1925194612721271, + 0.9782282710075378, + 0.07749633613611155, + 0.20699752104323021 + ], + [ + -0.28748101666316583, + -0.01928403601050377, + 0.9575921976755967, + -0.26023162195814376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.938388882880569, + -0.20789064466953278, + 0.27605767165977496, + 0.20707740937973784 + ], + [ + 0.19403946264775412, + 0.9779753684997559, + 0.07689507225572662, + 0.20631607572334426 + ], + [ + -0.28596336854961485, + -0.01859140768647194, + 0.9580601938689172, + -0.26087767500802755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9385151887742036, + -0.20911911129951477, + 0.27469701509903877, + 0.20883258849908973 + ], + [ + 0.19544695100851148, + 0.9777215123176575, + 0.07655824524425212, + 0.20559794426323252 + ], + [ + -0.28458698981120234, + -0.01816238835453987, + 0.9584781862351114, + -0.2614765760274965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9386837233335329, + -0.20973935723304754, + 0.27364621747634243, + 0.20918050881281622 + ], + [ + 0.1962799488189871, + 0.9775984883308413, + 0.0759961977518125, + 0.20487279482535997 + ], + [ + -0.28345554116493454, + -0.017625138163566593, + 0.9588234058967519, + -0.26248509875728987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9389822609515946, + -0.2102314680814743, + 0.2722409386188537, + 0.21099918858986777 + ], + [ + 0.19679997894007126, + 0.9774887561798096, + 0.07606215788961869, + 0.20411961184507957 + ], + [ + -0.2821031072669992, + -0.01784401759505272, + 0.9592181683569485, + -0.2627907136886364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9391342851509641, + -0.21070237457752228, + 0.271350921691203, + 0.2122169361656803 + ], + [ + 0.19752607585467744, + 0.9774001240730286, + 0.07531583168581632, + 0.20450024487778257 + ], + [ + -0.28108767396774775, + -0.01713280752301216, + 0.9595291774533858, + -0.2625988719755643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9394690916006241, + -0.21072401106357574, + 0.2701725666090645, + 0.21344688557874367 + ], + [ + 0.1976624120856272, + 0.9773967266082764, + 0.07500113522639118, + 0.20476192570469887 + ], + [ + -0.27987032826054575, + -0.01705828681588173, + 0.9598862566437977, + -0.26293591359980095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.939947660820642, + -0.210275799036026, + 0.268854063235187, + 0.21457955929978254 + ], + [ + 0.1972338977762346, + 0.9774867296218872, + 0.07495614352654185, + 0.20540996375477177 + ], + [ + -0.27856277137798247, + -0.017427705228328705, + 0.9602598836547425, + -0.2636520551856768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9402299573345609, + -0.20910407602787018, + 0.2687807127610236, + 0.21416136088111762 + ], + [ + 0.19575274756078653, + 0.9777142405509949, + 0.07586642903476924, + 0.2060006441586722 + ], + [ + -0.2786547335370025, + -0.018717333674430847, + 0.9602089619543343, + -0.26302824914265854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9405435081965422, + -0.20905876159667974, + 0.2677169702808596, + 0.21515051690400971 + ], + [ + 0.19582575600860563, + 0.9777259826660158, + 0.07552588021555884, + 0.20646261255966875 + ], + [ + -0.27754317506704873, + -0.01860950887203217, + 0.9605329056709779, + -0.2633721992968051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9404344540902725, + -0.20970578491687775, + 0.26759394098063627, + 0.21551613255095844 + ], + [ + 0.196253619565736, + 0.9775737524032593, + 0.07638143906644382, + 0.20818248552448085 + ], + [ + -0.2776104435214009, + -0.019315477460622787, + 0.9604995256577812, + -0.2629763240509171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.940221991090904, + -0.2100733071565628, + 0.26805184502574725, + 0.21450597403447846 + ], + [ + 0.1966099432192006, + 0.9774977564811707, + 0.07643737519408748, + 0.20966083511105504 + ], + [ + -0.2780775192355068, + -0.01916643977165222, + 0.9603674051505355, + -0.2624313816826963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9400056095521794, + -0.2113355547189713, + 0.2678185939823543, + 0.21476919902775304 + ], + [ + 0.19766788985100636, + 0.9772139191627505, + 0.0773327031765529, + 0.20947909386776276 + ], + [ + -0.27805922380303844, + -0.019754040986299518, + 0.9603607948674494, + -0.2625968655231269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.939887293525124, + -0.21274106204509735, + 0.26712000175132, + 0.21620542680438112 + ], + [ + 0.1989273018806058, + 0.976898729801178, + 0.07808190409231222, + 0.20937175731907187 + ], + [ + -0.2775604039925507, + -0.020250733941793442, + 0.9604947250224135, + -0.2626275218750934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9397497379110287, + -0.2151147425174713, + 0.2656992965854534, + 0.21926758584019831 + ], + [ + 0.20127384551328834, + 0.9763758778572083, + 0.07860686448914724, + 0.20996842065039423 + ], + [ + -0.2763318484069347, + -0.020392462611198425, + 0.9608458959280876, + -0.26357933367685105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9397777018661935, + -0.2158051729202271, + 0.2650396718255535, + 0.2199295428165244 + ], + [ + 0.20207588539720286, + 0.9762298464775088, + 0.07836200902238805, + 0.21064881943558542 + ], + [ + -0.27565054692967955, + -0.020084753632545475, + 0.961048065838346, + -0.263851031864103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9402574784704226, + -0.21487969160079956, + 0.26408825448514983, + 0.22035165241706925 + ], + [ + 0.2011268220941158, + 0.9764233827590942, + 0.07839258846983437, + 0.21139341239946274 + ], + [ + -0.274706942164104, + -0.020593974739313126, + 0.9613074270779319, + -0.2648734886890438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9405066094502256, + -0.2152978032827378, + 0.262857749596442, + 0.222057112755988 + ], + [ + 0.20167360557264827, + 0.9763345718383791, + 0.07809295177987048, + 0.21193936893172807 + ], + [ + -0.273450337705547, + -0.020435456186532978, + 0.9616689873557256, + -0.26569918949572663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9407767051180798, + -0.21586407721042633, + 0.26142289651311457, + 0.22406163925716782 + ], + [ + 0.20242596207225963, + 0.9762163758277893, + 0.07762300116771283, + 0.2124550951126813 + ], + [ + -0.2719613229406988, + -0.020107131451368332, + 0.9620981043627208, + -0.2665422647718544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9411704465012785, + -0.21561425924301147, + 0.26020894979726683, + 0.22541744644046893 + ], + [ + 0.20215522499858155, + 0.9762617349624634, + 0.07775830183057086, + 0.2122698791211445 + ], + [ + -0.27079780304908213, + -0.020581241697072983, + 0.9624162193373006, + -0.2668573173772613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9420197193384634, + -0.21429473161697393, + 0.25821811482524415, + 0.22779181029655504 + ], + [ + 0.2008319183494231, + 0.9765347838401797, + 0.07775845794224093, + 0.21224137729856637 + ], + [ + -0.2688222201816193, + -0.02139157429337502, + 0.9629522255185744, + -0.2680230057123995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9424595167251606, + -0.21391189098358154, + 0.2569276417048932, + 0.22913487943688257 + ], + [ + 0.2005098433027507, + 0.9766137599945068, + 0.07759728347174348, + 0.21246359386366084 + ], + [ + -0.2675180773681321, + -0.02161577343940735, + 0.9633103537523613, + -0.2684604349689603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9432272760874417, + -0.2118640393018723, + 0.25580451292291145, + 0.22988287090040782 + ], + [ + 0.1983713207714079, + 0.9770379066467287, + 0.07775447923014517, + 0.2127425848226976 + ], + [ + -0.266404109951819, + -0.022595863789319996, + 0.9635965124050516, + -0.2690897102203174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9439685417908292, + -0.210813969373703, + 0.25393090108390154, + 0.232630575758182 + ], + [ + 0.19751824848166327, + 0.9772650599479675, + 0.07706863424593109, + 0.21418780293587986 + ], + [ + -0.26440492916863106, + -0.022594381123781204, + 0.9641470574849775, + -0.2696125533763758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9445342845956805, + -0.2093013375997544, + 0.25307694188326335, + 0.23330957139948474 + ], + [ + 0.19595616599427387, + 0.9775744676589968, + 0.07713198966086607, + 0.2147091420699922 + ], + [ + -0.2635453658554172, + -0.023261826485395435, + 0.9643665003538368, + -0.2697068936814371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9454264477129649, + -0.2065705806016922, + 0.25198701607470664, + 0.2337684338461238 + ], + [ + 0.19290807561315537, + 0.9781076312065125, + 0.0780510911949378, + 0.21369643734628005 + ], + [ + -0.26259349959751754, + -0.02518124133348465, + 0.964577937423349, + -0.2700235082269909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9457454994720462, + -0.20657694339752203, + 0.25078169906057374, + 0.23498214195928965 + ], + [ + 0.19301052977831043, + 0.978105962276459, + 0.07781790890215548, + 0.21391845132146237 + ], + [ + -0.26136644316472957, + -0.025192428380250938, + 0.9649108464251754, + -0.27042644273340327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9463097114877589, + -0.2055087834596634, + 0.24952772768635045, + 0.23661442809900135 + ], + [ + 0.1920420954167319, + 0.9783265590667725, + 0.07743993124383662, + 0.21499956680069443 + ], + [ + -0.26003418766901953, + -0.025362331420183182, + 0.9652662930502867, + -0.2710219276679849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9466651086366249, + -0.20481927692890167, + 0.24874542589015658, + 0.23721026324993166 + ], + [ + 0.19144446652238045, + 0.9784712791442871, + 0.07709077845504737, + 0.21586557666640543 + ], + [ + -0.2591799471956163, + -0.02535821497440338, + 0.9654960889961904, + -0.27140237071197465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9473021436246282, + -0.20297101140022278, + 0.2478334263731035, + 0.23852790209962405 + ], + [ + 0.18957761665763437, + 0.9788400530815125, + 0.07702292239192937, + 0.21692762743900001 + ], + [ + -0.25822270949236265, + -0.02598031610250473, + 0.9657360004928427, + -0.27271472852980905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9475901721916652, + -0.2033616602420807, + 0.24640798456791635, + 0.240254077797806 + ], + [ + 0.18993235442053705, + 0.9787449836730957, + 0.07735610255294963, + 0.2161749602985879 + ], + [ + -0.25690183538125705, + -0.026501040905714035, + 0.9660741079965298, + -0.27328523932157484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.947402522035278, + -0.2046298384666443, + 0.24607951393653585, + 0.24118011922161883 + ], + [ + 0.19106766748008294, + 0.9784690737724304, + 0.07804781777385116, + 0.21576175621620924 + ], + [ + -0.25675210979670765, + -0.02692486345767975, + 0.9661021749862002, + -0.2751980177477283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9475352152423399, + -0.20636337995529175, + 0.24411315076625023, + 0.24482822507918744 + ], + [ + 0.19316762033081372, + 0.9781329035758972, + 0.07708603607919734, + 0.21733918880584807 + ], + [ + -0.25468284447926526, + -0.025886986404657364, + 0.9666780746880006, + -0.2766324012649497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9477569857382132, + -0.2069467157125473, + 0.24275459635263733, + 0.24698947823297895 + ], + [ + 0.19398334663592615, + 0.9780242443084717, + 0.0764139544934269, + 0.2181167713613216 + ], + [ + -0.2532335212871239, + -0.0253315232694149, + 0.9670734847330896, + -0.2782221612473076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9483505204552665, + -0.20579481124877935, + 0.24141200813876668, + 0.2487184806281491 + ], + [ + 0.192929446734527, + 0.9782619476318362, + 0.07603807778221434, + 0.21884910775794966 + ], + [ + -0.2518124245227992, + -0.025535278022289283, + 0.9674391337164417, + -0.2800964267753799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9486421227162004, + -0.20581987500190735, + 0.2402421301931121, + 0.24988768057925412 + ], + [ + 0.19295112858212002, + 0.978246808052063, + 0.07617760010327426, + 0.21721097346135973 + ], + [ + -0.25069494383746216, + -0.025910288095474243, + 0.9677193100309227, + -0.2819828650647384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9490617619655874, + -0.2055022269487381, + 0.2388527690456849, + 0.25151461926467905 + ], + [ + 0.19287602207074125, + 0.9783259630203247, + 0.07534723275888794, + 0.21781077498511742 + ], + [ + -0.24915989968111094, + -0.025440208613872528, + 0.9681281438608456, + -0.2846146613026322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9493244670753447, + -0.2054828256368637, + 0.23782317699064792, + 0.25251589530979957 + ], + [ + 0.19294208952327763, + 0.9783303141593933, + 0.07512067653373254, + 0.21803284764823902 + ], + [ + -0.24810560544761204, + -0.02542780339717865, + 0.968399206588694, + -0.28485095166367475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9494543957579226, + -0.20670300722122192, + 0.23624197602971445, + 0.2555803561382702 + ], + [ + 0.19457510207608036, + 0.9781065583229065, + 0.07381153340920775, + 0.2187907908254211 + ], + [ + -0.2463268823192615, + -0.024113882333040237, + 0.9688868089895203, + -0.2869116813289581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9498107137021595, + -0.20609372854232788, + 0.23534018987314786, + 0.25641045567232523 + ], + [ + 0.19422375092339875, + 0.9782512784004211, + 0.07281232234684401, + 0.21844602061649776 + ], + [ + -0.24522797542439687, + -0.023449275642633438, + 0.9691818113734142, + -0.2891075013360522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9501472721435761, + -0.20614708960056305, + 0.23393073523230745, + 0.25873668047606746 + ], + [ + 0.19448249902684647, + 0.9782494902610779, + 0.07214219594010067, + 0.21757342912590036 + ], + [ + -0.24371453456274295, + -0.02305026724934578, + 0.9695730765301348, + -0.2911415375518403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9501169090769667, + -0.2071029543876648, + 0.2332084921226135, + 0.26147932421110615 + ], + [ + 0.19623982692027556, + 0.978116512298584, + 0.06912282951231619, + 0.21807365527083178 + ], + [ + -0.24242060717179054, + -0.019909977912902832, + 0.9699669071434049, + -0.2946745679235937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9501907150517491, + -0.2083511650562287, + 0.2317918136754722, + 0.2641526008247235 + ], + [ + 0.197807863965573, + 0.9778722524642947, + 0.06810255922896666, + 0.21726102631374591 + ], + [ + -0.24085201383801988, + -0.018860176205635074, + 0.9703786197892704, + -0.29591763424288614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9504303103373897, + -0.2089560627937317, + 0.23025994033628475, + 0.26758819143385393 + ], + [ + 0.19847343275104407, + 0.9777408838272095, + 0.06805229479097387, + 0.21483300456855936 + ], + [ + -0.23935448008803534, + -0.018978483974933624, + 0.9707467245684229, + -0.29665523258161525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9505088968121241, + -0.20913964509963995, + 0.22976833237677158, + 0.2674668310322569 + ], + [ + 0.19890071705719978, + 0.977718234062195, + 0.0671230711354664, + 0.2142542045336901 + ], + [ + -0.23868679273222188, + -0.018099993467330936, + 0.9709278894149579, + -0.29846771509501874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9507973121691753, + -0.2091173678636551, + 0.2285922212221716, + 0.2686487995229511 + ], + [ + 0.19894852363609486, + 0.9777219891548157, + 0.06692667934121757, + 0.2143987071774851 + ], + [ + -0.23749520269239166, + -0.01815563067793846, + 0.9712190298989681, + -0.29882981130171815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.950757839693926, + -0.20996007323265076, + 0.2279832243242096, + 0.27137573619222355 + ], + [ + 0.20055329535653912, + 0.9775937795639038, + 0.06394348572623912, + 0.21604054306352583 + ], + [ + -0.2363005587708698, + -0.015071988105773926, + 0.9715631209499346, + -0.3003805515592016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9509906730491204, + -0.2093606442213059, + 0.22756288795257776, + 0.2715005974381395 + ], + [ + 0.1999420915101444, + 0.9777185320854189, + 0.06395033115025398, + 0.2151355747314912 + ], + [ + -0.2358811482970825, + -0.015316773205995563, + 0.9716611861698033, + -0.29977193866527796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9513091804483308, + -0.2092447131872177, + 0.22633491131236888, + 0.27263404113087053 + ], + [ + 0.19995957083540575, + 0.9777464270591736, + 0.0634673732160166, + 0.215618870867662 + ], + [ + -0.23457834106676662, + -0.015119269490242004, + 0.971979634070941, + -0.30058917268527563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.951489589108926, + -0.20890645682811737, + 0.22588852137241008, + 0.2733416230115172 + ], + [ + 0.1997630707674158, + 0.9778252243995667, + 0.06286953703684797, + 0.21563468304444133 + ], + [ + -0.23401334487109193, + -0.014695532619953156, + 0.972122347263386, + -0.30061098694612937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9514489808785639, + -0.2094825953245163, + 0.22552573196584508, + 0.274552730347098 + ], + [ + 0.20091576310056752, + 0.9777349233627319, + 0.06055787485093184, + 0.21689241304748325 + ], + [ + -0.2331902177411959, + -0.012306060642004013, + 0.9723533001785215, + -0.3008828365781611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9517891156474596, + -0.20939506590366364, + 0.22416775022649268, + 0.2763671639377918 + ], + [ + 0.20088052156207475, + 0.9777517318725586, + 0.06040344855313183, + 0.21552985483649054 + ], + [ + -0.2318285767998889, + -0.012460421770811081, + 0.9726768503553784, + -0.3016286751817054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9519081748471454, + -0.20969949662685394, + 0.22337631929698745, + 0.27763500309341604 + ], + [ + 0.20146340182056446, + 0.977698802947998, + 0.05930923862341492, + 0.21536081858485634 + ], + [ + -0.23083186734453176, + -0.011454790830612183, + 0.9729262197663896, + -0.30212578877595486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9520058264684892, + -0.2096711397171021, + 0.22298646264454833, + 0.2781341171423555 + ], + [ + 0.20176461976102905, + 0.9777191281318667, + 0.057933526127802636, + 0.21574767593891803 + ], + [ + -0.23016513839201835, + -0.010162282735109331, + 0.9730985360281994, + -0.30244840053514827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9522775263526178, + -0.20971180498600012, + 0.2217848837845804, + 0.27933334544038946 + ], + [ + 0.20187262137647477, + 0.9777102470397951, + 0.05770735414954748, + 0.2159237517056481 + ], + [ + -0.22894326930694742, + -0.010181117802858354, + 0.9733865042239465, + -0.3028105037123814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9526157106360531, + -0.2090039998292923, + 0.22099918071798016, + 0.280519094760323 + ], + [ + 0.20173686903385274, + 0.977881908416748, + 0.055219725786190756, + 0.21570479977277368 + ], + [ + -0.22765224195794256, + -0.008019495755434036, + 0.9737094613104056, + -0.3039181032049482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.952985403623854, + -0.2084570974111557, + 0.21991920591321637, + 0.28222730453988565 + ], + [ + 0.2015952889072462, + 0.9780092239379883, + 0.053454137836994306, + 0.21676003761711818 + ], + [ + -0.22622588912830832, + -0.006606332957744598, + 0.9740524474369034, + -0.30455683632353014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9532033919362408, + -0.20811106264591223, + 0.21930134672861495, + 0.2829530786033516 + ], + [ + 0.20157684818835275, + 0.9780904054641726, + 0.05201833123073073, + 0.21727593609721527 + ], + [ + -0.22532212726298173, + -0.005377985537052155, + 0.9742695101865775, + -0.3046769651541592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9535859600349053, + -0.2076361924409867, + 0.21808488883736887, + 0.28455134002637594 + ], + [ + 0.20129713828796175, + 0.9781939983367922, + 0.05114676114616959, + 0.21739057683326596 + ], + [ + -0.22394926678795385, + -0.0048729702830314645, + 0.9745886530083776, + -0.3050479794833776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9538993892893352, + -0.2076425850391388, + 0.2167037981663318, + 0.2861824483370544 + ], + [ + 0.20143491265742228, + 0.9781938791275024, + 0.05060388544704873, + 0.2166048649290944 + ], + [ + -0.22248586809392837, + -0.00461931899189949, + 0.9749249876165093, + -0.3054615199054994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.954183587260097, + -0.2072921097278595, + 0.21578613042344366, + 0.2871722816145912 + ], + [ + 0.201254572947719, + 0.978270411491394, + 0.04983604686763253, + 0.2173770238658207 + ], + [ + -0.22142781243835066, + -0.004124805331230164, + 0.9751680225166813, + -0.3052100778314679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.954469140719626, + -0.20720992982387543, + 0.21459904458366705, + 0.28865478270049955 + ], + [ + 0.2013414920817096, + 0.9782896637916565, + 0.04910128510682227, + 0.2179261992874797 + ], + [ + -0.22011431457933975, + -0.0036579668521881104, + 0.975467267648348, + -0.3051641294889934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9548102524534853, + -0.20691175758838654, + 0.21336580174806344, + 0.29012367812746487 + ], + [ + 0.20117527594004922, + 0.97835373878479, + 0.048502066440528104, + 0.21844498552522876 + ], + [ + -0.21878289305366755, + -0.0033863484859466553, + 0.9757677201225539, + -0.3047881391511756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9551643866134261, + -0.2073136270046234, + 0.2113813427463477, + 0.2927177650020409 + ], + [ + 0.20154030467114026, + 0.9782665371894836, + 0.048745419792925286, + 0.21756810162318185 + ], + [ + -0.21689289521400099, + -0.003958035260438919, + 0.9761873885736988, + -0.3049381089916786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9553860765483189, + -0.20735132694244385, + 0.21033996523994852, + 0.2935481492648566 + ], + [ + 0.20162902970383884, + 0.978258490562439, + 0.04853879451852256, + 0.21768176987813515 + ], + [ + -0.21583145540277734, + -0.00396265834569931, + 0.9764226172187168, + -0.3052592806201568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9555281505481602, + -0.20788112282752996, + 0.2091684015407658, + 0.29442517532687984 + ], + [ + 0.2022833167501566, + 0.9781474471092226, + 0.04805221537333698, + 0.21798664752592722 + ], + [ + -0.21458667357014813, + -0.0036039836704730996, + 0.9766982839069345, + -0.3050208893955583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9557505242032185, + -0.20798732340335846, + 0.2080437443621602, + 0.2956915934796657 + ], + [ + 0.2026506634134989, + 0.9781279563903809, + 0.04688781419298726, + 0.2198129586240273 + ], + [ + -0.21324545279379295, + -0.0026528574526309967, + 0.97699507293047, + -0.30398453353585675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.955982751807962, + -0.2081688940525055, + 0.20679138151586735, + 0.2967684440423303 + ], + [ + 0.2028459835749059, + 0.9780887365341187, + 0.04686072182281137, + 0.2196824002939381 + ], + [ + -0.21201525136991387, + -0.002851255238056183, + 0.9772622322879745, + -0.30432976377875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.956207738239168, + -0.20787329971790314, + 0.2060471587031305, + 0.29687418113676056 + ], + [ + 0.20269176484099438, + 0.9781528115272522, + 0.04618559575086726, + 0.22123699616155046 + ], + [ + -0.2111463586041338, + -0.002398967742919922, + 0.977451527795166, + -0.30299123634498604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.9564054336488567, + -0.20804773271083837, + 0.2049505956889586, + 0.29772747819645545 + ], + [ + 0.20296074290966243, + 0.9781162142753603, + 0.04577738927716511, + 0.22194002706838628 + ], + [ + -0.20998940453443285, + -0.0021848231554031376, + 0.977701237442194, + -0.3024728959159695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.9567714995510677, + -0.20756663382053375, + 0.20372638231016074, + 0.29866605448170863 + ], + [ + 0.20256073213144057, + 0.9782185554504395, + 0.045360813831591726, + 0.2229499446920195 + ], + [ + -0.20870430099562481, + -0.0021329782903194427, + 0.9779764415617197, + -0.3022647546579873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.9570552375658364, + -0.2073035091161728, + 0.20265858017357746, + 0.29943218831975227 + ], + [ + 0.20231289848588216, + 0.9782739281654358, + 0.04527308918823495, + 0.22316955986782996 + ], + [ + -0.20764088082802243, + -0.0023284107446670532, + 0.9782023640995593, + -0.3016261211476886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.9572747530981989, + -0.20746551454067236, + 0.20145256695762925, + 0.300558678288549 + ], + [ + 0.20255307479069165, + 0.9782398343086245, + 0.04493415737275633, + 0.22336678881621957 + ], + [ + -0.20639121726860787, + -0.0022095106542110447, + 0.9784670717020563, + -0.30158220493454585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.9575865914370804, + -0.20745718479156494, + 0.19997362812823463, + 0.3020776854572632 + ], + [ + 0.20268511020931199, + 0.9782423377037048, + 0.04428008763922276, + 0.22410605537423306 + ], + [ + -0.20480886265338422, + -0.0018703527748584747, + 0.978800208042876, + -0.3015087544895366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.9578206556774344, + -0.20777624845504766, + 0.19851612439206007, + 0.3035993023596994 + ], + [ + 0.20307678180026523, + 0.978174686431885, + 0.04397796165610026, + 0.22411224437752703 + ], + [ + -0.20332101334703248, + -0.001808986067771912, + 0.9791104501414474, + -0.301529264310324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.9581915938631966, + -0.20759178698062897, + 0.1969126294710652, + 0.3052352714399365 + ], + [ + 0.20299050202791544, + 0.9782140254974365, + 0.043498624838475185, + 0.2240859438598165 + ], + [ + -0.20165266667979875, + -0.001708637923002243, + 0.9794556191534253, + -0.3014987831683878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.9586028213159624, + -0.2072910517454148, + 0.19522047843541546, + 0.30626304722911635 + ], + [ + 0.20263220106247837, + 0.9782763719558718, + 0.04376666566774062, + 0.22254436458370275 + ], + [ + -0.20005202343740805, + -0.002396900206804276, + 0.9797823473555355, + -0.30240873554149394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.9589261516486619, + -0.20727474987506872, + 0.19364366727283067, + 0.3078899059159217 + ], + [ + 0.2028560313867887, + 0.9782814979553225, + 0.04259941137437792, + 0.22361399086282824 + ], + [ + -0.19826778859240862, + -0.0015679039061069493, + 0.9801466606501174, + -0.30215358832578104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.9593130882752227, + -0.20698560774326324, + 0.19202942212062693, + 0.3094080231359656 + ], + [ + 0.20269859402917711, + 0.97834312915802, + 0.04192855172816605, + 0.2243994518866799 + ], + [ + -0.19654929265192864, + -0.0012985095381736755, + 0.9804930968601063, + -0.3028558925412887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.9597626690557296, + -0.20661842823028564, + 0.1901696361676482, + 0.3103861823758224 + ], + [ + 0.20232280104723419, + 0.9784199595451355, + 0.04195061213215469, + 0.2229948798788961 + ], + [ + -0.19473354714809304, + -0.0017869845032691956, + 0.9808545625810883, + -0.30297012744401813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.9602948672874735, + -0.20623679459095, + 0.18788334148560148, + 0.31256510384792974 + ], + [ + 0.20194864717019972, + 0.9784994125366211, + 0.041900093641833114, + 0.22244385268028666 + ], + [ + -0.1924850874061787, + -0.0022936537861824036, + 0.981297227272827, + -0.3043579254805433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.9605344533045022, + -0.205656036734581, + 0.18729440493431154, + 0.31204580156918627 + ], + [ + 0.20140555971786242, + 0.9786216616630554, + 0.04165886648002652, + 0.2223570151099502 + ], + [ + -0.1918577559405793, + -0.0022926367819309235, + 0.9814200957841713, + -0.3040255580769894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.9607092669128309, + -0.2060127854347229, + 0.1860013098955011, + 0.31323526943831975 + ], + [ + 0.201834405833374, + 0.9785468578338623, + 0.04133841423979504, + 0.22247966349315695 + ], + [ + -0.19052723658615767, + -0.0021727345883846283, + 0.9816794954098603, + -0.30454339079505044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.960782715634731, + -0.20655246078968048, + 0.18502057951140258, + 0.3137833024300611 + ], + [ + 0.20251836193687284, + 0.9784342646598816, + 0.0406541824880992, + 0.22310267111969925 + ], + [ + -0.18942767673647662, + -0.0015897788107395172, + 0.9818934007975728, + -0.30498193193947826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.9609454596806587, + -0.20680597424507147, + 0.183888918116164, + 0.3147382060330091 + ], + [ + 0.20281754531730214, + 0.9783806800842287, + 0.04045035288010886, + 0.22318265976568963 + ], + [ + -0.18827875577438835, + -0.00157468393445015, + 0.9821143699311413, + -0.3053724155635674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.9609332470723831, + -0.20817531645298004, + 0.18240156195548407, + 0.31673453621418074 + ], + [ + 0.20435654064530576, + 0.9780911207199097, + 0.0397004611658193, + 0.22405779198582612 + ], + [ + -0.18666998489876077, + -0.0008745491504669189, + 0.9824222725055592, + -0.30603202865874346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.9606526983343456, + -0.210230752825737, + 0.1815198593910448, + 0.31689936879994174 + ], + [ + 0.20658998466026124, + 0.9776517748832703, + 0.03895578187638996, + 0.2254380785889214 + ], + [ + -0.18565294058625323, + 7.721036672592163e-05, + 0.9826153841479252, + -0.3071430188191613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.9608771476215808, + -0.21026131510734564, + 0.18029229627129822, + 0.31810964963457034 + ], + [ + 0.20666936239751155, + 0.9776452183723452, + 0.0386988425342978, + 0.22567242286330258 + ], + [ + -0.18439874612311527, + 7.605552673339845e-05, + 0.9828515183193887, + -0.30755081286864216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.9606063076801326, + -0.212773859500885, + 0.17878161024566336, + 0.3198103755587204 + ], + [ + 0.20944774243349085, + 0.9771004319190979, + 0.037501773914653896, + 0.22811610783019143 + ], + [ + -0.1826670154231446, + 0.0014209486544132233, + 0.9831738058523243, + -0.30872510850764906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.9606048823897133, + -0.21391081809997559, + 0.17742740973340712, + 0.321070696809884 + ], + [ + 0.21066916211589568, + 0.9768517017364502, + 0.03713816126617453, + 0.22867534223190164 + ], + [ + -0.1812645288924037, + 0.0017033666372299194, + 0.9834329069715293, + -0.3093499830352241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.9606365866945783, + -0.2146401852369309, + 0.1763716366959969, + 0.3216581124406591 + ], + [ + 0.21144082816507223, + 0.9766915440559389, + 0.036964363509449066, + 0.2292000924993702 + ], + [ + -0.18019471887441824, + 0.0017828345298767094, + 0.9836293513500479, + -0.3098271392019692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.9608738883780307, + -0.21467998623847967, + 0.17502556714321363, + 0.3224385438641219 + ], + [ + 0.2116002420724272, + 0.9766820669174197, + 0.03629721572597448, + 0.23053043486608765 + ], + [ + -0.1787366412687831, + 0.002158407121896744, + 0.9838945886144956, + -0.3104181899447986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.9611140588833098, + -0.21549734473228455, + 0.17268652474778262, + 0.3250934630046549 + ], + [ + 0.2123350281722144, + 0.9765035510063171, + 0.036805143742932304, + 0.23014738580666638 + ], + [ + -0.17656042105059105, + 0.0012934431433677673, + 0.984288931942293, + -0.31123179302246284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/pan_right/transforms.json b/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..72f82953f91038c99a864cd7b6a6ff359383218e --- /dev/null +++ b/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/pan_right/transforms.json @@ -0,0 +1,7468 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 213, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 6.597780156880617e-05, + -3.258811921114102e-05, + 9.966214565793052e-05 + ], + [ + -6.597592437174171e-05, + 1.0, + 5.750449054175988e-05, + -5.614464680547826e-05 + ], + [ + 3.259190998505801e-05, + -5.750233685830608e-05, + 1.0, + -8.36895196698606e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999205338793445, + -0.005085203330963851, + 0.011536304367832756, + 0.022169696167111397 + ], + [ + 0.005009005769584766, + 0.9999654889106753, + 0.006624307666805862, + 0.001691757352091372 + ], + [ + -0.011569591735281421, + -0.0065659955143928545, + 0.9999114924644377, + 0.00925188884139061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999908910847347, + -0.004210783168673515, + 0.012824170524694072, + 0.02246266044676304 + ], + [ + 0.00413082367611216, + 0.9999719262123108, + 0.006255208182748479, + 0.0021413324866443872 + ], + [ + -0.012850150346049274, + -0.0062016635201871395, + 0.999898177418154, + 0.008824121206998825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9988057816199913, + -0.011278491467237473, + 0.04753722154836905, + 0.01578359119594097 + ], + [ + 0.010653730663975404, + 0.999853789806366, + 0.013375505747406188, + 0.008575248531997204 + ], + [ + -0.04768112408403456, + -0.01285308413207531, + 0.998779916352762, + 0.00561548164114356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9980114139374002, + -0.014161881990730762, + 0.06142212720495761, + 0.023604391142725945 + ], + [ + 0.013119424010250506, + 0.999763548374176, + 0.01734224573897583, + 0.006579740438610315 + ], + [ + -0.061653200248929625, + -0.016501937061548233, + 0.9979612172960293, + 0.006267731077969074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.997687607586868, + -0.013104797340929508, + 0.06669124402417996, + 0.014329624362289906 + ], + [ + 0.01207738962339814, + 0.9998024702072144, + 0.015785388342291238, + 0.010277546010911465 + ], + [ + -0.06688493181406582, + -0.01494342926889658, + 0.9976488003959176, + 0.005528573878109455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9938966008670265, + -0.012290656566619873, + 0.10962879092653101, + -0.050048552453517914 + ], + [ + 0.010307214307756895, + 0.9997731447219849, + 0.01864074618009148, + 0.012976197525858879 + ], + [ + -0.10983303002975135, + -0.01739700697362423, + 0.993797810096223, + -0.010980827733874321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.996949580659064, + -0.02895125187933445, + 0.07247993205078343, + 0.051887765526771545 + ], + [ + 0.027155353325104162, + 0.9993022680282593, + 0.025642072050811912, + -0.014883722178637981 + ], + [ + -0.0731717375616962, + -0.02359563671052456, + 0.9970401634546175, + 0.021636757999658585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9923502521298716, + -0.03982264921069145, + 0.11685504322290073, + 0.05637526139616966 + ], + [ + 0.037477748949135276, + 0.9990509152412415, + 0.022196734867524458, + -0.0007039161864668131 + ], + [ + -0.11762806473561095, + -0.01764747127890587, + 0.9929008993768877, + 0.003906466998159885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9906445401095139, + -0.043617140501737595, + 0.12930938917476895, + 0.060459066182374954 + ], + [ + 0.041155587869465236, + 0.9989181756973267, + 0.02164882423014244, + 0.002016636775806546 + ], + [ + -0.1301137669826609, + -0.016124486923217773, + 0.9913679476823624, + 0.0009994512656703591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9882260713899893, + -0.05102046951651573, + 0.14424337584284405, + 0.06490323692560196 + ], + [ + 0.048252958925737874, + 0.9985789060592651, + 0.022622438196944938, + 0.0012076598359271884 + ], + [ + -0.14519259851185498, + -0.015395913273096085, + 0.9892836184649796, + 0.000484188727568835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9864819664537003, + -0.05601997300982475, + 0.15399697256703065, + 0.06758351624011993 + ], + [ + 0.053065413658481386, + 0.9983207583427429, + 0.023233080718400922, + 0.0009056725539267063 + ], + [ + -0.15503987842186673, + -0.014747102744877338, + 0.9877981184145794, + -0.002795986831188202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9862868438583663, + -0.05601080879569055, + 0.15524500125138183, + 0.0674799457192421 + ], + [ + 0.053025692869933784, + 0.9983211159706118, + 0.023306565810710958, + 0.0008676068973727524 + ], + [ + -0.1562897901061258, + -0.014754986390471462, + 0.9876010473750059, + -0.002736849943175912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9820480496636604, + -0.06266412138938904, + 0.17791793644066892, + 0.07300394773483276 + ], + [ + 0.05944357564426708, + 0.9979578256607056, + 0.023379900971373397, + 0.005667330697178841 + ], + [ + -0.17901966750210302, + -0.012384109199047089, + 0.9837675240459256, + -0.009524676017463207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9818019843928109, + -0.0625380128622055, + 0.1793150575619028, + 0.072685107588768 + ], + [ + 0.05929698403601882, + 0.997966468334198, + 0.023383096745375954, + 0.005824610125273466 + ], + [ + -0.18041275091245607, + -0.012324729934334755, + 0.9835137651828106, + -0.00942918099462986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9798188282854937, + -0.06643491238355637, + 0.1885243737185648, + 0.07090908288955688 + ], + [ + 0.06311533726823537, + 0.9977279901504517, + 0.02356397494697841, + 0.010375128127634525 + ], + [ + -0.1896615123366558, + -0.011189647018909454, + 0.9817857987949119, + -0.01453916635364294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9771205986144369, + -0.06555657088756561, + 0.20233047717911834, + 0.07905898243188858 + ], + [ + 0.061879001917600304, + 0.9977840185165405, + 0.024455284743809716, + 0.020965438336133957 + ], + [ + -0.2034853293359481, + -0.011375756934285164, + 0.9790119371250515, + -0.0179830901324749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.973507167050819, + -0.06938645988702774, + 0.2178745362447496, + 0.07576747983694077 + ], + [ + 0.06491628090724674, + 0.9975084662437439, + 0.02761736972451181, + 0.020084917545318604 + ], + [ + -0.21924795763593266, + -0.012742103077471256, + 0.97558593792048, + -0.02274714782834053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.971275804610345, + -0.07899979501962662, + 0.22446005395032095, + 0.07349780201911926 + ], + [ + 0.07412714530067187, + 0.9967954754829407, + 0.030066508733219754, + 0.02060200646519661 + ], + [ + -0.2261160152376297, + -0.012564289383590221, + 0.9740193388847457, + -0.027159228920936584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9710363277481554, + -0.07903439551591873, + 0.22548171056476346, + 0.07401347160339355 + ], + [ + 0.0741136480080078, + 0.9967918395996094, + 0.03021883044863624, + 0.020493626594543457 + ], + [ + -0.2271466524611134, + -0.012632308527827263, + 0.9737786376428302, + -0.027187686413526535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9675173060632567, + -0.08718551695346832, + 0.23729512707649267, + 0.07405707240104675 + ], + [ + 0.08210864031845169, + 0.9961344599723816, + 0.031214174748856228, + 0.03371715545654297 + ], + [ + -0.23909928032946975, + -0.010716276243329048, + 0.9709359895476902, + -0.033434297889471054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9639043572900778, + -0.09248379617929459, + 0.24966997946816782, + 0.06971684843301773 + ], + [ + 0.08664212167546155, + 0.9956484436988831, + 0.03431179131580217, + 0.0366920568048954 + ], + [ + -0.2517568258813706, + -0.011441349051892757, + 0.9677229104892627, + -0.038584161549806595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9622070426742503, + -0.09972970187664032, + 0.25340006649577984, + 0.0736696869134903 + ], + [ + 0.09331099392742798, + 0.9949397444725037, + 0.037255495047304306, + 0.040449511259794235 + ], + [ + -0.2558332861499078, + -0.012202487327158451, + 0.9666439255206734, + -0.04520139470696449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9587469282289819, + -0.10325167328119281, + 0.2648461251730777, + 0.07786343991756439 + ], + [ + 0.09523726377775821, + 0.9945271015167239, + 0.04296138901450153, + 0.041553545743227005 + ], + [ + -0.2678324889176337, + -0.01596588268876076, + 0.9633332175011212, + -0.04475809633731842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9535209953622035, + -0.11049814522266388, + 0.2803352184667502, + 0.0760260745882988 + ], + [ + 0.10131348750986442, + 0.9937393069267273, + 0.04709295761393487, + 0.04307028278708458 + ], + [ + -0.28378383852259775, + -0.016502389684319496, + 0.9587462942075595, + -0.05011271685361862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.951384229115897, + -0.12148299813270569, + 0.28303688519846104, + 0.08212058991193771 + ], + [ + 0.1120706156763089, + 0.9924777150154114, + 0.04927611186528054, + 0.04570867121219635 + ], + [ + -0.28689404009525055, + -0.015160400420427322, + 0.9578423394630085, + -0.05856757238507271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9488781640126451, + -0.13088959455490115, + 0.28722493677911576, + 0.08323217183351517 + ], + [ + 0.12160089690436837, + 0.9913176298141482, + 0.05002603301262809, + 0.050303369760513306 + ], + [ + -0.2912790164731379, + -0.012541804462671283, + 0.9565559537986628, + -0.06481250375509262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9443777210904216, + -0.13147401809692383, + 0.30143863281596117, + 0.08298696577548981 + ], + [ + 0.12202624680017991, + 0.9912642240524292, + 0.05004872140088766, + 0.05926935002207756 + ], + [ + -0.30538544895071396, + -0.010481474921107292, + 0.9521711633171013, + -0.06714361906051636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9440151898014272, + -0.13135948777198794, + 0.30262188636022674, + 0.08284653723239899 + ], + [ + 0.12188968572227762, + 0.9912805557250979, + 0.050057147067026166, + 0.05952831357717514 + ], + [ + -0.30655870799999346, + -0.010368224233388902, + 0.9517953057131594, + -0.06723471730947495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9355932363995377, + -0.15048497915267947, + 0.3194050225796474, + 0.08450079709291458 + ], + [ + 0.1400935149191391, + 0.9885868430137636, + 0.0554059584478827, + 0.06193181499838829 + ], + [ + -0.3240973463647524, + -0.007090875878930094, + 0.945997181765786, + -0.0809563472867012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.932318278029562, + -0.15839006006717685, + 0.3251079992749243, + 0.08545822650194168 + ], + [ + 0.14849392331900213, + 0.9873714447021487, + 0.055200859025582326, + 0.06823926419019699 + ], + [ + -0.32974562745088043, + -0.0031882114708423623, + 0.9440644090029616, + -0.0876820981502533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9271321197823532, + -0.16526363790035248, + 0.3363242055567331, + 0.08616327494382858 + ], + [ + 0.15546315543058745, + 0.9862493872642517, + 0.056065743878957776, + 0.07458069920539856 + ], + [ + -0.3409651624896294, + 0.00030567124485969543, + 0.9400758709314149, + -0.09240348637104034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9235724330584941, + -0.17067654430866244, + 0.34334166923050385, + 0.08894763886928558 + ], + [ + 0.16040111993008252, + 0.985326409339905, + 0.0583385427947262, + 0.0769207552075386 + ], + [ + -0.34826063194000423, + 0.0011925119906663897, + 0.9373969990537342, + -0.09974599629640579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9204916269864701, + -0.17107662558555603, + 0.35132321990120713, + 0.09085362404584885 + ], + [ + 0.16059788238296316, + 0.9852554202079773, + 0.05899179545980431, + 0.08412814885377884 + ], + [ + -0.35623522599103263, + 0.0021203085780143738, + 0.9343938875906013, + -0.10573343932628632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9156769545775971, + -0.17409954965114594, + 0.36224998393505836, + 0.08958549052476883 + ], + [ + 0.16264405321299505, + 0.9847260117530823, + 0.06214198424429373, + 0.08612591028213501 + ], + [ + -0.3675358844641225, + 0.0020158234983682632, + 0.9300071919067955, + -0.11050307750701904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9110014252231051, + -0.17647951841354373, + 0.3727350417764171, + 0.08626611530780792 + ], + [ + 0.1644200850383171, + 0.9843002557754519, + 0.06417936719996498, + 0.09120894223451614 + ], + [ + -0.37820957071829797, + 0.0028176326304674153, + 0.9257157255984452, + -0.11530758440494537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9066157676487453, + -0.1799253970384598, + 0.38167349204928464, + 0.08876122534275055 + ], + [ + 0.16745140914373957, + 0.9836716651916506, + 0.06595536555837751, + 0.09691190719604492 + ], + [ + -0.3873084588480409, + 0.004115585237741471, + 0.9219409887710438, + -0.12225843966007233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9024896269671452, + -0.1847243756055832, + 0.3890878707389237, + 0.09148000180721283 + ], + [ + 0.1719821194813015, + 0.9827730059623718, + 0.06767120045370141, + 0.1012551411986351 + ], + [ + -0.39488559450623295, + 0.00584358349442482, + 0.918711758610984, + -0.12953704595565796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.897789912626081, + -0.19094941020011902, + 0.39687732064237724, + 0.09410297870635986 + ], + [ + 0.17794527386839362, + 0.9815670847892761, + 0.06972478244388605, + 0.10422179102897644 + ], + [ + -0.40287563372111507, + 0.008024228736758232, + 0.9152195751300785, + -0.1358780711889267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8972620289178941, + -0.19107303023338318, + 0.39800999057202957, + 0.09423476457595825 + ], + [ + 0.1779645847455231, + 0.9815431237220764, + 0.07001222293817627, + 0.10408029705286026 + ], + [ + -0.40404141391388065, + 0.00801236554980278, + 0.9147056124350216, + -0.13573294878005981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8931085568810713, + -0.1953897774219513, + 0.4051912113841774, + 0.09640117734670639 + ], + [ + 0.1823069937884207, + 0.9806704521179199, + 0.07106040385074036, + 0.10851138830184937 + ], + [ + -0.41124353407269265, + 0.010404536500573158, + 0.9114661299853947, + -0.14297501742839813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8864924602232047, + -0.20232263207435613, + 0.416169079570372, + 0.09070213884115219 + ], + [ + 0.18918743469234536, + 0.9792193174362185, + 0.07305926842633771, + 0.11057259887456894 + ], + [ + -0.4223023626954096, + 0.013967465609312061, + 0.9063474348457403, + -0.14765264093875885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8810812050742106, + -0.20690149068832397, + 0.42530890055280257, + 0.09292582422494888 + ], + [ + 0.19421212482730954, + 0.9781996607780457, + 0.07353314413865017, + 0.12151885032653809 + ], + [ + -0.4312511549504407, + 0.017811480909585953, + 0.9020560667032196, + -0.15943385660648346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8761319189832296, + -0.20471122860908508, + 0.4364472377593592, + 0.0921323299407959 + ], + [ + 0.19095816095425489, + 0.9786744713783264, + 0.0757047155298109, + 0.12395886331796646 + ], + [ + -0.44263738385422113, + 0.017015840858221054, + 0.8965392665465794, + -0.16461290419101715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8732420473389692, + -0.20947705209255219, + 0.4399633258499124, + 0.09697500616312027 + ], + [ + 0.19424658526073546, + 0.9776884913444519, + 0.07995897732281235, + 0.12009400129318237 + ], + [ + -0.44689667883981743, + 0.015637828037142754, + 0.8944488873464095, + -0.1713092029094696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8695881602597991, + -0.2138884961605072, + 0.4450485698311981, + 0.09486322849988937 + ], + [ + 0.1993431225317479, + 0.9766683578491211, + 0.07988275320804669, + 0.12345156073570251 + ], + [ + -0.451750848566228, + 0.019252264872193336, + 0.8919364046098761, + -0.17666053771972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.867180041002123, + -0.21822954714298248, + 0.44763230210433924, + 0.09626230597496033 + ], + [ + 0.20432964750751317, + 0.9756435751914978, + 0.07980580663902934, + 0.12750402092933655 + ], + [ + -0.45414556464382627, + 0.022258540615439415, + 0.8906493738246676, + -0.1822364628314972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.866583553422749, + -0.21821890771389008, + 0.44879115402385045, + 0.09606709331274033 + ], + [ + 0.20422067066669689, + 0.9756456017494202, + 0.0800596033016292, + 0.12751364707946777 + ], + [ + -0.4553316310030028, + 0.022274086251854897, + 0.8900432557974379, + -0.18218490481376648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8615238038356279, + -0.21857018768787384, + 0.458261795748422, + 0.09018544852733612 + ], + [ + 0.2036137827650473, + 0.9755681753158569, + 0.0825117906155354, + 0.13307330012321472 + ], + [ + -0.46510020922271356, + 0.02222253568470478, + 0.8849790938535728, + -0.18784157931804657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8592502622071656, + -0.2183382213115692, + 0.4626202184488297, + 0.08975251764059067 + ], + [ + 0.20123741752212046, + 0.9756962060928345, + 0.08672010941836938, + 0.13230818510055542 + ], + [ + -0.4703111204345383, + 0.018582211807370186, + 0.882305035907978, + -0.19297730922698975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8571947467523848, + -0.22015646100044256, + 0.4655623634837786, + 0.09009048342704773 + ], + [ + 0.20197839595684697, + 0.9753081798553469, + 0.0893233398014733, + 0.13518160581588745 + ], + [ + -0.4737318824692334, + 0.017466029152274135, + 0.880495897593631, + -0.1960410475730896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8566441343529928, + -0.22015975415706635, + 0.46657319175477857, + 0.09015492349863052 + ], + [ + 0.20187940216115388, + 0.9753073453903198, + 0.08955637491953083, + 0.13520029187202454 + ], + [ + -0.4747689667944878, + 0.017473571002483368, + 0.8799370095520238, + -0.1960945874452591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8542218253511723, + -0.22155141830444336, + 0.47034038494278596, + 0.08375216275453568 + ], + [ + 0.20005178882523442, + 0.975073516368866, + 0.09597369902806745, + 0.14257386326789856 + ], + [ + -0.47987957460782443, + 0.012109614908695221, + 0.8772508162772292, + -0.19570869207382202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8539261075756716, + -0.21492041647434235, + 0.4739403228204104, + 0.07748641818761826 + ], + [ + 0.1897975281574699, + 0.9766242504119873, + 0.10090601701875349, + 0.14647749066352844 + ], + [ + -0.48454837791179983, + 0.003786414861679077, + 0.8747562747744131, + -0.1965785026550293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8533358591410178, + -0.2149071246385575, + 0.47500828593466, + 0.0774601548910141 + ], + [ + 0.18966717353914825, + 0.9766271114349367, + 0.1011231089850893, + 0.14650943875312805 + ], + [ + -0.4856380356765254, + 0.003801494836807252, + 0.8741517453487796, + -0.19657540321350098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8536810917509213, + -0.21141038835048676, + 0.4759561298267218, + 0.07844146341085434 + ], + [ + 0.1820928254692408, + 0.9773839116096497, + 0.1075307395341016, + 0.14735065400600433 + ], + [ + -0.4879250116663428, + -0.005128771066665649, + 0.8728704615630715, + -0.19923123717308044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8544444353842602, + -0.21080604195594788, + 0.4748531016698973, + 0.0810219794511795 + ], + [ + 0.18016707034285515, + 0.9774932861328125, + 0.10975759189549145, + 0.15781281888484955 + ], + [ + -0.4873032939847429, + -0.008228875696659088, + 0.8731939954370825, + -0.20383860170841217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8551842057467681, + -0.20773163437843323, + 0.474876331973726, + 0.08089686185121536 + ], + [ + 0.17653241783550794, + 0.9781325459480286, + 0.10996829797404821, + 0.16041895747184753 + ], + [ + -0.4873358714868603, + -0.010212104767560959, + 0.8731548746076134, + -0.20682957768440247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8560605820240778, + -0.1996399462223053, + 0.47676432058268636, + 0.07756294310092926 + ], + [ + 0.1674158098819184, + 0.9797684550285339, + 0.1096618112814698, + 0.1632896065711975 + ], + [ + -0.4890115330280851, + -0.014059264212846756, + 0.8721640479767279, + -0.20965410768985748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8562865608239717, + -0.1927836537361145, + 0.4791740474195444, + 0.07317095994949341 + ], + [ + 0.15914120793607472, + 0.9810722470283508, + 0.11032361567127001, + 0.16325734555721283 + ], + [ + -0.49137296710273937, + -0.018212299793958664, + 0.8707588489378577, + -0.2127009630203247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8557112644977812, + -0.19283618032932287, + 0.48017963519020024, + 0.0732671320438385 + ], + [ + 0.15902520294229788, + 0.9810608029365542, + 0.11059266865103382, + 0.1631278693675995 + ], + [ + -0.49241169430102905, + -0.018274739384651188, + 0.8701705706043857, + -0.2127232402563095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8564255827845775, + -0.18782494962215424, + 0.48089189516281455, + 0.07394849509000778 + ], + [ + 0.15392532643626422, + 0.9820051789283752, + 0.10942059391212958, + 0.1653602421283722 + ], + [ + -0.4927902456876444, + -0.019689157605171204, + 0.8699253933424369, + -0.22136348485946655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.855547446731964, + -0.191708505153656, + 0.4809225041637339, + 0.07597319781780243 + ], + [ + 0.15772717603697528, + 0.9812729358673096, + 0.11056934113913866, + 0.16293278336524963 + ], + [ + -0.4931133167271693, + -0.018742773681879044, + 0.8697631864295332, + -0.22581033408641815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8550362053791863, + -0.1951491683721543, + 0.48044761593388846, + 0.07972173392772675 + ], + [ + 0.16210628844791047, + 0.9806427359580996, + 0.10982440186801769, + 0.16369964182376862 + ], + [ + -0.49257959587779204, + -0.016020268201828006, + 0.8701199467823263, + -0.23178130388259888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8534672173303268, + -0.19798551499843603, + 0.4820740522817063, + 0.08045224845409393 + ], + [ + 0.16649855458415846, + 0.980134963989258, + 0.10776659000969825, + 0.1671021580696106 + ], + [ + -0.493833856171123, + -0.011710628867149355, + 0.869477417497339, + -0.2353864312171936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8523789474225772, + -0.1976142674684525, + 0.48414745836542655, + 0.08010554313659668 + ], + [ + 0.16761558780258173, + 0.9802442789077761, + 0.10500570622564831, + 0.17140735685825348 + ], + [ + -0.49533339938191595, + -0.00835399702191353, + 0.8686628097224364, + -0.23827914893627167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8524599204709682, + -0.1938505321741104, + 0.4855245818939891, + 0.08054856956005096 + ], + [ + 0.16410828037362396, + 0.9809935092926025, + 0.10353830261885846, + 0.1731027364730835 + ], + [ + -0.49636742082813, + -0.00858364999294281, + 0.8680700943336532, + -0.24234804511070251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8524228027274307, + -0.19007238745689392, + 0.4870810050258049, + 0.07918652147054672 + ], + [ + 0.15984348110151175, + 0.9817166328430176, + 0.10335651121822342, + 0.17240937054157257 + ], + [ + -0.49782071715033566, + -0.010246720165014267, + 0.8672194291873977, + -0.24618704617023468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8511694353980265, + -0.19014106690883636, + 0.4892412902942542, + 0.07793552428483963 + ], + [ + 0.15977010168024752, + 0.9817059636116028, + 0.10357099170305266, + 0.17264068126678467 + ], + [ + -0.4999841895016259, + -0.009990345686674118, + 0.8659769066287561, + -0.24861890077590942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8486541077628569, + -0.19590428471565247, + 0.4913326334338015, + 0.07869958877563477 + ], + [ + 0.16517477909311584, + 0.9805859327316284, + 0.1056814150258239, + 0.16961181163787842 + ], + [ + -0.5024973093515799, + -0.008531216531991959, + 0.8645366892763254, + -0.24858997762203217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.846790322584526, + -0.19840086996555328, + 0.49354150541741454, + 0.07824941724538803 + ], + [ + 0.16857030617101693, + 0.9801054000854492, + 0.10477345229107332, + 0.1721869558095932 + ], + [ + -0.5045098182066505, + -0.005524706095457077, + 0.863388278236873, + -0.2498750388622284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8445354413636406, + -0.20001426339149475, + 0.49674357648760253, + 0.07553888857364655 + ], + [ + 0.17086282179102932, + 0.9797884821891785, + 0.10402138996505285, + 0.17504096031188965 + ], + [ + -0.5075093616560128, + -0.0029747560620307922, + 0.8616410957726532, + -0.2489161193370819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8424890165156972, + -0.2021462321281433, + 0.49934875479287344, + 0.07547225803136826 + ], + [ + 0.17306189622481533, + 0.9793540239334106, + 0.10447603477367841, + 0.1759924590587616 + ], + [ + -0.5101586384949696, + -0.0016016773879528046, + 0.8600788073502252, + -0.24807924032211304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8410481323041497, + -0.2033817321062088, + 0.5012723301032591, + 0.07559332996606827 + ], + [ + 0.17405024060839475, + 0.9790987372398376, + 0.1052245936998674, + 0.17589136958122253 + ], + [ + -0.5121958752621938, + -0.0012523829936981201, + 0.8588677888431693, + -0.24685052037239075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.840326797964278, + -0.202385812997818, + 0.502882489354843, + 0.07521206140518188 + ], + [ + 0.1726351034588282, + 0.9793038964271545, + 0.10564556004533363, + 0.17637349665164948 + ], + [ + -0.513855975861315, + -0.0019616298377513885, + 0.8578742138790965, + -0.24621832370758057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8389269728168642, + -0.20106139779090887, + 0.505742813777304, + 0.07254442572593689 + ], + [ + 0.17110131303627601, + 0.9795764684677126, + 0.10561398337740631, + 0.17808251082897186 + ], + [ + -0.5166486814999367, + -0.002069160342216492, + 0.8561950123107506, + -0.24417439103126526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.83845293602485, + -0.20061951875686646, + 0.5067035945425787, + 0.0734405517578125 + ], + [ + 0.17069016877431403, + 0.9796673655509949, + 0.10543583402783084, + 0.17967654764652252 + ], + [ + -0.5175534656566586, + -0.001913655549287796, + 0.8556487375054684, + -0.2423245906829834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8384452115794181, + -0.1981777548789978, + 0.507676312065334, + 0.07186384499073029 + ], + [ + 0.16768333970683444, + 0.9801599383354187, + 0.10568269058243994, + 0.1808490753173828 + ], + [ + -0.5185479125060818, + -0.003480292856693268, + 0.8550414957659932, + -0.24086521565914154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8383285073454279, + -0.195599913597107, + 0.5088673937211149, + 0.07056042551994324 + ], + [ + 0.16415835587447938, + 0.9806668758392336, + 0.10651051972874218, + 0.18128760159015656 + ], + [ + -0.5198628461018309, + -0.005755964666604997, + 0.854230325994685, + -0.23829488456249237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.838337356545437, + -0.1916607916355133, + 0.5103495081078886, + 0.06856462359428406 + ], + [ + 0.15936873647709388, + 0.9814270734786987, + 0.10678235791665155, + 0.18433710932731628 + ], + [ + -0.5213368346918577, + -0.00818588212132454, + 0.85331169354245, + -0.23528406023979187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8382376752736115, + -0.1879692524671555, + 0.5118838919805679, + 0.066484235227108 + ], + [ + 0.1543836601797979, + 0.9821091890335085, + 0.10782939195027842, + 0.18600140511989594 + ], + [ + -0.5229945044789468, + -0.011360157281160356, + 0.8522603650026055, + -0.23196478188037872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.8383295850168464, + -0.18604972958564758, + 0.5124344152152357, + 0.06540285050868988 + ], + [ + 0.1500848077132049, + 0.9824056029319763, + 0.11114742034838714, + 0.1853567361831665 + ], + [ + -0.5240973994712724, + -0.01626954972743988, + 0.8515029155144002, + -0.23050692677497864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.8383414397373132, + -0.18392467498779297, + 0.5131816099616416, + 0.0642274022102356 + ], + [ + 0.14615192367097452, + 0.9827345609664917, + 0.11345676992112434, + 0.1870296597480774 + ], + [ + -0.5251888129097284, + -0.020113036036491394, + 0.8507480351908697, + -0.22860141098499298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.8382993806078288, + -0.1840037703514099, + 0.5132219966960824, + 0.06466107815504074 + ], + [ + 0.1446519418588784, + 0.9826556444168091, + 0.11603305959084687, + 0.18814751505851746 + ], + [ + -0.5256710252546403, + -0.02303188294172287, + 0.8503760748777726, + -0.22769221663475037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.8382813734390699, + -0.18417760729789734, + 0.5131889784293403, + 0.06510692834854126 + ], + [ + 0.14312590274815004, + 0.9825447201728821, + 0.1188314020549885, + 0.18875285983085632 + ], + [ + -0.5261171770598655, + -0.02616352215409279, + 0.8500095205760588, + -0.22678156197071075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.8380502803750083, + -0.18486790359020233, + 0.5133182561725784, + 0.06587116420269012 + ], + [ + 0.1429093927618457, + 0.98237544298172, + 0.12047973864686112, + 0.18944185972213745 + ], + [ + -0.5265440643580317, + -0.027610089629888535, + 0.8496993603184395, + -0.22611042857170105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.8379392801336272, + -0.185734435915947, + 0.5131865705254227, + 0.06665055453777313 + ], + [ + 0.1433985648439255, + 0.9821985960006716, + 0.12133758025123591, + 0.1897350251674652 + ], + [ + -0.5265876885994959, + -0.028083320707082755, + 0.8496568245203692, + -0.2264634370803833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.8376521490696178, + -0.1869693100452423, + 0.5132069649167571, + 0.06725414097309113 + ], + [ + 0.14423411250172216, + 0.9819539189338684, + 0.12232344621334212, + 0.18944668769836426 + ], + [ + -0.5268162957114082, + -0.028442561626434326, + 0.8495031571583457, + -0.22634010016918182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.8372536791983554, + -0.1875583678483963, + 0.5136420265987894, + 0.06780529767274857 + ], + [ + 0.1445377441433047, + 0.9818348288536072, + 0.1229194112135883, + 0.18860824406147003 + ], + [ + -0.5273662032382561, + -0.02867407724261284, + 0.8491541041527683, + -0.22581639885902405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.836753831238948, + -0.1879255771636963, + 0.5143219448248642, + 0.06743068993091583 + ], + [ + 0.14464064102992824, + 0.9817590117454529, + 0.12340331486239024, + 0.18770071864128113 + ], + [ + -0.5281308089894713, + -0.02886636182665825, + 0.8486722704127028, + -0.22570371627807617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.8365269514030458, + -0.18921595811843878, + 0.5142178245654231, + 0.06863279640674591 + ], + [ + 0.1458427403495784, + 0.9815171360969546, + 0.12391115262099099, + 0.18652628362178802 + ], + [ + -0.5281595811818368, + -0.02866008877754212, + 0.8486613353777777, + -0.2261141836643219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.8360839546871202, + -0.19008386135101318, + 0.5146180880096833, + 0.06868630647659302 + ], + [ + 0.14693912758057764, + 0.981372594833374, + 0.12376098825585481, + 0.18641097843647003 + ], + [ + -0.5285570371093338, + -0.027857039123773575, + 0.8484405920506607, + -0.22636225819587708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.8356030688197686, + -0.1912873387336731, + 0.5149530352040654, + 0.06943578273057938 + ], + [ + 0.14788007045017043, + 0.9811380505561829, + 0.12449725791288187, + 0.185162752866745 + ], + [ + -0.5290548002918004, + -0.027878999710083008, + 0.8481295564858597, + -0.2266589254140854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.8351062513620648, + -0.19257134199142456, + 0.5152802911720694, + 0.07008794695138931 + ], + [ + 0.1489695238555869, + 0.9808905124664307, + 0.12514746991084852, + 0.1838972419500351 + ], + [ + -0.529533385148802, + -0.02775038406252861, + 0.8478350816057392, + -0.22689183056354523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.8344403671704707, + -0.19267058372497559, + 0.516320971921479, + 0.07003124058246613 + ], + [ + 0.14915404144902714, + 0.9808844327926636, + 0.12497540101113093, + 0.18460004031658173 + ], + [ + -0.530530290913604, + -0.027273159474134445, + 0.8472271122504665, + -0.22690701484680176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.8333451110840231, + -0.194141834974289, + 0.5175372671660746, + 0.06876692920923233 + ], + [ + 0.15068216327037703, + 0.9806188941001894, + 0.125225558385786, + 0.18422815203666687 + ], + [ + -0.5318183439762183, + -0.026372469961643226, + 0.8464476991832844, + -0.22660745680332184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.8325470075453816, + -0.19624893367290502, + 0.5180268353157188, + 0.06980615854263306 + ], + [ + 0.15296969745747654, + 0.9802290797233584, + 0.1255040240886513, + 0.18473272025585175 + ], + [ + -0.5324149888685503, + -0.025245599448680885, + 0.846106912137123, + -0.2270822823047638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.831716689752976, + -0.1976463347673416, + 0.5188287717459391, + 0.0708468109369278 + ], + [ + 0.15424741555986882, + 0.9799594879150391, + 0.12604398902827635, + 0.1846911758184433 + ], + [ + -0.5333433382173164, + -0.024804890155792236, + 0.8455351028965705, + -0.2269103080034256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.8306495573759515, + -0.19823190569877625, + 0.5203128536226859, + 0.07031460106372833 + ], + [ + 0.15442158235266315, + 0.9798372387886047, + 0.1267791067395669, + 0.18395674228668213 + ], + [ + -0.5349535639868305, + -0.024961475282907486, + 0.8445126642576823, + -0.2262624353170395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.8297490708412713, + -0.19886605441570282, + 0.5215062877440284, + 0.07020303606987 + ], + [ + 0.1548119084190079, + 0.9797109961509705, + 0.1272778921418263, + 0.18338175117969513 + ], + [ + -0.5362367035737747, + -0.02487333118915558, + 0.8437010694841337, + -0.22589635848999023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8290566604755458, + -0.19965310394763947, + 0.5223061745691173, + 0.07128658890724182 + ], + [ + 0.1557030038451623, + 0.9795675277709961, + 0.12729520186613424, + 0.18358953297138214 + ], + [ + -0.5370490257826074, + -0.02421030029654503, + 0.8432035509637462, + -0.22584891319274902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8282129668373404, + -0.19999684393405914, + 0.5235117235271259, + 0.0710429698228836 + ], + [ + 0.1562018914753109, + 0.9795151352882385, + 0.12708695217937652, + 0.18382655084133148 + ], + [ + -0.5382046627707028, + -0.023481547832489014, + 0.8424870497604633, + -0.22600241005420685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8274701002043515, + -0.20003390312194824, + 0.5246710519027782, + 0.07072711735963821 + ], + [ + 0.156129998774678, + 0.9795108437538147, + 0.12720820855166728, + 0.1839105486869812 + ], + [ + -0.5393669214095402, + -0.023344088345766068, + 0.841747173429029, + -0.22585171461105347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8275333247787919, + -0.20063646137714386, + 0.5243410898768888, + 0.07343947142362595 + ], + [ + 0.15696871033591858, + 0.9794000387191772, + 0.1270289921084698, + 0.18259648978710175 + ], + [ + -0.5390263527044047, + -0.022815581411123276, + 0.8419798446900021, + -0.22738607227802277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8271151304117381, + -0.20040491223335266, + 0.525088925644264, + 0.07313210517168045 + ], + [ + 0.15647944195088564, + 0.9794396162033081, + 0.12732701685256115, + 0.1806970089673996 + ], + [ + -0.5398098695549914, + -0.023148484528064728, + 0.8414685986581496, + -0.22801892459392548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.8267409600785888, + -0.2015006989240647, + 0.5252588650554164, + 0.07435058802366257 + ], + [ + 0.15698300264122436, + 0.9791985750198366, + 0.12855550027236318, + 0.17781265079975128 + ], + [ + -0.5402367463750426, + -0.023825392127037055, + 0.8411757220659276, + -0.22857260704040527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.8261879215227806, + -0.20178656280040747, + 0.5260187777687085, + 0.0743882954120636 + ], + [ + 0.15777575031279184, + 0.9791687130928042, + 0.12781040836593627, + 0.1783796101808548 + ], + [ + -0.5408515051550655, + -0.022602424025535587, + 0.8408143448798704, + -0.22916194796562195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8252625659420633, + -0.20332430303096777, + 0.5268784443005965, + 0.07459817081689835 + ], + [ + 0.1590308608042411, + 0.978855609893799, + 0.12864999648446745, + 0.17686417698860168 + ], + [ + -0.541895627118486, + -0.02238009497523308, + 0.8401477453840578, + -0.22885380685329437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8246157030542677, + -0.2034638226032257, + 0.5278365017090504, + 0.07465840131044388 + ], + [ + 0.15896863755378696, + 0.9788255095481873, + 0.12895573147642947, + 0.17666025459766388 + ], + [ + -0.5428976629253967, + -0.02242947742342949, + 0.8394992776775133, + -0.22888672351837158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8242758967352677, + -0.20430795848369598, + 0.528041203757312, + 0.07588782161474228 + ], + [ + 0.15957848455705545, + 0.9786475300788879, + 0.1295519852088886, + 0.1758871078491211 + ], + [ + -0.5432347411040356, + -0.022522572427988052, + 0.8392787407161612, + -0.22868774831295013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.823169228823625, + -0.2034614235162735, + 0.5300904013633226, + 0.07299035787582397 + ], + [ + 0.15882254622867645, + 0.9788345694541931, + 0.12906709610517472, + 0.17739678919315338 + ], + [ + -0.5451309850901491, + -0.022053752094507217, + 0.8380607491823164, + -0.22640372812747955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8220386653442056, + -0.20389887690544134, + 0.531674394242821, + 0.07159304618835449 + ], + [ + 0.15922383296117912, + 0.9787551760673525, + 0.1291747779055455, + 0.17847852408885956 + ], + [ + -0.5467176306132995, + -0.021531429141759876, + 0.8370401248120948, + -0.2245081067085266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8209715451154523, + -0.2049611359834671, + 0.5329134037512527, + 0.07092995941638947 + ], + [ + 0.16024389965633076, + 0.978546679019928, + 0.12949260250293881, + 0.17941591143608093 + ], + [ + -0.5480215691057029, + -0.020913608372211456, + 0.8362026944156391, + -0.22303736209869385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8202321463003434, + -0.2047787606716156, + 0.5341206723296559, + 0.06969112902879715 + ], + [ + 0.16008501777952178, + 0.9785916805267334, + 0.12934890666271376, + 0.18040373921394348 + ], + [ + -0.5491739477447038, + -0.02059142291545868, + 0.8354543748821348, + -0.22130201756954193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8195848948126018, + -0.20380678772926336, + 0.5354843503183577, + 0.0685432180762291 + ], + [ + 0.15916114591089323, + 0.9787977337837221, + 0.12892917083629532, + 0.18218855559825897 + ], + [ + -0.5504074981516789, + -0.020440112799406055, + 0.8346459416639651, + -0.21916162967681885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8191567927809481, + -0.20469284057617193, + 0.5358012269081562, + 0.06853236258029938 + ], + [ + 0.15971039911162485, + 0.9786081910133364, + 0.12968656662549438, + 0.18109002709388733 + ], + [ + -0.5508853911667015, + -0.020660609006881717, + 0.8343251069357904, + -0.2186240553855896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8186250509204918, + -0.20580914616584778, + 0.536186224452245, + 0.06886742264032364 + ], + [ + 0.16077191154767126, + 0.978381872177124, + 0.13008172831818365, + 0.18063651025295258 + ], + [ + -0.5513668841874843, + -0.020284481346607208, + 0.8340162574439337, + -0.21779489517211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8181130789638, + -0.20654799044132233, + 0.5366832126303229, + 0.06912417709827423 + ], + [ + 0.161738499452147, + 0.9782421588897705, + 0.1299343121806217, + 0.1810767650604248 + ], + [ + -0.5518438459789929, + -0.01949862390756607, + 0.8337194848353999, + -0.21685907244682312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8177763369696931, + -0.20613393187522888, + 0.5373552929084235, + 0.0689697116613388 + ], + [ + 0.161170608427112, + 0.9783251285552979, + 0.13001546846755235, + 0.18042495846748352 + ], + [ + -0.552508761875051, + -0.019717711955308914, + 0.8332738476719904, + -0.21637573838233948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8171998462365272, + -0.20524282753467565, + 0.5385720600848805, + 0.06776142120361328 + ], + [ + 0.1603516818712282, + 0.9785159826278689, + 0.1295908868863655, + 0.18051281571388245 + ], + [ + -0.553598971481029, + -0.019540715962648395, + 0.8325541403877713, + -0.21541662514209747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8162834080636132, + -0.20663386583328247, + 0.5394292094110585, + 0.0678996816277504 + ], + [ + 0.16149247258493787, + 0.9782282710075378, + 0.1303441843023091, + 0.17875200510025024 + ], + [ + -0.5546184121377665, + -0.01928403601050377, + 0.8318813430463801, + -0.21531198918819427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8155200846402181, + -0.20789064466953278, + 0.5401004768970955, + 0.06804624199867249 + ], + [ + 0.16279970845285846, + 0.9779753684997559, + 0.1306155432156023, + 0.1776219755411148 + ], + [ + -0.5553587091300869, + -0.01859140768647194, + 0.8314030836013021, + -0.21563328802585602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8147080830935569, + -0.20911911129951477, + 0.540851133867927, + 0.0686839297413826 + ], + [ + 0.1639206562419064, + 0.9777215123176575, + 0.13111328701022365, + 0.17646925151348114 + ], + [ + -0.55622009956534, + -0.01816238835453987, + 0.8308365597985403, + -0.21588706970214844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.813844950394116, + -0.20973935723304754, + 0.5419093849606342, + 0.06790917366743088 + ], + [ + 0.16455931589796932, + 0.9775984883308413, + 0.13123060592830135, + 0.17539247870445251 + ], + [ + -0.5572940325768, + -0.017625138163566593, + 0.8301281399680666, + -0.216513991355896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8132123838684701, + -0.2102314680814743, + 0.5426678853265624, + 0.0685843750834465 + ], + [ + 0.1647106465035483, + 0.9774887561798096, + 0.13185631005765677, + 0.17433558404445648 + ], + [ + -0.5581720992359503, + -0.01784401759505272, + 0.8295333418677562, + -0.2164713740348816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8122848845719859, + -0.21070237457752228, + 0.5438729580927453, + 0.06868281960487366 + ], + [ + 0.16530302054755372, + 0.9774001240730286, + 0.13177229049739186, + 0.17437690496444702 + ], + [ + -0.5593462541263691, + -0.01713280752301216, + 0.8287570758888092, + -0.21588006615638733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8116186818480176, + -0.21072401106357574, + 0.5448582431204629, + 0.06876435875892639 + ], + [ + 0.1652032116213041, + 0.9773967266082764, + 0.13192231921385528, + 0.17439058423042297 + ], + [ + -0.5603418770391467, + -0.01705828681588173, + 0.8280857486821965, + -0.21584831178188324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8111325537513151, + -0.210275799036026, + 0.5457546084506629, + 0.0687253475189209 + ], + [ + 0.1644831609882245, + 0.9774867296218872, + 0.13215492285836167, + 0.17487983405590057 + ], + [ + -0.5612568983361049, + -0.017427705228328705, + 0.8274581293482691, + -0.21620969474315643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.8100732848229046, + -0.20910407602787018, + 0.5477743307584824, + 0.06717106699943542 + ], + [ + 0.16246550852532765, + 0.9777142405509949, + 0.13296545330156773, + 0.17548298835754395 + ], + [ + -0.5633704186806708, + -0.018717333674430847, + 0.8259924227833835, + -0.21501265466213226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8093488991282393, + -0.20905876159667974, + 0.5488613909421292, + 0.06701510399580002 + ], + [ + 0.16231262289746595, + 0.9777259826660158, + 0.13306576474368564, + 0.17570935189723969 + ], + [ + -0.5644545943396868, + -0.01860950887203217, + 0.8252543170634431, + -0.21496975421905518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8079261964101694, + -0.20970578491687775, + 0.5507074911818557, + 0.06630754470825195 + ], + [ + 0.16211947712011676, + 0.9775737524032593, + 0.13441310414097815, + 0.17714247107505798 + ], + [ + -0.5665443849255775, + -0.019315477460622787, + 0.8238048051876553, + -0.21399985253810883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8062165729327466, + -0.2100733071565628, + 0.5530678273785489, + 0.06424511224031448 + ], + [ + 0.16210706065305264, + 0.9774977564811707, + 0.13497941689623089, + 0.17834126949310303 + ], + [ + -0.5689781288700975, + -0.01916643977165222, + 0.8221292772108467, + -0.21281394362449646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8047178647430735, + -0.2113355547189713, + 0.5547670713331838, + 0.06345496326684952 + ], + [ + 0.162488667821433, + 0.9772139191627505, + 0.13656637392988957, + 0.17776982486248016 + ], + [ + -0.5709874420686555, + -0.019754040986299518, + 0.8207211032136807, + -0.2124127596616745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8034586268750349, + -0.21274106204509735, + 0.5560534639454118, + 0.06382077932357788 + ], + [ + 0.16310125591086483, + 0.976898729801178, + 0.13808271253302237, + 0.1772371530532837 + ], + [ + -0.5725837779213241, + -0.020250733941793442, + 0.8195960663166544, + -0.2119518667459488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.8024143945032669, + -0.2151147425174713, + 0.5566478470306047, + 0.06581266969442368 + ], + [ + 0.1648083411814337, + 0.9763758778572083, + 0.13974409007019353, + 0.1772255152463913 + ], + [ + -0.5735584984566628, + -0.020392462611198425, + 0.8189107246910257, + -0.21252956986427307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.801279442609373, + -0.2158051729202271, + 0.5580138093433833, + 0.06538216769695282 + ], + [ + 0.16530070390288923, + 0.9762298464775088, + 0.14018182908743068, + 0.17754444479942322 + ], + [ + -0.57500168310389, + -0.020084753632545475, + 0.8179056628376838, + -0.21233715116977692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.8006653788260752, + -0.21487969160079956, + 0.5592510018997443, + 0.06463514268398285 + ], + [ + 0.16404787285227862, + 0.9764233827590942, + 0.14030570874102574, + 0.17822055518627167 + ], + [ + -0.5762146115630772, + -0.020593974739313126, + 0.8170389188095987, + -0.21293778717517853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.7999251603955241, + -0.2152978032827378, + 0.5601487451638715, + 0.06520804017782211 + ], + [ + 0.16431608797506345, + 0.9763345718383791, + 0.14060930102570204, + 0.17844638228416443 + ], + [ + -0.5771654430007862, + -0.020435456186532978, + 0.8163714717203011, + -0.21339313685894012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.7992734542462212, + -0.21586407721042633, + 0.5608606645606827, + 0.06607498228549957 + ], + [ + 0.16483447939071175, + 0.9762163758277893, + 0.14082327518970603, + 0.17860475182533264 + ], + [ + -0.5779200399875303, + -0.020107131451368332, + 0.81584566614943, + -0.2139049470424652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.7986651803560609, + -0.21561425924301147, + 0.5618224244446222, + 0.06627334654331207 + ], + [ + 0.16418568977793865, + 0.9762617349624634, + 0.14126623011160094, + 0.1782395988702774 + ], + [ + -0.5789447064741987, + -0.020581241697072983, + 0.8151070213323011, + -0.21383444964885712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.798748902735074, + -0.21429473161697393, + 0.5622080903241571, + 0.06740573793649673 + ], + [ + 0.16259125115779616, + 0.9765347838401797, + 0.14122295230027965, + 0.17821252346038818 + ], + [ + -0.5792791041000533, + -0.02139157429337502, + 0.8148485099989997, + -0.21475274860858917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.7982116907006311, + -0.21391189098358154, + 0.5631161963278104, + 0.06758113950490952 + ], + [ + 0.16199422046247589, + 0.9766137599945068, + 0.14136268319553968, + 0.1782648265361786 + ], + [ + -0.5801862024369913, + -0.02161577343940735, + 0.814196984683058, + -0.21482938528060913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.797925364450537, + -0.2118640393018723, + 0.5642949193050923, + 0.06710486114025116 + ], + [ + 0.15958223432703966, + 0.9770379066467287, + 0.14117524723595737, + 0.1786946952342987 + ], + [ + -0.5812474955043592, + -0.022595863789319996, + 0.8134130177765228, + -0.2150653898715973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.7978728007574867, + -0.210813969373703, + 0.5647623431385902, + 0.06862559169530869 + ], + [ + 0.15866987834110619, + 0.9772650599479675, + 0.14063037571952844, + 0.18006351590156555 + ], + [ + -0.5815693331940931, + -0.022594381123781204, + 0.8131830210437176, + -0.21534830331802368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.7973032039407536, + -0.2093013375997544, + 0.5661276837211441, + 0.06811550259590149 + ], + [ + 0.15683567777927107, + 0.9775744676589968, + 0.14053730108315027, + 0.1806422919034958 + ], + [ + -0.5828466001350068, + -0.023261826485395435, + 0.8122491905687784, + -0.21500538289546967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.7971201459991751, + -0.2065705806016922, + 0.5673870787633816, + 0.06732434034347534 + ], + [ + 0.15331123054739565, + 0.9781076312065125, + 0.14071661259970217, + 0.17996355891227722 + ], + [ + -0.5840335531952482, + -0.02518124133348465, + 0.8113388639384205, + -0.2149004340171814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.7964401828810783, + -0.20657694339752203, + 0.5683388473856886, + 0.06738828122615814 + ], + [ + 0.1531413590035414, + 0.978105962276459, + 0.1409127947127466, + 0.17995186150074005 + ], + [ + -0.5850049363816915, + -0.025192428380250938, + 0.8106383802723527, + -0.21492953598499298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.7960068346034376, + -0.2055087834596634, + 0.5693323073609775, + 0.06782573461532593 + ], + [ + 0.1520217932313907, + 0.9783265590667725, + 0.14059332752947987, + 0.18099147081375122 + ], + [ + -0.585886090715197, + -0.025362331420183182, + 0.8099964715739153, + -0.2151699960231781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.795209815865433, + -0.20481927692890167, + 0.5706929678579649, + 0.0672682672739029 + ], + [ + 0.1512407488753989, + 0.9784712791442871, + 0.14042865720518932, + 0.18175122141838074 + ], + [ + -0.5871691708131723, + -0.02535821497440338, + 0.8090669365026814, + -0.21510984003543854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.7947203684665193, + -0.20297101140022278, + 0.5720334732234538, + 0.06737958639860153 + ], + [ + 0.14917600658836208, + 0.9788400530815125, + 0.14006684964591407, + 0.18294386565685272 + ], + [ + -0.5883587752924982, + -0.02598031610250473, + 0.8081824929320114, + -0.2159995138645172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.7940897098488687, + -0.2033616602420807, + 0.5727700777844386, + 0.06795774400234222 + ], + [ + 0.14903965602820698, + 0.9787449836730957, + 0.14087386836778742, + 0.18192090094089508 + ], + [ + -0.5892441836612581, + -0.026501040905714035, + 0.8075202952154991, + -0.21621280908584595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.7926175876332742, + -0.2046298384666443, + 0.5743553131228577, + 0.06783503293991089 + ], + [ + 0.14949651207593498, + 0.9784690737724304, + 0.14229936153289532, + 0.18109583854675293 + ], + [ + -0.5911075954844318, + -0.02692486345767975, + 0.8061432062349347, + -0.21755436062812805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.7920410535062518, + -0.20636337995529175, + 0.574530403078967, + 0.07035855203866959 + ], + [ + 0.1514509525038353, + 0.9781329035758972, + 0.14254331092111525, + 0.1820615530014038 + ], + [ + -0.5913828078255706, + -0.025886986404657364, + 0.8059753259020361, + -0.2187679409980774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.7913270253406782, + -0.2069467157125473, + 0.5753039518649156, + 0.07138477265834808 + ], + [ + 0.15210457776305908, + 0.9780242443084717, + 0.14259322787888248, + 0.1824667602777481 + ], + [ + -0.5921704196900267, + -0.0253315232694149, + 0.805414511429621, + -0.22002415359020233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.7909532718468228, + -0.20579481124877935, + 0.5762303264113862, + 0.07190835475921631 + ], + [ + 0.1509128965434613, + 0.9782619476318362, + 0.14222819111191462, + 0.18318189680576324 + ], + [ + -0.5929740366341311, + -0.025535278022289283, + 0.8048166042446527, + -0.22156034409999847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.7902351721988005, + -0.20581987500190735, + 0.5772057958225604, + 0.07193055748939514 + ], + [ + 0.15052915620681914, + 0.978246808052063, + 0.14273800443564857, + 0.18133024871349335 + ], + [ + -0.5940280311409326, + -0.025910288095474243, + 0.8040269374164155, + -0.2230522781610489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.789718212952724, + -0.2055022269487381, + 0.5780259660575574, + 0.0723830908536911 + ], + [ + 0.1504186368689773, + 0.9783259630203247, + 0.14231162656906796, + 0.181723952293396 + ], + [ + -0.5947431491072105, + -0.025440208613872528, + 0.8035131269211385, + -0.22536784410476685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.7889206999385623, + -0.2054828256368637, + 0.5791208306651222, + 0.07224390655755997 + ], + [ + 0.1502135232666857, + 0.9783303141593933, + 0.14249794167040808, + 0.18172001838684082 + ], + [ + -0.5958523253373323, + -0.02542780339717865, + 0.8026913610885769, + -0.22519749402999878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.7882096298379279, + -0.20670300722122192, + 0.5796546388093714, + 0.07418669015169144 + ], + [ + 0.15186936764304032, + 0.9781065583229065, + 0.1422789794166332, + 0.18193422257900238 + ], + [ + -0.5963734797006627, + -0.024113882333040237, + 0.802344847491866, + -0.22698912024497986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.7874498865152547, + -0.20609372854232788, + 0.5809028086177993, + 0.07385943830013275 + ], + [ + 0.15157527877153462, + 0.9782512784004211, + 0.14159602598105184, + 0.18143288791179657 + ], + [ + -0.5974509294559742, + -0.023449275642633438, + 0.801562555462762, + -0.22878669202327728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.7868659790957447, + -0.20614708960056305, + 0.5816746157345202, + 0.07502526789903641 + ], + [ + 0.15172188355447322, + 0.9782494902610779, + 0.1414510831116895, + 0.1802886426448822 + ], + [ + -0.5981826295683825, + -0.02305026724934578, + 0.8010282559135478, + -0.23050238192081451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.7856786464899422, + -0.2071029543876648, + 0.5829385955328437, + 0.07668878883123398 + ], + [ + 0.1541615086356096, + 0.978116512298584, + 0.13972209733854307, + 0.18018844723701477 + ], + [ + -0.5991187225014428, + -0.019909977912902832, + 0.8004125861598639, + -0.23367422819137573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.7848563055116856, + -0.2083511650562287, + 0.583601250475071, + 0.07825342565774918 + ], + [ + 0.15565755780688426, + 0.9778722524642947, + 0.13977351078710884, + 0.1788346916437149 + ], + [ + -0.5998094223897942, + -0.018860176205635074, + 0.7999206305167912, + -0.23461060225963593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.7842331476056825, + -0.2089560627937317, + 0.584222376435703, + 0.08054562658071518 + ], + [ + 0.15594392236425436, + 0.9777408838272095, + 0.14037204640508819, + 0.17605575919151306 + ], + [ + -0.6005496480728277, + -0.018978483974933624, + 0.7993621773627634, + -0.23502862453460693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.7830537935452865, + -0.20913964509963995, + 0.5857366352692477, + 0.07932792603969574 + ], + [ + 0.15635563800446764, + 0.977718234062195, + 0.14007111189942417, + 0.1751600056886673 + ], + [ + -0.6019798135136432, + -0.018099993467330936, + 0.7983061164682748, + -0.2363576591014862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.7823356775738266, + -0.2091173678636551, + 0.5867033492545581, + 0.07936158031225204 + ], + [ + 0.15613094094009364, + 0.9777219891548157, + 0.14029549082484777, + 0.17507393658161163 + ], + [ + -0.6029710169667485, + -0.01815563067793846, + 0.7975564732593411, + -0.2363395392894745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.7810907935263303, + -0.20996007323265076, + 0.5880595144890791, + 0.08101531863212585 + ], + [ + 0.15844483513821264, + 0.9775937795639038, + 0.13858437091971654, + 0.17612570524215698 + ], + [ + -0.6039805006859148, + -0.015071988105773926, + 0.7968565785990563, + -0.23750977218151093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.7800178245089906, + -0.2093606442213059, + 0.5896951090589085, + 0.08001493662595749 + ], + [ + 0.15753938436501494, + 0.9777185320854189, + 0.13873653875446867, + 0.17512571811676025 + ], + [ + -0.6056018099114139, + -0.015316773205995563, + 0.7956204023671585, + -0.23636534810066223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.7793455215145065, + -0.2092447131872177, + 0.5906244212520632, + 0.07999303191900253 + ], + [ + 0.15740693973707628, + 0.9777464270591736, + 0.13869027635068448, + 0.17537835240364075 + ], + [ + -0.6065011040121355, + -0.015119269490242004, + 0.7949388768819761, + -0.2368236482143402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.7782302972561915, + -0.20890645682811737, + 0.5922125181917606, + 0.07958613336086273 + ], + [ + 0.1571266442830234, + 0.9778252243995667, + 0.1384524495486137, + 0.17520596086978912 + ], + [ + -0.6080039603889582, + -0.014695532619953156, + 0.7937980144709195, + -0.23633642494678497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.7768760813702874, + -0.2094825953245163, + 0.5937849553401758, + 0.07973071932792664 + ], + [ + 0.15877911148410834, + 0.9777349233627319, + 0.13719910285807843, + 0.17596596479415894 + ], + [ + -0.6093051432149964, + -0.012306060642004013, + 0.7928403751512665, + -0.2361501157283783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.7762740555995664, + -0.20939506590366364, + 0.5946026332851057, + 0.08038296550512314 + ], + [ + 0.15847092571842625, + 0.9777517318725586, + 0.13743553485946441, + 0.17438730597496033 + ], + [ + -0.6101520668958307, + -0.012460421770811081, + 0.7921863414002207, + -0.2365482896566391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.7752377975713238, + -0.20969949662685394, + 0.5958460460389549, + 0.08054447174072266 + ], + [ + 0.15911304930488682, + 0.977698802947998, + 0.13706978368737596, + 0.1738557517528534 + ], + [ + -0.6113014060198744, + -0.011454790830612183, + 0.7913149632660849, + -0.23662224411964417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.774014237359657, + -0.2096711397171021, + 0.5974445719204654, + 0.07994922250509262 + ], + [ + 0.15961825283031195, + 0.9777191281318667, + 0.13633513340409373, + 0.1739330291748047 + ], + [ + -0.6127185518755557, + -0.010162282735109331, + 0.7902358685473367, + -0.23645243048667908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.7732839267457217, + -0.20971180498600012, + 0.5983752923611719, + 0.0800030380487442 + ], + [ + 0.15947345857503492, + 0.9777102470397951, + 0.1365683345232981, + 0.17385999858379364 + ], + [ + -0.6136776227292758, + -0.010181117802858354, + 0.7894910275155842, + -0.23643724620342255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.7724399023700816, + -0.2090039998292923, + 0.5997115367033968, + 0.08003640919923782 + ], + [ + 0.16005443454174834, + 0.977881908416748, + 0.134646056113817, + 0.17340266704559326 + ], + [ + -0.6145886157843844, + -0.008019495755434036, + 0.7888070053328077, + -0.23718170821666718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.7717464943560349, + -0.2084570974111557, + 0.6007936293760031, + 0.08057975769042969 + ], + [ + 0.1603365175931638, + 0.9780092239379883, + 0.13337993285194563, + 0.1742330640554428 + ], + [ + -0.6153856739597532, + -0.006606332957744598, + 0.788198449348142, + -0.23748622834682465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.7707193667109182, + -0.20811106264591223, + 0.6022303918372603, + 0.08018195629119873 + ], + [ + 0.16059776905505369, + 0.9780904054641726, + 0.13246693581463964, + 0.17450298368930817 + ], + [ + -0.6166036168894923, + -0.005377985537052155, + 0.7872554345016014, + -0.23716147243976593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.770093540826037, + -0.2076361924409867, + 0.6031941149355787, + 0.08060929924249649 + ], + [ + 0.16038794005274382, + 0.9781939983367922, + 0.13195543847944874, + 0.17443890869617462 + ], + [ + -0.6174396127067128, + -0.0048729702830314645, + 0.7866032299248018, + -0.2371872514486313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.7694755944788004, + -0.2076425850391388, + 0.6039800414978772, + 0.08108078688383102 + ], + [ + 0.16041833606287462, + 0.9781938791275024, + 0.13191942508387458, + 0.17338964343070984 + ], + [ + -0.6182016764900959, + -0.00461931899189949, + 0.7860059670036827, + -0.2372753620147705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.7686327661383183, + -0.2072921097278595, + 0.6051724077469393, + 0.08092624694108963 + ], + [ + 0.16025944215109264, + 0.978270411491394, + 0.13154446359000524, + 0.17396344244480133 + ], + [ + -0.6192903814206356, + -0.004124805331230164, + 0.7851511776340986, + -0.23661138117313385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.7679064277720808, + -0.20720992982387543, + 0.6061219421111611, + 0.0812583640217781 + ], + [ + 0.16033007511626557, + 0.9782896637916565, + 0.13131488737398822, + 0.17425574362277985 + ], + [ + -0.6201725988941666, + -0.0036579668521881104, + 0.7844569136140758, + -0.2362079918384552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.7672501783531346, + -0.20691175758838654, + 0.6070541552143148, + 0.08156313747167587 + ], + [ + 0.16011593170657987, + 0.97835373878479, + 0.1310985526704631, + 0.17457647621631622 + ], + [ + -0.6210395524845242, + -0.0033863484859466553, + 0.7837719516389451, + -0.23547866940498352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.7669338060628605, + -0.2073136270046234, + 0.6073167333721228, + 0.08297356218099594 + ], + [ + 0.16001374792854495, + 0.9782665371894836, + 0.13187194861525567, + 0.17340059578418732 + ], + [ + -0.6214564911164305, + -0.003958035260438919, + 0.7834386863398456, + -0.23539823293685913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.766087829978392, + -0.20735132694244385, + 0.6083706871624663, + 0.08266952633857727 + ], + [ + 0.15985798290278486, + 0.978258490562439, + 0.13212004198786734, + 0.17326736450195312 + ], + [ + -0.6225390824934329, + -0.00396265834569931, + 0.7825787087097147, + -0.23530757427215576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.765227308877915, + -0.20788112282752996, + 0.6092722153853487, + 0.08242717385292053 + ], + [ + 0.16033302336849936, + 0.9781474471092226, + 0.13236645064080996, + 0.17319080233573914 + ], + [ + -0.6234745279664409, + -0.0036039836704730996, + 0.781835335117105, + -0.2346975952386856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.7644181802391241, + -0.20798732340335846, + 0.6102508580926871, + 0.08255693316459656 + ], + [ + 0.16085116832883195, + 0.9781279563903809, + 0.13188123501460353, + 0.174684077501297 + ], + [ + -0.6243330298242148, + -0.0026528574526309967, + 0.7811538027419187, + -0.23331113159656525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.7636746093085176, + -0.2081688940525055, + 0.6111192913998439, + 0.08249173313379288 + ], + [ + 0.16071188573374123, + 0.9780887365341187, + 0.13234088592015245, + 0.17428450286388397 + ], + [ + -0.6252781592781266, + -0.002851255238056183, + 0.7803967971485278, + -0.2332816869020462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.7626973781350019, + -0.20787329971790314, + 0.61243887830876, + 0.08146864920854568 + ], + [ + 0.1605489824517749, + 0.9781528115272522, + 0.1320647001394361, + 0.1756352037191391 + ], + [ + -0.6265115499858662, + -0.002398967742919922, + 0.7794084626658843, + -0.23148703575134277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.7618524743818126, + -0.20804773271083837, + 0.6134304422382592, + 0.08119115233421326 + ], + [ + 0.16064622379018156, + 0.9781162142753603, + 0.13221733363455077, + 0.1760428100824356 + ], + [ + -0.6275138216060417, + -0.0021848231554031376, + 0.7786023782432877, + -0.23057696223258972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.7612152181695535, + -0.20756663382053375, + 0.6143838643954311, + 0.08095653355121613 + ], + [ + 0.16015080026881048, + 0.9782185554504395, + 0.13206125399355076, + 0.1769120693206787 + ], + [ + -0.6284131713850565, + -0.0021329782903194427, + 0.7778767842875707, + -0.23000606894493103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.7604334800473073, + -0.2073035091161728, + 0.6154398023310739, + 0.08057194203138351 + ], + [ + 0.15964324549698086, + 0.9782739281654358, + 0.13226562541187875, + 0.1769644170999527 + ], + [ + -0.6294878475781596, + -0.0023284107446670532, + 0.7770068534269305, + -0.22895410656929016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.7596571401031904, + -0.20746551454067236, + 0.6163433451764345, + 0.08055902272462845 + ], + [ + 0.15968452927627744, + 0.9782398343086245, + 0.13246764780797182, + 0.17687414586544037 + ], + [ + -0.630414082728224, + -0.0022095106542110447, + 0.7762559044984757, + -0.22853924334049225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.7590882274554195, + -0.20745718479156494, + 0.6170466716427895, + 0.08090956509113312 + ], + [ + 0.15977429385133415, + 0.9782423377037048, + 0.132341055935812, + 0.17734284698963165 + ], + [ + -0.6310762463404195, + -0.0018703527748584747, + 0.7757185628764058, + -0.2281716912984848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.7584415707046251, + -0.20777624845504766, + 0.617734120729214, + 0.08128099888563156 + ], + [ + 0.15993380150058528, + 0.978174686431885, + 0.13264772729055463, + 0.17702533304691315 + ], + [ + -0.6318129172936919, + -0.001808986067771912, + 0.7751187944989377, + -0.2278769612312317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.7579850720499346, + -0.20759178698062897, + 0.6183561633433902, + 0.08172972500324249 + ], + [ + 0.15975126743655596, + 0.9782140254974365, + 0.1325775502443665, + 0.17678381502628326 + ], + [ + -0.6324066951084024, + -0.001708637923002243, + 0.7746346750903692, + -0.22757390141487122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.7576070409893659, + -0.2072910517454148, + 0.6189200074959709, + 0.08155721426010132 + ], + [ + 0.15898146153398207, + 0.9782763719558718, + 0.13304219187767247, + 0.17511233687400818 + ], + [ + -0.633053285826442, + -0.002396900206804276, + 0.7741045133412345, + -0.2281964272260666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.7570992140163534, + -0.20727474987506872, + 0.6195466199781929, + 0.08200692385435104 + ], + [ + 0.15939602895133742, + 0.9782814979553225, + 0.13250730271945652, + 0.17587405443191528 + ], + [ + -0.6335564112833254, + -0.0015679039061069493, + 0.773694943823917, + -0.22769783437252045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.7566666432028787, + -0.20698560774326324, + 0.6201713403247643, + 0.08233056217432022 + ], + [ + 0.15924443584107156, + 0.97834312915802, + 0.13223438707494167, + 0.17645640671253204 + ], + [ + -0.6341110196551843, + -0.0012985095381736755, + 0.773240940576841, + -0.2281424105167389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.7564067078499396, + -0.20661842823028564, + 0.6206107989333811, + 0.08209101855754852 + ], + [ + 0.15857563566827423, + 0.9784199595451355, + 0.13246938308252193, + 0.17492139339447021 + ], + [ + -0.6345886132546547, + -0.0017869845032691956, + 0.7728480570257978, + -0.22802317142486572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.75642416622204, + -0.20623679459095, + 0.6207164110137195, + 0.08301840722560883 + ], + [ + 0.1579425022447406, + 0.9784994125366211, + 0.132638757253445, + 0.1742386370897293 + ], + [ + -0.6347256524228332, + -0.0022936537861824036, + 0.7727341737515633, + -0.22928224503993988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.7553799817869946, + -0.205656036734581, + 0.6221790041621111, + 0.081366628408432 + ], + [ + 0.15725179276025245, + 0.9786216616630554, + 0.13255766411397246, + 0.17405718564987183 + ], + [ + -0.6361391337404375, + -0.0022926367819309235, + 0.7715709983193592, + -0.22843410074710846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.7546132186729443, + -0.2060127854347229, + 0.6229909092587873, + 0.08141906559467316 + ], + [ + 0.15745381923520338, + 0.9785468578338623, + 0.13286943470271823, + 0.17384417355060577 + ], + [ + -0.636998593322099, + -0.0021727345883846283, + 0.7708618888588169, + -0.22860442101955414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.7536080276086212, + -0.20655246078968048, + 0.6240280300026814, + 0.08086423575878143 + ], + [ + 0.1580538164824994, + 0.9784342646598816, + 0.13298661801356668, + 0.1740563064813614 + ], + [ + -0.6380391052512366, + -0.0015897788107395172, + 0.7700023346807484, + -0.2286396324634552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.7527533807515249, + -0.20680597424507147, + 0.6249749262602105, + 0.08068963140249252 + ], + [ + 0.15808529635648486, + 0.9783806800842287, + 0.1333425168974382, + 0.173833966255188 + ], + [ + -0.6390394452973237, + -0.00157468393445015, + 0.7691723557534315, + -0.22863851487636566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.7519181382544536, + -0.20817531645298004, + 0.6255254978790477, + 0.08158918470144272 + ], + [ + 0.1594650599257065, + 0.9780911207199097, + 0.133823080909782, + 0.17407870292663574 + ], + [ + -0.6396795846627698, + -0.0008745491504669189, + 0.7686411605832447, + -0.22901880741119385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.7505553938459893, + -0.210230752825737, + 0.626473995421275, + 0.08074364066123962 + ], + [ + 0.1614473539876976, + 0.9776517748832703, + 0.13465409980352963, + 0.17464987933635712 + ], + [ + -0.6407818680128486, + 7.721036672592163e-05, + 0.7677230002666728, + -0.22970585525035858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.7498021939266136, + -0.21026131510734564, + 0.6273650252436773, + 0.08080597221851349 + ], + [ + 0.1613092325650909, + 0.9776452183723452, + 0.13486718376443455, + 0.17462967336177826 + ], + [ + -0.6416977457453191, + 7.605552673339845e-05, + 0.7669576309939686, + -0.22974777221679688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.7487569398159271, + -0.212773859500885, + 0.627766188635847, + 0.08147508651018143 + ], + [ + 0.16398366292511285, + 0.9771004319190979, + 0.1355879719993433, + 0.17610259354114532 + ], + [ + -0.6422401979072279, + 0.0014209486544132233, + 0.7665021195207669, + -0.23067472875118256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.7478713499022884, + -0.21391081809997559, + 0.6284350959255777, + 0.08164062350988388 + ], + [ + 0.16489003174189223, + 0.9768517017364502, + 0.13627918520817361, + 0.17610831558704376 + ], + [ + -0.6430394814090068, + 0.0017033666372299194, + 0.7658311415046357, + -0.2309712916612625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.7468678563940301, + -0.2146401852369309, + 0.6293790678219456, + 0.08113463968038559 + ], + [ + 0.16530928053781793, + 0.9766915440559389, + 0.13691760205634373, + 0.17619822919368744 + ], + [ + -0.6440972393133003, + 0.0017828345298767094, + 0.7649415558436683, + -0.2310371845960617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.7461870914421443, + -0.21467998623847967, + 0.6301725185103144, + 0.08075914531946182 + ], + [ + 0.165441015677491, + 0.9766820669174197, + 0.13682624253471223, + 0.17723318934440613 + ], + [ + -0.644852051743339, + 0.002158407121896744, + 0.7643043764099086, + -0.2313142567873001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.7460059285534277, + -0.21549734473228455, + 0.6301079467644848, + 0.08222299069166183 + ], + [ + 0.16548495663895596, + 0.9765035510063171, + 0.13804170355742446, + 0.1764451414346695 + ], + [ + -0.6450502759038351, + 0.0012934431433677673, + 0.7641390092005828, + -0.23199576139450073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/push_in/transforms.json b/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..53f746df3f327c1a6a6279c244f435521f26c8fe --- /dev/null +++ b/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/push_in/transforms.json @@ -0,0 +1,7468 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 213, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 6.597780156880617e-05, + -3.258811921114102e-05, + 9.966214565793052e-05 + ], + [ + -6.597592437174171e-05, + 1.0, + 5.750449054175988e-05, + -5.614464680547826e-05 + ], + [ + 3.259190998505801e-05, + -5.750233685830608e-05, + 1.0, + -8.36895196698606e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999340176582336, + -0.00508520333096385, + 0.010301491245627403, + 0.022174555361095184 + ], + [ + 0.005017182324081659, + 0.999965488910675, + 0.006618116982281208, + 0.001694879105384901 + ], + [ + -0.010334789752960205, + -0.006565995514392853, + 0.9999250173568726, + 0.00972355158542687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999375343322754, + -0.004210783168673515, + 0.01035455334931612, + 0.022472428893318998 + ], + [ + 0.00414626020938158, + 0.9999719262123108, + 0.006244986783713102, + 0.0021472239836101545 + ], + [ + -0.010380559600889683, + -0.0062016635201871395, + 0.9999268651008606, + 0.009767448438226052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9989750385284424, + -0.011278491467237473, + 0.04383661970496178, + 0.01584562414835365 + ], + [ + 0.010703209787607193, + 0.999853789806366, + 0.013335945084691048, + 0.008594120152400068 + ], + [ + -0.043980617076158524, + -0.01285308413207531, + 0.9989497065544128, + 0.007029089716456409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9983026385307312, + -0.014161881990730762, + 0.056491609662771225, + 0.02371097908548589 + ], + [ + 0.013204927556216717, + 0.999763548374176, + 0.017277229577302933, + 0.006612338984982585 + ], + [ + -0.05672292783856392, + -0.016501937061548233, + 0.998253583908081, + 0.008151228406097529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9980803728103638, + -0.013104797340929508, + 0.06052977591753006, + 0.014472383267755778 + ], + [ + 0.012174625881016254, + 0.9998024702072144, + 0.015710515901446342, + 0.010314599114452611 + ], + [ + -0.06072369962930679, + -0.01494342926889658, + 0.9980427622795105, + 0.007882448317447922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9946815967559814, + -0.012290656566619873, + 0.10226165503263474, + -0.04975913267512366 + ], + [ + 0.010445047169923782, + 0.9997731447219849, + 0.01856386475265026, + 0.01302873676572487 + ], + [ + -0.10246662050485611, + -0.01739700697362423, + 0.994584321975708, + -0.008165966445263826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9975388646125793, + -0.02895125187933445, + 0.06385938078165054, + 0.05209862197274869 + ], + [ + 0.027375994250178337, + 0.9993022680282593, + 0.025406377390027046, + -0.01479983319668978 + ], + [ + -0.06455037742853165, + -0.02359563671052456, + 0.9976354241371155, + 0.024930837230300006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.993456244468689, + -0.03982264921069145, + 0.10704585164785385, + 0.05677920800616156 + ], + [ + 0.037695202976465225, + 0.9990509152412415, + 0.021825406700372696, + -0.0006215561611823879 + ], + [ + -0.10781339555978775, + -0.01764747127890587, + 0.9940145015716553, + 0.007657465117298207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9920204877853394, + -0.043617140501737595, + 0.11829148232936859, + 0.06096124700358454 + ], + [ + 0.04139364883303642, + 0.9989181756973267, + 0.021190088242292404, + 0.002106594697589863 + ], + [ + -0.11908777058124542, + -0.016124486923217773, + 0.9927527904510498, + 0.005213967828905948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9899319410324097, + -0.05102046951651573, + 0.13202905654907227, + 0.06552601549422966 + ], + [ + 0.04852863773703575, + 0.9985789060592651, + 0.02202485129237175, + 0.001311550643910074 + ], + [ + -0.13296514749526978, + -0.015395913273096085, + 0.9910011291503906, + 0.0051587223556367155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9884827733039856, + -0.05601997300982475, + 0.140582874417305, + 0.06831295568285123 + ], + [ + 0.053376104682683945, + 0.9983207583427429, + 0.022510122507810593, + 0.0010224703593917613 + ], + [ + -0.14160780608654022, + -0.014747102744877338, + 0.989812970161438, + 0.002339835183800391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9884790182113647, + -0.056010808795690536, + 0.1406128704547882, + 0.06827586762747674 + ], + [ + 0.05336523428559303, + 0.9983211159706116, + 0.022518256679177284, + 0.0009950687276322466 + ], + [ + -0.14163807034492493, + -0.014754986390471458, + 0.9898085594177246, + 0.002865840015792341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9847776293754578, + -0.06266412138938904, + 0.16213014721870422, + 0.07399814203381538 + ], + [ + 0.05981123447418213, + 0.9979578256607056, + 0.022422637790441513, + 0.005804828004384378 + ], + [ + -0.1632041335105896, + -0.012384109199047089, + 0.9865145683288574, + -0.0034752942305409677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9847552180290222, + -0.0625380128622055, + 0.16231508553028107, + 0.07375699966302458 + ], + [ + 0.05969236418604851, + 0.997966468334198, + 0.0223544891923666, + 0.0059722341105060755 + ], + [ + -0.16338302195072174, + -0.012324729934334755, + 0.9864857196807861, + -0.002914652657115234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9831426739692688, + -0.06643491238355637, + 0.17034335434436798, + 0.07211434247218212 + ], + [ + 0.0635409727692604, + 0.9977279901504517, + 0.022390879690647125, + 0.010533554163181557 + ], + [ + -0.1714438647031784, + -0.011189647018909454, + 0.9851303696632385, + -0.007568904304138894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9809273481369019, + -0.06555657088756561, + 0.18298585712909698, + 0.08044000776871195 + ], + [ + 0.062350090593099594, + 0.9977840185165405, + 0.023227958008646965, + 0.021140743679595442 + ], + [ + -0.1841031163930893, + -0.011375756934285164, + 0.9828411340713501, + -0.010565421196087351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9778662323951721, + -0.06938645988702774, + 0.1973908543586731, + 0.07735033102755276 + ], + [ + 0.06548171490430832, + 0.9975084662437439, + 0.026248574256896973, + 0.020295401395491835 + ], + [ + -0.19872033596038818, + -0.012742103077471256, + 0.9799733757972717, + -0.014888870758268068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9760248064994812, + -0.07899979501962662, + 0.20281662046909332, + 0.07521982992876251 + ], + [ + 0.07477710396051407, + 0.9967954754829407, + 0.02841150015592575, + 0.02084323618350164 + ], + [ + -0.20441119372844696, + -0.012564289383590221, + 0.9788044691085815, + -0.018848624937939193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.976059079170227, + -0.07903439551591873, + 0.2026381641626358, + 0.07582956835768133 + ], + [ + 0.0748022124171257, + 0.9967918395996094, + 0.028471732512116432, + 0.020748797782152047 + ], + [ + -0.20423831045627594, + -0.012632308527827263, + 0.9788396954536438, + -0.018415066501441993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9730823636054993, + -0.08718551695346832, + 0.21332938969135284, + 0.07606961381322933 + ], + [ + 0.08285444974899292, + 0.9961344599723816, + 0.02917693741619587, + 0.03399240958311085 + ], + [ + -0.21504856646060944, + -0.010716276243329048, + 0.9765445590019226, + -0.024221613370584993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9700542092323303, + -0.09248379617929459, + 0.2245919406414032, + 0.07194157992050333 + ], + [ + 0.08750269562005997, + 0.9956484436988831, + 0.032053619623184204, + 0.0370095690747477 + ], + [ + -0.22657907009124756, + -0.011441349051892757, + 0.9739255905151367, + -0.028936785417345335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9687354564666748, + -0.09972970187664032, + 0.22716866433620453, + 0.07602709758113016 + ], + [ + 0.09428858757019043, + 0.9949397444725037, + 0.034706998616456985, + 0.04080967822656879 + ], + [ + -0.22948046028614044, + -0.012202487327158451, + 0.9732367992401123, + -0.0351017675450388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9658815860748291, + -0.10325167328119278, + 0.23751190304756165, + 0.08044021999779737 + ], + [ + 0.09641890972852707, + 0.9945271015167236, + 0.040239423513412476, + 0.041990105526627235 + ], + [ + -0.24036681652069092, + -0.015965882688760757, + 0.9705508351325989, + -0.03422853539012513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9614095091819763, + -0.11049814522266388, + 0.25195610523223877, + 0.07887840785507885 + ], + [ + 0.102664515376091, + 0.9937393069267273, + 0.04407002031803131, + 0.04356918867747739 + ], + [ + -0.25524836778640747, + -0.016502389684319496, + 0.9667347073554993, + -0.039168550355254475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9596675634384155, + -0.12148299813270569, + 0.2535350024700165, + 0.08511038946936715 + ], + [ + 0.11353825032711029, + 0.9924777150154114, + 0.04579327255487442, + 0.04624868621873968 + ], + [ + -0.2571909725666046, + -0.015160400420427322, + 0.9662416577339172, + -0.047173213213682175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9576095938682556, + -0.13088959455490112, + 0.2566160559654236, + 0.08637934987837413 + ], + [ + 0.12314415723085403, + 0.991317629814148, + 0.046096622943878174, + 0.05086870570227785 + ], + [ + -0.2604215741157532, + -0.01254180446267128, + 0.9654135704040527, + -0.052972526004854234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9539016485214233, + -0.13147401809692383, + 0.2697891294956207, + 0.08642295940585856 + ], + [ + 0.12362685799598694, + 0.9912642240524292, + 0.04595301300287247, + 0.059854600659378296 + ], + [ + -0.27347394824028015, + -0.010481474921107292, + 0.9618223309516907, + -0.05489399503424482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9539126753807068, + -0.13135948777198792, + 0.26980602741241455, + 0.08641001306614786 + ], + [ + 0.12354732304811478, + 0.9912805557250977, + 0.04581345245242119, + 0.0601333969114524 + ], + [ + -0.27347153425216675, + -0.0103682242333889, + 0.9618242383003235, + -0.05453137831305558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9464294910430908, + -0.15048497915267944, + 0.2857017517089844, + 0.08840898143232993 + ], + [ + 0.14198747277259827, + 0.9885868430137634, + 0.050354450941085815, + 0.06262062588390314 + ], + [ + -0.29001855850219727, + -0.007090875878930092, + 0.9569947719573975, + -0.06786538106652926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9437201023101807, + -0.15839006006717682, + 0.2903531491756439, + 0.0895669974808423 + ], + [ + 0.15043659508228302, + 0.9873714447021484, + 0.04966297373175621, + 0.06894204212036335 + ], + [ + -0.2945525348186493, + -0.0031882114708423615, + 0.9556299448013306, + -0.0741590328936307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9393248558044434, + -0.16526363790035248, + 0.3005940020084381, + 0.09055875327508404 + ], + [ + 0.15749503672122955, + 0.9862493872642517, + 0.050074681639671326, + 0.0753129233237145 + ], + [ + -0.3047361671924591, + 0.00030567124485969543, + 0.9524367451667786, + -0.07847634528605443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9364156723022461, + -0.17067654430866241, + 0.3065864145755768, + 0.09357535833457731 + ], + [ + 0.16258065402507782, + 0.9853264093399048, + 0.051956094801425934, + 0.07770499814793749 + ], + [ + -0.31095537543296814, + 0.0011925119906663895, + 0.9504237771034241, + -0.08539997701937298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9340404868125916, + -0.17107662558555603, + 0.31353023648262024, + 0.09573404753826699 + ], + [ + 0.16286790370941162, + 0.9852554202079773, + 0.052399978041648865, + 0.08494380888933281 + ], + [ + -0.3178717792034149, + 0.0021203085780143738, + 0.9481313228607178, + -0.0909747913760959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9300751686096191, + -0.17409954965114594, + 0.3234957754611969, + 0.09477363031990123 + ], + [ + 0.1651090830564499, + 0.9847260117530823, + 0.05526033788919449, + 0.08701216098413153 + ], + [ + -0.32817551493644714, + 0.0020158234983682632, + 0.9446146488189697, + -0.09535359729011103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9262558221817017, + -0.1764795184135437, + 0.333024263381958, + 0.09176415739194402 + ], + [ + 0.16703960299491882, + 0.9843002557754517, + 0.05701514333486557, + 0.09215022997825213 + ], + [ + -0.3378579020500183, + 0.002817632630467415, + 0.9411929249763489, + -0.0997690219642981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9226822853088379, + -0.17992539703845978, + 0.34100469946861267, + 0.09455187118278359 + ], + [ + 0.1702171415090561, + 0.9836716651916504, + 0.05844834819436073, + 0.09790442631632652 + ], + [ + -0.3459530174732208, + 0.00411558523774147, + 0.9382427930831909, + -0.1063260148718672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9193195104598999, + -0.1847243756055832, + 0.3474601209163666, + 0.09754416429490413 + ], + [ + 0.1748935431241989, + 0.9827730059623718, + 0.05974520370364189, + 0.10229786409346281 + ], + [ + -0.35251083970069885, + 0.00584358349442482, + 0.9357895255088806, + -0.11320487027460674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9154187440872192, + -0.19094941020011902, + 0.35432592034339905, + 0.1004541036936472 + ], + [ + 0.1810201108455658, + 0.9815670847892761, + 0.06130077689886093, + 0.10532057853942772 + ], + [ + -0.3595000207424164, + 0.008024228736758232, + 0.9331105947494507, + -0.11915250392454975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9153828620910645, + -0.19107303023338318, + 0.3543519675731659, + 0.10075350360206838 + ], + [ + 0.18112879991531372, + 0.9815431237220764, + 0.06136336550116539, + 0.10520915141821188 + ], + [ + -0.35953661799430847, + 0.00801236554980278, + 0.9330965876579285, + -0.11856749268635264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9120259284973145, + -0.1953897774219513, + 0.3605988323688507, + 0.10320492890083564 + ], + [ + 0.18559330701828003, + 0.9806704521179199, + 0.061972133815288544, + 0.10968067384553405 + ], + [ + -0.36573734879493713, + 0.010404536500573158, + 0.9306599497795105, + -0.1254153957344451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.90641850233078, + -0.20232263207435608, + 0.3707709312438965, + 0.09787270873785019 + ], + [ + 0.192642480134964, + 0.9792193174362183, + 0.06339098513126373, + 0.11179855660588112 + ], + [ + -0.3758915066719055, + 0.013967465609312057, + 0.9265584349632263, + -0.1297333504512625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9019455313682556, + -0.20690149068832397, + 0.379059374332428, + 0.10043549107493095 + ], + [ + 0.1977631151676178, + 0.9781996607780457, + 0.06336578726768494, + 0.12277421026297336 + ], + [ + -0.3839062452316284, + 0.017811480909585953, + 0.923200249671936, + -0.14114404033939792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8980618119239807, + -0.20471122860908508, + 0.38933059573173523, + 0.10002912975988298 + ], + [ + 0.19470709562301636, + 0.9786744713783264, + 0.06546273827552795, + 0.125286645273555 + ], + [ + -0.39442887902259827, + 0.017015840858221054, + 0.9187689423561096, + -0.1459774963979451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8958472609519958, + -0.20947705209255219, + 0.39188912510871887, + 0.10510855404273518 + ], + [ + 0.19830240309238434, + 0.9776884913444519, + 0.06929163634777069, + 0.12153212959473987 + ], + [ + -0.3976605236530304, + 0.015637828037142754, + 0.9173993468284607, + -0.1522688391073695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8929647207260132, + -0.2138884961605072, + 0.3960628807544708, + 0.10327022361024371 + ], + [ + 0.20347225666046143, + 0.9766683578491211, + 0.06868752092123032, + 0.12490955056657768 + ], + [ + -0.40151354670524597, + 0.019252264872193336, + 0.9156507253646851, + -0.1572245553417026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8911955952644348, + -0.21822954714298248, + 0.39767614006996155, + 0.10489112788213874 + ], + [ + 0.20853103697299957, + 0.9756435751914978, + 0.06807626783847809, + 0.12898114749564316 + ], + [ + -0.40284642577171326, + 0.022258540615439415, + 0.914996862411499, + -0.16238275732634203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8911577463150024, + -0.21821890771389008, + 0.3977667987346649, + 0.10488550819034846 + ], + [ + 0.20852087438106537, + 0.9756456017494202, + 0.06807839125394821, + 0.12902293216858832 + ], + [ + -0.4029354155063629, + 0.022274086251854897, + 0.9149573445320129, + -0.16190047311895298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8871584534645081, + -0.21857018768787384, + 0.4064197540283203, + 0.09938740522231695 + ], + [ + 0.20814423263072968, + 0.9755681753158569, + 0.07030466943979263, + 0.1346651039595874 + ], + [ + -0.41185665130615234, + 0.02222253568470478, + 0.9109776616096497, + -0.1672156699985828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8856538534164429, + -0.2183382213115692, + 0.4098118245601654, + 0.09922458339693412 + ], + [ + 0.20611336827278137, + 0.9756962060928345, + 0.07439190149307251, + 0.1340276205595934 + ], + [ + -0.41609445214271545, + 0.018582211807370186, + 0.9091315269470215, + -0.17196436355698783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8842892050743103, + -0.2201564610004425, + 0.4117811918258667, + 0.09980230398897855 + ], + [ + 0.20710527896881104, + 0.9753081798553467, + 0.07668986171483994, + 0.13699032896953933 + ], + [ + -0.41849732398986816, + 0.017466029152274132, + 0.9080500602722168, + -0.1746247725666694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8843111395835876, + -0.22015975415706635, + 0.41173234581947327, + 0.10005980540277823 + ], + [ + 0.20711569488048553, + 0.9753073453903198, + 0.07667285203933716, + 0.13704478029372558 + ], + [ + -0.4184458553791046, + 0.017473571002483368, + 0.9080736637115479, + -0.1742494191201228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8826433420181274, + -0.22155141830444336, + 0.4145548641681671, + 0.09392048961149072 + ], + [ + 0.2057981789112091, + 0.975073516368866, + 0.08293840289115906, + 0.14460820145202133 + ], + [ + -0.42259660363197327, + 0.012109614908695221, + 0.906237006187439, + -0.17348023720507352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8830949664115906, + -0.21492041647434235, + 0.41707614064216614, + 0.08791332170367241 + ], + [ + 0.19599072635173798, + 0.9766242504119873, + 0.08827661722898483, + 0.14868440609425307 + ], + [ + -0.426299124956131, + 0.003786414861679077, + 0.9045743346214294, + -0.17396414428949356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8830915689468384, + -0.21490712463855743, + 0.41709020733833313, + 0.08808415073831126 + ], + [ + 0.19598399102687836, + 0.9766271114349365, + 0.08825981616973877, + 0.14875756614613084 + ], + [ + -0.4263092577457428, + 0.003801494836807251, + 0.9045695066452026, + -0.17353448181782127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8840147256851196, + -0.21141038835048676, + 0.41692158579826355, + 0.08925782530656401 + ], + [ + 0.18897081911563873, + 0.9773839116096497, + 0.09492463618516922, + 0.14981332145420448 + ], + [ + -0.4275605380535126, + -0.005128771066665649, + 0.9039721488952637, + -0.1757791295366467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8852142095565796, + -0.21080604195594788, + 0.4146764576435089, + 0.09197569720025332 + ], + [ + 0.18732061982154846, + 0.9774932861328125, + 0.09704580157995224, + 0.16037629288884828 + ], + [ + -0.4258013069629669, + -0.008228875696659088, + 0.9047792553901672, + -0.17993877232074737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8864651918411255, + -0.20773163437843323, + 0.4135541319847107, + 0.09201600596589862 + ], + [ + 0.18382948637008667, + 0.9781325459480286, + 0.09728021919727325, + 0.16303451053517046 + ], + [ + -0.4247189164161682, + -0.010212104767560959, + 0.9052676558494568, + -0.182489834107318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8879844546318054, + -0.1996399462223053, + 0.4142795503139496, + 0.0888970062698958 + ], + [ + 0.17483431100845337, + 0.9797684550285339, + 0.09739984571933746, + 0.16595431933144353 + ], + [ + -0.42534294724464417, + -0.014059264212846756, + 0.9049230813980103, + -0.18489677810444022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8888961672782898, + -0.1927836537361145, + 0.415569543838501, + 0.08473633876386678 + ], + [ + 0.1667499840259552, + 0.9810722470283508, + 0.09844626486301422, + 0.16599712368311748 + ], + [ + -0.42668259143829346, + -0.018212299793958664, + 0.9042180776596069, + -0.18753640331187338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8889093995094299, + -0.19283618032932281, + 0.4155169427394867, + 0.08502704551759756 + ], + [ + 0.1667756587266922, + 0.981060802936554, + 0.09851717203855515, + 0.16591609121774728 + ], + [ + -0.42664507031440735, + -0.018274739384651184, + 0.9042345285415649, + -0.18713169699569918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8901877403259277, + -0.18782494962215424, + 0.4150753915309906, + 0.08589170211047496 + ], + [ + 0.1617235690355301, + 0.9820051789283752, + 0.0975262001156807, + 0.16816642052792716 + ], + [ + -0.42592403292655945, + -0.019689157605171204, + 0.9045447111129761, + -0.1953364908132913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8898264169692993, + -0.191708505153656, + 0.41407346725463867, + 0.08808289355826827 + ], + [ + 0.16572245955467224, + 0.9812729358673096, + 0.09818099439144135, + 0.16580411433330122 + ], + [ + -0.42514121532440186, + -0.018742773681879044, + 0.904932975769043, + -0.19934531309694614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8897904753684998, + -0.19514916837215424, + 0.41254058480262756, + 0.0919811947025218 + ], + [ + 0.17015154659748077, + 0.9806427359580994, + 0.09689323604106903, + 0.1665790162910268 + ], + [ + -0.4234635531902313, + -0.016020268201828003, + 0.9057714939117432, + -0.2048645094880518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8888635635375977, + -0.19798551499843597, + 0.4131866991519928, + 0.0929258091832107 + ], + [ + 0.1744871586561203, + 0.9801349639892578, + 0.09428487718105316, + 0.1699484939845103 + ], + [ + -0.4236457645893097, + -0.011710628867149353, + 0.9057522416114807, + -0.20804296731948851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8884546160697937, + -0.19761426746845245, + 0.4142427146434784, + 0.09280638108557125 + ], + [ + 0.17549552023410797, + 0.9802442789077759, + 0.09122776985168457, + 0.17420443470747965 + ], + [ + -0.42408695816993713, + -0.008353997021913528, + 0.9055829644203186, + -0.21051363351772417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.889158308506012, + -0.1938505321741104, + 0.41451120376586914, + 0.09345316363955444 + ], + [ + 0.17199291288852692, + 0.9809935092926025, + 0.08983398973941803, + 0.1758994550215748 + ], + [ + -0.42404717206954956, + -0.00858364999294281, + 0.9055994153022766, + -0.21415485576638635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8897611498832703, + -0.19007238745689392, + 0.41496703028678894, + 0.09230104554093109 + ], + [ + 0.16783848404884338, + 0.9817166328430176, + 0.08979281783103943, + 0.17524716242585542 + ], + [ + -0.4244471490383148, + -0.010246720165014267, + 0.9053947329521179, + -0.2175731560250498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8892051577568054, + -0.19014106690883636, + 0.41612574458122253, + 0.09128295382801092 + ], + [ + 0.16789411008358002, + 0.9817059636116028, + 0.08980536460876465, + 0.17552123069763184 + ], + [ + -0.42558881640434265, + -0.009990345686674118, + 0.9048615097999573, + -0.2195950410276089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.88739013671875, + -0.19590428471565247, + 0.4173251688480377, + 0.09228234191266996 + ], + [ + 0.17356956005096436, + 0.9805859327316284, + 0.0912407636642456, + 0.1725814402665732 + ], + [ + -0.4270976483821869, + -0.008531216531991959, + 0.9041652679443359, + -0.21916195710874953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.886238694190979, + -0.19840086996555328, + 0.4185905456542969, + 0.0920708031868035 + ], + [ + 0.17698656022548676, + 0.9801054000854492, + 0.08982862532138824, + 0.17515299532492207 + ], + [ + -0.4280849099159241, + -0.005524706095457077, + 0.9037216305732727, + -0.22003517370179015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8847891092300415, + -0.20001426339149475, + 0.42088302969932556, + 0.08963449947395415 + ], + [ + 0.1793152093887329, + 0.9797884821891785, + 0.08866007626056671, + 0.17801023645080485 + ], + [ + -0.43010959029197693, + -0.0029747560620307922, + 0.9027717709541321, + -0.2186817817249388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8835011720657349, + -0.2021462321281433, + 0.422566682100296, + 0.08982357931024623 + ], + [ + 0.18165531754493713, + 0.9793540239334106, + 0.08869615197181702, + 0.17900478120120067 + ], + [ + -0.4317719638347626, + -0.0016016773879528046, + 0.9019813537597656, + -0.21744591132649835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8827604651451111, + -0.2033817321062088, + 0.4235208034515381, + 0.09017682933020142 + ], + [ + 0.18281643092632294, + 0.9790987372398376, + 0.08912830054759979, + 0.17896041011894648 + ], + [ + -0.43279576301574707, + -0.0012523829936981201, + 0.9014911651611328, + -0.21580860760976683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8827114105224609, + -0.202385812997818, + 0.4240996241569519, + 0.09001553885216983 + ], + [ + 0.18155553936958313, + 0.9793038964271545, + 0.08945082128047943, + 0.17949583663974167 + ], + [ + -0.43342602252960205, + -0.0019616298377513885, + 0.901187002658844, + -0.21476179625628128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8821051716804504, + -0.2010613977909088, + 0.42598676681518555, + 0.08761471228779487 + ], + [ + 0.18013572692871094, + 0.9795764684677124, + 0.08933696150779724, + 0.1812430165426911 + ], + [ + -0.43524885177612305, + -0.0020691603422164917, + 0.900307834148407, + -0.212323878030732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8822486400604248, + -0.20061951875686646, + 0.42589810490608215, + 0.08870859702803054 + ], + [ + 0.17981988191604614, + 0.9796673655509949, + 0.08897560834884644, + 0.1828662392665755 + ], + [ + -0.43508872389793396, + -0.001913655549287796, + 0.9003855586051941, + -0.2100466178273255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8828585743904114, + -0.1981777548789978, + 0.4257773458957672, + 0.08732839953505768 + ], + [ + 0.1769598126411438, + 0.9801599383354187, + 0.08928470313549042, + 0.18409196311994544 + ], + [ + -0.43502411246299744, + -0.003480292856693268, + 0.9004120826721191, + -0.20816156926020135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8833820819854736, + -0.19559991359710693, + 0.42588356137275696, + 0.08622972636290316 + ], + [ + 0.1736409068107605, + 0.9806668758392334, + 0.0902291089296341, + 0.18460735182436008 + ], + [ + -0.43529871106147766, + -0.005755964666604996, + 0.9002676606178284, + -0.2051718291246666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8840605020523071, + -0.1916607916355133, + 0.42626655101776123, + 0.08444908469353082 + ], + [ + 0.16901183128356934, + 0.9814270734786987, + 0.09075167775154114, + 0.18771889354541615 + ], + [ + -0.4357430934906006, + -0.00818588212132454, + 0.9000338315963745, + -0.20174506368502132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8846383690834045, + -0.18796925246715546, + 0.42671123147010803, + 0.08258654584862152 + ], + [ + 0.16426627337932587, + 0.9821091890335083, + 0.09207651019096375, + 0.18947599041012098 + ], + [ + -0.4363845884799957, + -0.011360157281160355, + 0.8996885418891907, + -0.1980142708656923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.8853110671043396, + -0.18604972958564758, + 0.42615705728530884, + 0.0816852663766663 + ], + [ + 0.160433828830719, + 0.9824056029319763, + 0.0956043154001236, + 0.18900954257345426 + ], + [ + -0.43644624948501587, + -0.01626954972743988, + 0.8995832204818726, + -0.19613605844524673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.8859239816665649, + -0.18392467498779297, + 0.42580562829971313, + 0.08069724255013017 + ], + [ + 0.1568724811077118, + 0.9827345609664917, + 0.09810121357440948, + 0.1908241406504838 + ], + [ + -0.43649715185165405, + -0.020113036036491394, + 0.8994808197021484, + -0.1938101717323627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.8864114284515381, + -0.1840037703514099, + 0.4247557520866394, + 0.08129066656220633 + ], + [ + 0.15576499700546265, + 0.9826556444168091, + 0.10062365978956223, + 0.19208702626725976 + ], + [ + -0.43590378761291504, + -0.02303188294172287, + 0.8996984958648682, + -0.19246817174947486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.8869139552116394, + -0.18417760729789734, + 0.4236298203468323, + 0.0818922608528497 + ], + [ + 0.15466105937957764, + 0.9825447201728821, + 0.10337254405021667, + 0.19284875308567623 + ], + [ + -0.4352741241455078, + -0.02616352215409279, + 0.899917721748352, + -0.19112444469388926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.8872201442718506, + -0.18486790359020233, + 0.42268702387809753, + 0.08281852129214215 + ], + [ + 0.15474598109722137, + 0.98237544298172, + 0.10484342277050018, + 0.19364548752189809 + ], + [ + -0.4346195161342621, + -0.027610089629888535, + 0.9001908302307129, + -0.19001787169924322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.8876171112060547, + -0.18573443591594696, + 0.42147189378738403, + 0.08374799928575191 + ], + [ + 0.1554526835680008, + 0.9821985960006714, + 0.10545340180397034, + 0.19401285184441872 + ], + [ + -0.4335554242134094, + -0.02808332070708275, + 0.9006891846656799, + -0.18992604562696422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.8878536224365234, + -0.1869693100452423, + 0.42042651772499084, + 0.08450749335142801 + ], + [ + 0.15651923418045044, + 0.9819539189338684, + 0.10615193843841553, + 0.19380292290786527 + ], + [ + -0.43268659710884094, + -0.028442561626434326, + 0.9010956287384033, + -0.18936117578227565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.8880231976509094, + -0.1875583678483963, + 0.41980549693107605, + 0.08523118622460454 + ], + [ + 0.15701667964458466, + 0.9818348288536072, + 0.10651808977127075, + 0.1930297496746171 + ], + [ + -0.4321580231189728, + -0.02867407724261284, + 0.9013419151306152, + -0.18840220615548908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.8881186842918396, + -0.1879255771636963, + 0.4194391965866089, + 0.08503922224044799 + ], + [ + 0.15730345249176025, + 0.9817590117454529, + 0.10679380595684052, + 0.19218404351399754 + ], + [ + -0.43185746669769287, + -0.02886636182665825, + 0.9014798402786255, + -0.18785857203996406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.8883989453315735, + -0.18921595811843872, + 0.41826382279396057, + 0.08638927944988575 + ], + [ + 0.15868622064590454, + 0.9815171360969543, + 0.10697084665298462, + 0.19106749880988644 + ], + [ + -0.43077370524406433, + -0.028660088777542114, + 0.9020047783851624, + -0.18782152797815935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.8885194659233093, + -0.19008386135101318, + 0.41761383414268494, + 0.08661218331951015 + ], + [ + 0.15989083051681519, + 0.981372594833374, + 0.10650263726711273, + 0.1909825539040678 + ], + [ + -0.4300791919231415, + -0.027857039123773575, + 0.902361273765564, + -0.1876288261616005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.8885946869850159, + -0.1912873387336731, + 0.4169035851955414, + 0.08752782510698966 + ], + [ + 0.16104057431221008, + 0.9811380505561829, + 0.1069299578666687, + 0.18980310952888343 + ], + [ + -0.42949435114860535, + -0.027878999710083008, + 0.9026390910148621, + -0.18748779504928947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.8886528015136719, + -0.19257134199142456, + 0.41618797183036804, + 0.08834524948923092 + ], + [ + 0.1623292863368988, + 0.9808905124664307, + 0.1072520911693573, + 0.18860216859095502 + ], + [ + -0.4288885295391083, + -0.02775038406252861, + 0.9029310941696167, + -0.18728211747025544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.8886252045631409, + -0.19267058372497559, + 0.41620105504989624, + 0.08848543830637662 + ], + [ + 0.16262495517730713, + 0.9808844327926636, + 0.10685926675796509, + 0.1893381398803783 + ], + [ + -0.4288337826728821, + -0.027273159474134445, + 0.902971625328064, + -0.18686959372376497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.8881931304931641, + -0.19414183497428894, + 0.4164395034313202, + 0.08742813337242827 + ], + [ + 0.16430369019508362, + 0.9806188941001892, + 0.10672793537378311, + 0.18901077178219017 + ], + [ + -0.4290888011455536, + -0.02637246996164322, + 0.9028772115707397, + -0.18614833647350096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.8879721164703369, + -0.19624893367290497, + 0.4159228801727295, + 0.08864040217309628 + ], + [ + 0.16673977673053741, + 0.9802290797233582, + 0.10653091222047806, + 0.18955676156394888 + ], + [ + -0.4286062717437744, + -0.025245599448680878, + 0.9031385779380798, + -0.18618544103964318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.8877565264701843, + -0.1976463347673416, + 0.41572141647338867, + 0.08986802669066303 + ], + [ + 0.16820429265499115, + 0.9799594879150391, + 0.1067083328962326, + 0.18957358538963884 + ], + [ + -0.42848068475723267, + -0.024804890155792236, + 0.9032104015350342, + -0.18558417170677544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.887389063835144, + -0.19823190569877625, + 0.416226863861084, + 0.08955527684598599 + ], + [ + 0.16859757900238037, + 0.9798372387886047, + 0.10720925033092499, + 0.18891264159443244 + ], + [ + -0.4290868639945984, + -0.024961475282907486, + 0.90291827917099, + -0.18452376014781446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.8871541619300842, + -0.19886605441570282, + 0.41642504930496216, + 0.08964930016477153 + ], + [ + 0.1691780835390091, + 0.9797109961509705, + 0.10744842886924744, + 0.18839939007500434 + ], + [ + -0.4293440580368042, + -0.02487333118915558, + 0.9027984142303467, + -0.18373737593866743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.887079119682312, + -0.19965310394763947, + 0.41620826721191406, + 0.09091905434176607 + ], + [ + 0.17019708454608917, + 0.9795675277709961, + 0.10714684426784515, + 0.1886436293991107 + ], + [ + -0.4290962815284729, + -0.02421030029654503, + 0.9029342532157898, + -0.18325767483351366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8869052529335022, + -0.19999684393405914, + 0.41641363501548767, + 0.09088154394390448 + ], + [ + 0.1707983762025833, + 0.9795151352882385, + 0.1066678911447525, + 0.18890837018360507 + ], + [ + -0.4292167127132416, + -0.023481547832489014, + 0.9028962850570679, + -0.18298706817177107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8868274688720703, + -0.20003390312194824, + 0.4165615439414978, + 0.090769229379465 + ], + [ + 0.17087388038635254, + 0.9795108437538147, + 0.10658621788024902, + 0.18903875350952148 + ], + [ + -0.4293473958969116, + -0.023344088345766068, + 0.9028376340866089, + -0.1824133001408487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8873620629310608, + -0.20063646137714386, + 0.41513076424598694, + 0.09360856044123758 + ], + [ + 0.17181457579135895, + 0.9794000387191772, + 0.1060909628868103, + 0.18775090921037602 + ], + [ + -0.42786481976509094, + -0.022815581411123276, + 0.9035547375679016, + -0.18348695059429926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8875550627708435, + -0.20040491223335266, + 0.41482987999916077, + 0.09348225022824305 + ], + [ + 0.1714983880519867, + 0.9794396162033081, + 0.10623694211244583, + 0.18590863254272713 + ], + [ + -0.4275912344455719, + -0.023148484528064728, + 0.9036757349967957, + -0.18368766212238455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.887717604637146, + -0.20150069892406464, + 0.4139504134654999, + 0.0948528490679444 + ], + [ + 0.17228762805461884, + 0.9791985750198364, + 0.10717813670635223, + 0.18312100191020741 + ], + [ + -0.4269361197948456, + -0.02382539212703705, + 0.9039678573608398, + -0.18380061410508064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.8877789974212646, + -0.2017865628004074, + 0.41367945075035095, + 0.09507226794958115 + ], + [ + 0.1731085628271103, + 0.979168713092804, + 0.10612310469150543, + 0.18368576541543008 + ], + [ + -0.4264761507511139, + -0.022602424025535583, + 0.9042163491249084, + -0.18395113050937653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.887485146522522, + -0.2033243030309677, + 0.41355690360069275, + 0.09547109000806539 + ], + [ + 0.17459426820278168, + 0.9788556098937988, + 0.10657615959644318, + 0.1822432567418184 + ], + [ + -0.42648205161094666, + -0.022380094975233078, + 0.9042190909385681, + -0.183216333867244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8874814510345459, + -0.2034638226032257, + 0.413496196269989, + 0.09572330187514143 + ], + [ + 0.17470473051071167, + 0.9788255095481873, + 0.1066717654466629, + 0.18209447661098443 + ], + [ + -0.42644447088241577, + -0.02242947742342949, + 0.9042356014251709, + -0.18282189099293833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8876821398735046, + -0.20430795848369598, + 0.41264837980270386, + 0.09710417699139073 + ], + [ + 0.17552067339420319, + 0.9786475300788879, + 0.10696496069431305, + 0.18138672139425321 + ], + [ + -0.4256911277770996, + -0.022522572427988052, + 0.9045882225036621, + -0.1821782595144128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.8873720765113831, + -0.2034614235162735, + 0.41373205184936523, + 0.09445758698121556 + ], + [ + 0.17483799159526825, + 0.9788345694541931, + 0.10637007653713226, + 0.18291599127762723 + ], + [ + -0.42661744356155396, + -0.022053752094507217, + 0.9041632413864136, + -0.1794895976781845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.886978805065155, + -0.20389887690544128, + 0.41435953974723816, + 0.093288286241158 + ], + [ + 0.17538145184516907, + 0.9787551760673523, + 0.10620592534542084, + 0.18403930602911509 + ], + [ + -0.42721179127693176, + -0.021531429141759872, + 0.9038951396942139, + -0.17718152156415976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8866037130355835, + -0.2049611359834671, + 0.4146381914615631, + 0.09283537330492488 + ], + [ + 0.17656661570072174, + 0.978546679019928, + 0.10616341978311539, + 0.18502454493405684 + ], + [ + -0.42750218510627747, + -0.020913608372211456, + 0.9037723541259766, + -0.17529089810713283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.886550784111023, + -0.2047787606716156, + 0.4148413836956024, + 0.09180295749936464 + ], + [ + 0.17652025818824768, + 0.9785916805267334, + 0.10582509636878967, + 0.1860444165203931 + ], + [ + -0.42763105034828186, + -0.02059142291545868, + 0.9037188291549683, + -0.1731320988457158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8866128921508789, + -0.2038067877292633, + 0.415187269449234, + 0.09086932596170677 + ], + [ + 0.17567718029022217, + 0.9787977337837219, + 0.10532107949256897, + 0.18785204760870844 + ], + [ + -0.42784950137138367, + -0.02044011279940605, + 0.9036188721656799, + -0.17057080353206058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8867459893226624, + -0.20469284057617188, + 0.41446635127067566, + 0.0910152071067747 + ], + [ + 0.17645803093910217, + 0.9786081910133362, + 0.10577608644962311, + 0.18682788083997537 + ], + [ + -0.42725178599357605, + -0.020660609006881714, + 0.9038965702056885, + -0.169591930114998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8867858052253723, + -0.20580914616584778, + 0.41382795572280884, + 0.09151083908553394 + ], + [ + 0.17769557237625122, + 0.978381872177124, + 0.1057976707816124, + 0.18642543940892758 + ], + [ + -0.4266558885574341, + -0.020284481346607208, + 0.9041865468025208, + -0.16832053695084914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8868610858917236, + -0.20654799044132233, + 0.4132980704307556, + 0.09193355173997159 + ], + [ + 0.17876137793064117, + 0.9782421588897705, + 0.10529310256242752, + 0.1868877523244833 + ], + [ + -0.4260537028312683, + -0.01949862390756607, + 0.9044877290725708, + -0.16694158928574257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8871352076530457, + -0.20613393187522888, + 0.4129164218902588, + 0.09195279552126831 + ], + [ + 0.17834118008613586, + 0.9783251285552979, + 0.1052350252866745, + 0.18628237968627012 + ], + [ + -0.4256590008735657, + -0.019717711955308914, + 0.9046688079833984, + -0.16602153114552767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8872523307800293, + -0.2052428275346756, + 0.4131086468696594, + 0.09095006694771209 + ], + [ + 0.1775987297296524, + 0.9785159826278687, + 0.10471461713314056, + 0.18639066450578987 + ], + [ + -0.4257253408432007, + -0.01954071596264839, + 0.9046414494514465, + -0.1646372230266625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8869819641113281, + -0.20663386583328247, + 0.41299572587013245, + 0.09127679818643714 + ], + [ + 0.1789674162864685, + 0.9782282710075378, + 0.10507182776927948, + 0.18469946704945475 + ], + [ + -0.42571547627449036, + -0.01928403601050377, + 0.9046515822410583, + -0.16410529585379474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8868364095687866, + -0.20789064466953278, + 0.41267749667167664, + 0.09160000478040498 + ], + [ + 0.1804300993680954, + 0.9779753684997559, + 0.10492447018623352, + 0.18361058916966871 + ], + [ + -0.4254012405872345, + -0.01859140768647194, + 0.9048138856887817, + -0.1639906087011661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8866552114486694, + -0.20911911129951477, + 0.4124460518360138, + 0.09241903272439848 + ], + [ + 0.18174248933792114, + 0.9777215123176575, + 0.10502544045448303, + 0.18251316836982404 + ], + [ + -0.42522022128105164, + -0.01816238835453987, + 0.9049077033996582, + -0.16381219243103604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8864707946777344, + -0.20973935723304749, + 0.412527471780777, + 0.09184355056791935 + ], + [ + 0.18252110481262207, + 0.9775984883308411, + 0.10482025891542435, + 0.1814740314622814 + ], + [ + -0.4252711832523346, + -0.01762513816356659, + 0.9048943519592285, + -0.1640130454639219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8864700794219971, + -0.2102314680814743, + 0.41227856278419495, + 0.09269878158591828 + ], + [ + 0.18289540708065033, + 0.9774887561798096, + 0.10519008338451385, + 0.18048821156317332 + ], + [ + -0.42511191964149475, + -0.01784401759505272, + 0.9049649238586426, + -0.16353946339409306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8862473368644714, + -0.21070237457752228, + 0.41251689195632935, + 0.09300574955512893 + ], + [ + 0.18359757959842682, + 0.9774001240730286, + 0.10479004681110382, + 0.18055556338491305 + ], + [ + -0.425273597240448, + -0.01713280752301216, + 0.9049026966094971, + -0.16252495432799718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8862506151199341, + -0.21072401106357574, + 0.4124987721443176, + 0.09328079521656037 + ], + [ + 0.18365149199962616, + 0.9773967266082764, + 0.10472692549228668, + 0.1806149203681721 + ], + [ + -0.42524343729019165, + -0.01705828681588173, + 0.9049182534217834, + -0.16206543445587157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8864191770553589, + -0.210275799036026, + 0.4123653173446655, + 0.09342836417117209 + ], + [ + 0.18310579657554626, + 0.9774867296218872, + 0.10484226793050766, + 0.1811604793517376 + ], + [ + -0.42512744665145874, + -0.017427705228328705, + 0.9049656987190247, + -0.16199712694253562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.8861995935440063, + -0.20910407602787018, + 0.41343164443969727, + 0.09213297760711525 + ], + [ + 0.18137021362781525, + 0.9777142405509949, + 0.10573409497737885, + 0.1818669337146687 + ], + [ + -0.4263274669647217, + -0.018717333674430847, + 0.9043752551078796, + -0.1604088656744867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8861666917800903, + -0.2090587615966797, + 0.41352516412734985, + 0.0921777201148699 + ], + [ + 0.18136560916900635, + 0.9777259826660156, + 0.10563333332538605, + 0.18213704057600139 + ], + [ + -0.4263978600502014, + -0.018609508872032166, + 0.9043442606925964, + -0.1599412591108736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8855673670768738, + -0.20970578491687775, + 0.4144802987575531, + 0.09172378944338493 + ], + [ + 0.18152062594890594, + 0.9775737524032593, + 0.10677017271518707, + 0.18368969864721568 + ], + [ + -0.42757537961006165, + -0.019315477460622787, + 0.903773307800293, + -0.15857979121073237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8847714066505432, + -0.2100733071565628, + 0.41599127650260925, + 0.08995023357137194 + ], + [ + 0.18173129856586456, + 0.9774977564811707, + 0.10710684955120087, + 0.18495966444178571 + ], + [ + -0.42913082242012024, + -0.01916643977165222, + 0.9030389785766602, + -0.15701295013697641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8840813636779785, + -0.21133555471897125, + 0.4168182909488678, + 0.08940780025045827 + ], + [ + 0.1824975162744522, + 0.9772139191627502, + 0.1083863377571106, + 0.18451840815679083 + ], + [ + -0.43022653460502625, + -0.019754040986299515, + 0.9025048017501831, + -0.1562190644583612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8835634589195251, + -0.21274106204509735, + 0.4172011911869049, + 0.08999425028011485 + ], + [ + 0.18348349630832672, + 0.976898729801178, + 0.1095566600561142, + 0.1841102831417097 + ], + [ + -0.43087050318717957, + -0.020250733941793442, + 0.9021865129470825, + -0.1553524298487969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.8831459283828735, + -0.2151147425174713, + 0.41686803102493286, + 0.09216187542901849 + ], + [ + 0.18557608127593994, + 0.9763758778572083, + 0.11068747937679291, + 0.18422179932020746 + ], + [ + -0.43083035945892334, + -0.020392462611198425, + 0.9022024869918823, + -0.15550356361101259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.8827674984931946, + -0.21580517292022705, + 0.41731247305870056, + 0.09195631102852102 + ], + [ + 0.1862708032131195, + 0.9762298464775085, + 0.11080819368362427, + 0.184600626944371 + ], + [ + -0.431305855512619, + -0.02008475363254547, + 0.9019821882247925, + -0.15489960616489626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.8828835487365723, + -0.21487969160079956, + 0.4175444543361664, + 0.0914210133395105 + ], + [ + 0.1851930022239685, + 0.9764233827590942, + 0.11090964078903198, + 0.18533551327462466 + ], + [ + -0.4315324127674103, + -0.020593974739313126, + 0.9018623232841492, + -0.15508246832298783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.8828200101852417, + -0.21529780328273773, + 0.41746342182159424, + 0.0921856292295006 + ], + [ + 0.18564532697200775, + 0.9763345718383789, + 0.11093495786190033, + 0.18561529229693818 + ], + [ + -0.43146800994873047, + -0.020435456186532974, + 0.9018967151641846, + -0.15511018875634897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.8828133344650269, + -0.21586407721042633, + 0.4171850383281708, + 0.09323136685591824 + ], + [ + 0.18632934987545013, + 0.9762163758277893, + 0.11082857847213745, + 0.18581906495229253 + ], + [ + -0.4311867654323578, + -0.020107131451368332, + 0.9020386338233948, + -0.15518733785962158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.8828927874565125, + -0.21561425924301147, + 0.41714605689048767, + 0.09362396065075443 + ], + [ + 0.18590247631072998, + 0.9762617349624634, + 0.11114566028118134, + 0.1855269794264492 + ], + [ + -0.4312082827091217, + -0.020581241697072983, + 0.9020176529884338, + -0.15469272617461546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.883556067943573, + -0.21429473161697388, + 0.41642096638679504, + 0.09490523571675678 + ], + [ + 0.18446147441864014, + 0.9765347838401794, + 0.11114765703678131, + 0.1855524630760247 + ], + [ + -0.4304679334163666, + -0.021391574293375015, + 0.9023523330688477, + -0.15516344359460865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.8836978673934937, + -0.21391189098358154, + 0.4163169860839844, + 0.09527014659823112 + ], + [ + 0.1840347945690155, + 0.9766137599945068, + 0.11116082966327667, + 0.18565807039585877 + ], + [ + -0.43035954236984253, + -0.02161577343940735, + 0.9023987054824829, + -0.15481135817068928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.8841350078582764, + -0.21186403930187225, + 0.41643598675727844, + 0.0949982149702198 + ], + [ + 0.18176423013210297, + 0.9770379066467285, + 0.1111697107553482, + 0.18614096831319468 + ], + [ + -0.43042662739753723, + -0.022595863789319992, + 0.902342677116394, + -0.15462545583832937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.8846789598464966, + -0.210813969373703, + 0.41581323742866516, + 0.0966733713897894 + ], + [ + 0.1809074878692627, + 0.9772650599479675, + 0.1105690449476242, + 0.1875217109145421 + ], + [ + -0.42966923117637634, + -0.022594381123781204, + 0.9027036428451538, + -0.15445838778648735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.8848726749420166, + -0.20930133759975433, + 0.41616499423980713, + 0.09638331352539782 + ], + [ + 0.17922215163707733, + 0.9775744676589966, + 0.11057840287685394, + 0.1881532777592821 + ], + [ + -0.4299764633178711, + -0.02326182648539543, + 0.902540385723114, + -0.1537007529218242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.885430097579956, + -0.2065705806016922, + 0.4163438081741333, + 0.09580068571387597 + ], + [ + 0.17592240869998932, + 0.9781076312065125, + 0.11116116493940353, + 0.18756656311803832 + ], + [ + -0.43019169569015503, + -0.02518124133348465, + 0.9023863077163696, + -0.15318061580073158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.8854452967643738, + -0.20657694339752197, + 0.41630834341049194, + 0.09605857280065429 + ], + [ + 0.17592760920524597, + 0.9781059622764587, + 0.1111672967672348, + 0.18760772250452132 + ], + [ + -0.43015825748443604, + -0.02519242838025093, + 0.9024019241333008, + -0.15278298837958643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.8857118487358093, + -0.2055087834596634, + 0.4162699580192566, + 0.09668973642137815 + ], + [ + 0.1749059110879898, + 0.9783265590667725, + 0.11083786189556122, + 0.18867692633198116 + ], + [ + -0.430026113986969, + -0.025362331420183182, + 0.9024601578712463, + -0.15259374922738883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.8856887817382812, + -0.20481927692890167, + 0.4166587293148041, + 0.09635576347135148 + ], + [ + 0.174244686961174, + 0.9784712791442871, + 0.11060181260108948, + 0.1894724800339285 + ], + [ + -0.4303419888019562, + -0.02535821497440338, + 0.9023096561431885, + -0.15211841121034803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.8859667181968689, + -0.20297101140022278, + 0.4169721007347107, + 0.09668564442193733 + ], + [ + 0.1722850501537323, + 0.9788400530815125, + 0.11040862649679184, + 0.19070371723610838 + ], + [ + -0.4305587410926819, + -0.02598031610250473, + 0.9021885395050049, + -0.1525909797200617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.8859967589378357, + -0.2033616602420807, + 0.41671785712242126, + 0.09744249804402297 + ], + [ + 0.17243587970733643, + 0.9787449836730957, + 0.11101411283016205, + 0.18977567307510465 + ], + [ + -0.43043652176856995, + -0.026501040905714035, + 0.902231752872467, + -0.15237565675996384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.8853579759597778, + -0.2046298384666443, + 0.4174540936946869, + 0.09756879150024 + ], + [ + 0.1732860505580902, + 0.9784690737724304, + 0.11211717128753662, + 0.1890815427280822 + ], + [ + -0.43140843510627747, + -0.02692486345767975, + 0.9017548561096191, + -0.15332559493352782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.885339081287384, + -0.20636337995529175, + 0.416640043258667, + 0.10023085702702685 + ], + [ + 0.17539000511169434, + 0.9781329035758972, + 0.11177805066108704, + 0.19007582833182138 + ], + [ + -0.4305962324142456, + -0.025886986404657364, + 0.9021733403205872, + -0.15408381471094096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.8852968811988831, + -0.2069467157125473, + 0.41644030809402466, + 0.10143919111985081 + ], + [ + 0.17617927491664886, + 0.9780242443084717, + 0.11148764193058014, + 0.19051280236047394 + ], + [ + -0.43036073446273804, + -0.0253315232694149, + 0.9023014903068542, + -0.15490522528032086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.8856185674667358, + -0.2057948112487793, + 0.4163270592689514, + 0.10215098076271562 + ], + [ + 0.1750776171684265, + 0.9782619476318359, + 0.11113680154085159, + 0.1912550418233534 + ], + [ + -0.43014830350875854, + -0.025535278022289276, + 0.9023970365524292, + -0.1560088612560956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8856126070022583, + -0.20581987500190735, + 0.4163273572921753, + 0.10236958597066267 + ], + [ + 0.174934983253479, + 0.978246808052063, + 0.1114940196275711, + 0.18948193411079217 + ], + [ + -0.43021857738494873, + -0.025910288095474243, + 0.9023528099060059, + -0.1570783698896192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.8857756853103638, + -0.2055022269487381, + 0.41613736748695374, + 0.10300451978197638 + ], + [ + 0.1748824268579483, + 0.9783259630203247, + 0.11088057607412338, + 0.18988308902337867 + ], + [ + -0.42990419268608093, + -0.025440208613872528, + 0.9025160074234009, + -0.15895628884153545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8857172727584839, + -0.2054828256368637, + 0.4162712097167969, + 0.10307153859790766 + ], + [ + 0.1748538464307785, + 0.9783303141593933, + 0.11088687181472778, + 0.18993192351651642 + ], + [ + -0.4300360679626465, + -0.02542780339717865, + 0.9024535417556763, + -0.1583648496641303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.885636568069458, + -0.20670300722122192, + 0.41583865880966187, + 0.1051784392516568 + ], + [ + 0.17657262086868286, + 0.9781065583229065, + 0.110135018825531, + 0.19014239851033912 + ], + [ + -0.4294997453689575, + -0.024113882333040237, + 0.9027450084686279, + -0.15970906772703494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8856477737426758, + -0.20609372854232788, + 0.4161170721054077, + 0.10506821870803834 + ], + [ + 0.17628681659698486, + 0.9782512784004211, + 0.10930442810058594, + 0.1896307200193405 + ], + [ + -0.4295939803123474, + -0.023449275642633438, + 0.902717649936676, + -0.16108286827802656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8857399225234985, + -0.20614708960056305, + 0.415894478559494, + 0.10641353043182841 + ], + [ + 0.17653696238994598, + 0.9782494902610779, + 0.10891574621200562, + 0.18850869896276942 + ], + [ + -0.4293012320995331, + -0.02305026724934578, + 0.9028671979904175, + -0.16236146131776413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.885338544845581, + -0.2071029543876648, + 0.41627395153045654, + 0.10830204647104696 + ], + [ + 0.17872139811515808, + 0.978116512298584, + 0.106520876288414, + 0.18827800435137074 + ], + [ + -0.42922520637512207, + -0.019909977912902832, + 0.9029780030250549, + -0.1650990119239069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8851776719093323, + -0.20835116505622864, + 0.41599318385124207, + 0.11004158404638181 + ], + [ + 0.18032923340797424, + 0.9778722524642944, + 0.1060531809926033, + 0.18693875547428176 + ], + [ + -0.42888447642326355, + -0.01886017620563507, + 0.9031624794006348, + -0.16559535619222893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8852043151855469, + -0.2089560627937317, + 0.4156329333782196, + 0.11250230966592735 + ], + [ + 0.18086031079292297, + 0.9777408838272095, + 0.10635960847139359, + 0.1842334083334174 + ], + [ + -0.4286057651042938, + -0.018978483974933624, + 0.9032922387123108, + -0.16557738165248115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8848662376403809, + -0.2091396450996399, + 0.4162600040435791, + 0.11152917163551979 + ], + [ + 0.18133428692817688, + 0.9777182340621948, + 0.10575858503580093, + 0.1833413301914368 + ], + [ + -0.4291033148765564, + -0.018099993467330933, + 0.9030740261077881, + -0.16649721557239316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.8848719596862793, + -0.2091173678636551, + 0.4162589907646179, + 0.11175909610289447 + ], + [ + 0.18129010498523712, + 0.9777219891548157, + 0.10579977929592133, + 0.1833083533664357 + ], + [ + -0.42911016941070557, + -0.01815563067793846, + 0.9030696749687195, + -0.16605345609615432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8844425678253174, + -0.20996007323265076, + 0.416747123003006, + 0.11364740467858764 + ], + [ + 0.1833377480506897, + 0.9775937795639038, + 0.10342951118946075, + 0.18422443111831288 + ], + [ + -0.42912545800209045, + -0.015071988105773926, + 0.9031191468238831, + -0.16679383898681066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8842412233352661, + -0.20936064422130585, + 0.41747525334358215, + 0.11290095894123023 + ], + [ + 0.18261022865772247, + 0.9777185320854187, + 0.10353738069534302, + 0.18328172876587454 + ], + [ + -0.4298499524593353, + -0.01531677320599556, + 0.9027704000473022, + -0.16525088734221907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.8842896223068237, + -0.2092447131872177, + 0.4174308478832245, + 0.11307245760031466 + ], + [ + 0.18259881436824799, + 0.9777464270591736, + 0.10329380631446838, + 0.18356389931912692 + ], + [ + -0.42975518107414246, + -0.015119269490242004, + 0.9028188586235046, + -0.1652795122479493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.8840424418449402, + -0.20890645682811737, + 0.4181232154369354, + 0.11291765383673164 + ], + [ + 0.18240274488925934, + 0.9778252243995667, + 0.1028936430811882, + 0.1834083314739027 + ], + [ + -0.4303465783596039, + -0.014695532619953156, + 0.9025441408157349, + -0.16438833070251174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.8835613131523132, + -0.2094825953245163, + 0.4188513159751892, + 0.11331785315612578 + ], + [ + 0.1838846653699875, + 0.9777349233627319, + 0.10109812021255493, + 0.18407288952818457 + ], + [ + -0.43070387840270996, + -0.012306060642004013, + 0.9024094343185425, + -0.1637870950518914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.883660614490509, + -0.20939506590366364, + 0.41868558526039124, + 0.11415430280678678 + ], + [ + 0.18375758826732635, + 0.9777517318725586, + 0.1011667400598526, + 0.18254745340431636 + ], + [ + -0.4305543601512909, + -0.012460421770811081, + 0.9024786353111267, + -0.163754022374468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.8834261298179626, + -0.20969949662685394, + 0.4190279543399811, + 0.11454107935698526 + ], + [ + 0.1844329684972763, + 0.977698802947998, + 0.10044684261083603, + 0.18200521256844954 + ], + [ + -0.43074676394462585, + -0.011454790830612183, + 0.9024001359939575, + -0.16340864818051176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.883086085319519, + -0.20967113971710205, + 0.41975829005241394, + 0.11420308296691697 + ], + [ + 0.18489482998847961, + 0.9777191281318665, + 0.09939394891262054, + 0.18204395047757985 + ], + [ + -0.4312457740306854, + -0.01016228273510933, + 0.9021772742271423, + -0.16283136046719998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.8830887079238892, + -0.20971180498600006, + 0.4197324812412262, + 0.1144527794336373 + ], + [ + 0.18492569029331207, + 0.9777102470397949, + 0.09942425787448883, + 0.18202029144707715 + ], + [ + -0.4312271773815155, + -0.010181117802858353, + 0.9021859169006348, + -0.16238991151440818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.8830685019493103, + -0.2090039998292923, + 0.4201277792453766, + 0.114716768335059 + ], + [ + 0.18520359694957733, + 0.977881908416748, + 0.09719367325305939, + 0.18142572969619958 + ], + [ + -0.4311492145061493, + -0.008019495755434036, + 0.9022449851036072, + -0.16270393821990714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.88314288854599, + -0.2084570974111557, + 0.42024311423301697, + 0.11546786528713299 + ], + [ + 0.18532590568065643, + 0.9780092239379883, + 0.09566772729158401, + 0.18217529047210262 + ], + [ + -0.4309442341327667, + -0.006606332957744598, + 0.90235435962677, + -0.1625737909438475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.8829700350761414, + -0.20811106264591217, + 0.42077749967575073, + 0.11531290791507037 + ], + [ + 0.18550096452236176, + 0.9780904054641724, + 0.09449087083339691, + 0.18239207998058707 + ], + [ + -0.4312230348587036, + -0.0053779855370521545, + 0.902229368686676, + -0.16183383175224628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.8830883502960205, + -0.20763619244098663, + 0.4207637906074524, + 0.11593757977463165 + ], + [ + 0.18530119955539703, + 0.978193998336792, + 0.09380828589200974, + 0.18231526477578675 + ], + [ + -0.431066632270813, + -0.004872970283031464, + 0.9023069739341736, + -0.1614275149579318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.8831766843795776, + -0.2076425850391388, + 0.42057523131370544, + 0.116591620093809 + ], + [ + 0.18543866276741028, + 0.9781938791275024, + 0.0935375839471817, + 0.18128739226398602 + ], + [ + -0.4308265149593353, + -0.00461931899189949, + 0.9024229645729065, + -0.1610802154777185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.8831361532211304, + -0.2072921097278595, + 0.42083311080932617, + 0.11665736012301355 + ], + [ + 0.18531638383865356, + 0.978270411491394, + 0.09297780692577362, + 0.18185778454227267 + ], + [ + -0.43096214532852173, + -0.004124805331230164, + 0.9023605585098267, + -0.159995862054375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.8831573724746704, + -0.20720992982387543, + 0.4208291172981262, + 0.11718764243260871 + ], + [ + 0.1854490488767624, + 0.9782896637916565, + 0.09250936657190323, + 0.18215394897632442 + ], + [ + -0.4308616518974304, + -0.0036579668521881104, + 0.902410626411438, + -0.1591625562816296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.8832443952560425, + -0.20691175758838654, + 0.42079320549964905, + 0.11768783718909857 + ], + [ + 0.18530617654323578, + 0.97835373878479, + 0.09211711585521698, + 0.18248464370954712 + ], + [ + -0.4307447373867035, + -0.0033863484859466553, + 0.9024674892425537, + -0.15800268683793411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.883513867855072, + -0.2073136270046234, + 0.420028954744339, + 0.11923077855751199 + ], + [ + 0.18549349904060364, + 0.9782665371894836, + 0.09266483783721924, + 0.18139949452202275 + ], + [ + -0.43011096119880676, + -0.003958035260438919, + 0.9027673602104187, + -0.15747067306963902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8834450840950012, + -0.20735132694244385, + 0.42015501856803894, + 0.11913581096901084 + ], + [ + 0.18551191687583923, + 0.978258490562439, + 0.09271250665187836, + 0.18131411036230483 + ], + [ + -0.4302442967891693, + -0.00396265834569931, + 0.9027038216590881, + -0.15695969541117832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.8833292722702026, + -0.2078811228275299, + 0.4201367199420929, + 0.11909004799881072 + ], + [ + 0.18614476919174194, + 0.9781474471092224, + 0.0926157683134079, + 0.18127283872157898 + ], + [ + -0.4302087128162384, + -0.0036039836704730988, + 0.9027222394943237, + -0.15592230547149227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8832823634147644, + -0.20798732340335846, + 0.4201827347278595, + 0.11942202215487102 + ], + [ + 0.18665306270122528, + 0.9781279563903809, + 0.09179538488388062, + 0.182737823533562 + ], + [ + -0.4300847351551056, + -0.0026528574526309967, + 0.9027846455574036, + -0.15410455420332136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8832755088806152, + -0.2081688940525055, + 0.4201072156429291, + 0.11954836017399464 + ], + [ + 0.18673589825630188, + 0.9780887365341187, + 0.09204414486885071, + 0.18240349111410806 + ], + [ + -0.430062860250473, + -0.002851255238056183, + 0.9027944803237915, + -0.15364840019424006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8831462264060974, + -0.20787329971790314, + 0.4205251634120941, + 0.11876050332244836 + ], + [ + 0.1866273432970047, + 0.9781528115272522, + 0.09158217906951904, + 0.18375664224039834 + ], + [ + -0.4303753674030304, + -0.002398967742919922, + 0.9026468396186829, + -0.1514409952568558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8830721974372864, + -0.20804773271083832, + 0.42059433460235596, + 0.11868753405112141 + ], + [ + 0.18687020242214203, + 0.9781162142753601, + 0.0914776474237442, + 0.1841981286499298 + ], + [ + -0.4304218888282776, + -0.002184823155403137, + 0.9026252031326294, + -0.1501070738401053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.883192777633667, + -0.20756663382053375, + 0.4205789566040039, + 0.11864993060534855 + ], + [ + 0.18646489083766937, + 0.9782185554504395, + 0.09121018648147583, + 0.18508656716571664 + ], + [ + -0.43035030364990234, + -0.0021329782903194427, + 0.9026594161987305, + -0.14910734768183725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.8831981420516968, + -0.2073035091161728, + 0.4206973612308502, + 0.11847439297246484 + ], + [ + 0.18613164126873016, + 0.9782739281654358, + 0.09129717200994492, + 0.1851897755216034 + ], + [ + -0.43048349022865295, + -0.0023284107446670532, + 0.9025954604148865, + -0.1476353646168169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.8831745982170105, + -0.2074655145406723, + 0.42066699266433716, + 0.11865716545649295 + ], + [ + 0.1863318234682083, + 0.9782398343086243, + 0.09125392138957977, + 0.18513865195355325 + ], + [ + -0.43044525384902954, + -0.0022095106542110443, + 0.9026139974594116, + -0.1467930699856776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.883306622505188, + -0.20745718479156494, + 0.42039379477500916, + 0.11918126433244292 + ], + [ + 0.18650171160697937, + 0.9782423377037048, + 0.09087954461574554, + 0.18561631496644246 + ], + [ + -0.43010058999061584, + -0.0018703527748584747, + 0.9027790427207947, + -0.1459847312772049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.8833600282669067, + -0.2077762484550476, + 0.4201239347457886, + 0.11972630234821788 + ], + [ + 0.18684151768684387, + 0.9781746864318848, + 0.09090922772884369, + 0.1853443850183262 + ], + [ + -0.42984336614608765, + -0.0018089860677719116, + 0.9029016494750977, + -0.14525294236417086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.8835831880569458, + -0.20759178698062897, + 0.41974571347236633, + 0.12033841091225733 + ], + [ + 0.18675963580608368, + 0.9782140254974365, + 0.09065380692481995, + 0.18512225481417943 + ], + [ + -0.42942014336586, + -0.001708637923002243, + 0.903103232383728, + -0.1445054437191981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.8838689923286438, + -0.20729105174541473, + 0.41929227113723755, + 0.120321971402978 + ], + [ + 0.1862354427576065, + 0.9782763719558716, + 0.09105871617794037, + 0.18353097289800643 + ], + [ + -0.42905938625335693, + -0.0023969002068042755, + 0.9032731056213379, + -0.1446862721780561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.8840441703796387, + -0.20727474987506866, + 0.41893094778060913, + 0.12093588456792652 + ], + [ + 0.1866212636232376, + 0.9782814979553223, + 0.09020966291427612, + 0.1842567448064966 + ], + [ + -0.42853057384490967, + -0.0015679039061069489, + 0.9035259485244751, + -0.14373811179736873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.8842923641204834, + -0.20698560774326324, + 0.4185497760772705, + 0.12142153182682001 + ], + [ + 0.18651936948299408, + 0.97834312915802, + 0.08975103497505188, + 0.18483881469605104 + ], + [ + -0.4280624985694885, + -0.0012985095381736755, + 0.9037482142448425, + -0.14373573767689038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.8846633434295654, + -0.20661842823028564, + 0.4179469347000122, + 0.1213228298808044 + ], + [ + 0.1860385239124298, + 0.9784199595451355, + 0.08991127461194992, + 0.18336117813398817 + ], + [ + -0.4275049567222595, + -0.0017869845032691956, + 0.9040112495422363, + -0.1431655116800992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.885221540927887, + -0.20623679459095, + 0.4169522821903229, + 0.12235352818696005 + ], + [ + 0.1855769008398056, + 0.9784994125366211, + 0.09000048786401749, + 0.18272924915237246 + ], + [ + -0.4265489876270294, + -0.0022936537861824036, + 0.9044615626335144, + -0.14395568252734417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.8850829005241394, + -0.205656036734581, + 0.41753309965133667, + 0.1209534930451861 + ], + [ + 0.18499843776226044, + 0.9786216616630554, + 0.08986233174800873, + 0.18257715200899907 + ], + [ + -0.427087664604187, + -0.0022926367819309235, + 0.9042073488235474, + -0.14270500776902684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.8850552439689636, + -0.2060127854347229, + 0.4174158573150635, + 0.12119170860299525 + ], + [ + 0.18538200855255127, + 0.9785468578338623, + 0.08988605439662933, + 0.1824087881676431 + ], + [ + -0.4269786477088928, + -0.0021727345883846283, + 0.9042590856552124, + -0.14244388549957634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.8848535418510437, + -0.20655246078968048, + 0.4175766408443451, + 0.12084916882076353 + ], + [ + 0.18610318005084991, + 0.9784342646598816, + 0.08962173759937286, + 0.18263801060054663 + ], + [ + -0.4270828664302826, + -0.0015897788107395172, + 0.9042111039161682, + -0.1420571541167655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.8847768902778625, + -0.2068059742450714, + 0.4176136553287506, + 0.12087509634922136 + ], + [ + 0.18633291125297546, + 0.9783806800842285, + 0.08972866833209991, + 0.18246823433997497 + ], + [ + -0.42714157700538635, + -0.0015746839344501495, + 0.9041833877563477, + -0.14163218888471713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.8846212029457092, + -0.20817531645298004, + 0.4172629415988922, + 0.12193772386548654 + ], + [ + 0.18789972364902496, + 0.9780911207199097, + 0.08961816877126694, + 0.1827446107559328 + ], + [ + -0.4267774522304535, + -0.0008745491504669189, + 0.9043562412261963, + -0.1415692652171513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.8840556144714355, + -0.210230752825737, + 0.417431116104126, + 0.12130534345248961 + ], + [ + 0.19013787806034088, + 0.9776517748832703, + 0.08969148248434067, + 0.1833651837664393 + ], + [ + -0.42695820331573486, + 7.721036672592163e-05, + 0.9042713642120361, + -0.14183797740711357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.8840669989585876, + -0.21026131510734558, + 0.4173915982246399, + 0.12156071789422125 + ], + [ + 0.19016873836517334, + 0.977645218372345, + 0.0896976962685585, + 0.1833878918181894 + ], + [ + -0.4269208312034607, + 7.605552673339844e-05, + 0.9042890071868896, + -0.14145162859052982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.8836727142333984, + -0.212773859500885, + 0.41695308685302734, + 0.12238369125802562 + ], + [ + 0.19304916262626648, + 0.9771004319190979, + 0.08948050439357758, + 0.18488181284013785 + ], + [ + -0.4264441728591919, + 0.0014209486544132233, + 0.9045127630233765, + -0.141930080303606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.883501410484314, + -0.21391081809997559, + 0.4167343080043793, + 0.12272433594993826 + ], + [ + 0.19421228766441345, + 0.9768517017364502, + 0.08967901766300201, + 0.18494931308306614 + ], + [ + -0.4262709319591522, + 0.0017033666372299194, + 0.9045939445495605, + -0.14179198297689544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.8832874894142151, + -0.21464018523693085, + 0.4168126881122589, + 0.12242268897452445 + ], + [ + 0.1948918253183365, + 0.9766915440559387, + 0.08994867652654648, + 0.18510823960433592 + ], + [ + -0.42640402913093567, + 0.001782834529876709, + 0.9045310616493225, + -0.14143740962136464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.8833481669425964, + -0.21467998623847961, + 0.41666364669799805, + 0.122228970533272 + ], + [ + 0.19510650634765625, + 0.9766820669174194, + 0.08958572149276733, + 0.1861495040778844 + ], + [ + -0.4261801838874817, + 0.0021584071218967438, + 0.9046357274055481, + -0.14127739901250264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.8836703300476074, + -0.21549734473228455, + 0.41555699706077576, + 0.12377869039773942 + ], + [ + 0.19557401537895203, + 0.9765035510063171, + 0.0905073881149292, + 0.18549588024616243 + ], + [ + -0.42529699206352234, + 0.0012934431433677673, + 0.905052900314331, + -0.14149047136306764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/tilt_down/transforms.json b/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ebb5e7b85837733d646cb07f205a23d217d44f6c --- /dev/null +++ b/dynpose_eval/camera_controls/63180e53-5471-488b-85f2-dcb208e3ceb7/tilt_down/transforms.json @@ -0,0 +1,7468 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 213, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 6.597780156880617e-05, + -3.258811921114102e-05, + 9.966214565793052e-05 + ], + [ + -6.597592437174171e-05, + 1.0, + 5.750449054175988e-05, + -5.614464680547826e-05 + ], + [ + 3.259190998505801e-05, + -5.750233685830608e-05, + 1.0, + -8.36895196698606e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999340176582339, + -0.005097920790403522, + 0.010295203660722571, + 0.022169696167111397 + ], + [ + 0.00501718232408166, + 0.9999565537157238, + 0.007852971776958212, + 0.001691757352091372 + ], + [ + -0.010334789752960207, + -0.0078008003703907754, + 0.9999161465577094, + 0.00925188884139061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999375343322754, + -0.00423634403320019, + 0.010344121963211135, + 0.02246266044676304 + ], + [ + 0.00414626020938158, + 0.9999534524424618, + 0.00871470143430792, + 0.0021413324866443872 + ], + [ + -0.010380559600889683, + -0.008671267010846742, + 0.9999084984683743, + 0.008824121206998825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9989750385284424, + -0.011440815587606575, + 0.04379453545391674, + 0.01578359119594097 + ], + [ + 0.010703209787607193, + 0.9997975227120429, + 0.017040011746381988, + 0.008575248531997204 + ], + [ + -0.043980617076158524, + -0.01655380475028084, + 0.9988952345191879, + 0.00561548164114356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9983026385307312, + -0.014440754664673773, + 0.05642096656851063, + 0.023604391142725945 + ], + [ + 0.013204927556216717, + 0.9996660089570173, + 0.022215441826322197, + 0.006579740438610315 + ], + [ + -0.05672292783856392, + -0.021432700162131436, + 0.9981598925402041, + 0.006267731077969074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9980803728103638, + -0.013478287099752228, + 0.060447706845089565, + 0.014329624362289906 + ], + [ + 0.012174625881016254, + 0.9996864075405613, + 0.021883471410729553, + 0.010277546010911465 + ], + [ + -0.06072369962930679, + -0.021105534128621675, + 0.9979314695138016, + 0.005528573878109455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9946815967559814, + -0.013048011468136429, + 0.10216778222893734, + -0.050048552453517914 + ], + [ + 0.010445047169923782, + 0.9996081551974306, + 0.025971023172584706, + 0.012976197525858879 + ], + [ + -0.10246662050485611, + -0.024765751625541337, + 0.9944281205386044, + -0.010980827733874321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9975388646125793, + -0.029502184215499206, + 0.06360673412234946, + 0.051887765526771545 + ], + [ + 0.027375994250178337, + 0.9990453140944713, + 0.0340436085688171, + -0.014883722178637981 + ], + [ + -0.06455037742853165, + -0.032218526990467414, + 0.997394184905638, + 0.021636757999658585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.993456244468689, + -0.04087821845027648, + 0.10664721750474128, + 0.05637526139616966 + ], + [ + 0.037695202976465225, + 0.9987865479025358, + 0.03169402705454642, + -0.0007039161864668131 + ], + [ + -0.10781339555978775, + -0.027466540472357606, + 0.9937916540863917, + 0.003906466998159885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9920204877853394, + -0.04492912590206662, + 0.11779942012974379, + 0.060459066182374954 + ], + [ + 0.04139364883303642, + 0.9986209768211216, + 0.03229065237836159, + 0.002016636775806546 + ], + [ + -0.11908777058124542, + -0.027156842465838094, + 0.9925122709237245, + 0.0009994512656703591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9899319410324097, + -0.052646968334412195, + 0.13138895238230355, + 0.06490323692560196 + ], + [ + 0.04852863773703575, + 0.9982307875548827, + 0.03435433711379756, + 0.0012076598359271884 + ], + [ + -0.13296514749526978, + -0.02763232874085531, + 0.9907354472972183, + 0.000484188727568835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9884827733039856, + -0.057924413864173074, + 0.13980895620075715, + 0.06758351624011993 + ], + [ + 0.053376104682683945, + 0.9979228865686796, + 0.03606874846428887, + 0.0009056725539267063 + ], + [ + -0.14160780608654022, + -0.028190879269652764, + 0.9895213323952038, + -0.002795986831188202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.988479018211365, + -0.058088301403099764, + 0.13976744713839878, + 0.0674799457192421 + ], + [ + 0.05336523428559305, + 0.997877821328052, + 0.03730919696612447, + 0.0008676068973727524 + ], + [ + -0.14163807034492495, + -0.029420637521014, + 0.9894812378250695, + -0.002736849943175912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9847776293754578, + -0.06525872937759834, + 0.16110330532513656, + 0.07300394773483276 + ], + [ + 0.05981123447418213, + 0.9974692787123838, + 0.038440011809591224, + 0.005667330697178841 + ], + [ + -0.1632041335105896, + -0.028219077625571378, + 0.9861886449070928, + -0.009524676017463207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9847552180290222, + -0.06533473397765462, + 0.16120968512941444, + 0.072685107588768 + ], + [ + 0.05969236418604851, + 0.997430868004304, + 0.03960377076320121, + 0.005824610125273466 + ], + [ + -0.16338302195072174, + -0.029377033771345814, + 0.986125227336199, + -0.00942918099462986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9831426739692688, + -0.06957869684928027, + 0.1690835914494889, + 0.07090908288955688 + ], + [ + 0.0635409727692604, + 0.9971420893632539, + 0.04086743744431883, + 0.010375128127634525 + ], + [ + -0.1714438647031784, + -0.029434787207495924, + 0.984754104705985, + -0.01453916635364294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9809273481369019, + -0.06915905542280952, + 0.18165492822610532, + 0.07905898243188858 + ], + [ + 0.062350090593099594, + 0.9971303408916462, + 0.042936801389683914, + 0.020965438336133957 + ], + [ + -0.1841031163930893, + -0.030791684826061174, + 0.9824245389922109, + -0.0179830901324749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9778662323951721, + -0.07351476077681471, + 0.1958908118009334, + 0.07576747983694077 + ], + [ + 0.06548171490430832, + 0.9967376580838857, + 0.04718229366952478, + 0.020084917545318604 + ], + [ + -0.19872033596038818, + -0.03331070546931154, + 0.9794899567445674, + -0.02274714782834053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9760248064994812, + -0.08348816640057947, + 0.20101063460104898, + 0.07349780201911926 + ], + [ + 0.07477710396051407, + 0.9959177438248402, + 0.05055967582186479, + 0.02060200646519661 + ], + [ + -0.20441119372844696, + -0.034316504248435735, + 0.9782834086555972, + -0.027159228920936584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.976059079170227, + -0.08376673547761364, + 0.20072816264090476, + 0.07401347160339355 + ], + [ + 0.0748022124171257, + 0.9958495001833416, + 0.051849629017029567, + 0.020493626594543457 + ], + [ + -0.20423831045627594, + -0.03559338953652742, + 0.9782739060385007, + -0.027187686413526535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9730823636054993, + -0.09242721244099304, + 0.21111123435979465, + 0.07405707240104675 + ], + [ + 0.08285444974899292, + 0.9951101170636001, + 0.0537681219601847, + 0.03371715545654297 + ], + [ + -0.21504856646060944, + -0.034829307674025735, + 0.9759820867309661, + -0.033434297889471054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9700542092323303, + -0.09827638000626637, + 0.22211831416987843, + 0.06971684843301773 + ], + [ + 0.08750269562005997, + 0.9944825145404816, + 0.05786005741611856, + 0.0366920568048954 + ], + [ + -0.22657907009124756, + -0.03669144281743886, + 0.9733014426950983, + -0.038584161549806595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9687354564666748, + -0.10586382677036503, + 0.22437572434252523, + 0.0736696869134903 + ], + [ + 0.09428858757019043, + 0.9936297892641864, + 0.061721250560745095, + 0.040449511259794235 + ], + [ + -0.22948046028614044, + -0.03863549389873906, + 0.9725461771573156, + -0.04520139470696449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9658815860748293, + -0.10995511613490003, + 0.23448386844386795, + 0.07786343991756439 + ], + [ + 0.0964189097285271, + 0.9929832203502099, + 0.06846671424038071, + 0.041553545743227005 + ], + [ + -0.24036681652069097, + -0.0435220630238598, + 0.9697059672997603, + -0.04475809633731842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9614095091819763, + -0.11791591633467845, + 0.2485710275482664, + 0.0760260745882988 + ], + [ + 0.102664515376091, + 0.991996951544118, + 0.07349846902637397, + 0.04307028278708458 + ], + [ + -0.25524836778640747, + -0.045142708937764356, + 0.9658211320429764, + -0.05011271685361862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9596675634384155, + -0.12925114267820456, + 0.24966429145787075, + 0.08212058991193771 + ], + [ + 0.11353825032711029, + 0.9905912482029096, + 0.07640692113479501, + 0.04570867121219635 + ], + [ + -0.2571909725666046, + -0.044978800337482396, + 0.9653132581714068, + -0.05856757238507271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9576095938682558, + -0.13906001127253168, + 0.25228198391260365, + 0.08323217183351517 + ], + [ + 0.12314415723085406, + 0.9893269123564628, + 0.07789609948128658, + 0.050303369760513306 + ], + [ + -0.26042157411575323, + -0.04352700420278433, + 0.9645133792149344, + -0.06481250375509262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9539016485214233, + -0.1403946877775737, + 0.2652563354048168, + 0.08298696577548981 + ], + [ + 0.12362685799598694, + 0.98918137524833, + 0.07897245185587949, + 0.05926935002207756 + ], + [ + -0.27347394824028015, + -0.04253914829110356, + 0.9609383323067786, + -0.06714361906051636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.953912675380707, + -0.140608268729828, + 0.26510360657785875, + 0.08284653723239899 + ], + [ + 0.1235473230481148, + 0.9891042443031896, + 0.08005502161442032, + 0.05952831357717514 + ], + [ + -0.2734715342521668, + -0.04361266390852862, + 0.9608908892286123, + -0.06723471730947495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.946429491043091, + -0.16061790583885047, + 0.2801305199440195, + 0.08450079709291458 + ], + [ + 0.1419874727725983, + 0.9861500561412957, + 0.08571804758635797, + 0.06193181499838829 + ], + [ + -0.2900185585021973, + -0.041351073463494564, + 0.9561272733260664, + -0.0809563472867012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9437201023101809, + -0.1690356552573774, + 0.28428737153803846, + 0.08545822650194168 + ], + [ + 0.15043659508228305, + 0.984854497787732, + 0.08619976195073419, + 0.06823926419019699 + ], + [ + -0.29455253481864935, + -0.03858122801698631, + 0.9548561383465461, + -0.0876820981502533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9393248558044434, + -0.17664707977607824, + 0.2940486919918053, + 0.08616327494382858 + ], + [ + 0.15749503672122955, + 0.9836103060539192, + 0.08778435763245025, + 0.07458069920539856 + ], + [ + -0.3047361671924591, + -0.03614681775666339, + 0.9517506262382304, + -0.09240348637104034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9364156723022463, + -0.18265548701417306, + 0.29960421466172593, + 0.08894763886928558 + ], + [ + 0.16258065402507785, + 0.9825045653293469, + 0.09084243411906032, + 0.0769207552075386 + ], + [ + -0.3109553754329682, + -0.03635643545238357, + 0.9497289022503127, + -0.09974599629640579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9340404868125916, + -0.18370797370217348, + 0.3063001818622213, + 0.09085362404584885 + ], + [ + 0.16286790370941162, + 0.9823026204070378, + 0.09249628473312063, + 0.08412814885377884 + ], + [ + -0.3178717792034149, + -0.036508808231535204, + 0.9474305293896718, + -0.10573343932628632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9300751686096191, + -0.18752464151260115, + 0.3159029578138568, + 0.08958549052476883 + ], + [ + 0.1651090830564499, + 0.9815386438670186, + 0.0965448795247766, + 0.08612591028213501 + ], + [ + -0.32817551493644714, + -0.03763554754079449, + 0.9438667617143146, + -0.11050307750701904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9262558221817019, + -0.19070406220836733, + 0.3250878974643615, + 0.08626611530780792 + ], + [ + 0.16703960299491885, + 0.9809174916999409, + 0.09949168088946665, + 0.09120894223451614 + ], + [ + -0.33785790205001837, + -0.037852195585525085, + 0.9404356822072049, + -0.11530758440494537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9226822853088381, + -0.19490250804698153, + 0.3326715586221981, + 0.08876122534275055 + ], + [ + 0.17021714150905612, + 0.9801022174314223, + 0.10210679553082129, + 0.09691190719604492 + ], + [ + -0.3459530174732209, + -0.03758573352429901, + 0.9374986877056615, + -0.12225843966007233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9193195104598999, + -0.20040200101593966, + 0.33866010771700883, + 0.09148000180721283 + ], + [ + 0.1748935431241989, + 0.9790184223215723, + 0.10457150361779043, + 0.1012551411986351 + ], + [ + -0.35251083970069885, + -0.03690517526665971, + 0.9350797781787015, + -0.12953704595565796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9154187440872192, + -0.20736031062336702, + 0.34497860319322826, + 0.09410297870635986 + ], + [ + 0.1810201108455658, + 0.9776109760554316, + 0.10727770824392269, + 0.10422179102897644 + ], + [ + -0.3595000207424164, + -0.03575596854679721, + 0.9324598012749793, + -0.1358780711889267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9153828620910645, + -0.20791089811169938, + 0.3447423360307347, + 0.09423476457595825 + ], + [ + 0.18112879991531372, + 0.977450806667636, + 0.1085462431248034, + 0.10408029705286026 + ], + [ + -0.35953661799430847, + -0.0369186132780238, + 0.9324003731735642, + -0.13573294878005981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9120259284973145, + -0.21295638997700667, + 0.3505114249132818, + 0.09640117734670639 + ], + [ + 0.18559330701828003, + 0.9764143516145496, + 0.11031815348311468, + 0.10851138830184937 + ], + [ + -0.36573734879493713, + -0.03556044402194856, + 0.9300385214195993, + -0.14297501742839813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9064185023307803, + -0.2208278490471738, + 0.36005637335028545, + 0.09070213884115219 + ], + [ + 0.19264248013496404, + 0.97475629266806, + 0.11286743790919049, + 0.11057259887456894 + ], + [ + -0.37589150667190563, + -0.03294298532380553, + 0.9260779574177362, + -0.14765264093875885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9019455313682556, + -0.22627471141464, + 0.36782331504754257, + 0.09292582422494888 + ], + [ + 0.1977631151676178, + 0.9735991899816682, + 0.11399305509274099, + 0.12151885032653809 + ], + [ + -0.3839062452316284, + -0.03007363275638006, + 0.9228821844955899, + -0.15943385660648346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8980618119239807, + -0.2250867439225821, + 0.3779166013842193, + 0.0921323299407959 + ], + [ + 0.19470709562301636, + 0.9738205211673079, + 0.1173144645114563, + 0.12395886331796646 + ], + [ + -0.39442887902259827, + -0.031772602404908444, + 0.9183770522038843, + -0.16461290419101715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8958472609519958, + -0.23045100355617795, + 0.37993427943765934, + 0.09697500616312027 + ], + [ + 0.19830240309238434, + 0.9724824382284336, + 0.1222866481363486, + 0.12009400129318237 + ], + [ + -0.3976605236530304, + -0.03420828202855666, + 0.9168947031517088, + -0.1713092029094696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8929647207260132, + -0.23555646281061446, + 0.3835716975084125, + 0.09486322849988937 + ], + [ + 0.20347225666046143, + 0.9713456796650857, + 0.12282763268082708, + 0.12345156073570251 + ], + [ + -0.40151354670524597, + -0.031634552075994735, + 0.915306591082209, + -0.17666053771972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8911955952644348, + -0.24045559846780887, + 0.384644709820196, + 0.09626230597496033 + ], + [ + 0.20853103697299957, + 0.9702048330754801, + 0.12335860704565368, + 0.12750402092933655 + ], + [ + -0.40284642577171326, + -0.02972629263749382, + 0.9147847005603269, + -0.1822364628314972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8911577463150024, + -0.24092505122066368, + 0.384438600499205, + 0.09606709331274033 + ], + [ + 0.20852087438106537, + 0.9700536574252754, + 0.12455885871571098, + 0.12751364707946777 + ], + [ + -0.4029354155063629, + -0.030838128040662764, + 0.9147087444046742, + -0.18218490481376648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8871584534645081, + -0.24226288122701792, + 0.3927577367664914, + 0.09018544852733612 + ], + [ + 0.20814423263072968, + 0.9696899231563374, + 0.12797446684087213, + 0.13307330012321472 + ], + [ + -0.41185665130615234, + -0.03178338171973772, + 0.9106942174465043, + -0.18784157931804657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8856538534164429, + -0.2427213019179169, + 0.3958581564526654, + 0.08975251764059067 + ], + [ + 0.20611336827278137, + 0.9694117757713114, + 0.13325933583662472, + 0.13230818510055542 + ], + [ + -0.41609445214271545, + -0.036429995536282955, + 0.9085913753222089, + -0.19297730922698975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8842892050743105, + -0.2451462594648088, + 0.39741153573114013, + 0.09009048342704773 + ], + [ + 0.2071052789688111, + 0.9687173897833798, + 0.1367260008698649, + 0.13518160581588745 + ], + [ + -0.4184973239898683, + -0.03859931222289998, + 0.9073974141635207, + -0.1960410475730896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8843111395835876, + -0.24563704936272707, + 0.3970595445583438, + 0.09015492349863052 + ], + [ + 0.20711569488048553, + 0.9685480456205307, + 0.13790513963159268, + 0.13520029187202454 + ], + [ + -0.4184458553791046, + -0.03971378875427389, + 0.9073730872099266, + -0.1960945874452591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8826433420181274, + -0.24769711102229097, + 0.3994833007140709, + 0.08375216275453568 + ], + [ + 0.2057981789112091, + 0.9677415950891619, + 0.14533872894850167, + 0.14257386326789856 + ], + [ + -0.42259660363197327, + -0.04606931650686303, + 0.9051462711812935, + -0.19570869207382202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8830949664115906, + -0.2417383400903084, + 0.4021266808368367, + 0.07748641818761826 + ], + [ + 0.19599072635173798, + 0.9687596559201869, + 0.15196189227424797, + 0.14647749066352844 + ], + [ + -0.426299124956131, + -0.055383684248706294, + 0.9028852149151332, + -0.1965785026550293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8830915689468386, + -0.24222241803933467, + 0.4018427720852075, + 0.0774601548910141 + ], + [ + 0.1959839910268784, + 0.968575233342255, + 0.15314152701361078, + 0.14650943875312805 + ], + [ + -0.4263092577457429, + -0.056483249018816774, + 0.9028123206379154, + -0.19657540321350098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8840147256851196, + -0.23921835203343514, + 0.40161242642310013, + 0.07844146341085434 + ], + [ + 0.18897081911563873, + 0.9686881109147424, + 0.16103832152843015, + 0.14735065400600433 + ], + [ + -0.4275605380535126, + -0.06646722576993389, + 0.9015398261693289, + -0.19923123717308044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8852142095565796, + -0.23895608281588832, + 0.3991187070712021, + 0.0810219794511795 + ], + [ + 0.18732061982154846, + 0.9684510474135598, + 0.16435808712259659, + 0.15781281888484955 + ], + [ + -0.4258013069629669, + -0.07072895413783155, + 0.9020480200223185, + -0.20383860170841217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8864651918411255, + -0.23630304423657245, + 0.3979199960892781, + 0.08089686185121536 + ], + [ + 0.18382948637008667, + 0.9688685326709544, + 0.1658327015093032, + 0.16041895747184753 + ], + [ + -0.4247189164161682, + -0.07385550935782811, + 0.9023076967135158, + -0.20682957768440247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8879844546318054, + -0.22877522800122826, + 0.39893050646567413, + 0.07756294310092926 + ], + [ + 0.17483431100845337, + 0.970286160583236, + 0.16726542379043471, + 0.1632896065711975 + ], + [ + -0.42534294724464417, + -0.07878235181294316, + 0.9015967985745614, + -0.20965410768985748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8888961672782898, + -0.22252349635422844, + 0.400433360853308, + 0.07317095994949341 + ], + [ + 0.1667499840259552, + 0.971303023330981, + 0.16960205724823096, + 0.16325734555721283 + ], + [ + -0.42668259143829346, + -0.08398637254542737, + 0.900493369801733, + -0.2127009630203247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8889093995094302, + -0.2230663114293105, + 0.4001019155826362, + 0.0732671320438385 + ], + [ + 0.16677565872669223, + 0.9710761790277265, + 0.1708712578811945, + 0.1631278693675995 + ], + [ + -0.42664507031440746, + -0.0851618160564472, + 0.9004007517724156, + -0.2127232402563095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8901877403259277, + -0.21852997859543472, + 0.39976298079017875, + 0.07394849509000778 + ], + [ + 0.1617235690355301, + 0.9718807055093345, + 0.17115322202585756, + 0.1653602421283722 + ], + [ + -0.42592403292655945, + -0.08770740897792693, + 0.900497755544142, + -0.22136348485946655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8898264169692993, + -0.22281902218780017, + 0.39819677369838175, + 0.07597319781780243 + ], + [ + 0.16572245955467224, + 0.970888424349499, + 0.17295013671428028, + 0.16293278336524963 + ], + [ + -0.42514121532440186, + -0.08790545563628194, + 0.9008482741665673, + -0.22581033408641815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8897904753685, + -0.22662170608072388, + 0.3961256547595718, + 0.07972173392772675 + ], + [ + 0.1701515465974808, + 0.9701458989444618, + 0.17281611481322967, + 0.16369964182376862 + ], + [ + -0.42346355319023143, + -0.08636874790893447, + 0.901786608661391, + -0.23178130388259888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8888635635375979, + -0.22998921438789477, + 0.39626566059974766, + 0.08045224845409393 + ], + [ + 0.17448715865612033, + 0.9696314951425818, + 0.1713737124731547, + 0.1671021580696106 + ], + [ + -0.4236457645893098, + -0.0831845939478253, + 0.9020003244691335, + -0.2353864312171936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8884546160697939, + -0.23019301024953423, + 0.3970637270949705, + 0.08010554313659668 + ], + [ + 0.175495520234108, + 0.9697732154783909, + 0.16953248321262832, + 0.17140735685825348 + ], + [ + -0.42408695816993724, + -0.08093901571021879, + 0.9019973228621, + -0.23827914893627167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.889158308506012, + -0.22695378702971356, + 0.3973531746752342, + 0.08054856956005096 + ], + [ + 0.17199291288852692, + 0.9704233355548846, + 0.16940177330019118, + 0.1731027364730835 + ], + [ + -0.42404717206954956, + -0.08228306264840045, + 0.9018943827545586, + -0.24234804511070251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8897611498832703, + -0.22371675762109655, + 0.39783911454016685, + 0.07918652147054672 + ], + [ + 0.16783848404884338, + 0.9709374533984017, + 0.17061875313955702, + 0.17240937054157257 + ], + [ + -0.4244471490383148, + -0.08503721672135162, + 0.9014506583856173, + -0.24618704617023468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8892051577568054, + -0.224373503838402, + 0.3987114136863729, + 0.07793552428483963 + ], + [ + 0.16789411008358002, + 0.9707143315543282, + 0.17182924378036527, + 0.17264068126678467 + ], + [ + -0.42558881640434265, + -0.0858501604727894, + 0.9008351174722229, + -0.24861890077590942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.88739013671875, + -0.23071008840333287, + 0.39913862307839987, + 0.07869958877563477 + ], + [ + 0.17356956005096436, + 0.9692632717099546, + 0.17436272118577179, + 0.16961181163787842 + ], + [ + -0.4270976483821869, + -0.085449449308212, + 0.9001588776573233, + -0.24858997762203217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.886238694190979, + -0.233799320075965, + 0.39989852218565003, + 0.07824941724538803 + ], + [ + 0.17698656022548676, + 0.9686903910888675, + 0.1741111811914613, + 0.1721869558095932 + ], + [ + -0.4280849099159241, + -0.08352740640979911, + 0.8998702574937724, + -0.2498750388622284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8847891092300415, + -0.236100916638969, + 0.40175189783144055, + 0.07553888857364655 + ], + [ + 0.1793152093887329, + 0.968261266549819, + 0.17411547505159902, + 0.17504096031188965 + ], + [ + -0.43010959029197693, + -0.08201526448810934, + 0.899043500613977, + -0.2489161193370819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8835011720657349, + -0.238869909567234, + 0.40294772153245795, + 0.07547225803136826 + ], + [ + 0.18165531754493713, + 0.9676095671774165, + 0.1753084056053898, + 0.1759924590587616 + ], + [ + -0.4317719638347626, + -0.08168759238188189, + 0.8982761630765931, + -0.24807924032211304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8827604651451111, + -0.240683707292926, + 0.4034914533846921, + 0.07559332996606827 + ], + [ + 0.18281643092632294, + 0.9670991859738896, + 0.17691058677136381, + 0.17589136958122253 + ], + [ + -0.43279576301574707, + -0.08240480783239587, + 0.897717849311712, + -0.24685052037239075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8827114105224609, + -0.24024285340117815, + 0.40386121366444144, + 0.07521206140518188 + ], + [ + 0.18155553936958313, + 0.9670548525634166, + 0.1784446219943539, + 0.17637349665164948 + ], + [ + -0.43342602252960205, + -0.08419186993437903, + 0.8972477867288412, + -0.24621832370758057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8821051716804507, + -0.2395971936528451, + 0.4055657726891786, + 0.07254442572593689 + ], + [ + 0.18013572692871097, + 0.9671156876592701, + 0.17955054149307997, + 0.17808251082897186 + ], + [ + -0.43524885177612316, + -0.08532557866140016, + 0.8962577884066698, + -0.24417439103126526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8822486400604248, + -0.23964960183277695, + 0.40522272321554276, + 0.0734405517578125 + ], + [ + 0.17981988191604614, + 0.9670175840597522, + 0.18039345366701645, + 0.17967654764652252 + ], + [ + -0.43508872389793396, + -0.086284768058798, + 0.8962436917621168, + -0.2423245906829834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8828585743904114, + -0.2377076308372913, + 0.4050380883924943, + 0.07186384499073029 + ], + [ + 0.1769598126411438, + 0.9672550792426481, + 0.18194195396055074, + 0.1808490753173828 + ], + [ + -0.43502411246299744, + -0.08895355427526672, + 0.8960141160953374, + -0.24086521565914154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8833820819854739, + -0.23565195532739344, + 0.40509787705826694, + 0.07056042551994324 + ], + [ + 0.17364090681076053, + 0.9674434219410387, + 0.18412506295866365, + 0.18128760159015656 + ], + [ + -0.43529871106147777, + -0.09231121002301343, + 0.8955409719201171, + -0.23829488456249237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8840605020523071, + -0.2322689445485828, + 0.4055714104386756, + 0.06856462359428406 + ], + [ + 0.16901183128356934, + 0.9679209911388327, + 0.18591375012220718, + 0.18433710932731628 + ], + [ + -0.4357430934906006, + -0.09581263315738976, + 0.8949568961752307, + -0.23528406023979187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8846383690834048, + -0.22913992883866618, + 0.40609088631439194, + 0.066484235227108 + ], + [ + 0.1642662733793259, + 0.9682387869867747, + 0.18849454710251265, + 0.18600140511989594 + ], + [ + -0.43638458847999584, + -0.10004248554178509, + 0.894181204603839, + -0.23196478188037872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.8853110671043396, + -0.2276759686325158, + 0.405447891424055, + 0.06540285050868988 + ], + [ + 0.160433828830719, + 0.9679479205339248, + 0.1932298551707711, + 0.1853567361831665 + ], + [ + -0.43644624948501587, + -0.10602097102674188, + 0.8934619312110716, + -0.23050692677497864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.8859239816665649, + -0.22602678925221237, + 0.4050316156813129, + 0.0642274022102356 + ], + [ + 0.1568724811077118, + 0.9677834262778765, + 0.19694239067460592, + 0.1870296597480774 + ], + [ + -0.43649715185165405, + -0.11093767451461162, + 0.8928399137605488, + -0.22860141098499298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.8864114284515381, + -0.22649805092979114, + 0.40369972672671806, + 0.06466107815504074 + ], + [ + 0.15576499700546265, + 0.9672028907903938, + 0.20063849197092237, + 0.18814751505851746 + ], + [ + -0.43590378761291504, + -0.11496596039796983, + 0.8926201202320727, + -0.22769221663475037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.8869139552116394, + -0.22705272491073622, + 0.40228183631339537, + 0.06510692834854126 + ], + [ + 0.15466105937957764, + 0.9665594206477169, + 0.2045553625798425, + 0.18875285983085632 + ], + [ + -0.4352741241455078, + -0.11920567709742426, + 0.8923712469348151, + -0.22678156197071075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.8872201442718506, + -0.22813704690872624, + 0.40099120908135305, + 0.06587116420269012 + ], + [ + 0.15474598109722137, + 0.9659836222596916, + 0.20719386042498916, + 0.18944185972213745 + ], + [ + -0.4346195161342621, + -0.12177479798167497, + 0.8923434016438699, + -0.22611042857170105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.8876171112060549, + -0.2293649018282152, + 0.39940903813893874, + 0.06665055453777313 + ], + [ + 0.15545268356800082, + 0.9654865118219834, + 0.20897439419110492, + 0.1897350251674652 + ], + [ + -0.43355542421340953, + -0.1234000536614918, + 0.8926377244055986, + -0.2264634370803833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.8878536224365234, + -0.23097361663726654, + 0.3979537261072662, + 0.06725414097309113 + ], + [ + 0.15651923418045044, + 0.9649095422666211, + 0.2108347888433864, + 0.18944668769836426 + ], + [ + -0.43268659710884094, + -0.12490303270317195, + 0.8928502359661907, + -0.22634010016918182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.8880231976509094, + -0.2319831030740446, + 0.3969869475078989, + 0.06780529767274857 + ], + [ + 0.15701667964458466, + 0.964490346632103, + 0.2123772724469329, + 0.18860824406147003 + ], + [ + -0.4321580231189728, + -0.12626238198864512, + 0.8929150360317571, + -0.22581639885902405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.8881186842918396, + -0.23279798232680526, + 0.39629580064655845, + 0.06743068993091583 + ], + [ + 0.15730345249176025, + 0.9641217443549626, + 0.21383389861315252, + 0.18770071864128113 + ], + [ + -0.43185746669769287, + -0.1275712014481859, + 0.8928744356486807, + -0.22570371627807617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.8883989453315737, + -0.23443924725651072, + 0.39469677425930033, + 0.06863279640674591 + ], + [ + 0.15868622064590457, + 0.9635969258558402, + 0.2151734532111201, + 0.18652628362178802 + ], + [ + -0.43077370524406444, + -0.12852693887366098, + 0.8932607944504051, + -0.2261141836643219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.8885194659233093, + -0.23571601981398368, + 0.3936637484154704, + 0.06868630647659302 + ], + [ + 0.15989083051681519, + 0.9632393482303514, + 0.21588177240241388, + 0.18641097843647003 + ], + [ + -0.4300791919231415, + -0.12887192376599346, + 0.8935456956895973, + -0.22636225819587708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.8885946869850159, + -0.2373171765656276, + 0.3925302574523724, + 0.06943578273057938 + ], + [ + 0.16104057431221008, + 0.9626905446462125, + 0.21746909064814973, + 0.185162752866745 + ], + [ + -0.42949435114860535, + -0.13002858154426097, + 0.8936594067286254, + -0.2266589254140854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.8886528015136719, + -0.238995272256791, + 0.3913788567252398, + 0.07008794695138931 + ], + [ + 0.1623292863368988, + 0.9621384356325784, + 0.21894939868689295, + 0.1838972419500351 + ], + [ + -0.4288885295391083, + -0.13103775792272948, + 0.8938029708121042, + -0.22689183056354523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.8886252045631409, + -0.23957849389461275, + 0.3910849234127526, + 0.07003124058246613 + ], + [ + 0.16262495517730713, + 0.9619067791578212, + 0.21974649393622125, + 0.18460004031658173 + ], + [ + -0.4288337826728821, + -0.1316720988741226, + 0.8937360011510056, + -0.22690701484680176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.8881931304931643, + -0.24155031103125635, + 0.39085337320536456, + 0.06876692920923233 + ], + [ + 0.16430369019508365, + 0.961386338665591, + 0.22077267829738015, + 0.18422815203666687 + ], + [ + -0.4290888011455537, + -0.1318701258996739, + 0.8935843755576955, + -0.22660745680332184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.8879721164703371, + -0.24406399914678117, + 0.3897925737355844, + 0.06980615854263306 + ], + [ + 0.16673977673053744, + 0.9607491971385599, + 0.22171798346422394, + 0.18473272025585175 + ], + [ + -0.4286062717437745, + -0.13188546640421914, + 0.8938136578744376, + -0.2270822823047638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.8877565264701843, + -0.24590848179711206, + 0.3891238727472836, + 0.0708468109369278 + ], + [ + 0.16820429265499115, + 0.9601858028526891, + 0.22304817924461054, + 0.1846911758184433 + ], + [ + -0.42848068475723267, + -0.13256017010219293, + 0.8937740840498769, + -0.2269103080034256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.887389063835144, + -0.24703113263723978, + 0.38925096036434426, + 0.07031460106372833 + ], + [ + 0.16859757900238037, + 0.9597277995859409, + 0.22471624012368163, + 0.18395674228668213 + ], + [ + -0.4290868639945984, + -0.133783966143081, + 0.8933008141227836, + -0.2262624353170395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.8871541619300842, + -0.24816521567406144, + 0.38906497531512135, + 0.07020303606987 + ], + [ + 0.1691780835390091, + 0.9592950967109071, + 0.2261232369129897, + 0.18338175117969513 + ], + [ + -0.4293440580368042, + -0.1347848996531152, + 0.893026701821829, + -0.22589635848999023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.887079119682312, + -0.24939983721435852, + 0.3884461414519682, + 0.07128658890724182 + ], + [ + 0.17019708454608917, + 0.9589098974610125, + 0.22699074045266637, + 0.18358953297138214 + ], + [ + -0.4290962815284729, + -0.1352463481877523, + 0.8930760491540921, + -0.22584891319274902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8869052529335022, + -0.25024595809782774, + 0.38829887131705193, + 0.0710429698228836 + ], + [ + 0.1707983762025833, + 0.9586364521355085, + 0.22769297726774554, + 0.18382655084133148 + ], + [ + -0.4292167127132416, + -0.13562129211868432, + 0.8929613372271623, + -0.22600241005420685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8868274688720703, + -0.25078062549928776, + 0.38813162736797346, + 0.07072711735963821 + ], + [ + 0.17087388038635254, + 0.9583605454193626, + 0.2287950608226236, + 0.1839105486869812 + ], + [ + -0.4293473958969116, + -0.1365801702326755, + 0.8927522596347847, + -0.22585171461105347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8873620629310608, + -0.2516759318592857, + 0.38632598460388284, + 0.07343947142362595 + ], + [ + 0.17181457579135895, + 0.9580301894148715, + 0.2294730581551608, + 0.18259648978710175 + ], + [ + -0.42786481976509094, + -0.13724925681748468, + 0.8933612684908471, + -0.22738607227802277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8875550627708435, + -0.2518846363246144, + 0.3857461447260266, + 0.07313210517168045 + ], + [ + 0.1714983880519867, + 0.957766637013917, + 0.2308058029620107, + 0.1806970089673996 + ], + [ + -0.4275912344455719, + -0.13869802459257347, + 0.8932684615120265, + -0.22801892459392548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.8877176046371462, + -0.25333367444281296, + 0.3844210268292407, + 0.07435058802366257 + ], + [ + 0.17228762805461886, + 0.9571201682445921, + 0.23289050184189122, + 0.17781265079975128 + ], + [ + -0.4269361197948457, + -0.14051001534788896, + 0.8932986466118098, + -0.22857260704040527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.8877789974212649, + -0.25405625428887335, + 0.3838019340188663, + 0.0743882954120636 + ], + [ + 0.17310856282711032, + 0.9569399442519154, + 0.23302237048043992, + 0.1783796101808548 + ], + [ + -0.426476150751114, + -0.14043297414910033, + 0.8935304445670819, + -0.22916194796562195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8874851465225222, + -0.25603820850853737, + 0.3831638298463991, + 0.07459817081689835 + ], + [ + 0.1745942682027817, + 0.9562813906627389, + 0.23461177439980646, + 0.17686417698860168 + ], + [ + -0.42648205161094677, + -0.14131626025834107, + 0.8933883520930123, + -0.22885380685329437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8874814510345459, + -0.25664139127557883, + 0.38276863471580513, + 0.07465840131044388 + ], + [ + 0.17470473051071167, + 0.9559483926730178, + 0.2358832639922772, + 0.17666025459766388 + ], + [ + -0.42644447088241577, + -0.14247053935714188, + 0.8932229563538512, + -0.22888672351837158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8876821398735046, + -0.2578366022333, + 0.38149798662949613, + 0.07588782161474228 + ], + [ + 0.17552067339420319, + 0.9554406550870601, + 0.2373302457603186, + 0.1758871078491211 + ], + [ + -0.4256911277770996, + -0.1437130480129459, + 0.8933832763108662, + -0.22868774831295013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.8873720765113831, + -0.25761553469458, + 0.3823676213682063, + 0.07299035787582397 + ], + [ + 0.17483799159526825, + 0.9554127236010007, + 0.23794586594939862, + 0.17739678919315338 + ], + [ + -0.42661744356155396, + -0.14429412630356228, + 0.8928475458722636, + -0.22640372812747955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8869788050651553, + -0.25860661837738086, + 0.38261102586603424, + 0.07159304618835449 + ], + [ + 0.1753814518451691, + 0.9550619369897382, + 0.23895206584275555, + 0.17847852408885956 + ], + [ + -0.4272117912769319, + -0.14484253747920475, + 0.8924744620101431, + -0.2245081067085266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8866037130355835, + -0.26016944087133953, + 0.382420918777783, + 0.07092995941638947 + ], + [ + 0.17656661570072174, + 0.9545654804381466, + 0.24006044713127167, + 0.17941591143608093 + ], + [ + -0.42750218510627747, + -0.14531569676447773, + 0.8922584801342097, + -0.22303736209869385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.886550784111023, + -0.26048915481800655, + 0.38232592728048853, + 0.06969112902879715 + ], + [ + 0.17652025818824768, + 0.9543599233600708, + 0.24091028392694114, + 0.18040373921394348 + ], + [ + -0.42763105034828186, + -0.1460909396203854, + 0.892070157682535, + -0.22130201756954193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8866128921508791, + -0.26004726694798913, + 0.38248280273773516, + 0.0685432180762291 + ], + [ + 0.1756771802902222, + 0.9543364305479584, + 0.24161852324400165, + 0.18218855559825897 + ], + [ + -0.4278495013713838, + -0.14702860925096417, + 0.8918113322934148, + -0.21916162967681885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8867459893226626, + -0.26129449399000454, + 0.3813223081977722, + 0.06853236258029938 + ], + [ + 0.1764580309391022, + 0.9537852926318279, + 0.24322045050162042, + 0.18109002709388733 + ], + [ + -0.42725178599357616, + -0.14838737814868477, + 0.891872780389839, + -0.2186240553855896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8867858052253723, + -0.2627789254607346, + 0.38020812447518265, + 0.06886742264032364 + ], + [ + 0.17769557237625122, + 0.9532571297304144, + 0.24438715098335395, + 0.18063651025295258 + ], + [ + -0.4266558885574341, + -0.14915776260417354, + 0.8920295586229667, + -0.21779489517211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8868610858917236, + -0.2639030971904488, + 0.3792525842633415, + 0.06912417709827423 + ], + [ + 0.17876137793064117, + 0.9528889995223697, + 0.24504471727788438, + 0.1810767650604248 + ], + [ + -0.4260537028312683, + -0.14952491392073883, + 0.8922558761331532, + -0.21685907244682312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8871352076530457, + -0.2639061489549171, + 0.37860891944165925, + 0.0689697116613388 + ], + [ + 0.17834118008613586, + 0.9526761899834355, + 0.24617584111458246, + 0.18042495846748352 + ], + [ + -0.4256590008735657, + -0.15086970826927218, + 0.8922178945916744, + -0.21637573838233948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8872523307800295, + -0.26352013956649917, + 0.3786033655631741, + 0.06776142120361328 + ], + [ + 0.17759872972965243, + 0.9526364582328853, + 0.2468652623295308, + 0.18051281571388245 + ], + [ + -0.4257253408432008, + -0.15179230104096872, + 0.8920297579064475, + -0.21541662514209747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8869819641113281, + -0.2653465972432883, + 0.377960589781015, + 0.0678996816277504 + ], + [ + 0.1789674162864685, + 0.9519935780575371, + 0.2483523032435613, + 0.17875200510025024 + ], + [ + -0.42571547627449036, + -0.15264138432545632, + 0.8918895487039373, + -0.21531198918819427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8868364095687866, + -0.2670085399737652, + 0.37713084729493274, + 0.06804624199867249 + ], + [ + 0.1804300993680954, + 0.951458013660444, + 0.24934436844937477, + 0.1776219755411148 + ], + [ + -0.4254012405872345, + -0.1530819158558827, + 0.8919639764098598, + -0.21563328802585602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8866552114486694, + -0.26865387009362623, + 0.3763876279442931, + 0.0686839297413826 + ], + [ + 0.18174248933792114, + 0.9508832370666102, + 0.25058086171355975, + 0.17646925151348114 + ], + [ + -0.42522022128105164, + -0.15377320901089656, + 0.8919314010692055, + -0.21588706970214844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8864707946777346, + -0.26974389155605444, + 0.37604221294233353, + 0.06790917366743088 + ], + [ + 0.1825211048126221, + 0.9504825075100436, + 0.2515334848151684, + 0.17539247870445251 + ], + [ + -0.4252711832523347, + -0.15434145532384294, + 0.8918089194841659, + -0.216513991355896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8864700794219971, + -0.2706564477532464, + 0.37538776057922757, + 0.0685843750834465 + ], + [ + 0.18289540708065033, + 0.950006305895117, + 0.2530558058213747, + 0.17433558404445648 + ], + [ + -0.42511191964149475, + -0.1556697172953363, + 0.8916540032409439, + -0.2164713740348816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8862473368644714, + -0.2716217591640656, + 0.37521633326726955, + 0.06868281960487366 + ], + [ + 0.18359757959842682, + 0.9496670098862768, + 0.25381987073967033, + 0.17437690496444702 + ], + [ + -0.425273597240448, + -0.1560583832786992, + 0.8915089480387723, + -0.21588006615638733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8862506151199341, + -0.27210347468520396, + 0.37485936686113397, + 0.06876435875892639 + ], + [ + 0.18365149199962616, + 0.9493592685218891, + 0.254929538067334, + 0.17439058423042297 + ], + [ + -0.42524343729019165, + -0.15708798129875823, + 0.891342468783186, + -0.21584831178188324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8864191770553589, + -0.2721026264901409, + 0.37446124935188263, + 0.0687253475189209 + ], + [ + 0.18310579657554626, + 0.9491146145357292, + 0.25622969423234165, + 0.17487983405590057 + ], + [ + -0.42512744665145874, + -0.15856087755294876, + 0.8911369641515141, + -0.21620969474315643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.8861995935440063, + -0.2715755773323374, + 0.37536241824693795, + 0.06717106699943542 + ], + [ + 0.18137021362781525, + 0.9488817641581276, + 0.2583180842779952, + 0.17548298835754395 + ], + [ + -0.4263274669647217, + -0.1608418331161565, + 0.890154394108773, + -0.21501265466213226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8861666917800906, + -0.2720090005480743, + 0.37512628645261153, + 0.06701510399580002 + ], + [ + 0.18136560916900638, + 0.9485896202180578, + 0.2593920405567974, + 0.17570935189723969 + ], + [ + -0.4263978600502015, + -0.16182958815222104, + 0.8899415936265592, + -0.21496975421905518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8855673670768738, + -0.273263418117053, + 0.37562952307391784, + 0.06630754470825195 + ], + [ + 0.18152062594890594, + 0.9479365779662833, + 0.2616611459941894, + 0.17714247107505798 + ], + [ + -0.42757537961006165, + -0.16353408066643363, + 0.889064611837857, + -0.21399985253810883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.8847714066505432, + -0.2743331687506314, + 0.3767238365556439, + 0.06424511224031448 + ], + [ + 0.18173129856586456, + 0.947483497783273, + 0.26315159618531686, + 0.17834126949310303 + ], + [ + -0.42913082242012024, + -0.1643664956552023, + 0.8881612490692928, + -0.21281394362449646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.8840813636779787, + -0.2761779046894496, + 0.3769959805080893, + 0.06345496326684952 + ], + [ + 0.18249751627445224, + 0.9466700907609984, + 0.26553790930182436, + 0.17776982486248016 + ], + [ + -0.43022653460502636, + -0.16595628510041616, + 0.8873351400418532, + -0.2124127596616745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.8835634589195251, + -0.2780924461384998, + 0.37680258068191885, + 0.06382077932357788 + ], + [ + 0.18348349630832672, + 0.9458391546604119, + 0.2678097898902939, + 0.1772371530532837 + ], + [ + -0.43087050318717957, + -0.16748989794976768, + 0.8867343065730423, + -0.2119518667459488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.8831459283828735, + -0.28084392521031254, + 0.3757392678592786, + 0.06581266969442368 + ], + [ + 0.18557608127593994, + 0.9448057330321301, + 0.27000685136092567, + 0.1772255152463913 + ], + [ + -0.43083035945892334, + -0.16872722454647704, + 0.8865192066517957, + -0.21252956986427307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.8827674984931948, + -0.2820623215327806, + 0.3757158761631402, + 0.06538216769695282 + ], + [ + 0.18627080321311953, + 0.9443075423208029, + 0.2712681965453614, + 0.17754444479942322 + ], + [ + -0.43130585551261913, + -0.1694818612881255, + 0.8861439859851095, + -0.21233715116977692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.8828835487365723, + -0.2816523966824049, + 0.37575068949025087, + 0.06463514268398285 + ], + [ + 0.1851930022239685, + 0.94414568803538, + 0.27256648837093655, + 0.17822055518627167 + ], + [ + -0.4315324127674103, + -0.17105805341415328, + 0.8857307177224958, + -0.21293778717517853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.8828200101852419, + -0.28251469571523297, + 0.3752523142664095, + 0.06520804017782211 + ], + [ + 0.18564532697200778, + 0.9437165693665209, + 0.273742210383669, + 0.17844638228416443 + ], + [ + -0.4314680099487306, + -0.1720012494193262, + 0.8855793938951431, + -0.21339313685894012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.8828133344650269, + -0.2834887394367318, + 0.37453276311607114, + 0.06607498228549957 + ], + [ + 0.18632934987545013, + 0.9432793622045036, + 0.27478251596410436, + 0.17860475182533264 + ], + [ + -0.4311867654323578, + -0.17279522214962292, + 0.8855618582840171, + -0.2139049470424652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.8828927874565125, + -0.28369822964960156, + 0.37418665938522777, + 0.06627334654331207 + ], + [ + 0.18590247631072998, + 0.9429298452151423, + 0.27626733421417515, + 0.1782395988702774 + ], + [ + -0.4312082827091217, + -0.1743522319100311, + 0.8852461426295778, + -0.21383444964885712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.8835560679435732, + -0.2827355060819759, + 0.37334874694563014, + 0.06740573793649673 + ], + [ + 0.18446147441864016, + 0.9428565978901644, + 0.2774804885564699, + 0.17821252346038818 + ], + [ + -0.4304679334163667, + -0.17630111785251432, + 0.8852204518025415, + -0.21475274860858917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.8836978673934937, + -0.2828012741896708, + 0.3729632278428032, + 0.06758113950490952 + ], + [ + 0.1840347945690155, + 0.9425887175368685, + 0.27867126840461665, + 0.1782648265361786 + ], + [ + -0.43035954236984253, + -0.1776229870868872, + 0.8850088924842373, + -0.21482938528060913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.8841350078582766, + -0.28126594571636865, + 0.37308815311678056, + 0.06710486114025116 + ], + [ + 0.181764230132103, + 0.9426599597346438, + 0.2799178020904158, + 0.1786946952342987 + ], + [ + -0.43042662739753734, + -0.17967103679744784, + 0.8845627160027134, + -0.2150653898715973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.8846789598464966, + -0.2805833178983662, + 0.37231193886464137, + 0.06862559169530869 + ], + [ + 0.1809074878692627, + 0.9426427122484332, + 0.28053026243286494, + 0.18006351590156555 + ], + [ + -0.42966923117637634, + -0.1808252014153189, + 0.884695777879259, + -0.21534830331802368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.8848726749420168, + -0.27961631679847476, + 0.37257894161066063, + 0.06811550259590149 + ], + [ + 0.17922215163707736, + 0.9425984391833272, + 0.28175806190901087, + 0.1806422919034958 + ], + [ + -0.4299764633178712, + -0.18254561806563221, + 0.8841930545744524, + -0.21500538289546967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.885430097579956, + -0.2774209540253505, + 0.37289567662112166, + 0.06732434034347534 + ], + [ + 0.17592240869998932, + 0.9426706225680226, + 0.2835902681022693, + 0.17996355891227722 + ], + [ + -0.43019169569015503, + -0.18549865496558213, + 0.8834734813649121, + -0.2149004340171814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.885445296764374, + -0.2778811323788505, + 0.372516773588115, + 0.06738828122615814 + ], + [ + 0.175927609205246, + 0.9423169560286943, + 0.2847598912981045, + 0.17995186150074005 + ], + [ + -0.43015825748443615, + -0.18660332315627207, + 0.8832570921958192, + -0.21492953598499298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.8857118487358093, + -0.27728340399049956, + 0.37232841940935146, + 0.06782573461532593 + ], + [ + 0.1749059110879898, + 0.9422410335197076, + 0.28563914745133273, + 0.18099147081375122 + ], + [ + -0.430026113986969, + -0.18787154175308607, + 0.8830525851835669, + -0.2151699960231781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.8856887817382812, + -0.2771356182901792, + 0.372493331471619, + 0.0672682672739029 + ], + [ + 0.174244686961174, + 0.9420727902342892, + 0.28659669042242053, + 0.18175122141838074 + ], + [ + -0.4303419888019562, + -0.18893048076454974, + 0.8826726619047421, + -0.21510984003543854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.8859667181968689, + -0.27583566950986316, + 0.3727970596530942, + 0.06737958639860153 + ], + [ + 0.1722850501537323, + 0.9421160479476379, + 0.28763738721009524, + 0.18294386565685272 + ], + [ + -0.4305587410926819, + -0.19060979118073867, + 0.8822057838990828, + -0.2159995138645172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.8859967589378357, + -0.2766329671119963, + 0.37213430211139015, + 0.06795774400234222 + ], + [ + 0.17243587970733643, + 0.9415551652084299, + 0.2893782078561596, + 0.18192090094089508 + ], + [ + -0.43043652176856995, + -0.19221885960441984, + 0.8819162948221261, + -0.21621280908584595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.8853579759597778, + -0.27847499180592195, + 0.3722807677976786, + 0.06783503293991089 + ], + [ + 0.1732860505580902, + 0.9407214687596268, + 0.2915735012673944, + 0.18109583854675293 + ], + [ + -0.43140843510627747, + -0.19363585647617834, + 0.8811310480718697, + -0.21755436062812805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.885339081287384, + -0.28048569599105966, + 0.37081335544660055, + 0.07035855203866959 + ], + [ + 0.17539000511169434, + 0.9400937028296287, + 0.29233908320217095, + 0.1820615530014038 + ], + [ + -0.4305962324142456, + -0.19378226415721359, + 0.8814960613346068, + -0.2187679409980774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.8852968811988831, + -0.28147884121768385, + 0.3701609586334112, + 0.07138477265834808 + ], + [ + 0.17617927491664886, + 0.9396797941949417, + 0.29319413558280855, + 0.1824667602777481 + ], + [ + -0.43036073446273804, + -0.19434916889542245, + 0.8814862823837804, + -0.22002415359020233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.8856185674667361, + -0.28078319478977615, + 0.36991961578172683, + 0.07190835475921631 + ], + [ + 0.17507761716842654, + 0.9396167489754473, + 0.29405474300880635, + 0.18318189680576324 + ], + [ + -0.43014830350875866, + -0.19565571275545351, + 0.8813009157310786, + -0.22156034409999847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8856126070022583, + -0.28126445804806743, + 0.3695681182334513, + 0.07193055748939514 + ], + [ + 0.174934983253479, + 0.9391700821796767, + 0.295562667831007, + 0.18133024871349335 + ], + [ + -0.43021857738494873, + -0.19710363167289283, + 0.8809438659504993, + -0.2230522781610489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.8857756853103638, + -0.28137247759944034, + 0.36909484248552576, + 0.0723830908536911 + ], + [ + 0.1748824268579483, + 0.9389995128314973, + 0.29613528491617797, + 0.181723952293396 + ], + [ + -0.42990419268608093, + -0.19776122256334897, + 0.8809499683410195, + -0.22536784410476685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8857172727584839, + -0.28183480840412195, + 0.368882166067441, + 0.07224390655755997 + ], + [ + 0.1748538464307785, + 0.9386361552929122, + 0.29730164802942693, + 0.18172001838684082 + ], + [ + -0.4300360679626465, + -0.19882475116322806, + 0.8806461755653348, + -0.22519749402999878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.885636568069458, + -0.2834032936521511, + 0.3678729352670939, + 0.07418669015169144 + ], + [ + 0.17657262086868286, + 0.9381945593887169, + 0.2976795769605177, + 0.18193422257900238 + ], + [ + -0.4294997453689575, + -0.19867963095965513, + 0.8809406528693803, + -0.22698912024497986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8856477737426758, + -0.28331410893118675, + 0.36791460737864634, + 0.07385943830013275 + ], + [ + 0.17628681659698486, + 0.9381302183148438, + 0.2980515310797752, + 0.18143288791179657 + ], + [ + -0.4295939803123474, + -0.19911018140220157, + 0.8807974566819218, + -0.22878669202327728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.8857399225234985, + -0.28377685899157584, + 0.3673357240290295, + 0.07502526789903641 + ], + [ + 0.17653696238994598, + 0.9378359838590039, + 0.2988283325727182, + 0.1802886426448822 + ], + [ + -0.4293012320995331, + -0.1998358398792152, + 0.8807758677025062, + -0.23050238192081451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.885338544845581, + -0.28524225158112265, + 0.3671682098872554, + 0.07668878883123398 + ], + [ + 0.17872139811515808, + 0.9378089022908312, + 0.29761228385344557, + 0.18018844723701477 + ], + [ + -0.42922520637512207, + -0.19786681805934275, + 0.8812572856315456, + -0.23367422819137573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8851776719093325, + -0.28686297226040164, + 0.36629246803191196, + 0.07825342565774918 + ], + [ + 0.18032923340797427, + 0.9372942183882718, + 0.29826325203444315, + 0.1788346916437149 + ], + [ + -0.42888447642326366, + -0.19796272933172945, + 0.8814016838190987, + -0.23461060225963593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8852043151855469, + -0.2878357478176279, + 0.365464025268026, + 0.08054562658071518 + ], + [ + 0.18086031079292297, + 0.9367351965784823, + 0.2996944672703733, + 0.17605575919151306 + ], + [ + -0.4286057651042938, + -0.1991928857062016, + 0.8812600329391553, + -0.23502862453460693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8848662376403811, + -0.2885928015417743, + 0.36568562593713466, + 0.07932792603969574 + ], + [ + 0.1813342869281769, + 0.9364630933598753, + 0.3002577198030473, + 0.1751600056886673 + ], + [ + -0.4291033148765565, + -0.19937657626730584, + 0.8809763261461541, + -0.2363576591014862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.8848719596862793, + -0.2890221461477931, + 0.3653324786693967, + 0.07936158031225204 + ], + [ + 0.18129010498523712, + 0.936086931989268, + 0.3014550333546195, + 0.17507393658161163 + ], + [ + -0.42911016941070557, + -0.2005179498501836, + 0.8807139243598352, + -0.2363395392894745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8844425678253174, + -0.29039750150744154, + 0.365281655714297, + 0.08101531863212585 + ], + [ + 0.1833377480506897, + 0.9360709199982418, + 0.3002640410714788, + 0.17612570524215698 + ], + [ + -0.42912545800209045, + -0.19859638530847215, + 0.8811417785622062, + -0.23750977218151093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8842412233352663, + -0.2904107393988974, + 0.3657582110422596, + 0.08001493662595749 + ], + [ + 0.1826102286577225, + 0.9357994300349886, + 0.301550897744824, + 0.17512571811676025 + ], + [ + -0.42984995245933544, + -0.19985254326856997, + 0.8805043780084769, + -0.23636534810066223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.8842896223068237, + -0.29073960203561167, + 0.3653797292810356, + 0.07999303191900253 + ], + [ + 0.18259881436824799, + 0.935503798472233, + 0.3024736833080432, + 0.17537835240364075 + ], + [ + -0.42975518107414246, + -0.20075644079118657, + 0.8803450092304841, + -0.2368236482143402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.8840424418449402, + -0.29100312148686003, + 0.365767842048346, + 0.07958613336086273 + ], + [ + 0.18240274488925934, + 0.9352895557827816, + 0.30325355414607924, + 0.17520596086978912 + ], + [ + -0.4303465783596039, + -0.20137196763988416, + 0.8799154592622173, + -0.23633642494678497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.8835613131523132, + -0.2921698088458704, + 0.36600025332916153, + 0.07973071932792664 + ], + [ + 0.1838846653699875, + 0.9352002133013277, + 0.30263339424919805, + 0.17596596479415894 + ], + [ + -0.43070387840270996, + -0.20009334112390656, + 0.8800323182210461, + -0.2361501157283783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.883660614490509, + -0.29250123801278527, + 0.36549547013694156, + 0.08038296550512314 + ], + [ + 0.18375758826732635, + 0.9348278297438013, + 0.3038586632146927, + 0.17438730597496033 + ], + [ + -0.4305543601512909, + -0.20134537958324897, + 0.8798198607807269, + -0.2365482896566391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.8834261298179626, + -0.29332213026928505, + 0.3654044790341161, + 0.08054447174072266 + ], + [ + 0.1844329684972763, + 0.9345519030951058, + 0.30429797550715076, + 0.1738557517528534 + ], + [ + -0.43074676394462585, + -0.20143213784434233, + 0.87970580964226, + -0.23662224411964417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.8830860853195193, + -0.29390027667321816, + 0.3657617206179467, + 0.07994922250509262 + ], + [ + 0.18489482998847964, + 0.9344185064153443, + 0.30442717596150837, + 0.1739330291748047 + ], + [ + -0.43124577403068554, + -0.2012079604364448, + 0.8795126279817198, + -0.23645243048667908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.8830887079238894, + -0.29438595968992376, + 0.36536461746705173, + 0.0800030380487442 + ], + [ + 0.1849256902933121, + 0.9340267166217269, + 0.3056085778530212, + 0.17385999858379364 + ], + [ + -0.4312271773815156, + -0.20231416407066047, + 0.8792679129991864, + -0.23643724620342255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.8830685019493103, + -0.2942303473581602, + 0.36553867857148997, + 0.08003640919923782 + ], + [ + 0.18520359694957733, + 0.9342945798341007, + 0.30461988612338625, + 0.17340266704559326 + ], + [ + -0.4311492145061493, + -0.20130114445606873, + 0.8795386146710426, + -0.23718170821666718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.88314288854599, + -0.29417236205597863, + 0.36540560740600964, + 0.08057975769042969 + ], + [ + 0.18532590568065643, + 0.9343710604324728, + 0.3043108239600088, + 0.1742330640554428 + ], + [ + -0.4309442341327667, + -0.20103080388694386, + 0.8797008865865465, + -0.23748622834682465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.8829700350761416, + -0.29440145345970825, + 0.36563876002114226, + 0.08018195629119873 + ], + [ + 0.18550096452236178, + 0.9343289950446139, + 0.30433319725400454, + 0.17450298368930817 + ], + [ + -0.4312230348587037, + -0.2008907710285843, + 0.8795963020413035, + -0.23716147243976593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.8830883502960207, + -0.294386323941451, + 0.3653650888823146, + 0.08060929924249649 + ], + [ + 0.18530119955539706, + 0.9342023965460383, + 0.30484319767998064, + 0.17443890869617462 + ], + [ + -0.4310666322708131, + -0.2015008913324903, + 0.8795334057566188, + -0.2371872514486313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.8831766843795776, + -0.2948021848021672, + 0.36481589898492867, + 0.08108078688383102 + ], + [ + 0.18543866276741028, + 0.9338844682029175, + 0.3057324726334133, + 0.17338964343070984 + ], + [ + -0.4308265149593353, + -0.2023648272937025, + 0.8794526830767486, + -0.2372753620147705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.8831361532211304, + -0.2949674707925088, + 0.3647803682809041, + 0.08092624694108963 + ], + [ + 0.18531638383865356, + 0.9337042622677572, + 0.3063563630860167, + 0.17396344244480133 + ], + [ + -0.43096214532852173, + -0.20295460640663027, + 0.8792502597733575, + -0.23661138117313385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.8831573724746704, + -0.2953366932692314, + 0.3644301559864817, + 0.0812583640217781 + ], + [ + 0.1854490488767624, + 0.9334478383813402, + 0.30705664331899807, + 0.17425574362277985 + ], + [ + -0.4308616518974304, + -0.20359611274098405, + 0.8791512624449425, + -0.2362079918384552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.8832443952560425, + -0.29548782728660267, + 0.3640966096359976, + 0.08156313747167587 + ], + [ + 0.18530617654323578, + 0.933217824013486, + 0.307841020936449, + 0.17457647621631622 + ], + [ + -0.4307447373867035, + -0.20442950930054204, + 0.8790151376529114, + -0.23547866940498352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.883513867855072, + -0.29615763243373716, + 0.36289656862069875, + 0.08297356218099594 + ], + [ + 0.18549349904060364, + 0.9326292471697082, + 0.3095074753212994, + 0.17340059578418732 + ], + [ + -0.43011096119880676, + -0.2061391937525385, + 0.8789261661274308, + -0.23539823293685913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.8834450840950012, + -0.2966706780150827, + 0.3626448968602379, + 0.08266952633857727 + ], + [ + 0.18551191687583923, + 0.9322277462638676, + 0.3107035763279308, + 0.17326736450195312 + ], + [ + -0.4302442967891693, + -0.2072146154590029, + 0.8786079873523034, + -0.23530757427215576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.8833292722702029, + -0.29763016890107, + 0.36214045235468484, + 0.08242717385292053 + ], + [ + 0.18614476919174197, + 0.9317570974309372, + 0.3117351764136466, + 0.17319080233573914 + ], + [ + -0.4302087128162385, + -0.20795426856876043, + 0.878450597677511, + -0.2346975952386856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.8832823634147644, + -0.2981910380147144, + 0.3617932587923428, + 0.08255693316459656 + ], + [ + 0.18665306270122528, + 0.9315392284936921, + 0.3120822928904806, + 0.174684077501297 + ], + [ + -0.4300847351551056, + -0.2081269728718647, + 0.8784704417736916, + -0.23331113159656525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8832755088806152, + -0.2987970560340159, + 0.36130967381417145, + 0.08249173313379288 + ], + [ + 0.18673589825630188, + 0.9310580121136599, + 0.31346559495183307, + 0.17428450286388397 + ], + [ + -0.430062860250473, + -0.20940702171821152, + 0.8781769198826885, + -0.2332816869020462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8831462264060974, + -0.29905150865485114, + 0.36141515874356345, + 0.08146864920854568 + ], + [ + 0.1866273432970047, + 0.9308388486147808, + 0.3141802923980096, + 0.1756352037191391 + ], + [ + -0.4303753674030304, + -0.21001720223960407, + 0.8778780364511217, + -0.23148703575134277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.8830721974372866, + -0.29968329473633604, + 0.36107253598369043, + 0.08119115233421326 + ], + [ + 0.18687020242214206, + 0.9304387283045553, + 0.3152193862654185, + 0.1760428100824356 + ], + [ + -0.4304218888282777, + -0.21088779332678445, + 0.8776464945570058, + -0.23057696223258972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.883192777633667, + -0.29965746362922374, + 0.36079907248356474, + 0.08095653355121613 + ], + [ + 0.18646489083766937, + 0.9302104712478926, + 0.3161318072043743, + 0.1769120693206787 + ], + [ + -0.43035030364990234, + -0.2119289700328365, + 0.8774307282683009, + -0.23000606894493103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.8831981420516968, + -0.2998746168812362, + 0.36060536433726476, + 0.08057194203138351 + ], + [ + 0.18613164126873016, + 0.9298528823339044, + 0.3173778022492689, + 0.1769644170999527 + ], + [ + -0.43048349022865295, + -0.21318742562852772, + 0.8770604929034472, + -0.22895410656929016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.8831745982170107, + -0.3004700405125204, + 0.3601672017206562, + 0.08055902272462845 + ], + [ + 0.18633182346820834, + 0.9294372616570002, + 0.3184757890965615, + 0.17687414586544037 + ], + [ + -0.43044525384902965, + -0.214159127714606, + 0.8768425048795874, + -0.22853924334049225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.883306622505188, + -0.300841990227653, + 0.359532367281221, + 0.08090956509113312 + ], + [ + 0.18650171160697937, + 0.9291340842600422, + 0.3192601077050299, + 0.17734284698963165 + ], + [ + -0.43010058999061584, + -0.21495117369480218, + 0.8768178209426425, + -0.2281716912984848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.883360028266907, + -0.30153166537620435, + 0.35882272049549774, + 0.08128099888563156 + ], + [ + 0.1868415176868439, + 0.9286663581824313, + 0.32042003689306225, + 0.17702533304691315 + ], + [ + -0.42984336614608776, + -0.21600327308636422, + 0.8766853751896534, + -0.2278769612312317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.8835831880569458, + -0.3017052072014738, + 0.35812676798551724, + 0.08172972500324249 + ], + [ + 0.18675963580608368, + 0.928369080723469, + 0.32132793583272995, + 0.17678381502628326 + ], + [ + -0.42942014336586, + -0.21703635120349868, + 0.8766376617746704, + -0.22757390141487122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.883868992328644, + -0.3017465765980672, + 0.35738577515129194, + 0.08155721426010132 + ], + [ + 0.18623544275760653, + 0.9279350427984978, + 0.32288218604572794, + 0.17511233687400818 + ], + [ + -0.42905938625335704, + -0.21882766371267418, + 0.8763689303389705, + -0.2281964272260666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.8840441703796389, + -0.30208482448198287, + 0.3566661180457451, + 0.08200692385435104 + ], + [ + 0.18662126362323764, + 0.927745105060723, + 0.3232050317688214, + 0.17587405443191528 + ], + [ + -0.4285305738449098, + -0.21916604688987656, + 0.8765431203713687, + -0.22769783437252045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.8842923641204834, + -0.3021522254804535, + 0.3559929627175101, + 0.08233056217432022 + ], + [ + 0.18651936948299408, + 0.9275160944211764, + 0.32392039336770184, + 0.17645640671253204 + ], + [ + -0.4280624985694885, + -0.22004075001600099, + 0.8765526733803043, + -0.2281424105167389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.8846633434295654, + -0.30208880459982584, + 0.35512416032275, + 0.08209101855754852 + ], + [ + 0.1860385239124298, + 0.9271509161753435, + 0.3252396549836307, + 0.17492139339447021 + ], + [ + -0.4275049567222595, + -0.22166082973856377, + 0.8764165728534244, + -0.22802317142486572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.885221540927887, + -0.30191389506359245, + 0.35387967027564393, + 0.08301840722560883 + ], + [ + 0.1855769008398056, + 0.9268038013616036, + 0.32649027846469636, + 0.1742386370897293 + ], + [ + -0.4265489876270294, + -0.22334433543122223, + 0.8764549543244852, + -0.22928224503993988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.8850829005241394, + -0.30193040475998345, + 0.35421226041923076, + 0.081366628408432 + ], + [ + 0.18499843776226044, + 0.9265523549498416, + 0.3275306533444645, + 0.17405718564987183 + ], + [ + -0.427087664604187, + -0.22436306182466154, + 0.8759323046552087, + -0.22843410074710846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.8850552439689636, + -0.30268435506220137, + 0.3536374512141239, + 0.08141906559467316 + ], + [ + 0.18538200855255127, + 0.9260688350884937, + 0.3286791268537744, + 0.17384417355060577 + ], + [ + -0.4269786477088928, + -0.225341163036901, + 0.8757343061721228, + -0.22860442101955414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.8848535418510437, + -0.3036835237894223, + 0.3532852776665892, + 0.08086423575878143 + ], + [ + 0.18610318005084991, + 0.9256187369981006, + 0.329538495215498, + 0.1740563064813614 + ], + [ + -0.4270828664302826, + -0.22584580080731614, + 0.8755534947104401, + -0.2286396324634552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.8847768902778628, + -0.304374302918604, + 0.35288264313126483, + 0.08068963140249252 + ], + [ + 0.1863329112529755, + 0.9251325361339326, + 0.33077149162091884, + 0.173833966255188 + ], + [ + -0.42714157700538646, + -0.22690532470961425, + 0.875250850866461, + -0.22863851487636566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.8846212029457092, + -0.3060477040176234, + 0.3518240009970896, + 0.08158918470144272 + ], + [ + 0.18789972364902496, + 0.9244707056412088, + 0.3317341872889943, + 0.17407870292663574 + ], + [ + -0.4267774522304535, + -0.227351474548475, + 0.8753126772197605, + -0.22901880741119385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.8840556144714355, + -0.30851354719632074, + 0.3510912948535695, + 0.08074364066123962 + ], + [ + 0.19013787806034088, + 0.9236166852427099, + 0.33283595614644207, + 0.17464987933635712 + ], + [ + -0.42695820331573486, + -0.2274897382083754, + 0.8751886225867099, + -0.22970585525035858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.8840669989585879, + -0.30896645253857846, + 0.35066408157225926, + 0.08080597221851349 + ], + [ + 0.1901687383651734, + 0.9231970464356669, + 0.3339806329334951, + 0.17462967336177826 + ], + [ + -0.4269208312034608, + -0.2285759156718078, + 0.8749238052986607, + -0.22974777221679688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.8836727142333984, + -0.31171796553989006, + 0.3492198474927255, + 0.08147508651018143 + ], + [ + 0.19304916262626648, + 0.9223121720522015, + 0.334771970163822, + 0.17610259354114532 + ], + [ + -0.4264441728591919, + -0.22841226035725243, + 0.8751989470319032, + -0.23067472875118256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.883501410484314, + -0.3131924397610919, + 0.3483329115150972, + 0.08164062350988388 + ], + [ + 0.19421228766441345, + 0.9216068980251255, + 0.3360391329992769, + 0.17610831558704376 + ], + [ + -0.4262709319591522, + -0.22924052845490686, + 0.8750667895008639, + -0.2309712916612625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.8832874894142153, + -0.31434743597927384, + 0.3478346095246527, + 0.08113463968038559 + ], + [ + 0.19489182531833654, + 0.9209672680834052, + 0.3373965437852623, + 0.17619822919368744 + ], + [ + -0.4264040291309358, + -0.230228039910346, + 0.8747426305070835, + -0.2310371845960617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.8833481669425967, + -0.3147767986664492, + 0.3472918916305558, + 0.08075914531946182 + ], + [ + 0.1951065063476563, + 0.9206342634585917, + 0.3381804463293512, + 0.17723318934440613 + ], + [ + -0.4261801838874818, + -0.23097215578223768, + 0.8746555443562769, + -0.2313142567873001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.8836703300476074, + -0.31570851593857313, + 0.34562241877039507, + 0.08222299069166183 + ], + [ + 0.19557401537895203, + 0.9198049636133568, + 0.34016114026085403, + 0.1764451414346695 + ], + [ + -0.42529699206352234, + -0.2329955572896066, + 0.8745487382906988, + -0.23199576139450073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 632.8356526692708, + "fy": 632.8060709635416, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/move_left/transforms.json b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..4f622ed57396da0cfa0339af3dc1e4a7851e30ea --- /dev/null +++ b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/move_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, + 5.6416529332636856e-06, + -5.4483607527799904e-05, + 0.0005640062154270709 + ], + [ + -5.64634410693543e-06, + 1.0, + -8.610235818196088e-05, + 2.5099097911152057e-05 + ], + [ + 5.4483120038639754e-05, + 8.610266377218068e-05, + 1.0, + 0.00019526583491824567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999901056289673, + -0.0035129378084093332, + 0.002724738558754325, + -0.0020391641827743677 + ], + [ + 0.0035076758358627558, + 0.9999919533729553, + 0.00193350063636899, + -0.0003019671722699607 + ], + [ + -0.002731508808210492, + -0.0019239240791648626, + 0.9999943971633911, + -0.00038624612368746763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999827146530151, + -0.004166800994426012, + 0.004141739569604397, + -0.0030732479796464008 + ], + [ + 0.004154545720666647, + 0.999987006187439, + 0.0029630912467837334, + -0.0017868585965877014 + ], + [ + -0.0041540320962667465, + -0.002945832908153534, + 0.999987006187439, + -0.0006611786123054723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999984622001648, + -0.0002671750553417951, + 0.005536788608878851, + -0.004269462510100788 + ], + [ + 0.0002558463893365115, + 0.9999978542327881, + 0.0020466791465878487, + 0.00021486234583703446 + ], + [ + -0.00553732318803668, + -0.0020452309399843216, + 0.9999825954437256, + -0.0017212718281717527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999661445617676, + 0.004165422637015581, + 0.007099347189068794, + -0.0061385885812342165 + ], + [ + -0.0041780234314501286, + 0.9999897480010986, + 0.00176104751881212, + -0.00035905646879063355 + ], + [ + -0.007091938517987728, + -0.0017906491411849856, + 0.9999732375144958, + -0.001827033287254236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999521374702454, + 0.004940752871334553, + 0.00844455324113369, + -0.007395095720384565 + ], + [ + -0.0049677398055791855, + 0.9999825954437256, + 0.0031778502743691206, + -0.0003067209262452606 + ], + [ + -0.008428705856204033, + -0.0032196484971791506, + 0.9999592900276184, + -0.0015398455258931905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999428987503052, + 0.004920187871903181, + 0.009487052448093891, + -0.007695752282493881 + ], + [ + -0.004999308381229639, + 0.9999527931213379, + 0.00833420641720295, + 0.0004589640258234881 + ], + [ + -0.009445599280297756, + -0.008381159976124763, + 0.9999202489852905, + -0.0004792029448297052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999618530273438, + 0.004911512136459351, + 0.007225919980555773, + -0.009460133779793978 + ], + [ + -0.005000557750463486, + 0.9999111294746399, + 0.012357120402157307, + 0.0012918740873121553 + ], + [ + -0.007164585869759321, + -0.012392782606184483, + 0.9998975396156311, + -0.0005926278704363439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999690055847168, + 0.004963060840964317, + 0.006116203963756561, + -0.010564653766119765 + ], + [ + -0.005047946237027645, + 0.9998900294303894, + 0.0139424167573452, + 0.0028975709910608 + ], + [ + -0.006046334281563759, + -0.013972857967019081, + 0.9998840689659119, + -0.001034611645006826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999975323677063, + 0.004131622612476349, + 0.005685335956513882, + -0.008019934536423533 + ], + [ + -0.004229298792779446, + 0.9998418092727661, + 0.017277009785175323, + 0.004160577398059624 + ], + [ + -0.005613054148852825, + -0.017300628125667572, + 0.9998345971107483, + -0.0011187534147341336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999969482421875, + 0.0031362243462353945, + 0.007156177889555693, + -0.005149924610224035 + ], + [ + -0.0032769886311143637, + 0.9997996687889099, + 0.01974414847791195, + 0.0060671816694565 + ], + [ + -0.0070928228087723255, + -0.019766995683312416, + 0.999779462814331, + -0.0008128310206331431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999650120735168, + 0.0031666739378124475, + 0.0077451677061617374, + -0.004804309535889872 + ], + [ + -0.0033283589873462915, + 0.9997749328613281, + 0.02095257118344307, + 0.0067071754727438685 + ], + [ + -0.007677074987441301, + -0.02097761631011963, + 0.9997504949569702, + -0.0002894234714201755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999646544456482, + 0.0024396905209869146, + 0.008047503419220448, + -0.0035852651688314634 + ], + [ + -0.002621757099404931, + 0.9997390508651733, + 0.02269156277179718, + 0.008187767475222547 + ], + [ + -0.007990042679011822, + -0.0227118581533432, + 0.9997101426124573, + 2.333928025022727e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999760389328003, + 0.0014796069590374827, + 0.006765532307326794, + -0.0029060744798727455 + ], + [ + -0.0016447919188067317, + 0.999699056148529, + 0.024475647136569023, + 0.009223304204328635 + ], + [ + -0.006727281957864761, + -0.02448618970811367, + 0.9996775388717651, + 0.003191486719463553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999788403511047, + 0.0016525397077202797, + 0.006289399694651365, + -0.003890715787808101 + ], + [ + -0.001812252216041088, + 0.9996738433837891, + 0.02547352947294712, + 0.009435215975261396 + ], + [ + -0.006245252210646868, + -0.025484388694167137, + 0.9996557235717773, + 0.003045079075834817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999775290489197, + 0.0007557097123935819, + 0.006659725680947304, + -0.0056441673299386375 + ], + [ + -0.0009310201276093721, + 0.999652087688446, + 0.026360318064689636, + 0.011475903816365948 + ], + [ + -0.006637487560510635, + -0.02636592462658882, + 0.999630331993103, + 0.002650380012623611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999858736991882, + -0.0017248205840587616, + 0.005029536783695221, + -0.005425497613078544 + ], + [ + 0.0015897979028522968, + 0.999641478061676, + 0.02672746777534485, + 0.011427978423261454 + ], + [ + -0.005073834210634232, + -0.026719093322753906, + 0.9996300935745239, + 0.0023732423316687344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999879598617554, + -0.003728436538949609, + 0.0031889150850474834, + -0.007121894450946933 + ], + [ + 0.0036408433225005865, + 0.9996275305747986, + 0.027046265080571175, + 0.010388064318122194 + ], + [ + -0.0032885675318539143, + -0.027034329250454903, + 0.9996290802955627, + 0.002218976574358604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999974250793457, + -0.007097895257174969, + -0.0010298595298081636, + -0.008268409821071795 + ], + [ + 0.007123949006199837, + 0.9995825886726379, + 0.0279973316937685, + 0.007960545404681137 + ], + [ + 0.0008307075477205217, + -0.02800394780933857, + 0.9996074438095093, + 0.002359382469772494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999590516090393, + -0.008857796899974346, + -0.0018485940527170897, + -0.011443765326920484 + ], + [ + 0.008907255716621876, + 0.9995476603507996, + 0.028724918141961098, + 0.0054206015076488255 + ], + [ + 0.0015933183021843433, + -0.028740206733345985, + 0.9995856285095215, + 0.0026121258584132032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999685883522034, + -0.00771233718842268, + -0.00181660579983145, + -0.013661782630527065 + ], + [ + 0.007761873304843903, + 0.9995476603507996, + 0.02905486710369587, + 0.004796073165914369 + ], + [ + 0.0015917032724246383, + -0.029068054631352425, + 0.9995761513710022, + 0.004339894998656024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999841451644897, + -0.005043008364737034, + -0.0024961361195892096, + -0.01986416180928548 + ], + [ + 0.005115004256367683, + 0.9995448589324951, + 0.029730012640357018, + 0.006375012391557296 + ], + [ + 0.002345071407034993, + -0.02974230982363224, + 0.9995548725128174, + 0.002456081856507808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999567270278931, + -0.008028448559343815, + -0.004696548916399479, + -0.02429200647517093 + ], + [ + 0.008161376230418682, + 0.9995459914207458, + 0.02900414727628231, + 0.00488906219039881 + ], + [ + 0.004461558535695076, + -0.029041221365332603, + 0.9995682835578918, + -0.0018158064767097434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999305009841919, + -0.009497420862317085, + -0.006983292754739523, + -0.02760014215868617 + ], + [ + 0.00969219021499157, + 0.9995494484901428, + 0.028407182544469833, + 0.0029563914008793376 + ], + [ + 0.006710351910442114, + -0.028472892940044403, + 0.9995720386505127, + -0.0029964635403649438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9997801184654236, + -0.010993612930178642, + -0.017857423052191734, + -0.04037741399591878 + ], + [ + 0.011490155011415482, + 0.9995434284210205, + 0.027945473790168762, + -0.003590494150384551 + ], + [ + 0.017542047426104546, + -0.028144512325525284, + 0.9994499087333679, + -0.006223231465333984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9992815852165222, + -0.019385283812880516, + -0.032565731555223465, + -0.05487364891266066 + ], + [ + 0.02030392549932003, + 0.9993983507156372, + 0.0281190425157547, + -0.00981890314835168 + ], + [ + 0.03200104460120201, + -0.02876005321741104, + 0.9990739822387695, + -0.012008821680432274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9988832473754883, + -0.023594971746206284, + -0.04093397781252861, + -0.06085939137708573 + ], + [ + 0.024759244173765182, + 0.9992963671684265, + 0.028172796592116356, + -0.013913350280315156 + ], + [ + 0.040240440517663956, + -0.029154827818274498, + 0.9987645745277405, + -0.013522836781801686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9981541037559509, + -0.030618363991379738, + -0.052449364215135574, + -0.07725196853280067 + ], + [ + 0.0322565995156765, + 0.9990087151527405, + 0.03067808970808983, + -0.01939731290830033 + ], + [ + 0.05145805701613426, + -0.03231329843401909, + 0.9981522560119629, + -0.02128424657774823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9981130957603455, + -0.02906477078795433, + -0.05408783629536629, + -0.08634626319011052 + ], + [ + 0.03080984577536583, + 0.9990220069885254, + 0.03171445056796074, + -0.013152022432121966 + ], + [ + 0.053113166242837906, + -0.03332104906439781, + 0.9980323910713196, + -0.04806908733314938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.998187780380249, + -0.028432004153728485, + -0.05303611978888512, + -0.09113901099042288 + ], + [ + 0.030037980526685715, + 0.9991064071655273, + 0.02973344177007675, + -0.005765020643316564 + ], + [ + 0.05214334651827812, + -0.03127265349030495, + 0.9981498122215271, + -0.07504171880169047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9981219172477722, + -0.02971205860376358, + -0.05357060953974724, + -0.10034298506521043 + ], + [ + 0.03112087771296501, + 0.9991862177848816, + 0.025658680126070976, + -0.0028324967715889215 + ], + [ + 0.052764642983675, + -0.02727765403687954, + 0.9982343316078186, + -0.1244660233635278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9978487491607666, + -0.029871394857764244, + -0.058357078582048416, + -0.1016304371848939 + ], + [ + 0.03131008893251419, + 0.9992240071296692, + 0.023896291851997375, + -0.0019210932739374656 + ], + [ + 0.05759797617793083, + -0.025672048330307007, + 0.9980097413063049, + -0.17108798780670714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9977752566337585, + -0.027753345668315887, + -0.06061629205942154, + -0.10790400736861759 + ], + [ + 0.029234599322080612, + 0.9992918372154236, + 0.023687778040766716, + -0.0013833548293434202 + ], + [ + 0.05991595238447189, + -0.02540717087686062, + 0.9978800415992737, + -0.1791214328909677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9975664019584656, + -0.024043787270784378, + -0.0654461458325386, + -0.12662116111744018 + ], + [ + 0.025504324585199356, + 0.999441921710968, + 0.021573301404714584, + 0.008187157323672659 + ], + [ + 0.06489091366529465, + -0.023189958184957504, + 0.9976228475570679, + -0.18625745356437706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9971169233322144, + -0.02888823300600052, + -0.07016629725694656, + -0.1430510985709372 + ], + [ + 0.03048093244433403, + 0.9992989897727966, + 0.021735090762376785, + 0.0003990060867859967 + ], + [ + 0.06948921829462051, + -0.023811161518096924, + 0.9972984790802002, + -0.19225415924475306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9970789551734924, + -0.028693048283457756, + -0.07078312337398529, + -0.1493406949771775 + ], + [ + 0.030342524871230125, + 0.999289870262146, + 0.02233894169330597, + -0.0010442031861101794 + ], + [ + 0.07009188830852509, + -0.02442142739892006, + 0.9972415566444397, + -0.19758173450827599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9973728060722351, + -0.022794542834162712, + -0.06876002252101898, + -0.1609633526631764 + ], + [ + 0.024103911593556404, + 0.9995424151420593, + 0.018273282796144485, + 0.007951777481607029 + ], + [ + 0.06831203401088715, + -0.01988266035914421, + 0.9974658489227295, + -0.2120322470154081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9976910352706909, + -0.029598303139209747, + -0.061127256602048874, + -0.18295803576234787 + ], + [ + 0.0304565466940403, + 0.9994494915008545, + 0.013156408444046974, + -0.0017197004689406307 + ], + [ + 0.060704197734594345, + -0.014987755566835403, + 0.9980432987213135, + -0.2298177653450578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9975965023040771, + -0.03758447244763374, + -0.058211736381053925, + -0.18595507201694306 + ], + [ + 0.038361866027116776, + 0.9991883039474487, + 0.012294700369238853, + -0.009038461756611627 + ], + [ + 0.05770239233970642, + -0.014498261734843254, + 0.9982285499572754, + -0.23023912187606568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9974662661552429, + -0.046908311545848846, + -0.053485214710235596, + -0.20454204238596416 + ], + [ + 0.04830392450094223, + 0.9985170960426331, + 0.025105753913521767, + -0.0036731441106115066 + ], + [ + 0.052228234708309174, + -0.027625689283013344, + 0.9982529878616333, + -0.2383011340917576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9970288276672363, + -0.056009359657764435, + -0.052882056683301926, + -0.21515716943475935 + ], + [ + 0.057999543845653534, + 0.9976351261138916, + 0.036880332976579666, + -0.0075207058236830765 + ], + [ + 0.050691355019807816, + -0.03983788564801216, + 0.997919499874115, + -0.25032025421895676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9970958828926086, + -0.05606904998421669, + -0.05153670534491539, + -0.22324661025925288 + ], + [ + 0.0578763522207737, + 0.9977353811264038, + 0.034270718693733215, + -0.005310859989434007 + ], + [ + 0.04949846491217613, + -0.037153951823711395, + 0.9980828762054443, + -0.2556960560943163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9984009861946106, + -0.042626895010471344, + -0.037126462906599045, + -0.24876162707805632 + ], + [ + 0.043404512107372284, + 0.9988493323326111, + 0.02039683237671852, + -0.014083165675401688 + ], + [ + 0.03621428832411766, + -0.021975673735141754, + 0.9991024136543274, + -0.2652030585954587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9992244839668274, + -0.034686651080846786, + -0.01863391324877739, + -0.2747494434080427 + ], + [ + 0.03484560176730156, + 0.9993584752082825, + 0.008274199441075325, + -0.013097805207565663 + ], + [ + 0.018334954977035522, + -0.008917093276977539, + 0.9997921586036682, + -0.27064283397935684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.999157726764679, + -0.03941962867975235, + -0.011399328708648682, + -0.28794321843556 + ], + [ + 0.0394861102104187, + 0.9992040395736694, + 0.00566665967926383, + -0.014786420546708598 + ], + [ + 0.011166878044605255, + -0.0061120023019611835, + 0.9999189972877502, + -0.27018215360622555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9990049600601196, + -0.04453738406300545, + -0.0023361037019640207, + -0.3051501257078988 + ], + [ + 0.04454371705651283, + 0.9990037083625793, + 0.0027331325691193342, + -0.01516005676239729 + ], + [ + 0.0022120496723800898, + -0.0028344716411083937, + 0.9999935626983643, + -0.2699021655218011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9990251660346985, + -0.0439828522503376, + 0.0037763789296150208, + -0.3273673921350449 + ], + [ + 0.04398305341601372, + 0.9990322589874268, + 2.994741589645855e-05, + -0.011864551360763255 + ], + [ + -0.003774041775614023, + 0.00013617845252156258, + 0.999992847442627, + -0.2732407983311171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9988953471183777, + -0.04636035114526749, + 0.007670607417821884, + -0.3425374017348365 + ], + [ + 0.0463734045624733, + 0.9989230036735535, + -0.0015326940920203924, + -0.00916285982710265 + ], + [ + -0.007591290399432182, + 0.0018867130856961012, + 0.9999694228172302, + -0.2749839271921369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9983826875686646, + -0.05378609895706177, + 0.01841406337916851, + -0.36954688202767144 + ], + [ + 0.053841233253479004, + 0.9985463619232178, + -0.0025114165619015694, + 0.00021465862435953928 + ], + [ + -0.018252218142151833, + 0.0034987907856702805, + 0.9998272657394409, + -0.27179482118004844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9977805614471436, + -0.04923442378640175, + 0.044832076877355576, + -0.39189331067932975 + ], + [ + 0.04927986487746239, + 0.9987850189208984, + 9.179185144603252e-05, + 0.009841063142650657 + ], + [ + -0.0447821281850338, + 0.0021177304442971945, + 0.9989945292472839, + -0.26969385277479885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.996738612651825, + -0.04848852753639221, + 0.06450548768043518, + -0.4057139593457419 + ], + [ + 0.04853558540344238, + 0.9988210797309875, + 0.0008381877560168505, + 0.015948082157780253 + ], + [ + -0.0644700825214386, + 0.002295357408002019, + 0.9979169964790344, + -0.2683245977239003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9921966791152954, + -0.05950639769434929, + 0.10956595838069916, + -0.4308181243283408 + ], + [ + 0.059566739946603775, + 0.9982206225395203, + 0.0027251713909208775, + 0.02720828837759438 + ], + [ + -0.1095331609249115, + 0.0038225804455578327, + 0.993975818157196, + -0.2609895147738003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9850437641143799, + -0.06253781169652939, + 0.16055460274219513, + -0.45492866323107767 + ], + [ + 0.06160377338528633, + 0.9980423450469971, + 0.010793638415634632, + 0.03136542668891332 + ], + [ + -0.1609153002500534, + -0.0007414380088448524, + 0.986967921257019, + -0.2570465425177226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9808244705200195, + -0.06223343312740326, + 0.18468992412090302, + -0.4678887404146649 + ], + [ + 0.059899166226387024, + 0.9980385303497314, + 0.018196992576122284, + 0.03335109944381411 + ], + [ + -0.1854601353406906, + -0.006785283796489239, + 0.982628345489502, + -0.2555232193853174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9712179899215698, + -0.07096808403730392, + 0.22737440466880798, + -0.4928284645080566 + ], + [ + 0.06463643163442612, + 0.9972884654998779, + 0.03518244996666908, + 0.03078021907380649 + ], + [ + -0.22925469279289246, + -0.019473161548376083, + 0.9731716513633728, + -0.2568997429949897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9609936475753784, + -0.08035481721162796, + 0.2646399736404419, + -0.5134013848645347 + ], + [ + 0.0705561563372612, + 0.9964307546615601, + 0.046342186629772186, + 0.032867092018326126 + ], + [ + -0.2674192190170288, + -0.025862567126750946, + 0.9632331728935242, + -0.25855964611447046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9558472037315369, + -0.08092014491558075, + 0.282503217458725, + -0.52567191918691 + ], + [ + 0.06957472860813141, + 0.9963238835334778, + 0.0499812476336956, + 0.03192786185277833 + ], + [ + -0.2855091989040375, + -0.028119351714849472, + 0.9579633474349976, + -0.2632686442799038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9463133811950684, + -0.07624007016420364, + 0.3141312003135681, + -0.5536985874176026 + ], + [ + 0.06587780267000198, + 0.9968795776367188, + 0.043488577008247375, + 0.027466179164392607 + ], + [ + -0.3164665699005127, + -0.020459553226828575, + 0.9483830332756042, + -0.2667963260696048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.938743531703949, + -0.07000187039375305, + 0.33743196725845337, + -0.5823090745343102 + ], + [ + 0.06168569624423981, + 0.997470498085022, + 0.03531898558139801, + 0.023502005045376126 + ], + [ + -0.339050829410553, + -0.012340744026005268, + 0.9406871199607849, + -0.2708940079287877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.935799777507782, + -0.06531641632318497, + 0.346428245306015, + -0.5941975781368831 + ], + [ + 0.057750359177589417, + 0.997813880443573, + 0.03213033825159073, + 0.02221419391414476 + ], + [ + -0.34776952862739563, + -0.010061211884021759, + 0.9375260472297668, + -0.27478044205714786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9285925030708313, + -0.06194222718477249, + 0.3658949136734009, + -0.6030965163594201 + ], + [ + 0.055719293653964996, + 0.9980661869049072, + 0.027554143220186234, + 0.01990236820919173 + ], + [ + -0.3668941259384155, + -0.005199163220822811, + 0.9302482008934021, + -0.29039360653786433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9173382520675659, + -0.0598764605820179, + 0.3935801088809967, + -0.6193178249730004 + ], + [ + 0.055123332887887955, + 0.9982057809829712, + 0.02338096685707569, + 0.018979458295045392 + ], + [ + -0.39427390694618225, + 0.0002471897751092911, + 0.9189929366111755, + -0.2995774916949726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9105649590492249, + -0.055021852254867554, + 0.40968769788742065, + -0.6334651618722885 + ], + [ + 0.05182621628046036, + 0.9984771013259888, + 0.018909331411123276, + 0.017815998066512365 + ], + [ + -0.4101042151451111, + 0.00401438819244504, + 0.9120298624038696, + -0.29827837887264436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8971767425537109, + -0.05056943744421005, + 0.4387671649456024, + -0.6411026954650879 + ], + [ + 0.051470935344696045, + 0.9986259341239929, + 0.009849021211266518, + 0.02104296088218689 + ], + [ + -0.4386623203754425, + 0.01374744065105915, + 0.8985468149185181, + -0.3182150647044182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8799414038658142, + -0.04259238764643669, + 0.47316914796829224, + -0.6524950856254215 + ], + [ + 0.04549083486199379, + 0.9989506006240845, + 0.005322457756847143, + 0.015521011501550674 + ], + [ + -0.47289931774139404, + 0.016841406002640724, + 0.8809555172920227, + -0.334664733826168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8705008625984192, + -0.043099693953990936, + 0.49027615785598755, + -0.6624100759388909 + ], + [ + 0.046785205602645874, + 0.9988937377929688, + 0.004743150435388088, + 0.013066841230269462 + ], + [ + -0.4899381995201111, + 0.018808752298355103, + 0.8715542554855347, + -0.3420708626508713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8518593311309814, + -0.05346839502453804, + 0.5210343599319458, + -0.6834146119299389 + ], + [ + 0.06054021045565605, + 0.9981597661972046, + 0.0034513287246227264, + 0.011539621695521331 + ], + [ + -0.5202600955963135, + 0.028603482991456985, + 0.8535287380218506, + -0.35354811066672914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8329470157623291, + -0.06542416661977768, + 0.5494715571403503, + -0.7003095861465212 + ], + [ + 0.0746757909655571, + 0.9971925020217896, + 0.005531709641218185, + 0.014645755586643067 + ], + [ + -0.5482907891273499, + 0.03642459586262703, + 0.8354941606521606, + -0.36803834632275595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8239538669586182, + -0.06652534008026123, + 0.5627383589744568, + -0.7089679456892468 + ], + [ + 0.0749402642250061, + 0.997154712677002, + 0.008154284209012985, + 0.020409958165079827 + ], + [ + -0.5616796612739563, + 0.03545300289988518, + 0.826594889163971, + -0.37572809590233697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8080266714096069, + -0.06599555164575577, + 0.5854378342628479, + -0.7289723376433055 + ], + [ + 0.06392253190279007, + 0.9976604580879211, + 0.02423834055662155, + 0.020285645215993835 + ], + [ + -0.5856677889823914, + 0.017837442457675934, + 0.8103548884391785, + -0.39507966453120824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.793358325958252, + -0.07367603480815887, + 0.6042801737785339, + -0.7458932134840224 + ], + [ + 0.06082737445831299, + 0.9972755312919617, + 0.041731320321559906, + 0.013944720642434226 + ], + [ + -0.6057084202766418, + 0.003648882731795311, + 0.7956783771514893, + -0.40847041209538776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7856609225273132, + -0.07561221718788147, + 0.6140193343162537, + -0.7529502706395255 + ], + [ + 0.06005704402923584, + 0.9971370100975037, + 0.04594524949789047, + 0.011948604698455522 + ], + [ + -0.6157354712486267, + 0.0007787961512804031, + 0.7879526019096375, + -0.4099628789557351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7691705822944641, + -0.07329545170068741, + 0.6348263025283813, + -0.7739259208951678 + ], + [ + 0.05657467618584633, + 0.9973102807998657, + 0.04659973084926605, + 0.004815455472895077 + ], + [ + -0.6365343332290649, + 7.194839417934418e-05, + 0.7712484002113342, + -0.419706688608442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.751174807548523, + -0.06932098418474197, + 0.6564533114433289, + -0.7914857810451871 + ], + [ + 0.052196308970451355, + 0.99759441614151, + 0.04561736434698105, + 0.004783445555302832 + ], + [ + -0.6580364108085632, + -2.1774321794509888e-06, + 0.7529861330986023, + -0.431639632677275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7424478530883789, + -0.07001001387834549, + 0.6662355661392212, + -0.7966315789828224 + ], + [ + 0.0519961342215538, + 0.9975462555885315, + 0.04688103497028351, + 0.0065688065593204805 + ], + [ + -0.6678829193115234, + -0.00016506202518939972, + 0.7442663908004761, + -0.4347757032939366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7299489974975586, + -0.07708731293678284, + 0.6791406869888306, + -0.818054857708159 + ], + [ + 0.056697387248277664, + 0.9970242977142334, + 0.05223029851913452, + 0.0055853913848598795 + ], + [ + -0.6811460256576538, + 0.0003800448030233383, + 0.7321475148200989, + -0.43956263292403447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7222785949707031, + -0.08682864904403687, + 0.6861300468444824, + -0.8362702350767832 + ], + [ + 0.06150704249739647, + 0.9962210655212402, + 0.0613226518034935, + 0.004800566498722349 + ], + [ + -0.6888617277145386, + -0.0020902100950479507, + 0.7248897552490234, + -0.44465953906377154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.718119740486145, + -0.08718661218881607, + 0.6904365420341492, + -0.8459269834889306 + ], + [ + 0.0585751049220562, + 0.996173083782196, + 0.06487058103084564, + 0.0034365083815322984 + ], + [ + -0.6934501528739929, + -0.006142456084489822, + 0.7204784750938416, + -0.4474452061785592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7072092890739441, + -0.08196240663528442, + 0.7022373080253601, + -0.872783910376685 + ], + [ + 0.051766570657491684, + 0.9965944290161133, + 0.06418554484844208, + -0.0019153245502994175 + ], + [ + -0.7051065564155579, + -0.009040199220180511, + 0.7090437412261963, + -0.44730446877933683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6941802501678467, + -0.07751825451850891, + 0.7156149744987488, + -0.8936980096120682 + ], + [ + 0.05103746056556702, + 0.9969825744628906, + 0.05848837271332741, + -0.0029452454535261034 + ], + [ + -0.7179896235466003, + -0.0040783025324344635, + 0.6960419416427612, + -0.45082835909866154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6879531145095825, + -0.07341175526380539, + 0.7220327258110046, + -0.9046933925341046 + ], + [ + 0.04831250011920929, + 0.9972965717315674, + 0.05536668002605438, + -0.00465713855293062 + ], + [ + -0.7241453528404236, + -0.0032064802944660187, + 0.6896400451660156, + -0.4534211362165118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6767523884773254, + -0.0629584789276123, + 0.7335137724876404, + -0.924991449713707 + ], + [ + 0.03938073664903641, + 0.9980060458183289, + 0.04932686686515808, + -0.0032037617372614995 + ], + [ + -0.7351567149162292, + -0.004495769739151001, + 0.6778823137283325, + -0.45394286641052795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6670472621917725, + -0.06052478402853012, + 0.7425528168678284, + -0.9505814868306357 + ], + [ + 0.040654607117176056, + 0.9981666803359985, + 0.04483892768621445, + -0.004388070076940551 + ], + [ + -0.7439053654670715, + 0.0002785045653581619, + 0.6682850122451782, + -0.45636644997293985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6615381240844727, + -0.059877507388591766, + 0.7475172877311707, + -0.9622000050923181 + ], + [ + 0.04214886575937271, + 0.9982002973556519, + 0.042656756937503815, + -0.004797299466435871 + ], + [ + -0.7487261891365051, + 0.0032879244536161423, + 0.6628713607788086, + -0.4563292509506619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.649214506149292, + -0.0550590343773365, + 0.75860995054245, + -0.9894703110059102 + ], + [ + 0.038988176733255386, + 0.9984742999076843, + 0.039102230221033096, + -0.008037500455975533 + ], + [ + -0.7596054673194885, + 0.004191085696220398, + 0.6503706574440002, + -0.4524174729983012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6353498697280884, + -0.05446580797433853, + 0.7703012824058533, + -1.0178910280976976 + ], + [ + 0.041830480098724365, + 0.9984724521636963, + 0.03609706833958626, + -0.010714986672004063 + ], + [ + -0.7710906863212585, + 0.009287805296480656, + 0.6366576552391052, + -0.4468042195316345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.6279066801071167, + -0.055999644100666046, + 0.776271402835846, + -1.03528894204942 + ], + [ + 0.045778580009937286, + 0.9983386397361755, + 0.03499025106430054, + -0.015885715576864426 + ], + [ + -0.7769411206245422, + 0.01356598548591137, + 0.6294270753860474, + -0.4442693135095021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6133763194084167, + -0.057186976075172424, + 0.7877177000045776, + -1.0627557980162756 + ], + [ + 0.050061583518981934, + 0.9981846809387207, + 0.0334848053753376, + -0.015307282638691721 + ], + [ + -0.7882026433944702, + 0.018895603716373444, + 0.6151256561279297, + -0.4444425653843653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.5933859944343567, + -0.06791665405035019, + 0.8020476698875427, + -1.090490420659383 + ], + [ + 0.05371393635869026, + 0.9975539445877075, + 0.044732287526130676, + -0.016861519081488488 + ], + [ + -0.8031238913536072, + 0.0165376178920269, + 0.5955826044082642, + -0.44027119572200474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.5823935866355896, + -0.07211367040872574, + 0.8097020983695984, + -1.1041384806235632 + ], + [ + 0.05535294860601425, + 0.9972635507583618, + 0.04900461435317993, + -0.020048568663852556 + ], + [ + -0.8110203146934509, + 0.016279414296150208, + 0.5847916007041931, + -0.43518879645400577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.5612602233886719, + -0.0776405781507492, + 0.8239896893501282, + -1.1337971006120955 + ], + [ + 0.06015601381659508, + 0.9967837929725647, + 0.052946895360946655, + -0.02894421134676252 + ], + [ + -0.8254503607749939, + 0.019850939512252808, + 0.564125657081604, + -0.42730027011462623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.5403913259506226, + -0.08049479871988297, + 0.8375546932220459, + -1.1636208050780825 + ], + [ + 0.07440052181482315, + 0.9960856437683105, + 0.04772741347551346, + -0.037260015681386 + ], + [ + -0.8381180763244629, + 0.03652302175760269, + 0.5442649126052856, + -0.42022595008214314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.5301473736763, + -0.08335629105567932, + 0.8437982797622681, + -1.1786446667852857 + ], + [ + 0.08248430490493774, + 0.9955060482025146, + 0.046519238501787186, + -0.039102149873025835 + ], + [ + -0.8438839912414551, + 0.04493806138634682, + 0.5346404910087585, + -0.4197450588619898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.5115489959716797, + -0.08732491731643677, + 0.8548052906990051, + -1.206839352562314 + ], + [ + 0.09046025574207306, + 0.9947671890258789, + 0.047488145530223846, + -0.044736554757470175 + ], + [ + -0.8544791340827942, + 0.053033389151096344, + 0.5167715549468994, + -0.42321210092022304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.4965626001358032, + -0.08746451139450073, + 0.8635830283164978, + -1.2389048589600458 + ], + [ + 0.08972935378551483, + 0.9947524666786194, + 0.0491548553109169, + -0.051688687314116764 + ], + [ + -0.8633506894111633, + 0.053080275654792786, + 0.5018049478530884, + -0.4239117080257052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.4903309941291809, + -0.08884640783071518, + 0.8669958710670471, + -1.2520167598175624 + ], + [ + 0.09003861993551254, + 0.9946314096450806, + 0.05100451782345772, + -0.052113275768028364 + ], + [ + -0.8668728470802307, + 0.053054023534059525, + 0.49569815397262573, + -0.4253850108574307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.47952383756637573, + -0.0888807401061058, + 0.8730161190032959, + -1.289077883674985 + ], + [ + 0.0872388556599617, + 0.9947574734687805, + 0.053357165306806564, + -0.05081831560957999 + ], + [ + -0.8731817007064819, + 0.0505748949944973, + 0.4847637414932251, + -0.4260211706161499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.4703131914138794, + -0.08409873396158218, + 0.8784832954406738, + -1.3259304043792544 + ], + [ + 0.08702708035707474, + 0.9950166940689087, + 0.04866303130984306, + -0.05416954325896407 + ], + [ + -0.8781980276107788, + 0.05356496945023537, + 0.4752883315086365, + -0.4214146484458257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.4655948281288147, + -0.07973087579011917, + 0.8813992142677307, + -1.3430178264776866 + ], + [ + 0.08656037598848343, + 0.9952609539031982, + 0.04430564492940903, + -0.054422909932004083 + ], + [ + -0.8807547688484192, + 0.0556657537817955, + 0.4702898859977722, + -0.4209675716029273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.45845717191696167, + -0.07010798901319504, + 0.885947048664093, + -1.3794945925474167 + ], + [ + 0.08105025440454483, + 0.9960275888442993, + 0.03687739744782448, + -0.05599722963358675 + ], + [ + -0.8850130438804626, + 0.05489950254559517, + 0.4623182415962219, + -0.4157648746456419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.45780205726623535, + -0.061836518347263336, + 0.8869011402130127, + -1.4180836034199549 + ], + [ + 0.07484003156423569, + 0.9967178702354431, + 0.03086211159825325, + -0.05400007986833179 + ], + [ + -0.8858985900878906, + 0.05224696919322014, + 0.4609273076057434, + -0.41057037171863375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.45713257789611816, + -0.05825604125857353, + 0.8874886631965637, + -1.4354635671963767 + ], + [ + 0.0710027813911438, + 0.997058093547821, + 0.02887583151459694, + -0.055032612619892 + ], + [ + -0.8865599036216736, + 0.04981407895684242, + 0.45992404222488403, + -0.40567961254763224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.4518061876296997, + -0.05090298131108284, + 0.8906627297401428, + -1.4732516464732943 + ], + [ + 0.0608072392642498, + 0.9978061318397522, + 0.026180751621723175, + -0.055259376994910694 + ], + [ + -0.8900414109230042, + 0.04233011603355408, + 0.45391029119491577, + -0.40727325025058925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.4515582323074341, + -0.03860088437795639, + 0.8914063572883606, + -1.515095290210512 + ], + [ + 0.06092165410518646, + 0.9980660676956177, + 0.01235862448811531, + -0.05797270441812182 + ], + [ + -0.8901594281196594, + 0.048725299537181854, + 0.4530366063117981, + -0.4049056356388425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.45426249504089355, + -0.03622335195541382, + 0.8901311755180359, + -1.5358889330001104 + ], + [ + 0.06432559341192245, + 0.9978986382484436, + 0.007781472057104111, + -0.06103410193371395 + ], + [ + -0.8885425925254822, + 0.05372337996959686, + 0.45563799142837524, + -0.4057422628478399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.4566280245780945, + -0.03574328497052193, + 0.8889394402503967, + -1.5765886455774307 + ], + [ + 0.060896050184965134, + 0.9981048703193665, + 0.008851788938045502, + -0.06318431937446196 + ], + [ + -0.8875711560249329, + 0.05009092390537262, + 0.4579392671585083, + -0.4000420322020849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.46130049228668213, + -0.03792009502649307, + 0.8864333033561707, + -1.6162732341932873 + ], + [ + 0.05540727078914642, + 0.998367428779602, + 0.01387446466833353, + -0.06480200906831121 + ], + [ + -0.8855122923851013, + 0.042714547365903854, + 0.4626484513282776, + -0.4015815416025737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.46310216188430786, + -0.039282090961933136, + 0.8854339718818665, + -1.6391054626022066 + ], + [ + 0.054204754531383514, + 0.9984025359153748, + 0.01594359055161476, + -0.06585061114340547 + ], + [ + -0.8846458792686462, + 0.04061121866106987, + 0.46449172496795654, + -0.3990973146661879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.4634206295013428, + -0.04159162938594818, + 0.8851618766784668, + -1.6856216600963048 + ], + [ + 0.052535101771354675, + 0.9984304308891296, + 0.01940944418311119, + -0.06810833215713501 + ], + [ + -0.8845797777175903, + 0.037507329136133194, + 0.46487826108932495, + -0.39709929398127963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.45990943908691406, + -0.04428993538022041, + 0.8868606686592102, + -1.7286612533387684 + ], + [ + 0.05094188079237938, + 0.9984264373779297, + 0.023444032296538353, + -0.07335185272293905 + ], + [ + -0.8865033984184265, + 0.0343962162733078, + 0.46144193410873413, + -0.3970459315984968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.45850640535354614, + -0.045430008322000504, + 0.887529194355011, + -1.7505636248323653 + ], + [ + 0.051185596734285355, + 0.9983845949172974, + 0.024661382660269737, + -0.07321473338182957 + ], + [ + -0.8872159123420715, + 0.0341213084757328, + 0.46009111404418945, + -0.39867226708502995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.45690059661865234, + -0.04673105478286743, + 0.8882893919944763, + -1.788860905738104 + ], + [ + 0.05226273834705353, + 0.9983042478561401, + 0.025636840611696243, + -0.07317148613787833 + ], + [ + -0.887981116771698, + 0.034710951149463654, + 0.45856809616088867, + -0.3962689202456247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.45784831047058105, + -0.04892931506037712, + 0.8876829147338867, + -1.822208457522922 + ], + [ + 0.04833995923399925, + 0.9983773827552795, + 0.03009808249771595, + -0.07619372887743844 + ], + [ + -0.887715220451355, + 0.02913019247353077, + 0.45947057008743286, + -0.39413631624645656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.45914602279663086, + -0.04999638721346855, + 0.886952817440033, + -1.839709628952874 + ], + [ + 0.044373687356710434, + 0.9984594583511353, + 0.033311087638139725, + -0.07398167614130274 + ], + [ + -0.8872519135475159, + 0.024062713608145714, + 0.4606572389602661, + -0.39333159105172233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.4622564911842346, + -0.05170873925089836, + 0.8852373361587524, + -1.8833292106787363 + ], + [ + 0.04104289039969444, + 0.9984760880470276, + 0.03689134865999222, + -0.07536532504572754 + ], + [ + -0.8857959508895874, + 0.01927942968904972, + 0.46367430686950684, + -0.39301652567727224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.463506281375885, + -0.050428975373506546, + 0.8846574425697327, + -1.9217947586661293 + ], + [ + 0.038909900933504105, + 0.9985745549201965, + 0.03653629869222641, + -0.07801398249076945 + ], + [ + -0.8852389454841614, + 0.01748712919652462, + 0.46480774879455566, + -0.3881216325930187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.46533793210983276, + -0.050598740577697754, + 0.8836857676506042, + -1.927781736093854 + ], + [ + 0.03766562044620514, + 0.9985923767089844, + 0.03734390065073967, + -0.08130648155061025 + ], + [ + -0.8843314051628113, + 0.015907030552625656, + 0.4665887951850891, + -0.4074806597497728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.4613415002822876, + -0.05230849236249924, + 0.8856793642044067, + -1.982504767179489 + ], + [ + 0.04247959703207016, + 0.9984179139137268, + 0.03683967515826225, + -0.07177805448217052 + ], + [ + -0.8862051963806152, + 0.020627625286579132, + 0.4628337025642395, + -0.38005690574645995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.4622492790222168, + -0.05670437216758728, + 0.884935200214386, + -2.011985056362455 + ], + [ + 0.051587410271167755, + 0.9979828000068665, + 0.037001293152570724, + -0.07336879480216238 + ], + [ + -0.8852482438087463, + 0.028547687456011772, + 0.46424204111099243, + -0.3837588023571741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.4624202847480774, + -0.058034077286720276, + 0.8847596049308777, + -2.0298887375328274 + ], + [ + 0.05347885191440582, + 0.9978645443916321, + 0.037502214312553406, + -0.07336880473626985 + ], + [ + -0.885046660900116, + 0.029974140226840973, + 0.4645363688468933, + -0.38033738301859965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.4619911313056946, + -0.06145743280649185, + 0.884752631187439, + -2.0645074446996055 + ], + [ + 0.053705982863903046, + 0.997704029083252, + 0.04125971347093582, + -0.06926314000572477 + ], + [ + -0.8852570056915283, + 0.028454884886741638, + 0.46423107385635376, + -0.3744833299091884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.46228253841400146, + -0.06780684739351273, + 0.884136438369751, + -2.098540565986482 + ], + [ + 0.056568317115306854, + 0.997296154499054, + 0.04690788313746452, + -0.06287698631603567 + ], + [ + -0.8849265575408936, + 0.028329405933618546, + 0.46486830711364746, + -0.3703823503993806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.4630756378173828, + -0.07113027572631836, + 0.8834599852561951, + -2.1163413600316123 + ], + [ + 0.05952301248908043, + 0.9970199465751648, + 0.049073703587055206, + -0.05835195114570005 + ], + [ + -0.8843178153038025, + 0.02986135520040989, + 0.4659295678138733, + -0.36725262129117575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.4685189127922058, + -0.08002603054046631, + 0.8798214793205261, + -2.147949514360655 + ], + [ + 0.07007357478141785, + 0.9961174726486206, + 0.05328868329524994, + -0.05431643103559812 + ], + [ + -0.8806700110435486, + 0.03668547421693802, + 0.47230762243270874, + -0.35691058195772624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.4763311743736267, + -0.09114916622638702, + 0.8745288252830505, + -2.1823896266165232 + ], + [ + 0.085004061460495, + 0.9947271347045898, + 0.05737771466374397, + -0.05085063422956164 + ], + [ + -0.8751475214958191, + 0.047007691115140915, + 0.4815675616264343, + -0.34626661047102913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.48060548305511475, + -0.09791310876607895, + 0.8714536428451538, + -2.1957871209061337 + ], + [ + 0.08464585989713669, + 0.9942866563796997, + 0.06503206491470337, + -0.03911435494702013 + ], + [ + -0.8728421926498413, + 0.04251016676425934, + 0.48614758253097534, + -0.3425844855724819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.4860658645629883, + -0.12642577290534973, + 0.8647291660308838, + -2.226129722595215 + ], + [ + 0.08851075917482376, + 0.9915144443511963, + 0.09521007537841797, + -0.033316122740507124 + ], + [ + -0.8694285154342651, + 0.03025946021080017, + 0.4931313991546631, + -0.3381691575050354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/move_right/transforms.json b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f8429d4f9a56f90f88df162fbdfb16c3be10db9b --- /dev/null +++ b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/move_right/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, + 5.6416529332636856e-06, + -5.4483607527799904e-05, + 0.0005640062154270709 + ], + [ + -5.64634410693543e-06, + 1.0, + -8.610235818196088e-05, + 2.5099097911152057e-05 + ], + [ + 5.4483120038639754e-05, + 8.610266377218068e-05, + 1.0, + 0.00019526583491824567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999901056289673, + -0.0035129378084093332, + 0.002724738558754325, + -0.00045187830082362606 + ], + [ + 0.0035076758358627558, + 0.9999919533729553, + 0.00193350063636899, + -0.00029639943284795635 + ], + [ + -0.002731508808210492, + -0.0019239240791648626, + 0.9999943971633911, + -0.00039058185195446843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999827146530151, + -0.004166800994426012, + 0.004141739569604397, + 0.0001013003208393615 + ], + [ + 0.004154545720666647, + 0.999987006187439, + 0.0029630912467837334, + -0.001773669562553839 + ], + [ + -0.0041540320962667465, + -0.002945832908153534, + 0.999987006187439, + -0.0006743660157856842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999984622001648, + -0.0002671750553417951, + 0.005536788608878851, + 0.0004923690232403934 + ], + [ + 0.0002558463893365115, + 0.9999978542327881, + 0.0020466791465878487, + 0.00021608066197673214 + ], + [ + -0.00553732318803668, + -0.0020452309399843216, + 0.9999825954437256, + -0.0017476400338290704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999661445617676, + 0.004165422637015581, + 0.007099347189068794, + 0.0002104028128087519 + ], + [ + -0.0041780234314501286, + 0.9999897480010986, + 0.00176104751881212, + -0.00038558360168872965 + ], + [ + -0.007091938517987728, + -0.0017906491411849856, + 0.9999732375144958, + -0.0018720614683208248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999521374702454, + 0.004940752871334553, + 0.00844455324113369, + 0.0005410323547761116 + ], + [ + -0.0049677398055791855, + 0.9999825954437256, + 0.0031778502743691206, + -0.00034614743263874616 + ], + [ + -0.008428705856204033, + -0.0032196484971791506, + 0.9999592900276184, + -0.0016067400168154448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999428987503052, + 0.004920187871903181, + 0.009487052448093891, + 0.001827513419889978 + ], + [ + -0.004999308381229639, + 0.9999527931213379, + 0.00833420641720295, + 0.0004113515650498725 + ], + [ + -0.009445599280297756, + -0.008381159976124763, + 0.9999202489852905, + -0.0005691610332134934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999618530273438, + 0.004911512136459351, + 0.007225919980555773, + 0.001650553476065397 + ], + [ + -0.005000557750463486, + 0.9999111294746399, + 0.012357120402157307, + 0.0012363123345292277 + ], + [ + -0.007164585869759321, + -0.012392782606184483, + 0.9998975396156311, + -0.0006722343801003364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999690055847168, + 0.004963060840964317, + 0.006116203963756561, + 0.0021333653524163226 + ], + [ + -0.005047946237027645, + 0.9998900294303894, + 0.0139424167573452, + 0.0028334700864636234 + ], + [ + -0.006046334281563759, + -0.013972857967019081, + 0.9998840689659119, + -0.0011113904930266834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999975323677063, + 0.004131622612476349, + 0.005685335956513882, + 0.0062654272303916516 + ], + [ + -0.004229298792779446, + 0.9998418092727661, + 0.017277009785175323, + 0.00410015884387706 + ], + [ + -0.005613054148852825, + -0.017300628125667572, + 0.9998345971107483, + -0.0011989399025748883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999969482421875, + 0.0031362243462353945, + 0.007156177889555693, + 0.010722606856789853 + ], + [ + -0.0032769886311143637, + 0.9997996687889099, + 0.01974414847791195, + 0.006015165976899129 + ], + [ + -0.0070928228087723255, + -0.019766995683312416, + 0.999779462814331, + -0.0009254155096612753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999650120735168, + 0.0031666739378124475, + 0.0077451677061617374, + 0.012655397024123915 + ], + [ + -0.0033283589873462915, + 0.9997749328613281, + 0.02095257118344307, + 0.006649061268202901 + ], + [ + -0.007677074987441301, + -0.02097761631011963, + 0.9997504949569702, + -0.0004234676378675633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999646544456482, + 0.0024396905209869146, + 0.008047503419220448, + 0.015461680630133267 + ], + [ + -0.002621757099404931, + 0.9997390508651733, + 0.02269156277179718, + 0.008137829244757692 + ], + [ + -0.007990042679011822, + -0.0227118581533432, + 0.9997101426124573, + -0.00012885200887380744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999760389328003, + 0.0014796069590374827, + 0.006765532307326794, + 0.017728351720327898 + ], + [ + -0.0016447919188067317, + 0.999699056148529, + 0.024475647136569023, + 0.009189364053623101 + ], + [ + -0.006727281957864761, + -0.02448618970811367, + 0.9996775388717651, + 0.0030526697901742798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999788403511047, + 0.0016525397077202797, + 0.006289399694651365, + 0.018331036219994226 + ], + [ + -0.001812252216041088, + 0.9996738433837891, + 0.02547352947294712, + 0.009394943703793818 + ], + [ + -0.006245252210646868, + -0.025484388694167137, + 0.9996557235717773, + 0.0029062956933759983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999775290489197, + 0.0007557097123935819, + 0.006659725680947304, + 0.0181648214569404 + ], + [ + -0.0009310201276093721, + 0.999652087688446, + 0.026360318064689636, + 0.011453736670470486 + ], + [ + -0.006637487560510635, + -0.02636592462658882, + 0.999630331993103, + 0.002492344594516215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999858736991882, + -0.0017248205840587616, + 0.005029536783695221, + 0.01997096902055163 + ], + [ + 0.0015897979028522968, + 0.999641478061676, + 0.02672746777534485, + 0.011468354243016432 + ], + [ + -0.005073834210634232, + -0.026719093322753906, + 0.9996300935745239, + 0.0022443830501288177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999879598617554, + -0.003728436538949609, + 0.0031889150850474834, + 0.019861907640560752 + ], + [ + 0.0036408433225005865, + 0.9996275305747986, + 0.027046265080571175, + 0.010486309296665861 + ], + [ + -0.0032885675318539143, + -0.027034329250454903, + 0.9996290802955627, + 0.0021302374504831812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999974250793457, + -0.007097895257174969, + -0.0010298595298081636, + 0.020302283058741263 + ], + [ + 0.007123949006199837, + 0.9995825886726379, + 0.0279973316937685, + 0.008164086804858276 + ], + [ + 0.0008307075477205217, + -0.02800394780933857, + 0.9996074438095093, + 0.002383116971135938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999590516090393, + -0.008857796899974346, + -0.0018485940527170897, + 0.01871372988033626 + ], + [ + 0.008907255716621876, + 0.9995476603507996, + 0.028724918141961098, + 0.005689233029261232 + ], + [ + 0.0015933183021843433, + -0.028740206733345985, + 0.9995856285095215, + 0.002660178315145747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999685883522034, + -0.00771233718842268, + -0.00181660579983145, + 0.01808325192033653 + ], + [ + 0.007761873304843903, + 0.9995476603507996, + 0.02905486710369587, + 0.00504248184225862 + ], + [ + 0.0015917032724246383, + -0.029068054631352425, + 0.9995761513710022, + 0.00439042526127268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999841451644897, + -0.005043008364737034, + -0.0024961361195892096, + 0.013468643029530842 + ], + [ + 0.005115004256367683, + 0.9995448589324951, + 0.029730012640357018, + 0.006545512533436219 + ], + [ + 0.002345071407034993, + -0.02974230982363224, + 0.9995548725128174, + 0.0025342509034089744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999567270278931, + -0.008028448559343815, + -0.004696548916399479, + 0.010627117325803119 + ], + [ + 0.008161376230418682, + 0.9995459914207458, + 0.02900414727628231, + 0.005174062630191209 + ], + [ + 0.004461558535695076, + -0.029041221365332603, + 0.9995682835578918, + -0.001660006019907693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999305009841919, + -0.009497420862317085, + -0.006983292754739523, + 0.008905257083593854 + ], + [ + 0.00969219021499157, + 0.9995494484901428, + 0.028407182544469833, + 0.0033102332658710935 + ], + [ + 0.006710351910442114, + -0.028472892940044403, + 0.9995720386505127, + -0.0027514824388726127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9997801184654236, + -0.010993612930178642, + -0.017857423052191734, + -0.002290552340093111 + ], + [ + 0.011490155011415482, + 0.9995434284210205, + 0.027945473790168762, + -0.0031527739594734852 + ], + [ + 0.017542047426104546, + -0.028144512325525284, + 0.9994499087333679, + -0.005554962991958573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9992815852165222, + -0.019385283812880516, + -0.032565731555223465, + -0.015219617753274857 + ], + [ + 0.02030392549932003, + 0.9993983507156372, + 0.0281190425157547, + -0.009013191819013585 + ], + [ + 0.03200104460120201, + -0.02876005321741104, + 0.9990739822387695, + -0.010738938958162353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9988832473754883, + -0.023594971746206284, + -0.04093397781252861, + -0.01963563831079574 + ], + [ + 0.024759244173765182, + 0.9992963671684265, + 0.028172796592116356, + -0.012891540203302626 + ], + [ + 0.040240440517663956, + -0.029154827818274498, + 0.9987645745277405, + -0.011862120189009204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9981541037559509, + -0.030618363991379738, + -0.052449364215135574, + -0.03447393551468849 + ], + [ + 0.0322565995156765, + 0.9990087151527405, + 0.03067808970808983, + -0.01801488721477134 + ], + [ + 0.05145805701613426, + -0.03231329843401909, + 0.9981522560119629, + -0.019078901277056762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9981130957603455, + -0.02906477078795433, + -0.05408783629536629, + -0.04198568115631739 + ], + [ + 0.03080984577536583, + 0.9990220069885254, + 0.03171445056796074, + -0.011782695953216817 + ], + [ + 0.053113166242837906, + -0.03332104906439781, + 0.9980323910713196, + -0.04570850216680103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.998187780380249, + -0.028432004153728485, + -0.05303611978888512, + -0.045190684591966956 + ], + [ + 0.030037980526685715, + 0.9991064071655273, + 0.02973344177007675, + -0.004382319952405634 + ], + [ + 0.05214334651827812, + -0.03127265349030495, + 0.9981498122215271, + -0.07264146951751577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9981219172477722, + -0.02971205860376358, + -0.05357060953974724, + -0.052813369958173664 + ], + [ + 0.03112087771296501, + 0.9991862177848816, + 0.025658680126070976, + -0.001350550213828683 + ], + [ + 0.052764642983675, + -0.02727765403687954, + 0.9982343316078186, + -0.12195342131668613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9978487491607666, + -0.029871394857764244, + -0.058357078582048416, + -0.05252994317857046 + ], + [ + 0.03131008893251419, + 0.9992240071296692, + 0.023896291851997375, + -0.000380438104242323 + ], + [ + 0.05759797617793083, + -0.025672048330307007, + 0.9980097413063049, + -0.1682538016773169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9977752566337585, + -0.027753345668315887, + -0.06061629205942154, + -0.05722335941261715 + ], + [ + 0.029234599322080612, + 0.9992918372154236, + 0.023687778040766716, + 0.00010157719971464266 + ], + [ + 0.05991595238447189, + -0.02540717087686062, + 0.9978800415992737, + -0.17607808292858185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9975664019584656, + -0.024043787270784378, + -0.0654461458325386, + -0.07436768291961579 + ], + [ + 0.025504324585199356, + 0.999441921710968, + 0.021573301404714584, + 0.009523098135278338 + ], + [ + 0.06489091366529465, + -0.023189958184957504, + 0.9976228475570679, + -0.18285840570571876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9971169233322144, + -0.02888823300600052, + -0.07016629725694656, + -0.08923843921650024 + ], + [ + 0.03048093244433403, + 0.9992989897727966, + 0.021735090762376785, + 0.002044008790131008 + ], + [ + 0.06948921829462051, + -0.023811161518096924, + 0.9972984790802002, + -0.18850394746377355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9970789551734924, + -0.028693048283457756, + -0.07078312337398529, + -0.09394741968976127 + ], + [ + 0.030342524871230125, + 0.999289870262146, + 0.02233894169330597, + 0.000641492640069272 + ], + [ + 0.07009188830852509, + -0.02442142739892006, + 0.9972415566444397, + -0.19368774071335793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9973728060722351, + -0.022794542834162712, + -0.06876002252101898, + -0.1039706208876201 + ], + [ + 0.024103911593556404, + 0.9995424151420593, + 0.018273282796144485, + 0.00932914385838168 + ], + [ + 0.06831203401088715, + -0.01988266035914421, + 0.9974658489227295, + -0.208128702214786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9976910352706909, + -0.029598303139209747, + -0.061127256602048874, + -0.1243634828972438 + ], + [ + 0.0304565466940403, + 0.9994494915008545, + 0.013156408444046974, + 6.901735277284695e-05 + ], + [ + 0.060704197734594345, + -0.014987755566835403, + 0.9980432987213135, + -0.22625259817651813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9975965023040771, + -0.03758447244763374, + -0.058211736381053925, + -0.1257825845763797 + ], + [ + 0.038361866027116776, + 0.9991883039474487, + 0.012294700369238853, + -0.006724571424817282 + ], + [ + 0.05770239233970642, + -0.014498261734843254, + 0.9982285499572754, + -0.22675866011589293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9974662661552429, + -0.046908311545848846, + -0.053485214710235596, + -0.142794130671592 + ], + [ + 0.04830392450094223, + 0.9985170960426331, + 0.025105753913521767, + -0.0006829011653150831 + ], + [ + 0.052228234708309174, + -0.027625689283013344, + 0.9982529878616333, + -0.23506795765743368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9970288276672363, + -0.056009359657764435, + -0.052882056683301926, + -0.15185375180509356 + ], + [ + 0.057999543845653534, + 0.9976351261138916, + 0.036880332976579666, + -0.003838195103324122 + ], + [ + 0.050691355019807816, + -0.03983788564801216, + 0.997919499874115, + -0.2471017554875404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9970958828926086, + -0.05606904998421669, + -0.05153670534491539, + -0.15835624327735295 + ], + [ + 0.0578763522207737, + 0.9977353811264038, + 0.034270718693733215, + -0.0015443037337963545 + ], + [ + 0.04949846491217613, + -0.037153951823711395, + 0.9980828762054443, + -0.2524747274254286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9984009861946106, + -0.042626895010471344, + -0.037126462906599045, + -0.18220156133174897 + ], + [ + 0.043404512107372284, + 0.9988493323326111, + 0.02039683237671852, + -0.011189531534910202 + ], + [ + 0.03621428832411766, + -0.021975673735141754, + 0.9991024136543274, + -0.26278877270718415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9992244839668274, + -0.034686651080846786, + -0.01863391324877739, + -0.20654840720078302 + ], + [ + 0.03484560176730156, + 0.9993584752082825, + 0.008274199441075325, + -0.010719454610749843 + ], + [ + 0.018334954977035522, + -0.008917093276977539, + 0.9997921586036682, + -0.26939140054441635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.999157726764679, + -0.03941962867975235, + -0.011399328708648682, + -0.21816077402659825 + ], + [ + 0.0394861102104187, + 0.9992040395736694, + 0.00566665967926383, + -0.012028660468520627 + ], + [ + 0.011166878044605255, + -0.0061120023019611835, + 0.9999189972877502, + -0.26940224466342777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9990049600601196, + -0.04453738406300545, + -0.0023361037019640207, + -0.23379262856074742 + ], + [ + 0.04454371705651283, + 0.9990037083625793, + 0.0027331325691193342, + -0.011978362686932087 + ], + [ + 0.0022120496723800898, + -0.0028344716411083937, + 0.9999935626983643, + -0.2697441619737739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9990251660346985, + -0.0439828522503376, + 0.0037763789296150208, + -0.25442269747219387 + ], + [ + 0.04398305341601372, + 0.9990322589874268, + 2.994741589645855e-05, + -0.008653090317689236 + ], + [ + -0.003774041775614023, + 0.00013617845252156258, + 0.999992847442627, + -0.27351636328616197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9988953471183777, + -0.04636035114526749, + 0.007670607417821884, + -0.2680166377434655 + ], + [ + 0.0463734045624733, + 0.9989230036735535, + -0.0015326940920203924, + -0.0057032566295848 + ], + [ + -0.007591290399432182, + 0.0018867130856961012, + 0.9999694228172302, + -0.2755502615552691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9983826875686646, + -0.05378609895706177, + 0.01841406337916851, + -0.2934796296414875 + ], + [ + 0.053841233253479004, + 0.9985463619232178, + -0.0025114165619015694, + 0.004316847824624607 + ], + [ + -0.018252218142151833, + 0.0034987907856702805, + 0.9998272657394409, + -0.27318546637183144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9977805614471436, + -0.04923442378640175, + 0.044832076877355576, + -0.3142881559001075 + ], + [ + 0.04927986487746239, + 0.9987850189208984, + 9.179185144603252e-05, + 0.013673941522008843 + ], + [ + -0.0447821281850338, + 0.0021177304442971945, + 0.9989945292472839, + -0.2731769071891904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.996738612651825, + -0.04848852753639221, + 0.06450548768043518, + -0.3266077202463907 + ], + [ + 0.04853558540344238, + 0.9988210797309875, + 0.0008381877560168505, + 0.019800112745355047 + ], + [ + -0.0644700825214386, + 0.002295357408002019, + 0.9979169964790344, + -0.2734412709398875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9921966791152954, + -0.05950639769434929, + 0.10956595838069916, + -0.3504974407809121 + ], + [ + 0.059566739946603775, + 0.9982206225395203, + 0.0027251713909208775, + 0.032030357801843254 + ], + [ + -0.1095331609249115, + 0.0038225804455578327, + 0.993975818157196, + -0.2698564849439121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9850437641143799, + -0.06253781169652939, + 0.16055460274219513, + -0.3736234636533828 + ], + [ + 0.06160377338528633, + 0.9980423450469971, + 0.010793638415634632, + 0.03645018258738139 + ], + [ + -0.1609153002500534, + -0.0007414380088448524, + 0.986967921257019, + -0.27032844031613973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9808244705200195, + -0.06223343312740326, + 0.18468992412090302, + -0.38537493575186954 + ], + [ + 0.059899166226387024, + 0.9980385303497314, + 0.018196992576122284, + 0.038390235650160955 + ], + [ + -0.1854601353406906, + -0.006785283796489239, + 0.982628345489502, + -0.271125421247312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9712179899215698, + -0.07096808403730392, + 0.22737440466880798, + -0.40958120822906496 + ], + [ + 0.06463643163442612, + 0.9972884654998779, + 0.03518244996666908, + 0.03632048464247158 + ], + [ + -0.22925469279289246, + -0.019473161548376083, + 0.9731716513633728, + -0.27655014523438043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9609936475753784, + -0.08035481721162796, + 0.2646399736404419, + -0.4295051140444619 + ], + [ + 0.0705561563372612, + 0.9964307546615601, + 0.046342186629772186, + 0.03902675646046797 + ], + [ + -0.2674192190170288, + -0.025862567126750946, + 0.9632331728935242, + -0.2819057684096079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9558472037315369, + -0.08092014491558075, + 0.282503217458725, + -0.4407077232996623 + ], + [ + 0.06957472860813141, + 0.9963238835334778, + 0.0499812476336956, + 0.03811228217350112 + ], + [ + -0.2855091989040375, + -0.028119351714849472, + 0.9579633474349976, + -0.2886472397380405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9463133811950684, + -0.07624007016420364, + 0.3141312003135681, + -0.4680797576904297 + ], + [ + 0.06587780267000198, + 0.9968795776367188, + 0.043488577008247375, + 0.0334265517869166 + ], + [ + -0.3164665699005127, + -0.020459553226828575, + 0.9483830332756042, + -0.2954290157272702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.938743531703949, + -0.07000187039375305, + 0.33743196725845337, + -0.4958850668536292 + ], + [ + 0.06168569624423981, + 0.997470498085022, + 0.03531898558139801, + 0.02918100565198868 + ], + [ + -0.339050829410553, + -0.012340744026005268, + 0.9406871199607849, + -0.30210821127134657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.935799777507782, + -0.06531641632318497, + 0.346428245306015, + -0.5065591862750431 + ], + [ + 0.057750359177589417, + 0.997813880443573, + 0.03213033825159073, + 0.0276225608847444 + ], + [ + -0.34776952862739563, + -0.010061211884021759, + 0.9375260472297668, + -0.30734933442066587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9285925030708313, + -0.06194222718477249, + 0.3658949136734009, + -0.514659135114579 + ], + [ + 0.055719293653964996, + 0.9980661869049072, + 0.027554143220186234, + 0.025208967604807446 + ], + [ + -0.3668941259384155, + -0.005199163220822811, + 0.9302482008934021, + -0.32533590424628483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9173382520675659, + -0.0598764605820179, + 0.3935801088809967, + -0.5304961846934425 + ], + [ + 0.055123332887887955, + 0.9982057809829712, + 0.02338096685707569, + 0.02431679687625359 + ], + [ + -0.39427390694618225, + 0.0002471897751092911, + 0.9189929366111755, + -0.3377532191929363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9105649590492249, + -0.055021852254867554, + 0.40968769788742065, + -0.5438540071722061 + ], + [ + 0.05182621628046036, + 0.9984771013259888, + 0.018909331411123276, + 0.02291635585919259 + ], + [ + -0.4101042151451111, + 0.00401438819244504, + 0.9120298624038696, + -0.3386378413154965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8971767425537109, + -0.05056943744421005, + 0.4387671649456024, + -0.5513850212097168 + ], + [ + 0.051470935344696045, + 0.9986259341239929, + 0.009849021211266518, + 0.026190054416656495 + ], + [ + -0.4386623203754425, + 0.01374744065105915, + 0.8985468149185181, + -0.36208129674196243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8799414038658142, + -0.04259238764643669, + 0.47316914796829224, + -0.5631042128517514 + ], + [ + 0.04549083486199379, + 0.9989506006240845, + 0.005322457756847143, + 0.02014230266213417 + ], + [ + -0.47289931774139404, + 0.016841406002640724, + 0.8809555172920227, + -0.38270529943799214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8705008625984192, + -0.043099693953990936, + 0.49027615785598755, + -0.5725964948771491 + ], + [ + 0.046785205602645874, + 0.9988937377929688, + 0.004743150435388088, + 0.01789388625276467 + ], + [ + -0.4899381995201111, + 0.018808752298355103, + 0.8715542554855347, + -0.3926200419664383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8518593311309814, + -0.05346839502453804, + 0.5210343599319458, + -0.5941722058114551 + ], + [ + 0.06054021045565605, + 0.9981597661972046, + 0.0034513287246227264, + 0.017881929457542443 + ], + [ + -0.5202600955963135, + 0.028603482991456985, + 0.8535287380218506, + -0.4080515492530096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8329470157623291, + -0.06542416661977768, + 0.5494715571403503, + -0.6117263320892576 + ], + [ + 0.0746757909655571, + 0.9971925020217896, + 0.005531709641218185, + 0.0225874666893293 + ], + [ + -0.5482907891273499, + 0.03642459586262703, + 0.8354941606521606, + -0.4263486365950297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8239538669586182, + -0.06652534008026123, + 0.5627383589744568, + -0.6200332425889514 + ], + [ + 0.0749402642250061, + 0.997154712677002, + 0.008154284209012985, + 0.028498748589366203 + ], + [ + -0.5616796612739563, + 0.03545300289988518, + 0.826594889163971, + -0.43635383711920844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8080266714096069, + -0.06599555164575577, + 0.5854378342628479, + -0.6404741783936818 + ], + [ + 0.06392253190279007, + 0.9976604580879211, + 0.02423834055662155, + 0.027286684424394653 + ], + [ + -0.5856677889823914, + 0.017837442457675934, + 0.8103548884391785, + -0.4592242318959463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.793358325958252, + -0.07367603480815887, + 0.6042801737785339, + -0.6577422883775499 + ], + [ + 0.06082737445831299, + 0.9972755312919617, + 0.041731320321559906, + 0.020703317804469004 + ], + [ + -0.6057084202766418, + 0.003648882731795311, + 0.7956783771514893, + -0.47577134768168133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7856609225273132, + -0.07561221718788147, + 0.6140193343162537, + -0.6644075317515268 + ], + [ + 0.06005704402923584, + 0.9971370100975037, + 0.04594524949789047, + 0.018716938231909085 + ], + [ + -0.6157354712486267, + 0.0007787961512804031, + 0.7879526019096375, + -0.4793552892075645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7691705822944641, + -0.07329545170068741, + 0.6348263025283813, + -0.6860207114900861 + ], + [ + 0.05657467618584633, + 0.9973102807998657, + 0.04659973084926605, + 0.011281132751277515 + ], + [ + -0.6365343332290649, + 7.194839417934418e-05, + 0.7712484002113342, + -0.4924534695489066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.751174807548523, + -0.06932098418474197, + 0.6564533114433289, + -0.7044448906467075 + ], + [ + 0.052196308970451355, + 0.99759441614151, + 0.04561736434698105, + 0.010831589293148782 + ], + [ + -0.6580364108085632, + -2.1774321794509888e-06, + 0.7529861330986023, + -0.5078882961519181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7424478530883789, + -0.07001001387834549, + 0.6662355661392212, + -0.7094234184613304 + ], + [ + 0.0519961342215538, + 0.9975462555885315, + 0.04688103497028351, + 0.012676288991693466 + ], + [ + -0.6678829193115234, + -0.00016506202518939972, + 0.7442663908004761, + -0.5132254430225918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7299489974975586, + -0.07708731293678284, + 0.6791406869888306, + -0.7311561675298781 + ], + [ + 0.056697387248277664, + 0.9970242977142334, + 0.05223029851913452, + 0.012335080342988174 + ], + [ + -0.6811460256576538, + 0.0003800448030233383, + 0.7321475148200989, + -0.5206514455023266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7222785949707031, + -0.08682864904403687, + 0.6861300468444824, + -0.7491382140961904 + ], + [ + 0.06150704249739647, + 0.9962210655212402, + 0.0613226518034935, + 0.012220463688884462 + ], + [ + -0.6888617277145386, + -0.0020902100950479507, + 0.7248897552490234, + -0.5277603189150493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.718119740486145, + -0.08718661218881607, + 0.6904365420341492, + -0.7581567929850684 + ], + [ + 0.0585751049220562, + 0.996173083782196, + 0.06487058103084564, + 0.010595687872005833 + ], + [ + -0.6934501528739929, + -0.006142456084489822, + 0.7204784750938416, + -0.5322002248631583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7072092890739441, + -0.08196240663528442, + 0.7022373080253601, + -0.7852246650627681 + ], + [ + 0.051766570657491684, + 0.9965944290161133, + 0.06418554484844208, + 0.004493869912056696 + ], + [ + -0.7051065564155579, + -0.009040199220180511, + 0.7090437412261963, + -0.5346033757641202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6941802501678467, + -0.07751825451850891, + 0.7156149744987488, + -0.8066500099878463 + ], + [ + 0.05103746056556702, + 0.9969825744628906, + 0.05848837271332741, + 0.0034546900777116655 + ], + [ + -0.7179896235466003, + -0.0040783025324344635, + 0.6960419416427612, + -0.540861978559267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6879531145095825, + -0.07341175526380539, + 0.7220327258110046, + -0.8173342668820941 + ], + [ + 0.04831250011920929, + 0.9972965717315674, + 0.05536668002605438, + 0.0014777820971277021 + ], + [ + -0.7241453528404236, + -0.0032064802944660187, + 0.6896400451660156, + -0.5453761016565656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6767523884773254, + -0.0629584789276123, + 0.7335137724876404, + -0.8379804283380509 + ], + [ + 0.03938073664903641, + 0.9980060458183289, + 0.04932686686515808, + 0.001859475831900324 + ], + [ + -0.7351567149162292, + -0.004495769739151001, + 0.6778823137283325, + -0.5484630154711859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6670472621917725, + -0.06052478402853012, + 0.7425528168678284, + -0.863759462227897 + ], + [ + 0.040654607117176056, + 0.9981666803359985, + 0.04483892768621445, + 0.0009034819605331567 + ], + [ + -0.7439053654670715, + 0.0002785045653581619, + 0.6682850122451782, + -0.5531922277004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6615381240844727, + -0.059877507388591766, + 0.7475172877311707, + -0.8750449823954749 + ], + [ + 0.04214886575937271, + 0.9982002973556519, + 0.042656756937503815, + 0.0007556463399576762 + ], + [ + -0.7487261891365051, + 0.0032879244536161423, + 0.6628713607788086, + -0.5549709552337253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.649214506149292, + -0.0550590343773365, + 0.75860995054245, + -0.9029083768526713 + ], + [ + 0.038988176733255386, + 0.9984742999076843, + 0.039102230221033096, + -0.002839076891541481 + ], + [ + -0.7596054673194885, + 0.004191085696220398, + 0.6503706574440002, + -0.553698201974233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6353498697280884, + -0.05446580797433853, + 0.7703012824058533, + -0.9321692202772413 + ], + [ + 0.041830480098724365, + 0.9984724521636963, + 0.03609706833958626, + -0.0050711917380491895 + ], + [ + -0.7710906863212585, + 0.009287805296480656, + 0.6366576552391052, + -0.5508402645114868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.6279066801071167, + -0.055999644100666046, + 0.776271402835846, + -0.9495746968284485 + ], + [ + 0.045778580009937286, + 0.9983386397361755, + 0.03499025106430054, + -0.009636576083444414 + ], + [ + -0.7769411206245422, + 0.01356598548591137, + 0.6294270753860474, + -0.5503279426741222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6133763194084167, + -0.057186976075172424, + 0.7877177000045776, + -0.9780514491455895 + ], + [ + 0.050061583518981934, + 0.9981846809387207, + 0.0334848053753376, + -0.008394016343213262 + ], + [ + -0.7882026433944702, + 0.018895603716373444, + 0.6151256561279297, + -0.5532895970912207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.5933859944343567, + -0.06791665405035019, + 0.8020476698875427, + -1.007604757944743 + ], + [ + 0.05371393635869026, + 0.9975539445877075, + 0.044732287526130676, + -0.009358620034560325 + ], + [ + -0.8031238913536072, + 0.0165376178920269, + 0.5955826044082642, + -0.5524535805460007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.5823935866355896, + -0.07211367040872574, + 0.8097020983695984, + -1.0218638310829797 + ], + [ + 0.05535294860601425, + 0.9972635507583618, + 0.04900461435317993, + -0.01222886640046324 + ], + [ + -0.8110203146934509, + 0.016279414296150208, + 0.5847916007041931, + -0.5497615075773663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.5612602233886719, + -0.0776405781507492, + 0.8239896893501282, + -1.053617068699428 + ], + [ + 0.06015601381659508, + 0.9967837929725647, + 0.052946895360946655, + -0.02035049508724894 + ], + [ + -0.8254503607749939, + 0.019850939512252808, + 0.564125657081604, + -0.5452217502253396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.5403913259506226, + -0.08049479871988297, + 0.8375546932220459, + -1.0855642802185483 + ], + [ + 0.07440052181482315, + 0.9960856437683105, + 0.04772741347551346, + -0.026513273641467095 + ], + [ + -0.8381180763244629, + 0.03652302175760269, + 0.5442649126052856, + -0.5412874499956767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.5301473736763, + -0.08335629105567932, + 0.8437982797622681, + -1.1012263201531909 + ], + [ + 0.08248430490493774, + 0.9955060482025146, + 0.046519238501787186, + -0.02705682280754286 + ], + [ + -0.8438839912414551, + 0.04493806138634682, + 0.5346404910087585, + -0.5429789115512182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.5115489959716797, + -0.08732491731643677, + 0.8548052906990051, + -1.1313249769664946 + ], + [ + 0.09046025574207306, + 0.9947671890258789, + 0.047488145530223846, + -0.03138289795744987 + ], + [ + -0.8544791340827942, + 0.053033389151096344, + 0.5167715549468994, + -0.5493494969038736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.4965626001358032, + -0.08746451139450073, + 0.8635830283164978, + -1.1648145662413703 + ], + [ + 0.08972935378551483, + 0.9947524666786194, + 0.0491548553109169, + -0.03830049801913519 + ], + [ + -0.8633506894111633, + 0.053080275654792786, + 0.5018049478530884, + -0.5527291124775296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.4903309941291809, + -0.08884640783071518, + 0.8669958710670471, + -1.178077959115543 + ], + [ + 0.09003861993551254, + 0.9946314096450806, + 0.05100451782345772, + -0.038536023555530444 + ], + [ + -0.8668728470802307, + 0.053054023534059525, + 0.49569815397262573, + -0.5561039322425448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.47952383756637573, + -0.0888807401061058, + 0.8730161190032959, + -1.2160075846172513 + ], + [ + 0.0872388556599617, + 0.9947574734687805, + 0.053357165306806564, + -0.037524775699490594 + ], + [ + -0.8731817007064819, + 0.0505748949944973, + 0.4847637414932251, + -0.5590774297714234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.4703131914138794, + -0.08409873396158218, + 0.8784832954406738, + -1.253517103479022 + ], + [ + 0.08702708035707474, + 0.9950166940689087, + 0.04866303130984306, + -0.040770135648430336 + ], + [ + -0.8781980276107788, + 0.05356496945023537, + 0.4752883315086365, + -0.5566292653954218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.4655948281288147, + -0.07973087579011917, + 0.8813992142677307, + -1.2705919643243153 + ], + [ + 0.08656037598848343, + 0.9952609539031982, + 0.04430564492940903, + -0.04095796255601777 + ], + [ + -0.8807547688484192, + 0.0556657537817955, + 0.4702898859977722, + -0.5579738689793481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.45845717191696167, + -0.07010798901319504, + 0.885947048664093, + -1.3074513226747513 + ], + [ + 0.08105025440454483, + 0.9960275888442993, + 0.03687739744782448, + -0.04326076108430113 + ], + [ + -0.8850130438804626, + 0.05489950254559517, + 0.4623182415962219, + -0.5548383529697145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.45780205726623535, + -0.061836518347263336, + 0.8869011402130127, + -1.345416610203092 + ], + [ + 0.07484003156423569, + 0.9967178702354431, + 0.03086211159825325, + -0.04212070977877057 + ], + [ + -0.8858985900878906, + 0.05224696919322014, + 0.4609273076057434, + -0.5511891955421084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.45713257789611816, + -0.05825604125857353, + 0.8874886631965637, + -1.3621772332796975 + ], + [ + 0.0710027813911438, + 0.997058093547821, + 0.02887583151459694, + -0.04364962703178799 + ], + [ + -0.8865599036216736, + 0.04981407895684242, + 0.45992404222488403, + -0.5478106447155513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.4518061876296997, + -0.05090298131108284, + 0.8906627297401428, + -1.4001020732380094 + ], + [ + 0.0608072392642498, + 0.9978061318397522, + 0.026180751621723175, + -0.04541439539974644 + ], + [ + -0.8900414109230042, + 0.04233011603355408, + 0.45391029119491577, + -0.5513751929714567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.4515582323074341, + -0.03860088437795639, + 0.8914063572883606, + -1.441269103023741 + ], + [ + 0.06092165410518646, + 0.9980660676956177, + 0.01235862448811531, + -0.04801249747711515 + ], + [ + -0.8901594281196594, + 0.048725299537181854, + 0.4530366063117981, + -0.5504396373790408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.45426249504089355, + -0.03622335195541382, + 0.8901311755180359, + -1.4608995687393915 + ], + [ + 0.06432559341192245, + 0.9978986382484436, + 0.007781472057104111, + -0.05041527381492039 + ], + [ + -0.8885425925254822, + 0.05372337996959686, + 0.45563799142837524, + -0.5524223098679194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.4566280245780945, + -0.03574328497052193, + 0.8889394402503967, + -1.500483974814415 + ], + [ + 0.060896050184965134, + 0.9981048703193665, + 0.008851788938045502, + -0.05303497767696778 + ], + [ + -0.8875711560249329, + 0.05009092390537262, + 0.4579392671585083, + -0.5479705582062403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.46130049228668213, + -0.03792009502649307, + 0.8864333033561707, + -1.5386575958085438 + ], + [ + 0.05540727078914642, + 0.998367428779602, + 0.01387446466833353, + -0.055479515887915144 + ], + [ + -0.8855122923851013, + 0.042714547365903854, + 0.4626484513282776, + -0.5505724987340352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.46310216188430786, + -0.039282090961933136, + 0.8854339718818665, + -1.5604516033615385 + ], + [ + 0.054204754531383514, + 0.9984025359153748, + 0.01594359055161476, + -0.05664440680236097 + ], + [ + -0.8846458792686462, + 0.04061121866106987, + 0.46449172496795654, + -0.5493466941610216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.4634206295013428, + -0.04159162938594818, + 0.8851618766784668, + -1.6061781236103603 + ], + [ + 0.052535101771354675, + 0.9984304308891296, + 0.01940944418311119, + -0.05910231471061707 + ], + [ + -0.8845797777175903, + 0.037507329136133194, + 0.46487826108932495, + -0.5487415415900094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.45990943908691406, + -0.04428993538022041, + 0.8868606686592102, + -1.6490896202269054 + ], + [ + 0.05094188079237938, + 0.9984264373779297, + 0.023444032296538353, + -0.06453809874457499 + ], + [ + -0.8865033984184265, + 0.0343962162733078, + 0.46144193410873413, + -0.5504250910073992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.45850640535354614, + -0.045430008322000504, + 0.887529194355011, + -1.670506950881746 + ], + [ + 0.051185596734285355, + 0.9983845949172974, + 0.024661382660269737, + -0.06427756569806545 + ], + [ + -0.8872159123420715, + 0.0341213084757328, + 0.46009111404418945, + -0.5535829819384075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.45690059661865234, + -0.04673105478286743, + 0.8882893919944763, + -1.708359372048151 + ], + [ + 0.05226273834705353, + 0.9983042478561401, + 0.025636840611696243, + -0.0639632893814927 + ], + [ + -0.887981116771698, + 0.034710951149463654, + 0.45856809616088867, + -0.5527227360577811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.45784831047058105, + -0.04892931506037712, + 0.8876829147338867, + -1.7408132023281522 + ], + [ + 0.04833995923399925, + 0.9983773827552795, + 0.03009808249771595, + -0.06759995834694968 + ], + [ + -0.887715220451355, + 0.02913019247353077, + 0.45947057008743286, + -0.5519523554378085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.45914602279663086, + -0.04999638721346855, + 0.886952817440033, + -1.7573548661337959 + ], + [ + 0.044373687356710434, + 0.9984594583511353, + 0.033311087638139725, + -0.06602258618684514 + ], + [ + -0.8872519135475159, + 0.024062713608145714, + 0.4606572389602661, + -0.552473600941991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.4622564911842346, + -0.05170873925089836, + 0.8852373361587524, + -1.799682797988256 + ], + [ + 0.04104289039969444, + 0.9984760880470276, + 0.03689134865999222, + -0.06793851630673522 + ], + [ + -0.8857959508895874, + 0.01927942968904972, + 0.46367430686950684, + -0.5533034120287214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.463506281375885, + -0.050428975373506546, + 0.8846574425697327, + -1.8371864692086266 + ], + [ + 0.038909900933504105, + 0.9985745549201965, + 0.03653629869222641, + -0.07091138152671712 + ], + [ + -0.8852389454841614, + 0.01748712919652462, + 0.46480774879455566, + -0.5497128686734608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.46533793210983276, + -0.050598740577697754, + 0.8836857676506042, + -1.8421004660545834 + ], + [ + 0.03766562044620514, + 0.9985923767089844, + 0.03734390065073967, + -0.07437122445257884 + ], + [ + -0.8843314051628113, + 0.015907030552625656, + 0.4665887951850891, + -0.5703099343511794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.4613415002822876, + -0.05230849236249924, + 0.8856793642044067, + -1.8968270599842072 + ], + [ + 0.04247959703207016, + 0.9984179139137268, + 0.03683967515826225, + -0.0638889864619289 + ], + [ + -0.8862051963806152, + 0.020627625286579132, + 0.4628337025642395, + -0.5446378707885742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.4622492790222168, + -0.05670437216758728, + 0.884935200214386, + -1.9254050326725793 + ], + [ + 0.051587410271167755, + 0.9979828000068665, + 0.037001293152570724, + -0.06370639097359446 + ], + [ + -0.8852482438087463, + 0.028547687456011772, + 0.46424204111099243, + -0.5495672035784949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.4624202847480774, + -0.058034077286720276, + 0.8847596049308777, + -1.9425426837470796 + ], + [ + 0.05347885191440582, + 0.9978645443916321, + 0.037502214312553406, + -0.0632672438191043 + ], + [ + -0.885046660900116, + 0.029974140226840973, + 0.4645363688468933, + -0.5475128634108437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.4619911313056946, + -0.06145743280649185, + 0.884752631187439, + -1.9765091339747112 + ], + [ + 0.053705982863903046, + 0.997704029083252, + 0.04125971347093582, + -0.059033428984028954 + ], + [ + -0.8852570056915283, + 0.028454884886741638, + 0.46423107385635376, + -0.54310371194567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.46228253841400146, + -0.06780684739351273, + 0.884136438369751, + -2.0097529673387133 + ], + [ + 0.056568317115306854, + 0.997296154499054, + 0.04690788313746452, + -0.05201227779071482 + ], + [ + -0.8849265575408936, + 0.028329405933618546, + 0.46486830711364746, + -0.5403444352604094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.4630756378173828, + -0.07113027572631836, + 0.8834599852561951, + -2.0266663952479287 + ], + [ + 0.05952301248908043, + 0.9970199465751648, + 0.049073703587055206, + -0.046825272536703516 + ], + [ + -0.8843178153038025, + 0.02986135520040989, + 0.4659295678138733, + -0.538501468064293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.4685189127922058, + -0.08002603054046631, + 0.8798214793205261, + -2.0564767742440813 + ], + [ + 0.07007357478141785, + 0.9961174726486206, + 0.05328868329524994, + -0.04063539976874987 + ], + [ + -0.8806700110435486, + 0.03668547421693802, + 0.47230762243270874, + -0.5288509174471809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.4763311743736267, + -0.09114916622638702, + 0.8745288252830505, + -2.088635554200127 + ], + [ + 0.085004061460495, + 0.9947271347045898, + 0.05737771466374397, + -0.03411967610082929 + ], + [ + -0.8751475214958191, + 0.047007691115140915, + 0.4815675616264343, + -0.5185178686702062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.48060548305511475, + -0.09791310876607895, + 0.8714536428451538, + -2.1004288901412296 + ], + [ + 0.08464585989713669, + 0.9942866563796997, + 0.06503206491470337, + -0.022319541475366033 + ], + [ + -0.8728421926498413, + 0.04251016676425934, + 0.48614758253097534, + -0.5157674603045933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.4860658645629883, + -0.12642577290534973, + 0.8647291660308838, + -2.128916549682617 + ], + [ + 0.08851075917482376, + 0.9915144443511963, + 0.09521007537841797, + -0.015613970905542373 + ], + [ + -0.8694285154342651, + 0.03025946021080017, + 0.4931313991546631, + -0.5120548605918884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/orbit_left/transforms.json b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..6d0270526475450be54d26baf2ea15442c59f677 --- /dev/null +++ b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/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, + 5.6416529332636856e-06, + -5.4483607527799904e-05, + 0.0005640062154270709 + ], + [ + -5.64634410693543e-06, + 1.0, + -8.610235818196088e-05, + 2.5099097911152057e-05 + ], + [ + 5.4483120038639754e-05, + 8.610266377218068e-05, + 1.0, + 0.00019526583491824567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999822856970346, + -0.0035129378084093332, + 0.004802483543010716, + -0.003298883472242571 + ], + [ + 0.0035036508919305182, + 0.9999919533729553, + 0.0019407846113902634, + -0.0003058656110812867 + ], + [ + -0.004809262694680422, + -0.0019239240791648626, + 0.999986563155164, + -0.00011237470765958733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999956869394985, + -0.004166800994426012, + 0.008297165856911677, + -0.0055919015273711336 + ], + [ + 0.004142196623144983, + 0.999987006187439, + 0.0029803300181493702, + -0.0017957293283071742 + ], + [ + -0.008309476111053744, + -0.002945832908153534, + 0.9999611098103436, + -0.00010985368582357353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999306828871387, + -0.0002671750553417951, + 0.011769863581996227, + -0.00804631825502096 + ], + [ + 0.00024308389809133842, + 0.9999978542327881, + 0.00204823414738228, + 0.0002155553368257017 + ], + [ + -0.011770385518669043, + -0.0020452309399843216, + 0.9999286530364057, + -0.0008890572318335179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998726061613438, + 0.004165422637015581, + 0.015409816623142577, + -0.011172612829640395 + ], + [ + -0.004192515194251765, + 0.9999897480010986, + 0.0017262631616380844, + -0.0003360864392392661 + ], + [ + -0.015402467157435944, + -0.0017906491411849856, + 0.999879760442539, + -0.0007095857728191795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998104485425389, + 0.004940752871334553, + 0.018832278033259157, + -0.013685718833368665 + ], + [ + -0.005000485389962903, + 0.9999825954437256, + 0.0031260705377536458, + -0.00027111559630414733 + ], + [ + -0.018816505809127533, + -0.0032196484971791506, + 0.9998177653473077, + -0.00013463022558393104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997469270880753, + 0.004920187871903181, + 0.021951917986057834, + -0.015242738609324786 + ], + [ + -0.005102816736478471, + 0.9999527931213379, + 0.008271235835659321, + 0.000510295767751224 + ], + [ + -0.021910185680388338, + -0.008381159976124763, + 0.9997247958513483, + 0.0012146826417950948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997509959485474, + 0.0049115121364593515, + 0.021768498554841184, + -0.018269398745577932 + ], + [ + -0.005179749545504092, + 0.9999111294746401, + 0.012283085813222303, + 0.00135938755809319 + ], + [ + -0.02170623556355786, + -0.012392782606184486, + 0.9996875813761704, + 0.001363402970918456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997292045753917, + 0.004963060840964317, + 0.022736261787467273, + -0.020634858083755918 + ], + [ + -0.005278991622670277, + 0.9998900294303894, + 0.013856586653833578, + 0.002978636789894678 + ], + [ + -0.022664989990405456, + -0.013972857967019081, + 0.9996454410233699, + 0.00118954686253008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996941795665296, + 0.00413162261247635, + 0.02438274694920018, + -0.019350034744101244 + ], + [ + -0.004551619844337179, + 0.9998418092727663, + 0.017194905995331456, + 0.004250605471513053 + ], + [ + -0.024307846351957603, + -0.017300628125667575, + 0.9995548291925862, + 0.0013783892741359078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996049613315849, + 0.0031362243462353945, + 0.02793023341005521, + -0.01773487361668348 + ], + [ + -0.0036864903487595336, + 0.9997996687889099, + 0.01967180323495506, + 0.006161881173441913 + ], + [ + -0.02786294411254643, + -0.019766995683312416, + 0.9994162990196278, + 0.00198027488683734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995268413072471, + 0.0031666739378124484, + 0.030595857568352133, + -0.0186459393755698 + ], + [ + -0.003806329544556872, + 0.9997749328613283, + 0.020871034189616274, + 0.006815651915676919 + ], + [ + -0.030522880164226333, + -0.020977616310119632, + 0.9993139363751266, + 0.002791007602118203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994532176054934, + 0.0024396905209869146, + 0.03297481265926228, + -0.018684238457010904 + ], + [ + -0.003186658566627755, + 0.9997390508651733, + 0.022619147607600733, + 0.00830106092385845 + ], + [ + -0.03291102462282898, + -0.0227118581533432, + 0.9992002174151624, + 0.003388412423923199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9994285495999458, + 0.0014796069590374827, + 0.033770180806205995, + -0.0192679889733099 + ], + [ + -0.0023052244282211216, + 0.999699056148529, + 0.02442229685237537, + 0.009336302240392365 + ], + [ + -0.033723882590495455, + -0.02448618970811367, + 0.999131191481015, + 0.006816176290451783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9993728739637111, + 0.0016525397077202797, + 0.03537084228530212, + -0.021513091171092038 + ], + [ + -0.002552375983005086, + 0.9996738433837891, + 0.025410044052402395, + 0.009563639268008987 + ], + [ + -0.03531731571723919, + -0.025484388694167137, + 0.9990511778960661, + 0.006940002161238283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9992843736261813, + 0.0007557097123935821, + 0.03781733961372108, + -0.024523756810630053 + ], + [ + -0.00175199631476196, + 0.9996520876884463, + 0.02631850443818336, + 0.011600435933562352 + ], + [ + -0.03778429309512848, + -0.02636592462658883, + 0.9989380381570516, + 0.006830824895396166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9992661654689569, + -0.001724820584058762, + 0.03826453171221418, + -0.02557094831363243 + ], + [ + 0.0007005453890507449, + 0.9996414780616762, + 0.02676554178812547, + 0.01151156270199078 + ], + [ + -0.03829697915650183, + -0.026719093322753913, + 0.998909109559471, + 0.006800847532871865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9992515895725418, + -0.003728436538949609, + 0.03850129588265853, + -0.028534942429486426 + ], + [ + 0.0026834389931074667, + 0.9996275305747986, + 0.02715797028641484, + 0.010434388491698207 + ], + [ + -0.03858821241171219, + -0.027034329250454903, + 0.9988894146560133, + 0.006885047807867487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9993134812659088, + -0.007097895257174969, + 0.036361092128770964, + -0.030961273714020646 + ], + [ + 0.0060721135941916825, + 0.9995825886726379, + 0.028244126255082887, + 0.00793519785683147 + ], + [ + -0.036546389493632446, + -0.02800394780933857, + 0.9989394842578758, + 0.007206363256003519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.999252900147295, + -0.008857796899974346, + 0.03761866215113825, + -0.03540118667317301 + ], + [ + 0.00776661694015364, + 0.9995476603507996, + 0.029054083843215183, + 0.005354875984322388 + ], + [ + -0.037859000954659855, + -0.028740206733345985, + 0.9988696929193028, + 0.007710007572827906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9991807798154527, + -0.007712337188422682, + 0.03972715689694476, + -0.03888018829341601 + ], + [ + 0.006548131596958687, + 0.9995476603507998, + 0.0293522393047411, + 0.004757547337717117 + ], + [ + -0.03993556205966246, + -0.02906805463135243, + 0.9987793383885908, + 0.009706075732831745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9991412617649548, + -0.005043008364737034, + 0.04112493543602242, + -0.04634775861402377 + ], + [ + 0.003813330967971699, + 0.9995448589324951, + 0.029924829607988677, + 0.006408456645464642 + ], + [ + -0.04125713175836484, + -0.02974230982363224, + 0.9987058083355136, + 0.008070509249515707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9991268153913289, + -0.008028448559343817, + 0.041001466632819505, + -0.05204905788936686 + ], + [ + 0.00682750409911825, + 0.9995459914207461, + 0.0293467853260837, + 0.004835303684095823 + ], + [ + -0.04121846159237223, + -0.02904122136533261, + 0.998728039770285, + 0.004007363547090172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9991225100298939, + -0.009497420862317085, + 0.04079194930080988, + -0.05663234070716758 + ], + [ + 0.008324097112492582, + 0.9995494484901428, + 0.02883775266105531, + 0.002852096783327857 + ], + [ + -0.0410474545807564, + -0.028472892940044403, + 0.9987514183955609, + 0.0030262251165678825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9994274320820704, + -0.010993612930178644, + 0.031999700602354936, + -0.07073790936016136 + ], + [ + 0.010082904952250739, + 0.9995434284210207, + 0.02848347231759575, + -0.0037567106301240657 + ], + [ + -0.03229822459514517, + -0.02814451232552529, + 0.9990819126493278, + -0.000267151735010452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9996245954547286, + -0.019385283812880516, + 0.019361859067320464, + -0.08658289445763238 + ], + [ + 0.018816571634366053, + 0.9993983507156372, + 0.029135314905000244, + -0.010268608886519901 + ], + [ + -0.01991500542258526, + -0.02876005321741104, + 0.9993879533999895, + -0.006262741308402505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9996363017956957, + -0.023594971746206284, + 0.01306126177604975, + -0.09388279097773122 + ], + [ + 0.023201911080795813, + 0.9992963671684265, + 0.029468592807864662, + -0.014526676816470002 + ], + [ + -0.013747379473808857, + -0.029154827818274498, + 0.9994803539551127, + -0.007819111694080783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9995246820188665, + -0.030618363991379745, + 0.003600095346207243, + -0.11160476504086717 + ], + [ + 0.03048571970742685, + 0.9990087151527407, + 0.032438469359273955, + -0.02027109114590773 + ], + [ + -0.004589739431778569, + -0.032313298434019096, + 0.9994672541437241, + -0.015747383602781845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9995693743624764, + -0.02906477078795433, + 0.004038786949385671, + -0.12198234476845622 + ], + [ + 0.028913689090363456, + 0.9990220069885254, + 0.03345222794845286, + -0.013999255007233095 + ], + [ + -0.005007115454111762, + -0.03332104906439781, + 0.9994321341895627, + -0.04238647695149567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9995700408543833, + -0.028432004153728492, + 0.007169960186506136, + -0.12804229170532322 + ], + [ + 0.028192950422342176, + 0.9991064071655276, + 0.03148833720759881, + -0.006629833078242019 + ], + [ + -0.008058826841747775, + -0.031272653490304954, + 0.9994783797231084, + -0.06911978678524655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9995205453333078, + -0.029712058603763587, + 0.008709268249163269, + -0.13852063841007858 + ], + [ + 0.02946208654280927, + 0.9991862177848818, + 0.027547456361366098, + -0.0038011371899976 + ], + [ + -0.009520672158972331, + -0.027277654036879546, + 0.9995825354373419, + -0.1183626948383902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9995357782374437, + -0.029871394857764244, + 0.005991898330719667, + -0.14111013160291827 + ], + [ + 0.02970704313235696, + 0.9992240071296692, + 0.02586205756644407, + -0.0029441897249570656 + ], + [ + -0.006759789097827094, + -0.025672048330307007, + 0.9996475758253126, + -0.16497195801991552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9995979423261605, + -0.027753345668315887, + 0.005809587842672741, + -0.148673826683117 + ], + [ + 0.027596193482018205, + 0.9992918372154236, + 0.02557777807656955, + -0.002357543955565786 + ], + [ + -0.006515341961454517, + -0.02540717087686062, + 0.9996559653658011, + -0.17290272977070983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9997062564839383, + -0.024043787270784378, + 0.0030536973594134003, + -0.16869945240313797 + ], + [ + 0.023966348358510893, + 0.999441921710968, + 0.0232699817877962, + 0.007318817308737912 + ], + [ + -0.003611492108769094, + -0.023189958184957504, + 0.999724528942317, + -0.18005364704350757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9995825705678215, + -0.028888233006000526, + 0.00039074707637296973, + -0.18642862675744068 + ], + [ + 0.02887072179195011, + 0.9992989897727969, + 0.023832390487247158, + -0.0007074368425555775 + ], + [ + -0.001078952430744418, + -0.02381116151809693, + 0.9997158814866004, + -0.1860624056654352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9995865505446245, + -0.028693048283457756, + 0.0018496958504126211, + -0.19399819608665547 + ], + [ + 0.028639224878954178, + 0.999289870262146, + 0.024484524293333428, + -0.0021713670322968943 + ], + [ + -0.002550918216930865, + -0.02442142739892006, + 0.9996984985091909, + -0.1912349969354232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9997223923384823, + -0.022794542834162716, + 0.005966007586109089, + -0.20689042055556575 + ], + [ + 0.022670948034526846, + 0.9995424151420595, + 0.020023474560466183, + 0.007035916564390057 + ], + [ + -0.006419696530431091, + -0.019882660359144214, + 0.999781696799008, + -0.20542122627360954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9994389167585003, + -0.029598303139209747, + 0.015677851504323135, + -0.23009932414879064 + ], + [ + 0.029356152318547428, + 0.9994494915008545, + 0.015456669781136242, + -0.003008470936435356 + ], + [ + -0.01612671531364759, + -0.014987755566835403, + 0.999757648031919, + -0.22266251799181713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9990799890623896, + -0.03758447244763374, + 0.02065340448743258, + -0.23433596048534325 + ], + [ + 0.037272630783896206, + 0.9991883039474487, + 0.015282127361698416, + -0.010749566523576264 + ], + [ + -0.02121101346424537, + -0.014498261734843254, + 0.9996698939846842, + -0.22274480585867337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9985225247425684, + -0.046908311545848846, + 0.027429689972886473, + -0.2541398604175552 + ], + [ + 0.04611324806866078, + 0.9985170960426331, + 0.02893330873434964, + -0.005782897193262901 + ], + [ + -0.028746226122239114, + -0.027625689283013344, + 0.9992049193029193, + -0.23034024133992026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9979773768395491, + -0.056009359657764435, + 0.030069094349720223, + -0.26599814681108136 + ], + [ + 0.054737714611022795, + 0.9976351261138916, + 0.041567879978770865, + -0.01004602814037752 + ], + [ + -0.03232617370742377, + -0.03983788564801216, + 0.9986831130024106, + -0.24208135587323046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9978650878434056, + -0.05606904998421669, + 0.03348877636569991, + -0.27534716067615683 + ], + [ + 0.054750523846516054, + 0.9977353811264038, + 0.03907088999114465, + -0.007921883350083368 + ], + [ + -0.03560360440645298, + -0.037153951823711395, + 0.9986750768675781, + -0.24718772621190463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9978375534668592, + -0.04262689501047135, + 0.05003119400533186, + -0.30203834201245466 + ], + [ + 0.04146164375913087, + 0.9988493323326113, + 0.0241021687628708, + -0.016149318327560554 + ], + [ + -0.05100103091936909, + -0.021975673735141758, + 0.9984568105300734, + -0.25577236842640366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9969016538961427, + -0.034686651080846786, + 0.07059663264540855, + -0.3291242448691206 + ], + [ + 0.033968349705902776, + 0.9993584752082825, + 0.011350310884445224, + -0.01489022563339227 + ], + [ + -0.07094504951714202, + -0.008917093276977539, + 0.9974403896616593, + -0.26001052032251204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9960258606251426, + -0.03941962867975235, + 0.07986609176936553, + -0.343492764040638 + ], + [ + 0.038803876919843036, + 0.9992040395736694, + 0.009247868265692336, + -0.016908917540161165 + ], + [ + -0.0801670716728098, + -0.0061120023019611835, + 0.9967627305039096, + -0.25890352161483343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.994859492328497, + -0.04453738406300545, + 0.0909448081482001, + -0.36184320235531936 + ], + [ + 0.044093978497708256, + 0.9990037083625793, + 0.006879956620117289, + -0.01765336439607481 + ], + [ + -0.0911606198292084, + -0.0028344716411083937, + 0.9958321946966141, + -0.2578583659687615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9941051690141778, + -0.0439828522503376, + 0.0990982156639063, + -0.3852454485788791 + ], + [ + 0.04377945424509218, + 0.9990322589874268, + 0.004227206009353559, + -0.014414384702791497 + ], + [ + -0.0991882370484153, + 0.00013617845252156258, + 0.9950686569071324, + -0.2605822847882302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9933882313348971, + -0.046360351145267494, + 0.10502654216067374, + -0.4016164896088224 + ], + [ + 0.04630189674716923, + 0.9989230036735537, + 0.0029960239500067235, + -0.011929595068599468 + ], + [ + -0.10505232562719752, + 0.0018867130856961016, + 0.9944649230313106, + -0.26182438476659464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.991588051085099, + -0.05378609895706178, + 0.11772937404155764, + -0.42971249768185726 + ], + [ + 0.05382374040981226, + 0.998546361923218, + 0.002861918884257551, + -0.003075470021983457 + ], + [ + -0.11771216658758325, + 0.0034987907856702813, + 0.9930415654041741, + -0.2577121210695452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9880572909161175, + -0.04923442378640176, + 0.14600943047083342, + -0.45292512068537755 + ], + [ + 0.049015352061191154, + 0.9987850189208987, + 0.0050998794497936735, + 0.006798609061656277 + ], + [ + -0.14608312213769145, + 0.002117730444297195, + 0.9892700490246775, + -0.2536902319007468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9846752833427176, + -0.048488527536392226, + 0.1675213606257862, + -0.46765963533210797 + ], + [ + 0.04818698058606898, + 0.9988210797309878, + 0.005866899621350047, + 0.01290053661330975 + ], + [ + -0.16760834696394292, + 0.0022953574080020194, + 0.9858509854080753, + -0.25076813977514895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9750426641818105, + -0.05950639769434929, + 0.21389425496852102, + -0.49308926989380153 + ], + [ + 0.058944382311280304, + 0.9982206225395203, + 0.009010153212783943, + 0.02341669143683249 + ], + [ + -0.21404981784255458, + 0.0038225804455578327, + 0.9768152926244751, + -0.2402394537214752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9619866156501945, + -0.0625378116965294, + 0.26583970544712754, + -0.5172349578183744 + ], + [ + 0.06008063341686799, + 0.9980423450469973, + 0.017373687397357614, + 0.027479430308138486 + ], + [ + -0.26640578945512355, + -0.0007414380088448527, + 0.9638606573513409, + -0.23262035523474925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9545859885007806, + -0.06223343312740326, + 0.29136334807358516, + -0.5307654373273084 + ], + [ + 0.05753649820816522, + 0.9980385303497314, + 0.02466965803114413, + 0.02961035906673315 + ], + [ + -0.292327138901067, + -0.006785283796489239, + 0.9562942910118932, + -0.2290497822547219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9396533189549915, + -0.07096808403730392, + 0.3346866355602779, + -0.5556143154153261 + ], + [ + 0.06029082674051013, + 0.9972884654998779, + 0.04219821431097297, + 0.026894497599832146 + ], + [ + -0.3367738415071126, + -0.019473161548376083, + 0.9413841707089724, + -0.22708401529766878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9245488816054602, + -0.08035481721162796, + 0.3724949286241857, + -0.5760868513436267 + ], + [ + 0.06481159827243536, + 0.9964307546615601, + 0.054085360201159206, + 0.02866500923100756 + ], + [ + -0.3755114168744918, + -0.025862567126750946, + 0.926456885051385, + -0.2256938114279556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9165874851220032, + -0.08092014491558076, + 0.3915601191051658, + -0.5888633309446751 + ], + [ + 0.06330182049367133, + 0.996323883533478, + 0.0577204253111752, + 0.027773763076489075 + ], + [ + -0.3947914444685532, + -0.02811935171484948, + 0.9183403470729817, + -0.22860815190340134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9025678479313015, + -0.07624007016420364, + 0.4237436799764039, + -0.616845913683102 + ], + [ + 0.06027787552826682, + 0.9968795776367188, + 0.050967822561188106, + 0.02340343070402229 + ], + [ + -0.4263072329073056, + -0.020459553226828575, + 0.9043470632674983, + -0.22944038686681306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8913693061196493, + -0.07000187039375305, + 0.44783982733974004, + -0.6456453672195276 + ], + [ + 0.05699228631772792, + 0.997470498085022, + 0.0424786436213981, + 0.01954631384543968 + ], + [ + -0.44968060536926935, + -0.012340744026005268, + 0.893104179667091, + -0.23135233977418354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8864151296937207, + -0.06531641632318497, + 0.45825971956902667, + -0.6582634168738546 + ], + [ + 0.053388011862202316, + 0.997813880443573, + 0.03895103093248708, + 0.01843208686538077 + ], + [ + -0.45980202847746054, + -0.010061211884021759, + 0.8879644299655277, + -0.23395906792375873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8758891594240472, + -0.061942227184772505, + 0.47851991078204226, + -0.6673872819682845 + ], + [ + 0.0518606834811469, + 0.9980661869049074, + 0.03426864460062022, + 0.016135510899968328 + ], + [ + -0.47971724396814075, + -0.005199163220822812, + 0.8774077619631234, + -0.24755207628701356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8602294870171698, + -0.05987646058201791, + 0.5063793049477157, + -0.6833580786400058 + ], + [ + 0.05172569943814144, + 0.9982057809829714, + 0.03016129071302549, + 0.015126800946472237 + ], + [ + -0.5072766983915951, + 0.00024718977510929113, + 0.861783199249534, + -0.2541024127057209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8503890445443121, + -0.05502185225486757, + 0.523269555169822, + -0.6977558589034624 + ], + [ + 0.04896757580281973, + 0.998477101325989, + 0.025410549548560587, + 0.014082874567019408 + ], + [ + -0.5238708112835753, + 0.004014388192445041, + 0.8517883013292081, + -0.25093743065213436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8322306638374342, + -0.050569437444210066, + 0.5521185149787982, + -0.7048717579368684 + ], + [ + 0.0497450391218014, + 0.9986259341239931, + 0.0164830666700195, + 0.01712347711101546 + ], + [ + -0.5521933976973143, + 0.013747440651059154, + 0.8336027000057503, + -0.26807247915270727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.809437296435106, + -0.0425923876464367, + 0.5856596110081403, + -0.7152905679190672 + ], + [ + 0.04438353694536342, + 0.9989506006240847, + 0.011306912099869365, + 0.011943384782301197 + ], + [ + -0.5855266201203061, + 0.016841406002640728, + 0.8104782324640325, + -0.2812687976224175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7965607335313158, + -0.043099693953990936, + 0.6030202820325974, + -0.7251125636478571 + ], + [ + 0.04572053288835561, + 0.9988937377929688, + 0.010999355060155185, + 0.009317082670378878 + ], + [ + -0.6028272353166032, + 0.018808752298355103, + 0.7976500385284849, + -0.28660986640522346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7726347939148043, + -0.05346839502453804, + 0.632595130788124, + -0.7449819630091914 + ], + [ + 0.05950004953154327, + 0.9981597661972046, + 0.011694992848412989, + 0.0065648259981812025 + ], + [ + -0.6320563491961199, + 0.028603482991456985, + 0.7743943731329217, + -0.29503308786596744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.748643393496247, + -0.06542416661977768, + 0.6597369116155581, + -0.7606973563470697 + ], + [ + 0.07318577495557978, + 0.9971925020217896, + 0.01584032550289157, + 0.008439508695064825 + ], + [ + -0.6589210124137246, + 0.03642459586262703, + 0.7513297420742925, + -0.3065962660603722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7364992425394203, + -0.06652534008026123, + 0.6731591946012362, + -0.7692422399731752 + ], + [ + 0.07304523408712221, + 0.997154712677002, + 0.018626039037664632, + 0.014136639370653242 + ], + [ + -0.6724829524102167, + 0.03545300289988518, + 0.7392630326199613, + -0.312385035264793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7160919854165961, + -0.06599555164575578, + 0.6948790023578065, + -0.7883242285934821 + ], + [ + 0.059803657326517955, + 0.9976604580879214, + 0.03312264796441245, + 0.015178432759633211 + ], + [ + -0.6954392435565411, + 0.017837442457675937, + 0.7183634614805395, + -0.3290218178340095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.6974023128897389, + -0.07367603480815889, + 0.7128828625834248, + -0.8044543602292569 + ], + [ + 0.05413693920905994, + 0.9972755312919619, + 0.05010653043613194, + 0.009367728825912356 + ], + [ + -0.7146322784719341, + 0.003648882731795312, + 0.6994908697234475, + -0.3399647920065074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6868742691029559, + -0.07561221718788148, + 0.722832322565147, + -0.8114721423711616 + ], + [ + 0.05265135464131334, + 0.9971370100975039, + 0.05427383663780949, + 0.00745607633338231 + ], + [ + -0.7248666673971501, + 0.0007787961512804034, + 0.6888888066346307, + -0.3397295925087795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6659636316412267, + -0.07329545170068742, + 0.7423747438997975, + -0.8313703527193598 + ], + [ + 0.04899745430729514, + 0.997310280799866, + 0.05451126830447016, + 0.0005884333443351457 + ], + [ + -0.7443733799998041, + 7.194839417934419e-05, + 0.6677636732823824, + -0.3469218732133055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6433627779948212, + -0.06932098418474197, + 0.762416472468466, + -0.8476452380888884 + ], + [ + 0.044704419484803165, + 0.99759441614151, + 0.05298031217943879, + 0.0008811935039967937 + ], + [ + -0.7642550812623072, + -2.1774321794509888e-06, + 0.6449141069579316, + -0.3562259428858827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.631655106774713, + -0.07001001387834549, + 0.7720819064256184, + -0.8525505791122941 + ], + [ + 0.04420289745206833, + 0.9975462555885315, + 0.05429118962329628, + 0.002657058579951164 + ], + [ + -0.7739883349019486, + -0.00016506202518939972, + 0.6331998987831242, + -0.3575850172369637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.615699217855931, + -0.07708731293678284, + 0.7842015587863532, + -0.87328619402571 + ], + [ + 0.04790406148745591, + 0.9970242977142334, + 0.060397009008601635, + 0.0012848433861310177 + ], + [ + -0.7865238144995328, + 0.0003800448030233383, + 0.6175598602172654, + -0.36032079782145554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6053944161751987, + -0.08682864904403688, + 0.7911753350551035, + -0.8913595482383263 + ], + [ + 0.05109845971988067, + 0.9962210655212405, + 0.0702319821395123, + 0.0001688061728671239 + ], + [ + -0.794283647072753, + -0.002090210095047951, + 0.6075435170978742, + -0.36377118212238785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.598957431401385, + -0.08718661218881607, + 0.7960204618105094, + -0.9012478393011507 + ], + [ + 0.04749271978921421, + 0.996173083782196, + 0.07337354269034979, + -0.0008977548751896488 + ], + [ + -0.7993713487901639, + -0.006142456084489822, + 0.6008059539717507, + -0.36513905073240516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.5846305641414133, + -0.08196240663528442, + 0.8071488826770874, + -0.9275016210176013 + ], + [ + 0.04073138463933968, + 0.9965944290161133, + 0.07169739402858803, + -0.005650935164445087 + ], + [ + -0.8102765354669902, + -0.009040199220180511, + 0.5859780020989346, + -0.3630245837934194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.567912303975537, + -0.07751825451850891, + 0.8194306721395874, + -0.9475340364791183 + ], + [ + 0.04079397935840401, + 0.9969825744628906, + 0.06604213330701103, + -0.0067778600931023315 + ], + [ + -0.8220776177415269, + -0.0040783025324344635, + 0.5693609351323901, + -0.36446287533397337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.5590053171024707, + -0.07341175526380539, + 0.8259078643266876, + -0.9584441151991556 + ], + [ + 0.03848577602104417, + 0.9972965717315674, + 0.06259722013743188, + -0.008331025068767376 + ], + [ + -0.8282704881099188, + -0.0032064802944660187, + 0.5603194468007712, + -0.36548019135902254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.5443224447413754, + -0.0629584789276123, + 0.8365102066858402, + -0.9780189948316662 + ], + [ + 0.030561769774145774, + 0.9980060458183289, + 0.05522644694370533, + -0.0061439580828821895 + ], + [ + -0.8383192055226927, + -0.004495769739151001, + 0.5451612022181151, + -0.3640359732251535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.5314859798372831, + -0.06052478402853012, + 0.8449019996853416, + -1.0030601432984156 + ], + [ + 0.03246333105854677, + 0.9981666803359985, + 0.05108286065291081, + -0.007595751589407516 + ], + [ + -0.8464448303462413, + 0.0002785045653581619, + 0.5324764779240094, + -0.36465817100759335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.5234499903132845, + -0.059877507388591766, + 0.8499499354168992, + -1.014630854282083 + ], + [ + 0.03420367991213617, + 0.9982002973556519, + 0.04925681757579385, + -0.00824940705291703 + ], + [ + -0.8513696900432477, + 0.0032879244536161423, + 0.5245560009334441, + -0.36311974221527865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.5076202435521181, + -0.0550590343773365, + 0.8598198767141731, + -1.0409760581390506 + ], + [ + 0.031605827702124924, + 0.9984742999076843, + 0.04527840532202767, + -0.011277292998660607 + ], + [ + -0.8610010329198878, + 0.004191085696220398, + 0.5085859606366322, + -0.35721703450991793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.4901295721027432, + -0.05446580797433853, + 0.8699462771861162, + -1.0682557407352447 + ], + [ + 0.03483776108051951, + 0.9984724521636963, + 0.04288493687647419, + -0.014366950369734875 + ], + [ + -0.8709531718646251, + 0.009287805296480656, + 0.49127832124458104, + -0.34955513260798277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.4799351643507204, + -0.055999644100666046, + 0.8755148929650027, + -1.0853004897796599 + ], + [ + 0.03883054234779979, + 0.9983386397361755, + 0.042569766715883486, + -0.020034359993151094 + ], + [ + -0.8764441809306229, + 0.01356598548591137, + 0.4813123163385723, + -0.3454100922635938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.4617635482486341, + -0.05718697607517244, + 0.8851576750050522, + -1.111486163163003 + ], + [ + 0.04322587961435047, + 0.9981846809387209, + 0.04193945239291905, + -0.020009263797198758 + ], + [ + -0.885949218512885, + 0.018895603716373447, + 0.46339719690267334, + -0.34353534635264515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.4376607246992051, + -0.06791665405035019, + 0.8965715215300193, + -1.1372225310870567 + ], + [ + 0.04468502087840316, + 0.9975539445877075, + 0.053753264231696, + -0.021755003767256892 + ], + [ + -0.8980292057898772, + 0.0165376178920269, + 0.43962503236860173, + -0.33701412263617714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.4235844979328518, + -0.07211367040872574, + 0.9029817002405812, + -1.1499842618782592 + ], + [ + 0.045398754284507646, + 0.9972635507583618, + 0.05834684444508412, + -0.02507870082433404 + ], + [ + -0.9047183638370612, + 0.016279414296150208, + 0.4256992473984749, + -0.3301322340352368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.3982862308283817, + -0.0776405781507492, + 0.9139694332121525, + -1.1774128469847265 + ], + [ + 0.04926383992870452, + 0.9967837929725647, + 0.06320754545261499, + -0.03447978203357842 + ], + [ + -0.9159373573657074, + 0.019850939512252808, + 0.4008301541341962, + -0.3199293031774778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.37333979826942393, + -0.08049479871988297, + 0.9241958906687981, + -1.2049936302657946 + ], + [ + 0.0641040621349753, + 0.9960856437683105, + 0.060860601879835406, + -0.044619422319101425 + ], + [ + -0.9254772844784173, + 0.03652302175760269, + 0.37703846072981995, + -0.3106977074907779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.36017512321387174, + -0.08335629105567932, + 0.929153192624076, + -1.2191288801584066 + ], + [ + 0.07214355467627612, + 0.9955060482025146, + 0.06134335844333968, + -0.04750990861362127 + ], + [ + -0.9300910041520233, + 0.04493806138634682, + 0.3645701157461695, + -0.308584027100547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.337877837952013, + -0.08732491731643677, + 0.9371302080861109, + -1.24530661713544 + ], + [ + 0.07965738652609025, + 0.9947671890258789, + 0.06397564072874952, + -0.054146303700733256 + ], + [ + -0.9378130233277621, + 0.053033389151096344, + 0.3430658302162435, + -0.3100501999706326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.3195249934659228, + -0.08746451139450073, + 0.9435326391813506, + -1.2757869674318971 + ], + [ + 0.07848382167047632, + 0.9947524666786194, + 0.0656341867276508, + -0.0610706476751048 + ], + [ + -0.9443221068327932, + 0.053080275654792786, + 0.3247127609802957, + -0.3088623320094727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.3107839677879299, + -0.08884640783071518, + 0.9463189999239209, + -1.2884573516720454 + ], + [ + 0.07828780453634708, + 0.9946314096450806, + 0.06767151231629014, + -0.0615845577506797 + ], + [ + -0.9472509139147701, + 0.053054023534059525, + 0.3160710346496291, + -0.30884683493284715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.2970312959187062, + -0.0888807401061058, + 0.9507221802812926, + -1.3244380475567574 + ], + [ + 0.07493660967168826, + 0.9947574734687805, + 0.06958526824946895, + -0.05998943212947693 + ], + [ + -0.9519227456650874, + 0.0505748949944973, + 0.30213449621090277, + -0.3077767455924548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.2849366290579874, + -0.08409873396158218, + 0.9548499964954106, + -1.360389346095143 + ], + [ + 0.07552405943736976, + 0.9950166940689087, + 0.06509930704577548, + -0.0635334345777516 + ], + [ + -0.9555664378024968, + 0.05356496945023537, + 0.2898681712661342, + -0.301573743329266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.27774151910591227, + -0.07973087579011917, + 0.9573415103591894, + -1.3771718967562614 + ], + [ + 0.07581271248259093, + 0.9952609539031982, + 0.06089434694543074, + -0.06394116616706473 + ], + [ + -0.957659801985766, + 0.0556657537817955, + 0.2824698981867161, + -0.2997078388922765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.2678356959475066, + -0.07010798901319505, + 0.9609106053608891, + -1.4129847341847919 + ], + [ + 0.07180929946431679, + 0.9960275888442995, + 0.05265463599732056, + -0.06512389597610256 + ], + [ + -0.9607849220768542, + 0.05489950254559518, + 0.2718061402193812, + -0.29294984431215776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.2650007256049041, + -0.061836518347263336, + 0.9622634626635337, + -1.4518036526778528 + ], + [ + 0.06686395406892413, + 0.9967178702354431, + 0.04563673852399663, + -0.06259882700864082 + ], + [ + -0.9619271694014828, + 0.05224696919322014, + 0.2682655691355923, + -0.28644078022427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.2622236066173724, + -0.05825604125857353, + 0.9632471651704726, + -1.4694195400509622 + ], + [ + 0.06342970001995475, + 0.997058093547821, + 0.043033495864460036, + -0.06328308927028835 + ], + [ + -0.962920294217846, + 0.04981407895684242, + 0.2651473068118265, + -0.2802519376918692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.2543467501147773, + -0.050902981311082854, + 0.9657725715895525, + -1.5067714618178465 + ], + [ + 0.053939630288760435, + 0.9978061318397524, + 0.038385783653976935, + -0.062355063820751844 + ], + [ + -0.9656077519962699, + 0.042330116033554084, + 0.25653447116357575, + -0.28032198993490365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.2519393155712437, + -0.03860088437795639, + 0.9669729635559684, + -1.5488908263723498 + ], + [ + 0.056907114896836065, + 0.9980660676956177, + 0.0250152715809468, + -0.06553781654813613 + ], + [ + -0.9660684587094259, + 0.048725299537181854, + 0.2536487871361194, + -0.27671876902347353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.2528444068233454, + -0.03622335195541382, + 0.9668286456079221, + -1.5704029436697078 + ], + [ + 0.06116118213676677, + 0.9978986382484436, + 0.02139259392417607, + -0.06924761096098644 + ], + [ + -0.9655719283607829, + 0.05372337996959686, + 0.25452852320796643, + -0.27644964926615134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.2534024078725074, + -0.03574328497052193, + 0.9667004194408924, + -1.6117814371815582 + ], + [ + 0.05753669286454441, + 0.9981048703193665, + 0.02182228378847141, + -0.0709925153302652 + ], + [ + -0.9656483738528506, + 0.05009092390537262, + 0.254978719677648, + -0.2695694442032215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.2565003887138957, + -0.03792009502649307, + 0.9658000290290369, + -1.6524973219776484 + ], + [ + 0.05103774123181042, + 0.998367428779602, + 0.025644012870246972, + -0.0718072368892373 + ], + [ + -0.9651957512927383, + 0.042714547365903854, + 0.2580169978276962, + -0.2700064501542823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.2564707978936271, + -0.03928209096193314, + 0.9657534161121172, + -1.6759431951575001 + ], + [ + 0.049355197102989114, + 0.998402535915375, + 0.02750305460144703, + -0.0726998702452351 + ], + [ + -0.9652911113130939, + 0.04061121866106988, + 0.257999931570992, + -0.266344465055238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.25483465928071414, + -0.04159162938594818, + 0.9660898116643444, + -1.7228549706477128 + ], + [ + 0.04689892943900758, + 0.9984304308891296, + 0.030612968805702103, + -0.07469308694995987 + ], + [ + -0.9658466606820558, + 0.037507329136133194, + 0.2563852742059451, + -0.26310347263536427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.24902381147177494, + -0.04428993538022041, + 0.9674842009541919, + -1.7657068354659624 + ], + [ + 0.04437673467376642, + 0.9984264373779297, + 0.03428415506732318, + -0.07965975611126806 + ], + [ + -0.9674801699870739, + 0.0343962162733078, + 0.2505973955235996, + -0.261646412024974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.24549504724192378, + -0.045430008322000504, + 0.9683327818278026, + -1.7877346550566748 + ], + [ + 0.04426696679769961, + 0.9983845949172974, + 0.035617197507559414, + -0.07957808615610458 + ], + [ + -0.9683866947922622, + 0.0341213084757328, + 0.24710952568590963, + -0.26197194216852193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.24174547678904396, + -0.04673105478286743, + 0.9692137656742369, + -1.826122363078435 + ], + [ + 0.04501850438608026, + 0.9983042478561401, + 0.03690495466631234, + -0.07971411160020743 + ], + [ + -0.9692948327190392, + 0.034710951149463654, + 0.24343929391925148, + -0.25826452133942834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.24079318168249506, + -0.04892931506037712, + 0.9693423936702839, + -1.8599577638641411 + ], + [ + 0.0400958538737922, + 0.9983773827552795, + 0.040434746579093676, + -0.08210638565472325 + ], + [ + -0.9697479473970673, + 0.02913019247353077, + 0.24236426287025756, + -0.2548988374417651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.24021054550841586, + -0.04999638721346855, + 0.9694324444959154, + -1.87800313041082 + ], + [ + 0.03540683717566176, + 0.9984594583511353, + 0.04272011903638712, + -0.07928401179185592 + ], + [ + -0.9700748994867483, + 0.024062713608145714, + 0.24161071848326496, + -0.2528806477216588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.24162193665997408, + -0.05170873925089836, + 0.9689917670940698, + -1.9224614331234162 + ], + [ + 0.031240068459944405, + 0.9984760880470276, + 0.045492291445171536, + -0.08012559449040657 + ], + [ + -0.9698674852039609, + 0.01927942968904972, + 0.24286908120930198, + -0.2514388526716965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.24095960071597636, + -0.05042897537350656, + 0.9692240888420586, + -1.961469442538749 + ], + [ + 0.029157122498866338, + 0.9985745549201968, + 0.04470731171037678, + -0.08251786542039985 + ], + [ + -0.9700970973203474, + 0.017487129196524624, + 0.2420864632977431, + -0.24534754086161772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.24095589446696594, + -0.050598740577697754, + 0.9692162730423572, + -1.9680997121754717 + ], + [ + 0.027663083452229616, + 0.9985923767089844, + 0.04525505157797172, + -0.08564226263393257 + ], + [ + -0.970141822764158, + 0.015907030552625656, + 0.24201649049877227, + -0.2635418784023337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.23458275869324352, + -0.05230849236249924, + 0.9706878207663376, + -2.022517860924333 + ], + [ + 0.032362796401392856, + 0.9984179139137268, + 0.04598181421883376, + -0.07687710720361997 + ], + [ + -0.9715573827798408, + 0.020627625286579132, + 0.23590451095160023, + -0.234719748071559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.2336266455316598, + -0.05670437216758728, + 0.9706715690864025, + -2.052498907920522 + ], + [ + 0.04106339555499409, + 0.9979828000068665, + 0.04841646557672661, + -0.07986092512187623 + ], + [ + -0.9714589505234568, + 0.028547687456011772, + 0.23548382821169267, + -0.23727683826075827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.23181808844343935, + -0.058034077286720276, + 0.9710264940434763, + -2.0707772278112286 + ], + [ + 0.042674030379035485, + 0.9978645443916321, + 0.04945028626445745, + -0.08018354111939799 + ], + [ + -0.9718227175362704, + 0.029974140226840973, + 0.23379956294296236, + -0.23263481111849343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.22938585491617158, + -0.06145743280649185, + 0.9713934081321476, + -2.1056748499124804 + ], + [ + 0.041864108602481256, + 0.997704029083252, + 0.05323619973290003, + -0.07604756121588238 + ], + [ + -0.97243490840259, + 0.028454884886741638, + 0.23143207422438303, + -0.2255176512741036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.22780256282528655, + -0.06780684739351273, + 0.9713435948961998, + -2.14011564043672 + ], + [ + 0.04312065781915561, + 0.997296154499054, + 0.05950573813456347, + -0.06996967860661868 + ], + [ + -0.9727521373650405, + 0.028329405933618546, + 0.23011048314153404, + -0.2202048384092209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.22672123833174201, + -0.07113027572631836, + 0.9713588790854664, + -2.1584043085689357 + ], + [ + 0.04531404966418519, + 0.9970199465751648, + 0.06243279829190052, + -0.06588616969130484 + ], + [ + -0.9729050110262446, + 0.02986135520040989, + 0.2292688381506208, + -0.215892569902426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.23088875585114346, + -0.08002603054046632, + 0.9696835512368254, + -2.1913221808670182 + ], + [ + 0.054326596589406896, + 0.9961174726486208, + 0.06927200410700023, + -0.06340793736115297 + ], + [ + -0.9714622827263334, + 0.036685474216938026, + 0.23433990654522335, + -0.20466326888102593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.2377764625430195, + -0.09114916622638704, + 0.9670338193629213, + -2.2275134383599764 + ], + [ + 0.06757832735810297, + 0.9947271347045901, + 0.07714312850989845, + -0.06221254328627582 + ], + [ + -0.9689663407962492, + 0.04700769111514093, + 0.2426823668811399, + -0.19333415258142306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.24068737112010763, + -0.09791310876607895, + 0.9656514233169342, + -2.24205224102768 + ], + [ + 0.06510598240287985, + 0.9942866563796997, + 0.08458901890997311, + -0.05025270887962015 + ], + [ + -0.9684166782087256, + 0.04251016676425934, + 0.245687001360821, + -0.18862710388781112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.24569519483450233, + -0.12642577290534973, + 0.961067337137762, + -2.2738613072457943 + ], + [ + 0.06085264739783321, + 0.9915144443511963, + 0.11487414090186991, + -0.0441291123464767 + ], + [ + -0.9674352550094003, + 0.03025946021080017, + 0.25130369604795355, + -0.18328430594175243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/orbit_right/transforms.json b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..cc8ac01c062b8a48943691dec9920abb79f86475 --- /dev/null +++ b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/orbit_right/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, + 5.6416529332636856e-06, + -5.4483607527799904e-05, + 0.0005640062154270709 + ], + [ + -5.64634410693543e-06, + 1.0, + -8.610235818196088e-05, + 2.5099097911152057e-05 + ], + [ + 5.4483120038639754e-05, + 8.610266377218068e-05, + 1.0, + 0.00019526583491824567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999936084648653, + -0.0035129378084093332, + 0.0006469818114235181, + 0.0008093146904694635 + ], + [ + 0.0035116856366717198, + 0.9999919533729553, + 0.001926208314157196, + -0.0002914552410754584 + ], + [ + -0.0006537431294380415, + -0.0019239240791648626, + 0.9999979140570564, + -0.00012359639815847886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999912916731759, + -0.004166800994426012, + -1.3758239483244112e-05, + 0.002624434070264417 + ], + [ + 0.004166823075264466, + 0.999987006187439, + 0.0029458013071691574, + -0.0017615935963624853 + ], + [ + 1.4836525745531155e-06, + -0.002945832908153534, + 0.9999956342525566, + -0.00014398519758487458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999997075767327, + -0.0002671750553417951, + -0.0006965014913812514, + 0.004278208648963406 + ], + [ + 0.00026859893989104194, + 0.9999978542327881, + 0.002045044623841618, + 0.0002187085710247971 + ], + [ + 0.0006959542905090204, + -0.0020452309399843216, + 0.9999976843903611, + -0.000957303169926456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999906114534703, + 0.004165422637015581, + -0.0012116126242282758, + 0.005259786070062838 + ], + [ + -0.004163243076496197, + 0.9999897480010986, + 0.0017957102336588475, + -0.00040474371129919494 + ], + [ + 0.0012190799889383597, + -0.0017906491411849856, + 0.9999976425877941, + -0.0008261272810827587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999859040267692, + 0.004940752871334553, + -0.001944082950823039, + 0.00685449206887526 + ], + [ + -0.0049344580652744535, + 0.9999825954437256, + 0.0032292870334319486, + -0.00037315890366905105 + ], + [ + 0.001960003786181511, + -0.0032196484971791506, + 0.9999928915647885, + -0.00030776590821510186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999834642488775, + 0.004920187871903181, + -0.0029792875204872585, + 0.009405286744160983 + ], + [ + -0.004895023058278513, + 0.9999527931213379, + 0.008395881737739128, + 0.0003870656514271399 + ], + [ + 0.0030204551079643827, + -0.008381159976124763, + 0.9999602994756892, + 0.0009818539764476926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999961182029819, + 0.0049115121364593515, + -0.0073181871369920725, + 0.010487175914364768 + ], + [ + -0.004820308156709573, + 0.9999111294746401, + 0.012428541013469442, + 0.0012155831600981935 + ], + [ + 0.007378579392920249, + -0.012392782606184486, + 0.9998959833833819, + 0.001157366162766665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999325245397196, + 0.004963060840964317, + -0.010505543709725817, + 0.0122300337457747 + ], + [ + -0.004815506151200622, + 0.9998900294303894, + 0.01402439470191747, + 0.002812731440714188 + ], + [ + 0.010573991972711947, + -0.013972857967019081, + 0.9998464383213224, + 0.00099082858124437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999067982418609, + 0.00413162261247635, + -0.01301406307407115, + 0.017623202170210402 + ], + [ + -0.003905498847740409, + 0.9998418092727663, + 0.017353072181776574, + 0.004094230746512993 + ], + [ + 0.013083700816780132, + -0.017300628125667575, + 0.9997647446921838, + 0.0011708513720052175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999023181874414, + 0.0031362243462353945, + -0.013620966942198158, + 0.02334626075983899 + ], + [ + -0.0028660722423955198, + 0.9997996687889099, + 0.019807970201604592, + 0.006027254654661462 + ], + [ + 0.013680360455962824, + -0.019766995683312416, + 0.9997110233154899, + 0.0016888847874011758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998808498782503, + 0.0031666739378124484, + -0.015109567853964794, + 0.026543106420760045 + ], + [ + -0.00284864985769975, + 0.9997749328613283, + 0.021023163575782905, + 0.006665241286415062 + ], + [ + 0.015172740318963976, + -0.020977616310119632, + 0.9996648326305589, + 0.0024440757705034405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998544772595047, + 0.0024396905209869146, + -0.016884808438643758, + 0.030612884781064293 + ], + [ + -0.0020552258535901425, + 0.9997390508651733, + 0.02274987204371547, + 0.008171811272628214 + ], + [ + 0.016935906162963105, + -0.0227118581533432, + 0.9995986119971714, + 0.002994512382683156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9997939933934854, + 0.0014796069590374827, + -0.02024405200156667, + 0.034137835880433745 + ], + [ + -0.0009831594475777443, + 0.999699056148529, + 0.024511141154802442, + 0.009248458666429942 + ], + [ + 0.02027422657914774, + -0.02448618970811367, + 0.9994945691617677, + 0.006456891639624644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.999738724806075, + 0.0016525397077202797, + -0.022797364356047053, + 0.03600103518055217 + ], + [ + -0.0010705951027750343, + 0.9996738433837891, + 0.025515461744392665, + 0.009459406959555503 + ], + [ + 0.02283209540281415, + -0.025484388694167137, + 0.9994144607041191, + 0.006580804335997387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.999699428354253, + 0.0007557097123935821, + -0.024504356696486432, + 0.03709844061613651 + ], + [ + -0.0001091396611424002, + 0.9996520876884463, + 0.026376528495690683, + 0.011543063138229236 + ], + [ + 0.024515764819371295, + -0.02636592462658883, + 0.9993517069365915, + 0.006421799135326828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9996005114055503, + -0.001724820584058762, + -0.028211016216187105, + 0.04015994411730949 + ], + [ + 0.0024772935530345134, + 0.9996414780616762, + 0.02665985760851143, + 0.01161606301313293 + ], + [ + 0.028154917759069042, + -0.026719093322753913, + 0.9992464002333903, + 0.006467335170864283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994768213382859, + -0.003728436538949609, + -0.03212744396013371, + 0.04130427647610778 + ], + [ + 0.004593705613076513, + 0.9996275305747986, + 0.026900819014444712, + 0.010688665207026101 + ], + [ + 0.03201517991437692, + -0.027034329250454903, + 0.9991216848332412, + 0.006655374054820774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999236465910396, + -0.007097895257174969, + -0.03841937083671165, + 0.042985120776685384 + ], + [ + 0.008165820931352536, + 0.9995825886726379, + 0.027711380332471978, + 0.00846200176515824 + ], + [ + 0.038206642769452764, + -0.02800394780933857, + 0.9988773619632686, + 0.007267792665792228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9991069816271034, + -0.008857796899974346, + -0.04131296961972139, + 0.04265215444908733 + ], + [ + 0.010034014447862609, + 0.9995476603507996, + 0.028350990824374082, + 0.0060501455234039875 + ], + [ + 0.041043154714614984, + -0.028740206733345985, + 0.9987439245557689, + 0.007834376482491377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9990298434916735, + -0.007712337188422682, + -0.04335723193116776, + 0.04328200699859444 + ], + [ + 0.008962213303035593, + 0.9995476603507998, + 0.028707328547337332, + 0.005395299920881068 + ], + [ + 0.04311622035749231, + -0.02906805463135243, + 0.9986470885408201, + 0.009836857676023967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9989235019083208, + -0.005043008364737034, + -0.0461124561382261, + 0.03992388857568747 + ], + [ + 0.0064069408434438355, + 0.9995448589324951, + 0.029478602903920986, + 0.006849743484574113 + ], + [ + 0.04594281059572639, + -0.02974230982363224, + 0.998501227179308, + 0.008272825630271048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9986975969681346, + -0.008028448559343817, + -0.05038475275452138, + 0.0383282848904812 + ], + [ + 0.009478198168661866, + 0.9995459914207461, + 0.028600915731393863, + 0.005572939100904494 + ], + [ + 0.050132257878612654, + -0.02904122136533261, + 0.9983202971588979, + 0.004410604801650604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9984553180071611, + -0.009497420862317085, + -0.054742589630142134, + 0.037850585022564415 + ], + [ + 0.011038152823406653, + 0.9995494484901428, + 0.027911749381318428, + 0.00376790691947247 + ], + [ + 0.05445283643622715, + -0.028472892940044403, + 0.9981103034628755, + 0.0036602828641319717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9976471939467619, + -0.010993612930178644, + -0.0676701503393766, + 0.027838142286964726 + ], + [ + 0.012868838734808262, + 0.9995434284210207, + 0.027337998411750344, + -0.0026238074117871137 + ], + [ + 0.06733870715349018, + -0.02814451232552529, + 0.9973331148688156, + 0.0014624543465009809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9962429069303561, + -0.019385283812880516, + -0.08440547266336568, + 0.01604929033374597 + ], + [ + 0.021736507372048398, + 0.9993983507156372, + 0.027026916027353996, + -0.008183274517644213 + ], + [ + 0.08383076841352997, + -0.02876005321741104, + 0.9960649030606381, + -0.0029760429727016015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9952157741134586, + -0.023594971746206284, + -0.09480978526875215, + 0.012812133063861635 + ], + [ + 0.026244337785374855, + 0.9992963671684265, + 0.026794801251064246, + -0.011882037732384837 + ], + [ + 0.09411085189471056, + -0.029154827818274498, + 0.995134722507604, + -0.0035208608667561675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9936429634011684, + -0.030618363991379745, + -0.10833379867226177, + -0.0008870684697481895 + ], + [ + 0.03392598812805742, + 0.9990087151527407, + 0.028821185436884025, + -0.01669311016666409 + ], + [ + 0.10734394737902686, + -0.032313298434019096, + 0.993696701602021, + -0.01003952995431887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9932795183874127, + -0.02906477078795433, + -0.11203144342319563, + -0.007168709946672472 + ], + [ + 0.032601751694891094, + 0.9990220069885254, + 0.02986936152571927, + -0.01045517729019482 + ], + [ + 0.11105372979779818, + -0.03332104906439781, + 0.9932556222613957, + -0.03627683296512112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9931824809483372, + -0.028432004153728492, + -0.11304969898241818, + -0.009119272080250207 + ], + [ + 0.03177398427767148, + 0.9991064071655276, + 0.02787062533812941, + -0.0030511403534003935 + ], + [ + 0.11215625952114691, + -0.031272653490304954, + 0.9931983435720282, + -0.06290748450786549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9928464155609624, + -0.029712058603763587, + -0.1156424100604003, + -0.015504942449142571 + ], + [ + 0.03265879015360987, + 0.9991862177848818, + 0.023670241256477036, + 3.442273972712557e-05 + ], + [ + 0.11484501136788614, + -0.027277654036879546, + 0.9930088175407172, + -0.11185960221352821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9920233043770847, + -0.029871394857764244, + -0.12246402898446412, + -0.014028701875131527 + ], + [ + 0.032783281221370225, + 0.9992240071296692, + 0.02183142014616406, + 0.001043319273570523 + ], + [ + 0.12171686319733287, + -0.025672048330307007, + 0.9922328233915026, + -0.1576365445433996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9915432790334244, + -0.027753345668315887, + -0.1267743010915083, + -0.017502657591626475 + ], + [ + 0.030743813862433526, + 0.9992918372154236, + 0.02169309879254843, + 0.0014857429424637784 + ], + [ + 0.12608247074778253, + -0.02540717087686062, + 0.9916943628671291, + -0.16502596045893478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9907384600104798, + -0.024043787270784378, + -0.1336384232799676, + -0.03345749909867504 + ], + [ + 0.0269224426219239, + 0.999441921710968, + 0.01977523677013957, + 0.0107764865604706 + ], + [ + 0.1330883630218283, + -0.023189958184957504, + 0.9908328134818505, + -0.1712562638331505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9896771194205957, + -0.028888233006000526, + -0.14037331427875957, + -0.047151215672014635 + ], + [ + 0.031939087775961425, + 0.9992989897727969, + 0.01952936468921208, + 0.003550143446152632 + ], + [ + 0.1397107393432997, + -0.02381116151809693, + 0.989906014299856, + -0.17635614334458177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9893006343331007, + -0.028693048283457756, + -0.143041771215841, + -0.05062984993675412 + ], + [ + 0.03188542922200684, + 0.999289870262146, + 0.02007527172584558, + 0.00219153480835381 + ], + [ + 0.14236417743515384, + -0.02442142739892006, + 0.9895130297719642, + -0.18115659937906486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9894455065024815, + -0.022794542834162716, + -0.1431015186905563, + -0.05938237639623006 + ], + [ + 0.025402076301500997, + 0.9995424151420595, + 0.01642089942209545, + 0.010600803068321398 + ], + [ + 0.1426617359480843, + -0.019882660359144214, + 0.9895717674095829, + -0.19531810889549026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.990049538615154, + -0.029598303139209747, + -0.13757127042779155, + -0.07844546194123662 + ], + [ + 0.0313770264875565, + 0.9994494915008545, + 0.010778428849884647, + 0.001621071449302076 + ], + [ + 0.13717651561873692, + -0.014987755566835403, + 0.990433253333017, + -0.2134351863698942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9898972782906377, + -0.03758447244763374, + -0.13671417664095403, + -0.07859810307724291 + ], + [ + 0.03921207950222747, + 0.9991883039474487, + 0.009230668630321983, + -0.004760777662106591 + ], + [ + 0.1362562711114889, + -0.014498261734843254, + 0.9905675305673625, + -0.21373670796583583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9898638578151788, + -0.046908311545848846, + -0.13404910779834892, + -0.09432450494766953 + ], + [ + 0.05017759299605608, + 0.9985170960426331, + 0.02111343560108551, + 0.0019564210439987958 + ], + [ + 0.1328599332246595, + -0.027625689283013344, + 0.9907497435876345, + -0.2219721649661234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9891973404750866, + -0.056009359657764435, + -0.13546813911608682, + -0.10215684578471958 + ], + [ + 0.060860976166583716, + 0.9976351261138916, + 0.03193818446339438, + -0.0005149890581465175 + ], + [ + 0.13335893854479364, + -0.03983788564801216, + 0.990266800015508, + -0.23375126818994188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9890950156010615, + -0.05606904998421669, + -0.1361884054989085, + -0.10739853249008205 + ], + [ + 0.06058241932236339, + 0.9977353811264038, + 0.02922199129452649, + 0.0018266815840072646 + ], + [ + 0.13424153547173717, + -0.037153951823711395, + 0.990251854811383, + -0.23885031411147586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9913659845664232, + -0.04262689501047135, + -0.12400156501823952, + -0.12976821542825193 + ], + [ + 0.045017045910115634, + 0.9988493323326113, + 0.016536263780235295, + -0.00866004207637996 + ], + [ + 0.12315399496667273, + -0.021975673735141758, + 0.9921442441361408, + -0.24952373674432668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.993576416443328, + -0.034686651080846786, + -0.10771581485264803, + -0.1526069742074668 + ], + [ + 0.035444887538090414, + 0.9993584752082825, + 0.00513208401413925, + -0.008734601329523459 + ], + [ + 0.10746869999612921, + -0.008917093276977539, + 0.9941685015632583, + -0.2567715722561053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9939444637841612, + -0.03941962867975235, + -0.10256954012466259, + -0.16288250777216598 + ], + [ + 0.03983854903578854, + 0.9992040395736694, + 0.0020381222222915466, + -0.009771309239576526 + ], + [ + 0.10240756016607039, + -0.0061120023019611835, + 0.9947237766953375, + -0.2568849687364149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9944232781858258, + -0.04453738406300545, + -0.09559660771901714, + -0.17715640963000365 + ], + [ + 0.04460432873577479, + 0.9990037083625793, + -0.0014375676964892784, + -0.009418534171872297 + ], + [ + 0.09556539505727409, + -0.0028344716411083937, + 0.9954191448176329, + -0.25744942269452953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9948259445786505, + -0.0439828522503376, + -0.09157992903290983, + -0.19645068639953875 + ], + [ + 0.04378517013483725, + 0.9990322589874268, + -0.004167584541073046, + -0.0061025118972678725 + ], + [ + 0.09167460339160596, + 0.00013617845252156258, + 0.9957889863925634, + -0.26129549937351443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9948840026219613, + -0.046360351145267494, + -0.08975842043957881, + -0.20874255984325274 + ], + [ + 0.046003020831636064, + 0.9989230036735537, + -0.006046807112732497, + -0.002975483108447496 + ], + [ + 0.08994208213208434, + 0.0018867130856961016, + 0.995945227470416, + -0.26329016595734095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9952549483605844, + -0.05378609895706178, + -0.08108425451795426, + -0.23283596142021148 + ], + [ + 0.05332362773186504, + 0.998546361923218, + -0.00785979242196641, + 0.007541776894441321 + ], + [ + 0.08138912904733568, + 0.0034987907856702813, + 0.9966762335161964, + -0.2613113756756821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9971703141931724, + -0.04923442378640176, + -0.05680958027308735, + -0.2520682001354613 + ], + [ + 0.049034010605187674, + 0.9987850189208987, + -0.00491724638952393, + 0.016718828283052104 + ], + [ + 0.05698265203078667, + 0.002117730444297195, + 0.9983729192232339, + -0.26270504007647616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9980539628667945, + -0.048488527536392226, + -0.039205957428215456, + -0.2629176226786504 + ], + [ + 0.04836082386316052, + 0.9988210797309878, + -0.004199562411198384, + 0.02287032539712785 + ], + [ + 0.039363372305327306, + 0.0022953574080020194, + 0.9992223217696904, + -0.2640110645337835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9982198561117298, + -0.05950639769434929, + 0.004008509396156293, + -0.2852040437165292 + ], + [ + 0.059520855344536085, + 0.9982206225395203, + -0.003590382435204564, + 0.035897125474854054 + ], + [ + -0.0037877195448217456, + 0.0038225804455578327, + 0.9999855466976107, + -0.2631888612452842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9966131393084446, + -0.0625378116965294, + 0.05339708081999588, + -0.30680161665268585 + ], + [ + 0.06240847808512519, + 0.9980423450469973, + 0.004087711909079084, + 0.04063974697034766 + ], + [ + -0.05354818530274733, + -0.0007414380088448527, + 0.9985649719951873, + -0.26699643628810515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9951806593226344, + -0.06223343312740326, + 0.07577905616216231, + -0.31720399602130245 + ], + [ + 0.061536179983397464, + 0.9980385303497314, + 0.011503877888899313, + 0.04265260327741544 + ], + [ + -0.07634635697570064, + -0.006785283796489239, + 0.9970582535321405, + -0.26943125212890406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9905690311510807, + -0.07096808403730392, + 0.11720280871292531, + -0.3401545616399915 + ], + [ + 0.06816919589760802, + 0.9972884654998779, + 0.02772424590070138, + 0.04123376004079488 + ], + [ + -0.11885253330013061, + -0.019473161548376083, + 0.9927209338545344, + -0.27794299873246436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9849021136206869, + -0.08035481721162796, + 0.1533327522551794, + -0.35894732433048976 + ], + [ + 0.07538029922597926, + 0.9964307546615601, + 0.03799447258902947, + 0.044607393921678604 + ], + [ + -0.15583849910360764, + -0.025862567126750946, + 0.9874439458821642, + -0.28611802222069704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9821807286510772, + -0.08092014491558076, + 0.16962594442587228, + -0.3689598104702654 + ], + [ + 0.07490675787249232, + 0.996323883533478, + 0.041566159323995204, + 0.043780220695710054 + ], + [ + -0.17236593121077468, + -0.02811935171484948, + 0.9846315368936411, + -0.29429279032858235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9768010625282058, + -0.07624007016420364, + 0.20011774204965968, + -0.3952480761552801 + ], + [ + 0.0705547816946862, + 0.9968795776367188, + 0.03540005642432167, + 0.038830010210190946 + ], + [ + -0.2021922097611308, + -0.020459553226828575, + 0.9791321555242393, + -0.3035472408259509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9725010079059686, + -0.07000187039375305, + 0.22212955783908708, + -0.42196357580105975 + ], + [ + 0.0654843371120455, + 0.997470498085022, + 0.027647015329536062, + 0.03424464898684065 + ], + [ + -0.22350302204494354, + -0.012340744026005268, + 0.9746251185562979, + -0.31214064280175347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9711388615606499, + -0.06531641632318497, + 0.2293971758677593, + -0.4314385679138353 + ], + [ + 0.06124592240993167, + 0.997813880443573, + 0.024827396348768623, + 0.0324299706143269 + ], + [ + -0.23051730207302978, + -0.010061211884021759, + 0.9730161908832573, + -0.3182535641394838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9668826175796921, + -0.061942227184772505, + 0.2475906469026254, + -0.438494496316711 + ], + [ + 0.05871305197391758, + 0.9980661869049074, + 0.020411957814069986, + 0.029870000783117055 + ], + [ + -0.24837622888665345, + -0.005199163220822812, + 0.9686497116282905, + -0.33798939755282753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9597305392937379, + -0.05987646058201791, + 0.2744668700592218, + -0.45347075742405796 + ], + [ + 0.057636645527711264, + 0.9982057809829714, + 0.01622555182893772, + 0.028940849696243724 + ], + [ + -0.2749459424305677, + 0.00024718977510929113, + 0.9614596507294553, + -0.35290846607689097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9556508542195892, + -0.05502185225486757, + 0.28931643451069416, + -0.46582512400336634 + ], + [ + 0.05382598491382837, + 0.998477101325989, + 0.012094744991981852, + 0.027283571902846374 + ], + [ + -0.289541310325736, + 0.004014388192445041, + 0.9571571275454543, + -0.35539540595523494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9467718784605077, + -0.050569437444210066, + 0.3179083870709472, + -0.4726653301409268 + ], + [ + 0.05231614959340367, + 0.9986259341239931, + 0.0030464562689242075, + 0.030445135447463273 + ], + [ + -0.31762560913177507, + 0.013747440651059154, + 0.948116544703788, + -0.3816066420347354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9349084170414546, + -0.0425923876464367, + 0.35232395401309496, + -0.4839299645974452 + ], + [ + 0.04579490271593204, + 0.9989506006240847, + -0.0007559750345961294, + 0.0239041664355306 + ], + [ + -0.35192204882990846, + 0.016841406002640728, + 0.9358778017000355, + -0.40560693080079074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9285872470797503, + -0.043099693953990936, + 0.36860302129455214, + -0.49265791077147897 + ], + [ + 0.04699781632379441, + 0.9988937377929688, + -0.0015994374415564709, + 0.021810394504269734 + ], + [ + -0.36812630630700516, + 0.018808752298355103, + 0.9295855432442535, + -0.4174407696169349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9150893480272572, + -0.05346839502453804, + 0.39969064211170247, + -0.5140056196668181 + ], + [ + 0.06044366771178353, + 0.9981597661972046, + -0.004857137585865834, + 0.02297992638530729 + ], + [ + -0.39869543262825935, + 0.028603482991456985, + 0.9166372377884412, + -0.4360983671630173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9011344747376852, + -0.06542416661977768, + 0.42857482615390213, + -0.5314270240753202 + ], + [ + 0.07472095247904091, + 0.9971925020217896, + -0.004883935760351162, + 0.0289941695358382 + ], + [ + -0.42705203526080343, + 0.03642459586262703, + 0.9034931328490307, + -0.4575144025395791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8949876918471698, + -0.06652534008026123, + 0.441102558346016, + -0.5390622906442291 + ], + [ + 0.07534178956248799, + 0.997154712677002, + -0.0024799795557352527, + 0.03507196950713537 + ], + [ + -0.4396825042089325, + 0.03545300289988518, + 0.8974533125312903, + -0.46929599976862507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.883381681273743, + -0.06599555164575578, + 0.4639842289190853, + -0.5592741378902981 + ], + [ + 0.06672979769956847, + 0.9976604580879214, + 0.014856693332523473, + 0.03329845558606928 + ], + [ + -0.46387917878205087, + 0.017837442457675937, + 0.885718867226665, + -0.49504017457256777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8725612111461971, + -0.07367603480815889, + 0.4829170680273964, + -0.5763029776196468 + ], + [ + 0.06623333490015987, + 0.9972755312919619, + 0.032474881482089074, + 0.026860265463016834 + ], + [ + -0.483993985249658, + 0.003648882731795312, + 0.8750637648209454, + -0.5141524308360149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8673804555736151, + -0.07561221718788148, + 0.4918678413858263, + -0.5823066710736248 + ], + [ + 0.06615809833781659, + 0.9971370100975039, + 0.03661858153010258, + 0.024973812554020525 + ], + [ + -0.49322849032130295, + 0.0007787961512804034, + 0.8698994940481944, + -0.519330366096188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.85519553315537, + -0.07329545170068742, + 0.5130968905773683, + -0.6038549291417563 + ], + [ + 0.06288811328524394, + 0.997310280799866, + 0.037647232410626584, + 0.017322837535655222 + ], + [ + -0.5144761612953114, + 7.194839417934419e-05, + 0.8575047123291825, + -0.5352043969862383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8417383852142315, + -0.06932098418474197, + 0.5354166904920045, + -0.6223668367108117 + ], + [ + 0.05848966848017313, + 0.99759441614151, + 0.037206952054468, + 0.016534941372717587 + ], + [ + -0.5367079293516779, + -2.1774321794509888e-06, + 0.8437681157519741, + -0.5535720055943883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8357231930019492, + -0.07001001387834549, + 0.5446699815695906, + -0.6268392507990947 + ], + [ + 0.05856256777435, + 0.9975462555885315, + 0.03836476338445796, + 0.01846438629122313 + ], + [ + -0.5460193915835317, + -0.00016506202518939972, + 0.8377725696142119, + -0.5606278844880817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8265086007126469, + -0.07708731293678284, + 0.5576209685972845, + -0.6483758338996857 + ], + [ + 0.06411666251134639, + 0.9970242977142334, + 0.04279779658563245, + 0.01875432389494895 + ], + [ + -0.5592607912169332, + 0.0003800448030233383, + 0.8289917123432983, + -0.5701940882215639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.821189572079372, + -0.08682864904403688, + 0.5640110784760907, + -0.6658452835578281 + ], + [ + 0.07038508223007607, + 0.9962210655212405, + 0.05088736680605976, + 0.019372913228033473 + ], + [ + -0.5662981529718703, + -0.002090210095047951, + 0.8241978155245844, + -0.5788518270062126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8189399976230465, + -0.08718661218881607, + 0.5672176483018898, + -0.6740818703543914 + ], + [ + 0.06816137797670313, + 0.996173083782196, + 0.0547107096666312, + 0.01763156511922946 + ], + [ + -0.569817010035635, + -0.006142456084489822, + 0.8217486980023517, + -0.5845011807683477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8112534430529785, + -0.08196240663528442, + 0.5789214683097058, + -0.7008816183971479 + ], + [ + 0.06144505620282207, + 0.9965944290161133, + 0.05499151819472241, + 0.010937280741788647 + ], + [ + -0.5814571149170576, + -0.009040199220180511, + 0.8135268320003829, + -0.5889707812363735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8017866653577103, + -0.07751825451850891, + 0.5925615197635618, + -0.7222372350708609 + ], + [ + 0.05990891029761941, + 0.9969825744628906, + 0.04936227902545323, + 0.009786391936024198 + ], + [ + -0.5946000349660517, + -0.0040783025324344635, + 0.8040113696116391, + -0.5974870294931497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7979367001744149, + -0.07341175526380539, + 0.59825393222299, + -0.7323420603767108 + ], + [ + 0.05680743508416768, + 0.9972965717315674, + 0.04660989427186207, + 0.007547317975510934 + ], + [ + -0.6000583255265219, + -0.0032064802944660187, + 0.7999499296226433, + -0.6034771548353227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.7900586882842039, + -0.0629584789276123, + 0.609789733273247, + -0.7528179001732428 + ], + [ + 0.04708688412622212, + 0.9980060458183289, + 0.04203341000962831, + 0.006960665044894524 + ], + [ + -0.6112201930872738, + -0.004495769739151001, + 0.7914478519235838, + -0.6086721204534279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.7832919908849678, + -0.06052478402853012, + 0.6187005680063251, + -0.7783482082829318 + ], + [ + 0.04766859493182484, + 0.9981666803359985, + 0.037296535671924196, + 0.006099792865084915 + ], + [ + -0.6198236670379829, + 0.0002785045653581619, + 0.7847411497696697, + -0.6152617243348948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.7800003116725873, + -0.059877507388591766, + 0.6229079377121756, + -0.7890570567792282 + ], + [ + 0.04884361517527608, + 0.9982002973556519, + 0.03479119218762763, + 0.006122674258251219 + ], + [ + -0.6238701212455289, + 0.0032879244536161423, + 0.7815212211173234, + -0.6184232593135556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.7710827144955111, + -0.0550590343773365, + 0.6343500448986518, + -0.8169372867413647 + ], + [ + 0.045185889743315256, + 0.9984742999076843, + 0.03173795364145565, + 0.002177217231192026 + ], + [ + -0.6351296739734997, + 0.004191085696220398, + 0.7723941709283646, + -0.6193508501182966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.7608042118234479, + -0.05446580797433853, + 0.6466919466881456, + -0.8463913762897215 + ], + [ + 0.0475218383253024, + 0.9984724521636963, + 0.028186207445954042, + 0.0002402657858715726 + ], + [ + -0.64723930120995, + 0.009287805296480656, + 0.7622303480413257, + -0.6188202307872656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.7558826947928913, + -0.055999644100666046, + 0.6523077812631932, + -0.8634556987819084 + ], + [ + 0.051268812436678836, + 0.9983386397361755, + 0.02629648129696557, + -0.0038603968291569223 + ], + [ + -0.6526966019116043, + 0.01356598548591137, + 0.7574979168284208, + -0.619910023516287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.7450006574356515, + -0.05718697607517244, + 0.6646079329439013, + -0.8922551762555854 + ], + [ + 0.055265902932533376, + 0.9981846809387209, + 0.02393897049799847, + -0.0021164139858470005 + ], + [ + -0.6647704730975799, + 0.018895603716373447, + 0.746808675618104, + -0.6252521944387663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.7293284295874667, + -0.06791665405035019, + 0.6807844335458669, + -0.9226986503221286 + ], + [ + 0.0609520884443219, + 0.9975539445877075, + 0.034219985691718455, + -0.002336072098991294 + ], + [ + -0.681443312181473, + 0.0165376178920269, + 0.7316841093120959, + -0.6273634998108785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.7213437926490707, + -0.07211367040872574, + 0.6888126818410442, + -0.937041799575876 + ], + [ + 0.06341967758089591, + 0.9972635507583618, + 0.0379913890614591, + -0.004839822096369618 + ], + [ + -0.689667501387441, + 0.016279414296150208, + 0.7239433020821733, + -0.626668230912788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.7046647256938877, + -0.0776405781507492, + 0.7052798528785437, + -0.9698916540254643 + ], + [ + 0.06895072475038504, + 0.9967837929725647, + 0.04084014303429962, + -0.012237607671885302 + ], + [ + -0.7061823422659549, + 0.019850939512252808, + 0.7077517605439697, + -0.6251325519707851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.6881812213730724, + -0.08049479871988297, + 0.7210598143361019, + -1.002968477984136 + ], + [ + 0.08204505978120682, + 0.9960856437683105, + 0.03289303587203217, + -0.016804807191752175 + ], + [ + -0.7208851055834181, + 0.03652302175760269, + 0.6920916626452318, + -0.6240279255537744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.6808068086012115, + -0.08335629105567932, + 0.7277045170313803, + -1.0187554546710598 + ], + [ + 0.08982022243147225, + 0.9955060482025146, + 0.03000046247639766, + -0.016334308123262753 + ], + [ + -0.7269350060659051, + 0.04493806138634682, + 0.6852343703111052, + -0.627536707873855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.66617881282119, + -0.08732491731643677, + 0.740662034692473, + -1.0498610313032093 + ], + [ + 0.09789593118876191, + 0.9947671890258789, + 0.029233003463656832, + -0.019584496684652866 + ], + [ + -0.7393390467160904, + 0.053033389151096344, + 0.671241539675593, + -0.6365178037727024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.6547183422192563, + -0.08746451139450073, + 0.7507955480765662, + -1.084027179303759 + ], + [ + 0.09756291426365929, + 0.9947524666786194, + 0.030806403421774625, + -0.02641946398531557 + ], + [ + -0.7495502373348857, + 0.053080275654792786, + 0.6598159291103757, + -0.6422663081375366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.6508355990146357, + -0.08884640783071518, + 0.7540022196958568, + -1.0970896537348231 + ], + [ + 0.098292708901638, + 0.9946314096450806, + 0.03235671947328629, + -0.026444043223131704 + ], + [ + -0.7528290354726029, + 0.053054023534059525, + 0.6560744136195562, + -0.6471722990301144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.6430008497815249, + -0.0888807401061058, + 0.7606905823093892, + -1.1353181972819755 + ], + [ + 0.09608164270688109, + 0.9947574734687805, + 0.035013182677168256, + -0.025583219073861047 + ], + [ + -0.7598146141855027, + 0.0505748949944973, + 0.6481696688254629, + -0.6521516849872688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.6366502244511111, + -0.08409873396158218, + 0.7665532532659193, + -1.172969932177947 + ], + [ + 0.0950070135169091, + 0.9950166940689087, + 0.030256746592080296, + -0.02885321575077371 + ], + [ + -0.7652778246997898, + 0.05356496945023537, + 0.6414675555244268, + -0.6515349237572418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.6342103378350847, + -0.07973087579011917, + 0.7690385986900666, + -1.1897199719236382 + ], + [ + 0.09373147239905165, + 0.9952609539031982, + 0.02588628876035165, + -0.029091317944980048 + ], + [ + -0.7674580439082052, + 0.0556657537817955, + 0.6386780805395011, + -0.6543062294922486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.6297485768482254, + -0.07010798901319505, + 0.7736290335014259, + -1.2265230310397273 + ], + [ + 0.08687386248824448, + 0.9960275888442995, + 0.019545285823948454, + -0.03215948969705865 + ], + [ + -0.771926087949757, + 0.05489950254559518, + 0.6333374764639849, + -0.6528984929013839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.6309104327095326, + -0.061836518347263336, + 0.7733876014306216, + -1.2637276347292552 + ], + [ + 0.07959676689723434, + 0.9967178702354431, + 0.014759910445059355, + -0.03185275477864401 + ], + [ + -0.7717619204516, + 0.05224696919322014, + 0.6337616531135745, + -0.6503890772785831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.6319835934615892, + -0.05825604125857353, + 0.7727891424390945, + -1.2797405504171682 + ], + [ + 0.0754604194237342, + 0.997058093547821, + 0.013451160222525958, + -0.033821754667000006 + ], + [ + -0.7712992461360787, + 0.04981407895684242, + 0.6345203387095364, + -0.648114117943234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.6290483544981424, + -0.050902981311082854, + 0.7756978129605792, + -1.3174464348737134 + ], + [ + 0.06495386644017567, + 0.9978061318397524, + 0.012804192160769267, + -0.036874376465628814 + ], + [ + -0.7746477974841083, + 0.042330116033554084, + 0.6309746868642873, + -0.6532852620592339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.6305743528353152, + -0.03860088437795639, + 0.7751684439688206, + -1.3578145936599497 + ], + [ + 0.062156581882717644, + 0.9980660676956177, + -0.0008618972138503251, + -0.03975890405318766 + ], + [ + -0.7736359828690431, + 0.048725299537181854, + 0.6317541769858588, + -0.6533884826269407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.634551573365303, + -0.03622335195541382, + 0.7720312330272118, + -1.376316187161664 + ], + [ + 0.0644980427390415, + 0.9978986382484436, + -0.0061915876804119726, + -0.041764061422847026 + ], + [ + -0.7701846736948892, + 0.05372337996959686, + 0.6355544715996312, + -0.6560855463194497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.6382058263968056, + -0.03574328497052193, + 0.7690356327348897, + -1.4148080550343036 + ], + [ + 0.06136844842536869, + 0.9981048703193665, + -0.004538351396306971, + -0.04472408606461877 + ], + [ + -0.7674159774710801, + 0.05009092390537262, + 0.6391898363829123, + -0.6524366426414108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.643814419622857, + -0.03792009502649307, + 0.7642415446496952, + -1.4516132678600302 + ], + [ + 0.05709998507694835, + 0.998367428779602, + 0.0014346185370717743, + -0.0476788490599886 + ], + [ + -0.7630482959801927, + 0.042714547365903854, + 0.6449286065009793, + -0.6556234226910369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.6469379289628665, + -0.03928209096193314, + 0.7615302009596565, + -1.4723720277345222 + ], + [ + 0.05638615396632284, + 0.998402535915375, + 0.00359932415478476, + -0.0488724600795569 + ], + [ + -0.7604551133581404, + 0.04061121866106988, + 0.6481195220313627, + -0.6552184743362288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.6487687542827469, + -0.04159162938594818, + 0.7598482290818206, + -1.5172399681191187 + ], + [ + 0.05553694473340529, + 0.9984304308891296, + 0.007232648982398367, + -0.051383798593115704 + ], + [ + -0.758956371014888, + 0.037507329136133194, + 0.6500603107991194, + -0.6555824898682787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.6473060752137033, + -0.04428993538022041, + 0.7609424306524987, + -1.5597602944733577 + ], + [ + 0.054905268167557184, + 0.9984264373779297, + 0.011406550593179144, + -0.0568480822267808 + ], + [ + -0.760250168029571, + 0.0343962162733078, + 0.6487192119649592, + -0.6586208877933681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.6476706629409352, + -0.045430008322000504, + 0.7605648604480321, + -1.5805327359968437 + ], + [ + 0.055442043424436045, + 0.9983845949172974, + 0.01242291949116968, + -0.05644699409777525 + ], + [ + -0.7599006773798017, + 0.0341213084757328, + 0.6491431805488801, + -0.6629103751135226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.647860031122863, + -0.04673105478286743, + 0.7603246538116989, + -1.6177690622892145 + ], + [ + 0.056739340178309235, + 0.9983042478561401, + 0.013011098808793989, + -0.05588154468416888 + ], + [ + -0.7596433613827192, + 0.034710951149463654, + 0.6494129087621353, + -0.6631967934509079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.6502207183315801, + -0.04892931506037712, + 0.7581682200960276, + -1.6492913416102777 + ], + [ + 0.05397804487956933, + 0.9983773827552795, + 0.018138822998288083, + -0.05986407082941042 + ], + [ + -0.7578255361945899, + 0.02913019247353077, + 0.6518066999416705, + -0.6633568030954422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.6528868750782905, + -0.04999638721346855, + 0.7558036113735376, + -1.664853319686036 + ], + [ + 0.05090562934384532, + 0.9984594583511353, + 0.022074183798590222, + -0.05868437117287815 + ], + [ + -0.7557429363586554, + 0.024062713608145714, + 0.6544262097778647, + -0.6647704780766114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.6570769208599297, + -0.05170873925089836, + 0.7520479539528301, + -1.7059685865354008 + ], + [ + 0.04855372441254822, + 0.9984760880470276, + 0.026230255507424242, + -0.060903599030556074 + ], + [ + -0.7522582701766246, + 0.01927942968904972, + 0.6585862315704591, + -0.6662918413510799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.6597151207353983, + -0.05042897537350656, + 0.749821860872301, + -1.7424870756872637 + ], + [ + 0.04645170006326884, + 0.9985745549201968, + 0.026289181691616037, + -0.06413498142779717 + ], + [ + -0.7500788154528114, + 0.017487129196524624, + 0.6611172396408072, + -0.6635764350543781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.662818427471906, + -0.050598740577697754, + 0.7470687111719795, + -1.746340267228119 + ], + [ + 0.045490679072208814, + 0.9985923767089844, + 0.02727387022333287, + -0.06769249643740285 + ], + [ + -0.7473971116754862, + 0.015907030552625656, + 0.6641872442381335, + -0.6849750520730553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.6609701945023283, + -0.05230849236249924, + 0.7485868807558601, + -1.8007676372957704 + ], + [ + 0.050098305730868244, + 0.9984179139137268, + 0.025531110290580843, + -0.05645869668614232 + ], + [ + -0.748738060552926, + 0.020627625286579132, + 0.6625450950695889, + -0.6606866302140726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.6632241615771192, + -0.05670437216758728, + 0.7462696671012174, + -1.82841331735685 + ], + [ + 0.0590259126126988, + 0.9979828000068665, + 0.023373023631663607, + -0.05485278379882732 + ], + [ + -0.7460896492945754, + 0.028547687456011772, + 0.6652333132945669, + -0.666420559001537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.6648961370564181, + -0.058034077286720276, + 0.7446779204403663, + -1.8447090054682218 + ], + [ + 0.06103086505212753, + 0.9978645443916321, + 0.02327310016771791, + -0.0540387776131407 + ], + [ + -0.7444383489362947, + 0.029974140226840973, + 0.6670181216315679, + -0.6653167931152515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.6660243686590767, + -0.06145743280649185, + 0.7433939494981717, + -1.8779184623879603 + ], + [ + 0.062226387653551804, + 0.997704029083252, + 0.0267315025891076, + -0.049571120832781944 + ], + [ + -0.7433300049790613, + 0.028454884886741638, + 0.6683195042474689, + -0.6619393139091476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.6676964891732624, + -0.06780684739351273, + 0.7413391837218243, + -1.9103164254471068 + ], + [ + 0.0664592422214216, + 0.997296154499054, + 0.031360693950395285, + -0.04184974374821111 + ], + [ + -0.741461200834904, + 0.028329405933618546, + 0.6703975259921139, + -0.6600990834828715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.6698334935378593, + -0.07113027572631836, + 0.7390965314650847, + -1.9263084210197838 + ], + [ + 0.06992768223461866, + 0.9970199465751648, + 0.03257816226891223, + -0.036052930183463505 + ], + [ + -0.73921123314524, + 0.02986135520040989, + 0.6728113505424879, + -0.6591171998696871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.6757144113171891, + -0.08002603054046632, + 0.7328068241057901, + -1.9545733083681924 + ], + [ + 0.08126862293552256, + 0.9961174726486208, + 0.03384376716845023, + -0.02799882287611903 + ], + [ + -0.7326700360395483, + 0.036685474216938026, + 0.6795945679957202, + -0.6496776033409033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.683441376765637, + -0.09114916622638704, + 0.7242927160035517, + -1.9848600433871335 + ], + [ + 0.09681834043100641, + 0.9947271347045901, + 0.033824570374202605, + -0.018909637220988183 + ], + [ + -0.723556744405671, + 0.04700769111514093, + 0.6886625722486823, + -0.6391532142296106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.6882860287766156, + -0.09791310876607895, + 0.7188013804672645, + -1.9952469787352982 + ], + [ + 0.09850794841614749, + 0.9942866563796997, + 0.04111295615298797, + -0.006784533025535489 + ], + [ + -0.7187200854520577, + 0.04251016676425934, + 0.6939988501707198, + -0.6368576253696014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.6933119488833273, + -0.12642577290534973, + 0.7094611312915144, + -2.022255101399547 + ], + [ + 0.11013700898499552, + 0.9915144443511963, + 0.06905760056001578, + 0.0016874279953774246 + ], + [ + -0.7121716593308405, + 0.03025946021080017, + 0.701353012347151, + -0.6333336222409498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/push_in/transforms.json b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..3310fc34d0740e21a549977a59825d69afd0ee93 --- /dev/null +++ b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/push_in/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, + 5.6416529332636856e-06, + -5.4483607527799904e-05, + 0.0005640062154270709 + ], + [ + -5.64634410693543e-06, + 1.0, + -8.610235818196088e-05, + 2.5099097911152057e-05 + ], + [ + 5.4483120038639754e-05, + 8.610266377218068e-05, + 1.0, + 0.00019526583491824567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999901056289673, + -0.0035129378084093332, + 0.002724738558754325, + -0.0012433587508793506 + ], + [ + 0.0035076758358627558, + 0.9999919533729553, + 0.00193350063636899, + -0.00029764877824438 + ], + [ + -0.002731508808210492, + -0.0019239240791648626, + 0.9999943971633911, + 0.00040523235913410424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999827146530151, + -0.004166800994426012, + 0.004141739569604397, + -0.0014793996396104967 + ], + [ + 0.004154545720666647, + 0.999987006187439, + 0.0029630912467837334, + -0.001775560760131431 + ], + [ + -0.0041540320962667465, + -0.002945832908153534, + 0.999987006187439, + 0.0009195086481567059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999984622001648, + -0.0002671750553417951, + 0.005536788608878851, + -0.001875363913409057 + ], + [ + 0.0002558463893365115, + 0.9999978542327881, + 0.0020466791465878487, + 0.00022034454949399724 + ], + [ + -0.00553732318803668, + -0.0020452309399843216, + 0.9999825954437256, + 0.0006464550105322688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999661445617676, + 0.004165422637015581, + 0.007099347189068794, + -0.002941555274088704 + ], + [ + -0.0041780234314501286, + 0.9999897480010986, + 0.00176104751881212, + -0.0003667294081958336 + ], + [ + -0.007091938517987728, + -0.0017906491411849856, + 0.9999732375144958, + 0.0013249708365442024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999521374702454, + 0.004940752871334553, + 0.00844455324113369, + -0.0033935215508949664 + ], + [ + -0.0049677398055791855, + 0.9999825954437256, + 0.0031778502743691206, + -0.00031382366248022115 + ], + [ + -0.008428705856204033, + -0.0032196484971791506, + 0.9999592900276184, + 0.0023947996493902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999428987503052, + 0.004920187871903181, + 0.009487052448093891, + -0.0028889429910729327 + ], + [ + -0.004999308381229639, + 0.9999527931213379, + 0.00833420641720295, + 0.00047484449266145626 + ], + [ + -0.009445599280297756, + -0.008381159976124763, + 0.9999202489852905, + 0.004237343006146452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999618530273438, + 0.004911512136459351, + 0.007225919980555773, + -0.003864646151972314 + ], + [ + -0.005000557750463486, + 0.9999111294746399, + 0.012357120402157307, + 0.0013327438798215654 + ], + [ + -0.007164585869759321, + -0.012392782606184483, + 0.9998975396156311, + 0.0049225552059296105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999690055847168, + 0.004963060840964317, + 0.006116203963756561, + -0.004176811165811997 + ], + [ + -0.005047946237027645, + 0.9998900294303894, + 0.0139424167573452, + 0.002954043819761229 + ], + [ + -0.006046334281563759, + -0.013972857967019081, + 0.9998840689659119, + 0.005275469210131892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999975323677063, + 0.004131622612476349, + 0.005685335956513882, + -0.0008366441104694137 + ], + [ + -0.004229298792779446, + 0.9998418092727661, + 0.017277009785175323, + 0.004253775333719594 + ], + [ + -0.005613054148852825, + -0.017300628125667572, + 0.9998345971107483, + 0.0059828290349936905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999969482421875, + 0.0031362243462353945, + 0.007156177889555693, + 0.0028431361858984308 + ], + [ + -0.0032769886311143637, + 0.9997996687889099, + 0.01974414847791195, + 0.006197873414272354 + ], + [ + -0.0070928228087723255, + -0.019766995683312416, + 0.999779462814331, + 0.00706563437623637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999650120735168, + 0.0031666739378124475, + 0.0077451677061617374, + 0.0039931602875835125 + ], + [ + -0.0033283589873462915, + 0.9997749328613281, + 0.02095257118344307, + 0.006861037642709793 + ], + [ + -0.007677074987441301, + -0.02097761631011963, + 0.9997504949569702, + 0.008371534956885236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999646544456482, + 0.0024396905209869146, + 0.008047503419220448, + 0.006014850620357763 + ], + [ + -0.002621757099404931, + 0.9997390508651733, + 0.02269156277179718, + 0.008378908481626283 + ], + [ + -0.007990042679011822, + -0.0227118581533432, + 0.9997101426124573, + 0.009468292612949708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999760389328003, + 0.0014796069590374827, + 0.006765532307326794, + 0.007480941731334915 + ], + [ + -0.0016447919188067317, + 0.999699056148529, + 0.024475647136569023, + 0.00945886064705158 + ], + [ + -0.006727281957864761, + -0.02448618970811367, + 0.9996775388717651, + 0.013436211592384747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999788403511047, + 0.0016525397077202797, + 0.006289399694651365, + 0.007290042434922523 + ], + [ + -0.001812252216041088, + 0.9996738433837891, + 0.02547352947294712, + 0.009698119055893685 + ], + [ + -0.006245252210646868, + -0.025484388694167137, + 0.9996557235717773, + 0.014082973202069601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999775290489197, + 0.0007557097123935819, + 0.006659725680947304, + 0.006339609512083587 + ], + [ + -0.0009310201276093721, + 0.999652087688446, + 0.026360318064689636, + 0.01177863355371214 + ], + [ + -0.006637487560510635, + -0.02636592462658882, + 0.999630331993103, + 0.0144717233987259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999858736991882, + -0.0017248205840587616, + 0.005029536783695221, + 0.007336602837497753 + ], + [ + 0.0015897979028522968, + 0.999641478061676, + 0.02672746777534485, + 0.011787562749333798 + ], + [ + -0.005073834210634232, + -0.026719093322753906, + 0.9996300935745239, + 0.015002528164860985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999879598617554, + -0.003728436538949609, + 0.0031889150850474834, + 0.00641303163960517 + ], + [ + 0.0036408433225005865, + 0.9996275305747986, + 0.027046265080571175, + 0.010802096733084274 + ], + [ + -0.0032885675318539143, + -0.027034329250454903, + 0.9996290802955627, + 0.01566166603228166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999974250793457, + -0.007097895257174969, + -0.0010298595298081636, + 0.006002224339837475 + ], + [ + 0.007123949006199837, + 0.9995825886726379, + 0.0279973316937685, + 0.008462277986109257 + ], + [ + 0.0008307075477205217, + -0.02800394780933857, + 0.9996074438095093, + 0.01665135606059006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999590516090393, + -0.008857796899974346, + -0.0018485940527170897, + 0.0036071066521034235 + ], + [ + 0.008907255716621876, + 0.9995476603507996, + 0.028724918141961098, + 0.005988070795992537 + ], + [ + 0.0015933183021843433, + -0.028740206733345985, + 0.9995856285095215, + 0.01770926870716115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999685883522034, + -0.00771233718842268, + -0.00181660579983145, + 0.0021818996322089954 + ], + [ + 0.007761873304843903, + 0.9995476603507996, + 0.02905486710369587, + 0.0053804658708118255 + ], + [ + 0.0015917032724246383, + -0.029068054631352425, + 0.9995761513710022, + 0.020231448246964386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999841451644897, + -0.005043008364737034, + -0.0024961361195892096, + -0.0032393616585371394 + ], + [ + 0.005115004256367683, + 0.9995448589324951, + 0.029730012640357018, + 0.006955762673169374 + ], + [ + 0.002345071407034993, + -0.02974230982363224, + 0.9995548725128174, + 0.019154414255172014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999567270278931, + -0.008028448559343815, + -0.004696548916399479, + -0.006914447809732149 + ], + [ + 0.008161376230418682, + 0.9995459914207458, + 0.02900414727628231, + 0.005537984029404701 + ], + [ + 0.004461558535695076, + -0.029041221365332603, + 0.9995682835578918, + 0.015714873305876696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999305009841919, + -0.009497420862317085, + -0.006983292754739523, + -0.00947491534179934 + ], + [ + 0.00969219021499157, + 0.9995494484901428, + 0.028407182544469833, + 0.003651856141726649 + ], + [ + 0.006710351910442114, + -0.028472892940044403, + 0.9995720386505127, + 0.01537218327146201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9997801184654236, + -0.010993612930178642, + -0.017857423052191734, + -0.021674124559476263 + ], + [ + 0.011490155011415482, + 0.9995434284210205, + 0.027945473790168762, + -0.0028393393160686606 + ], + [ + 0.017542047426104546, + -0.028144512325525284, + 0.9994499087333679, + 0.013148043890084542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9992815852165222, + -0.019385283812880516, + -0.032565731555223465, + -0.0356927788003333 + ], + [ + 0.02030392549932003, + 0.9993983507156372, + 0.0281190425157547, + -0.008858129973449404 + ], + [ + 0.03200104460120201, + -0.02876005321741104, + 0.9990739822387695, + 0.008449016153694144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9988832473754883, + -0.023594971746206284, + -0.04093397781252861, + -0.04109218422737387 + ], + [ + 0.024759244173765182, + 0.9992963671684265, + 0.028172796592116356, + -0.012821101820066808 + ], + [ + 0.040240440517663956, + -0.029154827818274498, + 0.9987645745277405, + 0.007916949242944754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9981541037559509, + -0.030618363991379738, + -0.052449364215135574, + -0.056986866971211775 + ], + [ + 0.0322565995156765, + 0.9990087151527405, + 0.03067808970808983, + -0.01804871242493391 + ], + [ + 0.05145805701613426, + -0.03231329843401909, + 0.9981522560119629, + 0.0012074029871395643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9981130957603455, + -0.02906477078795433, + -0.05408783629536629, + -0.06536792409088876 + ], + [ + 0.03080984577536583, + 0.9990220069885254, + 0.03171445056796074, + -0.011762593624492486 + ], + [ + 0.053113166242837906, + -0.03332104906439781, + 0.9980323910713196, + -0.024710297170612548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.998187780380249, + -0.028432004153728485, + -0.05303611978888512, + -0.06938552038951053 + ], + [ + 0.030037980526685715, + 0.9991064071655273, + 0.02973344177007675, + -0.004389329177756158 + ], + [ + 0.05214334651827812, + -0.03127265349030495, + 0.9981498122215271, + -0.05086830483069495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9981219172477722, + -0.02971205860376358, + -0.05357060953974724, + -0.07785366821501936 + ], + [ + 0.03112087771296501, + 0.9991862177848816, + 0.025658680126070976, + -0.0014806025373261598 + ], + [ + 0.052764642983675, + -0.02727765403687954, + 0.9982343316078186, + -0.09944223825420652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9978487491607666, + -0.029871394857764244, + -0.058357078582048416, + -0.0785159595754175 + ], + [ + 0.03131008893251419, + 0.9992240071296692, + 0.023896291851997375, + -0.0005628410482867843 + ], + [ + 0.05759797617793083, + -0.025672048330307007, + 0.9980097413063049, + -0.1451166868209839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9977752566337585, + -0.027753345668315887, + -0.06061629205942154, + -0.08410314477625347 + ], + [ + 0.029234599322080612, + 0.9992918372154236, + 0.023687778040766716, + -3.929445187428164e-05 + ], + [ + 0.05991595238447189, + -0.02540717087686062, + 0.9978800415992737, + -0.15225677272630117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9975664019584656, + -0.024043787270784378, + -0.0654461458325386, + -0.10220848774271352 + ], + [ + 0.025504324585199356, + 0.999441921710968, + 0.021573301404714584, + 0.009420142766265642 + ], + [ + 0.06489091366529465, + -0.023189958184957504, + 0.9976228475570679, + -0.15842971219902946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9971169233322144, + -0.02888823300600052, + -0.07016629725694656, + -0.11803814516890616 + ], + [ + 0.03048093244433403, + 0.9992989897727966, + 0.021735090762376785, + 0.001808009887602003 + ], + [ + 0.06948921829462051, + -0.023811161518096924, + 0.9972984790802002, + -0.16346782455368647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9970789551734924, + -0.028693048283457756, + -0.07078312337398529, + -0.12361025520496899 + ], + [ + 0.030342524871230125, + 0.999289870262146, + 0.02233894169330597, + 0.0004191708851269344 + ], + [ + 0.07009188830852509, + -0.02442142739892006, + 0.9972415566444397, + -0.16793358325958252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9973728060722351, + -0.022794542834162712, + -0.06876002252101898, + -0.13443155884742736 + ], + [ + 0.024103911593556404, + 0.9995424151420593, + 0.018273282796144485, + 0.00916255446416991 + ], + [ + 0.06831203401088715, + -0.01988266035914421, + 0.9974658489227295, + -0.18158145036016193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9976910352706909, + -0.029598303139209747, + -0.061127256602048874, + -0.15545576607128458 + ], + [ + 0.0304565466940403, + 0.9994494915008545, + 0.013156408444046974, + -0.0004390025799650522 + ], + [ + 0.060704197734594345, + -0.014987755566835403, + 0.9980432987213135, + -0.19872756108405099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9975965023040771, + -0.03758447244763374, + -0.058211736381053925, + -0.1576244203462487 + ], + [ + 0.038361866027116776, + 0.9991883039474487, + 0.012294700369238853, + -0.00751072403989614 + ], + [ + 0.05770239233970642, + -0.014498261734843254, + 0.9982285499572754, + -0.19839358552107736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9974662661552429, + -0.046908311545848846, + -0.053485214710235596, + -0.17532358126980918 + ], + [ + 0.04830392450094223, + 0.9985170960426331, + 0.025105753913521767, + -0.0014009397787352403 + ], + [ + 0.052228234708309174, + -0.027625689283013344, + 0.9982529878616333, + -0.20578623910744984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9970288276672363, + -0.056009359657764435, + -0.052882056683301926, + -0.18518425607019 + ], + [ + 0.057999543845653534, + 0.9976351261138916, + 0.036880332976579666, + -0.004508646242024879 + ], + [ + 0.050691355019807816, + -0.03983788564801216, + 0.997919499874115, + -0.21703102073026082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9970958828926086, + -0.05606904998421669, + -0.05153670534491539, + -0.19247841479936761 + ], + [ + 0.0578763522207737, + 0.9977353811264038, + 0.034270718693733215, + -0.0023124235549143385 + ], + [ + 0.04949846491217613, + -0.037153951823711395, + 0.9980828762054443, + -0.22160809181985403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9984009861946106, + -0.042626895010471344, + -0.037126462906599045, + -0.21671914296845596 + ], + [ + 0.043404512107372284, + 0.9988493323326111, + 0.02039683237671852, + -0.011956454192598661 + ], + [ + 0.03621428832411766, + -0.021975673735141754, + 0.9991024136543274, + -0.23069250186284385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9992244839668274, + -0.034686651080846786, + -0.01863391324877739, + -0.24128484456607746 + ], + [ + 0.03484560176730156, + 0.9993584752082825, + 0.008274199441075325, + -0.011626256436168674 + ], + [ + 0.018334954977035522, + -0.008917093276977539, + 0.9997921586036682, + -0.23589722613493602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.999157726764679, + -0.03941962867975235, + -0.011399328708648682, + -0.2534500680272541 + ], + [ + 0.0394861102104187, + 0.9992040395736694, + 0.00566665967926383, + -0.013209657153735559 + ], + [ + 0.011166878044605255, + -0.0061120023019611835, + 0.9999189972877502, + -0.2348743928803338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9990049600601196, + -0.04453738406300545, + -0.0023361037019640207, + -0.26955480940939325 + ], + [ + 0.04454371705651283, + 0.9990037083625793, + 0.0027331325691193342, + -0.01347159784719614 + ], + [ + 0.0022120496723800898, + -0.0028344716411083937, + 0.9999935626983643, + -0.2341091079371316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9990251660346985, + -0.0439828522503376, + 0.0037763789296150208, + -0.2907571770014271 + ], + [ + 0.04398305341601372, + 0.9990322589874268, + 2.994741589645855e-05, + -0.01025772752086812 + ], + [ + -0.003774041775614023, + 0.00013617845252156258, + 0.999992847442627, + -0.23687090542581346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9988953471183777, + -0.04636035114526749, + 0.007670607417821884, + -0.30499089390689893 + ], + [ + 0.0463734045624733, + 0.9989230036735535, + -0.0015326940920203924, + -0.007490230150823851 + ], + [ + -0.007591290399432182, + 0.0018867130856961012, + 0.9999694228172302, + -0.2379666476495682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9983826875686646, + -0.05378609895706177, + 0.01841406337916851, + -0.33081176770584925 + ], + [ + 0.053841233253479004, + 0.9985463619232178, + -0.0025114165619015694, + 0.0021700802126101084 + ], + [ + -0.018252218142151833, + 0.0034987907856702805, + 0.9998272657394409, + -0.23440148603348504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9977805614471436, + -0.04923442378640175, + 0.044832076877355576, + -0.35134726363337704 + ], + [ + 0.04927986487746239, + 0.9987850189208984, + 9.179185144603252e-05, + 0.01176107201544154 + ], + [ + -0.0447821281850338, + 0.0021177304442971945, + 0.9989945292472839, + -0.23258559273348914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.996738612651825, + -0.04848852753639221, + 0.06450548768043518, + -0.3636010982214458 + ], + [ + 0.04853558540344238, + 0.9988210797309875, + 0.0008381877560168505, + 0.017907358870457208 + ], + [ + -0.0644700825214386, + 0.002295357408002019, + 0.9979169964790344, + -0.23128305351923384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9921966791152954, + -0.05950639769434929, + 0.10956595838069916, + -0.3862229699535029 + ], + [ + 0.059566739946603775, + 0.9982206225395203, + 0.0027251713909208775, + 0.029729627646017998 + ], + [ + -0.1095331609249115, + 0.0038225804455578327, + 0.993975818157196, + -0.22519064531439825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9850437641143799, + -0.06253781169652939, + 0.16055460274219513, + -0.4076500004719174 + ], + [ + 0.06160377338528633, + 0.9980423450469971, + 0.010793638415634632, + 0.034353256382284654 + ], + [ + -0.1609153002500534, + -0.0007414380088448524, + 0.986967921257019, + -0.22295548196822879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9808244705200195, + -0.06223343312740326, + 0.18468992412090302, + -0.4188631349258007 + ], + [ + 0.059899166226387024, + 0.9980385303497314, + 0.018196992576122284, + 0.036636096599792674 + ], + [ + -0.1854601353406906, + -0.006785283796489239, + 0.982628345489502, + -0.2219915407044547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9712179899215698, + -0.07096808403730392, + 0.22737440466880798, + -0.4414602190256119 + ], + [ + 0.06463643163442612, + 0.9972884654998779, + 0.03518244996666908, + 0.035058171142424856 + ], + [ + -0.22925469279289246, + -0.019473161548376083, + 0.9731716513633728, + -0.22501758762768337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9609936475753784, + -0.08035481721162796, + 0.2646399736404419, + -0.45990150457336787 + ], + [ + 0.0705561563372612, + 0.9964307546615601, + 0.046342186629772186, + 0.037969797465299805 + ], + [ + -0.2674192190170288, + -0.025862567126750946, + 0.9632331728935242, + -0.2281868147944647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9558472037315369, + -0.08092014491558075, + 0.282503217458725, + -0.470634122689565 + ], + [ + 0.06957472860813141, + 0.9963238835334778, + 0.0499812476336956, + 0.03724146079685953 + ], + [ + -0.2855091989040375, + -0.028119351714849472, + 0.9579633474349976, + -0.2333817932340834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9463133811950684, + -0.07624007016420364, + 0.3141312003135681, + -0.49667847539697374 + ], + [ + 0.06587780267000198, + 0.9968795776367188, + 0.043488577008247375, + 0.032413705864122934 + ], + [ + -0.3164665699005127, + -0.020459553226828575, + 0.9483830332756042, + -0.23820962891692207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.938743531703949, + -0.07000187039375305, + 0.33743196725845337, + -0.5235644880741361 + ], + [ + 0.06168569624423981, + 0.997470498085022, + 0.03531898558139801, + 0.027967299923064216 + ], + [ + -0.339050829410553, + -0.012340744026005268, + 0.9406871199607849, + -0.24319963899869768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.935799777507782, + -0.06531641632318497, + 0.346428245306015, + -0.534156742147983 + ], + [ + 0.057750359177589417, + 0.997813880443573, + 0.03213033825159073, + 0.026422893238209542 + ], + [ + -0.34776952862739563, + -0.010061211884021759, + 0.9375260472297668, + -0.2471648590432273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9285925030708313, + -0.06194222718477249, + 0.3658949136734009, + -0.5414542584192186 + ], + [ + 0.055719293653964996, + 0.9980661869049072, + 0.027554143220186234, + 0.023867769965103695 + ], + [ + -0.3668941259384155, + -0.005199163220822811, + 0.9302482008934021, + -0.2635672220161983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9173382520675659, + -0.0598764605820179, + 0.3935801088809967, + -0.5558527297207287 + ], + [ + 0.055123332887887955, + 0.9982057809829712, + 0.02338096685707569, + 0.022780063282698392 + ], + [ + -0.39427390694618225, + 0.0002471897751092911, + 0.9189929366111755, + -0.27417442756039756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9105649590492249, + -0.055021852254867554, + 0.40968769788742065, + -0.5685003485944536 + ], + [ + 0.05182621628046036, + 0.9984771013259888, + 0.018909331411123276, + 0.0212966361275268 + ], + [ + -0.4101042151451111, + 0.00401438819244504, + 0.9120298624038696, + -0.27358045019800703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8971767425537109, + -0.05056943744421005, + 0.4387671649456024, + -0.5743055000901223 + ], + [ + 0.051470935344696045, + 0.9986259341239929, + 0.009849021211266518, + 0.02410895870998502 + ], + [ + -0.4386623203754425, + 0.01374744065105915, + 0.8985468149185181, + -0.2952208399772644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8799414038658142, + -0.04259238764643669, + 0.47316914796829224, + -0.5837656607703557 + ], + [ + 0.04549083486199379, + 0.9989506006240845, + 0.005322457756847143, + 0.018102004142507674 + ], + [ + -0.47289931774139404, + 0.016841406002640724, + 0.8809555172920227, + -0.3139380697220091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8705008625984192, + -0.043099693953990936, + 0.49027615785598755, + -0.5922112613916397 + ], + [ + 0.046785205602645874, + 0.9988937377929688, + 0.004743150435388088, + 0.015725050073501372 + ], + [ + -0.4899381995201111, + 0.018808752298355103, + 0.8715542554855347, + -0.3223843200812264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8518593311309814, + -0.05346839502453804, + 0.5210343599319458, + -0.6115011328742618 + ], + [ + 0.06054021045565605, + 0.9981597661972046, + 0.0034513287246227264, + 0.014891559462107363 + ], + [ + -0.5202600955963135, + 0.028603482991456985, + 0.8535287380218506, + -0.3360911817777725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8329470157623291, + -0.06542416661977768, + 0.5494715571403503, + -0.62680002711122 + ], + [ + 0.0746757909655571, + 0.9971925020217896, + 0.005531709641218185, + 0.018910757603035087 + ], + [ + -0.5482907891273499, + 0.03642459586262703, + 0.8354941606521606, + -0.352766421011516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8239538669586182, + -0.06652534008026123, + 0.5627383589744568, + -0.6341305874642872 + ], + [ + 0.0749402642250061, + 0.997154712677002, + 0.008154284209012985, + 0.02489442585834435 + ], + [ + -0.5616796612739563, + 0.03545300289988518, + 0.826594889163971, + -0.3614310836035108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8080266714096069, + -0.06599555164575577, + 0.5854378342628479, + -0.6526635670945757 + ], + [ + 0.06392253190279007, + 0.9976604580879211, + 0.02423834055662155, + 0.025113502517342567 + ], + [ + -0.5856677889823914, + 0.017837442457675934, + 0.8103548884391785, + -0.382775370989527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.793358325958252, + -0.07367603480815887, + 0.6042801737785339, + -0.668246630165312 + ], + [ + 0.06082737445831299, + 0.9972755312919617, + 0.041731320321559906, + 0.019642425907982722 + ], + [ + -0.6057084202766418, + 0.003648882731795311, + 0.7956783771514893, + -0.3979165256023407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7856609225273132, + -0.07561221718788147, + 0.6140193343162537, + -0.6740793990237373 + ], + [ + 0.06005704402923584, + 0.9971370100975037, + 0.04594524949789047, + 0.017921749809904703 + ], + [ + -0.6157354712486267, + 0.0007787961512804031, + 0.7879526019096375, + -0.40025858032324957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7691705822944641, + -0.07329545170068741, + 0.6348263025283813, + -0.6936975274767194 + ], + [ + 0.05657467618584633, + 0.9973102807998657, + 0.04659973084926605, + 0.010711135874901499 + ], + [ + -0.6365343332290649, + 7.194839417934418e-05, + 0.7712484002113342, + -0.41200874192374093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.751174807548523, + -0.06932098418474197, + 0.6564533114433289, + -0.709932723357564 + ], + [ + 0.052196308970451355, + 0.99759441614151, + 0.04561736434698105, + 0.010450428215757248 + ], + [ + -0.6580364108085632, + -2.1774321794509888e-06, + 0.7529861330986023, + -0.42613857733824895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7424478530883789, + -0.07001001387834549, + 0.6662355661392212, + -0.7138993781710428 + ], + [ + 0.0519961342215538, + 0.9975462555885315, + 0.04688103497028351, + 0.012375878400745846 + ], + [ + -0.6678829193115234, + -0.00016506202518939972, + 0.7442663908004761, + -0.4302896898890299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7299489974975586, + -0.07708731293678284, + 0.6791406869888306, + -0.7341804717268262 + ], + [ + 0.056697387248277664, + 0.9970242977142334, + 0.05223029851913452, + 0.0120691822043487 + ], + [ + -0.6811460256576538, + 0.0003800448030233383, + 0.7321475148200989, + -0.4365268299976985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7222785949707031, + -0.08682864904403687, + 0.6861300468444824, + -0.7513186027133275 + ], + [ + 0.06150704249739647, + 0.9962210655212402, + 0.0613226518034935, + 0.012209341710522062 + ], + [ + -0.6888617277145386, + -0.0020902100950479507, + 0.7248897552490234, + -0.4424864199426439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.718119740486145, + -0.08718661218881607, + 0.6904365420341492, + -0.7598485440015793 + ], + [ + 0.0585751049220562, + 0.996173083782196, + 0.06487058103084564, + 0.01098041141198741 + ], + [ + -0.6934501528739929, + -0.006142456084489822, + 0.7204784750938416, + -0.4457934753762351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7072092890739441, + -0.08196240663528442, + 0.7022373080253601, + -0.7855324543657757 + ], + [ + 0.051766570657491684, + 0.9965944290161133, + 0.06418554484844208, + 0.0052626635524488635 + ], + [ + -0.7051065564155579, + -0.009040199220180511, + 0.7090437412261963, + -0.4470607382910592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6941802501678467, + -0.07751825451850891, + 0.7156149744987488, + -0.8053060867956706 + ], + [ + 0.05103746056556702, + 0.9969825744628906, + 0.05848837271332741, + 0.003921850442531563 + ], + [ + -0.7179896235466003, + -0.0040783025324344635, + 0.6960419416427612, + -0.4522044439164419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6879531145095825, + -0.07341175526380539, + 0.7220327258110046, + -0.8151704820375594 + ], + [ + 0.04831250011920929, + 0.9972965717315674, + 0.05536668002605438, + 0.0019256665356575495 + ], + [ + -0.7241453528404236, + -0.0032064802944660187, + 0.6896400451660156, + -0.4556119494021885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6767523884773254, + -0.0629584789276123, + 0.7335137724876404, + -0.834331482223102 + ], + [ + 0.03938073664903641, + 0.9980060458183289, + 0.04932686686515808, + 0.0024988699172224316 + ], + [ + -0.7351567149162292, + -0.004495769739151001, + 0.6778823137283325, + -0.4576247922011784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6670472621917725, + -0.06052478402853012, + 0.7425528168678284, + -0.858845608669614 + ], + [ + 0.040654607117176056, + 0.9981666803359985, + 0.04483892768621445, + 0.001175794886454703 + ], + [ + -0.7439053654670715, + 0.0002785045653581619, + 0.6682850122451782, + -0.461287774547698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6615381240844727, + -0.059877507388591766, + 0.7475172877311707, + -0.8693812755838273 + ], + [ + 0.04214886575937271, + 0.9982002973556519, + 0.042656756937503815, + 0.000789102663596471 + ], + [ + -0.7487261891365051, + 0.0032879244536161423, + 0.6628713607788086, + -0.4619847674218435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.649214506149292, + -0.0550590343773365, + 0.75860995054245, + -0.8956153472264607 + ], + [ + 0.038988176733255386, + 0.9984742999076843, + 0.039102230221033096, + -0.002831473325689634 + ], + [ + -0.7596054673194885, + 0.004191085696220398, + 0.6503706574440002, + -0.4596997936566671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6353498697280884, + -0.05446580797433853, + 0.7703012824058533, + -0.923065355136281 + ], + [ + 0.041830480098724365, + 0.9984724521636963, + 0.03609706833958626, + -0.005457969515451364 + ], + [ + -0.7710906863212585, + 0.009287805296480656, + 0.6366576552391052, + -0.4558731144855893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.6279066801071167, + -0.055999644100666046, + 0.776271402835846, + -0.939448215753313 + ], + [ + 0.045778580009937286, + 0.9983386397361755, + 0.03499025106430054, + -0.010372922344813271 + ], + [ + -0.7769411206245422, + 0.01356598548591137, + 0.6294270753860474, + -0.4543377324702248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6133763194084167, + -0.057186976075172424, + 0.7877177000045776, + -0.9660135919139499 + ], + [ + 0.050061583518981934, + 0.9981846809387207, + 0.0334848053753376, + -0.009538603405512514 + ], + [ + -0.7882026433944702, + 0.018895603716373444, + 0.6151256561279297, + -0.45639311926705495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.5933859944343567, + -0.06791665405035019, + 0.8020476698875427, + -0.9930315615638854 + ], + [ + 0.05371393635869026, + 0.9975539445877075, + 0.044732287526130676, + -0.009985909794294645 + ], + [ + -0.8031238913536072, + 0.0165376178920269, + 0.5955826044082642, + -0.45476614274675886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.5823935866355896, + -0.07211367040872574, + 0.8097020983695984, + -1.0058079123970063 + ], + [ + 0.05535294860601425, + 0.9972635507583618, + 0.04900461435317993, + -0.012677280486576141 + ], + [ + -0.8110203146934509, + 0.016279414296150208, + 0.5847916007041931, + -0.4511684437119772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.5612602233886719, + -0.0776405781507492, + 0.8239896893501282, + -1.0348506782736098 + ], + [ + 0.06015601381659508, + 0.9967837929725647, + 0.052946895360946655, + -0.020865432119795253 + ], + [ + -0.8254503607749939, + 0.019850939512252808, + 0.564125657081604, + -0.44596632037843975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.5403913259506226, + -0.08049479871988297, + 0.8375546932220459, + -1.0641024814711677 + ], + [ + 0.07440052181482315, + 0.9960856437683105, + 0.04772741347551346, + -0.028439664799306128 + ], + [ + -0.8381180763244629, + 0.03652302175760269, + 0.5442649126052856, + -0.4414486785729726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.5301473736763, + -0.08335629105567932, + 0.8437982797622681, + -1.0783248254231044 + ], + [ + 0.08248430490493774, + 0.9955060482025146, + 0.046519238501787186, + -0.029682843529042744 + ], + [ + -0.8438839912414551, + 0.04493806138634682, + 0.5346404910087585, + -0.44232474300596447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.5115489959716797, + -0.08732491731643677, + 0.8548052906990051, + -1.1059893933080491 + ], + [ + 0.09046025574207306, + 0.9947671890258789, + 0.047488145530223846, + -0.03455464894927683 + ], + [ + -0.8544791340827942, + 0.053033389151096344, + 0.5167715549468994, + -0.4481381365231105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.4965626001358032, + -0.08746451139450073, + 0.8635830283164978, + -1.137433677154874 + ], + [ + 0.08972935378551483, + 0.9947524666786194, + 0.0491548553109169, + -0.04132748441327186 + ], + [ + -0.8633506894111633, + 0.053080275654792786, + 0.5018049478530884, + -0.45088416811019655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.4903309941291809, + -0.08884640783071518, + 0.8669958710670471, + -1.149678623155942 + ], + [ + 0.09003861993551254, + 0.9946314096450806, + 0.05100451782345772, + -0.04147907093699489 + ], + [ + -0.8668728470802307, + 0.053054023534059525, + 0.49569815397262573, + -0.45337040438538506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.47952383756637573, + -0.0888807401061058, + 0.8730161190032959, + -1.1860272203172957 + ], + [ + 0.0872388556599617, + 0.9947574734687805, + 0.053357165306806564, + -0.04010623782163575 + ], + [ + -0.8731817007064819, + 0.0505748949944973, + 0.4847637414932251, + -0.4556149198895409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.4703131914138794, + -0.08409873396158218, + 0.8784832954406738, + -1.222094484359499 + ], + [ + 0.08702708035707474, + 0.9950166940689087, + 0.04866303130984306, + -0.043723558471907696 + ], + [ + -0.8781980276107788, + 0.05356496945023537, + 0.4752883315086365, + -0.4524322996536891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.4655948281288147, + -0.07973087579011917, + 0.8813992142677307, + -1.2382516231801775 + ], + [ + 0.08656037598848343, + 0.9952609539031982, + 0.04430564492940903, + -0.044244441638390225 + ], + [ + -0.8807547688484192, + 0.0556657537817955, + 0.4702898859977722, + -0.45289261804686654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.45845717191696167, + -0.07010798901319504, + 0.885947048664093, + -1.2738628323589052 + ], + [ + 0.08105025440454483, + 0.9960275888442993, + 0.03687739744782448, + -0.046731485559472014 + ], + [ + -0.8850130438804626, + 0.05489950254559517, + 0.4623182415962219, + -0.4489766091108322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.45780205726623535, + -0.061836518347263336, + 0.8869011402130127, + -1.3113611274295383 + ], + [ + 0.07484003156423569, + 0.9967178702354431, + 0.03086211159825325, + -0.04561102088718187 + ], + [ + -0.8858985900878906, + 0.05224696919322014, + 0.4609273076057434, + -0.44429825128070893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.45713257789611816, + -0.05825604125857353, + 0.8874886631965637, + -1.3276804359659315 + ], + [ + 0.0710027813911438, + 0.997058093547821, + 0.02887583151459694, + -0.047026469839352464 + ], + [ + -0.8865599036216736, + 0.04981407895684242, + 0.45992404222488403, + -0.4398782014373749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.4518061876296997, + -0.05090298131108284, + 0.8906627297401428, + -1.3645755912576403 + ], + [ + 0.0608072392642498, + 0.9978061318397522, + 0.026180751621723175, + -0.04821749201842717 + ], + [ + -0.8900414109230042, + 0.04233011603355408, + 0.45391029119491577, + -0.44257910280000595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.4515582323074341, + -0.03860088437795639, + 0.8914063572883606, + -1.4053132642356176 + ], + [ + 0.06092165410518646, + 0.9980660676956177, + 0.01235862448811531, + -0.05198233243787573 + ], + [ + -0.8901594281196594, + 0.048725299537181854, + 0.4530366063117981, + -0.4406386917072629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.45426249504089355, + -0.03622335195541382, + 0.8901311755180359, + -1.424923106223818 + ], + [ + 0.06432559341192245, + 0.9978986382484436, + 0.007781472057104111, + -0.05508240764103239 + ], + [ + -0.8885425925254822, + 0.05372337996959686, + 0.45563799142837524, + -0.4414740711923629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.4566280245780945, + -0.03574328497052193, + 0.8889394402503967, + -1.4644580235083897 + ], + [ + 0.060896050184965134, + 0.9981048703193665, + 0.008851788938045502, + -0.05737199944754442 + ], + [ + -0.8875711560249329, + 0.05009092390537262, + 0.4579392671585083, + -0.43584468960762024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.46130049228668213, + -0.03792009502649307, + 0.8864333033561707, + -1.5028924545598408 + ], + [ + 0.05540727078914642, + 0.998367428779602, + 0.01387446466833353, + -0.058973545609189874 + ], + [ + -0.8855122923851013, + 0.042714547365903854, + 0.4626484513282776, + -0.4371558012470367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.46310216188430786, + -0.039282090961933136, + 0.8854339718818665, + -1.5245869179093647 + ], + [ + 0.054204754531383514, + 0.9984025359153748, + 0.01594359055161476, + -0.05989356914032546 + ], + [ + -0.8846458792686462, + 0.04061121866106987, + 0.46449172496795654, + -0.4347770722139449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.4634206295013428, + -0.04159162938594818, + 0.8851618766784668, + -1.5700288738523211 + ], + [ + 0.052535101771354675, + 0.9984304308891296, + 0.01940944418311119, + -0.06194165678960936 + ], + [ + -0.8845797777175903, + 0.037507329136133194, + 0.46487826108932495, + -0.4330737096922738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.45990943908691406, + -0.04428993538022041, + 0.8868606686592102, + -1.6121549503670798 + ], + [ + 0.05094188079237938, + 0.9984264373779297, + 0.023444032296538353, + -0.06691688087635807 + ], + [ + -0.8865033984184265, + 0.0343962162733078, + 0.46144193410873413, + -0.4338171217649702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.45850640535354614, + -0.045430008322000504, + 0.887529194355011, + -1.6330525804133642 + ], + [ + 0.051185596734285355, + 0.9983845949172974, + 0.024661382660269737, + -0.06659317168865413 + ], + [ + -0.8872159123420715, + 0.0341213084757328, + 0.46009111404418945, + -0.4359609399523054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.45690059661865234, + -0.04673105478286743, + 0.8882893919944763, + -1.6703560734078997 + ], + [ + 0.05226273834705353, + 0.9983042478561401, + 0.025636840611696243, + -0.06630890418198847 + ], + [ + -0.887981116771698, + 0.034710951149463654, + 0.45856809616088867, + -0.43409816253752936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.45784831047058105, + -0.04892931506037712, + 0.8876829147338867, + -1.7026056819491917 + ], + [ + 0.04833995923399925, + 0.9983773827552795, + 0.03009808249771595, + -0.06922145850128597 + ], + [ + -0.887715220451355, + 0.02913019247353077, + 0.45947057008743286, + -0.43220250738991633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.45914602279663086, + -0.04999638721346855, + 0.886952817440033, + -1.7189880662967287 + ], + [ + 0.044373687356710434, + 0.9984594583511353, + 0.033311087638139725, + -0.06701470822509792 + ], + [ + -0.8872519135475159, + 0.024062713608145714, + 0.4606572389602661, + -0.4315896848837535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.4622564911842346, + -0.05170873925089836, + 0.8852373361587524, + -1.7614131024905613 + ], + [ + 0.04104289039969444, + 0.9984760880470276, + 0.03689134865999222, + -0.06831413198794638 + ], + [ + -0.8857959508895874, + 0.01927942968904972, + 0.46367430686950684, + -0.4312084839457557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.463506281375885, + -0.050428975373506546, + 0.8846574425697327, + -1.7987480695758546 + ], + [ + 0.038909900933504105, + 0.9985745549201965, + 0.03653629869222641, + -0.07112801982651627 + ], + [ + -0.8852389454841614, + 0.01748712919652462, + 0.46480774879455566, + -0.4264943211797684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.46533793210983276, + -0.050598740577697754, + 0.8836857676506042, + -1.8035859034174964 + ], + [ + 0.03766562044620514, + 0.9985923767089844, + 0.03734390065073967, + -0.07440084310041534 + ], + [ + -0.8843314051628113, + 0.015907030552625656, + 0.4665887951850891, + -0.4459395032080393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.4613415002822876, + -0.05230849236249924, + 0.8856793642044067, + -1.8574242583342961 + ], + [ + 0.04247959703207016, + 0.9984179139137268, + 0.03683967515826225, + -0.06441269349306822 + ], + [ + -0.8862051963806152, + 0.020627625286579132, + 0.4628337025642395, + -0.41936997302940915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.4622492790222168, + -0.05670437216758728, + 0.884935200214386, + -1.885820160687916 + ], + [ + 0.051587410271167755, + 0.9979828000068665, + 0.037001293152570724, + -0.06507239241803449 + ], + [ + -0.8852482438087463, + 0.028547687456011772, + 0.46424204111099243, + -0.42318636737172566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.4624202847480774, + -0.058034077286720276, + 0.8847596049308777, + -1.9026550812853706 + ], + [ + 0.05347885191440582, + 0.9978645443916321, + 0.037502214312553406, + -0.06477614848150147 + ], + [ + -0.885046660900116, + 0.029974140226840973, + 0.4645363688468933, + -0.42005224393473733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.4619911313056946, + -0.06145743280649185, + 0.884752631187439, + -1.9362461339859736 + ], + [ + 0.053705982863903046, + 0.997704029083252, + 0.04125971347093582, + -0.060218787973835355 + ], + [ + -0.8852570056915283, + 0.028454884886741638, + 0.46423107385635376, + -0.4145810377030146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.46228253841400146, + -0.06780684739351273, + 0.884136438369751, + -1.9692416007556612 + ], + [ + 0.056568317115306854, + 0.997296154499054, + 0.04690788313746452, + -0.05293998613303143 + ], + [ + -0.8849265575408936, + 0.028329405933618546, + 0.46486830711364746, + -0.4107212776229495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.4630756378173828, + -0.07113027572631836, + 0.8834599852561951, + -1.9859625139879802 + ], + [ + 0.05952301248908043, + 0.9970199465751648, + 0.049073703587055206, + -0.047837031017693266 + ], + [ + -0.8843178153038025, + 0.02986135520040989, + 0.4659295678138733, + -0.40776322938147047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.4685189127922058, + -0.08002603054046631, + 0.8798214793205261, + -2.016325809416317 + ], + [ + 0.07007357478141785, + 0.9961174726486206, + 0.05328868329524994, + -0.042273924890018647 + ], + [ + -0.8806700110435486, + 0.03668547421693802, + 0.47230762243270874, + -0.39677452941735586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.4763311743736267, + -0.09114916622638702, + 0.8745288252830505, + -2.049447848872533 + ], + [ + 0.085004061460495, + 0.9947271347045898, + 0.05737771466374397, + -0.036838459436382566 + ], + [ + -0.8751475214958191, + 0.047007691115140915, + 0.4815675616264343, + -0.38499987636293687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.48060548305511475, + -0.09791310876607895, + 0.8714536428451538, + -2.06165427111444 + ], + [ + 0.08464585989713669, + 0.9942866563796997, + 0.06503206491470337, + -0.024265354469655054 + ], + [ + -0.8728421926498413, + 0.04251016676425934, + 0.48614758253097534, + -0.3809470461001472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.4860658645629883, + -0.12642577290534973, + 0.8647291660308838, + -2.091050219535828 + ], + [ + 0.08851075917482376, + 0.9915144443511963, + 0.09521007537841797, + -0.014944039285182953 + ], + [ + -0.8694285154342651, + 0.03025946021080017, + 0.4931313991546631, + -0.3757988691329956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/d9defe15-365f-4189-b038-67e0652ac8d9/boom_down/transforms.json b/dynpose_eval/camera_controls/d9defe15-365f-4189-b038-67e0652ac8d9/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..53bd2d5787e8687e946b69bd6df986dd862d9f09 --- /dev/null +++ b/dynpose_eval/camera_controls/d9defe15-365f-4189-b038-67e0652ac8d9/boom_down/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + -7.099558570189402e-05, + -0.00024543050676584244, + 0.0006803327123634517 + ], + [ + 7.103055395418778e-05, + 1.0, + 0.0001425005029886961, + -0.00045793125173076987 + ], + [ + 0.0002454203786328435, + -0.00014251793618313968, + 0.9999999403953552, + 0.0002332567673875019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999579191207886, + 0.003180078696459532, + 0.00860782340168953, + 0.0036266683319906806 + ], + [ + -0.0031766099855303764, + 0.9999948740005493, + -0.0004166036087553948, + 0.002601896774424009 + ], + [ + -0.0086091049015522, + 0.0003892423992510885, + 0.9999628663063049, + 0.003169214734610378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998234510421753, + 0.004249921068549156, + 0.01830187812447548, + 0.006085465358924275 + ], + [ + -0.004239569418132305, + 0.9999908208847046, + -0.0006043847533874214, + 0.0041981633598646845 + ], + [ + -0.01830427721142769, + 0.0005266860243864357, + 0.9998323321342468, + 0.008134017467271722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996461868286133, + 0.002667101100087166, + 0.026464974507689476, + 0.009470705200017485 + ], + [ + -0.002648383378982544, + 0.9999962449073792, + -0.0007422807975672185, + 0.005000080042403222 + ], + [ + -0.0264668557792902, + 0.0006719288066960871, + 0.9996494650840759, + 0.012711991359092957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9994456171989441, + -0.0019295252859592438, + 0.03323695436120033, + 0.01024254600956174 + ], + [ + 0.0019541394431144, + 0.9999978542327881, + -0.0007080970681272447, + 0.005285494152672035 + ], + [ + -0.033235516399145126, + 0.000772654137108475, + 0.999447226524353, + 0.0077387044038854476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993059635162354, + -0.00810837373137474, + 0.03635720908641815, + 0.014001212598494262 + ], + [ + 0.008125372231006622, + 0.9999669194221497, + -0.0003198217018507421, + 0.006054610511372713 + ], + [ + -0.03635341674089432, + 0.0006150156259536743, + 0.9993388056755066, + 0.0026413973359283335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999087929725647, + -0.01469396147876978, + 0.040092550218105316, + 0.016481530255337884 + ], + [ + 0.01469357032328844, + 0.999891996383667, + 0.0003044578479602933, + 0.005479039985413302 + ], + [ + -0.04009269177913666, + 0.00028492254205048084, + 0.99919593334198, + 0.00043995476968601837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9987323880195618, + -0.020862732082605362, + 0.04580804333090782, + 0.019564556284261143 + ], + [ + 0.02086031064391136, + 0.9997822642326355, + 0.0005309239495545626, + 0.0043700240036734376 + ], + [ + -0.045809146016836166, + 0.00042531907092779875, + 0.9989501237869263, + 0.001667138973293318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9982157349586487, + -0.026382649317383766, + 0.053565796464681625, + 0.02374914886414512 + ], + [ + 0.026373090222477913, + 0.9996517896652222, + 0.0008854545885697007, + 0.004913005638629014 + ], + [ + -0.05357050523161888, + 0.0005288207903504372, + 0.9985639452934265, + 0.004843042848616346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9975693225860596, + -0.031230267137289047, + 0.06229075416922569, + 0.027041386046316014 + ], + [ + 0.03120804950594902, + 0.9995120167732239, + 0.0013298244448378682, + 0.004682785973014418 + ], + [ + -0.0623018853366375, + 0.0006173804868012667, + 0.9980571866035461, + 0.004268427579740663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.996907651424408, + -0.03384437784552574, + 0.07092049717903137, + 0.026734972742101376 + ], + [ + 0.033937226980924606, + 0.9994239807128906, + -0.00010427716188132763, + 0.006468069352871499 + ], + [ + -0.0708761215209961, + 0.0025107995606958866, + 0.9974819421768188, + 0.0016765546357674786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9963765740394592, + -0.034873973578214645, + 0.07757283747196198, + 0.029185879095034166 + ], + [ + 0.035112541168928146, + 0.9993818998336792, + -0.0017132138600572944, + 0.007137334770099684 + ], + [ + -0.07746514678001404, + 0.004430785775184631, + 0.9969851970672607, + 0.0023547254333441906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9958259463310242, + -0.03428175672888756, + 0.08459014445543289, + 0.02842522651757583 + ], + [ + 0.03473616763949394, + 0.9993888735771179, + -0.003905532881617546, + 0.007430582127556944 + ], + [ + -0.08440456539392471, + 0.006827567704021931, + 0.9964081645011902, + 0.003756524602428448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9955132603645325, + -0.033014245331287384, + 0.08867596089839935, + 0.03140230978077108 + ], + [ + 0.03371920436620712, + 0.9994104504585266, + -0.006463250145316124, + 0.007640737201248813 + ], + [ + -0.08841030299663544, + 0.009424334391951561, + 0.9960395693778992, + 0.005223227919595054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9952331781387329, + -0.031636882573366165, + 0.09224952757358551, + 0.029865112605173726 + ], + [ + 0.03255441412329674, + 0.9994341731071472, + -0.008458082564175129, + 0.008320006163221254 + ], + [ + -0.09192974865436554, + 0.011420893482863903, + 0.9957000017166138, + 0.0025713848912211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9951415061950684, + -0.0307741928845644, + 0.09352176636457443, + 0.027696512046862732 + ], + [ + 0.03177982568740845, + 0.9994518160820007, + -0.009282330982387066, + 0.007903750300838435 + ], + [ + -0.09318483620882034, + 0.012209338136017323, + 0.9955739378929138, + -0.003279731462686515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9951621890068054, + -0.029813097789883614, + 0.0936131402850151, + 0.02778598341382732 + ], + [ + 0.030867764726281166, + 0.9994750618934631, + -0.009838209487497807, + 0.010299080096508477 + ], + [ + -0.0932706966996193, + 0.012680242769420147, + 0.9955600500106812, + -0.00594201021142735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9949925541877747, + -0.029665134847164154, + 0.0954451933503151, + 0.029441083579762908 + ], + [ + 0.030605975538492203, + 0.9994961619377136, + -0.008408263325691223, + 0.009948152320628817 + ], + [ + -0.09514767676591873, + 0.011287352070212364, + 0.9953991770744324, + -0.004327700655014554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9945241212844849, + -0.03109501302242279, + 0.09977398067712784, + 0.030648615928597685 + ], + [ + 0.03194441646337509, + 0.9994656443595886, + -0.006926597561687231, + 0.010787012611231037 + ], + [ + -0.09950528293848038, + 0.010075889527797699, + 0.9949859976768494, + -0.001984079951836058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9938924312591553, + -0.03408931568264961, + 0.10495610535144806, + 0.029114239105631497 + ], + [ + 0.03476700559258461, + 0.9993847012519836, + -0.004633615259081125, + 0.016029342042218727 + ], + [ + -0.10473357141017914, + 0.00825432501733303, + 0.9944660663604736, + 0.0012805901181091332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9935081601142883, + -0.038197580724954605, + 0.10715639591217041, + 0.027461494342231555 + ], + [ + 0.03831230476498604, + 0.9992653131484985, + 0.000988538726232946, + 0.015433962614668055 + ], + [ + -0.10711543262004852, + 0.00312328664585948, + 0.9942417144775391, + 0.001603706123130319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9933760762214661, + -0.04138585552573204, + 0.10719703137874603, + 0.025564390023754647 + ], + [ + 0.04105716571211815, + 0.9991428852081299, + 0.005272338166832924, + 0.017685967495314744 + ], + [ + -0.10732334852218628, + -0.0008362086955457926, + 0.9942238330841064, + 0.0037496472645381636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9935389757156372, + -0.044557876884937286, + 0.10437891632318497, + 0.024110983447595075 + ], + [ + 0.04374478757381439, + 0.9989920258522034, + 0.010067310184240341, + 0.01795708148380403 + ], + [ + -0.1047222837805748, + -0.0054362318478524685, + 0.9944866299629211, + 0.001659631949256767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9942219257354736, + -0.0445973239839077, + 0.09764143824577332, + 0.022827288154358708 + ], + [ + 0.0434403158724308, + 0.9989587068557739, + 0.013944628648459911, + 0.01670961342290167 + ], + [ + -0.09816165268421173, + -0.009622481651604176, + 0.9951239824295044, + 0.0006773049380314682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9950068593025208, + -0.042610663920640945, + 0.09025328606367111, + 0.021943536973442913 + ], + [ + 0.04127359762787819, + 0.9990094900131226, + 0.01663036271929741, + 0.016893084623181256 + ], + [ + -0.09087251871824265, + -0.012822248041629791, + 0.9957799911499023, + 0.002350998331584837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9956714510917664, + -0.03931136056780815, + 0.0842197835445404, + 0.015084128226499911 + ], + [ + 0.037955354899168015, + 0.9991236925125122, + 0.017642538994550705, + 0.0186498772991775 + ], + [ + -0.08483953773975372, + -0.014369580894708633, + 0.9962909817695618, + 0.0018639301069173192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9965182542800903, + -0.03608245030045509, + 0.07516235113143921, + 0.011805199751676607 + ], + [ + 0.03479329124093056, + 0.9992253184318542, + 0.018391504883766174, + 0.021918766864446527 + ], + [ + -0.07576772570610046, + -0.015712324529886246, + 0.9970017075538635, + -0.001644200343284602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.997314989566803, + -0.03364880755543709, + 0.06504268944263458, + 0.01211869757899568 + ], + [ + 0.032394181936979294, + 0.9992700219154358, + 0.020248929038643837, + 0.02331003441806298 + ], + [ + -0.06567656993865967, + -0.018087556585669518, + 0.9976770281791687, + -0.002992473844408004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9979223608970642, + -0.03156636655330658, + 0.05616503953933716, + 0.011259562402101587 + ], + [ + 0.030465682968497276, + 0.9993286728858948, + 0.020346976816654205, + 0.026288821903434546 + ], + [ + -0.05676961690187454, + -0.018593598157167435, + 0.9982141256332397, + -0.0016774232389620883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9983031749725342, + -0.03152146190404892, + 0.0489603653550148, + 0.012210257337544083 + ], + [ + 0.03050822578370571, + 0.99930739402771, + 0.021306408569216728, + 0.02711138682717011 + ], + [ + -0.04959806799888611, + -0.019776562228798866, + 0.9985734224319458, + 0.000536781831544416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9985505938529968, + -0.03322965279221535, + 0.04233758524060249, + 0.01088904702558744 + ], + [ + 0.03230522945523262, + 0.9992284774780273, + 0.022334987297654152, + 0.026643939899311457 + ], + [ + -0.04304710403084755, + -0.02093488909304142, + 0.9988536834716797, + 0.0006538469600298804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.99873286485672, + -0.035525958985090256, + 0.03564433008432388, + 0.009641033845130077 + ], + [ + 0.034719858318567276, + 0.9991327524185181, + 0.02298501320183277, + 0.02811490079649717 + ], + [ + -0.03642997890710831, + -0.02171832136809826, + 0.9991002082824707, + 0.001932957940850376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9988138675689697, + -0.03913260996341705, + 0.028974002227187157, + 0.010677899888231734 + ], + [ + 0.03842448443174362, + 0.9989585280418396, + 0.02460644394159317, + 0.02821177137507634 + ], + [ + -0.02990674041211605, + -0.02346394583582878, + 0.9992772340774536, + 0.001401761387020719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9987661242485046, + -0.04319946840405464, + 0.02449573576450348, + 0.008944210105321624 + ], + [ + 0.04252549633383751, + 0.9987196326255798, + 0.02739807590842247, + 0.026712830416561865 + ], + [ + -0.025647953152656555, + -0.02632257714867592, + 0.9993244409561157, + -7.81077521175823e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9986863136291504, + -0.04655655100941658, + 0.021403051912784576, + 0.009805497987395969 + ], + [ + 0.0459202416241169, + 0.9985147714614868, + 0.029317738488316536, + 0.02838683308334059 + ], + [ + -0.022736195474863052, + -0.028296390548348427, + 0.9993409514427185, + 0.0006433692100758025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985597729682922, + -0.04914509877562523, + 0.021520229056477547, + 0.00995006383019538 + ], + [ + 0.04845977947115898, + 0.9983350038528442, + 0.03128631412982941, + 0.0308606578248807 + ], + [ + -0.023021968081593513, + -0.030198389664292336, + 0.9992787837982178, + 0.0031889214657616514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.998416006565094, + -0.0507311187684536, + 0.024328099563717842, + 0.01073909063384799 + ], + [ + 0.04993302747607231, + 0.998228132724762, + 0.032361648976802826, + 0.03246923894621433 + ], + [ + -0.025926737114787102, + -0.031095610931515694, + 0.9991800785064697, + 0.01282792486219613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9982588291168213, + -0.05126715451478958, + 0.029171466827392578, + 0.010433736806812366 + ], + [ + 0.050307273864746094, + 0.9981970191001892, + 0.032739005982875824, + 0.0336671579937058 + ], + [ + -0.030797306448221207, + -0.03121446631848812, + 0.9990381002426147, + 0.019458208305468738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9980781078338623, + -0.05252639949321747, + 0.03287922963500023, + 0.008563138416791257 + ], + [ + 0.05145707726478577, + 0.9981440901756287, + 0.03256569802761078, + 0.03267881152362463 + ], + [ + -0.034528765827417374, + -0.030811242759227753, + 0.9989286661148071, + 0.016428477785065156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9980016350746155, + -0.0540403313934803, + 0.03274792432785034, + 0.008754045697898904 + ], + [ + 0.052961770445108414, + 0.9980526566505432, + 0.03295362368226051, + 0.03398471405972104 + ], + [ + -0.03446497768163681, + -0.03115338273346424, + 0.9989202618598938, + 0.013289430425002063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9980008006095886, + -0.05505415052175522, + 0.031038805842399597, + 0.009592182965071734 + ], + [ + 0.054039351642131805, + 0.9980052709579468, + 0.03263699635863304, + 0.035201640462903076 + ], + [ + -0.0327736958861351, + -0.030894432216882706, + 0.9989851713180542, + 0.014610506286305829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.997921884059906, + -0.05657240003347397, + 0.03084634430706501, + 0.008938716799944393 + ], + [ + 0.055555835366249084, + 0.9979142546653748, + 0.03287344425916672, + 0.03619439320500232 + ], + [ + -0.032641734927892685, + -0.031091436743736267, + 0.9989833831787109, + 0.0142635252773146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9978470802307129, + -0.05798898637294769, + 0.03063395619392395, + 0.009246621835084002 + ], + [ + 0.056964971125125885, + 0.9978204965591431, + 0.03330519422888756, + 0.03770756483662966 + ], + [ + -0.032498523592948914, + -0.03148842975497246, + 0.9989756345748901, + 0.013626160417213913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9977830648422241, + -0.05871356651186943, + 0.031332504004240036, + 0.009464497111491428 + ], + [ + 0.05764809623360634, + 0.997761607170105, + 0.033889710903167725, + 0.03754659600224931 + ], + [ + -0.03325215354561806, + -0.03200832009315491, + 0.9989343285560608, + 0.015314862104363678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9976556301116943, + -0.059784647077322006, + 0.033301711082458496, + 0.009709342433647676 + ], + [ + 0.05864959582686424, + 0.9976968169212341, + 0.03407777100801468, + 0.03973564793440429 + ], + [ + -0.0352623388171196, + -0.03204474598169327, + 0.9988642334938049, + 0.016265969587997958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9975768327713013, + -0.059822335839271545, + 0.035521604120731354, + 0.010141419947208945 + ], + [ + 0.05858234316110611, + 0.9976695775985718, + 0.034979671239852905, + 0.039063018486904334 + ], + [ + -0.03753139078617096, + -0.03281397372484207, + 0.9987565279006958, + 0.0156263675971711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9975287318229675, + -0.05973039194941521, + 0.03699604421854019, + 0.010196834017545724 + ], + [ + 0.05845240131020546, + 0.9976864457130432, + 0.03471338003873825, + 0.04052514067874098 + ], + [ + -0.038983896374702454, + -0.03246508538722992, + 0.9987123012542725, + 0.01572364313173885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9975128173828125, + -0.05899113416671753, + 0.03857739269733429, + 0.009285250189136868 + ], + [ + 0.057657308876514435, + 0.9977290034294128, + 0.03481990471482277, + 0.040590609518103 + ], + [ + -0.040543846786022186, + -0.032509032636880875, + 0.9986487627029419, + 0.01880170697700386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9975277185440063, + -0.058244336396455765, + 0.039320409297943115, + 0.008979451819515425 + ], + [ + 0.05693615600466728, + 0.9978119730949402, + 0.033608634024858475, + 0.04266939740474067 + ], + [ + -0.041191890835762024, + -0.03128678724169731, + 0.9986612796783447, + 0.02051918967819411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9976000189781189, + -0.05762830004096031, + 0.038381632417440414, + 0.008689131677027576 + ], + [ + 0.05638265982270241, + 0.9978708624839783, + 0.03278288245201111, + 0.042557286831727326 + ], + [ + -0.04018913581967354, + -0.030540145933628082, + 0.9987252354621887, + 0.018388031152161685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9977459907531738, + -0.057304926216602325, + 0.0349152609705925, + 0.008972360059803675 + ], + [ + 0.05618056654930115, + 0.9978955984115601, + 0.03237536549568176, + 0.042127615942000145 + ], + [ + -0.03669705241918564, + -0.030340833589434624, + 0.9988657236099243, + 0.012543349973241653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.99789959192276, + -0.05683184415102005, + 0.03108898177742958, + 0.007557648851359186 + ], + [ + 0.055842265486717224, + 0.9979323148727417, + 0.03182353079319, + 0.04266919660610955 + ], + [ + -0.0328332893550396, + -0.030020611360669136, + 0.999009907245636, + 0.008771024262609561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9980595707893372, + -0.055723242461681366, + 0.02778468281030655, + 0.0084895065793198 + ], + [ + 0.05485115945339203, + 0.9980063438415527, + 0.031219590455293655, + 0.04499817608147552 + ], + [ + -0.029468946158885956, + -0.029634989798069, + 0.9991263151168823, + 0.00934488124191022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9981244206428528, + -0.05489916354417801, + 0.027087979018688202, + 0.008879108205129785 + ], + [ + 0.05405544489622116, + 0.998058021068573, + 0.030954424291849136, + 0.046219460121625346 + ], + [ + -0.02873474732041359, + -0.029432114213705063, + 0.9991536736488342, + 0.01031255686178434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9981434345245361, + -0.05387634411454201, + 0.028408242389559746, + 0.008710698612526921 + ], + [ + 0.05299263074994087, + 0.9981138110160828, + 0.03099362924695015, + 0.047723890013592556 + ], + [ + -0.030024481937289238, + -0.029430661350488663, + 0.9991157650947571, + 0.011034531959078529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9981348514556885, + -0.05256097391247749, + 0.031051311641931534, + 0.008105096068571915 + ], + [ + 0.051582593470811844, + 0.9981714487075806, + 0.03151169419288635, + 0.04689992890185254 + ], + [ + -0.032650817185640335, + -0.029851213097572327, + 0.9990209341049194, + 0.010041663761843334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9981133937835693, + -0.05110915005207062, + 0.034022752195596695, + 0.007992998002605004 + ], + [ + 0.0500498041510582, + 0.9982563853263855, + 0.03129243105649948, + 0.0471858515685101 + ], + [ + -0.03556275740265846, + -0.029530560597777367, + 0.9989310503005981, + 0.007924727304292119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9981067180633545, + -0.04925437271595001, + 0.036837369203567505, + 0.010848435034498203 + ], + [ + 0.04815005511045456, + 0.9983807802200317, + 0.030287951231002808, + 0.04900968428470256 + ], + [ + -0.0382695347070694, + -0.028456885367631912, + 0.9988621473312378, + 0.011712089961410061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9979908466339111, + -0.04745250940322876, + 0.04198304936289787, + 0.008590642361293647 + ], + [ + 0.046237871050834656, + 0.998496413230896, + 0.029445016756653786, + 0.04818430235744108 + ], + [ + -0.04331716522574425, + -0.02744465135037899, + 0.9986843466758728, + 0.00874050964470491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9979040622711182, + -0.04611178860068321, + 0.045400094240903854, + 0.008394990028613363 + ], + [ + 0.044868167489767075, + 0.9985992908477783, + 0.028041260316967964, + 0.05054214026967511 + ], + [ + -0.046629536896944046, + -0.025945467874407768, + 0.9985752701759338, + 0.0041289580247003185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9978452920913696, + -0.04479529708623886, + 0.04793853685259819, + 0.010451662585077699 + ], + [ + 0.043532274663448334, + 0.9986850619316101, + 0.027074651792645454, + 0.05008860278205007 + ], + [ + -0.04908831790089607, + -0.024929439648985863, + 0.9984833002090454, + 0.007874708591906492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9977079629898071, + -0.04448997974395752, + 0.050985075533390045, + 0.01077342910676702 + ], + [ + 0.04324165731668472, + 0.99874347448349, + 0.025331605225801468, + 0.051327209644527604 + ], + [ + -0.05204801261425018, + -0.0230688638985157, + 0.9983780980110168, + 0.00898874202850929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9975829720497131, + -0.0444631427526474, + 0.053396813571453094, + 0.00912022775208408 + ], + [ + 0.043209753930568695, + 0.9987679719924927, + 0.024403072893619537, + 0.05058156912857744 + ], + [ + -0.05441606044769287, + -0.022036828100681305, + 0.9982751607894897, + 0.007623140617035144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9975355863571167, + -0.045086245983839035, + 0.05375818535685539, + 0.009237158016786595 + ], + [ + 0.043905701488256454, + 0.9987722039222717, + 0.02294323407113552, + 0.05064355748078271 + ], + [ + -0.054726604372262955, + -0.020526403561234474, + 0.9982903599739075, + 0.004684138847591956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9975191354751587, + -0.04589975252747536, + 0.0533742718398571, + 0.007752703852212626 + ], + [ + 0.044845592230558395, + 0.9987776875495911, + 0.020783688873052597, + 0.05184136400276349 + ], + [ + -0.054262999445199966, + -0.018338527530431747, + 0.9983582496643066, + 0.00020380463751325424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9975671768188477, + -0.04626912996172905, + 0.052143555134534836, + 0.009897282885864746 + ], + [ + 0.045329008251428604, + 0.9987900853157043, + 0.01907070353627205, + 0.053171519738235244 + ], + [ + -0.05296285077929497, + -0.016660690307617188, + 0.9984574913978577, + -0.002934270659615555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9975318908691406, + -0.04572907090187073, + 0.05328155681490898, + 0.010372303290800616 + ], + [ + 0.04487913101911545, + 0.9988470673561096, + 0.01704120822250843, + 0.05572273507714271 + ], + [ + -0.0539994053542614, + -0.014607919380068779, + 0.9984341263771057, + 0.003938728232275356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9973931908607483, + -0.044876646250486374, + 0.0565057210624218, + 0.01092706094688374 + ], + [ + 0.04407365992665291, + 0.9989098906517029, + 0.015378289856016636, + 0.05548965542419422 + ], + [ + -0.05713425204157829, + -0.012847787700593472, + 0.998283863067627, + 0.007994242167208067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9972614049911499, + -0.044519878923892975, + 0.059056494385004044, + 0.008479934656792436 + ], + [ + 0.043784819543361664, + 0.998947262763977, + 0.013683485798537731, + 0.05460020903563358 + ], + [ + -0.059603508561849594, + -0.01106023509055376, + 0.9981608390808105, + 0.006927108476015408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9972325563430786, + -0.04579399153590202, + 0.0585673451423645, + 0.007984778115695174 + ], + [ + 0.04506881162524223, + 0.9988906979560852, + 0.013644235208630562, + 0.05436106441226934 + ], + [ + -0.05912720412015915, + -0.010966915637254715, + 0.9981902241706848, + 0.002896140134039004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9973512291908264, + -0.04712975397706032, + 0.05540115758776665, + 0.00835413219453382 + ], + [ + 0.04640665277838707, + 0.9988207221031189, + 0.01426759921014309, + 0.0559993255181115 + ], + [ + -0.05600825324654579, + -0.011658824980258942, + 0.9983622431755066, + 0.0006295175499413623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9974673390388489, + -0.048120152205228806, + 0.052377376705408096, + 0.009435940479998253 + ], + [ + 0.04739408567547798, + 0.998763382434845, + 0.015017779543995857, + 0.0581672007354623 + ], + [ + -0.05303526297211647, + -0.012497367337346077, + 0.9985144138336182, + 0.0008995085263871087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9974992275238037, + -0.04823431745171547, + 0.0516604408621788, + 0.010785627503656157 + ], + [ + 0.047436702996492386, + 0.9987370371818542, + 0.016556723043322563, + 0.05872147853903796 + ], + [ + -0.05239379405975342, + -0.01406471710652113, + 0.998527467250824, + 0.00011335386248105311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9974504709243774, + -0.04729254171252251, + 0.05344107747077942, + 0.009627139596037629 + ], + [ + 0.046393800526857376, + 0.9987621903419495, + 0.01793539710342884, + 0.05996606061066701 + ], + [ + -0.054223135113716125, + -0.01541033573448658, + 0.9984099268913269, + 0.0016123072144167481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9973528385162354, + -0.045896049588918686, + 0.0563991516828537, + 0.010252300417435564 + ], + [ + 0.044906165450811386, + 0.9988162517547607, + 0.018695782870054245, + 0.06164153055499562 + ], + [ + -0.05719044804573059, + -0.01611362397670746, + 0.9982332587242126, + 0.0033364500711895216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.997218906879425, + -0.04365042969584465, + 0.06040819734334946, + 0.010533216032238045 + ], + [ + 0.042494166642427444, + 0.9988905787467957, + 0.02029557153582573, + 0.06223744319988539 + ], + [ + -0.061227090656757355, + -0.017672132700681686, + 0.9979674220085144, + 0.007934140549464659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.997113049030304, + -0.041776143014431, + 0.0634055957198143, + 0.011563520507563737 + ], + [ + 0.04047578573226929, + 0.9989457726478577, + 0.021656926721334457, + 0.06282818349769093 + ], + [ + -0.06424350291490555, + -0.019028015434741974, + 0.997752845287323, + 0.0066979960761656444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9971686601638794, + -0.039688725024461746, + 0.06387035548686981, + 0.012567968209358779 + ], + [ + 0.03826439753174782, + 0.9989942908287048, + 0.023371635004878044, + 0.062430799623358665 + ], + [ + -0.06473371386528015, + -0.02086150087416172, + 0.9976844787597656, + 0.004539459926838224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9972874522209167, + -0.03746601939201355, + 0.06335621327161789, + 0.012536007398354613 + ], + [ + 0.03591606765985489, + 0.9990312457084656, + 0.025428958237171173, + 0.06345215063928897 + ], + [ + -0.06424755603075027, + -0.023084476590156555, + 0.9976669549942017, + 0.006713782703457785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9974346160888672, + -0.034715987741947174, + 0.06260136514902115, + 0.010659153725613248 + ], + [ + 0.03309878706932068, + 0.9990956783294678, + 0.02668824791908264, + 0.06569644813815495 + ], + [ + -0.06347126513719559, + -0.024547751992940903, + 0.997681736946106, + 0.0084926077911307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9976765513420105, + -0.03150754049420357, + 0.06040510907769203, + 0.009337535174178683 + ], + [ + 0.029858313500881195, + 0.9991614818572998, + 0.028013870120048523, + 0.06552700862078735 + ], + [ + -0.06123710796236992, + -0.02614518627524376, + 0.9977807402610779, + 0.00847154574792001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9979752898216248, + -0.02779618464410305, + 0.05720742791891098, + 0.009627292474562472 + ], + [ + 0.02621523104608059, + 0.9992583990097046, + 0.028202952817082405, + 0.06836538639165893 + ], + [ + -0.05794893950223923, + -0.026646142825484276, + 0.9979639053344727, + 0.008566807918558435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9982753396034241, + -0.02268442139029503, + 0.05414535477757454, + 0.00829225868325342 + ], + [ + 0.021242056041955948, + 0.9994078874588013, + 0.027067331597208977, + 0.07107316628406363 + ], + [ + -0.054727304726839066, + -0.025870492681860924, + 0.9981661438941956, + 0.007940145563488165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9985679388046265, + -0.0173611082136631, + 0.0506032258272171, + 0.007416974719275127 + ], + [ + 0.01612319052219391, + 0.9995631575584412, + 0.024769609794020653, + 0.07416776322859749 + ], + [ + -0.05101114511489868, + -0.023918254300951958, + 0.9984116554260254, + 0.008336385796693237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9988837838172913, + -0.012091143988072872, + 0.04566233232617378, + 0.007789558732558873 + ], + [ + 0.011074994690716267, + 0.9996868371963501, + 0.02244136855006218, + 0.07885493089652751 + ], + [ + -0.04591936990618706, + -0.02191060781478882, + 0.9987048506736755, + 0.009841369238705181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9991506934165955, + -0.006213576067239046, + 0.040735021233558655, + 0.003363405108020818 + ], + [ + 0.005361062940210104, + 0.9997650384902954, + 0.02100420743227005, + 0.08086386784018318 + ], + [ + -0.04085595905780792, + -0.02076798304915428, + 0.9989491701126099, + 0.01149135508597636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9994753003120422, + -0.0019219279056414962, + 0.03233304247260094, + -0.00040128118645261265 + ], + [ + 0.001269630971364677, + 0.9997954964637756, + 0.020182762295007706, + 0.08611546252076784 + ], + [ + -0.03236522153019905, + -0.020131122320890427, + 0.9992733597755432, + 0.010570428928375737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9997622966766357, + 0.001829901128076017, + 0.021726852282881737, + -0.005411708058138986 + ], + [ + -0.002330850576981902, + 0.9997314810752869, + 0.023053806275129318, + 0.09116033100453784 + ], + [ + -0.021678833290934563, + -0.023098967969417572, + 0.9994981288909912, + 0.009117711446255691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9999333620071411, + 0.005959062371402979, + 0.009888743050396442, + -0.014146685549481348 + ], + [ + -0.006260708440095186, + 0.9995072484016418, + 0.030758783221244812, + 0.09132082140581176 + ], + [ + -0.009700576774775982, + -0.030818644911050797, + 0.9994779229164124, + 0.0039170583032748915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9999399185180664, + 0.010063537396490574, + -0.004349117632955313, + -0.020399453973566944 + ], + [ + -0.009899181313812733, + 0.999292254447937, + 0.03629003465175629, + 0.09829599064859477 + ], + [ + 0.0047112456522881985, + -0.03624480217695236, + 0.9993318319320679, + -0.0017698774093084712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996652007102966, + 0.017619317397475243, + -0.018947960808873177, + -0.022661575631908147 + ], + [ + -0.016772696748375893, + 0.9988930225372314, + 0.04394838958978653, + 0.10052446787022362 + ], + [ + 0.01970132626593113, + -0.04361587017774582, + 0.9988541007041931, + -0.0017095898154907484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.999125599861145, + 0.02718895673751831, + -0.031761255115270615, + -0.02704902943069777 + ], + [ + -0.025610189884901047, + 0.9984655380249023, + 0.04909875616431236, + 0.10528183604382779 + ], + [ + 0.03304746374487877, + -0.048242416232824326, + 0.9982888102531433, + -0.00023685112472408105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9982109069824219, + 0.03862244263291359, + -0.04564330726861954, + -0.031173330397645305 + ], + [ + -0.03625061735510826, + 0.998004674911499, + 0.05169684812426567, + 0.10783668992317413 + ], + [ + 0.047548890113830566, + -0.049949761480093, + 0.9976192116737366, + -0.0013586545778700148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9968239665031433, + 0.050989050418138504, + -0.061172496527433395, + -0.037888792498914664 + ], + [ + -0.047845710068941116, + 0.9975109696388245, + 0.05179426074028015, + 0.11312761836923844 + ], + [ + 0.06366117298603058, + -0.048702917993068695, + 0.9967824816703796, + -0.0038034528919494684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9949892163276672, + 0.06199377030134201, + -0.07844262570142746, + -0.04923580875081464 + ], + [ + -0.05791608989238739, + 0.9969011545181274, + 0.05323353782296181, + 0.1163240046910018 + ], + [ + 0.08149968832731247, + -0.048423703759908676, + 0.9954963326454163, + -0.016113623510276485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9924147129058838, + 0.07126154750585556, + -0.1001739427447319, + -0.05535883259428434 + ], + [ + -0.06581059843301773, + 0.9962193965911865, + 0.0567086823284626, + 0.11640557221883586 + ], + [ + 0.10383637994527817, + -0.04968602582812309, + 0.9933525323867798, + -0.02705563747993678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9893515706062317, + 0.07790599763393402, + -0.12293930351734161, + -0.05760587766643398 + ], + [ + -0.07124504446983337, + 0.9957895278930664, + 0.05768359825015068, + 0.12171798780067894 + ], + [ + 0.1269155740737915, + -0.0483105443418026, + 0.9907363653182983, + -0.0372727438130162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9864789843559265, + 0.08134060353040695, + -0.1422775834798813, + -0.06375617831329669 + ], + [ + -0.07311836630105972, + 0.9953879117965698, + 0.062101978808641434, + 0.12197387032518703 + ], + [ + 0.1466728001832962, + -0.05085919424891472, + 0.9878767132759094, + -0.05358694298885578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9834178686141968, + 0.08351543545722961, + -0.16097958385944366, + -0.0687608512226215 + ], + [ + -0.0735977292060852, + 0.9950599074363708, + 0.06662672013044357, + 0.11997584866221286 + ], + [ + 0.1657487004995346, + -0.05367417633533478, + 0.9847062826156616, + -0.05525632998790623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9810205698013306, + 0.08320391178131104, + -0.17514491081237793, + -0.07430907609787854 + ], + [ + -0.07232791185379028, + 0.9950873255729675, + 0.06760109961032867, + 0.1169986440376802 + ], + [ + 0.1799091398715973, + -0.053650204092264175, + 0.9822190999984741, + -0.06538838192143223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9783823490142822, + 0.08188764750957489, + -0.18990112841129303, + -0.07975787349230001 + ], + [ + -0.07035680115222931, + 0.9952895641326904, + 0.06669823080301285, + 0.11862082256019608 + ], + [ + 0.19446836411952972, + -0.05189553648233414, + 0.9795350432395935, + -0.08804861240643115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9748557209968567, + 0.08275774121284485, + -0.20689968764781952, + -0.08417886023925356 + ], + [ + -0.0699014961719513, + 0.9951850175857544, + 0.06870671361684799, + 0.1227553656278563 + ], + [ + 0.21158947050571442, + -0.05251653864979744, + 0.9759466648101807, + -0.09232928924385674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9713907837867737, + 0.08442233502864838, + -0.22197489440441132, + -0.08924419421794985 + ], + [ + -0.06984119117259979, + 0.9949017763137817, + 0.07275077700614929, + 0.1219448392548837 + ], + [ + 0.22698499262332916, + -0.055166441947221756, + 0.9723345637321472, + -0.10753311480988156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9676413536071777, + 0.08730534464120865, + -0.236744686961174, + -0.09846842840067611 + ], + [ + -0.07202406972646713, + 0.9947671890258789, + 0.07246214896440506, + 0.13092849265691664 + ], + [ + 0.2418321818113327, + -0.053066056221723557, + 0.9688659310340881, + -0.12003994293757214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9637516736984253, + 0.09193062782287598, + -0.25046250224113464, + -0.10412295846160778 + ], + [ + -0.07522700726985931, + 0.9943050146102905, + 0.07548806816339493, + 0.13416622905445494 + ], + [ + 0.2559758126735687, + -0.053910207003355026, + 0.9651787877082825, + -0.12880393771593235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9600561857223511, + 0.09649507701396942, + -0.26264214515686035, + -0.11244683355585602 + ], + [ + -0.0792485773563385, + 0.9939908981323242, + 0.07551013678312302, + 0.13857937200872367 + ], + [ + 0.2683502435684204, + -0.05167996138334274, + 0.9619341492652893, + -0.1429686259078093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9561880826950073, + 0.10050909966230392, + -0.27495869994163513, + -0.11974612162871795 + ], + [ + -0.08373486250638962, + 0.9938755631446838, + 0.07210996001958847, + 0.14593444801559133 + ], + [ + 0.2805224359035492, + -0.04592705890536308, + 0.9587481021881104, + -0.15437701740417598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9529352188110352, + 0.10277267545461655, + -0.2852230966091156, + -0.12853951391971802 + ], + [ + -0.08676717430353165, + 0.9938892722129822, + 0.06823136657476425, + 0.15334827569890613 + ], + [ + 0.2904925048351288, + -0.04027207940816879, + 0.9560294151306152, + -0.17879351141654756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9490731954574585, + 0.10258949548006058, + -0.2978849709033966, + -0.12928953796378836 + ], + [ + -0.08732800930738449, + 0.9941129088401794, + 0.06413507461547852, + 0.15434859833441492 + ], + [ + 0.3027108609676361, + -0.03485517576336861, + 0.952444851398468, + -0.19805333603265857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9469423890113831, + 0.10074052959680557, + -0.305207222700119, + -0.13298876358827283 + ], + [ + -0.08703816682100296, + 0.9945027828216553, + 0.05821160599589348, + 0.16156058577466603 + ], + [ + 0.30939367413520813, + -0.028558362275362015, + 0.9505051374435425, + -0.20640306357325108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9465950131416321, + 0.09813403338193893, + -0.30712801218032837, + -0.13906696912917224 + ], + [ + -0.08482874184846878, + 0.9947974681854248, + 0.05640977621078491, + 0.16309680315581238 + ], + [ + 0.3110659122467041, + -0.027343928813934326, + 0.9499949216842651, + -0.2245851457118988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.946435272693634, + 0.09478836506605148, + -0.3086671829223633, + -0.14501338378826448 + ], + [ + -0.08174186199903488, + 0.9951370358467102, + 0.054958995431661606, + 0.16274209290989175 + ], + [ + 0.31237560510635376, + -0.026784103363752365, + 0.9495810270309448, + -0.23574289843624782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.946861982345581, + 0.09146953374147415, + -0.3083597719669342, + -0.15047587444466992 + ], + [ + -0.0786130353808403, + 0.99544757604599, + 0.05388977378606796, + 0.17366543611711707 + ], + [ + 0.311885267496109, + -0.026785077527165413, + 0.9497421383857727, + -0.2484963038243538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.946445882320404, + 0.09003803133964539, + -0.3100537061691284, + -0.15384337934088116 + ], + [ + -0.0759420096874237, + 0.9954665899276733, + 0.05726375803351402, + 0.1695540574587081 + ], + [ + 0.313804030418396, + -0.030650947242975235, + 0.948992908000946, + -0.2629052900362852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9452221393585205, + 0.08886877447366714, + -0.3140977919101715, + -0.15724624022225703 + ], + [ + -0.07449308782815933, + 0.9955621957778931, + 0.05750400573015213, + 0.17304787196157392 + ], + [ + 0.3178142011165619, + -0.030955947935581207, + 0.9476475715637207, + -0.27415102312633816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9436472654342651, + 0.0889836773276329, + -0.3187659978866577, + -0.16282942678687 + ], + [ + -0.07390443235635757, + 0.9955115914344788, + 0.05911724269390106, + 0.17591885606612057 + ], + [ + 0.3225957155227661, + -0.03222760558128357, + 0.9459880590438843, + -0.29000692636020914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9409862756729126, + 0.0888763815164566, + -0.3265666663646698, + -0.16476561057666117 + ], + [ + -0.07194408774375916, + 0.9953793287277222, + 0.06359285861253738, + 0.17435389906167986 + ], + [ + 0.3307096064090729, + -0.0363454669713974, + 0.943032443523407, + -0.3070137405691068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9376851916313171, + 0.08732251077890396, + -0.33633503317832947, + -0.16706201179830496 + ], + [ + -0.0689106360077858, + 0.995415985584259, + 0.0663200095295906, + 0.17738903414858276 + ], + [ + 0.34058448672294617, + -0.03901023045182228, + 0.939404308795929, + -0.31824774896371955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9352328777313232, + 0.08616341650485992, + -0.3433881103992462, + -0.17288441140789632 + ], + [ + -0.06508168578147888, + 0.995244562625885, + 0.07247526943683624, + 0.17281109576136613 + ], + [ + 0.34799984097480774, + -0.045432981103658676, + 0.9363930821418762, + -0.3315451172080414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9329825639724731, + 0.08281907439231873, + -0.3502635657787323, + -0.17868389489729541 + ], + [ + -0.06090928614139557, + 0.9954605102539062, + 0.0731329694390297, + 0.17441192559959476 + ], + [ + 0.3547303378582001, + -0.046897485852241516, + 0.9337917566299438, + -0.3434121557380542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9312976598739624, + 0.0795777291059494, + -0.3554603159427643, + -0.18673037632930378 + ], + [ + -0.05715616047382355, + 0.9956812262535095, + 0.07315769046545029, + 0.1755496078163139 + ], + [ + 0.35974690318107605, + -0.04781484603881836, + 0.9318239688873291, + -0.354102911042773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.929546594619751, + 0.07398469001054764, + -0.36120545864105225, + -0.19123684093356133 + ], + [ + -0.051922328770160675, + 0.9961650371551514, + 0.07042182236909866, + 0.17557514309883118 + ], + [ + 0.3650304079055786, + -0.046705737709999084, + 0.9298233389854431, + -0.3619124427437782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/d9defe15-365f-4189-b038-67e0652ac8d9/boom_up/transforms.json b/dynpose_eval/camera_controls/d9defe15-365f-4189-b038-67e0652ac8d9/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1576db33235ed047e5784ce581d1bfbf2b4ea867 --- /dev/null +++ b/dynpose_eval/camera_controls/d9defe15-365f-4189-b038-67e0652ac8d9/boom_up/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + -7.099558570189402e-05, + -0.00024543050676584244, + 0.0006803327123634517 + ], + [ + 7.103055395418778e-05, + 1.0, + 0.0001425005029886961, + -0.00045793125173076987 + ], + [ + 0.0002454203786328435, + -0.00014251793618313968, + 0.9999999403953552, + 0.0002332567673875019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999579191207886, + 0.003180078696459532, + 0.00860782340168953, + 0.00362141200356678 + ], + [ + -0.0031766099855303764, + 0.9999948740005493, + -0.0004166036087553948, + 0.0009490126851669027 + ], + [ + -0.0086091049015522, + 0.0003892423992510885, + 0.9999628663063049, + 0.0031685713587438474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998234510421753, + 0.004249921068549156, + 0.01830187812447548, + 0.006071416033077831 + ], + [ + -0.004239569418132305, + 0.9999908208847046, + -0.0006043847533874214, + 0.0008924085800805367 + ], + [ + -0.01830427721142769, + 0.0005266860243864357, + 0.9998323321342468, + 0.008132276356447303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996461868286133, + 0.002667101100087166, + 0.026464974507689476, + 0.009457479905306307 + ], + [ + -0.002648383378982544, + 0.9999962449073792, + -0.0007422807975672185, + 4.142097674679664e-05 + ], + [ + -0.0264668557792902, + 0.0006719288066960871, + 0.9996494650840759, + 0.012708659480712646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9994456171989441, + -0.0019295252859592438, + 0.03323695436120033, + 0.010255303201535023 + ], + [ + 0.0019541394431144, + 0.9999978542327881, + -0.0007080970681272447, + -0.0013260619083711928 + ], + [ + -0.033235516399145126, + 0.000772654137108475, + 0.999447226524353, + 0.007733595946780599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993059635162354, + -0.00810837373137474, + 0.03635720908641815, + 0.014068223951646119 + ], + [ + 0.008125372231006622, + 0.9999669194221497, + -0.0003198217018507421, + -0.002209578905339268 + ], + [ + -0.03635341674089432, + 0.0006150156259536743, + 0.9993388056755066, + 0.0026363145621601217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999087929725647, + -0.01469396147876978, + 0.040092550218105316, + 0.016627255493143867 + ], + [ + 0.01469357032328844, + 0.999891996383667, + 0.0003044578479602933, + -0.004437244276242901 + ], + [ + -0.04009269177913666, + 0.00028492254205048084, + 0.99919593334198, + 0.00043712909158303843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9987323880195618, + -0.020862732082605362, + 0.04580804333090782, + 0.01980594326703509 + ], + [ + 0.02086031064391136, + 0.9997822642326355, + 0.0005309239495545626, + -0.007197704673398379 + ], + [ + -0.045809146016836166, + 0.00042531907092779875, + 0.9989501237869263, + 0.001662217926191674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9982157349586487, + -0.026382649317383766, + 0.053565796464681625, + 0.024098010342722097 + ], + [ + 0.026373090222477913, + 0.9996517896652222, + 0.0008854545885697007, + -0.008305530423059876 + ], + [ + -0.05357050523161888, + 0.0005288207903504372, + 0.9985639452934265, + 0.004836050177008406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9975693225860596, + -0.031230267137289047, + 0.06229075416922569, + 0.02750596853265585 + ], + [ + 0.03120804950594902, + 0.9995120167732239, + 0.0013298244448378682, + -0.010185987830223623 + ], + [ + -0.0623018853366375, + 0.0006173804868012667, + 0.9980571866035461, + 0.004259243407209735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.996907651424408, + -0.03384437784552574, + 0.07092049717903137, + 0.027294383946159656 + ], + [ + 0.033937226980924606, + 0.9994239807128906, + -0.00010427716188132763, + -0.01005133528701099 + ], + [ + -0.0708761215209961, + 0.0025107995606958866, + 0.9974819421768188, + 0.0016350538165824226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9963765740394592, + -0.034873973578214645, + 0.07757283747196198, + 0.029819951341910796 + ], + [ + 0.035112541168928146, + 0.9993818998336792, + -0.0017132138600572944, + -0.011033245226876303 + ], + [ + -0.07746514678001404, + 0.004430785775184631, + 0.9969851970672607, + 0.0022741656919771976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9958259463310242, + -0.03428175672888756, + 0.08459014445543289, + 0.029105195246082693 + ], + [ + 0.03473616763949394, + 0.9993888735771179, + -0.003905532881617546, + -0.01239200710041895 + ], + [ + -0.08440456539392471, + 0.006827567704021931, + 0.9964081645011902, + 0.003621101771935451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9955132603645325, + -0.033014245331287384, + 0.08867596089839935, + 0.03211170678788965 + ], + [ + 0.03371920436620712, + 0.9994104504585266, + -0.006463250145316124, + -0.013834198097860026 + ], + [ + -0.08841030299663544, + 0.009424334391951561, + 0.9960395693778992, + 0.005020721560759732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9952331781387329, + -0.031636882573366165, + 0.09224952757358551, + 0.030597205755631785 + ], + [ + 0.03255441412329674, + 0.9994341731071472, + -0.008458082564175129, + -0.014807396189671411 + ], + [ + -0.09192974865436554, + 0.011420893482863903, + 0.9957000017166138, + 0.002307099752774662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9951415061950684, + -0.0307741928845644, + 0.09352176636457443, + 0.02845950856466185 + ], + [ + 0.03177982568740845, + 0.9994518160820007, + -0.009282330982387066, + -0.016876046792103732 + ], + [ + -0.09318483620882034, + 0.012209338136017323, + 0.9955739378929138, + -0.0035824423255629775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9951621890068054, + -0.029813097789883614, + 0.0936131402850151, + 0.028574428975212673 + ], + [ + 0.030867764726281166, + 0.9994750618934631, + -0.009838209487497807, + -0.016133318234558318 + ], + [ + -0.0932706966996193, + 0.012680242769420147, + 0.9955600500106812, + -0.006277355474750858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9949925541877747, + -0.029665134847164154, + 0.0954451933503151, + 0.03027464935232785 + ], + [ + 0.030605975538492203, + 0.9994961619377136, + -0.008408263325691223, + -0.018136863799935038 + ], + [ + -0.09514767676591873, + 0.011287352070212364, + 0.9953991770744324, + -0.004644865919797381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9945241212844849, + -0.03109501302242279, + 0.09977398067712784, + 0.03157375681190944 + ], + [ + 0.03194441646337509, + 0.9994656443595886, + -0.006926597561687231, + -0.018949155320128627 + ], + [ + -0.09950528293848038, + 0.010075889527797699, + 0.9949859976768494, + -0.002283858483241609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9938924312591553, + -0.03408931568264961, + 0.10495610535144806, + 0.0301848126559957 + ], + [ + 0.03476700559258461, + 0.9993847012519836, + -0.004633615259081125, + -0.015356293203711343 + ], + [ + -0.10473357141017914, + 0.00825432501733303, + 0.9944660663604736, + 0.0010213633820275998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9935081601142883, + -0.038197580724954605, + 0.10715639591217041, + 0.028724224283552365 + ], + [ + 0.03831230476498604, + 0.9992653131484985, + 0.000988538726232946, + -0.017599601456356688 + ], + [ + -0.10711543262004852, + 0.00312328664585948, + 0.9942417144775391, + 0.0015004569778126503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9933760762214661, + -0.04138585552573204, + 0.10719703137874603, + 0.027000923851920555 + ], + [ + 0.04105716571211815, + 0.9991428852081299, + 0.005272338166832924, + -0.016995025214388934 + ], + [ + -0.10732334852218628, + -0.0008362086955457926, + 0.9942238330841064, + 0.003778672690333968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9935389757156372, + -0.044557876884937286, + 0.10437891632318497, + 0.025731269879774615 + ], + [ + 0.04374478757381439, + 0.9989920258522034, + 0.010067310184240341, + -0.018369901274457916 + ], + [ + -0.1047222837805748, + -0.0054362318478524685, + 0.9944866299629211, + 0.001857313107360493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9942219257354736, + -0.0445973239839077, + 0.09764143824577332, + 0.02452272361159817 + ], + [ + 0.0434403158724308, + 0.9989587068557739, + 0.013944628648459911, + -0.021267329151780645 + ], + [ + -0.09816165268421173, + -0.009622481651604176, + 0.9951239824295044, + 0.0010431182900759246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9950068593025208, + -0.042610663920640945, + 0.09025328606367111, + 0.02363387736037743 + ], + [ + 0.04127359762787819, + 0.9990094900131226, + 0.01663036271929741, + -0.022737043906264933 + ], + [ + -0.09087251871824265, + -0.012822248041629791, + 0.9957799911499023, + 0.002859649493566845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9956714510917664, + -0.03931136056780815, + 0.0842197835445404, + 0.016708564613599423 + ], + [ + 0.037955354899168015, + 0.9991236925125122, + 0.017642538994550705, + -0.022636225697207305 + ], + [ + -0.08483953773975372, + -0.014369580894708633, + 0.9962909817695618, + 0.0024577144414094114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9965182542800903, + -0.03608245030045509, + 0.07516235113143921, + 0.013355850508390379 + ], + [ + 0.03479329124093056, + 0.9992253184318542, + 0.018391504883766174, + -0.02102314764667449 + ], + [ + -0.07576772570610046, + -0.015712324529886246, + 0.9970017075538635, + -0.0009689599502646971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.997314989566803, + -0.03364880755543709, + 0.06504268944263458, + 0.013620379899651551 + ], + [ + 0.032394181936979294, + 0.9992700219154358, + 0.020248929038643837, + -0.021285487221138294 + ], + [ + -0.06567656993865967, + -0.018087556585669518, + 0.9976770281791687, + -0.0021852605752954797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9979223608970642, + -0.03156636655330658, + 0.05616503953933716, + 0.012720485151676108 + ], + [ + 0.030465682968497276, + 0.9993286728858948, + 0.020346976816654205, + -0.019961100147482903 + ], + [ + -0.05676961690187454, + -0.018593598157167435, + 0.9982141256332397, + -0.0008168930763163226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9983031749725342, + -0.03152146190404892, + 0.0489603653550148, + 0.013721203445341468 + ], + [ + 0.03050822578370571, + 0.99930739402771, + 0.021306408569216728, + -0.02078929817581103 + ], + [ + -0.04959806799888611, + -0.019776562228798866, + 0.9985734224319458, + 0.0014847492772223784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9985505938529968, + -0.03322965279221535, + 0.04233758524060249, + 0.012536798403713821 + ], + [ + 0.03230522945523262, + 0.9992284774780273, + 0.022334987297654152, + -0.02290457964505354 + ], + [ + -0.04304710403084755, + -0.02093488909304142, + 0.9988536834716797, + 0.0016919406340649922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.99873286485672, + -0.035525958985090256, + 0.03564433008432388, + 0.011461372239407429 + ], + [ + 0.034719858318567276, + 0.9991327524185181, + 0.02298501320183277, + -0.023080331145608726 + ], + [ + -0.03642997890710831, + -0.02171832136809826, + 0.9991002082824707, + 0.0030457975481413616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9988138675689697, + -0.03913260996341705, + 0.028974002227187157, + 0.01274772388629677 + ], + [ + 0.03842448443174362, + 0.9989585280418396, + 0.02460644394159317, + -0.024625704488293695 + ], + [ + -0.02990674041211605, + -0.02346394583582878, + 0.9992772340774536, + 0.002642829596519101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9987661242485046, + -0.04319946840405464, + 0.02449573576450348, + 0.011300544745542786 + ], + [ + 0.04252549633383751, + 0.9987196326255798, + 0.02739807590842247, + -0.02776278590846976 + ], + [ + -0.025647953152656555, + -0.02632257714867592, + 0.9993244409561157, + 0.0013576691832647403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9986863136291504, + -0.04655655100941658, + 0.021403051912784576, + 0.012421899201148305 + ], + [ + 0.0459202416241169, + 0.9985147714614868, + 0.029317738488316536, + -0.02772804663515619 + ], + [ + -0.022736195474863052, + -0.028296390548348427, + 0.9993409514427185, + 0.0022335795879995157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985597729682922, + -0.04914509877562523, + 0.021520229056477547, + 0.012793168718041467 + ], + [ + 0.04845977947115898, + 0.9983350038528442, + 0.03128631412982941, + -0.026894259753383023 + ], + [ + -0.023021968081593513, + -0.030198389664292336, + 0.9992787837982178, + 0.0049359357438612085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.998416006565094, + -0.0507311187684536, + 0.024328099563717842, + 0.013757801833293162 + ], + [ + 0.04993302747607231, + 0.998228132724762, + 0.032361648976802826, + -0.026929459860548382 + ], + [ + -0.025926737114787102, + -0.031095610931515694, + 0.9991800785064697, + 0.014678242206881362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9982588291168213, + -0.05126715451478958, + 0.029171466827392578, + 0.013569083446559826 + ], + [ + 0.050307273864746094, + 0.9981970191001892, + 0.032739005982875824, + -0.02737960185209089 + ], + [ + -0.030797306448221207, + -0.03121446631848812, + 0.9990381002426147, + 0.0213671921960209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9980781078338623, + -0.05252639949321747, + 0.03287922963500023, + 0.011862317227935496 + ], + [ + 0.05145707726478577, + 0.9981440901756287, + 0.03256569802761078, + -0.030014536289059493 + ], + [ + -0.034528765827417374, + -0.030811242759227753, + 0.9989286661148071, + 0.01836372939638855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9980016350746155, + -0.0540403313934803, + 0.03274792432785034, + 0.012237637308387717 + ], + [ + 0.052961770445108414, + 0.9980526566505432, + 0.03295362368226051, + -0.03035256463345449 + ], + [ + -0.03446497768163681, + -0.03115338273346424, + 0.9989202618598938, + 0.015297665014431989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9980008006095886, + -0.05505415052175522, + 0.031038805842399597, + 0.013232126801220838 + ], + [ + 0.054039351642131805, + 0.9980052709579468, + 0.03263699635863304, + -0.030782179104564482 + ], + [ + -0.0327736958861351, + -0.030894432216882706, + 0.9989851713180542, + 0.016653113375025348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.997921884059906, + -0.05657240003347397, + 0.03084634430706501, + 0.012772548868328579 + ], + [ + 0.055555835366249084, + 0.9979142546653748, + 0.03287344425916672, + -0.03143285380537845 + ], + [ + -0.032641734927892685, + -0.031091436743736267, + 0.9989833831787109, + 0.01637054826325375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9978470802307129, + -0.05798898637294769, + 0.03063395619392395, + 0.013272303533701856 + ], + [ + 0.056964971125125885, + 0.9978204965591431, + 0.03330519422888756, + -0.031562618395575316 + ], + [ + -0.032498523592948914, + -0.03148842975497246, + 0.9989756345748901, + 0.015812134053096297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9977830648422241, + -0.05871356651186943, + 0.031332504004240036, + 0.013637527458616032 + ], + [ + 0.05764809623360634, + 0.997761607170105, + 0.033889710903167725, + -0.033368691780088736 + ], + [ + -0.03325215354561806, + -0.03200832009315491, + 0.9989343285560608, + 0.017589833615116835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9976556301116943, + -0.059784647077322006, + 0.033301711082458496, + 0.014057316766543822 + ], + [ + 0.05864959582686424, + 0.9976968169212341, + 0.03407777100801468, + -0.0328241205689582 + ], + [ + -0.0352623388171196, + -0.03204474598169327, + 0.9988642334938049, + 0.01859649656848474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9975768327713013, + -0.059822335839271545, + 0.035521604120731354, + 0.014591015174923356 + ], + [ + 0.05858234316110611, + 0.9976695775985718, + 0.034979671239852905, + -0.03514380959893985 + ], + [ + -0.03753139078617096, + -0.03281397372484207, + 0.9987565279006958, + 0.01806707638662216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9975287318229675, + -0.05973039194941521, + 0.03699604421854019, + 0.01473831836411283 + ], + [ + 0.05845240131020546, + 0.9976864457130432, + 0.03471338003873825, + -0.03533201056555653 + ], + [ + -0.038983896374702454, + -0.03246508538722992, + 0.9987123012542725, + 0.01819206284713154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9975128173828125, + -0.05899113416671753, + 0.03857739269733429, + 0.013868032512832279 + ], + [ + 0.057657308876514435, + 0.9977290034294128, + 0.03481990471482277, + -0.03691891636814892 + ], + [ + -0.040543846786022186, + -0.032509032636880875, + 0.9986487627029419, + 0.021327202074414443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9975277185440063, + -0.058244336396455765, + 0.039320409297943115, + 0.01360049007906894 + ], + [ + 0.05693615600466728, + 0.9978119730949402, + 0.033608634024858475, + -0.036495850047419884 + ], + [ + -0.041191890835762024, + -0.03128678724169731, + 0.9986612796783447, + 0.02300144717836183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9976000189781189, + -0.05762830004096031, + 0.038381632417440414, + 0.013356547713402875 + ], + [ + 0.05638265982270241, + 0.9978708624839783, + 0.03278288245201111, + -0.03826200616284281 + ], + [ + -0.04018913581967354, + -0.030540145933628082, + 0.9987252354621887, + 0.02086153057488528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9977459907531738, + -0.057304926216602325, + 0.0349152609705925, + 0.013708304375225355 + ], + [ + 0.05618056654930115, + 0.9978955984115601, + 0.03237536549568176, + -0.040343094670525485 + ], + [ + -0.03669705241918564, + -0.030340833589434624, + 0.9988657236099243, + 0.01505085688145939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.99789959192276, + -0.05683184415102005, + 0.03108898177742958, + 0.012348432407891454 + ], + [ + 0.055842265486717224, + 0.9979323148727417, + 0.03182353079319, + -0.04145402332531165 + ], + [ + -0.0328332893550396, + -0.030020611360669136, + 0.999009907245636, + 0.011301687369046132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9980595707893372, + -0.055723242461681366, + 0.02778468281030655, + 0.013278942295034563 + ], + [ + 0.05485115945339203, + 0.9980063438415527, + 0.031219590455293655, + -0.04078088157102158 + ], + [ + -0.029468946158885956, + -0.029634989798069, + 0.9991263151168823, + 0.011892020860917805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9981244206428528, + -0.05489916354417801, + 0.027087979018688202, + 0.013688456416437941 + ], + [ + 0.05405544489622116, + 0.998058021068573, + 0.030954424291849136, + -0.04121372188934056 + ], + [ + -0.02873474732041359, + -0.029432114213705063, + 0.9991536736488342, + 0.012890907363150237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9981434345245361, + -0.05387634411454201, + 0.028408242389559746, + 0.013519496269031497 + ], + [ + 0.05299263074994087, + 0.9981138110160828, + 0.03099362924695015, + -0.04136395427544625 + ], + [ + -0.030024481937289238, + -0.029430661350488663, + 0.9991157650947571, + 0.013661400906064294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9981348514556885, + -0.05256097391247749, + 0.031051311641931534, + 0.012883366424251686 + ], + [ + 0.051582593470811844, + 0.9981714487075806, + 0.03151169419288635, + -0.04384293007156389 + ], + [ + -0.032650817185640335, + -0.029851213097572327, + 0.9990209341049194, + 0.012755410407077183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9981133937835693, + -0.05110915005207062, + 0.034022752195596695, + 0.012723762304945426 + ], + [ + 0.0500498041510582, + 0.9982563853263855, + 0.03129243105649948, + -0.045214739469965265 + ], + [ + -0.03556275740265846, + -0.029530560597777367, + 0.9989310503005981, + 0.010658134566235149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9981067180633545, + -0.04925437271595001, + 0.036837369203567505, + 0.01548892965401746 + ], + [ + 0.04815005511045456, + 0.9983807802200317, + 0.030287951231002808, + -0.045052637157515306 + ], + [ + -0.0382695347070694, + -0.028456885367631912, + 0.9988621473312378, + 0.01439315188860844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9979908466339111, + -0.04745250940322876, + 0.04198304936289787, + 0.013139808552016404 + ], + [ + 0.046237871050834656, + 0.998496413230896, + 0.029445016756653786, + -0.047539320729157224 + ], + [ + -0.04331716522574425, + -0.02744465135037899, + 0.9986843466758728, + 0.01137156712953463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9979040622711182, + -0.04611178860068321, + 0.045400094240903854, + 0.012891842140084948 + ], + [ + 0.044868167489767075, + 0.9985992908477783, + 0.028041260316967964, + -0.04684192280473635 + ], + [ + -0.046629536896944046, + -0.025945467874407768, + 0.9985752701759338, + 0.006659177205840911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9978452920913696, + -0.04479529708623886, + 0.04793853685259819, + 0.014894171387018745 + ], + [ + 0.043532274663448334, + 0.9986850619316101, + 0.027074651792645454, + -0.04895454385579556 + ], + [ + -0.04908831790089607, + -0.024929439648985863, + 0.9984833002090454, + 0.010347049714119967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9977079629898071, + -0.04448997974395752, + 0.050985075533390045, + 0.015259195659463563 + ], + [ + 0.04324165731668472, + 0.99874347448349, + 0.025331605225801468, + -0.04937254563397305 + ], + [ + -0.05204801261425018, + -0.0230688638985157, + 0.9983780980110168, + 0.011314693595136493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9975829720497131, + -0.0444631427526474, + 0.053396813571453094, + 0.013676781224256213 + ], + [ + 0.043209753930568695, + 0.9987679719924927, + 0.024403072893619537, + -0.051771512298752397 + ], + [ + -0.05441606044769287, + -0.022036828100681305, + 0.9982751607894897, + 0.009881460190989262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9975355863571167, + -0.045086245983839035, + 0.05375818535685539, + 0.01393208941675661 + ], + [ + 0.043905701488256454, + 0.9987722039222717, + 0.02294323407113552, + -0.053360820778891885 + ], + [ + -0.054726604372262955, + -0.020526403561234474, + 0.9982903599739075, + 0.006821599053141992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9975191354751587, + -0.04589975252747536, + 0.0533742718398571, + 0.012608214863383573 + ], + [ + 0.044845592230558395, + 0.9987776875495911, + 0.020783688873052597, + -0.05381445749008582 + ], + [ + -0.054262999445199966, + -0.018338527530431747, + 0.9983582496643066, + 0.0021437480456911583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9975671768188477, + -0.04626912996172905, + 0.052143555134534836, + 0.014868346435472 + ], + [ + 0.045329008251428604, + 0.9987900853157043, + 0.01907070353627205, + -0.054136505956840435 + ], + [ + -0.05296285077929497, + -0.016660690307617188, + 0.9984574913978577, + -0.001144279138962469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9975318908691406, + -0.04572907090187073, + 0.05328155681490898, + 0.01536092920736833 + ], + [ + 0.04487913101911545, + 0.9988470673561096, + 0.01704120822250843, + -0.053242399543523784 + ], + [ + -0.0539994053542614, + -0.014607919380068779, + 0.9984341263771057, + 0.005532319437373768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9973931908607483, + -0.044876646250486374, + 0.0565057210624218, + 0.01589687135809463 + ], + [ + 0.04407365992665291, + 0.9989098906517029, + 0.015378289856016636, + -0.05513342337525058 + ], + [ + -0.05713425204157829, + -0.012847787700593472, + 0.998283863067627, + 0.009417055020001062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9972614049911499, + -0.044519878923892975, + 0.059056494385004044, + 0.013483821874684538 + ], + [ + 0.043784819543361664, + 0.998947262763977, + 0.013683485798537731, + -0.057678160994036574 + ], + [ + -0.059603508561849594, + -0.01106023509055376, + 0.9981608390808105, + 0.00817024233743302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9972325563430786, + -0.04579399153590202, + 0.0585673451423645, + 0.0132075639272278 + ], + [ + 0.04506881162524223, + 0.9988906979560852, + 0.013644235208630562, + -0.05956200692487095 + ], + [ + -0.05912720412015915, + -0.010966915637254715, + 0.9981902241706848, + 0.004146912330684583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9973512291908264, + -0.04712975397706032, + 0.05540115758776665, + 0.013807161580309396 + ], + [ + 0.04640665277838707, + 0.9988207221031189, + 0.01426759921014309, + -0.059566708444232855 + ], + [ + -0.05600825324654579, + -0.011658824980258942, + 0.9983622431755066, + 0.001978472506334959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9974673390388489, + -0.048120152205228806, + 0.052377376705408096, + 0.015083098837967254 + ], + [ + 0.04739408567547798, + 0.998763382434845, + 0.015017779543995857, + -0.0590430474511063 + ], + [ + -0.05303526297211647, + -0.012497367337346077, + 0.9985144138336182, + 0.002366141718042599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9974992275238037, + -0.04823431745171547, + 0.0516604408621788, + 0.016525909911133042 + ], + [ + 0.047436702996492386, + 0.9987370371818542, + 0.016556723043322563, + -0.06013648291070338 + ], + [ + -0.05239379405975342, + -0.01406471710652113, + 0.998527467250824, + 0.0017871714354885265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9974504709243774, + -0.04729254171252251, + 0.05344107747077942, + 0.015333512397713897 + ], + [ + 0.046393800526857376, + 0.9987621903419495, + 0.01793539710342884, + -0.06054574086860954 + ], + [ + -0.054223135113716125, + -0.01541033573448658, + 0.9984099268913269, + 0.0034717361542804183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9973528385162354, + -0.045896049588918686, + 0.0563991516828537, + 0.015866032102691732 + ], + [ + 0.044906165450811386, + 0.9988162517547607, + 0.018695782870054245, + -0.06052772999021479 + ], + [ + -0.05719044804573059, + -0.01611362397670746, + 0.9982332587242126, + 0.0053073726732991945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.997218906879425, + -0.04365042969584465, + 0.06040819734334946, + 0.01594442632511135 + ], + [ + 0.042494166642427444, + 0.9988905787467957, + 0.02029557153582573, + -0.061591967388560376 + ], + [ + -0.061227090656757355, + -0.017672132700681686, + 0.9979674220085144, + 0.010124900801615282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.997113049030304, + -0.041776143014431, + 0.0634055957198143, + 0.016811432687888955 + ], + [ + 0.04047578573226929, + 0.9989457726478577, + 0.021656926721334457, + -0.06265921934732921 + ], + [ + -0.06424350291490555, + -0.019028015434741974, + 0.997752845287323, + 0.009088292229951413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9971686601638794, + -0.039688725024461746, + 0.06387035548686981, + 0.017619260485199364 + ], + [ + 0.03826439753174782, + 0.9989942908287048, + 0.023371635004878044, + -0.0647139283002947 + ], + [ + -0.06473371386528015, + -0.02086150087416172, + 0.9976844787597656, + 0.007194560038095171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9972874522209167, + -0.03746601939201355, + 0.06335621327161789, + 0.017366337171209254 + ], + [ + 0.03591606765985489, + 0.9990312457084656, + 0.025428958237171173, + -0.06534857194791818 + ], + [ + -0.06424755603075027, + -0.023084476590156555, + 0.9976669549942017, + 0.009689963156403589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9974346160888672, + -0.034715987741947174, + 0.06260136514902115, + 0.01519231576133858 + ], + [ + 0.03309878706932068, + 0.9990956783294678, + 0.02668824791908264, + -0.0647639792800731 + ], + [ + -0.06347126513719559, + -0.024547751992940903, + 0.997681736946106, + 0.01169801672905191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9976765513420105, + -0.03150754049420357, + 0.06040510907769203, + 0.013503821520519651 + ], + [ + 0.029858313500881195, + 0.9991614818572998, + 0.028013870120048523, + -0.06659351790579775 + ], + [ + -0.06123710796236992, + -0.02614518627524376, + 0.9977807402610779, + 0.011928760462001827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9979752898216248, + -0.02779618464410305, + 0.05720742791891098, + 0.013348765129392797 + ], + [ + 0.02621523104608059, + 0.9992583990097046, + 0.028202952817082405, + -0.06541962240137592 + ], + [ + -0.05794893950223923, + -0.026646142825484276, + 0.9979639053344727, + 0.012134308032383604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9982753396034241, + -0.02268442139029503, + 0.05414535477757454, + 0.011366841417144644 + ], + [ + 0.021242056041955948, + 0.9994078874588013, + 0.027067331597208977, + -0.06438377052853422 + ], + [ + -0.054727304726839066, + -0.025870492681860924, + 0.9981661438941956, + 0.011446559447641214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9985679388046265, + -0.0173611082136631, + 0.0506032258272171, + 0.009798746589909901 + ], + [ + 0.01612319052219391, + 0.9995631575584412, + 0.024769609794020653, + -0.0629623889653705 + ], + [ + -0.05101114511489868, + -0.023918254300951958, + 0.9984116554260254, + 0.01161773308095607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9988837838172913, + -0.012091143988072872, + 0.04566233232617378, + 0.009468329137514445 + ], + [ + 0.011074994690716267, + 0.9996868371963501, + 0.02244136855006218, + -0.05994456385470126 + ], + [ + -0.04591936990618706, + -0.02191060781478882, + 0.9987048506736755, + 0.012883503216295696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9991506934165955, + -0.006213576067239046, + 0.040735021233558655, + 0.004236386869533742 + ], + [ + 0.005361062940210104, + 0.9997650384902954, + 0.02100420743227005, + -0.059598988807213704 + ], + [ + -0.04085595905780792, + -0.02076798304915428, + 0.9989491701126099, + 0.014409170886270764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9994753003120422, + -0.0019219279056414962, + 0.03233304247260094, + -0.0001280815172209289 + ], + [ + 0.001269630971364677, + 0.9997954964637756, + 0.020182762295007706, + -0.056004227885653166 + ], + [ + -0.03236522153019905, + -0.020131122320890427, + 0.9992733597755432, + 0.013432043010353549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9997622966766357, + 0.001829901128076017, + 0.021726852282881737, + -0.005674850864986281 + ], + [ + -0.002330850576981902, + 0.9997314810752869, + 0.023053806275129318, + -0.05260270842281749 + ], + [ + -0.021678833290934563, + -0.023098967969417572, + 0.9994981288909912, + 0.012439381220370286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9999333620071411, + 0.005959062371402979, + 0.009888743050396442, + -0.015013458258049055 + ], + [ + -0.006260708440095186, + 0.9995072484016418, + 0.030758783221244812, + -0.05406205108897254 + ], + [ + -0.009700576774775982, + -0.030818644911050797, + 0.9994779229164124, + 0.008399770290336825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9999399185180664, + 0.010063537396490574, + -0.004349117632955313, + -0.021879875177348202 + ], + [ + -0.009899181313812733, + 0.999292254447937, + 0.03629003465175629, + -0.04870733273300258 + ], + [ + 0.0047112456522881985, + -0.03624480217695236, + 0.9993318319320679, + 0.0035620025803589006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996652007102966, + 0.017619317397475243, + -0.018947960808873177, + -0.025282631112524302 + ], + [ + -0.016772696748375893, + 0.9988930225372314, + 0.04394838958978653, + -0.048071188374984364 + ], + [ + 0.01970132626593113, + -0.04361587017774582, + 0.9988541007041931, + 0.0047787214506202005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.999125599861145, + 0.02718895673751831, + -0.031761255115270615, + -0.031138608047415403 + ], + [ + -0.025610189884901047, + 0.9984655380249023, + 0.04909875616431236, + -0.04490058372520711 + ], + [ + 0.03304746374487877, + -0.048242416232824326, + 0.9982888102531433, + 0.007019446192940405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9982109069824219, + 0.03862244263291359, + -0.04564330726861954, + -0.03704649522777431 + ], + [ + -0.03625061735510826, + 0.998004674911499, + 0.05169684812426567, + -0.04392600444353317 + ], + [ + 0.047548890113830566, + -0.049949761480093, + 0.9976192116737366, + 0.006237011630673054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9968239665031433, + 0.050989050418138504, + -0.061172496527433395, + -0.045726778761537606 + ], + [ + -0.047845710068941116, + 0.9975109696388245, + 0.05179426074028015, + -0.04020877861656434 + ], + [ + 0.06366117298603058, + -0.048702917993068695, + 0.9967824816703796, + 0.0036831113615305136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9949892163276672, + 0.06199377030134201, + -0.07844262570142746, + -0.05886789868193225 + ], + [ + -0.05791608989238739, + 0.9969011545181274, + 0.05323353782296181, + -0.03856642262255851 + ], + [ + 0.08149968832731247, + -0.048423703759908676, + 0.9954963326454163, + -0.008589940612042737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9924147129058838, + 0.07126154750585556, + -0.1001739427447319, + -0.06654866236793108 + ], + [ + -0.06581059843301773, + 0.9962193965911865, + 0.0567086823284626, + -0.040025572700441395 + ], + [ + 0.10383637994527817, + -0.04968602582812309, + 0.9933525323867798, + -0.019253699539983567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9893515706062317, + 0.07790599763393402, + -0.12293930351734161, + -0.069967821092645 + ], + [ + -0.07124504446983337, + 0.9957895278930664, + 0.05768359825015068, + -0.03629159017904732 + ], + [ + 0.1269155740737915, + -0.0483105443418026, + 0.9907363653182983, + -0.02960693842985413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9864789843559265, + 0.08134060353040695, + -0.1422775834798813, + -0.07679756433387433 + ], + [ + -0.07311836630105972, + 0.9953879117965698, + 0.062101978808641434, + -0.03761724941740352 + ], + [ + 0.1466728001832962, + -0.05085919424891472, + 0.9878767132759094, + -0.04543265895225292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9834178686141968, + 0.08351543545722961, + -0.16097958385944366, + -0.08228897134627193 + ], + [ + -0.0735977292060852, + 0.9950599074363708, + 0.06662672013044357, + -0.041207409071281925 + ], + [ + 0.1657487004995346, + -0.05367417633533478, + 0.9847062826156616, + -0.046562000598050345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9810205698013306, + 0.08320391178131104, + -0.17514491081237793, + -0.08792426166209308 + ], + [ + -0.07232791185379028, + 0.9950873255729675, + 0.06760109961032867, + -0.04583382741971451 + ], + [ + 0.1799091398715973, + -0.053650204092264175, + 0.9822190999984741, + -0.05660925761542537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9783823490142822, + 0.08188764750957489, + -0.18990112841129303, + -0.09329302184099009 + ], + [ + -0.07035680115222931, + 0.9952895641326904, + 0.06669823080301285, + -0.045889849197273416 + ], + [ + 0.19446836411952972, + -0.05189553648233414, + 0.9795350432395935, + -0.07947083778125195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9748557209968567, + 0.08275774121284485, + -0.20689968764781952, + -0.09799461538387724 + ], + [ + -0.0699014961719513, + 0.9951850175857544, + 0.06870671361684799, + -0.043382959621996925 + ], + [ + 0.21158947050571442, + -0.05251653864979744, + 0.9759466648101807, + -0.0835620654362046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9713907837867737, + 0.08442233502864838, + -0.22197489440441132, + -0.10347738128063108 + ], + [ + -0.06984119117259979, + 0.9949017763137817, + 0.07275077700614929, + -0.04579066683438199 + ], + [ + 0.22698499262332916, + -0.055166441947221756, + 0.9723345637321472, + -0.09823232625018466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9676413536071777, + 0.08730534464120865, + -0.236744686961174, + -0.11333198294289841 + ], + [ + -0.07202406972646713, + 0.9947671890258789, + 0.07246214896440506, + -0.03842856597062971 + ], + [ + 0.2418321818113327, + -0.053066056221723557, + 0.9688659310340881, + -0.11100555650643573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9637516736984253, + 0.09193062782287598, + -0.25046250224113464, + -0.11992590936008564 + ], + [ + -0.07522700726985931, + 0.9943050146102905, + 0.07548806816339493, + -0.03675562469673552 + ], + [ + 0.2559758126735687, + -0.053910207003355026, + 0.9651787877082825, + -0.11953672857816554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9600561857223511, + 0.09649507701396942, + -0.26264214515686035, + -0.12919391303761932 + ], + [ + -0.0792485773563385, + 0.9939908981323242, + 0.07551013678312302, + -0.03393144502250617 + ], + [ + 0.2683502435684204, + -0.05167996138334274, + 0.9619341492652893, + -0.13399937641152665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9561880826950073, + 0.10050909966230392, + -0.27495869994163513, + -0.13735598041252656 + ], + [ + -0.08373486250638962, + 0.9938755631446838, + 0.07210996001958847, + -0.028199121725460713 + ], + [ + 0.2805224359035492, + -0.04592705890536308, + 0.9587481021881104, + -0.14633029303398015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9529352188110352, + 0.10277267545461655, + -0.2852230966091156, + -0.14671583833896423 + ], + [ + -0.08676717430353165, + 0.9938892722129822, + 0.06823136657476425, + -0.022430488147026265 + ], + [ + 0.2904925048351288, + -0.04027207940816879, + 0.9560294151306152, + -0.17167101142204497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9490731954574585, + 0.10258949548006058, + -0.2978849709033966, + -0.14760303467758432 + ], + [ + -0.08732800930738449, + 0.9941129088401794, + 0.06413507461547852, + -0.0231128796073031 + ], + [ + 0.3027108609676361, + -0.03485517576336861, + 0.952444851398468, + -0.19183125506994153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9469423890113831, + 0.10074052959680557, + -0.305207222700119, + -0.15113871024290393 + ], + [ + -0.08703816682100296, + 0.9945027828216553, + 0.05821160599589348, + -0.017614295758491702 + ], + [ + 0.30939367413520813, + -0.028558362275362015, + 0.9505051374435425, + -0.2012578379732272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9465950131416321, + 0.09813403338193893, + -0.30712801218032837, + -0.15690952065316113 + ], + [ + -0.08482874184846878, + 0.9947974681854248, + 0.05640977621078491, + -0.01777546378699217 + ], + [ + 0.3110659122467041, + -0.027343928813934326, + 0.9499949216842651, + -0.21961352229118347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.946435272693634, + 0.09478836506605148, + -0.3086671829223633, + -0.1624043069656723 + ], + [ + -0.08174186199903488, + 0.9951370358467102, + 0.054958995431661606, + -0.019836768212397243 + ], + [ + 0.31237560510635376, + -0.026784103363752365, + 0.9495810270309448, + -0.23082879021579075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.946861982345581, + 0.09146953374147415, + -0.3083597719669342, + -0.16740907738524036 + ], + [ + -0.0786130353808403, + 0.99544757604599, + 0.05388977378606796, + -0.010615768043462898 + ], + [ + 0.311885267496109, + -0.026785077527165413, + 0.9497421383857727, + -0.24353774401767195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.946445882320404, + 0.09003803133964539, + -0.3100537061691284, + -0.17066040007043476 + ], + [ + -0.0759420096874237, + 0.9954665899276733, + 0.05726375803351402, + -0.01637606594927056 + ], + [ + 0.313804030418396, + -0.030650947242975235, + 0.948992908000946, + -0.2571804023694155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9452221393585205, + 0.08886877447366714, + -0.3140977919101715, + -0.1739917613627497 + ], + [ + -0.07449308782815933, + 0.9955621957778931, + 0.05750400573015213, + -0.014545665755252207 + ], + [ + 0.3178142011165619, + -0.030955947935581207, + 0.9476475715637207, + -0.26831800153186497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9436472654342651, + 0.0889836773276329, + -0.3187659978866577, + -0.1797436795020399 + ], + [ + -0.07390443235635757, + 0.9955115914344788, + 0.05911724269390106, + -0.013310619991672948 + ], + [ + 0.3225957155227661, + -0.03222760558128357, + 0.9459880590438843, + -0.28388101786128744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9409862756729126, + 0.0888763815164566, + -0.3265666663646698, + -0.1818063713302297 + ], + [ + -0.07194408774375916, + 0.9953793287277222, + 0.06359285861253738, + -0.01649569123983384 + ], + [ + 0.3307096064090729, + -0.0363454669713974, + 0.943032443523407, + -0.3000450229349215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9376851916313171, + 0.08732251077890396, + -0.33633503317832947, + -0.18394917503984506 + ], + [ + -0.0689106360077858, + 0.995415985584259, + 0.0663200095295906, + -0.015112900253662395 + ], + [ + 0.34058448672294617, + -0.03901023045182228, + 0.939404308795929, + -0.3107036217523754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9352328777313232, + 0.08616341650485992, + -0.3433881103992462, + -0.1896898380981004 + ], + [ + -0.06508168578147888, + 0.995244562625885, + 0.07247526943683624, + -0.021302719759054428 + ], + [ + 0.34799984097480774, + -0.045432981103658676, + 0.9363930821418762, + -0.32268380849691464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9329825639724731, + 0.08281907439231873, + -0.3502635657787323, + -0.19497392771165234 + ], + [ + -0.06090928614139557, + 0.9954605102539062, + 0.0731329694390297, + -0.02138939790489261 + ], + [ + 0.3547303378582001, + -0.046897485852241516, + 0.9337917566299438, + -0.3341876915786877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9312976598739624, + 0.0795777291059494, + -0.3554603159427643, + -0.20251438871395488 + ], + [ + -0.05715616047382355, + 0.9956812262535095, + 0.07315769046545029, + -0.021940883341406994 + ], + [ + 0.35974690318107605, + -0.04781484603881836, + 0.9318239688873291, + -0.3446189746383793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.929546594619751, + 0.07398469001054764, + -0.36120545864105225, + -0.20603377893567085 + ], + [ + -0.051922328770160675, + 0.9961650371551514, + 0.07042182236909866, + -0.023657864332199102 + ], + [ + 0.3650304079055786, + -0.046705737709999084, + 0.9298233389854431, + -0.35257129520177843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/d9defe15-365f-4189-b038-67e0652ac8d9/pan_left/transforms.json b/dynpose_eval/camera_controls/d9defe15-365f-4189-b038-67e0652ac8d9/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1af6fd6bb7ee18b947701fdf9d2927f5ac14722e --- /dev/null +++ b/dynpose_eval/camera_controls/d9defe15-365f-4189-b038-67e0652ac8d9/pan_left/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + -7.099558570189402e-05, + -0.00024543050676584244, + 0.0006803327123634517 + ], + [ + 7.103055395418778e-05, + 1.0, + 0.0001425005029886961, + -0.00045793125173076987 + ], + [ + 0.0002454203786328435, + -0.00014251793618313968, + 0.9999999403953552, + 0.0002332567673875019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999742027116295, + 0.003180078696459532, + 0.006444264685206024, + 0.0036240401677787304 + ], + [ + -0.0031775039261064926, + 0.9999948740005493, + -0.00040972962618919897, + 0.001775454729795456 + ], + [ + -0.006445535478192054, + 0.0003892423992510885, + 0.9999791526582573, + 0.0031688930466771126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998932868946052, + 0.004249921068549156, + 0.013975221639430616, + 0.006078440696001053 + ], + [ + -0.004242145048180283, + 0.9999908208847046, + -0.0005860334218194149, + 0.0025452859699726105 + ], + [ + -0.013977582273223462, + 0.0005266860243864357, + 0.9999021782849735, + 0.008133146911859512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997969086397193, + 0.002667101100087166, + 0.019975865216312522, + 0.009464092552661896 + ], + [ + -0.0026531456208044634, + 0.9999962449073792, + -0.0007250749060022154, + 0.0025207505095750093 + ], + [ + -0.019977725169623786, + 0.0006719288066960871, + 0.9998001990371715, + 0.012710325419902802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9996958342598493, + -0.0019295252859592438, + 0.02458609031324052, + 0.010248924605548382 + ], + [ + 0.001947938092830432, + 0.9999978542327881, + -0.0007249824877374602, + 0.001979716122150421 + ], + [ + -0.024584638477263766, + 0.000772654137108475, + 0.9996974310802653, + 0.007736150175333023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999640798750456, + -0.00810837373137474, + 0.025544644159111105, + 0.01403471827507019 + ], + [ + 0.008121436955544922, + 0.9999669194221497, + -0.0004077028213018464, + 0.0019225158030167222 + ], + [ + -0.025540496750809567, + 0.0006150156259536743, + 0.9996735979625585, + 0.0026388559490442276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9995242027159994, + -0.01469396147876978, + 0.0271195887029375, + 0.016554392874240875 + ], + [ + 0.014696284506542114, + 0.999891996383667, + 0.0001136887390096886, + 0.0005208978545852005 + ], + [ + -0.027118328211390066, + 0.00028492254205048084, + 0.9996321990693712, + 0.0004385419306345284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993115992259258, + -0.020862732082605362, + 0.030677147285650685, + 0.019685249775648117 + ], + [ + 0.020865958940140625, + 0.9997822642326355, + 0.00021493698857526236, + -0.0014138403348624706 + ], + [ + -0.030674952271727913, + 0.00042531907092779875, + 0.9995293267212495, + 0.001664678449742496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.998993331140205, + -0.026382649317383766, + 0.03628046867568481, + 0.02392357960343361 + ], + [ + 0.026384465202483456, + 0.9996517896652222, + 0.0004288515947489789, + -0.0016962623922154307 + ], + [ + -0.03627914984796927, + 0.0005288207903504372, + 0.99934157081403, + 0.004839546512812376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9985930881098561, + -0.031230267137289047, + 0.042854822354104205, + 0.02727367728948593 + ], + [ + 0.03122802648726782, + 0.9995120167732239, + 0.0007219063168811122, + -0.002751600928604603 + ], + [ + -0.04285645199081817, + 0.0006173804868012667, + 0.9990810763748076, + 0.004263835493475199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9982086576765481, + -0.03384437784552574, + 0.04933617464126917, + 0.027014678344130516 + ], + [ + 0.03392702777576553, + 0.9994239807128906, + -0.0008384719337707596, + -0.001791632967069745 + ], + [ + -0.04927938480456048, + 0.0025107995606958866, + 0.998781853962106, + 0.0016558042261749506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9979404498300006, + -0.03487397357821465, + 0.053839400081703036, + 0.02950291521847248 + ], + [ + 0.03506182656565795, + 0.9993818998336794, + -0.0025483263036137223, + -0.0019479552283883095 + ], + [ + -0.053717256061595345, + 0.004430785775184632, + 0.9985463377020153, + 0.002314445562660694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9976863343057735, + -0.034281756728887565, + 0.05870933711582415, + 0.028765210881829262 + ], + [ + 0.034623070139561236, + 0.9993888735771181, + -0.0048059903744645084, + -0.0024807124864310026 + ], + [ + -0.05850870583368897, + 0.006827567704021932, + 0.998263538493536, + 0.0036888131871819496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9976133694989413, + -0.033014245331287384, + 0.06064357014428511, + 0.03175700828433037 + ], + [ + 0.033524097739001696, + 0.9994104504585266, + -0.007408995634823374, + -0.003096730448305607 + ], + [ + -0.06036321567119439, + 0.009424334391951561, + 0.9981319991044775, + 0.005121974740177393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9975705206949005, + -0.031636882573366165, + 0.06206537235993899, + 0.030231159180402756 + ], + [ + 0.03228331712632542, + 0.9994341731071472, + -0.009440152270732152, + -0.0032436950132250786 + ], + [ + -0.061731601818463884, + 0.011420893482863903, + 0.9980274452353733, + 0.002439242321997881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9976521311278375, + -0.0307741928845644, + 0.06118139743601594, + 0.02807801030576229 + ], + [ + 0.031461890182385224, + 0.9994518160820007, + -0.010308659240666623, + -0.0044861482456326485 + ], + [ + -0.06083061282991266, + 0.012209338136017323, + 0.9980734021371402, + -0.0034310868941247463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9978060028370513, + -0.029813097789883614, + 0.059113307851827786, + 0.028180206194519997 + ], + [ + 0.03050875830302149, + 0.9994750618934631, + -0.01090068492915729, + -0.0029171190690249205 + ], + [ + -0.05875729899881452, + 0.012680242769420147, + 0.998191773084945, + -0.006109682843089104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9978294174356583, + -0.029665134847164154, + 0.05879133884174968, + 0.02985786646604538 + ], + [ + 0.030276073765048206, + 0.9994961619377136, + -0.009528063191976998, + -0.0040943557396531105 + ], + [ + -0.0584790705671818, + 0.011287352070212364, + 0.9982248245861287, + -0.004486283287405968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.997654750428538, + -0.03109501302242279, + 0.06097601154723401, + 0.031111186370253563 + ], + [ + 0.03165050314432804, + 0.9994656443595886, + -0.008165117738159203, + -0.004081071354448795 + ], + [ + -0.060689534158166296, + 0.010075889527797699, + 0.998105814705699, + -0.0021339692175388336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9973661603737564, + -0.03408931568264961, + 0.06402102081417765, + 0.0296495258808136 + ], + [ + 0.03454720286966146, + 0.9993847012519836, + -0.006058534651749888, + 0.00033652441925369203 + ], + [ + -0.06377509996098077, + 0.00825432501733303, + 0.9979301652659729, + 0.0011509767500683665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9972136148817472, + -0.038197580724954605, + 0.0640777940712913, + 0.02809285931289196 + ], + [ + 0.03831920339816624, + 0.9992653131484985, + -0.0006697433451695678, + -0.0010828194208443165 + ], + [ + -0.0640051362073938, + 0.00312328664585948, + 0.9979447105184183, + 0.0015520815504714847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9972198194799418, + -0.04138585552573204, + 0.06196663603879248, + 0.0262826569378376 + ], + [ + 0.041254265595556304, + 0.9991428852081299, + 0.00340205470694881, + 0.00034547114046290517 + ], + [ + -0.06205431716976169, + -0.0008362086955457926, + 0.9980724388194789, + 0.0037641599774360657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9973801818579532, + -0.04455787688493729, + 0.05698620250443704, + 0.024921126663684845 + ], + [ + 0.04417426147273993, + 0.9989920258522036, + 0.007974446536397424, + -0.0002064098953269422 + ], + [ + -0.057284089838337784, + -0.005436231847852469, + 0.9983431008158573, + 0.00175847252830863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9978481066788666, + -0.0445973239839077, + 0.04806499842149396, + 0.02367500588297844 + ], + [ + 0.04408018643190879, + 0.9989587068557739, + 0.011766515005224645, + -0.0022788578644394875 + ], + [ + -0.048539697870105925, + -0.009622481651604176, + 0.9987749236913847, + 0.0008602116140536964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9983501681592715, + -0.042610663920640945, + 0.038486977547110765, + 0.02278870716691017 + ], + [ + 0.042081143788863205, + 0.9990094900131226, + 0.01446568915552969, + -0.0029219796415418386 + ], + [ + -0.0390652470360049, + -0.012822248041629791, + 0.9991543984323509, + 0.002605323912575841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9987685249736125, + -0.03931136056780815, + 0.030266218487077636, + 0.015896346420049667 + ], + [ + 0.03885367676445925, + 0.9991236925125122, + 0.015564702039517478, + -0.001993174199014902 + ], + [ + -0.030851571700461634, + -0.014369580894708633, + 0.9994206562018135, + 0.0021608222741633654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9991678838959468, + -0.0360824503004551, + 0.01901446638589959, + 0.012580525130033493 + ], + [ + 0.03577231078181606, + 0.9992253184318545, + 0.016406168004594397, + 0.0004478096088860184 + ], + [ + -0.01959170130258802, + -0.01571232452988625, + 0.9996846094464319, + -0.0013065801467746496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9994112269672766, + -0.03364880755543709, + 0.006703676329150518, + 0.012869538739323616 + ], + [ + 0.03352115251846953, + 0.9992700219154358, + 0.018323058817011233, + 0.0010122735984623432 + ], + [ + -0.007315337960237325, + -0.018087556585669518, + 0.9998096569976972, + -0.002588867209851742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9994921550769057, + -0.031566366553306587, + -0.004356831939483049, + 0.011990023776888847 + ], + [ + 0.03164169351541585, + 0.999328672885895, + 0.018465116728332374, + 0.0031638608779758215 + ], + [ + 0.003771028466173516, + -0.018593598157167438, + 0.9998199884785394, + -0.0012471581576392055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9994086908061343, + -0.03152146190404893, + -0.013733727720749773, + 0.012965730391442776 + ], + [ + 0.0317841905719906, + 0.9993073940277102, + 0.019351488735271576, + 0.0031610443256795406 + ], + [ + 0.013114225610175044, + -0.01977656222879887, + 0.9997183930604244, + 0.001010765554383397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999193958858424, + -0.03322965279221535, + -0.022520927800779876, + 0.011712922714650631 + ], + [ + 0.03368592217222853, + 0.9992284774780273, + 0.020192527210534196, + 0.0018696801271289587 + ], + [ + 0.02183256256168743, + -0.02093488909304142, + 0.9995424319969488, + 0.0011728937970474362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9988761570145881, + -0.035525958985090256, + -0.03137318217585526, + 0.010551203042268753 + ], + [ + 0.03618229821876011, + 0.9991327524185181, + 0.020606326435309148, + 0.0025172848254442215 + ], + [ + 0.03061392009966651, + -0.02171832136809826, + 0.9992953304450991, + 0.0024893777444958687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.998425288410439, + -0.03913260996341705, + -0.04019425724747408, + 0.011712811887264252 + ], + [ + 0.04003472033969071, + 0.9989585280418396, + 0.0218892497500218, + 0.001793033443391323 + ], + [ + 0.03929580989234137, + -0.02346394583582878, + 0.998952072420128, + 0.00202229549176991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9979688884140622, + -0.04319946840405464, + -0.04681783607371331, + 0.010122377425432205 + ], + [ + 0.044371702599574236, + 0.9987196326255798, + 0.02429453457751032, + -0.0005249777459539473 + ], + [ + 0.04570838426129678, + -0.02632257714867592, + 0.9986079808420298, + 0.0006397807155735791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9975583578995255, + -0.04655655100941658, + -0.05205541514737074, + 0.011113698594272137 + ], + [ + 0.047950816770171906, + 0.9985147714614868, + 0.02586344045095307, + 0.0003293932240922004 + ], + [ + 0.05077399117012092, + -0.028296390548348427, + 0.9983092074281222, + 0.0014384743990376592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9973260813289776, + -0.04914509877562523, + -0.05408722538748029, + 0.011371616274118423 + ], + [ + 0.05068785523444721, + 0.9983350038528442, + 0.027530437881651045, + 0.0019831990357488394 + ], + [ + 0.0526441868128003, + -0.030198389664292336, + 0.998156645200749, + 0.00406242860481143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9972818776989593, + -0.0507311187684536, + -0.053434399098425664, + 0.012248446233570576 + ], + [ + 0.052299757399532514, + 0.998228132724762, + 0.028378141823841106, + 0.0027698895428329706 + ], + [ + 0.051900062494238466, + -0.031095610931515694, + 0.9981680261833217, + 0.013753083534538746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9973945757448422, + -0.05126715451478958, + -0.05075159762327703, + 0.012001410126686096 + ], + [ + 0.052764259401236885, + 0.9981970191001892, + 0.02861113850038704, + 0.003143778070807457 + ], + [ + 0.04919328241792227, + -0.03121446631848812, + 0.9983013677170782, + 0.02041270025074482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9974068241986035, + -0.05252639949321748, + -0.049199391466463786, + 0.010212727822363377 + ], + [ + 0.053957726191032465, + 0.9981440901756289, + 0.028229758641427218, + 0.0013321376172825694 + ], + [ + 0.04762527983138182, + -0.03081124275922776, + 0.9983899781029733, + 0.017396103590726852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9972107730798155, + -0.054040331393480315, + -0.05148168813224219, + 0.01049584150314331 + ], + [ + 0.05555071305692752, + 0.9980526566505434, + 0.02837267561121623, + 0.0018160747131332755 + ], + [ + 0.04984816734536094, + -0.031153382733464248, + 0.9982708472419415, + 0.014293547719717026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9969484888032545, + -0.05505415052175522, + -0.05534181202679713, + 0.011412154883146286 + ], + [ + 0.056658150727241875, + 0.9980052709579468, + 0.02784383259151909, + 0.0022097306791692972 + ], + [ + 0.05369850146295414, + -0.030894432216882706, + 0.9980791344357581, + 0.01563180983066559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9967307592027188, + -0.05657240003347397, + -0.057683423112312705, + 0.010855632834136486 + ], + [ + 0.0582497302106433, + 0.9979142546653748, + 0.027822349129604112, + 0.0023807696998119354 + ], + [ + 0.055989133012811575, + -0.031091436743736267, + 0.9979471427439229, + 0.015317036770284176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9965098517693981, + -0.05798898637294769, + -0.06004456781077113, + 0.011259462684392929 + ], + [ + 0.05975229292779402, + 0.9978204965591431, + 0.027998346161540486, + 0.003072473220527172 + ], + [ + 0.05829010722420261, + -0.03148842975497246, + 0.9978029544503348, + 0.014719147235155106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9963787630261153, + -0.05871356651186943, + -0.06149903156689695, + 0.01155101228505373 + ], + [ + 0.06054720464984607, + 0.997761607170105, + 0.028387523906622792, + 0.002088952111080289 + ], + [ + 0.05969463870142506, + -0.03200832009315491, + 0.9977033870812886, + 0.016452347859740257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9963036970639081, + -0.059784647077322006, + -0.0616822784223305, + 0.011883329600095749 + ], + [ + 0.06162332399255077, + 0.9976968169212341, + 0.028348465701662478, + 0.0034557636827230453 + ], + [ + 0.059845413617284786, + -0.03204474598169327, + 0.9976931973111753, + 0.01743123307824135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9963052783443014, + -0.059822335839271545, + -0.061620726907551875, + 0.01236621756106615 + ], + [ + 0.061705254590623655, + 0.9976695775985718, + 0.029119235673350136, + 0.0019596044439822435 + ], + [ + 0.05973513649415681, + -0.03281397372484207, + 0.9976747570158434, + 0.01684672199189663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9962682635123835, + -0.05973039194941521, + -0.0623042953429209, + 0.012467576190829277 + ], + [ + 0.06161235515546735, + 0.9976864457130432, + 0.02873359818817923, + 0.002596565056592226 + ], + [ + 0.06044388331050169, + -0.03246508538722992, + 0.9976434943523186, + 0.016957852989435196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9962758273322426, + -0.05899113416671753, + -0.06288491030268116, + 0.011576641350984573 + ], + [ + 0.06089420875948043, + 0.9977290034294128, + 0.02878691318616751, + 0.0018358465749770403 + ], + [ + 0.061043931053793826, + -0.032509032636880875, + 0.9976055298773283, + 0.020064454525709152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9962292834506623, + -0.05824433639645578, + -0.06430286654845514, + 0.011289970949292183 + ], + [ + 0.06011351349243722, + 0.9978119730949404, + 0.02752510921321213, + 0.0030867736786603928 + ], + [ + 0.06255898226693521, + -0.03128678724169732, + 0.997550749153716, + 0.02176031842827797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9960603776883852, + -0.05762830004096031, + -0.06739934399860531, + 0.011022839695215225 + ], + [ + 0.059535157857972455, + 0.9978708624839783, + 0.026632436789960825, + 0.002147640334442258 + ], + [ + 0.06572105885643799, + -0.030540145933628082, + 0.9973705454893508, + 0.019624780863523483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9956830710108898, + -0.057304926216602325, + -0.07301615995791884, + 0.011340332217514515 + ], + [ + 0.05934772950266038, + 0.9978955984115601, + 0.02612024792490475, + 0.0008922606357373297 + ], + [ + 0.0713656830345307, + -0.030340833589434624, + 0.9969886392251665, + 0.013797103427350521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.995254072290583, + -0.05683184415102005, + -0.0789902015225894, + 0.00995304062962532 + ], + [ + 0.05900709275583714, + 0.9979323148727417, + 0.025480555946410473, + 0.0006075866403989494 + ], + [ + 0.07737877205585057, + -0.030020611360669136, + 0.9965497204354306, + 0.010036355815827847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9948688256299381, + -0.055723242461681366, + -0.08444474662626121, + 0.010884224437177181 + ], + [ + 0.05800943994758859, + 0.9980063438415527, + 0.024863977930830262, + 0.0021086472552269697 + ], + [ + 0.08289089705060573, + -0.029634989798069, + 0.996117920495812, + 0.010618451051414013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9946684960194, + -0.05489916354417802, + -0.08729662489153088, + 0.011283782310783863 + ], + [ + 0.057242271393621466, + 0.9980580210685732, + 0.02456603085293205, + 0.002502869116142392 + ], + [ + 0.08577844051681072, + -0.02943211421370507, + 0.9958794145939726, + 0.011601732112467289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9946500782433765, + -0.05387634411454201, + -0.08813946885786224, + 0.01111509744077921 + ], + [ + 0.05624429101019511, + 0.9981138110160828, + 0.024604952681471847, + 0.0031799678690731525 + ], + [ + 0.08664759316355782, + -0.029430661350488663, + 0.9958041856587304, + 0.012347966432571411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9947623092869936, + -0.05256097391247751, + -0.08766592078545377, + 0.0104942312464118 + ], + [ + 0.05495883421825849, + 0.9981714487075808, + 0.02516500271112658, + 0.0015284994151443243 + ], + [ + 0.08618292203096939, + -0.029851213097572334, + 0.9958320172564046, + 0.011398537084460258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.994908153396394, + -0.05110915005207062, + -0.08686576323554988, + 0.010358380153775215 + ], + [ + 0.053465099645737334, + 0.9982563853263855, + 0.025013641415364395, + 0.000985556049272418 + ], + [ + 0.0854358760566592, + -0.029530560597777367, + 0.9959059514086496, + 0.009291430935263634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9950574932883546, + -0.04925437271595001, + -0.08622411184661115, + 0.013168682344257832 + ], + [ + 0.051510208893465116, + 0.9983807802200317, + 0.024134750395705437, + 0.001978523563593626 + ], + [ + 0.08489575266597026, + -0.028456885367631912, + 0.9959833622290813, + 0.01305262092500925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9953976879835328, + -0.04745250940322876, + -0.0832571267575068, + 0.010865225456655025 + ], + [ + 0.049559656666892514, + 0.998496413230896, + 0.023426270769650297, + 0.00032249081414192915 + ], + [ + 0.08202030138394842, + -0.02744465135037899, + 0.996252714555647, + 0.01005603838711977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9955641588650299, + -0.04611178860068321, + -0.08201031421503197, + 0.010643416084349155 + ], + [ + 0.048072958621368296, + 0.9985992908477783, + 0.022101026750854024, + 0.00185010873246938 + ], + [ + 0.08087632524130406, + -0.025945467874407768, + 0.9963864229974361, + 0.005394067615270615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9956547234180188, + -0.04479529708623886, + -0.0816394634957084, + 0.012672916986048222 + ], + [ + 0.046670881687168424, + 0.9986850619316101, + 0.021211424035392633, + 0.0005670294631272554 + ], + [ + 0.08058194971485953, + -0.024929439648985863, + 0.9964362062524815, + 0.00911087915301323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9957405410750235, + -0.04448997974395752, + -0.08075538495998548, + 0.013016312383115292 + ], + [ + 0.046199193621713465, + 0.99874347448349, + 0.019420753319912092, + 0.000977332005277276 + ], + [ + 0.0797898810438363, + -0.0230688638985157, + 0.9965447290955882, + 0.010151717811822891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9957621711451066, + -0.0444631427526474, + -0.08050282193505262, + 0.011398504488170147 + ], + [ + 0.04608530316811785, + 0.9987679719924927, + 0.018404826358710172, + -0.0005949715850874782 + ], + [ + 0.07958530747120787, + -0.022036828100681305, + 0.9965844585977859, + 0.008752300404012203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9955878217158879, + -0.045086245983839035, + -0.0822926351061396, + 0.011584623716771603 + ], + [ + 0.04661613550209773, + 0.9987722039222717, + 0.01676420363956674, + -0.0013586316490545869 + ], + [ + 0.08143576278886279, + -0.020526403561234474, + 0.9964671899174343, + 0.005752868950366974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9953381554985847, + -0.04589975252747536, + -0.08482449376340648, + 0.0101804593577981 + ], + [ + 0.04728510935600076, + 0.9987776875495911, + 0.014394696901026405, + -0.0009865467436611652 + ], + [ + 0.08406009623790918, + -0.018338527530431747, + 0.9962919090317062, + 0.0011737763416022062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.995027350880243, + -0.04626912996172905, + -0.08820313831514381, + 0.012382814660668373 + ], + [ + 0.047554672626111544, + 0.9987900853157043, + 0.012528520816513768, + -0.00048249310930259526 + ], + [ + 0.08751672951698657, + -0.016660690307617188, + 0.996023718465491, + -0.002039274899289012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9949612106833688, + -0.045729070901870734, + -0.08922436232929201, + 0.012866616249084473 + ], + [ + 0.04684754296787182, + 0.9988470673561098, + 0.010480787021365515, + 0.0012401677668094635 + ], + [ + 0.08864222195341856, + -0.014607919380068782, + 0.9959564232335616, + 0.004735523834824562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9950943383745166, + -0.04487664625048638, + -0.08816649830379249, + 0.013411966152489185 + ], + [ + 0.04583286845927516, + 0.9989098906517031, + 0.00885028061818921, + 0.0001781160244718194 + ], + [ + 0.08767322289926065, + -0.012847787700593475, + 0.9960664636478993, + 0.008705648593604565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9951448224370362, + -0.044519878923892975, + -0.08777677250120405, + 0.010981878265738487 + ], + [ + 0.04531773736048723, + 0.998947262763977, + 0.007116943625562137, + -0.0015389759792014956 + ], + [ + 0.08736752215620197, + -0.01106023509055376, + 0.996114729827682, + 0.0075486754067242146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9948512945617024, + -0.04579399153590202, + -0.09040910936670712, + 0.010596171021461487 + ], + [ + 0.04659690175828971, + 0.9988906979560852, + 0.006789085525186798, + -0.002600471256300807 + ], + [ + 0.0899979180631348, + -0.010966915637254715, + 0.9958815816357336, + 0.0035215262323617935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9942929673086554, + -0.04712975397706032, + -0.09570923566232402, + 0.011080646887421608 + ], + [ + 0.048028058834906566, + 0.9988207221031189, + 0.007102631474728901, + -0.001783691463060677 + ], + [ + 0.09526162717737749, + -0.011658824980258942, + 0.9953840039992993, + 0.0013039950281381607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9937356213641345, + -0.048120152205228806, + -0.10086623256481739, + 0.012259519658982754 + ], + [ + 0.049133907089662684, + 0.998763382434845, + 0.007588954707402266, + -0.000437923357822001 + ], + [ + 0.10037631105201252, + -0.012497367337346077, + 0.9948710318084477, + 0.0016328251222148538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.993435326415122, + -0.04823431745171547, + -0.10372927403168263, + 0.0136557687073946 + ], + [ + 0.04943108339536839, + 0.9987370371818542, + 0.00899632499806745, + -0.0007075021858327091 + ], + [ + 0.10316433490153223, + -0.01406471710652113, + 0.9945648960800123, + 0.0009502626489847898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9934404946105932, + -0.04729254171252252, + -0.10411231616077117, + 0.012480325996875763 + ], + [ + 0.04863736192596352, + 0.9987621903419497, + 0.010414903814551077, + -0.00028984012897126377 + ], + [ + 0.10349090517960023, + -0.015410335734486583, + 0.9945110170540155, + 0.0025420216843485832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9935881176983211, + -0.04589604958891869, + -0.10332570433171448, + 0.013059166260063648 + ], + [ + 0.04731239882437399, + 0.998816251754761, + 0.011297473615956594, + 0.0005569002823904157 + ], + [ + 0.10268489014475138, + -0.016113623976707462, + 0.9945834301388662, + 0.004321911372244358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9938777672606154, + -0.04365042969584465, + -0.10149720335616387, + 0.013238821178674698 + ], + [ + 0.0452148835981789, + 0.9988905787467957, + 0.013163537662928836, + 0.0003227379056625068 + ], + [ + 0.10080999902335, + -0.017672132700681686, + 0.9947487502467762, + 0.00902952067553997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9940420706283115, + -0.04177614301443101, + -0.10067305466743942, + 0.014187476597726345 + ], + [ + 0.04347495246110685, + 0.9989457726478579, + 0.014739071007438861, + 8.448207518085837e-05 + ], + [ + 0.09995118218888814, + -0.019028015434741977, + 0.9948103985809408, + 0.007893144153058529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9939538369979268, + -0.039688725024461746, + -0.1023744550175684, + 0.015093614347279072 + ], + [ + 0.041610320573998785, + 0.9989942908287048, + 0.016702654369827652, + -0.0011415643384680152 + ], + [ + 0.10160858859434609, + -0.02086150087416172, + 0.9946056844764171, + 0.005867009982466698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.993760757487914, + -0.03746601939201356, + -0.10505155398400166, + 0.014951172284781933 + ], + [ + 0.039676948576629775, + 0.9990312457084658, + 0.019035114520867657, + -0.0009482106543146074 + ], + [ + 0.1042366168422455, + -0.02308447659015656, + 0.9942845816226912, + 0.008201872929930687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9935477616300467, + -0.034715987741947174, + -0.10797031837866906, + 0.012925734743475914 + ], + [ + 0.03715601465318681, + 0.9990956783294678, + 0.020669370032558226, + 0.0004662344290409237 + ], + [ + 0.10715512919633953, + -0.024547751992940903, + 0.9939392476508969, + 0.010095312260091305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9931718926971219, + -0.03150754049420357, + -0.11232484078240092, + 0.011420678347349167 + ], + [ + 0.034236905302721464, + 0.9991614818572998, + 0.022452842125493474, + -0.0005332546425051987 + ], + [ + 0.11152321848487357, + -0.02614518627524376, + 0.9934178178220454, + 0.010200153104960918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9926631586331427, + -0.02779618464410305, + -0.11767422145961218, + 0.011488028801977634 + ], + [ + 0.030731094289161123, + 0.9992583990097046, + 0.023200101943583195, + 0.0014728819951415062 + ], + [ + 0.11694208317710028, + -0.026646142825484276, + 0.9927812372935273, + 0.01035055797547102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9921611509486096, + -0.02268442139029503, + -0.12288866364580378, + 0.009829550050199032 + ], + [ + 0.025685685114226964, + 0.9994078874588013, + 0.02289346991820253, + 0.003344697877764702 + ], + [ + 0.12229657695149225, + -0.025870492681860924, + 0.9921563767699223, + 0.00969335250556469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9915481498828582, + -0.0173611082136631, + -0.12857247503459598, + 0.008607860654592514 + ], + [ + 0.020288197421968256, + 0.9995631575584412, + 0.021491391005010543, + 0.005602687131613493 + ], + [ + 0.1281432007004693, + -0.023918254300951958, + 0.9914672413805254, + 0.009977059438824654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9906852413682805, + -0.012091143988072876, + -0.13563412071336245, + 0.00862894393503666 + ], + [ + 0.014948777784187217, + 0.9996868371963503, + 0.020069991842502185, + 0.009455183520913124 + ], + [ + 0.13534897512368524, + -0.021910607814788822, + 0.9905557138418203, + 0.011362436227500439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.989750793420225, + -0.006213576067239048, + -0.14267030887257967, + 0.00379989598877728 + ], + [ + 0.009111773474356639, + 0.9997650384902956, + 0.019669603703652328, + 0.010632439516484737 + ], + [ + 0.1425145571800908, + -0.020767983049154285, + 0.9895747848702331, + 0.012950262986123562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9882044251097291, + -0.0019219279056414962, + -0.15312842898342502, + -0.0002646813518367708 + ], + [ + 0.0049815347114969205, + 0.9997954964637756, + 0.019599494089858144, + 0.015055617317557335 + ], + [ + 0.15305944630197052, + -0.020131122320890427, + 0.9880119235209336, + 0.012001235969364643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9861680288650616, + 0.0018299011280760173, + -0.16573872453552602, + -0.0055432794615626335 + ], + [ + 0.00202429468346329, + 0.9997314810752871, + 0.02308274418733421, + 0.019278811290860176 + ], + [ + 0.16573646258093916, + -0.023098967969417575, + 0.9858995417589999, + 0.010778546333312988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9837347204326383, + 0.005959062371402979, + -0.17952859245629854, + -0.014580071903765202 + ], + [ + -0.0003264312828916118, + 0.9995072484016418, + 0.03138777880068865, + 0.01862938515841961 + ], + [ + 0.17962716590753652, + -0.030818644911050797, + 0.9832519010177887, + 0.006158414296805859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9806256444948642, + 0.010063537396490574, + -0.19563256587065103, + -0.021139664575457573 + ], + [ + -0.0027711966378726307, + 0.999292254447937, + 0.03751374248063841, + 0.024794328957796097 + ], + [ + 0.19587162788029022, + -0.03624480217695236, + 0.9799594948465085, + 0.0008960625855252147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9771056923983659, + 0.017619317397475246, + -0.21202359447165958, + -0.023972103372216225 + ], + [ + -0.007951753828866119, + 0.9988930225372317, + 0.04636328196745513, + 0.02622663974761963 + ], + [ + 0.2126057750956061, + -0.043615870177745826, + 0.9761641466199299, + 0.0015345658175647259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9736089422735771, + 0.027188956737518317, + -0.22659737233542007, + -0.029093818739056587 + ], + [ + -0.015510652708185217, + 0.9984655380249026, + 0.05316003513344735, + 0.03019062615931034 + ], + [ + 0.22769503745488273, + -0.04824241623282434, + 0.9725367105950424, + 0.003391297534108162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.969474691978177, + 0.03862244263291359, + -0.242130435779779, + -0.03410991281270981 + ], + [ + -0.025312167692638256, + 0.998004674911499, + 0.057844321513089145, + 0.03195534273982048 + ], + [ + 0.243881387990588, + -0.049949761480093, + 0.9685178661456737, + 0.0024391785264015198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.964485880253422, + 0.05098905041813852, + -0.25916612687278523, + -0.041807785630226135 + ], + [ + -0.036528634922235105, + 0.9975109696388247, + 0.0603118251120903, + 0.03645941987633705 + ], + [ + 0.26159630035199094, + -0.04870291799306871, + 0.9639478390209033, + -6.0170765209477395e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.958637691233736, + 0.061993770301342024, + -0.2777959018440201, + -0.054051853716373444 + ], + [ + -0.04597017003248154, + 0.9969011545181277, + 0.06383436758327399, + 0.03887879103422165 + ], + [ + 0.28089238441958264, + -0.04842370375990869, + 0.9585168834626775, + -0.01235178206115961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9510787132368019, + 0.07126154750585557, + -0.30061780124424115, + -0.06095374748110771 + ], + [ + -0.05285099745386527, + 0.9962193965911867, + 0.06894694761680123, + 0.038189999759197235 + ], + [ + 0.30439455338207533, + -0.049686025828123107, + 0.951249285555945, + -0.023154668509960175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9427341243773152, + 0.07790599763393402, + -0.32431924602909873, + -0.06378684937953949 + ], + [ + -0.0578182906984742, + 0.9957895278930664, + 0.07113577952971382, + 0.04271319881081581 + ], + [ + 0.32849562067943405, + -0.0483105443418026, + 0.9432691745737406, + -0.033439841121435165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.935191816974739, + 0.08134060353040695, + -0.344673704828583, + -0.07027687132358551 + ], + [ + -0.05857595737409344, + 0.9953879117965698, + 0.07597241920719179, + 0.042178310453891754 + ], + [ + 0.34926367543941256, + -0.05085919424891472, + 0.9356431990694826, + -0.04950980097055435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9275154739325007, + 0.08351543545722961, + -0.3643352526794767, + -0.07552491128444672 + ], + [ + -0.05792783685834012, + 0.9950599074363708, + 0.08062326771190954, + 0.03938421979546547 + ], + [ + 0.36926871003680206, + -0.05367417633533478, + 0.9277713697500026, + -0.05090916529297829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.921371446554048, + 0.08320391178131104, + -0.37967322216835936, + -0.08111666887998581 + ], + [ + -0.05630534507740033, + 0.9950873255729675, + 0.08143060614639995, + 0.03558240830898285 + ], + [ + 0.3845833395807381, + -0.053650204092264175, + 0.9215298768504889, + -0.0609988197684288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9148032582473642, + 0.08188764750957489, + -0.3955116409596479, + -0.08652544766664505 + ], + [ + -0.05439770096845087, + 0.9952895641326904, + 0.080247265311494, + 0.036365486681461334 + ], + [ + 0.40021984925889303, + -0.05189553648233414, + 0.9149485875375224, + -0.08375972509384155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9068174731079678, + 0.08275774121284485, + -0.41331976480099136, + -0.0910867378115654 + ], + [ + -0.05334404909567132, + 0.9951850175857544, + 0.08222678449984223, + 0.03968620300292969 + ], + [ + 0.41813452226497805, + -0.05251653864979744, + 0.9068657661822076, + -0.08794567734003067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8992401662786216, + 0.08442233502864839, + -0.4292319092552759, + -0.09636078774929047 + ], + [ + -0.05222191461696424, + 0.994901776313782, + 0.08627478874587055, + 0.038077086210250854 + ], + [ + 0.43432709188734003, + -0.05516644194722177, + 0.8990643291539734, + -0.10288272053003311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8913883229961463, + 0.08730534464120865, + -0.44475239588021676, + -0.10590020567178726 + ], + [ + -0.05422781389454799, + 0.9947671890258789, + 0.08658853187761584, + 0.04624996334314346 + ], + [ + 0.44998472896706454, + -0.053066056221723557, + 0.8914582099989977, + -0.11552274972200394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8835715674271934, + 0.09193062782287599, + -0.4591841012270127, + -0.11202443391084671 + ], + [ + -0.05648737957737923, + 0.9943050146102907, + 0.09036994526003603, + 0.04870530217885971 + ], + [ + 0.4648768448052949, + -0.05391020700335504, + 0.8837325546112906, + -0.12417033314704895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.8762322151032208, + 0.09649507701396942, + -0.4721290939686411, + -0.12082037329673767 + ], + [ + -0.0602049860715126, + 0.9939908981323242, + 0.09141923989039993, + 0.05232396349310875 + ], + [ + 0.47811350126910357, + -0.05167996138334274, + 0.8767762774221058, + -0.13848400115966797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.8686417916862152, + 0.10050909966230392, + -0.48513851001307884, + -0.12855105102062225 + ], + [ + -0.06514885690245141, + 0.9938755631446838, + 0.08925805273080144, + 0.05886766314506531 + ], + [ + 0.49113855641667775, + -0.04592705890536308, + 0.8698699206752157, + -0.15035365521907806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8620688908577177, + 0.10277267545461655, + -0.4962609933342264, + -0.13762767612934113 + ], + [ + -0.06879692501491176, + 0.9938892722129822, + 0.08631943599081211, + 0.06545889377593994 + ], + [ + 0.5020997722172962, + -0.04027207940816879, + 0.8638714931630243, + -0.17523226141929626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8543042088059573, + 0.10258949548006058, + -0.5095485306056489, + -0.13844628632068634 + ], + [ + -0.0701040960693896, + 0.9941129088401794, + 0.08261298154538076, + 0.06561785936355591 + ], + [ + 0.5150239776489507, + -0.03485517576336861, + 0.8564667902200707, + -0.19494229555130005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8494170242799205, + 0.1007405295968056, + -0.5180174280449944, + -0.14206373691558838 + ], + [ + -0.07102742108133472, + 0.9945027828216555, + 0.07693724072720996, + 0.07197314500808716 + ], + [ + 0.5229204525784789, + -0.02855836227536202, + 0.8519029652352258, + -0.20383045077323914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.8475038110716525, + 0.09813403338193893, + -0.5216387878498603, + -0.1479882448911667 + ], + [ + -0.06913844386289364, + 0.9947974681854248, + 0.07481880696698191, + 0.0726606696844101 + ], + [ + 0.5262672435081068, + -0.027343928813934326, + 0.8498794863968341, + -0.22209933400154114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8458519297342969, + 0.09478836506605148, + -0.5249282505035019, + -0.15370884537696838 + ], + [ + -0.0663232021250857, + 0.9951370358467102, + 0.07282483121711779, + 0.07145266234874725 + ], + [ + 0.5292784903468581, + -0.026784103363752365, + 0.8480253093032398, + -0.2332858443260193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.8452022086995274, + 0.09146953374147415, + -0.5265610971087246, + -0.15894247591495514 + ], + [ + -0.06338464404307627, + 0.99544757604599, + 0.07117937868537028, + 0.08152483403682709 + ], + [ + 0.5306747137044043, + -0.026785077527165413, + 0.8471522281983612, + -0.24601702392101288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8432471847935168, + 0.0900380313396454, + -0.5299314051915297, + -0.16225188970565796 + ], + [ + -0.05982218541753175, + 0.9954665899276736, + 0.07394344427571692, + 0.07658899575471878 + ], + [ + 0.5341867356257904, + -0.030650947242975242, + 0.8448106535930899, + -0.26004284620285034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8399245233311468, + 0.08886877447366714, + -0.5353775403612757, + -0.16561900079250336 + ], + [ + -0.05819833017955107, + 0.9955621957778931, + 0.07395191122276139, + 0.07925110310316086 + ], + [ + 0.5395736666726496, + -0.030955947935581207, + 0.8413691488017657, + -0.27123451232910156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.836088240378746, + 0.08898367732763292, + -0.5413301924616952, + -0.17128655314445496 + ], + [ + -0.05707038927140036, + 0.995511591434479, + 0.07549625271532266, + 0.08130411803722382 + ], + [ + 0.545618410656812, + -0.032227605581283576, + 0.8374138483925351, + -0.2869439721107483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8304000948998963, + 0.08887638151645662, + -0.5500333089691529, + -0.17328599095344543 + ], + [ + -0.05389644466962364, + 0.9953793287277224, + 0.07946808591988413, + 0.078929103910923 + ], + [ + 0.5545546224969646, + -0.03634546697139741, + 0.8313532365825137, + -0.30352938175201416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8235657199793253, + 0.08732251077890396, + -0.5604589887071696, + -0.175505593419075 + ], + [ + -0.0501045901810571, + 0.995415985584259, + 0.08146501986614162, + 0.08113806694746017 + ], + [ + 0.5650035629802196, + -0.03901023045182228, + 0.8241657732521696, + -0.3144756853580475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8181971316932946, + 0.08616341650485992, + -0.5684447058791582, + -0.18128712475299835 + ], + [ + -0.04466890287582434, + 0.995244562625885, + 0.08656199870596411, + 0.07575418800115585 + ], + [ + 0.5731999517710488, + -0.045432981103658676, + 0.8181550640870722, + -0.327114462852478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.8130384325645822, + 0.08281907439231873, + -0.5762894562297749, + -0.18682891130447388 + ], + [ + -0.040279171762633736, + 0.9954605102539062, + 0.08623201655615334, + 0.07651126384735107 + ], + [ + 0.5808150392619268, + -0.046897485852241516, + 0.8126835469690497, + -0.33879992365837097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8088270664416989, + 0.0795777291059494, + -0.5826372319790112, + -0.19462238252162933 + ], + [ + -0.03645882251188354, + 0.9956812262535095, + 0.08537932194269922, + 0.07680436223745346 + ], + [ + 0.586915266588605, + -0.04781484603881836, + 0.808235246191686, + -0.34936094284057617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8043862105909773, + 0.07398469001054764, + -0.5894820430957641, + -0.1986353099346161 + ], + [ + -0.03192660950022066, + 0.9961650371551514, + 0.08146074451244574, + 0.07595863938331604 + ], + [ + 0.5932482870870814, + -0.046705737709999084, + 0.803663555404869, + -0.3572418689727783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/d9defe15-365f-4189-b038-67e0652ac8d9/pull_out/transforms.json b/dynpose_eval/camera_controls/d9defe15-365f-4189-b038-67e0652ac8d9/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1a9565ca4df67c17a1bf8d60b00dadb58bd59eaa --- /dev/null +++ b/dynpose_eval/camera_controls/d9defe15-365f-4189-b038-67e0652ac8d9/pull_out/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + -7.099558570189402e-05, + -0.00024543050676584244, + 0.0006803327123634517 + ], + [ + 7.103055395418778e-05, + 1.0, + 0.0001425005029886961, + -0.00045793125173076987 + ], + [ + 0.0002454203786328435, + -0.00014251793618313968, + 0.9999999403953552, + 0.0002332567673875019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999579191207886, + 0.003180078696459532, + 0.00860782340168953, + 0.0036169262641409703 + ], + [ + -0.0031766099855303764, + 0.9999948740005493, + -0.0004166036087553948, + 0.0017757990302985597 + ], + [ + -0.0086091049015522, + 0.0003892423992510885, + 0.9999628663063049, + 0.002342477454688431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998234510421753, + 0.004249921068549156, + 0.01830187812447548, + 0.006048189657778779 + ], + [ + -0.004239569418132305, + 0.9999908208847046, + -0.0006043847533874214, + 0.002546284953036061 + ], + [ + -0.01830427721142769, + 0.0005266860243864357, + 0.9998323321342468, + 0.0064805314868442284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996461868286133, + 0.002667101100087166, + 0.026464974507689476, + 0.009398476913386633 + ], + [ + -0.002648383378982544, + 0.9999962449073792, + -0.0007422807975672185, + 0.0025225908751888124 + ], + [ + -0.0264668557792902, + 0.0006719288066960871, + 0.9996494650840759, + 0.010231855671760465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9994456171989441, + -0.0019295252859592438, + 0.03323695436120033, + 0.010139050376255157 + ], + [ + 0.0019541394431144, + 0.9999978542327881, + -0.0007080970681272447, + 0.0019820569389045607 + ], + [ + -0.033235516399145126, + 0.000772654137108475, + 0.999447226524353, + 0.004432192401698797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993059635162354, + -0.00810837373137474, + 0.03635720908641815, + 0.013884481873886644 + ], + [ + 0.008125372231006622, + 0.9999669194221497, + -0.0003198217018507421, + 0.0019238373802970973 + ], + [ + -0.03635341674089432, + 0.0006150156259536743, + 0.9993388056755066, + -0.001490643247961998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999087929725647, + -0.01469396147876978, + 0.040092550218105316, + 0.01635558684010151 + ], + [ + 0.01469357032328844, + 0.999891996383667, + 0.0003044578479602933, + 0.0005193881462482073 + ], + [ + -0.04009269177913666, + 0.00028492254205048084, + 0.99919593334198, + -0.004516148647920744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9987323880195618, + -0.020862732082605362, + 0.04580804333090782, + 0.019420244566295757 + ], + [ + 0.02086031064391136, + 0.9997822642326355, + 0.0005309239495545626, + -0.0014169117957276622 + ], + [ + -0.045809146016836166, + 0.00042531907092779875, + 0.9989501237869263, + -0.004114371853157078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9982157349586487, + -0.026382649317383766, + 0.053565796464681625, + 0.02356942557722084 + ], + [ + 0.026373090222477913, + 0.9996517896652222, + 0.0008854545885697007, + -0.0017021166374291147 + ], + [ + -0.05357050523161888, + 0.0005288207903504372, + 0.9985639452934265, + -0.0017625291585491223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9975693225860596, + -0.031230267137289047, + 0.06229075416922569, + 0.026810357630375987 + ], + [ + 0.03120804950594902, + 0.9995120167732239, + 0.0013298244448378682, + -0.0027614921848058763 + ], + [ + -0.0623018853366375, + 0.0006173804868012667, + 0.9980571866035461, + -0.0031597303572949804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.996907651424408, + -0.03384437784552574, + 0.07092049717903137, + 0.026428558532733563 + ], + [ + 0.033937226980924606, + 0.9994239807128906, + -0.00010427716188132763, + -0.0017907711723434531 + ], + [ + -0.0708761215209961, + 0.0025107995606958866, + 0.9974819421768188, + -0.0065878481885095035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9963765740394592, + -0.034873973578214645, + 0.07757283747196198, + 0.028797707605091007 + ], + [ + 0.035112541168928146, + 0.9993818998336792, + -0.0017132138600572944, + -0.0019323805569332433 + ], + [ + -0.07746514678001404, + 0.004430785775184631, + 0.9969851970672607, + -0.00674905622885986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9958259463310242, + -0.03428175672888756, + 0.08459014445543289, + 0.027926300358304307 + ], + [ + 0.03473616763949394, + 0.9993888735771179, + -0.003905532881617546, + -0.0024419799289273577 + ], + [ + -0.08440456539392471, + 0.006827567704021931, + 0.9964081645011902, + -0.006192920675639773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9955132603645325, + -0.033014245331287384, + 0.08867596089839935, + 0.030804291349058308 + ], + [ + 0.03371920436620712, + 0.9994104504585266, + -0.006463250145316124, + -0.0030272905707113013 + ], + [ + -0.08841030299663544, + 0.009424334391951561, + 0.9960395693778992, + -0.005579276831651277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9952331781387329, + -0.031636882573366165, + 0.09224952757358551, + 0.029163809274592674 + ], + [ + 0.03255441412329674, + 0.9994341731071472, + -0.008458082564175129, + -0.0031458329009123086 + ], + [ + -0.09192974865436554, + 0.011420893482863903, + 0.9957000017166138, + -0.009081253565632361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9951415061950684, + -0.0307741928845644, + 0.09352176636457443, + 0.026918649565705582 + ], + [ + 0.03177982568740845, + 0.9994518160820007, + -0.009282330982387066, + -0.004371078026842726 + ], + [ + -0.09318483620882034, + 0.012209338136017323, + 0.9955739378929138, + -0.01577291257048318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9951621890068054, + -0.029813097789883614, + 0.0936131402850151, + 0.026942346488271863 + ], + [ + 0.030867764726281166, + 0.9994750618934631, + -0.009838209487497807, + -0.0027870270427439578 + ], + [ + -0.0932706966996193, + 0.012680242769420147, + 0.9955600500106812, + -0.019274113256453486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9949925541877747, + -0.029665134847164154, + 0.0954451933503151, + 0.028516900939635995 + ], + [ + 0.030605975538492203, + 0.9994961619377136, + -0.008408263325691223, + -0.003976223114416126 + ], + [ + -0.09514767676591873, + 0.011287352070212364, + 0.9953991770744324, + -0.018471230403327744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9945241212844849, + -0.03109501302242279, + 0.09977398067712784, + 0.0296269453353872 + ], + [ + 0.03194441646337509, + 0.9994656443595886, + -0.006926597561687231, + -0.003978031060142704 + ], + [ + -0.09950528293848038, + 0.010075889527797699, + 0.9949859976768494, + -0.016935413811078742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9938924312591553, + -0.03408931568264961, + 0.10495610535144806, + 0.02800145480504706 + ], + [ + 0.03476700559258461, + 0.9993847012519836, + -0.004633615259081125, + 0.00040928366712356096 + ], + [ + -0.10473357141017914, + 0.00825432501733303, + 0.9944660663604736, + -0.01446460611013742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9935081601142883, + -0.038197580724954605, + 0.10715639591217041, + 0.026321679215170136 + ], + [ + 0.03831230476498604, + 0.9992653131484985, + 0.000988538726232946, + -0.001099158903922547 + ], + [ + -0.10711543262004852, + 0.00312328664585948, + 0.9942417144775391, + -0.014881665796264699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9933760762214661, + -0.04138585552573204, + 0.10719703137874603, + 0.0244222125915949 + ], + [ + 0.04105716571211815, + 0.9991428852081299, + 0.005272338166832924, + 0.0002539677507905982 + ], + [ + -0.10732334852218628, + -0.0008362086955457926, + 0.9942238330841064, + -0.013490964398403797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9935389757156372, + -0.044557876884937286, + 0.10437891632318497, + 0.02302332818508148 + ], + [ + 0.04374478757381439, + 0.9989920258522034, + 0.010067310184240341, + -0.00038945189867676665 + ], + [ + -0.1047222837805748, + -0.0054362318478524685, + 0.9944866299629211, + -0.016323102561926303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9942219257354736, + -0.0445973239839077, + 0.09764143824577332, + 0.021819011602273657 + ], + [ + 0.0434403158724308, + 0.9989587068557739, + 0.013944628648459911, + -0.002543921053625089 + ], + [ + -0.09816165268421173, + -0.009622481651604176, + 0.9951239824295044, + -0.018055368217250935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9950068593025208, + -0.042610663920640945, + 0.09025328606367111, + 0.02099855934415967 + ], + [ + 0.04127359762787819, + 0.9990094900131226, + 0.01663036271929741, + -0.0032518380756436055 + ], + [ + -0.09087251871824265, + -0.012822248041629791, + 0.9957799911499023, + -0.017145684176347844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9956714510917664, + -0.03931136056780815, + 0.0842197835445404, + 0.014156268247641808 + ], + [ + 0.037955354899168015, + 0.9991236925125122, + 0.017642538994550705, + -0.0023576894674973547 + ], + [ + -0.08483953773975372, + -0.014369580894708633, + 0.9962909817695618, + -0.018423702142563118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9965182542800903, + -0.03608245030045509, + 0.07516235113143921, + 0.010965466345390997 + ], + [ + 0.03479329124093056, + 0.9992253184318542, + 0.018391504883766174, + 5.262024774724104e-05 + ], + [ + -0.07576772570610046, + -0.015712324529886246, + 0.9970017075538635, + -0.022729757333882463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.997314989566803, + -0.03364880755543709, + 0.06504268944263458, + 0.01141817294184334 + ], + [ + 0.032394181936979294, + 0.9992700219154358, + 0.020248929038643837, + 0.0005604379918149187 + ], + [ + -0.06567656993865967, + -0.018087556585669518, + 0.9976770281791687, + -0.02485108188822989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9979223608970642, + -0.03156636655330658, + 0.05616503953933716, + 0.010690336911515757 + ], + [ + 0.030465682968497276, + 0.9993286728858948, + 0.020346976816654205, + 0.0026930217450284516 + ], + [ + -0.05676961690187454, + -0.018593598157167435, + 0.9982141256332397, + -0.024346328007003433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9983031749725342, + -0.03152146190404892, + 0.0489603653550148, + 0.011792300147396967 + ], + [ + 0.03050822578370571, + 0.99930739402771, + 0.021306408569216728, + 0.002650394864103272 + ], + [ + -0.04959806799888611, + -0.019776562228798866, + 0.9985734224319458, + -0.02292198589233266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9985505938529968, + -0.03322965279221535, + 0.04233758524060249, + 0.010663230518602636 + ], + [ + 0.03230522945523262, + 0.9992284774780273, + 0.022334987297654152, + 0.001315920111484641 + ], + [ + -0.04304710403084755, + -0.02093488909304142, + 0.9988536834716797, + -0.02359207356175454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.99873286485672, + -0.035525958985090256, + 0.03564433008432388, + 0.009638001197133182 + ], + [ + 0.034719858318567276, + 0.9991327524185181, + 0.02298501320183277, + 0.0019284125863890016 + ], + [ + -0.03642997890710831, + -0.02171832136809826, + 0.9991002082824707, + -0.02310740445117074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9988138675689697, + -0.03913260996341705, + 0.028974002227187157, + 0.010946557282908888 + ], + [ + 0.03842448443174362, + 0.9989585280418396, + 0.02460644394159317, + 0.0011422845127045615 + ], + [ + -0.02990674041211605, + -0.02346394583582878, + 0.9992772340774536, + -0.024404871029286717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9987661242485046, + -0.04319946840405464, + 0.02449573576450348, + 0.00945431190458211 + ], + [ + 0.04252549633383751, + 0.9987196326255798, + 0.02739807590842247, + -0.0012721979980018327 + ], + [ + -0.025647953152656555, + -0.02632257714867592, + 0.9993244409561157, + -0.026614522219593213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9986863136291504, + -0.04655655100941658, + 0.021403051912784576, + 0.010512290523995545 + ], + [ + 0.0459202416241169, + 0.9985147714614868, + 0.029317738488316536, + -0.0004944109978935535 + ], + [ + -0.022736195474863052, + -0.028296390548348427, + 0.9993409514427185, + -0.02664218043488997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985597729682922, + -0.04914509877562523, + 0.021520229056477547, + 0.010749130309674858 + ], + [ + 0.04845977947115898, + 0.9983350038528442, + 0.03128631412982941, + 0.001078223007200055 + ], + [ + -0.023021968081593513, + -0.030198389664292336, + 0.9992787837982178, + -0.02484232960422793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.998416006565094, + -0.0507311187684536, + 0.024328099563717842, + 0.01152463500688145 + ], + [ + 0.04993302747607231, + 0.998228132724762, + 0.032361648976802826, + 0.0018070636228619773 + ], + [ + -0.025926737114787102, + -0.031095610931515694, + 0.9991800785064697, + -0.01597458822267854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9982588291168213, + -0.05126715451478958, + 0.029171466827392578, + 0.011109390066674918 + ], + [ + 0.050307273864746094, + 0.9981970191001892, + 0.032739005982875824, + 0.002142667970504643 + ], + [ + -0.030797306448221207, + -0.03121446631848812, + 0.9990381002426147, + -0.010136398682293813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9980781078338623, + -0.05252639949321747, + 0.03287922963500023, + 0.009180156974322047 + ], + [ + 0.05145707726478577, + 0.9981440901756287, + 0.03256569802761078, + 0.00030941321641545405 + ], + [ + -0.034528765827417374, + -0.030811242759227753, + 0.9989286661148071, + -0.01397520989056461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9980016350746155, + -0.0540403313934803, + 0.03274792432785034, + 0.009440329892576232 + ], + [ + 0.052961770445108414, + 0.9980526566505432, + 0.03295362368226051, + 0.0007539331233744654 + ], + [ + -0.03446497768163681, + -0.03115338273346424, + 0.9989202618598938, + -0.017903055761717572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9980008006095886, + -0.05505415052175522, + 0.031038805842399597, + 0.010386078656951257 + ], + [ + 0.054039351642131805, + 0.9980052709579468, + 0.03263699635863304, + 0.0011308217086359734 + ], + [ + -0.0327736958861351, + -0.030894432216882706, + 0.9989851713180542, + -0.017392493353402323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.997921884059906, + -0.05657240003347397, + 0.03084634430706501, + 0.009810426126211143 + ], + [ + 0.055555835366249084, + 0.9979142546653748, + 0.03287344425916672, + 0.00126687613400546 + ], + [ + -0.032641734927892685, + -0.031091436743736267, + 0.9989833831787109, + -0.018532813403539912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9978470802307129, + -0.05798898637294769, + 0.03063395619392395, + 0.010196135279314577 + ], + [ + 0.056964971125125885, + 0.9978204965591431, + 0.03330519422888756, + 0.0019164251563839677 + ], + [ + -0.032498523592948914, + -0.03148842975497246, + 0.9989756345748901, + -0.01995604008066753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9977830648422241, + -0.05871356651186943, + 0.031332504004240036, + 0.010437543134489828 + ], + [ + 0.05764809623360634, + 0.997761607170105, + 0.033889710903167725, + 0.0008846070128685432 + ], + [ + -0.03325215354561806, + -0.03200832009315491, + 0.9989343285560608, + -0.019046971254235462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9976556301116943, + -0.059784647077322006, + 0.033301711082458496, + 0.01067235828800635 + ], + [ + 0.05864959582686424, + 0.9976968169212341, + 0.03407777100801468, + 0.0022165720097043293 + ], + [ + -0.0352623388171196, + -0.03204474598169327, + 0.9988642334938049, + -0.018891102685169747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9975768327713013, + -0.059822335839271545, + 0.035521604120731354, + 0.01104516616814639 + ], + [ + 0.05858234316110611, + 0.9976695775985718, + 0.034979671239852905, + 0.0006587075796901933 + ], + [ + -0.03753139078617096, + -0.03281397372484207, + 0.9987565279006958, + -0.02029711582259206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9975287318229675, + -0.05973039194941521, + 0.03699604421854019, + 0.011061115005661634 + ], + [ + 0.05845240131020546, + 0.9976864457130432, + 0.03471338003873825, + 0.001276882840243499 + ], + [ + -0.038983896374702454, + -0.03246508538722992, + 0.9987123012542725, + -0.021009722099570208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9975128173828125, + -0.05899113416671753, + 0.03857739269733429, + 0.010078180642906298 + ], + [ + 0.057657308876514435, + 0.9977290034294128, + 0.03481990471482277, + 0.000483337879442602 + ], + [ + -0.040543846786022186, + -0.032509032636880875, + 0.9986487627029419, + -0.01872603460407455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9975277185440063, + -0.058244336396455765, + 0.039320409297943115, + 0.009730153059787002 + ], + [ + 0.05693615600466728, + 0.9978119730949402, + 0.033608634024858475, + 0.0017535386099056763 + ], + [ + -0.041191890835762024, + -0.03128678724169731, + 0.9986612796783447, + -0.017855996798631577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9976000189781189, + -0.05762830004096031, + 0.038381632417440414, + 0.009468542184095737 + ], + [ + 0.05638265982270241, + 0.9978708624839783, + 0.03278288245201111, + 0.0008200690615922212 + ], + [ + -0.04018913581967354, + -0.030540145933628082, + 0.9987252354621887, + -0.02081946420891226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9977459907531738, + -0.057304926216602325, + 0.0349152609705925, + 0.009897552838564411 + ], + [ + 0.05618056654930115, + 0.9978955984115601, + 0.03237536549568176, + -0.00044556438474538775 + ], + [ + -0.03669705241918564, + -0.030340833589434624, + 0.9988657236099243, + -0.027478339697026517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.99789959192276, + -0.05683184415102005, + 0.03108898177742958, + 0.008642678587766718 + ], + [ + 0.055842265486717224, + 0.9979323148727417, + 0.03182353079319, + -0.0007337357318760013 + ], + [ + -0.0328332893550396, + -0.030020611360669136, + 0.999009907245636, + -0.03207067333254194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9980595707893372, + -0.055723242461681366, + 0.02778468281030655, + 0.009690171952767312 + ], + [ + 0.05485115945339203, + 0.9980063438415527, + 0.031219590455293655, + 0.0007669789050821182 + ], + [ + -0.029468946158885956, + -0.029634989798069, + 0.9991263151168823, + -0.032319208771790855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9981244206428528, + -0.05489916354417801, + 0.027087979018688202, + 0.01009728405624628 + ], + [ + 0.05405544489622116, + 0.998058021068573, + 0.030954424291849136, + 0.0011470141678217275 + ], + [ + -0.02873474732041359, + -0.029432114213705063, + 0.9991536736488342, + -0.0321628502870271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9981434345245361, + -0.05387634411454201, + 0.028408242389559746, + 0.009847291582071585 + ], + [ + 0.05299263074994087, + 0.9981138110160828, + 0.03099362924695015, + 0.001796781109291906 + ], + [ + -0.030024481937289238, + -0.029430661350488663, + 0.9991157650947571, + -0.03224067101793841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9981348514556885, + -0.05256097391247749, + 0.031051311641931534, + 0.009082807989960367 + ], + [ + 0.051582593470811844, + 0.9981714487075806, + 0.03151169419288635, + 9.614967910403539e-05 + ], + [ + -0.032650817185640335, + -0.029851213097572327, + 0.9990209341049194, + -0.03401150537485427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9981133937835693, + -0.05110915005207062, + 0.034022752195596695, + 0.008783773440590574 + ], + [ + 0.0500498041510582, + 0.9982563853263855, + 0.03129243105649948, + -0.00046268869383830186 + ], + [ + -0.03556275740265846, + -0.029530560597777367, + 0.9989310503005981, + -0.03694008874806984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9981067180633545, + -0.04925437271595001, + 0.036837369203567505, + 0.011433368257808784 + ], + [ + 0.04815005511045456, + 0.9983807802200317, + 0.030287951231002808, + 0.0005517357783315104 + ], + [ + -0.0382695347070694, + -0.028456885367631912, + 0.9988621473312378, + -0.03400121576745402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9979908466339111, + -0.04745250940322876, + 0.04198304936289787, + 0.008852814826036781 + ], + [ + 0.046237871050834656, + 0.998496413230896, + 0.029445016756653786, + -0.0010889232122100706 + ], + [ + -0.04331716522574425, + -0.02744465135037899, + 0.9986843466758728, + -0.03781478153618653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9979040622711182, + -0.04611178860068321, + 0.045400094240903854, + 0.008429692480867067 + ], + [ + 0.044868167489767075, + 0.9985992908477783, + 0.028041260316967964, + 0.0004828076095759004 + ], + [ + -0.046629536896944046, + -0.025945467874407768, + 0.9985752701759338, + -0.043296792666035255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9978452920913696, + -0.04479529708623886, + 0.04793853685259819, + 0.01029579945616732 + ], + [ + 0.043532274663448334, + 0.9986850619316101, + 0.027074651792645454, + -0.0007755152538634284 + ], + [ + -0.04908831790089607, + -0.024929439648985863, + 0.9984833002090454, + -0.04040068945239398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9977079629898071, + -0.04448997974395752, + 0.050985075533390045, + 0.010445990393415462 + ], + [ + 0.04324165731668472, + 0.99874347448349, + 0.025331605225801468, + -0.0002997158614780047 + ], + [ + -0.05204801261425018, + -0.0230688638985157, + 0.9983780980110168, + -0.04017974002179036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9975829720497131, + -0.0444631427526474, + 0.053396813571453094, + 0.008662469412608087 + ], + [ + 0.043209753930568695, + 0.9987679719924927, + 0.024403072893619537, + -0.0018453769730250084 + ], + [ + -0.05441606044769287, + -0.022036828100681305, + 0.9982751607894897, + -0.04239898882652364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9975355863571167, + -0.045086245983839035, + 0.05375818535685539, + 0.00878564381802624 + ], + [ + 0.043905701488256454, + 0.9987722039222717, + 0.02294323407113552, + -0.002553196728791395 + ], + [ + -0.054726604372262955, + -0.020526403561234474, + 0.9982903599739075, + -0.04622423243670425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9975191354751587, + -0.04589975252747536, + 0.0533742718398571, + 0.007357357376185822 + ], + [ + 0.044845592230558395, + 0.9987776875495911, + 0.020783688873052597, + -0.002085849295624278 + ], + [ + -0.054262999445199966, + -0.018338527530431747, + 0.9983582496643066, + -0.05163194926047683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9975671768188477, + -0.04626912996172905, + 0.052143555134534836, + 0.009581714591457824 + ], + [ + 0.045329008251428604, + 0.9987900853157043, + 0.01907070353627205, + -0.0015069523901767136 + ], + [ + -0.05296285077929497, + -0.016660690307617188, + 0.9984574913978577, + -0.055675421131405334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9975318908691406, + -0.04572907090187073, + 0.05328155681490898, + 0.009960349513725802 + ], + [ + 0.04487913101911545, + 0.9988470673561096, + 0.01704120822250843, + 0.00031064731830900366 + ], + [ + -0.0539994053542614, + -0.014607919380068779, + 0.9984341263771057, + -0.049724519422108475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9973931908607483, + -0.044876646250486374, + 0.0565057210624218, + 0.010283136969693928 + ], + [ + 0.04407365992665291, + 0.9989098906517029, + 0.015378289856016636, + -0.0006734091163158787 + ], + [ + -0.05713425204157829, + -0.012847787700593472, + 0.998283863067627, + -0.04657122646881776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9972614049911499, + -0.044519878923892975, + 0.059056494385004044, + 0.007663000895341566 + ], + [ + 0.043784819543361664, + 0.998947262763977, + 0.013683485798537731, + -0.002307965263747418 + ], + [ + -0.059603508561849594, + -0.01106023509055376, + 0.9981608390808105, + -0.04854631389699076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9972325563430786, + -0.04579399153590202, + 0.0585673451423645, + 0.007256380265409297 + ], + [ + 0.04506881162524223, + 0.9988906979560852, + 0.013644235208630562, + -0.0033785309500161034 + ], + [ + -0.05912720412015915, + -0.010966915637254715, + 0.9981902241706848, + -0.053400065063321886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9973512291908264, + -0.04712975397706032, + 0.05540115758776665, + 0.00787562124184833 + ], + [ + 0.04640665277838707, + 0.9988207221031189, + 0.01426759921014309, + -0.0026090897644739136 + ], + [ + -0.05600825324654579, + -0.011658824980258942, + 0.9983622431755066, + -0.05645249837870934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9974673390388489, + -0.048120152205228806, + 0.052377376705408096, + 0.009186136397756329 + ], + [ + 0.04739408567547798, + 0.998763382434845, + 0.015017779543995857, + -0.0013191319095771298 + ], + [ + -0.05303526297211647, + -0.012497367337346077, + 0.9985144138336182, + -0.05695769006967514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9974992275238037, + -0.04823431745171547, + 0.0516604408621788, + 0.010581759003198837 + ], + [ + 0.047436702996492386, + 0.9987370371818542, + 0.016556723043322563, + -0.0016926956231213244 + ], + [ + -0.05239379405975342, + -0.01406471710652113, + 0.998527467250824, + -0.05846624779899813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9974504709243774, + -0.04729254171252251, + 0.05344107747077942, + 0.00925619487673783 + ], + [ + 0.046393800526857376, + 0.9987621903419495, + 0.01793539710342884, + -0.0013718930120706898 + ], + [ + -0.054223135113716125, + -0.01541033573448658, + 0.9984099268913269, + -0.05769262679752486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9973528385162354, + -0.045896049588918686, + 0.0563991516828537, + 0.00960996194226929 + ], + [ + 0.044906165450811386, + 0.9988162517547607, + 0.018695782870054245, + -0.0005864781741252985 + ], + [ + -0.05719044804573059, + -0.01611362397670746, + 0.9982332587242126, + -0.05672706478113724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.997218906879425, + -0.04365042969584465, + 0.06040819734334946, + 0.009494511425987747 + ], + [ + 0.042494166642427444, + 0.9988905787467957, + 0.02029557153582573, + -0.0009352520655663608 + ], + [ + -0.061227090656757355, + -0.017672132700681686, + 0.9979674220085144, + -0.05282796415969854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.997113049030304, + -0.041776143014431, + 0.0634055957198143, + 0.010204976370696686 + ], + [ + 0.04047578573226929, + 0.9989457726478577, + 0.021656926721334457, + -0.0012757877023575044 + ], + [ + -0.06424350291490555, + -0.019028015434741974, + 0.997752845287323, + -0.0547756296005254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9971686601638794, + -0.039688725024461746, + 0.06387035548686981, + 0.01102913717993281 + ], + [ + 0.03826439753174782, + 0.9989942908287048, + 0.023371635004878044, + -0.0026288502024148 + ], + [ + -0.06473371386528015, + -0.02086150087416172, + 0.9976844787597656, + -0.057622002302245665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9972874522209167, + -0.03746601939201355, + 0.06335621327161789, + 0.0108670527515702 + ], + [ + 0.03591606765985489, + 0.9990312457084656, + 0.025428958237171173, + -0.002587432755553741 + ], + [ + -0.06424755603075027, + -0.023084476590156555, + 0.9976669549942017, + -0.056110542350687284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9974346160888672, + -0.034715987741947174, + 0.06260136514902115, + 0.008838538175895194 + ], + [ + 0.03309878706932068, + 0.9990956783294678, + 0.02668824791908264, + -0.0012762214268330673 + ], + [ + -0.06347126513719559, + -0.024547751992940903, + 0.997681736946106, + -0.05504258626779497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9976765513420105, + -0.03150754049420357, + 0.06040510907769203, + 0.00742695212733647 + ], + [ + 0.029858313500881195, + 0.9991614818572998, + 0.028013870120048523, + -0.002385411344657167 + ], + [ + -0.06123710796236992, + -0.02614518627524376, + 0.9977807402610779, + -0.05576882145775498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9979752898216248, + -0.02779618464410305, + 0.05720742791891098, + 0.0076584406520340065 + ], + [ + 0.02621523104608059, + 0.9992583990097046, + 0.028202952817082405, + -0.00041508426782020874 + ], + [ + -0.05794893950223923, + -0.026646142825484276, + 0.9979639053344727, + -0.056455290232869715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9982753396034241, + -0.02268442139029503, + 0.05414535477757454, + 0.006160195428908857 + ], + [ + 0.021242056041955948, + 0.9994078874588013, + 0.027067331597208977, + 0.001510382843904259 + ], + [ + -0.054727304726839066, + -0.025870492681860924, + 0.9981661438941956, + -0.0579509646839593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9985679388046265, + -0.0173611082136631, + 0.0506032258272171, + 0.005136730287932167 + ], + [ + 0.01612319052219391, + 0.9995631575584412, + 0.024769609794020653, + 0.0039036147242550515 + ], + [ + -0.05101114511489868, + -0.023918254300951958, + 0.9984116554260254, + -0.058509029321803546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9988837838172913, + -0.012091143988072872, + 0.04566233232617378, + 0.005458996897517157 + ], + [ + 0.011074994690716267, + 0.9996868371963501, + 0.02244136855006218, + 0.007897270332313766 + ], + [ + -0.04591936990618706, + -0.02191060781478882, + 0.9987048506736755, + -0.057969140182903486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9991506934165955, + -0.006213576067239046, + 0.040735021233558655, + 0.0009383449103867957 + ], + [ + 0.005361062940210104, + 0.9997650384902954, + 0.02100420743227005, + 0.00915693734149056 + ], + [ + -0.04085595905780792, + -0.02076798304915428, + 0.9989491701126099, + -0.05722385226972093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9994753003120422, + -0.0019219279056414962, + 0.03233304247260094, + -0.002562732304434854 + ], + [ + 0.001269630971364677, + 0.9997954964637756, + 0.020182762295007706, + 0.013621139997416291 + ], + [ + -0.03236522153019905, + -0.020131122320890427, + 0.9992733597755432, + -0.05902149869236818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9997622966766357, + 0.001829901128076017, + 0.021726852282881737, + -0.007105458096778097 + ], + [ + -0.002330850576981902, + 0.9997314810752869, + 0.023053806275129318, + 0.01762122356694592 + ], + [ + -0.021678833290934563, + -0.023098967969417572, + 0.9994981288909912, + -0.061086195165460766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9999333620071411, + 0.005959062371402979, + 0.009888743050396442, + -0.015299253216521307 + ], + [ + -0.006260708440095186, + 0.9995072484016418, + 0.030758783221244812, + 0.016392382742329077 + ], + [ + -0.009700576774775982, + -0.030818644911050797, + 0.9994779229164124, + -0.06653088918802415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9999399185180664, + 0.010063537396490574, + -0.004349117632955313, + -0.02081977079914929 + ], + [ + -0.009899181313812733, + 0.999292254447937, + 0.03629003465175629, + 0.022125061946220635 + ], + [ + 0.0047112456522881985, + -0.03624480217695236, + 0.9993318319320679, + -0.07260851017642027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996652007102966, + 0.017619317397475243, + -0.018947960808873177, + -0.02256275091535789 + ], + [ + -0.016772696748375893, + 0.9988930225372314, + 0.04394838958978653, + 0.02295775126573468 + ], + [ + 0.01970132626593113, + -0.04361587017774582, + 0.9988541007041931, + -0.07276036729266451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.999125599861145, + 0.02718895673751831, + -0.031761255115270615, + -0.02670516236261888 + ], + [ + -0.025610189884901047, + 0.9984655380249023, + 0.04909875616431236, + 0.026498075075878584 + ], + [ + 0.03304746374487877, + -0.048242416232824326, + 0.9982888102531433, + -0.07168662125352493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9982109069824219, + 0.03862244263291359, + -0.04564330726861954, + -0.03063951259063295 + ], + [ + -0.03625061735510826, + 0.998004674911499, + 0.05169684812426567, + 0.028024673295661436 + ], + [ + 0.047548890113830566, + -0.049949761480093, + 0.9976192116737366, + -0.07341286070829581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9968239665031433, + 0.050989050418138504, + -0.061172496527433395, + -0.037106097880596954 + ], + [ + -0.047845710068941116, + 0.9975109696388245, + 0.05179426074028015, + 0.03247853867894362 + ], + [ + 0.06366117298603058, + -0.048702917993068695, + 0.9967824816703796, + -0.07667237803408991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9949892163276672, + 0.06199377030134201, + -0.07844262570142746, + -0.04795796378584932 + ], + [ + -0.05791608989238739, + 0.9969011545181274, + 0.05323353782296181, + 0.0347432930545866 + ], + [ + 0.08149968832731247, + -0.048423703759908676, + 0.9954963326454163, + -0.08968786079559692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9924147129058838, + 0.07126154750585556, + -0.1001739427447319, + -0.05308885114990975 + ], + [ + -0.06581059843301773, + 0.9962193965911865, + 0.0567086823284626, + 0.033737665196218763 + ], + [ + 0.10383637994527817, + -0.04968602582812309, + 0.9933525323867798, + -0.10114515658991398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9893515706062317, + 0.07790599763393402, + -0.12293930351734161, + -0.05403298728229586 + ], + [ + -0.07124504446983337, + 0.9957895278930664, + 0.05768359825015068, + 0.0381366488670022 + ], + [ + 0.1269155740737915, + -0.0483105443418026, + 0.9907363653182983, + -0.11204371803925058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9864789843559265, + 0.08134060353040695, + -0.1422775834798813, + -0.05887114768924792 + ], + [ + -0.07311836630105972, + 0.9953879117965698, + 0.062101978808641434, + 0.03719988735931471 + ], + [ + 0.1466728001832962, + -0.05085919424891472, + 0.9878767132759094, + -0.12870322343978016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9834178686141968, + 0.08351543545722961, + -0.16097958385944366, + -0.06248689540161574 + ], + [ + -0.0735977292060852, + 0.9950599074363708, + 0.06662672013044357, + 0.0339880060989502 + ], + [ + 0.1657487004995346, + -0.05367417633533478, + 0.9847062826156616, + -0.1306622361163955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9810205698013306, + 0.08320391178131104, + -0.17514491081237793, + -0.06678663072260943 + ], + [ + -0.07232791185379028, + 0.9950873255729675, + 0.06760109961032867, + 0.030051409249955956 + ], + [ + 0.1799091398715973, + -0.053650204092264175, + 0.9822190999984741, + -0.14136220067739488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9783823490142822, + 0.08188764750957489, + -0.18990112841129303, + -0.07083113953348033 + ], + [ + -0.07035680115222931, + 0.9952895641326904, + 0.06669823080301285, + 0.030853236201873496 + ], + [ + 0.19446836411952972, + -0.05189553648233414, + 0.9795350432395935, + -0.16471303445248564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9748557209968567, + 0.08275774121284485, + -0.20689968764781952, + -0.07381659859468129 + ], + [ + -0.0699014961719513, + 0.9951850175857544, + 0.06870671361684799, + 0.033951179800201056 + ], + [ + 0.21158947050571442, + -0.05251653864979744, + 0.9759466648101807, + -0.1694089939894755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9713907837867737, + 0.08442233502864838, + -0.22197489440441132, + -0.07764885450197645 + ], + [ + -0.06984119117259979, + 0.9949017763137817, + 0.07275077700614929, + 0.03194437608245976 + ], + [ + 0.22698499262332916, + -0.055166441947221756, + 0.9723345637321472, + -0.18484811350580088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9676413536071777, + 0.08730534464120865, + -0.236744686961174, + -0.08574755876517492 + ], + [ + -0.07202406972646713, + 0.9947671890258789, + 0.07246214896440506, + 0.04008169777014039 + ], + [ + 0.2418321818113327, + -0.053066056221723557, + 0.9688659310340881, + -0.19799646120672384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9637516736984253, + 0.09193062782287598, + -0.25046250224113464, + -0.09049707834631943 + ], + [ + -0.07522700726985931, + 0.9943050146102905, + 0.07548806816339493, + 0.04221707152679932 + ], + [ + 0.2559758126735687, + -0.053910207003355026, + 0.9651787877082825, + -0.20712784878478563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9600561857223511, + 0.09649507701396942, + -0.26264214515686035, + -0.0980291127665969 + ], + [ + -0.0792485773563385, + 0.9939908981323242, + 0.07551013678312302, + 0.045771430962341875 + ], + [ + 0.2683502435684204, + -0.05167996138334274, + 0.9619341492652893, + -0.22195762568268895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9561880826950073, + 0.10050909966230392, + -0.27495869994163513, + -0.10446375995135504 + ], + [ + -0.08373486250638962, + 0.9938755631446838, + 0.07210996001958847, + 0.05255059226731623 + ], + [ + 0.2805224359035492, + -0.04592705890536308, + 0.9587481021881104, + -0.23434315838597036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9529352188110352, + 0.10277267545461655, + -0.2852230966091156, + -0.11240546841266727 + ], + [ + -0.08676717430353165, + 0.9938892722129822, + 0.06823136657476425, + 0.05942521094660128 + ], + [ + 0.2904925048351288, + -0.04027207940816879, + 0.9560294151306152, + -0.2597737055672102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9490731954574585, + 0.10258949548006058, + -0.2978849709033966, + -0.11185820627311044 + ], + [ + -0.08732800930738449, + 0.9941129088401794, + 0.06413507461547852, + 0.05989340642267022 + ], + [ + 0.3027108609676361, + -0.03485517576336861, + 0.952444851398468, + -0.279953902122403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9469423890113831, + 0.10074052959680557, + -0.305207222700119, + -0.11456986313516443 + ], + [ + -0.08703816682100296, + 0.9945027828216553, + 0.05821160599589348, + 0.06672928959192816 + ], + [ + 0.30939367413520813, + -0.028558362275362015, + 0.9505051374435425, + -0.28945446728674834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9465950131416321, + 0.09813403338193893, + -0.30712801218032837, + -0.12006751651113683 + ], + [ + -0.08482874184846878, + 0.9947974681854248, + 0.05640977621078491, + 0.06753250821070238 + ], + [ + 0.3110659122467041, + -0.027343928813934326, + 0.9499949216842651, + -0.3084625087001107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.946435272693634, + 0.09478836506605148, + -0.3086671829223633, + -0.12539309553863587 + ], + [ + -0.08174186199903488, + 0.9951370358467102, + 0.054958995431661606, + 0.06641096937939647 + ], + [ + 0.31237560510635376, + -0.026784103363752365, + 0.9495810270309448, + -0.3203961699462134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.946861982345581, + 0.09146953374147415, + -0.3083597719669342, + -0.1304000837990075 + ], + [ + -0.0786130353808403, + 0.99544757604599, + 0.05388977378606796, + 0.07653668968638112 + ], + [ + 0.311885267496109, + -0.026785077527165413, + 0.9497421383857727, + -0.3339270400360596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.946445882320404, + 0.09003803133964539, + -0.3100537061691284, + -0.13329646094771455 + ], + [ + -0.0759420096874237, + 0.9954665899276733, + 0.05726375803351402, + 0.07124122331026664 + ], + [ + 0.313804030418396, + -0.030650947242975235, + 0.948992908000946, + -0.34866780372690565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9452221393585205, + 0.08886877447366714, + -0.3140977919101715, + -0.13602631626542935 + ], + [ + -0.07449308782815933, + 0.9955621957778931, + 0.05750400573015213, + 0.07383337033189033 + ], + [ + 0.3178142011165619, + -0.030955947935581207, + 0.9476475715637207, + -0.3605170108070058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9436472654342651, + 0.0889836773276329, + -0.3187659978866577, + -0.14099061119654946 + ], + [ + -0.07390443235635757, + 0.9955115914344788, + 0.05911724269390106, + 0.07568553712003487 + ], + [ + 0.3225957155227661, + -0.03222760558128357, + 0.9459880590438843, + -0.37685192813558027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9409862756729126, + 0.0888763815164566, + -0.3265666663646698, + -0.1419787733515432 + ], + [ + -0.07194408774375916, + 0.9953793287277222, + 0.06359285861253738, + 0.07283259845715909 + ], + [ + 0.3307096064090729, + -0.0363454669713974, + 0.943032443523407, + -0.3939357978253325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9376851916313171, + 0.08732251077890396, + -0.33633503317832947, + -0.1429839414505919 + ], + [ + -0.0689106360077858, + 0.995415985584259, + 0.0663200095295906, + 0.07472530569542538 + ], + [ + 0.34058448672294617, + -0.03901023045182228, + 0.939404308795929, + -0.40531064744823236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9352328777313232, + 0.08616341650485992, + -0.3433881103992462, + -0.14779968919340244 + ], + [ + -0.06508168578147888, + 0.995244562625885, + 0.07247526943683624, + 0.06868635180814207 + ], + [ + 0.34799984097480774, + -0.045432981103658676, + 0.9363930821418762, + -0.418432135325818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9329825639724731, + 0.08281907439231873, + -0.3502635657787323, + -0.15238150276921011 + ], + [ + -0.06090928614139557, + 0.9954605102539062, + 0.0731329694390297, + 0.06931884784466964 + ], + [ + 0.3547303378582001, + -0.046897485852241516, + 0.9337917566299438, + -0.43063564187239023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9312976598739624, + 0.0795777291059494, + -0.3554603159427643, + -0.15937011978350396 + ], + [ + -0.05715616047382355, + 0.9956812262535095, + 0.07315769046545029, + 0.06954905409211955 + ], + [ + 0.35974690318107605, + -0.04781484603881836, + 0.9318239688873291, + -0.4417732372756832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.929546594619751, + 0.07398469001054764, + -0.36120545864105225, + -0.16251476407051085 + ], + [ + -0.051922328770160675, + 0.9961650371551514, + 0.07042182236909866, + 0.06891645714640618 + ], + [ + 0.3650304079055786, + -0.046705737709999084, + 0.9298233389854431, + -0.45022420287132264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/d9defe15-365f-4189-b038-67e0652ac8d9/tilt_up/transforms.json b/dynpose_eval/camera_controls/d9defe15-365f-4189-b038-67e0652ac8d9/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..4c72bedf19f30ec24a53913e34a8c205736d357b --- /dev/null +++ b/dynpose_eval/camera_controls/d9defe15-365f-4189-b038-67e0652ac8d9/tilt_up/transforms.json @@ -0,0 +1,4283 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 122, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999999403953552, + -7.099558570189402e-05, + -0.00024543050676584244, + 0.0006803327123634517 + ], + [ + 7.103055395418778e-05, + 1.0, + 0.0001425005029886961, + -0.00045793125173076987 + ], + [ + 0.0002454203786328435, + -0.00014251793618313968, + 0.9999999403953552, + 0.0002332567673875019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999579191207886, + 0.0031986953946519683, + 0.008600922741344788, + 0.0036240401677787304 + ], + [ + -0.0031766099855303764, + 0.9999916319873444, + -0.002580221158892469, + 0.001775454729795456 + ], + [ + -0.0086091049015522, + 0.0025527907606359506, + 0.9999596835675421, + 0.0031688930466771126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998234510421753, + 0.004329078064002307, + 0.018283316304429736, + 0.006078440696001053 + ], + [ + -0.004239569418132305, + 0.999978843061032, + -0.004931588477916822, + 0.0025452859699726105 + ], + [ + -0.01830427721142769, + 0.004853204656073562, + 0.9998206920161942, + 0.008133146911859512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9996461868286133, + 0.0028388250512132525, + 0.02644710525368219, + 0.009464092552661896 + ], + [ + -0.002648383378982544, + 0.9999703611764758, + -0.007233089120843116, + 0.0025207505095750093 + ], + [ + -0.0264668557792902, + 0.0071604877167531404, + 0.9996240453024621, + 0.012710325419902802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9994456171989441, + -0.001641806556128135, + 0.0332524085484033, + 0.010248924605548382 + ], + [ + 0.0019541394431144, + 0.9999542759761105, + -0.009362469157825987, + 0.001979716122150421 + ], + [ + -0.033235516399145126, + 0.009422258447235241, + 0.9994031101849697, + 0.007736150175333023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993059635162354, + -0.0077145889575720135, + 0.036442797564633846, + 0.01403471827507019 + ], + [ + 0.008125372231006622, + 0.9999049458595766, + -0.011137390632567653, + 0.0019225158030167222 + ], + [ + -0.03635341674089432, + 0.01142577238291128, + 0.9992736754756537, + 0.0026388559490442276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999087929725647, + -0.014172264971427996, + 0.040279920463060774, + 0.016554392874240875 + ], + [ + 0.01469357032328844, + 0.9998116955562792, + -0.01267558896361552, + 0.0005208978545852005 + ], + [ + -0.04009269177913666, + 0.013255883802207163, + 0.999108040170145, + 0.0004385419306345284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9987323880195618, + -0.020166583850482606, + 0.04611875236341887, + 0.019685249775648117 + ], + [ + 0.02086031064391136, + 0.9996756402950676, + -0.014610679485304787, + -0.0014138403348624706 + ], + [ + -0.045809146016836166, + 0.015554210200587709, + 0.9988291131396118, + 0.001664678449742496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9982157349586487, + -0.02545157047677759, + 0.054014408227484746, + 0.02392357960343361 + ], + [ + 0.026373090222477913, + 0.9995173695658294, + -0.01641683729941009, + -0.0016962623922154307 + ], + [ + -0.05357050523161888, + 0.017812072210009796, + 0.9984052096092983, + 0.004839546512812376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9975693225860596, + -0.030011454918804147, + 0.06288704329266825, + 0.02727367728948593 + ], + [ + 0.03120804950594902, + 0.9993484162238403, + -0.01813237706517409, + -0.002751600928604603 + ], + [ + -0.0623018853366375, + 0.020050885178144382, + 0.9978559469649034, + 0.004263835493475199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.996907651424408, + -0.03230211800972336, + 0.07163610824128859, + 0.027014678344130516 + ], + [ + 0.033937226980924606, + 0.9991878036462266, + -0.021726415773348474, + -0.001791632967069745 + ], + [ + -0.0708761215209961, + 0.024090359635997507, + 0.99719415544611, + 0.0016558042261749506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9963765740394595, + -0.033018042159874514, + 0.07838078870816619, + 0.02950291521847248 + ], + [ + 0.03511254116892815, + 0.9990580990307824, + -0.025495716854096538, + -0.0019479552283883095 + ], + [ + -0.07746514678001405, + 0.028155483130892566, + 0.9965974030688103, + 0.002314445562660694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9958259463310244, + -0.03207418671708809, + 0.08545161162814312, + 0.028765210881829262 + ], + [ + 0.03473616763949395, + 0.9989506546452237, + -0.029849010045714237, + -0.0024807124864310026 + ], + [ + -0.08440456539392473, + 0.032692678869969106, + 0.9958950922229155, + 0.0036888131871819496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9955132603645325, + -0.030507308511735137, + 0.08956936174506713, + 0.03175700828433037 + ], + [ + 0.03371920436620712, + 0.9988333706395152, + -0.0345676117928506, + -0.003096730448305607 + ], + [ + -0.08841030299663544, + 0.037432723832469525, + 0.9953805468421232, + 0.005121974740177393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9952331781387329, + -0.028828481486394705, + 0.09316537088263682, + 0.030231159180402756 + ], + [ + 0.03255441412329674, + 0.9987195370723203, + -0.038723272138080994, + -0.0032436950132250786 + ], + [ + -0.09192974865436554, + 0.04157163003434355, + 0.9948973463642866, + 0.002439242321997881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9951415061950684, + -0.027723320669931703, + 0.0944711025799877, + 0.02807801030576229 + ], + [ + 0.03177982568740845, + 0.99862430443635, + -0.04170842753080545, + -0.0044861482456326485 + ], + [ + -0.09318483620882034, + 0.04450806093503805, + 0.9946534905489077, + -0.0034310868941247463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9951621890068054, + -0.026555173486321224, + 0.09458891898611836, + 0.028180206194519997 + ], + [ + 0.030867764726281166, + 0.9985357176870554, + -0.04442533304387337, + -0.0029171190690249205 + ], + [ + -0.0932706966996193, + 0.04713016032350939, + 0.9945246853255286, + -0.006109682843089104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9949925541877747, + -0.02613522218692237, + 0.09647152595672812, + 0.02985786646604538 + ], + [ + 0.030605975538492203, + 0.998510930309715, + -0.045157487445625616, + -0.0040943557396531105 + ], + [ + -0.09514767676591873, + 0.047883968632821475, + 0.994310842536269, + -0.004486283287405968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9945241212844849, + -0.02718668271537932, + 0.10090902505701767, + 0.031111186370253563 + ], + [ + 0.03194441646337509, + 0.9984380840569942, + -0.045836059096611335, + -0.004081071354448795 + ], + [ + -0.09950528293848038, + 0.048808545664441025, + 0.9938392148596744, + -0.0021339692175388336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9938924312591553, + -0.0297470902931558, + 0.10626841540809029, + 0.0296495258808136 + ], + [ + 0.03476700559258461, + 0.9983499357363183, + -0.045701830402895556, + 0.00033652441925369203 + ], + [ + -0.10473357141017914, + 0.04911733799419258, + 0.9932866545626846, + 0.0011509767500683665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9935081601142883, + -0.03352633177374342, + 0.10870847913535595, + 0.02809285931289196 + ], + [ + 0.03831230476498604, + 0.9983726502210333, + -0.04223972728617459, + -0.0010828194208443165 + ], + [ + -0.10711543262004852, + 0.04613038705050835, + 0.993175880253482, + 0.0015520815504714847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9933760762214661, + -0.03647418707148565, + 0.10896617021574584, + 0.0262826569378376 + ], + [ + 0.04105716571211815, + 0.9983511935172296, + -0.04011479794907342, + 0.00034547114046290517 + ], + [ + -0.10732334852218628, + 0.044322922692300086, + 0.9932357263215255, + 0.0037641599774360657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9935389757156374, + -0.039540859113438145, + 0.10638083956176939, + 0.024921126663684845 + ], + [ + 0.0437447875738144, + 0.9983395286337913, + -0.03747804714622717, + -0.0002064098953269422 + ], + [ + -0.10472228378057483, + 0.04188950467368654, + 0.9936188802503227, + 0.00175847252830863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9942219257354736, + -0.039685138352816944, + 0.0997389671249235, + 0.02367500588297844 + ], + [ + 0.0434403158724308, + 0.9984156948971257, + -0.035763820464167664, + -0.0022788578644394875 + ], + [ + -0.09816165268421173, + 0.039889866232303166, + 0.9943707211756896, + 0.0008602116140536964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9950068593025208, + -0.03786873836675336, + 0.09234328876295801, + 0.02278870716691017 + ], + [ + 0.04127359762787819, + 0.998526092853898, + -0.03524446042122673, + -0.0029219796415418386 + ], + [ + -0.09087251871824265, + 0.038879818775287955, + 0.9951032913780065, + 0.002605323912575841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9956714510917664, + -0.034700572850508996, + 0.08622195343314822, + 0.015896346420049667 + ], + [ + 0.037955354899168015, + 0.998616257881701, + -0.03640029692680137, + -0.001993174199014902 + ], + [ + -0.08483953773975372, + 0.0395153193279743, + 0.9956107395708702, + 0.0021608222741633654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9965182542800906, + -0.03179938854053823, + 0.07707218133502165, + 0.012580525130033493 + ], + [ + 0.034793291240930564, + 0.9986787392907063, + -0.037818780200529575, + 0.0004478096088860184 + ], + [ + -0.07576772570610048, + 0.040368700497516424, + 0.9963080096173041, + -0.0013065801467746496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.997314989566803, + -0.02979390180319536, + 0.06689631615549095, + 0.012869538739323616 + ], + [ + 0.032394181936979294, + 0.9987476485096727, + -0.03812781691215178, + 0.0010122735984623432 + ], + [ + -0.06567656993865967, + 0.04019249573163437, + 0.9970311808296268, + -0.002588867209851742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9979223608970644, + -0.028107966463219954, + 0.05797317815279341, + 0.011990023776888847 + ], + [ + 0.030465682968497283, + 0.9987272959586373, + -0.04019433075211199, + 0.0031638608779758215 + ], + [ + -0.056769616901874556, + 0.04187701297669388, + 0.997508635697112, + -0.0012471581576392055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9983031749725344, + -0.028389414836528026, + 0.05084054544853413, + 0.012965730391442776 + ], + [ + 0.03050822578370572, + 0.9986769160066661, + -0.04139623461120403, + 0.0031610443256795406 + ], + [ + -0.04959806799888612, + 0.042877047395900716, + 0.9978484610438846, + 0.001010765554383397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9985505938529968, + -0.03041351781571611, + 0.04440381608341321, + 0.011712922714650631 + ], + [ + 0.03230522945523262, + 0.9985729790540643, + -0.042525373175718494, + 0.0018696801271289587 + ], + [ + -0.04304710403084755, + 0.043898212587278024, + 0.9981081592181894, + 0.0011728937970474362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.99873286485672, + -0.03305711341359775, + 0.03794521421379891, + 0.010551203042268753 + ], + [ + 0.034719858318567276, + 0.9984266889940918, + -0.04403083569030874, + 0.0025172848254442215 + ], + [ + -0.03642997890710831, + 0.04529249815738886, + 0.9983093214449053, + 0.0024893777444958687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9988138675689697, + -0.037034405845738, + 0.03161181347634363, + 0.011712811887264252 + ], + [ + 0.03842448443174362, + 0.9982674506859673, + -0.044561359179328346, + 0.001793033443391323 + ], + [ + -0.02990674041211605, + 0.04572316838001407, + 0.9985063540974416, + 0.00202229549176991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9987661242485046, + -0.04134189532835924, + 0.027515138227824316, + 0.010122377425432205 + ], + [ + 0.04252549633383751, + 0.9981295658216977, + -0.043919574085438014, + -0.0005249777459539473 + ], + [ + -0.025647953152656555, + 0.04503547912990044, + 0.9986561079668725, + 0.0006397807155735791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9986863136291504, + -0.04485757252531618, + 0.02476693885424193, + 0.011113698594272137 + ], + [ + 0.0459202416241169, + 0.9979689864530663, + -0.0441495265511907, + 0.0003293932240922004 + ], + [ + -0.022736195474863052, + 0.04522883404257135, + 0.9987178658258057, + 0.0014384743990376592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985597729682922, + -0.04737614521931004, + 0.025176613284317396, + 0.011371616274118423 + ], + [ + 0.04845977947115898, + 0.9978408070030539, + -0.044332124347734356, + 0.0019831990357488394 + ], + [ + -0.023021968081593513, + 0.04548833232716121, + 0.9986995755028913, + 0.00406242860481143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.998416006565094, + -0.04868428672881613, + 0.02820182734482873, + 0.012248446233570576 + ], + [ + 0.04993302747607231, + 0.9977196799554495, + -0.04541058816243202, + 0.0027698895428329706 + ], + [ + -0.025926737114787102, + 0.0467468604409269, + 0.9985702265450916, + 0.013753083534538746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9982588291168213, + -0.048770154837322076, + 0.03317781798202838, + 0.012001410126686096 + ], + [ + 0.050307273864746094, + 0.9976182557877691, + -0.04719054113082169, + 0.003143778070807457 + ], + [ + -0.030797306448221207, + 0.0487774585602057, + 0.9983347275239545, + 0.02041270025074482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9980781078338625, + -0.04964874595696934, + 0.037081914864425164, + 0.010212727822363377 + ], + [ + 0.05145707726478578, + 0.997446834746363, + -0.04951728279117266, + 0.0013321376172825694 + ], + [ + -0.03452876582741738, + 0.05133024512382365, + 0.998084675066101, + 0.017396103590726852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9980016350746157, + -0.051088010133068226, + 0.03718600792695157, + 0.01049584150314331 + ], + [ + 0.05296177044510843, + 0.9972789497743632, + -0.05128102083561544, + 0.0018160747131332755 + ], + [ + -0.03446497768163682, + 0.05314797958224143, + 0.9979917409860176, + 0.014293547719717026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9980008006095886, + -0.05216519001878101, + 0.0356813663989866, + 0.011412154883146286 + ], + [ + 0.054039351642131805, + 0.9970910856202276, + -0.05374998946822407, + 0.0022097306791692972 + ], + [ + -0.0327736958861351, + 0.05557073160574758, + 0.9979166960443981, + 0.01563180983066559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.997921884059906, + -0.053617196995421924, + 0.03573694991198221, + 0.010855632834136486 + ], + [ + 0.055555835366249084, + 0.9969027458293566, + -0.055663617917812644, + 0.0023807696998119354 + ], + [ + -0.032641734927892685, + 0.057533335341633476, + 0.9978097978224306, + 0.015317036770284176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9978470802307129, + -0.05496976507321662, + 0.03576991390049101, + 0.011259462684392929 + ], + [ + 0.056964971125125885, + 0.996725785952992, + -0.057381939079726184, + 0.003072473220527172 + ], + [ + -0.032498523592948914, + 0.05929603334789247, + 0.9977112909614404, + 0.014719147235155106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9977830648422241, + -0.055548793599903674, + 0.03665160609461384, + 0.01155101228505373 + ], + [ + 0.05764809623360634, + 0.9965949677582271, + -0.058950890466127885, + 0.002088952111080289 + ], + [ + -0.03325215354561806, + 0.06093309289585281, + 0.9975878324804685, + 0.016452347859740257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9976556301116943, + -0.056348408675657526, + 0.03883381035773555, + 0.011883329600095749 + ], + [ + 0.05864959582686424, + 0.9964184665622756, + -0.060913647611356335, + 0.0034557636827230453 + ], + [ + -0.0352623388171196, + 0.06304843694322401, + 0.9973873456672758, + 0.01743123307824135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9975768327713013, + -0.056085970034089015, + 0.04116867972029005, + 0.01236621756106615 + ], + [ + 0.05858234316110611, + 0.9963449028177623, + -0.06216910884695687, + 0.0019596044439822435 + ], + [ + -0.03753139078617096, + 0.06443021152132644, + 0.9972161785386282, + 0.01684672199189663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9975287318229675, + -0.05575877158851101, + 0.042747940315191836, + 0.012467576190829277 + ], + [ + 0.05845240131020546, + 0.9961983849958371, + -0.06459133413179155, + 0.002596565056592226 + ], + [ + -0.038983896374702454, + 0.06693043447031966, + 0.9969957669857075, + 0.016957852989435196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9975128173828125, + -0.054770180242714434, + 0.044366614630604664, + 0.011576641350984573 + ], + [ + 0.057657308876514435, + 0.996109453288291, + -0.0666449331780055, + 0.0018358465749770403 + ], + [ + -0.040543846786022186, + 0.06903723701415099, + 0.9967898717164789, + 0.020064454525709152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9975277185440066, + -0.05385425827762401, + 0.0451466075689884, + 0.011289970949292183 + ], + [ + 0.056936156004667296, + 0.9959198797561901, + -0.07001333472311427, + 0.0030867736786603928 + ], + [ + -0.04119189083576203, + 0.07241071703730438, + 0.9965239097196014, + 0.02176031842827797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9976000189781189, + -0.053243214998598576, + 0.04426432795436375, + 0.011022839695215225 + ], + [ + 0.05638265982270241, + 0.9957372439081534, + -0.07299531951143003, + 0.002147640334442258 + ], + [ + -0.04018913581967354, + 0.07531587314519743, + 0.9963494947632724, + 0.019624780863523483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9977459907531738, + -0.05320010182573826, + 0.04089840073970983, + 0.011340332217514515 + ], + [ + 0.05618056654930115, + 0.995557569843407, + -0.07555736064497216, + 0.0008922606357373297 + ], + [ + -0.03669705241918564, + 0.07768474391221926, + 0.996302353981447, + 0.013797103427350521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.99789959192276, + -0.053062638702081805, + 0.03715830555253443, + 0.00995304062962532 + ], + [ + 0.055842265486717224, + 0.9953674857935484, + -0.07826372342563448, + 0.0006075866403989494 + ], + [ + -0.0328332893550396, + 0.08017434374670292, + 0.9962399843843792, + 0.010036355815827847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9980595707893372, + -0.05225150406376134, + 0.03386515425016408, + 0.010884224437177181 + ], + [ + 0.05485115945339203, + 0.9952015778436544, + -0.08102558011937269, + 0.0021086472552269697 + ], + [ + -0.029468946158885956, + 0.08272590321314839, + 0.9961365624837492, + 0.010618451051414013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.998124420642853, + -0.05143916124058242, + 0.03319170763959969, + 0.011283782310783863 + ], + [ + 0.054055444896221175, + 0.9950449362498428, + -0.08344797568606709, + 0.002502869116142392 + ], + [ + -0.028734747320413596, + 0.08508565370942403, + 0.995959208223856, + 0.011601732112467289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9981434345245361, + -0.05019747629280347, + 0.03449495709007273, + 0.01111509744077921 + ], + [ + 0.05299263074994087, + 0.9949220364218769, + -0.08556825484425565, + 0.0031799678690731525 + ], + [ + -0.030024481937289238, + 0.08723736533376783, + 0.9957349637217887, + 0.012347966432571411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9981348514556887, + -0.04850287403087419, + 0.03707170274019853, + 0.0104942312464118 + ], + [ + 0.05158259347081186, + 0.9948533039038129, + -0.08721313890443416, + 0.0015284994151443243 + ], + [ + -0.03265081718564034, + 0.08896272699605744, + 0.9954996508832575, + 0.011398537084460258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9981133937835693, + -0.04662222152859684, + 0.03995073648565807, + 0.010358380153775215 + ], + [ + 0.0500498041510582, + 0.9947200905912876, + -0.089593350536674, + 0.000985556049272418 + ], + [ + -0.03556275740265846, + 0.09142384899597618, + 0.9951768571960644, + 0.009291430935263634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9981067180633545, + -0.04434874478243039, + 0.04261659110844646, + 0.013168682344257832 + ], + [ + 0.04815005511045456, + 0.994523799889599, + -0.09275749972742772, + 0.001978523563593626 + ], + [ + -0.0382695347070694, + 0.09463387357308123, + 0.9947762631207845, + 0.01305262092500925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9979908466339111, + -0.041824699235363916, + 0.047592138177879564, + 0.010865225456655025 + ], + [ + 0.046237871050834656, + 0.994329999953192, + -0.09575984252205547, + 0.00032249081414192915 + ], + [ + -0.04331716522574425, + 0.09776799984881536, + 0.9942660868141489, + 0.01005603838711977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9979040622711182, + -0.03995680131525821, + 0.05090107694037554, + 0.010643416084349155 + ], + [ + 0.044868167489767075, + 0.9940438150875933, + -0.09931641177545852, + 0.00185010873246938 + ], + [ + -0.046629536896944046, + 0.10139209326988949, + 0.9937531790804552, + 0.005394067615270615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9978452920913696, + -0.03821255241259432, + 0.053334067862174615, + 0.012672916986048222 + ], + [ + 0.043532274663448334, + 0.993786522901416, + -0.10243650030409199, + 0.0005670294631272554 + ], + [ + -0.04908831790089607, + 0.10453754275879304, + 0.9933087535663383, + 0.00911087915301323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9977079629898071, + -0.037393485323703735, + 0.056396484643186695, + 0.013016312383115292 + ], + [ + 0.04324165731668472, + 0.9933910840714704, + -0.10632202092689229, + 0.000977332005277276 + ], + [ + -0.05204801261425018, + 0.10851700030465646, + 0.9927311114871655, + 0.010151717811822891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9975829720497131, + -0.036922227289175456, + 0.05886374007004046, + 0.011398504488170147 + ], + [ + 0.043209753930568695, + 0.9930588099743611, + -0.1093945692297102, + -0.0005949715850874782 + ], + [ + -0.05441606044769287, + 0.11167364560044643, + 0.9922539570696237, + 0.008752300404012203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9975355863571167, + -0.03736299932066058, + 0.05938617980255659, + 0.011584623716771603 + ], + [ + 0.043905701488256454, + 0.9926256157131029, + -0.11298979753755668, + -0.0013586316490545869 + ], + [ + -0.054726604372262955, + 0.11531873397895206, + 0.9918198251968369, + 0.005752868950366974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9975191354751587, + -0.0380931335323959, + 0.05919893034676808, + 0.0101804593577981 + ], + [ + 0.044845592230558395, + 0.9920861727148266, + -0.11727683819973907, + -0.0009865467436611652 + ], + [ + -0.054262999445199966, + 0.11964069933558136, + 0.9913332433280222, + 0.0011737763416022062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9975671768188477, + -0.03850320352444718, + 0.058114422029636036, + 0.012382814660668373 + ], + [ + 0.045329008251428604, + 0.9916022681929133, + -0.12112088165543601, + -0.00048249310930259526 + ], + [ + -0.05296285077929497, + 0.12346048027049246, + 0.9909351394220556, + -0.002039274899289012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9975318908691408, + -0.03768085875490247, + 0.059247152721981375, + 0.012866616249084473 + ], + [ + 0.044879131019115455, + 0.9911054612211334, + -0.12528300555633337, + 0.0012401677668094635 + ], + [ + -0.05399940535426141, + 0.12763275939822644, + 0.9903504302778, + 0.004735523834824562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9973931908607485, + -0.036243347683892514, + 0.06239575017691506, + 0.013411966152489185 + ], + [ + 0.044073659926652915, + 0.9906540210027209, + -0.1290816490126827, + 0.0001781160244718194 + ], + [ + -0.05713425204157831, + 0.13149517574760447, + 0.9896690131883138, + 0.008705648593604565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9972614049911499, + -0.03538141364672118, + 0.06494493603664352, + 0.010981878265738487 + ], + [ + 0.043784819543361664, + 0.9901609330086224, + -0.13290672786106555, + -0.0015389759792014956 + ], + [ + -0.059603508561849594, + 0.13538635074329583, + 0.9889984456545822, + 0.0075486754067242146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9972325563430786, + -0.03657350891165074, + 0.0647271351421065, + 0.010596171021461487 + ], + [ + 0.04506881162524223, + 0.9898092808275899, + -0.13507915903348217, + -0.002600471256300807 + ], + [ + -0.05912720412015915, + 0.13762251226422428, + 0.9887183830528287, + 0.0035215262323617935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9973512291908264, + -0.03823155055006731, + 0.06187770611892813, + 0.011080646887421608 + ], + [ + 0.04640665277838707, + 0.9895395785073672, + -0.13659363768960614, + -0.001783691463060677 + ], + [ + -0.05600825324654579, + 0.1391033751612155, + 0.9886927469224743, + 0.0013039950281381607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9974673390388489, + -0.03953899774373952, + 0.0591236525953461, + 0.012259519658982754 + ], + [ + 0.04739408567547798, + 0.9892998482203484, + -0.1379841951323422, + -0.000437923357822001 + ], + [ + -0.05303526297211647, + 0.1404368311158225, + 0.9886681522583828, + 0.0016328251222148538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9974992275238037, + -0.03963500041210419, + 0.058518520764284855, + 0.0136557687073946 + ], + [ + 0.047436702996492386, + 0.9892117300712173, + -0.13859995528942698, + -0.0007075021858327091 + ], + [ + -0.05239379405975342, + 0.14102926927732348, + 0.9886180578609396, + 0.0009502626489847898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9974504709243777, + -0.03829816725668923, + 0.060214480381775175, + 0.012480325996875763 + ], + [ + 0.04639380052685738, + 0.9891512263187778, + -0.13938236186104958, + -0.00028984012897126377 + ], + [ + -0.05422313511371614, + 0.1418205855033557, + 0.9884061827457779, + 0.0025420216843485832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9973528385162356, + -0.03631757229211025, + 0.06299480630354672, + 0.013059166260063648 + ], + [ + 0.04490616545081139, + 0.9890219341281646, + -0.14078015087340434, + 0.0005569002823904157 + ], + [ + -0.057190448045730605, + 0.14323633986856713, + 0.9880347355441914, + 0.004321911372244358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.997218906879425, + -0.033317365431415974, + 0.06666680943028859, + 0.013238821178674698 + ], + [ + 0.042494166642427444, + 0.989046837251554, + -0.14135293508014712, + 0.0003227379056625068 + ], + [ + -0.061227090656757355, + 0.14379276280068576, + 0.9877119625835542, + 0.00902952067553997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9971130490303042, + -0.030833379077230536, + 0.06938889268770997, + 0.014187476597726345 + ], + [ + 0.040475785732269294, + 0.9890159845475008, + -0.14215857862111814, + 8.448207518085837e-05 + ], + [ + -0.06424350291490556, + 0.14455675073242202, + 0.9874088066591357, + 0.007893144153058529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9971686601638794, + -0.028547587590410532, + 0.06956761061625083, + 0.015093614347279072 + ], + [ + 0.03826439753174782, + 0.9890382875960018, + -0.14261518888364103, + -0.0011415643384680152 + ], + [ + -0.06473371386528015, + 0.14487336244278912, + 0.9873303551655789, + 0.005867009982466698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.997287452220917, + -0.026292231034901966, + 0.0687490433126804, + 0.014951172284781933 + ], + [ + 0.035916067659854896, + 0.9891093908073392, + -0.1427328793080666, + -0.0009482106543146074 + ], + [ + -0.06424755603075029, + 0.14481490273553152, + 0.9873706953786621, + 0.008201872929930687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9974346160888672, + -0.023561861609553522, + 0.06759415212067058, + 0.012925734743475914 + ], + [ + 0.03309878706932068, + 0.9890759481140641, + -0.14364263258474114, + 0.0004662344290409237 + ], + [ + -0.06347126513719559, + 0.14551143073061043, + 0.9873185220031258, + 0.010095312260091305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9976765513420105, + -0.020633309351976895, + 0.06492895237001266, + 0.011420678347349167 + ], + [ + 0.029858313500881195, + 0.9890559724038834, + -0.14448780986154702, + -0.0005332546425051987 + ], + [ + -0.06123710796236992, + 0.14609076868168497, + 0.987374024221473, + 0.010200153104960918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9979752898216248, + -0.017395815112137353, + 0.061177637306868926, + 0.011488028801977634 + ], + [ + 0.02621523104608059, + 0.9888694400207002, + -0.14645813440088434, + 0.0014728819951415062 + ], + [ + -0.05794893950223923, + 0.1477653917538457, + 0.9873233321854301, + 0.01035055797547102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9982753396034241, + -0.01277230682246385, + 0.057298958072854456, + 0.009829550050199032 + ], + [ + 0.021242056041955948, + 0.988496962105676, + -0.1497415168298596, + 0.003344697877764702 + ], + [ + -0.054727304726839066, + 0.1507004151991274, + 0.9870634822882574, + 0.00969335250556469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9985679388046265, + -0.008043283623094375, + 0.0528904540638981, + 0.008607860654592514 + ], + [ + 0.01612319052219391, + 0.9879130225039817, + -0.15416841273294787, + 0.005602687131613493 + ], + [ + -0.05101114511489868, + 0.1548003985097231, + 0.9866279710207757, + 0.009977059438824654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9988837838172915, + -0.0036387100822037814, + 0.04709569136708702, + 0.00862894393503666 + ], + [ + 0.011074994690716268, + 0.9872779688006789, + -0.1586177789746396, + 0.009455183520913124 + ], + [ + -0.045919369906187064, + 0.15896230769561792, + 0.986216222856847, + 0.011362436227500439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9991506934165957, + 0.0013405714649985109, + 0.04118438236260285, + 0.00379989598877728 + ], + [ + 0.005361062940210105, + 0.9867465313628987, + -0.1621807379458115, + 0.010632439516484737 + ], + [ + -0.04085595905780793, + 0.16226377786359336, + 0.9859012222236245, + 0.012950262986123562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9994753003120422, + 0.004092874081062459, + 0.03213048123147343, + -0.0002646813518367708 + ], + [ + 0.001269630971364677, + 0.9862712872115582, + -0.1651282128079885, + 0.015055617317557335 + ], + [ + -0.03236522153019905, + 0.16508236588777758, + 0.9857486099994738, + 0.012001235969364643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.999762296676636, + 0.005863242370441033, + 0.02100064373218503, + -0.0055432794615626335 + ], + [ + -0.0023308505769819026, + 0.9863860655474082, + -0.16442944362449904, + 0.019278811290860176 + ], + [ + -0.021678833290934566, + 0.16434141334815158, + 0.986165286266241, + 0.010778546333312988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9999333620071411, + 0.007722831278706828, + 0.008582280612032112, + -0.014580071903765202 + ], + [ + -0.006260708440095186, + 0.9872659883272893, + -0.1589550585694374, + 0.01862938515841961 + ], + [ + -0.009700576774775982, + 0.15889072877377913, + 0.9872485216910667, + 0.006158414296805859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9999399185180664, + 0.009045218495144619, + -0.00619464538863532, + -0.021139664575457573 + ], + [ + -0.009899181313812733, + 0.9877672824818187, + -0.1556206029841466, + 0.024794328957796097 + ], + [ + 0.0047112456522881985, + 0.15567257357806297, + 0.9877974720726571, + 0.0008960625855252147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996652007102969, + 0.01361991985971515, + -0.021999166970194682, + -0.023972103372216225 + ], + [ + -0.016772696748375896, + 0.9885184588314526, + -0.1501665341232584, + 0.02622663974761963 + ], + [ + 0.019701326265931133, + 0.15048523778962672, + 0.9884159305840554, + 0.0015345658175647259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9991255998611452, + 0.020450493133050036, + -0.036466340995320874, + -0.029093818739056587 + ], + [ + -0.025610189884901054, + 0.9887795338207812, + -0.14717048609486644, + 0.03019062615931034 + ], + [ + 0.033047463744878776, + 0.1479757095763148, + 0.9884387025890902, + 0.003391297534108162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9982109069824219, + 0.028834199411944542, + -0.052379323378815575, + -0.03410991281270981 + ], + [ + -0.03625061735510826, + 0.9885207864335706, + -0.146671572023843, + 0.03195534273982048 + ], + [ + 0.047548890113830566, + 0.1483079384681185, + 0.9877974618107614, + 0.0024391785264015198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9968239665031435, + 0.037734196226656254, + -0.07012908119368544, + -0.041807785630226135 + ], + [ + -0.04784571006894113, + 0.9877368545965856, + -0.14861590112455572, + 0.03645941987633705 + ], + [ + 0.06366117298603059, + 0.15149927520721593, + 0.9864052207879319, + -6.0170765209477395e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9949892163276675, + 0.044872020960779274, + -0.0893474947494623, + -0.054051853716373444 + ], + [ + -0.057916089892387404, + 0.9871064547885267, + -0.1492198657805014, + 0.03887879103422165 + ], + [ + 0.08149968832731248, + 0.1536468164370718, + 0.9847590868811792, + -0.01235178206115961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.992414712905884, + 0.049315913762516685, + -0.11260980244952994, + -0.06095374748110771 + ], + [ + -0.06581059843301774, + 0.9868231603424538, + -0.14781410963663302, + 0.038189999759197235 + ], + [ + 0.1038363799452782, + 0.15410380954890515, + 0.9825833148615625, + -0.023154668509960175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9893515706062317, + 0.050879152827381945, + -0.1363624897991947, + -0.06378684937953949 + ], + [ + -0.07124504446983337, + 0.986281451948949, + -0.14890627558989464, + 0.04271319881081581 + ], + [ + 0.1269155740737915, + 0.1570358105837908, + 0.979404006757684, + -0.033439841121435165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9864789843559265, + 0.0499143985861565, + -0.1561017532167648, + -0.07027687132358551 + ], + [ + -0.07311836630105972, + 0.9864846647857407, + -0.14663477372454925, + 0.042178310453891754 + ], + [ + 0.1466728001832962, + 0.1560660188329088, + 0.9767960155723959, + -0.04950980097055435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9834178686141968, + 0.04776681348449295, + -0.1749502383785401, + -0.07552491128444672 + ], + [ + -0.0735977292060852, + 0.9867966684589458, + -0.1442763817849096, + 0.03938421979546547 + ], + [ + 0.1657487004995346, + 0.1547599201339597, + 0.9739490476139717, + -0.05090916529297829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9810205698013306, + 0.04407271295308554, + -0.18882856429084807, + -0.08111666887998581 + ], + [ + -0.07232791185379028, + 0.9867161088640173, + -0.14546482287047816, + 0.03558240830898285 + ], + [ + 0.1799091398715973, + 0.15636155860817078, + 0.9711764864279705, + -0.0609988197684288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9783823490142822, + 0.039210629906873906, + -0.2030530765313369, + -0.08652544766664505 + ], + [ + -0.07035680115222931, + 0.9864027636580694, + -0.14852460507072743, + 0.036365486681461334 + ], + [ + 0.19446836411952972, + 0.15960000522173493, + 0.9678377374200717, + -0.08375972509384155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9748557209968567, + 0.03593546169300132, + -0.2199203652969145, + -0.0910867378115654 + ], + [ + -0.0699014961719513, + 0.9864124647088327, + -0.14867508597687723, + 0.03968620300292969 + ], + [ + 0.21158947050571442, + 0.16030951011124706, + 0.9641217456077644, + -0.08794567734003067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9713907837867739, + 0.033783760176252925, + -0.23507156771054288, + -0.09636078774929047 + ], + [ + -0.0698411911725998, + 0.9866973652669397, + -0.14680098583659545, + 0.038077086210250854 + ], + [ + 0.22698499262332922, + 0.15901880230617738, + 0.960828215998266, + -0.10288272053003311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9676413536071777, + 0.032822457509432065, + -0.25018584350499534, + -0.10590020567178726 + ], + [ + -0.07202406972646713, + 0.9861823829349395, + -0.14918723465414988, + 0.04624996334314346 + ], + [ + 0.2418321818113327, + 0.1623791347522475, + 0.9566348390261505, + -0.11552274972200394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9637516736984255, + 0.03372898379708434, + -0.26466027471612463, + -0.11202443391084671 + ], + [ + -0.07522700726985933, + 0.9860819195348486, + -0.1482678605790217, + 0.04870530217885971 + ], + [ + 0.2559758126735688, + 0.1628029996750628, + 0.9528754304514185, + -0.12417033314704895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9600561857223511, + 0.03486019731929399, + -0.27762738147270183, + -0.12082037329673767 + ], + [ + -0.0792485773563385, + 0.9854577399952699, + -0.150308778886417, + 0.05232396349310875 + ], + [ + 0.2683502435684204, + 0.16630643101462636, + 0.9488573638511203, + -0.13848400115966797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9561880826950073, + 0.03536830931699701, + -0.2906087550033177, + -0.12855105102062225 + ], + [ + -0.08373486250638962, + 0.9842449108831561, + -0.15572551733995718, + 0.05886766314506531 + ], + [ + 0.2805224359035492, + 0.1732369686121098, + 0.9440848324674467, + -0.15035365521907806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9529352188110352, + 0.0345875178620795, + -0.3011945239667102, + -0.13762767612934113 + ], + [ + -0.08676717430353165, + 0.9830290900077024, + -0.16163295766439453, + 0.06545889377593994 + ], + [ + 0.2904925048351288, + 0.1801595333220267, + 0.9397641329227424, + -0.17523226141929626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9490731954574585, + 0.03082568643598573, + -0.31354399616117845, + -0.13844628632068634 + ], + [ + -0.08732800930738449, + 0.981946131631817, + -0.16779623920674203, + 0.06561785936355591 + ], + [ + 0.3027108609676361, + 0.186632088783332, + 0.9346306980135606, + -0.19494229555130005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9469423890113833, + 0.026638549643715873, + -0.3202975035254634, + -0.14206373691558838 + ], + [ + -0.08703816682100297, + 0.9805758138952592, + -0.1757710138682944, + 0.07197314500808716 + ], + [ + 0.3093936741352082, + 0.19432313513644878, + 0.9308673995329089, + -0.20383045077323914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9465950131416321, + 0.022959615670056256, + -0.32160653044042925, + -0.1479882448911667 + ], + [ + -0.08482874184846878, + 0.9800547965133459, + -0.1797127190586862, + 0.0726606696844101 + ], + [ + 0.3110659122467041, + 0.19739664513084726, + 0.9296626302912047, + -0.22209933400154114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.946435272693634, + 0.0186479708327826, + -0.3223546449935884, + -0.15370884537696838 + ], + [ + -0.08174186199903488, + 0.9796484083830543, + -0.18332268611708266, + 0.07145266234874725 + ], + [ + 0.31237560510635376, + 0.19985293729942188, + 0.9286981848495978, + -0.2332858443260193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.946861982345581, + 0.014802375428125744, + -0.32129941526879124, + -0.15894247591495514 + ], + [ + -0.0786130353808403, + 0.9792943673366572, + -0.186554352608689, + 0.08152483403682709 + ], + [ + 0.311885267496109, + 0.20189954331304755, + 0.9284202411697514, + -0.24601702392101288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9464458823204043, + 0.012308200307288271, + -0.3226277359464417, + -0.16225188970565796 + ], + [ + -0.07594200968742372, + 0.9797236019248395, + -0.18540370405623033, + 0.07658899575471878 + ], + [ + 0.31380403041839605, + 0.19997556624967386, + 0.9281900629214397, + -0.26004284620285034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9452221393585205, + 0.00948884920423385, + -0.3262898155016123, + -0.16561900079250336 + ], + [ + -0.07449308782815933, + 0.979471535126509, + -0.187313395714329, + 0.07925110310316086 + ], + [ + 0.3178142011165619, + 0.20135910978537144, + 0.9265250668544538, + -0.27123451232910156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9436472654342654, + 0.0077446372812502535, + -0.33086232307835667, + -0.17128655314445496 + ], + [ + -0.07390443235635759, + 0.9794121925120839, + -0.187856153007591, + 0.08130411803722382 + ], + [ + 0.32259571552276617, + 0.20172213104874978, + 0.9247919810748089, + -0.2869439721107483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9409862756729128, + 0.004987489842187331, + -0.3384079250210704, + -0.17328599095344543 + ], + [ + -0.07194408774375917, + 0.9799868697600785, + -0.18560655921278219, + 0.078929103910923 + ], + [ + 0.33070960640907293, + 0.19899968011650002, + 0.9225130404610157, + -0.30352938175201416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9376851916313171, + 0.00030445475381358654, + -0.3474858022122668, + -0.175505593419075 + ], + [ + -0.0689106360077858, + 0.980301495169172, + -0.18509539861858393, + 0.08113806694746017 + ], + [ + 0.34058448672294617, + 0.19750668879829875, + 0.9192352045826971, + -0.3144756853580475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9352328777313232, + -0.00335011100023951, + -0.35401738017170986, + -0.18128712475299835 + ], + [ + -0.06508168578147888, + 0.9812873298172599, + -0.18121694307222871, + 0.07575418800115585 + ], + [ + 0.34799984097480774, + 0.19252008407587823, + 0.9175141292004961, + -0.327114462852478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9329825639724731, + -0.009100911494035293, + -0.3598065285750253, + -0.18682891130447388 + ], + [ + -0.06090928614139557, + 0.9812692505539506, + -0.18275862937553827, + 0.07651126384735107 + ], + [ + 0.3547303378582001, + 0.19242617101723675, + 0.9149527789109898, + -0.33879992365837097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9312976598739624, + -0.014346239214153948, + -0.36397642313781803, + -0.19462238252162933 + ], + [ + -0.05715616047382355, + 0.9810911967402393, + -0.1849140764429155, + 0.07680436223745346 + ], + [ + 0.35974690318107605, + 0.19301353874985347, + 0.9128679764094635, + -0.34936094284057617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.929546594619751, + -0.02202312906011639, + -0.36804632791871617, + -0.1986353099346161 + ], + [ + -0.051922328770160675, + 0.9804480454543194, + -0.18980422672035974, + 0.07595863938331604 + ], + [ + 0.3650304079055786, + 0.19554171042027846, + 0.9102287114472852, + -0.3572418689727783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 820.504150390625, + "fy": 820.6220703125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_009/boom_up/transforms.json b/spatialvid_eval/camera_controls/scene_009/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a0859258ea3a66feee2267de02f84631af6335e3 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_009/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": [ + [ + 0.9999999988381678, + -1.0995179582052475e-05, + 4.6933683121183114e-05, + -0.00012040915429576355 + ], + [ + 1.0999017964024834e-05, + 0.9999999965952304, + -8.178362263812044e-05, + -0.00011596544514781612 + ], + [ + -4.6932783735766956e-05, + 8.178413876752536e-05, + 0.9999999955543343, + -0.00036934803215042146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999958034324247, + 9.959912346462563e-05, + -0.002895375200927434, + -0.002273947381810026 + ], + [ + -9.641633568916639e-05, + 0.999999391028194, + 0.001099384887682131, + -0.004402039344775104 + ], + [ + 0.0028954829354967326, + -0.0010991011125718398, + 0.9999952040661568, + 0.008575738184183205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999829386708191, + 0.0002136673982356999, + -0.005837526318230338, + -0.004427770780011216 + ], + [ + -0.00020035565990926264, + 0.9999973787578277, + 0.0022808627936679684, + -0.008688108213726477 + ], + [ + 0.005837998362679025, + -0.0022796542976793025, + 0.9999803602828411, + 0.0175237757834796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999676009094363, + 0.00030149770897327176, + -0.008044018309162846, + -0.006043427524381726 + ], + [ + -0.0002760283781675089, + 0.9999949464176429, + 0.0031671671112014073, + -0.012215151811529603 + ], + [ + 0.0080449325516818, + -0.003164844120539513, + 0.9999626307127341, + 0.02423772906814461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999474636247505, + 0.00035052457666897484, + -0.010244370305174121, + -0.008579853155564686 + ], + [ + -0.0003042842650084619, + 0.9999897613152824, + 0.004514939167989162, + -0.017312715672619248 + ], + [ + 0.010245848013436983, + -0.004511584768762018, + 0.9999373321370494, + 0.033848913344373524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999255363187829, + 0.00037867597583208704, + -0.012197476054496784, + -0.011243734180938002 + ], + [ + -0.0003065074275080797, + 0.9999824414814747, + 0.005918004895744913, + -0.022680760376460565 + ], + [ + 0.012199502891166395, + -0.0059138256023073595, + 0.9999080951747287, + 0.04368273874101266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999065864872668, + 0.0004015869055802465, + -0.013662248253463384, + -0.013241829550436688 + ], + [ + -0.00030637580784409853, + 0.9999756602430179, + 0.00697029808580336, + -0.027019265007392865 + ], + [ + 0.013664714898100314, + -0.006965461183428746, + 0.9998823720404595, + 0.05106258472272535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998842404952898, + 0.0004494959983218951, + -0.01520866734810367, + -0.01631480429561359 + ], + [ + -0.0003242935134235903, + 0.999966049304732, + 0.008233776266317654, + -0.03178685952157838 + ], + [ + 0.015211852052755888, + -0.008227891056286362, + 0.9998504394987738, + 0.05999763128568832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998662227666631, + 0.000514014473275006, + -0.016348466577845135, + -0.01979685154092019 + ], + [ + -0.00036105605067838196, + 0.9999561505038366, + 0.009357708484281232, + -0.035954032913225305 + ], + [ + 0.01635255970342026, + -0.009350553923152587, + 0.9998225647245996, + 0.06803030781790119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998469021213541, + 0.0005798126829423854, + -0.017488171304756356, + -0.023279074479429715 + ], + [ + -0.00039653625299542627, + 0.9999449871626132, + 0.010481670065491808, + -0.040121167331791295 + ], + [ + 0.017493286636074558, + -0.010473130650119181, + 0.9997921276230645, + 0.07606579003820732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998326996319913, + 0.0005809098802658845, + -0.018282103005827666, + -0.02695502190406352 + ], + [ + -0.0003702462995423413, + 0.9999335254700688, + 0.011524216184939345, + -0.0436443435230666 + ], + [ + 0.018287582242668347, + -0.01151551929834483, + 0.9997664513030068, + 0.08367664430043646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998265224548034, + 0.000532689483650399, + -0.018618303839203553, + -0.029857268283761392 + ], + [ + -0.0003047207757288808, + 0.9999249804321194, + 0.012245025646145895, + -0.046116239164831915 + ], + [ + 0.018623429898483593, + -0.012237228025167293, + 0.9997516782226858, + 0.0890696879009808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998181055412074, + 0.00046877317733448, + -0.019066622241492432, + -0.033726553098089224 + ], + [ + -0.00021697678568048252, + 0.9999127726379992, + 0.013206060595956642, + -0.048995423912392984 + ], + [ + 0.019071149757317673, + -0.013199521472304012, + 0.9997309957582774, + 0.09625771977962277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998127457982131, + 0.00037713745814885045, + -0.019347638273839684, + -0.03757641324072194 + ], + [ + -0.00010443333863044906, + 0.9999006687586061, + 0.014094030997916512, + -0.05170671088406613 + ], + [ + 0.01935103183593753, + -0.014089371292932485, + 0.9997134725427353, + 0.10325003025047236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998159803655291, + 0.0002451366179099908, + -0.019181900681494595, + -0.04042031459923088 + ], + [ + 3.486971849903823e-05, + 0.9998934760789985, + 0.014595728099695348, + -0.05367495024227 + ], + [ + 0.01918343529764403, + -0.014593711066622644, + 0.9997094674991756, + 0.10805434381961727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.999820221329334, + 6.900546286732094e-05, + -0.018961019466468724, + -0.04421163849603344 + ], + [ + 0.00022047625632578947, + 0.9998834635594624, + 0.01526468769918511, + -0.055882615211492445 + ], + [ + 0.018959863163591346, + -0.015266123888510506, + 0.9997036906254966, + 0.1144556949108465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.999824380242369, + -0.0001072742173874529, + -0.018740255206513432, + -0.04800251909444417 + ], + [ + 0.00040593313600595203, + 0.9998729684390423, + 0.015933681407233002, + -0.05809024549739837 + ], + [ + 0.018736165329438743, + -0.015938490428531626, + 0.9996974145368226, + 0.12085872610849314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998449175087589, + -0.00039381951381266955, + -0.017606414685945454, + -0.05316091992715504 + ], + [ + 0.0006810603907542925, + 0.9998667260242838, + 0.016311540277482557, + -0.05977068349220282 + ], + [ + 0.017597644406200534, + -0.01632100167484614, + 0.9997119324163749, + 0.12592184993622504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998640847591291, + -0.0006807984082153725, + -0.016472659843408198, + -0.05831859464067035 + ], + [ + 0.0009557570671829368, + 0.9998602603151452, + 0.01668970853426522, + -0.06145110085684682 + ], + [ + 0.01645899563210925, + -0.016703184009570354, + 0.9997250147449172, + 0.13098592264156192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998775611063505, + -0.0008963168662242077, + -0.015622400970777177, + -0.0621860930890561 + ], + [ + 0.0011614967571583496, + 0.9998552645022328, + 0.016973537417201274, + -0.06302385460836102 + ], + [ + 0.015604926186929829, + -0.01698960456412518, + 0.999733884398971, + 0.1347899083727786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999073812229528, + -0.0011371191119555473, + -0.013562298329638086, + -0.06829055583465272 + ], + [ + 0.0013746732349694637, + 0.9998455797305363, + 0.017519331231675896, + -0.06545550057768584 + ], + [ + 0.013540282469503255, + -0.017536352341160955, + 0.9997545384229136, + 0.1379891876687752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999364219131223, + -0.0013635776932827363, + -0.011193426082162965, + -0.07471045282408932 + ], + [ + 0.0015662905886923953, + 0.9998345698030989, + 0.018121251624652644, + -0.06813753407388326 + ], + [ + 0.011166864616992454, + -0.018137631668070236, + 0.9997731379928645, + 0.14056769903578303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999544835941214, + -0.0015343561725798935, + -0.009416819587825923, + -0.07952449913835684 + ], + [ + 0.0017090655017430814, + 0.9998260465391271, + 0.01857298460264423, + -0.07046147954547502 + ], + [ + 0.009386683925899905, + -0.018588233188632373, + 0.9997831603661868, + 0.1425083681253711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999977617138474, + -0.001891249795738116, + -0.006417818653545734, + -0.08642624071015446 + ], + [ + 0.002013473612067746, + 0.9998157088176138, + 0.019091734482390633, + -0.0733135290480858 + ], + [ + 0.006380528667217623, + -0.01910422926324737, + 0.9997971380626093, + 0.14504771822589466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999932850970037, + -0.002377615518000019, + -0.0027886744793036277, + -0.0938098631675138 + ], + [ + 0.0024316280706415177, + 0.9998063576795987, + 0.019527783498921505, + -0.07633563092569863 + ], + [ + 0.00274170491282743, + -0.019534433390893332, + 0.9998054255535264, + 0.14754625713583822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999955412862074, + -0.0028655390771517956, + 0.0008402937002463363, + -0.10119222102816472 + ], + [ + 0.002848192218545516, + 0.9997966157476413, + 0.01996534348940007, + -0.07935769721315572 + ], + [ + -0.000897334269697984, + -0.01996286115166934, + 0.9998003195467823, + 0.15004581604463627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999833273782205, + -0.0034051786429877763, + 0.004663659935322809, + -0.10782457858248339 + ], + [ + 0.00331007533329435, + 0.9997894576512799, + 0.02025052519436692, + -0.08183647081187928 + ], + [ + -0.004731634693307538, + -0.02023475049930473, + 0.9997840599376249, + 0.15285694492828333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999631272141006, + -0.003848039982001559, + 0.0076770307081293464, + -0.11223515906661623 + ], + [ + 0.003691123584301315, + 0.999786098839921, + 0.020350237667837043, + -0.0836005253930177 + ], + [ + -0.007753697110543986, + -0.02032115042877633, + 0.999763437532284, + 0.1552048483444898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999217622057155, + -0.004438921992342342, + 0.011694675667266978, + -0.1181160461831145 + ], + [ + 0.004198714784112028, + 0.9997813444392941, + 0.020484972670701988, + -0.08553599977115589 + ], + [ + -0.011783049757102189, + -0.020434267364004704, + 0.9997217615195331, + 0.15832713418254232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998617537507146, + -0.005019105500764018, + 0.015851875804384796, + -0.1237948814703948 + ], + [ + 0.004692395719260729, + 0.9997771865756504, + 0.020580539965976852, + -0.0874995127413218 + ], + [ + -0.015951639695006382, + -0.02050331150935154, + 0.9996625227586514, + 0.16185759970481425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997993022216467, + -0.005429187548191709, + 0.01928416966516634, + -0.12760012570470855 + ], + [ + 0.005032482088838344, + 0.9997759376082709, + 0.020560853667306866, + -0.08934770506791319 + ], + [ + -0.019391477538699384, + -0.02045967991121672, + 0.9996026070878351, + 0.16542977023127722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9996974447233556, + -0.005975724778065659, + 0.023860212215528677, + -0.1326746891599067 + ], + [ + 0.005486031038235167, + 0.9997740539013479, + 0.02053642152645307, + -0.09139537556914501 + ], + [ + -0.023977541096633997, + -0.02039931025896358, + 0.9995043499974964, + 0.1701839089364832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9995743449003611, + -0.00652197840956217, + 0.0284357664682918, + -0.13774789761596526 + ], + [ + 0.00593968596013974, + 0.9997719206118986, + 0.020514065581710875, + -0.09344303137780846 + ], + [ + -0.028563073148891772, + -0.020336434142224167, + 0.9993851010990059, + 0.17493779645897908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9994204568860995, + -0.007095370378787738, + 0.03329273309249286, + -0.14136974287082144 + ], + [ + 0.006416744338561846, + 0.9997703593695583, + 0.02044636686939521, + -0.09626893137601195 + ], + [ + -0.033430162274115306, + -0.020220886361685265, + 0.9992364785200119, + 0.18124707073327487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9992426414302942, + -0.007668192021009257, + 0.03814894990085184, + -0.14499017888465218 + ], + [ + 0.00689412503268328, + 0.9997685164119282, + 0.02038098701059386, + -0.09909481549820975 + ], + [ + -0.03829640436702254, + -0.02010254766494028, + 0.9990641986328689, + 0.18755593752418057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9990935799951799, + -0.008097425722388241, + 0.04179055047598045, + -0.1477020522801396 + ], + [ + 0.00725236519558877, + 0.9997669493443444, + 0.020333474808131326, + -0.10152664470853172 + ], + [ + -0.041945459962728714, + -0.020011963806021233, + 0.9989194660697837, + 0.19229356772310793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988879026433336, + -0.008677592077552209, + 0.046342824132090454, + -0.15181159500991998 + ], + [ + 0.007738356615916188, + 0.9997617830134851, + 0.020408210665860023, + -0.10492736301341857 + ], + [ + -0.046508878611370194, + -0.020026897449001428, + 0.9987171008793632, + 0.1991764637695265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.998666249902769, + -0.009260704970140766, + 0.050793313030326755, + -0.15608359166356217 + ], + [ + 0.008226600122618387, + 0.9997553810448314, + 0.020530492500838837, + -0.10851967545570027 + ], + [ + -0.050971014857105666, + -0.020085253679266158, + 0.9984981413247983, + 0.20625093511143494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.998486773389364, + -0.00969820540558221, + 0.05413047365771365, + -0.15928359397293207 + ], + [ + 0.008592419981201095, + 0.9997503869322528, + 0.02062363080734686, + -0.11152631219008262 + ], + [ + -0.05431697419190388, + -0.020127310816952827, + 0.9983208690966618, + 0.21156309345090976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998247228082023, + -0.01020261354633699, + 0.05829561135610422, + -0.1646252638516313 + ], + [ + 0.009002210112972557, + 0.999742766827641, + 0.020817309838096907, + -0.11436588542687295 + ], + [ + -0.05849300675841294, + -0.020256032499913024, + 0.9980822918515904, + 0.21786334885577216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9980085881560411, + -0.01062853247795022, + 0.06217629985895477, + -0.17103816708773226 + ], + [ + 0.009333612575109583, + 0.9997342213757527, + 0.021080092184692957, + -0.11645274377469769 + ], + [ + -0.062383825171940674, + -0.02045778354520729, + 0.9978425414108852, + 0.2233896598728081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9977546770242324, + -0.011055231173258753, + 0.06605593341991146, + -0.1774499655636148 + ], + [ + 0.00966398665511654, + 0.9997254794206644, + 0.02134415983477864, + -0.11853957068810375 + ], + [ + -0.06627376432797293, + -0.02065787164324186, + 0.9975876104387884, + 0.22891639004141023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.997512584407095, + -0.01146992567932018, + 0.06954915351310505, + -0.18229864195325304 + ], + [ + 0.009995519948713132, + 0.9997186529701455, + 0.021510566810597407, + -0.11979262026077962 + ], + [ + -0.06977631066797284, + -0.020761881139944146, + 0.9973465850751673, + 0.2338719338991317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9973438533564772, + -0.011771519936062196, + 0.07187954848528601, + -0.18475927985290266 + ], + [ + 0.010245519768032648, + 0.9997150164552082, + 0.021561892278870516, + -0.12041949441097942 + ], + [ + -0.0721128802415806, + -0.020768177396142735, + 0.9971802321099761, + 0.23716643863560338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9971102678230741, + -0.01217366552923273, + 0.07498610317505387, + -0.18804402877608975 + ], + [ + 0.010578663278846018, + 0.9997100487520296, + 0.021631234533594227, + -0.12083876002009361 + ], + [ + -0.0752276922750542, + -0.020775473323054166, + 0.9969499355650578, + 0.24155041874836347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9968748421539719, + -0.012578167144074101, + 0.07798935050242108, + -0.19125893636900984 + ], + [ + 0.010901844672987129, + 0.9997010996542702, + 0.021882895895407508, + -0.12145842812382987 + ], + [ + -0.07824128618076147, + -0.020964280606281614, + 0.9967140011434783, + 0.2456379202272504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9967107063565763, + -0.012887552130218064, + 0.08001049202614546, + -0.19351049970122988 + ], + [ + 0.011121435111570105, + 0.99968542969572, + 0.02248010976714676, + -0.12268649137442164 + ], + [ + -0.08027503668784033, + -0.021516334589672642, + 0.9965404988411617, + 0.24804396198087966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.996485333898928, + -0.013301804235626142, + 0.08270454236871715, + -0.19651682052034555 + ], + [ + 0.01141232445916616, + 0.9996639118732551, + 0.023277073456503913, + -0.12390728452099224 + ], + [ + -0.08298637342829586, + -0.022251411243735524, + 0.9963022315155585, + 0.2512448342176449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.996252506281094, + -0.01371804046317747, + 0.08539765274578297, + -0.19952198666186916 + ], + [ + 0.01170104262174403, + 0.9996416804453612, + 0.024074806706151752, + -0.12512798105668094 + ], + [ + -0.08569731226942205, + -0.02298534494466127, + 0.996056044902882, + 0.254447475568857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9960834893332575, + -0.014015570662121932, + 0.08729974831978252, + -0.20412032744742437 + ], + [ + 0.011890268027242547, + 0.9996212844486846, + 0.024817518074989078, + -0.12657175441677124 + ], + [ + -0.0876145182257064, + -0.02368230259449328, + 0.9958729059171658, + 0.25665440834177916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.995910751504516, + -0.014314430445776887, + 0.08920130110443086, + -0.20871784130843782 + ], + [ + 0.012078062623425624, + 0.9996003087927485, + 0.025560576376651337, + -0.12801544055816616 + ], + [ + -0.08953153322140156, + -0.02437867392732905, + 0.9956855853212752, + 0.2588630468640136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9957787567468273, + -0.014539447058013744, + 0.09062710461550996, + -0.21216088750696516 + ], + [ + 0.012217969120587816, + 0.9995841967030545, + 0.02611809587389274, + -0.12941051668418663 + ], + [ + -0.09096916423883278, + -0.024900565872218765, + 0.9955423511719287, + 0.26052842514467633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9956409725058235, + -0.014774317455516373, + 0.09209111472548176, + -0.2173533947173214 + ], + [ + 0.012334790556363117, + 0.9995592347784337, + 0.02700350183000319, + -0.13137731428805519 + ], + [ + -0.09244948247334256, + -0.025749868210846336, + 0.9953843667034034, + 0.2626129424026463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9955149773368984, + -0.01498829246096271, + 0.09340921253827077, + -0.22274411108280662 + ], + [ + 0.012427515762232097, + 0.9995324510419165, + 0.02793628762235372, + -0.13351841858166075 + ], + [ + -0.09378425640743047, + -0.026650148278087482, + 0.9952357925872953, + 0.26465718501196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9954193057905766, + -0.015149555745267496, + 0.09439754562554935, + -0.2267820105253514 + ], + [ + 0.012496238490968106, + 0.9995117942643549, + 0.02863594157744283, + -0.1354365120674853 + ], + [ + -0.09478528199558982, + -0.027325154842578744, + 0.9951226488377428, + 0.2662003694301074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9953107152136971, + -0.015376598134838807, + 0.09549942623177762, + -0.23170635656918356 + ], + [ + 0.012605429300132304, + 0.9994837141549595, + 0.02955348187890366, + -0.13706930095085074 + ], + [ + -0.0959045532441418, + -0.02821108592037876, + 0.9949906790006803, + 0.26818416926411837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.995221586759742, + -0.015615502693902043, + 0.09638542069752193, + -0.2361648367015587 + ], + [ + 0.012732347775007695, + 0.9994550204062399, + 0.030455697412783134, + -0.1381938766545692 + ], + [ + -0.09680847363509976, + -0.029082954808263322, + 0.9948780333146686, + 0.27010552348179334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9951316205431738, + -0.01585518294920899, + 0.09727112093917686, + -0.24062266430417878 + ], + [ + 0.01285844604452839, + 0.99942550303397, + 0.031358001381084216, + -0.1393183219407379 + ], + [ + -0.09771242582413361, + -0.029954583271066218, + 0.9947637934608498, + 0.27202904024140095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9950482862482661, + -0.01596296229961333, + 0.0981024559784815, + -0.24515040206808583 + ], + [ + 0.012830236134301691, + 0.9993899808208043, + 0.032481552852818174, + -0.1411514860311481 + ], + [ + -0.09856111340243084, + -0.031062035825320345, + 0.9946460962851359, + 0.2742283690671975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.994990936514111, + -0.015944926993099705, + 0.09868533608372368, + -0.24859401643792992 + ], + [ + 0.01269330626105121, + 0.9993584438566748, + 0.033490008488036495, + -0.14337016179660167 + ], + [ + -0.09915601964044307, + -0.032069611714991474, + 0.9945549878078708, + 0.2760951036100369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9949139212883338, + -0.015921798365236817, + 0.09946248319586672, + -0.25319213721809586 + ], + [ + 0.012509794890291862, + 0.999314798752515, + 0.034834437357639754, + -0.14591177198931995 + ], + [ + -0.09994895826607776, + -0.03341301140330279, + 0.9944313834601605, + 0.2785740766362301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9948666176013685, + -0.015929084740256328, + 0.09993336500764158, + -0.2574287988432067 + ], + [ + 0.012376005104906045, + 0.9992724766923199, + 0.03607425429361825, + -0.14823274161169725 + ], + [ + -0.1004352910089682, + -0.034652295516098615, + 0.9943399673830924, + 0.2816805000638771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.994899152358111, + -0.016000760093502042, + 0.09959745134059672, + -0.2597879771183028 + ], + [ + 0.012389797742216288, + 0.9992469783759297, + 0.03676913268600826, + -0.14978972320952583 + ], + [ + -0.10011078637698992, + -0.0353475866645023, + 0.9943482179638963, + 0.28542739091806674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9949423612392239, + -0.016095961807992956, + 0.09914947213774573, + -0.2629400049943672 + ], + [ + 0.012408540673684654, + 0.9992122245563995, + 0.037695602069755044, + -0.15144920123118558 + ], + [ + -0.09967811158959373, + -0.03627465107382068, + 0.9943582974760181, + 0.2904108356180221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9949853748846332, + -0.016190745803599974, + 0.0987013855830251, + -0.2660918282836561 + ], + [ + 0.012427686727946367, + 0.9991766066971275, + 0.03862203039465624, + -0.15310852324511717 + ], + [ + -0.0992454349996906, + -0.03720172549139267, + 0.9943673241072362, + 0.295396598779661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9951167212147826, + -0.016148228132399925, + 0.09737528375786532, + -0.2677202081751034 + ], + [ + 0.012399895510544323, + 0.9991631778469471, + 0.03897674468343561, + -0.1544519290308468 + ], + [ + -0.09792320332826333, + -0.03757896702909902, + 0.9944842218391188, + 0.3010310062388183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9952463047607395, + -0.016105207446500475, + 0.09604902473840415, + -0.26934873585944136 + ], + [ + 0.01237257597016238, + 0.999149615031558, + 0.03933149051526194, + -0.15579529019232133 + ], + [ + -0.09660078790546145, + -0.03795614674061061, + 0.9945992251659205, + 0.30666635170115875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9953423354445076, + -0.016072611877926673, + 0.09505422883436151, + -0.27056520705118886 + ], + [ + 0.012352395884250626, + 0.9991393550208757, + 0.03959757018287175, + -0.15711501252629267 + ], + [ + -0.09560885726642893, + -0.03823899051871318, + 0.9946842343258073, + 0.3109054258715164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9955121483862649, + -0.01576257127460312, + 0.09331186292308502, + -0.272233087728672 + ], + [ + 0.012052648982383594, + 0.9991193918906444, + 0.040189232395963885, + -0.15924953487918772 + ], + [ + -0.09386317738000882, + -0.03888421395479664, + 0.9948254730540663, + 0.31741879197034223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9956929244103232, + -0.01536253767341517, + 0.09143080834954727, + -0.2739149901464396 + ], + [ + 0.011662988694918577, + 0.9990967900228062, + 0.04086048042824733, + -0.16164770270105627 + ], + [ + -0.09197594780115585, + -0.039618134766264315, + 0.9949727777299846, + 0.3242259109234704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9958260649178938, + -0.015061600749806402, + 0.09001997896576225, + -0.27517244600548246 + ], + [ + 0.011371578341127588, + 0.9990794136594526, + 0.0413643857432464, + -0.1637584667516211 + ], + [ + -0.09056012166607577, + -0.04016806423936707, + 0.9950805952178385, + 0.3293449621825965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9960391877245237, + -0.014577262461601822, + 0.08771225647648466, + -0.2773444049562126 + ], + [ + 0.01091825335388691, + 0.9990557580175373, + 0.042052159465410584, + -0.1660708662950221 + ], + [ + -0.08824244024714746, + -0.04092793411753833, + 0.9952578439520581, + 0.3356855787180453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9962843604806385, + -0.01400907924886027, + 0.08497775450248411, + -0.2800058189907025 + ], + [ + 0.010400809526367568, + 0.9990313860292975, + 0.04275643682040208, + -0.16829757394958947 + ], + [ + -0.08549442217408997, + -0.04171373187548635, + 0.9954650512951917, + 0.34155818342513566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9965216944820594, + -0.013438735516969811, + 0.08224301073228224, + -0.2826688506305966 + ], + [ + 0.009885309174418471, + 0.9990061690537223, + 0.04346210826837601, + -0.1705241435690919 + ], + [ + -0.08274535086113005, + -0.04249793618884116, + 0.9956641664389444, + 0.3474326072248018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9968071254614833, + -0.012829862615888398, + 0.07880957590592916, + -0.28414727465698747 + ], + [ + 0.009375403410826664, + 0.9989854382854, + 0.044047654927498, + -0.1723843713828409 + ], + [ + -0.07929474408874299, + -0.04316814472484437, + 0.9959160882528788, + 0.35271733532901167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9970534557835843, + -0.012344439806312215, + 0.07571011237530006, + -0.28436372392820586 + ], + [ + 0.008996982199986866, + 0.9989734571756648, + 0.04439691621940996, + -0.17381700042242224 + ], + [ + -0.076180447762568, + -0.043584936209297376, + 0.9961410004182772, + 0.35625174455975445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9973665374024195, + -0.011695192957102992, + 0.07157662000684382, + -0.2846592761105768 + ], + [ + 0.008494120329628383, + 0.9989569731463586, + 0.04486441487516755, + -0.1753108452221241 + ], + [ + -0.0720266616589564, + -0.044138285693505246, + 0.9964255976972414, + 0.3609472937285748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9976705415769225, + -0.010990496459339506, + 0.06732532552604054, + -0.2850721986998812 + ], + [ + 0.007939870424104833, + 0.9989367497798355, + 0.04541286598472611, + -0.17698712907386088 + ], + [ + -0.06775285180166593, + -0.04477252424060447, + 0.9966970312717229, + 0.3656299869282529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9979044409346878, + -0.010340199122144003, + 0.06387336725852968, + -0.2856400735641855 + ], + [ + 0.007406089702170668, + 0.9989138243145352, + 0.04600349365682614, + -0.17896710576892716 + ], + [ + -0.06427967484479055, + -0.04543403873116117, + 0.9968971218367639, + 0.3691257503490839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9981970619503538, + -0.009469574679452628, + 0.059270166771081344, + -0.2864040678050012 + ], + [ + 0.006697585703116064, + 0.9988821148366499, + 0.04679383511971653, + -0.18119067139265685 + ], + [ + -0.05964702724722281, + -0.04631250171230302, + 0.9971446155526876, + 0.3737696912538202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.998467682847248, + -0.00859489829292413, + 0.054666388512337814, + -0.2871706438013073 + ], + [ + 0.005992757751606364, + 0.9988491006601514, + 0.047587403427141024, + -0.18341402727283052 + ], + [ + -0.055012481894367686, + -0.04718688200910504, + 0.9973700541935681, + 0.3784154200475754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_009/move_left/transforms.json b/spatialvid_eval/camera_controls/scene_009/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..22562f840da9a13d6c5f763d1d1885c1238dc59f --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_009/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": [ + [ + 0.9999999988381678, + -1.0995179582052475e-05, + 4.6933683121183114e-05, + -0.00012040915429576355 + ], + [ + 1.0999017964024834e-05, + 0.9999999965952304, + -8.178362263812044e-05, + -0.00011596544514781612 + ], + [ + -4.6932783735766956e-05, + 8.178413876752536e-05, + 0.9999999955543343, + -0.00036934803215042146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999958034324247, + 9.959912346462563e-05, + -0.002895375200927434, + -0.003523817637196226 + ], + [ + -9.641633568916639e-05, + 0.999999391028194, + 0.001099384887682131, + -0.00315191958557025 + ], + [ + 0.0028954829354967326, + -0.0010991011125718398, + 0.9999952040661568, + 0.008570744954123119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999829386708191, + 0.0002136673982356999, + -0.005837526318230338, + -0.006927193958192676 + ], + [ + -0.00020035565990926264, + 0.9999973787578277, + 0.0022808627936679684, + -0.006187613877682133 + ], + [ + 0.005837998362679025, + -0.0022796542976793025, + 0.9999803602828411, + 0.017503481651828703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999676009094363, + 0.00030149770897327176, + -0.008044018309162846, + -0.009792175411383462 + ], + [ + -0.0002760283781675089, + 0.9999949464176429, + 0.0031671671112014073, + -0.008464135656045313 + ], + [ + 0.0080449325516818, + -0.003164844120539513, + 0.9999626307127341, + 0.024195692405623782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999474636247505, + 0.00035052457666897484, + -0.010244370305174121, + -0.013577837850805095 + ], + [ + -0.0003042842650084619, + 0.9999897613152824, + 0.004514939167989162, + -0.012311245444717794 + ], + [ + 0.010245848013436983, + -0.004511584768762018, + 0.9999373321370494, + 0.03377512618046252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999255363187829, + 0.00037867597583208704, + -0.012197476054496784, + -0.017490902058081445 + ], + [ + -0.0003065074275080797, + 0.9999824414814747, + 0.005918004895744913, + -0.016428954445779423 + ], + [ + 0.012199502891166395, + -0.0059138256023073595, + 0.9999080951747287, + 0.04356953043792845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999065864872668, + 0.0004015869055802465, + -0.013662248253463384, + -0.02073811704729934 + ], + [ + -0.00030637580784409853, + 0.9999756602430179, + 0.00697029808580336, + -0.0195171497370114 + ], + [ + 0.013664714898100314, + -0.006965461183428746, + 0.9998823720404595, + 0.050907858402113884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998842404952898, + 0.0004494959983218951, + -0.01520866734810367, + -0.02505985830996206 + ], + [ + -0.0003242935134235903, + 0.999966049304732, + 0.008233776266317654, + -0.023034319021919516 + ], + [ + 0.015211852052755888, + -0.008227891056286362, + 0.9998504394987738, + 0.0597925335334842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998662227666631, + 0.000514014473275006, + -0.016348466577845135, + -0.029790373623854075 + ], + [ + -0.00036105605067838196, + 0.9999561505038366, + 0.009357708484281232, + -0.02595086084768015 + ], + [ + 0.01635255970342026, + -0.009350553923152587, + 0.9998225647245996, + 0.06777327668163546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998469021213541, + 0.0005798126829423854, + -0.017488171304756356, + -0.034520829235611845 + ], + [ + -0.00039653625299542627, + 0.9999449871626132, + 0.010481670065491808, + -0.028867325193365698 + ], + [ + 0.017493286636074558, + -0.010473130650119181, + 0.9997921276230645, + 0.07575116784373764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998326996319913, + 0.0005809098802658845, + -0.018282103005827666, + -0.03944566927596009 + ], + [ + -0.0003702462995423413, + 0.9999335254700688, + 0.011524216184939345, + -0.03114054637594646 + ], + [ + 0.018287582242668347, + -0.01151551929834483, + 0.9997664513030068, + 0.08330410553117379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998265224548034, + 0.000532689483650399, + -0.018618303839203553, + -0.043597558487114746 + ], + [ + -0.0003047207757288808, + 0.9999249804321194, + 0.012245025646145895, + -0.032363080773224 + ], + [ + 0.018623429898483593, + -0.012237228025167293, + 0.9997516782226858, + 0.0886453538545306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998181055412074, + 0.00046877317733448, + -0.019066622241492432, + -0.04871679308354732 + ], + [ + -0.00021697678568048252, + 0.9999127726379992, + 0.013206060595956642, + -0.03399347767103778 + ], + [ + 0.019071149757317673, + -0.013199521472304012, + 0.9997309957582774, + 0.09577365971117845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998127457982131, + 0.00037713745814885045, + -0.019347638273839684, + -0.05381724187624798 + ], + [ + -0.00010443333863044906, + 0.9999006687586061, + 0.014094030997916512, + -0.035456627974986034 + ], + [ + 0.01935103183593753, + -0.014089371292932485, + 0.9997134725427353, + 0.10270662369962823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998159803655291, + 0.0002451366179099908, + -0.019181900681494595, + -0.05791280436481421 + ], + [ + 3.486971849903823e-05, + 0.9998934760789985, + 0.014595728099695348, + -0.03617742463096126 + ], + [ + 0.01918343529764403, + -0.014593711066622644, + 0.9997094674991756, + 0.10746324375824261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.999820221329334, + 6.900546286732094e-05, + -0.018961019466468724, + -0.0629569737935297 + ], + [ + 0.00022047625632578947, + 0.9998834635594624, + 0.01526468769918511, + -0.03713893419955863 + ], + [ + 0.018959863163591346, + -0.015266123888510506, + 0.9997036906254966, + 0.1138139576536196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.999824380242369, + -0.0001072742173874529, + -0.018740255206513432, + -0.06800115218363931 + ], + [ + 0.00040593313600595203, + 0.9998729684390423, + 0.015933681407233002, + -0.03810090479133764 + ], + [ + 0.018736165329438743, + -0.015938490428531626, + 0.9996974145368226, + 0.12016523299333373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998449175087589, + -0.00039381951381266955, + -0.017606414685945454, + -0.07441599308888469 + ], + [ + 0.0006810603907542925, + 0.9998667260242838, + 0.016311540277482557, + -0.03853798809749031 + ], + [ + 0.017597644406200534, + -0.01632100167484614, + 0.9997119324163749, + 0.12520107870700278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998640847591291, + -0.0006807984082153725, + -0.016472659843408198, + -0.0808308545119356 + ], + [ + 0.0009557570671829368, + 0.9998602603151452, + 0.01668970853426522, + -0.038975749533767666 + ], + [ + 0.01645899563210925, + -0.016703184009570354, + 0.9997250147449172, + 0.13023977359962413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998775611063505, + -0.0008963168662242077, + -0.015622400970777177, + -0.08595447269090475 + ], + [ + 0.0011614967571583496, + 0.9998552645022328, + 0.016973537417201274, + -0.0393048776244155 + ], + [ + 0.015604926186929829, + -0.01698960456412518, + 0.999733884398971, + 0.13401578826744104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999073812229528, + -0.0011371191119555473, + -0.013562298329638086, + -0.09331666834302543 + ], + [ + 0.0013746732349694637, + 0.9998455797305363, + 0.017519331231675896, + -0.040493727915296665 + ], + [ + 0.013540282469503255, + -0.017536352341160955, + 0.9997545384229136, + 0.1372122717985086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999364219131223, + -0.0013635776932827363, + -0.011193426082162965, + -0.10099457781375745 + ], + [ + 0.0015662905886923953, + 0.9998345698030989, + 0.018121251624652644, + -0.04193299174450509 + ], + [ + 0.011166864616992454, + -0.018137631668070236, + 0.9997731379928645, + 0.13979845600830013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999544835941214, + -0.0015343561725798935, + -0.009416819587825923, + -0.10706544223194113 + ], + [ + 0.0017090655017430814, + 0.9998260465391271, + 0.01857298460264423, + -0.043013262566946965 + ], + [ + 0.009386683925899905, + -0.018588233188632373, + 0.9997831603661868, + 0.14173905790472147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999977617138474, + -0.001891249795738116, + -0.006417818653545734, + -0.11522997063451307 + ], + [ + 0.002013473612067746, + 0.9998157088176138, + 0.019091734482390633, + -0.04462671478592635 + ], + [ + 0.006380528667217623, + -0.01910422926324737, + 0.9997971380626093, + 0.1443150314353938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999932850970037, + -0.002377615518000019, + -0.0027886744793036277, + -0.12388099018596392 + ], + [ + 0.0024316280706415177, + 0.9998063576795987, + 0.019527783498921505, + -0.046414389037429914 + ], + [ + 0.00274170491282743, + -0.019534433390893332, + 0.9998054255535264, + 0.14687797298672658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999955412862074, + -0.0028655390771517956, + 0.0008402937002463363, + -0.13253162978951968 + ], + [ + 0.002848192218545516, + 0.9997966157476413, + 0.01996534348940007, + -0.04820305897787148 + ], + [ + -0.000897334269697984, + -0.01996286115166934, + 0.9998003195467823, + 0.14945001832957466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999833273782205, + -0.0034051786429877763, + 0.004663659935322809, + -0.14043470502817265 + ], + [ + 0.00331007533329435, + 0.9997894576512799, + 0.02025052519436692, + -0.049450890886544745 + ], + [ + -0.004731634693307538, + -0.02023475049930473, + 0.9997840599376249, + 0.15235309366458843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999631272141006, + -0.003848039982001559, + 0.0076770307081293464, + -0.14611378595948468 + ], + [ + 0.003691123584301315, + 0.999786098839921, + 0.020350237667837043, + -0.04998231997814053 + ], + [ + -0.007753697110543986, + -0.02032115042877633, + 0.999763437532284, + 0.15478069679499945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999217622057155, + -0.004438921992342342, + 0.011694675667266978, + -0.15326867013004652 + ], + [ + 0.004198714784112028, + 0.9997813444392941, + 0.020484972670701988, + -0.05069060773322452 + ], + [ + -0.011783049757102189, + -0.020434267364004704, + 0.9997217615195331, + 0.15802434156630074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998617537507146, + -0.005019105500764018, + 0.015851875804384796, + -0.1602218126182609 + ], + [ + 0.004692395719260729, + 0.9997771865756504, + 0.020580539965976852, + -0.05142768907277767 + ], + [ + -0.015951639695006382, + -0.02050331150935154, + 0.9996625227586514, + 0.16169260160154425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997993022216467, + -0.005429187548191709, + 0.01928416966516634, + -0.16529619407107748 + ], + [ + 0.005032482088838344, + 0.9997759376082709, + 0.020560853667306866, + -0.05204482548593446 + ], + [ + -0.019391477538699384, + -0.02045967991121672, + 0.9996026070878351, + 0.1653897126423078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9996974447233556, + -0.005975724778065659, + 0.023860212215528677, + -0.17164452447808679 + ], + [ + 0.005486031038235167, + 0.9997740539013479, + 0.02053642152645307, + -0.05286671468319938 + ], + [ + -0.023977541096633997, + -0.02039931025896358, + 0.9995043499974964, + 0.17032256538144291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9995743449003611, + -0.00652197840956217, + 0.0284357664682918, + -0.1779917505483622 + ], + [ + 0.00593968596013974, + 0.9997719206118986, + 0.020514065581710875, + -0.0536897419917381 + ], + [ + -0.028563073148891772, + -0.020336434142224167, + 0.9993851010990059, + 0.1752668620192458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9994204568860995, + -0.007095370378787738, + 0.03329273309249286, + -0.18288852074549805 + ], + [ + 0.006416744338561846, + 0.9997703593695583, + 0.02044636686939521, + -0.055293094755983326 + ], + [ + -0.033430162274115306, + -0.020220886361685265, + 0.9992364785200119, + 0.1817919533646626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9992426414302942, + -0.007668192021009257, + 0.03814894990085184, + -0.1877838893063326 + ], + [ + 0.00689412503268328, + 0.9997685164119282, + 0.02038098701059386, + -0.056897653864591835 + ], + [ + -0.03829640436702254, + -0.02010254766494028, + 0.9990641986328689, + 0.18832917643401906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9990935799951799, + -0.008097425722388241, + 0.04179055047598045, + -0.1917666587802832 + ], + [ + 0.00725236519558877, + 0.9997669493443444, + 0.020333474808131326, + -0.05810413165202366 + ], + [ + -0.041945459962728714, + -0.020011963806021233, + 0.9989194660697837, + 0.19325315817996389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988879026433336, + -0.008677592077552209, + 0.046342824132090454, + -0.19715204227235983 + ], + [ + 0.007738356615916188, + 0.9997617830134851, + 0.020408210665860023, + -0.06028630882552796 + ], + [ + -0.046508878611370194, + -0.020026897449001428, + 0.9987171008793632, + 0.20036815292183308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.998666249902769, + -0.009260704970140766, + 0.050793313030326755, + -0.20270021332643423 + ], + [ + 0.008226600122618387, + 0.9997553810448314, + 0.020530492500838837, + -0.0626614693380479 + ], + [ + -0.050971014857105666, + -0.020085253679266158, + 0.9984981413247983, + 0.20767940156591003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.998486773389364, + -0.00969820540558221, + 0.05413047365771365, + -0.20717238046569203 + ], + [ + 0.008592419981201095, + 0.9997503869322528, + 0.02062363080734686, + -0.06444630875990766 + ], + [ + -0.05431697419190388, + -0.020127310816952827, + 0.9983208690966618, + 0.2131871024612199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998247228082023, + -0.01020261354633699, + 0.05829561135610422, + -0.21378719363101384 + ], + [ + 0.009002210112972557, + 0.999742766827641, + 0.020817309838096907, + -0.06606728328703285 + ], + [ + -0.05849300675841294, + -0.020256032499913024, + 0.9980822918515904, + 0.21972740135087404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9980085881560411, + -0.01062853247795022, + 0.06217629985895477, + -0.22147002311943184 + ], + [ + 0.009333612575109583, + 0.9997342213757527, + 0.021080092184692957, + -0.06693271333466554 + ], + [ + -0.062383825171940674, + -0.02045778354520729, + 0.9978425414108852, + 0.22548596195414475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9977546770242324, + -0.011055231173258753, + 0.06605593341991146, + -0.22915147335873626 + ], + [ + 0.00966398665511654, + 0.9997254794206644, + 0.02134415983477864, + -0.0677989191838694 + ], + [ + -0.06627376432797293, + -0.02065787164324186, + 0.9975876104387884, + 0.23125420454150272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.997512584407095, + -0.01146992567932018, + 0.06954915351310505, + -0.23527022373278986 + ], + [ + 0.009995519948713132, + 0.9997186529701455, + 0.021510566810597407, + -0.06783215577715442 + ], + [ + -0.06977631066797284, + -0.020761881139944146, + 0.9973465850751673, + 0.23644519144935322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9973438533564772, + -0.011771519936062196, + 0.07187954848528601, + -0.23899923116737667 + ], + [ + 0.010245519768032648, + 0.9997150164552082, + 0.021561892278870516, + -0.06723550896404373 + ], + [ + -0.0721128802415806, + -0.020768177396142735, + 0.9971802321099761, + 0.23992621641354567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9971102678230741, + -0.01217366552923273, + 0.07498610317505387, + -0.24355464511046665 + ], + [ + 0.010578663278846018, + 0.9997100487520296, + 0.021631234533594227, + -0.0664365338190685 + ], + [ + -0.0752276922750542, + -0.020775473323054166, + 0.9969499355650578, + 0.24454529079072349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9968748421539719, + -0.012578167144074101, + 0.07798935050242108, + -0.2480406681420249 + ], + [ + 0.010901844672987129, + 0.9997010996542702, + 0.021882895895407508, + -0.06583847003113269 + ], + [ + -0.07824128618076147, + -0.020964280606281614, + 0.9967140011434783, + 0.2488597517908149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9967107063565763, + -0.012887552130218064, + 0.08001049202614546, + -0.25156239956422055 + ], + [ + 0.011121435111570105, + 0.99968542969572, + 0.02248010976714676, + -0.06584406168583301 + ], + [ + -0.08027503668784033, + -0.021516334589672642, + 0.9965404988411617, + 0.2514225873515243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.996485333898928, + -0.013301804235626142, + 0.08270454236871715, + -0.25584181488575064 + ], + [ + 0.01141232445916616, + 0.9996639118732551, + 0.023277073456503913, + -0.06584750376041451 + ], + [ + -0.08298637342829586, + -0.022251411243735524, + 0.9963022315155585, + 0.25481301324598776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.996252506281094, + -0.01371804046317747, + 0.08539765274578297, + -0.2601202194665254 + ], + [ + 0.01170104262174403, + 0.9996416804453612, + 0.024074806706151752, + -0.06585154278726389 + ], + [ + -0.08569731226942205, + -0.02298534494466127, + 0.996056044902882, + 0.25821019360834263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9960834893332575, + -0.014015570662121932, + 0.08729974831978252, + -0.26598889487214133 + ], + [ + 0.011890268027242547, + 0.9996212844486846, + 0.024817518074989078, + -0.06607322966095791 + ], + [ + -0.0876145182257064, + -0.02368230259449328, + 0.9958729059171658, + 0.26057025654919097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.995910751504516, + -0.014314430445776887, + 0.08920130110443086, + -0.2718569151803311 + ], + [ + 0.012078062623425624, + 0.9996003087927485, + 0.025560576376651337, + -0.06629530017258346 + ], + [ + -0.08953153322140156, + -0.02437867392732905, + 0.9956855853212752, + 0.26293510056989317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9957787567468273, + -0.014539447058013744, + 0.09062710461550996, + -0.27656867299952376 + ], + [ + 0.012217969120587816, + 0.9995841967030545, + 0.02611809587389274, + -0.06646591967580438 + ], + [ + -0.09096916423883278, + -0.024900565872218765, + 0.9955423511719287, + 0.26474029829054796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9956409725058235, + -0.014774317455516373, + 0.09209111472548176, + -0.2830303885648085 + ], + [ + 0.012334790556363117, + 0.9995592347784337, + 0.02700350183000319, + -0.06720772541362059 + ], + [ + -0.09244948247334256, + -0.025749868210846336, + 0.9953843667034034, + 0.2669484173297086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9955149773368984, + -0.01498829246096271, + 0.09340921253827077, + -0.28968995270691494 + ], + [ + 0.012427515762232097, + 0.9995324510419165, + 0.02793628762235372, + -0.06812271661938163 + ], + [ + -0.09378425640743047, + -0.026650148278087482, + 0.9952357925872953, + 0.269104819675529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9954193057905766, + -0.015149555745267496, + 0.09439754562554935, + -0.29499540867902085 + ], + [ + 0.012496238490968106, + 0.9995117942643549, + 0.02863594157744283, + -0.06881296205278167 + ], + [ + -0.09478528199558982, + -0.027325154842578744, + 0.9951226488377428, + 0.27075392801293563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9953107152136971, + -0.015376598134838807, + 0.09549942623177762, + -0.3011911093618954 + ], + [ + 0.012605429300132304, + 0.9994837141549595, + 0.02955348187890366, + -0.06922141886708137 + ], + [ + -0.0959045532441418, + -0.02821108592037876, + 0.9949906790006803, + 0.2728380951426271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.995221586759742, + -0.015615502693902043, + 0.09638542069752193, + -0.3069234329633138 + ], + [ + 0.012732347775007695, + 0.9994550204062399, + 0.030455697412783134, + -0.06912328957038293 + ], + [ + -0.09680847363509976, + -0.029082954808263322, + 0.9948780333146686, + 0.2748463097996719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9951316205431738, + -0.01585518294920899, + 0.09727112093917686, + -0.3126554740530111 + ], + [ + 0.01285844604452839, + 0.99942550303397, + 0.031358001381084216, + -0.06902541913024016 + ], + [ + -0.09771242582413361, + -0.029954583271066218, + 0.9947637934608498, + 0.276856786523307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9950482862482661, + -0.01596296229961333, + 0.0981024559784815, + -0.3184487175878071 + ], + [ + 0.012830236134301691, + 0.9993899808208043, + 0.032481552852818174, + -0.06962590454137665 + ], + [ + -0.09856111340243084, + -0.031062035825320345, + 0.9946460962851359, + 0.279122052191538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.994990936514111, + -0.015944926993099705, + 0.09868533608372368, + -0.3231505363715867 + ], + [ + 0.01269330626105121, + 0.9993584438566748, + 0.033490008488036495, + -0.07060360789892439 + ], + [ + -0.09915601964044307, + -0.032069611714991474, + 0.9945549878078708, + 0.28104272619453896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9949139212883338, + -0.015921798365236817, + 0.09946248319586672, + -0.3290048161921137 + ], + [ + 0.012509794890291862, + 0.999314798752515, + 0.034834437357639754, + -0.0719013966996532 + ], + [ + -0.09994895826607776, + -0.03341301140330279, + 0.9944313834601605, + 0.2835642726509382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9948666176013685, + -0.015929084740256328, + 0.09993336500764158, + -0.33450197114675556 + ], + [ + 0.012376005104906045, + 0.9992724766923199, + 0.03607425429361825, + -0.07298188565315694 + ], + [ + -0.1004352910089682, + -0.034652295516098615, + 0.9943399673830924, + 0.28669645347020845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.994899152358111, + -0.016000760093502042, + 0.09959745134059672, + -0.3381327203333029 + ], + [ + 0.012389797742216288, + 0.9992469783759297, + 0.03676913268600826, + -0.07330829171041302 + ], + [ + -0.10011078637698992, + -0.0353475866645023, + 0.9943482179638963, + 0.29044653889578453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9949423612392239, + -0.016095961807992956, + 0.09914947213774573, + -0.3425592729343355 + ], + [ + 0.012408540673684654, + 0.9992122245563995, + 0.037695602069755044, + -0.07373841112542176 + ], + [ + -0.09967811158959373, + -0.03627465107382068, + 0.9943582974760181, + 0.29540385813363923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9949853748846332, + -0.016190745803599974, + 0.0987013855830251, + -0.34698591793871475 + ], + [ + 0.012427686727946367, + 0.9991766066971275, + 0.03862203039465624, + -0.07416860964758266 + ], + [ + -0.0992454349996906, + -0.03720172549139267, + 0.9943673241072362, + 0.30036009554032483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9951167212147826, + -0.016148228132399925, + 0.09737528375786532, + -0.349885485309562 + ], + [ + 0.012399895510544323, + 0.9991631778469471, + 0.03897674468343561, + -0.0742774123410141 + ], + [ + -0.09792320332826333, + -0.03757896702909902, + 0.9944842218391188, + 0.3059339754381254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9952463047607395, + -0.016105207446500475, + 0.09604902473840415, + -0.3527852356165387 + ], + [ + 0.01237257597016238, + 0.999149615031558, + 0.03933149051526194, + -0.07438618446975617 + ], + [ + -0.09660078790546145, + -0.03795614674061061, + 0.9945992251659205, + 0.31150453459725896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9953423354445076, + -0.016072611877926673, + 0.09505422883436151, + -0.35527120888944275 + ], + [ + 0.012352395884250626, + 0.9991393550208757, + 0.03959757018287175, + -0.07447160469860033 + ], + [ + -0.09560885726642893, + -0.03823899051871318, + 0.9946842343258073, + 0.3157101522116376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9955121483862649, + -0.01576257127460312, + 0.09331186292308502, + -0.3581914388998458 + ], + [ + 0.012052648982383594, + 0.9991193918906444, + 0.040189232395963885, + -0.07534886173198554 + ], + [ + -0.09386317738000882, + -0.03888421395479664, + 0.9948254730540663, + 0.32209200386148523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9956929244103232, + -0.01536253767341517, + 0.09143080834954727, + -0.36111852375116205 + ], + [ + 0.011662988694918577, + 0.9990967900228062, + 0.04086048042824733, + -0.07648153733652598 + ], + [ + -0.09197594780115585, + -0.039618134766264315, + 0.9949727777299846, + 0.32874177229772983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9958260649178938, + -0.015061600749806402, + 0.09001997896576225, + -0.36362511675140624 + ], + [ + 0.011371578341127588, + 0.9990794136594526, + 0.0413643857432464, + -0.07733403116126765 + ], + [ + -0.09056012166607577, + -0.04016806423936707, + 0.9950805952178385, + 0.3337542672074335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9960391877245237, + -0.014577262461601822, + 0.08771225647648466, + -0.36703661491023126 + ], + [ + 0.01091825335388691, + 0.9990557580175373, + 0.042052159465410584, + -0.07837366275612312 + ], + [ + -0.08824244024714746, + -0.04092793411753833, + 0.9952578439520581, + 0.3398847411370481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9962843604806385, + -0.01400907924886027, + 0.08497775450248411, + -0.37093222856635744 + ], + [ + 0.010400809526367568, + 0.9990313860292975, + 0.04275643682040208, + -0.07932082206432577 + ], + [ + -0.08549442217408997, + -0.04171373187548635, + 0.9954650512951917, + 0.34549844555201004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9965216944820594, + -0.013438735516969811, + 0.08224301073228224, + -0.37482773986800805 + ], + [ + 0.009885309174418471, + 0.9990061690537223, + 0.04346210826837601, + -0.0802668651051054 + ], + [ + -0.08274535086113005, + -0.04249793618884116, + 0.9956641664389444, + 0.3511051838136482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9968071254614833, + -0.012829862615888398, + 0.07880957590592916, + -0.37753869605414436 + ], + [ + 0.009375403410826664, + 0.9989854382854, + 0.044047654927498, + -0.08084544315694286 + ], + [ + -0.07929474408874299, + -0.04316814472484437, + 0.9959160882528788, + 0.35605904577017233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9970534557835843, + -0.012344439806312215, + 0.07571011237530006, + -0.37899477663975867 + ], + [ + 0.008996982199986866, + 0.9989734571756648, + 0.04439691621940996, + -0.08100670589345244 + ], + [ + -0.076180447762568, + -0.043584936209297376, + 0.9961410004182772, + 0.3593075737678736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9973665374024195, + -0.011695192957102992, + 0.07157662000684382, + -0.38052014049473143 + ], + [ + 0.008494120329628383, + 0.9989569731463586, + 0.04486441487516755, + -0.0812168742045347 + ], + [ + -0.0720266616589564, + -0.044138285693505246, + 0.9964255976972414, + 0.36359668944529266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9976705415769225, + -0.010990496459339506, + 0.06732532552604054, + -0.3821558236108714 + ], + [ + 0.007939870424104833, + 0.9989367497798355, + 0.04541286598472611, + -0.0816036794358718 + ], + [ + -0.06775285180166593, + -0.04477252424060447, + 0.9966970312717229, + 0.367841843456005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9979044409346878, + -0.010340199122144003, + 0.06387336725852968, + -0.38394392596972665 + ], + [ + 0.007406089702170668, + 0.9989138243145352, + 0.04600349365682614, + -0.08229510164422162 + ], + [ + -0.06427967484479055, + -0.04543403873116117, + 0.9968971218367639, + 0.37096319987016274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9981970619503538, + -0.009469574679452628, + 0.059270166771081344, + -0.38591114817219463 + ], + [ + 0.006697585703116064, + 0.9988821148366499, + 0.04679383511971653, + -0.08321244914072037 + ], + [ + -0.05964702724722281, + -0.04631250171230302, + 0.9971446155526876, + 0.3750864756503935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.998467682847248, + -0.00859489829292413, + 0.054666388512337814, + -0.38787690191532453 + ], + [ + 0.005992757751606364, + 0.9988491006601514, + 0.047587403427141024, + -0.084128392981976 + ], + [ + -0.055012481894367686, + -0.04718688200910504, + 0.9973700541935681, + 0.37919798003610167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_009/move_right/transforms.json b/spatialvid_eval/camera_controls/scene_009/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..af3cf09e82abe80d5b8480ad89d9e43d3f7a962c --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_009/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": [ + [ + 0.9999999988381678, + -1.0995179582052475e-05, + 4.6933683121183114e-05, + -0.00012040915429576355 + ], + [ + 1.0999017964024834e-05, + 0.9999999965952304, + -8.178362263812044e-05, + -0.00011596544514781612 + ], + [ + -4.6932783735766956e-05, + 8.178413876752536e-05, + 0.9999999955543343, + -0.00036934803215042146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999958034324247, + 9.959912346462563e-05, + -0.002895375200927434, + -0.0010238281286151642 + ], + [ + -9.641633568916639e-05, + 0.999999391028194, + 0.001099384887682131, + -0.003152160626409473 + ], + [ + 0.0028954829354967326, + -0.0010991011125718398, + 0.9999952040661568, + 0.008577983661461862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999829386708191, + 0.0002136673982356999, + -0.005837526318230338, + -0.001927279264838579 + ], + [ + -0.00020035565990926264, + 0.9999973787578277, + 0.0022808627936679684, + -0.00618861565598168 + ], + [ + 0.005837998362679025, + -0.0022796542976793025, + 0.9999803602828411, + 0.017532671643642098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999676009094363, + 0.00030149770897327176, + -0.008044018309162846, + -0.0022924184045626894 + ], + [ + -0.0002760283781675089, + 0.9999949464176429, + 0.0031671671112014073, + -0.008466205868881568 + ], + [ + 0.0080449325516818, + -0.003164844120539513, + 0.9999626307127341, + 0.024256029399761396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999474636247505, + 0.00035052457666897484, + -0.010244370305174121, + -0.003578363214557588 + ], + [ + -0.0003042842650084619, + 0.9999897613152824, + 0.004514939167989162, + -0.012314288287367877 + ], + [ + 0.010245848013436983, + -0.004511584768762018, + 0.9999373321370494, + 0.0338775846605969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999255363187829, + 0.00037867597583208704, + -0.012197476054496784, + -0.004991832854096659 + ], + [ + -0.0003065074275080797, + 0.9999824414814747, + 0.005918004895744913, + -0.016432785788623276 + ], + [ + 0.012199502891166395, + -0.0059138256023073595, + 0.9999080951747287, + 0.043722024224068026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999065864872668, + 0.0004015869055802465, + -0.013662248253463384, + -0.005739518249990333 + ], + [ + -0.00030637580784409853, + 0.9999756602430179, + 0.00697029808580336, + -0.01952174537412906 + ], + [ + 0.013664714898100314, + -0.006965461183428746, + 0.9998823720404595, + 0.05111282912558539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998842404952898, + 0.0004494959983218951, + -0.01520866734810367, + -0.00756188410129449 + ], + [ + -0.0003242935134235903, + 0.999966049304732, + 0.008233776266317654, + -0.023039994158404426 + ], + [ + 0.015211852052755888, + -0.008227891056286362, + 0.9998504394987738, + 0.060058740944407434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998662227666631, + 0.000514014473275006, + -0.016348466577845135, + -0.009793049168520807 + ], + [ + -0.00036105605067838196, + 0.9999561505038366, + 0.009357708484281232, + -0.02595808196869372 + ], + [ + 0.01635255970342026, + -0.009350553923152587, + 0.9998225647245996, + 0.06810032787570386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998469021213541, + 0.0005798126829423854, + -0.017488171304756356, + -0.012024273937881377 + ], + [ + -0.00039653625299542627, + 0.9999449871626132, + 0.010481670065491808, + -0.028876247259058095 + ], + [ + 0.017493286636074558, + -0.010473130650119181, + 0.9997921276230645, + 0.07614476679304932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998326996319913, + 0.0005809098802658845, + -0.018282103005827666, + -0.014449851785160306 + ], + [ + -0.0003702462995423413, + 0.9999335254700688, + 0.011524216184939345, + -0.031149802533435016 + ], + [ + 0.018287582242668347, + -0.01151551929834483, + 0.9997664513030068, + 0.0837612950872405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998265224548034, + 0.000532689483650399, + -0.018618303839203553, + -0.016102329119607652 + ], + [ + -0.0003047207757288808, + 0.9999249804321194, + 0.012245025646145895, + -0.03237146059455655 + ], + [ + 0.018623429898483593, + -0.012237228025167293, + 0.9997516782226858, + 0.0891574981767389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998181055412074, + 0.00046877317733448, + -0.019066622241492432, + -0.01872224991731109 + ], + [ + -0.00021697678568048252, + 0.9999127726379992, + 0.013206060595956642, + -0.0339999869746082 + ], + [ + 0.019071149757317673, + -0.013199521472304012, + 0.9997309957582774, + 0.09634579420389798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998127457982131, + 0.00037713745814885045, + -0.019347638273839684, + -0.021323327637806058 + ], + [ + -0.00010443333863044906, + 0.9999006687586061, + 0.014094030997916512, + -0.03546002205849152 + ], + [ + 0.01935103183593753, + -0.014089371292932485, + 0.9997134725427353, + 0.10333553223429619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998159803655291, + 0.0002451366179099908, + -0.019181900681494595, + -0.02291924505202069 + ], + [ + 3.486971849903823e-05, + 0.9998934760789985, + 0.014595728099695348, + -0.03617620419081379 + ], + [ + 0.01918343529764403, + -0.014593711066622644, + 0.9997094674991756, + 0.10813466399366016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.999820221329334, + 6.900546286732094e-05, + -0.018961019466468724, + -0.025463715493679668 + ], + [ + 0.00022047625632578947, + 0.9998834635594624, + 0.01526468769918511, + -0.03713066633994641 + ], + [ + 0.018959863163591346, + -0.015266123888510506, + 0.9997036906254966, + 0.11452495252225428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.999824380242369, + -0.0001072742173874529, + -0.018740255206513432, + -0.028008176973944535 + ], + [ + 0.00040593313600595203, + 0.9998729684390423, + 0.015933681407233002, + -0.03808466746589741 + ], + [ + 0.018736165329438743, + -0.015938490428531626, + 0.9996974145368226, + 0.12091467960651128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998449175087589, + -0.00039381951381266955, + -0.017606414685945454, + -0.031922584094762424 + ], + [ + 0.0006810603907542925, + 0.9998667260242838, + 0.016311540277482557, + -0.038509043030883254 + ], + [ + 0.017597644406200534, + -0.01632100167484614, + 0.9997119324163749, + 0.12594897859426632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998640847591291, + -0.0006807984082153725, + -0.016472659843408198, + -0.03583697069777479 + ], + [ + 0.0009557570671829368, + 0.9998602603151452, + 0.01668970853426522, + -0.03893274046574443 + ], + [ + 0.01645899563210925, + -0.016703184009570354, + 0.9997250147449172, + 0.13098042840306906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998775611063505, + -0.0008963168662242077, + -0.015622400970777177, + -0.03846028853835309 + ], + [ + 0.0011614967571583496, + 0.9998552645022328, + 0.016973537417201274, + -0.03924970652845048 + ], + [ + 0.015604926186929829, + -0.01698960456412518, + 0.999733884398971, + 0.1347570222613202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999073812229528, + -0.0011371191119555473, + -0.013562298329638086, + -0.0433212992818778 + ], + [ + 0.0013746732349694637, + 0.9998455797305363, + 0.017519331231675896, + -0.04042499425354819 + ], + [ + 0.013540282469503255, + -0.017536352341160955, + 0.9997545384229136, + 0.13788928592198374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999364219131223, + -0.0013635776932827363, + -0.011193426082162965, + -0.048497915663318535 + ], + [ + 0.0015662905886923953, + 0.9998345698030989, + 0.018121251624652644, + -0.04185076148859874 + ], + [ + 0.011166864616992454, + -0.018137631668070236, + 0.9997731379928645, + 0.14038471640069225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999544835941214, + -0.0015343561725798935, + -0.009416819587825923, + -0.05206794563426444 + ], + [ + 0.0017090655017430814, + 0.9998260465391271, + 0.01857298460264423, + -0.04291926396435109 + ], + [ + 0.009386683925899905, + -0.018588233188632373, + 0.9997831603661868, + 0.14225532552064596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999977617138474, + -0.001891249795738116, + -0.006417818653545734, + -0.0577312576490508 + ], + [ + 0.002013473612067746, + 0.9998157088176138, + 0.019091734482390633, + -0.04451094005323246 + ], + [ + 0.006380528667217623, + -0.01910422926324737, + 0.9997971380626093, + 0.1446819118337588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999932850970037, + -0.002377615518000019, + -0.0027886744793036277, + -0.06388139308014369 + ], + [ + 0.0024316280706415177, + 0.9998063576795987, + 0.019527783498921505, + -0.04626849135319142 + ], + [ + 0.00274170491282743, + -0.019534433390893332, + 0.9998054255535264, + 0.14704247528149625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999955412862074, + -0.0028655390771517956, + 0.0008402937002463363, + -0.07003190845913174 + ], + [ + 0.002848192218545516, + 0.9997966157476413, + 0.01996534348940007, + -0.048025046964212385 + ], + [ + -0.000897334269697984, + -0.01996286115166934, + 0.9998003195467823, + 0.14939393493771852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999833273782205, + -0.0034051786429877763, + 0.004663659935322809, + -0.07543578874858833 + ], + [ + 0.00331007533329435, + 0.9997894576512799, + 0.02025052519436692, + -0.04923573598988062 + ], + [ + -0.004731634693307538, + -0.02023475049930473, + 0.9997840599376249, + 0.15204553740952342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999631272141006, + -0.003848039982001559, + 0.0076770307081293464, + -0.07861627487253287 + ], + [ + 0.003691123584301315, + 0.999786098839921, + 0.020350237667837043, + -0.04973316913620019 + ], + [ + -0.007753697110543986, + -0.02032115042877633, + 0.999763437532284, + 0.15425732224003774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999217622057155, + -0.004438921992342342, + 0.011694675667266978, + -0.08327414677564643 + ], + [ + 0.004198714784112028, + 0.9997813444392941, + 0.020484972670701988, + -0.050396697698336684 + ], + [ + -0.011783049757102189, + -0.020434267364004704, + 0.9997217615195331, + 0.15719952808330356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998617537507146, + -0.005019105500764018, + 0.015851875804384796, + -0.08773183547133409 + ], + [ + 0.004692395719260729, + 0.9997771865756504, + 0.020580539965976852, + -0.05108749038313126 + ], + [ + -0.015951639695006382, + -0.02050331150935154, + 0.9996625227586514, + 0.16053610772365629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997993022216467, + -0.005429187548191709, + 0.01928416966516634, + -0.09031124640445398 + ], + [ + 0.005032482088838344, + 0.9997759376082709, + 0.020560853667306866, + -0.05166738932927159 + ], + [ + -0.019391477538699384, + -0.02045967991121672, + 0.9996026070878351, + 0.16393535182690536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9996974447233556, + -0.005975724778065659, + 0.023860212215528677, + -0.09416797251202672 + ], + [ + 0.005486031038235167, + 0.9997740539013479, + 0.02053642152645307, + -0.05244154727773616 + ], + [ + -0.023977541096633997, + -0.02039931025896358, + 0.9995043499974964, + 0.16846430594645379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9995743449003611, + -0.00652197840956217, + 0.0284357664682918, + -0.09802580295633329 + ], + [ + 0.00593968596013974, + 0.9997719206118986, + 0.020514065581710875, + -0.053214567114926926 + ], + [ + -0.028563073148891772, + -0.020336434142224167, + 0.9993851010990059, + 0.17298181616733443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9994204568860995, + -0.007095370378787738, + 0.03329273309249286, + -0.10043633305239481 + ], + [ + 0.006416744338561846, + 0.9997703593695583, + 0.02044636686939521, + -0.054763713348051975 + ], + [ + -0.033430162274115306, + -0.020220886361685265, + 0.9992364785200119, + 0.17903396497704807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9992426414302942, + -0.007668192021009257, + 0.03814894990085184, + -0.10284826478475757 + ], + [ + 0.00689412503268328, + 0.9997685164119282, + 0.02038098701059386, + -0.05631165323681375 + ], + [ + -0.03829640436702254, + -0.02010254766494028, + 0.9990641986328689, + 0.18507398206282213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9990935799951799, + -0.008097425722388241, + 0.04179055047598045, + -0.10434597053070498 + ], + [ + 0.00725236519558877, + 0.9997669493443444, + 0.020333474808131326, + -0.05746954969740964 + ], + [ + -0.041945459962728714, + -0.020011963806021233, + 0.9989194660697837, + 0.18958293043322513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988879026433336, + -0.008677592077552209, + 0.046342824132090454, + -0.1072521310344598 + ], + [ + 0.007738356615916188, + 0.9997617830134851, + 0.020408210665860023, + -0.05958985673009551 + ], + [ + -0.046508878611370194, + -0.020026897449001428, + 0.9987171008793632, + 0.19618235384680976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.998666249902769, + -0.009260704970140766, + 0.050793313030326755, + -0.11032358521042811 + ], + [ + 0.008226600122618387, + 0.9997553810448314, + 0.020530492500838837, + -0.061900508826705704 + ], + [ + -0.050971014857105666, + -0.020085253679266158, + 0.9984981413247983, + 0.20296458269162776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.998486773389364, + -0.00969820540558221, + 0.05413047365771365, + -0.11231613699370242 + ], + [ + 0.008592419981201095, + 0.9997503869322528, + 0.02062363080734686, + -0.06363002886169354 + ], + [ + -0.05431697419190388, + -0.020127310816952827, + 0.9983208690966618, + 0.20802698991298907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998247228082023, + -0.01020261354633699, + 0.05829561135610422, + -0.11645808889301656 + ], + [ + 0.009002210112972557, + 0.999742766827641, + 0.020817309838096907, + -0.06518956780101803 + ], + [ + -0.05849300675841294, + -0.020256032499913024, + 0.9980822918515904, + 0.21402433319192876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9980085881560411, + -0.01062853247795022, + 0.06217629985895477, + -0.12166916430382771 + ], + [ + 0.009333612575109583, + 0.9997342213757527, + 0.021080092184692957, + -0.06599935207715459 + ], + [ + -0.062383825171940674, + -0.02045778354520729, + 0.9978425414108852, + 0.2192475794369507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9977546770242324, + -0.011055231173258753, + 0.06605593341991146, + -0.12688161896375239 + ], + [ + 0.00966398665511654, + 0.9997254794206644, + 0.02134415983477864, + -0.06680836055171996 + ], + [ + -0.06627376432797293, + -0.02065787164324186, + 0.9975876104387884, + 0.22446114369788547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.997512584407095, + -0.01146992567932018, + 0.06954915351310505, + -0.13053140237004487 + ], + [ + 0.009995519948713132, + 0.9997186529701455, + 0.021510566810597407, + -0.06678262618253954 + ], + [ + -0.06977631066797284, + -0.020761881139944146, + 0.9973465850751673, + 0.22911867882921605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9973438533564772, + -0.011771519936062196, + 0.07187954848528601, + -0.13178476693155536 + ], + [ + 0.010245519768032648, + 0.9997150164552082, + 0.021561892278870516, + -0.06613411558898022 + ], + [ + -0.0721128802415806, + -0.020768177396142735, + 0.9971802321099761, + 0.23217408178757576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9971102678230741, + -0.01217366552923273, + 0.07498610317505387, + -0.13387251564992847 + ], + [ + 0.010578663278846018, + 0.9997100487520296, + 0.021631234533594227, + -0.06527288085839544 + ], + [ + -0.0752276922750542, + -0.020775473323054166, + 0.9969499355650578, + 0.2362702446404675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9968748421539719, + -0.012578167144074101, + 0.07798935050242108, + -0.1358922483997031 + ], + [ + 0.010901844672987129, + 0.9997010996542702, + 0.021882895895407508, + -0.06461201250542165 + ], + [ + -0.07824128618076147, + -0.020964280606281614, + 0.9967140011434783, + 0.24005760709547921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9967107063565763, + -0.012887552130218064, + 0.08001049202614546, + -0.13694066833321428 + ], + [ + 0.011121435111570105, + 0.99968542969572, + 0.02248010976714676, + -0.06456509664800245 + ], + [ + -0.08027503668784033, + -0.021516334589672642, + 0.9965404988411617, + 0.24219095813242267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.996485333898928, + -0.013301804235626142, + 0.08270454236871715, + -0.13875478815262657 + ], + [ + 0.01141232445916616, + 0.9996639118732551, + 0.023277073456503913, + -0.06450655563646249 + ], + [ + -0.08298637342829586, + -0.022251411243735524, + 0.9963022315155585, + 0.24506211436816303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.996252506281094, + -0.01371804046317747, + 0.08539765274578297, + -0.14056991871279415 + ], + [ + 0.01170104262174403, + 0.9996416804453612, + 0.024074806706151752, + -0.06444741767265462 + ], + [ + -0.08569731226942205, + -0.02298534494466127, + 0.996056044902882, + 0.247926516136012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9960834893332575, + -0.014015570662121932, + 0.08729974831978252, + -0.1439686674288173 + ], + [ + 0.011890268027242547, + 0.9996212844486846, + 0.024817518074989078, + -0.06461667182762071 + ], + [ + -0.0876145182257064, + -0.02368230259449328, + 0.9958729059171658, + 0.2498374780665419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.995910751504516, + -0.014314430445776887, + 0.08920130110443086, + -0.14736807124226664 + ], + [ + 0.012078062623425624, + 0.9996003087927485, + 0.025560576376651337, + -0.06478554234465526 + ], + [ + -0.08953153322140156, + -0.02437867392732905, + 0.9956855853212752, + 0.251743658917218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9957787567468273, + -0.014539447058013744, + 0.09062710461550996, + -0.1496068815143033 + ], + [ + 0.012217969120587816, + 0.9995841967030545, + 0.02611809587389274, + -0.06490812861292942 + ], + [ + -0.09096916423883278, + -0.024900565872218765, + 0.9955423511719287, + 0.2531417298500968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9956409725058235, + -0.014774317455516373, + 0.09209111472548176, + -0.15359706213905144 + ], + [ + 0.012334790556363117, + 0.9995592347784337, + 0.02700350183000319, + -0.0656042026412934 + ], + [ + -0.09244948247334256, + -0.025749868210846336, + 0.9953843667034034, + 0.254929984608174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9955149773368984, + -0.01498829246096271, + 0.09340921253827077, + -0.15778421820977584 + ], + [ + 0.012427515762232097, + 0.9995324510419165, + 0.02793628762235372, + -0.06647607078088588 + ], + [ + -0.09378425640743047, + -0.026650148278087482, + 0.9952357925872953, + 0.25667840570154443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9954193057905766, + -0.015149555745267496, + 0.09439754562554935, + -0.16061380239729303 + ], + [ + 0.012496238490968106, + 0.9995117942643549, + 0.02863594157744283, + -0.06712596985650099 + ], + [ + -0.09478528199558982, + -0.027325154842578744, + 0.9951226488377428, + 0.25795791494353104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9953107152136971, + -0.015376598134838807, + 0.09549942623177762, + -0.16433588602001203 + ], + [ + 0.012605429300132304, + 0.9994837141549595, + 0.02955348187890366, + -0.06748817233831318 + ], + [ + -0.0959045532441418, + -0.02821108592037876, + 0.9949906790006803, + 0.2596512190715576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.995221586759742, + -0.015615502693902043, + 0.09638542069752193, + -0.1675924108169499 + ], + [ + 0.012732347775007695, + 0.9994550204062399, + 0.030455697412783134, + -0.06734076088188186 + ], + [ + -0.09680847363509976, + -0.029082954808263322, + 0.9948780333146686, + 0.2612931234907579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9951316205431738, + -0.01585518294920899, + 0.09727112093917686, + -0.17084921812560877 + ], + [ + 0.01285844604452839, + 0.99942550303397, + 0.031358001381084216, + -0.06719309056889486 + ], + [ + -0.09771242582413361, + -0.029954583271066218, + 0.9947637934608498, + 0.26293276584336794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9950482862482661, + -0.01596296229961333, + 0.0981024559784815, + -0.1741667160818085 + ], + [ + 0.012830236134301691, + 0.9993899808208043, + 0.032481552852818174, + -0.06776552030190292 + ], + [ + -0.09856111340243084, + -0.031062035825320345, + 0.9946460962851359, + 0.2648306907481855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.994990936514111, + -0.015944926993099705, + 0.09868533608372368, + -0.17638937323575532 + ], + [ + 0.01269330626105121, + 0.9993584438566748, + 0.033490008488036495, + -0.06873134522541935 + ], + [ + -0.09915601964044307, + -0.032069611714991474, + 0.9945549878078708, + 0.2664172132975736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9949139212883338, + -0.015921798365236817, + 0.09946248319586672, + -0.1797677279988636 + ], + [ + 0.012509794890291862, + 0.999314798752515, + 0.034834437357639754, + -0.07002492746610942 + ], + [ + -0.09994895826607776, + -0.03341301140330279, + 0.9944313834601605, + 0.26857192891102655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9948666176013685, + -0.015929084740256328, + 0.09993336500764158, + -0.18278481196254687 + ], + [ + 0.012376005104906045, + 0.9992724766923199, + 0.03607425429361825, + -0.07109454487465877 + ], + [ + -0.1004352910089682, + -0.034652295516098615, + 0.9943399673830924, + 0.2713800715913408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.994899152358111, + -0.016000760093502042, + 0.09959745134059672, + -0.1839233517177956 + ], + [ + 0.012389797742216288, + 0.9992469783759297, + 0.03676913268600826, + -0.07138787306036949 + ], + [ + -0.10011078637698992, + -0.0353475866645023, + 0.9943482179638963, + 0.27492936700735104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9949423612392239, + -0.016095961807992956, + 0.09914947213774573, + -0.18585585103915778 + ], + [ + 0.012408540673684654, + 0.9992122245563995, + 0.037695602069755044, + -0.07178406596931644 + ], + [ + -0.09967811158959373, + -0.03627465107382068, + 0.9943582974760181, + 0.2797045555582782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9949853748846332, + -0.016190745803599974, + 0.0987013855830251, + -0.1877882579571734 + ], + [ + 0.012427686727946367, + 0.9991766066971275, + 0.03862203039465624, + -0.07218017977111126 + ], + [ + -0.0992454349996906, + -0.03720172549139267, + 0.9943673241072362, + 0.2844808259403744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9951167212147826, + -0.016148228132399925, + 0.09737528375786532, + -0.18817901811215978 + ], + [ + 0.012399895510544323, + 0.9991631778469471, + 0.03897674468343561, + -0.07226242932055064 + ], + [ + -0.09792320332826333, + -0.03757896702909902, + 0.9944842218391188, + 0.2900214548972826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9952463047607395, + -0.016105207446500475, + 0.09604902473840415, + -0.18856959533101664 + ], + [ + 0.01237257597016238, + 0.999149615031558, + 0.03933149051526194, + -0.07234470943467938 + ], + [ + -0.09660078790546145, + -0.03795614674061061, + 0.9945992251659205, + 0.2955654045928578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9953423354445076, + -0.016072611877926673, + 0.09505422883436151, + -0.1885513677024877 + ], + [ + 0.012352395884250626, + 0.9991393550208757, + 0.03959757018287175, + -0.07240257838798834 + ], + [ + -0.09560885726642893, + -0.03823899051871318, + 0.9946842343258073, + 0.29969566861951075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9955121483862649, + -0.01576257127460312, + 0.09331186292308502, + -0.18895437367418072 + ], + [ + 0.012052648982383594, + 0.9991193918906444, + 0.040189232395963885, + -0.07329991140498032 + ], + [ + -0.09386317738000882, + -0.03888421395479664, + 0.9948254730540663, + 0.30613526370688376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9956929244103232, + -0.01536253767341517, + 0.09143080834954727, + -0.1893614942903813 + ], + [ + 0.011662988694918577, + 0.9990967900228062, + 0.04086048042824733, + -0.07446967178665252 + ], + [ + -0.09197594780115585, + -0.039618134766264315, + 0.9949727777299846, + 0.31287592130203046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9958260649178938, + -0.015061600749806402, + 0.09001997896576225, + -0.1893555553907748 + ], + [ + 0.011371578341127588, + 0.9990794136594526, + 0.0413643857432464, + -0.07534400495157033 + ], + [ + -0.09056012166607577, + -0.04016806423936707, + 0.9950805952178385, + 0.31790624591587024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9960391877245237, + -0.014577262461601822, + 0.08771225647648466, + -0.19023965908912827 + ], + [ + 0.01091825335388691, + 0.9990557580175373, + 0.042052159465410584, + -0.0764356727858082 + ], + [ + -0.08824244024714746, + -0.04092793411753833, + 0.9952578439520581, + 0.32422170799317945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9962843604806385, + -0.01400907924886027, + 0.08497775450248411, + -0.19160104367984246 + ], + [ + 0.010400809526367568, + 0.9990313860292975, + 0.04275643682040208, + -0.0774486763495796 + ], + [ + -0.08549442217408997, + -0.04171373187548635, + 0.9954650512951917, + 0.3301094495606738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9965216944820594, + -0.013438735516969811, + 0.08224301073228224, + -0.19296253062503216 + ], + [ + 0.009885309174418471, + 0.9990061690537223, + 0.04346210826837601, + -0.07846279618077402 + ], + [ + -0.08274535086113005, + -0.04249793618884116, + 0.9956641664389444, + 0.3360041572814919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9968071254614833, + -0.012829862615888398, + 0.07880957590592916, + -0.19312937784376993 + ], + [ + 0.009375403410826664, + 0.9989854382854, + 0.044047654927498, + -0.07911099352593992 + ], + [ + -0.07929474408874299, + -0.04316814472484437, + 0.9959160882528788, + 0.34138951811375484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9970534557835843, + -0.012344439806312215, + 0.07571011237530006, + -0.1920472536803366 + ], + [ + 0.008996982199986866, + 0.9989734571756648, + 0.04439691621940996, + -0.07931977173095489 + ], + [ + -0.076180447762568, + -0.043584936209297376, + 0.9961410004182772, + 0.3450237398123921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9973665374024195, + -0.011695192957102992, + 0.07157662000684382, + -0.19102049838827168 + ], + [ + 0.008494120329628383, + 0.9989569731463586, + 0.04486441487516755, + -0.07960299134190531 + ], + [ + -0.0720266616589564, + -0.044138285693505246, + 0.9964255976972414, + 0.349911623730091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9976705415769225, + -0.010990496459339506, + 0.06732532552604054, + -0.19010424435731385 + ], + [ + 0.007939870424104833, + 0.9989367497798355, + 0.04541286598472611, + -0.0800752543792316 + ], + [ + -0.06775285180166593, + -0.04477252424060447, + 0.9966970312717229, + 0.35479941948418436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9979044409346878, + -0.010340199122144003, + 0.06387336725852968, + -0.18935255998746253 + ], + [ + 0.007406089702170668, + 0.9989138243145352, + 0.04600349365682614, + -0.08085091415229832 + ], + [ + -0.06427967484479055, + -0.04543403873116117, + 0.9968971218367639, + 0.3584286632754286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9981970619503538, + -0.009469574679452628, + 0.059270166771081344, + -0.1887672284369997 + ], + [ + 0.006697585703116064, + 0.9988821148366499, + 0.04679383511971653, + -0.08188967596435495 + ], + [ + -0.05964702724722281, + -0.04631250171230302, + 0.9971446155526876, + 0.36330618776906703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.998467682847248, + -0.00859489829292413, + 0.054666388512337814, + -0.1881833653458749 + ], + [ + 0.005992757751606364, + 0.9988491006601514, + 0.047587403427141024, + -0.08292984143165472 + ], + [ + -0.055012481894367686, + -0.04718688200910504, + 0.9973700541935681, + 0.36819548365722815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_009/orbit_left/transforms.json b/spatialvid_eval/camera_controls/scene_009/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ab9fcf4427e66e7f01b2bf15a09677726d0f8c17 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_009/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": [ + [ + 0.9999999988381678, + -1.0995179582052475e-05, + 4.6933683121183114e-05, + -0.00012040915429576355 + ], + [ + 1.0999017964024834e-05, + 0.9999999965952304, + -8.178362263812044e-05, + -0.00011596544514781612 + ], + [ + -4.6932783735766956e-05, + 8.178413876752536e-05, + 0.9999999955543343, + -0.00036934803215042146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999239328683, + 9.959912346462563e-05, + 0.0003771130759595666, + -0.005510280588761482 + ], + [ + -0.00010001354162883792, + 0.999999391028194, + 0.0010990634797601248, + -0.003151259918295194 + ], + [ + -0.000377003380549119, + -0.0010991011125718398, + 0.9999993249223698, + 0.008990921859854652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999997269480092, + 0.0002136673982356999, + 0.0007074250138797294, + -0.010902575066300714 + ], + [ + -0.00021527947412104282, + 0.9999973787578277, + 0.0022795026260170647, + -0.006184875407441386 + ], + [ + -0.000706936104152076, + -0.0022796542976793025, + 0.9999971517047577, + 0.018332139631291874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999983821266052, + 0.00030149770897327176, + 0.0017733706053819755, + -0.015757975140899546 + ], + [ + -0.0003071081669974919, + 0.9999949464176429, + 0.0031643046233877504, + -0.008458444762329298 + ], + [ + -0.0017724076129131267, + -0.003164844120539513, + 0.9999934211448326, + 0.025425512851032794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999958903638542, + 0.00035052457666897484, + 0.002845415246322332, + -0.0215358263397505 + ], + [ + -0.00036335692397548766, + 0.9999897613152824, + 0.004510569404229745, + -0.012301136996822157 + ], + [ + -0.002843805047581779, + -0.004511584768762018, + 0.9999857790867457, + 0.035397366308338715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999912560259328, + 0.00037867597583208704, + 0.004164669996864728, + -0.027442329418687128 + ], + [ + -0.00040329520565151174, + 0.9999824414814747, + 0.005912197706967933, + -0.016413308799292335 + ], + [ + -0.004162358064193436, + -0.0059138256023073595, + 0.9999738503791442, + 0.04557787598355657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999820853562046, + 0.0004015869055802465, + 0.005972243683371496, + -0.03268334747814178 + ], + [ + -0.00044316943996664085, + 0.9999756602430179, + 0.006962939206115889, + -0.01949568732743363 + ], + [ + -0.0059693020952020755, + -0.006965461183428746, + 0.9999579240063046, + 0.05330035455189067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999702680522463, + 0.0004494959983218951, + 0.007698114370835155, + -0.03900026057785663 + ], + [ + -0.0005128067236753705, + 0.999966049304732, + 0.008224187932603306, + -0.02300526349988811 + ], + [ + -0.007694156274934857, + -0.008227891056286362, + 0.9999365488709686, + 0.06256218378601185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999515465488585, + 0.0005140144732750061, + 0.009830582061490352, + -0.04572585954586873 + ], + [ + -0.0006058885770605665, + 0.9999561505038368, + 0.009345050485722803, + -0.025913240971517464 + ], + [ + -0.009825347504216814, + -0.009350553923152588, + 0.9999080106128523, + 0.07092037966498106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999282717189963, + 0.0005798126829423854, + 0.011963077961562619, + -0.05245227457404892 + ], + [ + -0.000705030314610454, + 0.9999449871626132, + 0.010465446986022479, + -0.028820060370856028 + ], + [ + -0.011956351839804917, + -0.010473130650119181, + 0.9998736716131037, + 0.07927116049336062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998955503254731, + 0.0005809098802658845, + 0.01444129436825917, + -0.05937259704739134 + ], + [ + -0.0007471098488478205, + 0.9999335254700688, + 0.011505931855929678, + -0.031084111337457206 + ], + [ + -0.014433650480507666, + -0.01151551929834483, + 0.9998295167422776, + 0.08719933045405454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998488639177483, + 0.000532689483650399, + 0.017377156392876868, + -0.0655186193086188 + ], + [ + -0.0007452174556237324, + 0.9999249804321194, + 0.012226126073690113, + -0.03229905601660596 + ], + [ + -0.017369340037328044, + -0.012237228025167293, + 0.9997742526575328, + 0.09292269794183045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.999795834092315, + 0.00046877317733448013, + 0.020200752049396403, + -0.07263276851303781 + ], + [ + -0.0007352770103424721, + 0.9999127726379994, + 0.013187360733204534, + -0.03392081082373355 + ], + [ + -0.020192808110093143, + -0.013199521472304016, + 0.9997089692173079, + 0.10042908158420934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999730970495949, + 0.00037713745814885045, + 0.02319147253982767, + -0.07972763293416958 + ], + [ + -0.000703751913131877, + 0.9999006687586061, + 0.014076837334330898, + -0.035375893349646415 + ], + [ + -0.02318385999941949, + -0.014089371292932485, + 0.9996319313887972, + 0.10774267714520849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996453641365234, + 0.0002451366179099908, + 0.026628666290230925, + -0.0858154040365829 + ], + [ + -0.0006336346800261785, + 0.9998934760789985, + 0.01458200952371698, + -0.03609135973608174 + ], + [ + -0.026622255115789667, + -0.014593711066622644, + 0.9995390333197868, + 0.11289132011479024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995462672138852, + 6.900546286732094e-05, + 0.030120672918027974, + -0.0928513313991708 + ], + [ + -0.0005287920417140333, + 0.9998834635594624, + 0.015257118971479397, + -0.03704797498859468 + ], + [ + -0.030116109937462856, + -0.015266123888510506, + 0.9994298201392909, + 0.11963637450066647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994349448541869, + -0.00010727421738745293, + 0.033612192676930566, + -0.09988709459396061 + ], + [ + -0.00042852763416686507, + 0.9998729684390425, + 0.01593308974947627, + -0.03800521336831989 + ], + [ + -0.03360963207736104, + -0.01593849042853163, + 0.9993079391030998, + 0.12638287368829224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9992770576252585, + -0.00039381951381266955, + 0.03801587839306462, + -0.10828729014376406 + ], + [ + -0.00022697489307626635, + 0.9998667260242838, + 0.01632417446236419, + -0.03844286525709221 + ], + [ + -0.038017240644261, + -0.01632100167484614, + 0.9991437906118048, + 0.13184585106215035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9990996893971087, + -0.0006807984082153725, + 0.04241871238178538, + -0.11668657358745123 + ], + [ + -2.8437142256572813e-05, + 0.9998602603151452, + 0.016717028260403693, + -0.03888194802308785 + ], + [ + -0.04242416573051497, + -0.016703184009570354, + 0.9989600561614126, + 0.1373162040149615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9989161424714559, + -0.0008963168662242077, + 0.046537478724372645, + -0.12379580366212166 + ], + [ + 0.00010456252124597842, + 0.9998552645022328, + 0.017012910211047717, + -0.03921132840347748 + ], + [ + -0.046545992057590364, + -0.01698960456412518, + 0.998771657567499, + 0.14151764057682126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9986535195157786, + -0.0011371191119555473, + 0.05186381126444533, + -0.13313328323952422 + ], + [ + 0.0002259108694805768, + 0.9998455797305363, + 0.017571728929936477, + -0.04039906980400126 + ], + [ + -0.05187578358953079, + -0.017536352341160955, + 0.9984995640577613, + 0.14519111056808104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9983447543130941, + -0.0013635776932827363, + 0.057496888536705815, + -0.14278204585326454 + ], + [ + 0.0003182386390223977, + 0.9998345698030989, + 0.018186031750242703, + -0.04183620539573705 + ], + [ + -0.05751217488233795, + -0.018137631668070236, + 0.9981800318869222, + 0.1482753508683611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9980414696593676, + -0.0015343561725798935, + 0.06253695380577333, + -0.15082693104057288 + ], + [ + 0.0003686340932486858, + 0.9998260465391271, + 0.018647808741098854, + -0.04291387015496093 + ], + [ + -0.06255468766667335, + -0.018588233188632373, + 0.9978684225076221, + 0.15069745815271401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9976290285530277, + -0.0018912497957381165, + 0.0687949457631351, + -0.16095229512633646 + ], + [ + 0.0005721456126458209, + 0.9998157088176141, + 0.0191890867664547, + -0.04453162211369973 + ], + [ + -0.06881855881766569, + -0.019104229263247372, + 0.9974462563900459, + 0.1538180311031538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9971294364078623, + -0.0023776155180000196, + 0.07567849095607099, + -0.17155489031396493 + ], + [ + 0.0008919999379200587, + 0.9998063576795989, + 0.01965836919903158, + -0.04633062776575753 + ], + [ + -0.07571057644114397, + -0.019534433390893335, + 0.9969384707829502, + 0.156967605624097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9965821258049464, + -0.0028655390771517956, + 0.08255819288169684, + -0.18215341249587702 + ], + [ + 0.0012070763817716133, + 0.9997966157476413, + 0.020131321520756706, + -0.04813182291104698 + ], + [ + -0.08259908893385394, + -0.01996286115166934, + 0.9963828956189166, + 0.1601406069346788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9959695312244019, + -0.0034051786429877763, + 0.08962754950937162, + -0.19199838824268545 + ], + [ + 0.0015771673175137807, + 0.9997894576512799, + 0.02045856575159509, + -0.049397487890937994 + ], + [ + -0.08967834418575138, + -0.02023475049930473, + 0.9957652079965102, + 0.163669037731126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9953848649170566, + -0.003848039982001559, + 0.09588619964494521, + -0.19962495113631473 + ], + [ + 0.0018809714214721859, + 0.999786098839921, + 0.020596565562336938, + -0.04994614105465129 + ], + [ + -0.09594494588338137, + -0.02032115042877633, + 0.9951791889929604, + 0.16669361918135506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9946569362402921, + -0.004438921992342342, + 0.10314007543443666, + -0.20871151669424326 + ], + [ + 0.0023066927138545457, + 0.9997813444392941, + 0.020783225925769526, + -0.05067969730762339 + ], + [ + -0.10320977840204501, + -0.020434267364004704, + 0.9944496881992055, + 0.17060196455270252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9938604115055911, + -0.005019105500764018, + 0.11052733156061167, + -0.21758995677409976 + ], + [ + 0.002721071038704042, + 0.9997771865756504, + 0.020932581667812335, + -0.05144363070392529 + ], + [ + -0.11060776742317653, + -0.02050331150935154, + 0.9936526234065962, + 0.17495868735744474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9930948161442931, + -0.005429187548191709, + 0.11718877962458475, + -0.22459497344331492 + ], + [ + 0.0029929332328593366, + 0.9997759376082709, + 0.02095511704015349, + -0.05208182294856196 + ], + [ + -0.11727629128684355, + -0.02045967991121672, + 0.9928885501404144, + 0.17931735095042067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9921412348766961, + -0.005975724778065659, + 0.12498024152129572, + -0.2328532403898872 + ], + [ + 0.003378033283858197, + 0.9997740539013479, + 0.02098642505997129, + -0.05293318047205517 + ], + [ + -0.12507741182354928, + -0.02039931025896358, + 0.9919372506325593, + 0.1849953982046071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.991126225081039, + -0.00652197840956217, + 0.13276396255850134, + -0.24110475763628578 + ], + [ + 0.0037628439883423976, + 0.9997719206118986, + 0.021022553629738025, + -0.053787476159037936 + ], + [ + -0.13287079047604608, + -0.020336434142224167, + 0.9909247108053416, + 0.19070269463591177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9900099623565766, + -0.007095370378787738, + 0.14081878480486118, + -0.24789546009774444 + ], + [ + 0.004175603826545261, + 0.9997703593695583, + 0.021018869112017138, + -0.05542608811870486 + ], + [ + -0.14093558375163356, + -0.020220886361685265, + 0.9898122433003818, + 0.1980269236810851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9888279062188623, + -0.0076681920210092585, + 0.14886426943343478, + -0.25467840828787675 + ], + [ + 0.004588485767593595, + 0.9997685164119284, + 0.021020451704301148, + -0.05706784641624313 + ], + [ + -0.14899099865824755, + -0.020102547664940282, + 0.9886341941770966, + 0.20538208273965242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9877711829006035, + -0.008097425722388241, + 0.15570010252987304, + -0.2605640193468767 + ], + [ + 0.004880994973144424, + 0.9997669493443444, + 0.02102909619492092, + -0.05830492987304699 + ], + [ + -0.15583409806334014, + -0.020011963806021233, + 0.9875805056730372, + 0.21105901150210868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9865170532096259, + -0.008677592077552209, + 0.16342828128060394, + -0.2678305405125037 + ], + [ + 0.005285989895498364, + 0.9997617830134851, + 0.021176296572392114, + -0.06052643129739811 + ], + [ + -0.16357310915129442, + -0.020026897449001428, + 0.9863279177541038, + 0.21900578297481285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9852193647575421, + -0.009260704970140766, + 0.17104690190179367, + -0.27525558533296657 + ], + [ + 0.005686561274616463, + 0.9997553810448314, + 0.021373841320045796, + -0.06294219814678026 + ], + [ + -0.1712029974259091, + -0.020085253679266158, + 0.9850310229921819, + 0.2271590538149982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9840623271573327, + -0.009698205405582212, + 0.177559232600298, + -0.28162115621468775 + ], + [ + 0.005968027824777217, + 0.999750386932253, + 0.02153012941655891, + -0.06476071446988854 + ], + [ + -0.17772371511303234, + -0.02012731081695283, + 0.9838745715007072, + 0.23344277858748053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9827082577876667, + -0.01020261354633699, + 0.18487938433679738, + -0.2901074132977563 + ], + [ + 0.006279344333805853, + 0.999742766827641, + 0.021793806701696974, + -0.06641847330592211 + ], + [ + -0.1850541810137416, + -0.020256032499913024, + 0.9825195383485746, + 0.24083548487446393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9813548506673171, + -0.010628532477950222, + 0.19191063380931567, + -0.299662105585912 + ], + [ + 0.0065022580611307345, + 0.999734221375753, + 0.0221180299828863, + -0.06731474769146159 + ], + [ + -0.1920947102651048, + -0.020457783545207293, + 0.9811631369861912, + 0.2474401617720659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9799509633482943, + -0.011055231173258753, + 0.19893187601904314, + -0.30920994075579333 + ], + [ + 0.006721922776720118, + 0.9997254794206644, + 0.022445078554254597, + -0.06821278370166345 + ], + [ + -0.1991254006573093, + -0.02065787164324186, + 0.9797562590523409, + 0.2540694281581426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.978576290435475, + -0.01146992567932018, + 0.20556479417073348, + -0.3171986609851799 + ], + [ + 0.006954042473361013, + 0.9997186529701455, + 0.022677217572642988, + -0.0682807809524567 + ], + [ + -0.20576706512662282, + -0.020761881139944146, + 0.9783807332530151, + 0.26010461455533623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9774044338523162, + -0.011771519936062196, + 0.21104976665286368, + -0.322821260853958 + ], + [ + 0.007120124523324042, + 0.9997150164552082, + 0.022785734588446415, + -0.06771521696570532 + ], + [ + -0.2112578436712012, + -0.020768177396142735, + 0.9772097043598353, + 0.2643453741994464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9760316068057484, + -0.01217366552923273, + 0.21728806774365486, + -0.32924740121111434 + ], + [ + 0.0073652662244767, + 0.9997100487520296, + 0.02292534138583649, + -0.06695519853559881 + ], + [ + -0.2175041502354182, + -0.020775473323054166, + 0.9758382675108471, + 0.26980010033658847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9746417628318721, + -0.012578167144074101, + 0.22341715210627108, + -0.3356023925525861 + ], + [ + 0.007572960968613114, + 0.9997010996542702, + 0.023245679431047887, + -0.06639297069882227 + ], + [ + -0.22364276068352582, + -0.020964280606281614, + 0.9744456960408376, + 0.2749532337511349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9734400307721199, + -0.012887552130218064, + 0.22857912741644923, + -0.3410153515174539 + ], + [ + 0.007624394118517453, + 0.99968542969572, + 0.02389372864182876, + -0.06641923679595503 + ], + [ + -0.22881515488424262, + -0.021516334589672642, + 0.9732320752221053, + 0.2782782491269236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9720513519833313, + -0.013301804235626142, + 0.2343911924784183, + -0.34716443652977 + ], + [ + 0.007711520804503957, + 0.9996639118732551, + 0.024750671609927354, + -0.06644637037469696 + ], + [ + -0.23464164497006829, + -0.022251411243735524, + 0.9718272342054438, + 0.28250070848115905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9706278486195428, + -0.01371804046317747, + 0.2401944937962744, + -0.3533086298311599 + ], + [ + 0.007790853862279529, + 0.9996416804453612, + 0.025608852228693187, + -0.06647435434933996 + ], + [ + -0.24045973068331933, + -0.02298534494466127, + 0.970386928929631, + 0.28674028480973857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.969366069749886, + -0.014015570662121935, + 0.24522028178083993, + -0.361062591492481 + ], + [ + 0.007775219755102621, + 0.9996212844486848, + 0.0263976066135159, + -0.06671192297364265 + ], + [ + -0.24549739056743422, + -0.023682302594493287, + 0.9691079298862454, + 0.28987740186276395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9680782141527522, + -0.014314430445776887, + 0.250239222273071, + -0.36881324888796085 + ], + [ + 0.007753037762793334, + 0.9996003087927485, + 0.027186633975001723, + -0.06694984445566556 + ], + [ + -0.25052836503730896, + -0.02437867392732905, + 0.9678022621224226, + 0.29302664820020285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9668871060213319, + -0.014539447058013744, + 0.2547899697573303, + -0.37541979757815197 + ], + [ + 0.007709373826279378, + 0.9995841967030545, + 0.027784874603211163, + -0.06713560937960339 + ], + [ + -0.2550880039611835, + -0.024900565872218765, + 0.9665971612074715, + 0.29557612153103524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9656644085119273, + -0.014774317455516373, + 0.25937226080873266, + -0.3837731214854634 + ], + [ + 0.007583597932938759, + 0.9995592347784337, + 0.02870235550514726, + -0.06788299588322302 + ], + [ + -0.2596819962486832, + -0.025749868210846336, + 0.965350819708267, + 0.29853818225515194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9644588715624297, + -0.01498829246096271, + 0.26380757410208994, + -0.39232703403989855 + ], + [ + 0.0074199888624545745, + 0.9995324510419165, + 0.029661811802727946, + -0.06879967254764156 + ], + [ + -0.2641288110559052, + -0.026650148278087482, + 0.9641191527850437, + 0.30143916788048425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9633224736539346, + -0.015149555745267496, + 0.2679184628090896, + -0.3995360507259723 + ], + [ + 0.007267537169964578, + 0.9995117942643549, + 0.03038677393098937, + -0.06949396591913723 + ], + [ + -0.26824800960444733, + -0.027325154842578744, + 0.9629622740565081, + 0.3038030687470681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9621364642816868, + -0.01537659813483881, + 0.2721341292990185, + -0.4076300197775288 + ], + [ + 0.00711122970417415, + 0.9994837141549597, + 0.03133265949615182, + -0.06990546195844055 + ], + [ + -0.272475420013677, + -0.028211085920378767, + 0.9617490733655863, + 0.30661837657054586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9609916615045078, + -0.015615502693902043, + 0.2761361667627452, + -0.4152665549178982 + ], + [ + 0.006969033412338945, + 0.9994550204062399, + 0.03226600003192916, + -0.06981236018436936 + ], + [ + -0.27648952799718035, + -0.029082954808263322, + 0.9605767656192383, + 0.30933858318791113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9598302032106416, + -0.01585518294920899, + 0.2801331722204024, + -0.42290161126902337 + ], + [ + 0.006819982633924414, + 0.99942550303397, + 0.03319867048797431, + -0.06971915767714557 + ], + [ + -0.2804986075571348, + -0.029954583271066218, + 0.9593869157433643, + 0.31206450980374323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9586696485158941, + -0.01596296229961333, + 0.2840733863793533, + -0.430598865019425 + ], + [ + 0.006471623576558789, + 0.9993899808208043, + 0.0343188624997346, + -0.07030080977968854 + ], + [ + -0.2844479268736117, + -0.031062035825320345, + 0.9581881479269566, + 0.315042268382426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9575667619708004, + -0.015944926993099705, + 0.287770143816105, + -0.43721294211115336 + ], + [ + 0.006031393268657028, + 0.9993584438566748, + 0.035303299953466066, + -0.0712487687783438 + ], + [ + -0.28814843165284765, + -0.032069611714991474, + 0.9570485992573493, + 0.3176496477286759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9563927613926507, + -0.015921798365236817, + 0.29164941675332967, + -0.4449714489481745 + ], + [ + 0.005473561087909216, + 0.999314798752515, + 0.03660564332500423, + -0.07250127595659651 + ], + [ + -0.2920324058811925, + -0.03341301140330279, + 0.9558245888154403, + 0.32088294201176354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.955293481863524, + -0.015929084740256328, + 0.29522978807769906, + -0.45238341841869534 + ], + [ + 0.004976753056521299, + 0.9992724766923199, + 0.03781202525932327, + -0.07354334864371662 + ], + [ + -0.2956173124803075, + -0.034652295516098615, + 0.9546777587109619, + 0.3246936201842994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9544217869295366, + -0.016000760093502042, + 0.2980319249856636, + -0.4579595255151275 + ], + [ + 0.004726475085854514, + 0.9992469783759297, + 0.0385115130816371, + -0.07386230668528185 + ], + [ + -0.29842371398314316, + -0.0353475866645023, + 0.9537787138794315, + 0.3290268862845922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9535753704117571, + -0.016095961807992956, + 0.30072401460069004, + -0.46433619346742055 + ], + [ + 0.004429110198852463, + 0.9992122245563995, + 0.03943746036319058, + -0.07427884566960159 + ], + [ + -0.30112189546249674, + -0.03627465107382068, + 0.9528954579399285, + 0.3345526250229056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9527213852460079, + -0.016190745803599978, + 0.30341361512834447, + -0.4707134851165431 + ], + [ + 0.004126140313444228, + 0.9991766066971277, + 0.04036190772656188, + -0.07469480130056612 + ], + [ + -0.3038172757777966, + -0.037201725491392675, + 0.952003726126858, + 0.3400755436615564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9521317083024555, + -0.016148228132399925, + 0.30526127296667005, + -0.47559995819922213 + ], + [ + 0.0038919852788114515, + 0.9991631778469471, + 0.04071604702546231, + -0.0747984191872162 + ], + [ + -0.3056633155869991, + -0.03757896702909902, + 0.9513977920624941, + 0.34610259237925795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9515384488565537, + -0.016105207446500475, + 0.30710780296301304, + -0.4804880388199628 + ], + [ + 0.003656011650593243, + 0.999149615031558, + 0.04106921427420186, + -0.07490165491500914 + ], + [ + -0.3075080713192328, + -0.03795614674061061, + 0.950788155688811, + 0.35212109271870445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9508384517983633, + -0.016072611877926676, + 0.30926996253938666, + -0.4849500647935674 + ], + [ + 0.0034440231494207003, + 0.9991393550208759, + 0.0413362788965693, + -0.07498460798217835 + ], + [ + -0.3096681728661154, + -0.038238990518713184, + 0.9500754719062439, + 0.3568126010085974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9503714400972717, + -0.01576257127460312, + 0.31071798659596667, + -0.48987918844275946 + ], + [ + 0.002885798121480334, + 0.9991193918906444, + 0.04185824790016188, + -0.07581192075089915 + ], + [ + -0.31110415943320385, + -0.03888421395479664, + 0.9495800228987958, + 0.363576352616768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9499468634588122, + -0.01536253767341517, + 0.3120335703750451, + -0.49482290306931936 + ], + [ + 0.0022187489963213375, + 0.9990967900228062, + 0.042434435533141066, + -0.07687830253338289 + ], + [ + -0.31240363915559083, + -0.039618134766264315, + 0.9491229475889759, + 0.3705819987390511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9493706795658942, + -0.015061600749806402, + 0.3137968466435661, + -0.49932780652941733 + ], + [ + 0.0016816482271841931, + 0.9990794136594526, + 0.04286603855180108, + -0.07768102636592955 + ], + [ + -0.3141536007112322, + -0.04016806423936707, + 0.9485220302003691, + 0.3760073356744872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9490774769350988, + -0.014577262461601822, + 0.31470533232475206, + -0.5047777420488471 + ], + [ + 0.0009418489675270695, + 0.9990557580175373, + 0.04343622097427851, + -0.07864091916808355 + ], + [ + -0.3150413555313483, + -0.04092793411753833, + 0.9481950477163659, + 0.38242010341115584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9489192814745184, + -0.01400907924886027, + 0.3152077774175045, + -0.5107322741786227 + ], + [ + 0.00013214238050463263, + 0.9990313860292975, + 0.0440030938318215, + -0.0794962828079386 + ], + [ + -0.3155189055893088, + -0.04171373187548635, + 0.9480019961944938, + 0.38824645796705715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9487603930675542, + -0.013438735516969811, + 0.3157104954448061, + -0.5166888783109966 + ], + [ + -0.0006796987351705044, + 0.9990061690537223, + 0.04456694068741187, + -0.08034811404729338 + ], + [ + -0.31599565591306694, + -0.04249793618884116, + 0.9478083513367879, + 0.3940547076937265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9488226099492797, + -0.012829862615888402, + 0.31554880680220476, + -0.5214932868439964 + ], + [ + -0.0014609838404088726, + 0.9989854382854002, + 0.04501066118094405, + -0.08083444044067255 + ], + [ + -0.3158061436629373, + -0.04316814472484438, + 0.9478412266333215, + 0.3990979391008507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9487769564902546, + -0.012344439806312219, + 0.31570540324637836, + -0.5250303874925404 + ], + [ + -0.002060216771720099, + 0.998973457175665, + 0.0452524846318267, + -0.0809280532868741 + ], + [ + -0.31593993470269566, + -0.04358493620929738, + 0.9477775640917485, + 0.4024715620097178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9490596556390535, + -0.011695192957102994, + 0.3148793300614978, + -0.5286839330532515 + ], + [ + -0.0028107594870970766, + 0.9989569731463588, + 0.045574833333442435, + -0.08104616890768433 + ], + [ + -0.3150839089344095, + -0.04413828569350525, + 0.9480368885579566, + 0.4067186947512176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9493784879939501, + -0.010990496459339508, + 0.31394218499892407, + -0.5324550379675496 + ], + [ + -0.0036333761589475207, + 0.9989367497798357, + 0.04595833457585099, + -0.08132801631228907 + ], + [ + -0.31411349081503814, + -0.044772524240604475, + 0.9483291284997607, + 0.4108868368000845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9494439440823018, + -0.010340199122144003, + 0.31376627818737574, + -0.5363459792160358 + ], + [ + -0.004449368987859843, + 0.9989138243145352, + 0.04638291397616273, + -0.08191358127798479 + ], + [ + -0.31390508145146856, + -0.04543403873116117, + 0.9483666737942253, + 0.41403605009291305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9498717997613358, + -0.00946957467945263, + 0.3124962258548918, + -0.5404678563887995 + ], + [ + -0.005488147434109918, + 0.9988821148366501, + 0.046951047881844704, + -0.08268832650386926 + ], + [ + -0.31259149741460135, + -0.04631250171230303, + 0.9487579817473188, + 0.4179933138718156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9502970191031925, + -0.00859489829292413, + 0.31122612873427036, + -0.5445898738525323 + ], + [ + -0.006527966830950467, + 0.9988491006601514, + 0.04751694181511392, + -0.08345865559478825 + ], + [ + -0.31127634207025817, + -0.04718688200910504, + 0.949147215680275, + 0.42191957035995786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_009/orbit_right/transforms.json b/spatialvid_eval/camera_controls/scene_009/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..cc830ddc069252c33825b3999e0f44416a4b4a5b --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_009/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": [ + [ + 0.9999999988381678, + -1.0995179582052475e-05, + 4.6933683121183114e-05, + -0.00012040915429576355 + ], + [ + 1.0999017964024834e-05, + 0.9999999965952304, + -8.178362263812044e-05, + -0.00011596544514781612 + ], + [ + -4.6932783735766956e-05, + 8.178413876752536e-05, + 0.9999999955543343, + -0.00036934803215042146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999809737803156, + 9.959912346462563e-05, + -0.006167832470672156, + 0.0009601683850112234 + ], + [ + -9.28180972079998e-05, + 0.999999391028194, + 0.001099694522075228, + -0.0031518837778935775 + ], + [ + 0.006167938243246555, + -0.0010991011125718398, + 0.9999803740646972, + 0.009009657013066549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999923314452738, + 0.0002136673982356999, + -0.012382227590141728, + 0.0020381563989789846 + ], + [ + -0.00018542326312784738, + 0.9999973787578277, + 0.0022821252567480923, + -0.0061874682004703155 + ], + [ + 0.012382682749090638, + -0.0022796542976793025, + 0.9999207330304831, + 0.018407688889368806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998404407336152, + 0.00030149770897327176, + -0.01786063192448066, + 0.003652824329163369 + ], + [ + -0.0002449219851479282, + 0.9999949464176429, + 0.003169724340856922, + -0.008463802867423686 + ], + [ + 0.017861497328933124, + -0.003164844120539513, + 0.9998354618010212, + 0.02558167648310333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997277010354986, + 0.00035052457666897484, + -0.023332400536556948, + 0.004344718429054054 + ], + [ + -0.0002451594684990867, + 0.9999897613152824, + 0.004518535320165114, + -0.01230901245311308 + ], + [ + 0.023333745501144414, + -0.004511584768762018, + 0.9997175510731829, + 0.035662548368249045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9995921123664844, + 0.00037867597583208704, + -0.028556356546572844, + 0.004907642141769539 + ], + [ + -0.00020963758991468545, + 0.9999824414814747, + 0.005922227691508757, + -0.016423225044255394 + ], + [ + 0.02855809774460759, + -0.0059138256023073595, + 0.9995746403945805, + 0.04597255894468372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999445604595146, + 0.0004015869055802465, + -0.03329147313352377, + 0.006135882707811548 + ], + [ + -0.00016946406201550222, + 0.9999756602430179, + 0.006974969782893064, + -0.019507581711537936 + ], + [ + 0.03329346388368975, + -0.006965461183428746, + 0.9994213463865617, + 0.053830857821119356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9992735455251255, + 0.0004494959983218951, + -0.03810746865107763, + 0.006287829181302145 + ], + [ + -0.00013561013723467744, + 0.999966049304732, + 0.008239044105799148, + -0.023019951833946627 + ], + [ + 0.03810987829337757, + -0.008227891056286362, + 0.9992396804497058, + 0.06325117926495549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.999095640619816, + 0.0005140144732750061, + -0.0425163107948123, + 0.0060310246554776785 + ], + [ + -0.00011597607451421473, + 0.9999561505038368, + 0.009363953176872507, + -0.025931930607970475 + ], + [ + 0.0425192596834652, + -0.009350553923152588, + 0.9990518903927366, + 0.07176685044246531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9988982823222512, + 0.0005798126829423854, + -0.0469242516286552, + 0.005773095028497613 + ], + [ + -8.769824257726959e-05, + 0.9999449871626132, + 0.010488801522577095, + -0.02884315237608451 + ], + [ + 0.04692775173258249, + -0.010473130650119181, + 0.998843380942033, + 0.08028986953550266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9986992030406653, + 0.0005809098802658845, + -0.05098592344609912, + 0.005321339097865512 + ], + [ + 7.013718774346408e-06, + 0.9999335254700688, + 0.011530160094608041, + -0.03110806803588228 + ], + [ + 0.05098923216472493, + -0.01151551929834483, + 0.9986328109062618, + 0.08838262409737485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9985087317380894, + 0.000532689483650399, + -0.05458964081862638, + 0.005644270789110922 + ], + [ + 0.00013617072295969178, + 0.9999249804321194, + 0.012248059656947306, + -0.03232074459016015 + ], + [ + 0.054592069939935775, + -0.012237228025167293, + 0.9984337515077972, + 0.09424822498611675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9982987299396175, + 0.00046877317733448013, + -0.05830459718286124, + 0.004998821692678193 + ], + [ + 0.0003016580014582352, + 0.9999127726379994, + 0.013204397670464156, + -0.03393765814107732 + ], + [ + 0.05830570129410722, + -0.013199521472304016, + 0.9982115095657361, + 0.10190987461496817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.998085277059078, + 0.00037713745814885045, + -0.06185173793225902, + 0.004372805614197839 + ], + [ + 0.0004950742166540652, + 0.9999006687586061, + 0.014085720344109254, + -0.03538467788416531 + ], + [ + 0.06185090637511461, + -0.014089371292932485, + 0.9979859492984591, + 0.10937041220920439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9978883455027207, + 0.0002451366179099908, + -0.06495221180130495, + 0.004754592024173512 + ], + [ + 0.0007033009381329903, + 0.9998934760789985, + 0.014578815536521676, + -0.036088201004546024 + ], + [ + 0.0649488666385599, + -0.014593711066622644, + 0.9977818741186225, + 0.11462908355672301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9976855209576921, + 6.900546286732094e-05, + -0.06799703309428154, + 0.004188361710322636 + ], + [ + 0.0009692134077526842, + 0.9998834635594624, + 0.015235482457194752, + -0.037026576193295926 + ], + [ + 0.06799016029359659, + -0.015266123888510506, + 0.9975691873572838, + 0.12147656463039466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9974733665012475, + -0.00010727421738745293, + -0.07104133735305555, + 0.0036223419518592037 + ], + [ + 0.0012392812716690432, + 0.9998729684390425, + 0.015890599951789132, + -0.03796318807766528 + ], + [ + 0.07103060820940542, + -0.01593849042853163, + 0.9973467888454156, + 0.12832258425607157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9973190948105777, + -0.00039381951381266955, + -0.0731742306580703, + 0.0016937452463318195 + ], + [ + 0.001586988363109788, + 0.9998667260242838, + 0.016248435537464655, + -0.038367949912095536 + ], + [ + 0.07315807948644695, + -0.01632100167484614, + 0.9971868031167402, + 0.13378155840868863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9971601719506005, + -0.0006807984082153725, + -0.07530689204167568, + -0.00023383314510258546 + ], + [ + 0.0019366359659760309, + 0.9998602603151452, + 0.01660449588712297, + -0.03877063236392263 + ], + [ + 0.0752850643659452, + -0.016703184009570354, + 0.9970221475611052, + 0.1392331597047436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9969746748659891, + -0.0008963168662242077, + -0.07772190355318553, + -0.0008718097592547297 + ], + [ + 0.0022139420658701596, + 0.9998552645022328, + 0.016868565668099692, + -0.03906853509972821 + ], + [ + 0.07769553485487002, + -0.01698960456412518, + 0.9968323616337755, + 0.1434360953217546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9968794860151564, + -0.0011371191119555473, + -0.07893033208015207, + -0.0037357464399808 + ], + [ + 0.002517549038622537, + 0.9998455797305363, + 0.017391913067464623, + -0.040221173996999864 + ], + [ + 0.07889836696026091, + -0.017536352341160955, + 0.9967284103694302, + 0.14694335205766865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.996807488153068, + -0.0013635776932827363, + -0.07983089763898352, + -0.006910686164802102 + ], + [ + 0.0028069482347634505, + 0.9998345698030989, + 0.017970922854977728, + -0.041623377832614876 + ], + [ + 0.07979318644833555, + -0.018137631668070236, + 0.9966464135860293, + 0.14979270441776465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9966867160248667, + -0.0015343561725798935, + -0.08132180427599146, + -0.008482935516174753 + ], + [ + 0.0030406422122628805, + 0.9998260465391271, + 0.018401933509180853, + -0.04267058386931259 + ], + [ + 0.08127942294642601, + -0.018588233188632373, + 0.996518004349355, + 0.15203365706642336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9966638364134809, + -0.0018912497957381165, + -0.08159424219743006, + -0.012134675231123937 + ], + [ + 0.0034434003251079042, + 0.9998157088176141, + 0.018886275327169293, + -0.0442319750560714 + ], + [ + 0.0815434864337048, + -0.019104229263247372, + 0.996486672386788, + 0.15476758744687047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9966918426520114, + -0.0023776155180000196, + -0.08123864680918497, + -0.01626450601932132 + ], + [ + 0.003956264407709086, + 0.9998063576795989, + 0.019276802519893627, + -0.04595301677258477 + ], + [ + 0.08117708274430184, + -0.019534433390893335, + 0.9965082474065241, + 0.15739336889259153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9967194652124901, + -0.0028655390771517956, + -0.08088322664387883, + -0.020392230556830412 + ], + [ + 0.00447025501257444, + 0.9997966157476413, + 0.019665806865879317, + -0.04767109391712674 + ], + [ + 0.0808104231312416, + -0.01996286115166934, + 0.9965295578596699, + 0.15999545243541569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9967621871760586, + -0.0034051786429877763, + -0.08033397148410902, + -0.023768813800878377 + ], + [ + 0.005019034765419357, + 0.9997894576512799, + 0.01989597093341476, + -0.04884062604190057 + ], + [ + 0.08024930844576678, + -0.02023475049930473, + 0.9965694172340468, + 0.16287302356861372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9967397436935427, + -0.003848039982001559, + -0.0805920339117229, + -0.024928537473098047 + ], + [ + 0.0054724778463979, + 0.999786098839921, + 0.019945138572412157, + -0.04930129122467641 + ], + [ + 0.08049804549150284, + -0.02032115042877633, + 0.996547598219623, + 0.16533902615589358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.996797099746889, + -0.004438921992342342, + -0.07984884412273276, + -0.02755235972432407 + ], + [ + 0.006055509029144132, + 0.9997813444392941, + 0.02001484752766511, + -0.04991900216186619 + ], + [ + 0.07974254038208545, + -0.020434267364004704, + 0.9966060244503381, + 0.16846719017213244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.996864655422268, + -0.005019105500764018, + -0.07896624183671797, + -0.02997209012738826 + ], + [ + 0.006621490317639506, + 0.9997771865756504, + 0.020043279892540372, + -0.05056313170393118 + ], + [ + 0.0788480477616043, + -0.02050331150935154, + 0.9966757745532567, + 0.171965460946026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9968751744727123, + -0.005429187548191709, + -0.07880615738992709, + -0.03051964792193508 + ], + [ + 0.007023565391267293, + 0.9997759376082709, + 0.019968578033938155, + -0.05110494629201545 + ], + [ + 0.07868008673860237, + -0.02045967991121672, + 0.9966899444906309, + 0.1755531881756508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9969740418395879, + -0.005975724778065659, + -0.07750516506280353, + -0.0323291684129723 + ], + [ + 0.007537617450562778, + 0.9997740539013479, + 0.01987524764207018, + -0.05183276625314808 + ], + [ + 0.07736888406332729, + -0.02039931025896358, + 0.9967938221717438, + 0.1801858688794407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9970709190225758, + -0.00652197840956217, + -0.07620397782991103, + -0.03413765567141444 + ], + [ + 0.008051451489598597, + 0.9997719206118986, + 0.0197808211383263, + -0.05255763308030816 + ], + [ + 0.07605758718488911, + -0.020336434142224167, + 0.9968960190902522, + 0.18478856078184008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9971867079048446, + -0.007095370378787738, + -0.07462121211214615, + -0.03449349524431655 + ], + [ + 0.008583123389463838, + 0.9997703593695583, + 0.019635644092965383, + -0.054055948213746645 + ], + [ + 0.07446475388248674, + -0.020220886361685265, + 0.9970186137600283, + 0.1908887244722228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9972996670653878, + -0.0076681920210092585, + -0.07303816059017358, + -0.03484883594927385 + ], + [ + 0.009114504130317625, + 0.9997685164119284, + 0.01948946910386963, + -0.05555116518713313 + ], + [ + 0.072871804463218, + -0.020102547664940282, + 0.9971387003279202, + 0.19695701975188956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9973234132569908, + -0.008097425722388241, + -0.0726666434211475, + -0.03430262879726674 + ], + [ + 0.009528697219246741, + 0.9997669493443444, + 0.01937139458085086, + -0.05666251091772208 + ], + [ + 0.0724928499834964, + -0.020011963806021233, + 0.9971681442995945, + 0.20155976309491166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9974110830882903, + -0.008677592077552209, + -0.07138508757702675, + -0.03515244869855712 + ], + [ + 0.010083445832371305, + 0.9997617830134851, + 0.019357203977921254, + -0.058723880634403335 + ], + [ + 0.07120010851669967, + -0.020026897449001428, + 0.9972609828554297, + 0.20817213777892735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9974896650009862, + -0.009260704970140766, + -0.07020404233145629, + -0.036167278545212844 + ], + [ + 0.01064617686379178, + 0.9997553810448314, + 0.01938651567686492, + -0.06097268741771712 + ], + [ + 0.07000733628989009, + -0.020085253679266158, + 0.9973442512243376, + 0.2149562046262674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9974904143711115, + -0.009698205405582212, + -0.07013428583553168, + -0.036115132640362146 + ], + [ + 0.011084109292990413, + 0.999750386932253, + 0.019398617218557977, + -0.06264802663196697 + ], + [ + 0.06992864762692017, + -0.02012731081695283, + 0.9973489236973931, + 0.22008742456393401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.997548105599068, + -0.01020261354633699, + -0.06923643327421754, + -0.03820115380803957 + ], + [ + 0.01157864050128307, + 0.999742766827641, + 0.019502186030173105, + -0.0641467784663016 + ], + [ + 0.06901965009946893, + -0.020256032499913024, + 0.9974096355297104, + 0.2260748583239359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9975861220011601, + -0.010628532477950222, + -0.06862188782051987, + -0.04135847579525054 + ], + [ + 0.012005266390162016, + 0.999734221375753, + 0.019681468164713813, + -0.06489903099741486 + ], + [ + 0.06839446446597927, + -0.020457783545207293, + 0.9974485832978208, + 0.23129403971122162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9976235655606727, + -0.011055231173258753, + -0.0680073768183735, + -0.04451608018295783 + ], + [ + 0.01243233858326996, + 0.9997254794206644, + 0.01985957588856785, + -0.06564902930875367 + ], + [ + 0.06776915519143925, + -0.02065787164324186, + 0.9974871397385583, + 0.23648769294945926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9976344752051335, + -0.01146992567932018, + -0.06777827592296233, + -0.046114643682488354 + ], + [ + 0.01284846873261376, + 0.9997186529701455, + 0.019938198383638965, + -0.06556439847760612 + ], + [ + 0.06753051705270284, + -0.020761881139944146, + 0.99750116469011, + 0.2411422045525816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9975671119520655, + -0.011771519936062196, + -0.06871163271244624, + -0.04532980830702171 + ], + [ + 0.013168374719683174, + 0.9997150164552082, + 0.019911800049336896, + -0.06486460114954351 + ], + [ + 0.06845765887654376, + -0.020768177396142735, + 0.997437833525872, + 0.24428137338544922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9975515119207277, + -0.01217366552923273, + -0.068867865744865, + -0.04536916109323891 + ], + [ + 0.01357311134473986, + 0.9997100487520296, + 0.019889421123749647, + -0.06394344305447758 + ], + [ + 0.06860577026091665, + -0.020775473323054166, + 0.9974275051326333, + 0.24838270490870307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9975285916352435, + -0.012578167144074101, + -0.06912668501746125, + -0.045340923477941886 + ], + [ + 0.013994736362993978, + 0.9997010996542702, + 0.020046413748435767, + -0.06321866504218893 + ], + [ + 0.06885387588464328, + -0.020964280606281614, + 0.9974064581274393, + 0.2521716069021249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9974378585710076, + -0.012887552130218064, + -0.0703678143001032, + -0.044352481265385574 + ], + [ + 0.01436693237107305, + 0.99968542969572, + 0.020558037560254747, + -0.06310903169784687 + ], + [ + 0.07008073589459451, + -0.021516334589672642, + 0.99730924883022, + 0.25438503453463945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9973922604041824, + -0.013301804235626142, + -0.07093476503036181, + -0.04412091200016524 + ], + [ + 0.014843682713301432, + 0.9996639118732551, + 0.021253902742028284, + -0.06297574124496418 + ], + [ + 0.07062820944454419, + -0.022251411243735524, + 0.9972544964693415, + 0.25726352511666056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9973461208654988, + -0.01371804046317747, + -0.07150196193387, + -0.04388968300316093 + ], + [ + 0.015323112878327154, + 0.9996416804453612, + 0.02194795954280225, + -0.06284021113566353 + ], + [ + 0.07117525838562172, + -0.02298534494466127, + 0.9971989553301362, + 0.26012416897442936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.99724364227942, + -0.014015570662121935, + -0.07286070073977896, + -0.04525100399174575 + ], + [ + 0.015700238709386957, + 0.9996212844486848, + 0.0226006677253205, + -0.0629420738980333 + ], + [ + 0.07251634600381367, + -0.023682302594493287, + 0.9970860184086819, + 0.2620989270810029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9971391904943911, + -0.014314430445776887, + -0.07421948437710646, + -0.04661241174829503 + ], + [ + 0.016080442141019655, + 0.9996003087927485, + 0.023251710517536914, + -0.06304230366206122 + ], + [ + 0.07385698450884558, + -0.02437867392732905, + 0.9969708250981096, + 0.26406106578154315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9969976675619282, + -0.014539447058013744, + -0.07605429215581648, + -0.0468185012110508 + ], + [ + 0.01638702646089146, + 0.9995841967030545, + 0.023725493994425775, + -0.06310374942597805 + ], + [ + 0.07567771296653404, + -0.024900565872218765, + 0.9968213709483752, + 0.26555681744789716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9968555776872552, + -0.014774317455516373, + -0.07785034860251044, + -0.04877502198589034 + ], + [ + 0.016729657207133295, + 0.9995592347784337, + 0.024524574183543806, + -0.06373277355588428 + ], + [ + 0.0774537010319106, + -0.025749868210846336, + 0.9966633676841863, + 0.2674321894489874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9966988400686202, + -0.01498829246096271, + -0.07979206285697993, + -0.05092987157893694 + ], + [ + 0.01706213237967508, + 0.9995324510419165, + 0.025372484166865567, + -0.06453783951222646 + ], + [ + 0.07937446594797366, + -0.026650148278087482, + 0.996488566794537, + 0.26927724189253127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9965119483657449, + -0.015149555745267496, + -0.08206355905655256, + -0.051730860554175306 + ], + [ + 0.017335721173428503, + 0.9995117942643549, + 0.025993189451220002, + -0.0651277088257695 + ], + [ + 0.08162970988374514, + -0.027325154842578744, + 0.9962880739912151, + 0.27068454990964125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.996328479357151, + -0.01537659813483881, + -0.08422067116609447, + -0.053422637551144264 + ], + [ + 0.0176923728356885, + 0.9994837141549597, + 0.026819490719443447, + -0.06541948984341013 + ], + [ + 0.08376479669473769, + -0.028211085920378767, + 0.9960861375733943, + 0.272488229844551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.996121357085697, + -0.015615502693902043, + -0.08659329092583559, + -0.054651333867097446 + ], + [ + 0.018069253456835684, + 0.9994550204062399, + 0.02762542785687455, + -0.06519883645411238 + ], + [ + 0.08611471440620526, + -0.029082954808263322, + 0.9958606517492086, + 0.2742603558022144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9959084973742287, + -0.01585518294920899, + -0.08896560027028963, + -0.05588001378208404 + ], + [ + 0.018450805711581267, + 0.99942550303397, + 0.028429415292784466, + -0.06497674239153091 + ], + [ + 0.08846373622224715, + -0.029954583271066218, + 0.9956288918641611, + 0.27602649244004746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9956870337114072, + -0.01596296229961333, + -0.09139209338668468, + -0.05716956646679483 + ], + [ + 0.01872801554665304, + 0.9993899808208043, + 0.029477579084393676, + -0.06548578105584481 + ], + [ + 0.09086579297328394, + -0.031062035825320345, + 0.9953786001304845, + 0.27805350316259125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9954381815698718, + -0.015944926993099705, + -0.09406692285842176, + -0.05736710110164192 + ], + [ + 0.018883496875527928, + 0.9993584438566748, + 0.030432125100254264, + -0.0664029964049671 + ], + [ + 0.09352133563320977, + -0.032069611714991474, + 0.9951006480682397, + 0.2797960349074041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9952010971430615, + -0.015921798365236817, + -0.0965467378116102, + -0.058717442347597903 + ], + [ + 0.019065284290614392, + 0.999314798752515, + 0.03172456349799872, + -0.06764461620469592 + ], + [ + 0.09597547176318078, + -0.03341301140330279, + 0.9948227377220517, + 0.28207990110563663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9949268313706344, + -0.015929084740256328, + -0.09933209188438158, + -0.059710515761454946 + ], + [ + 0.019283721790317315, + 0.9992724766923199, + 0.03290372925841289, + -0.06865855126297717 + ], + [ + 0.09873569918070733, + -0.034652295516098615, + 0.9945101709498814, + 0.28505190686115867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9945606199999304, + -0.016000760093502042, + -0.10292302376914512, + -0.0588363102058454 + ], + [ + 0.019544826952909468, + 0.9992469783759297, + 0.0335182927064481, + -0.06889189747326847 + ], + [ + 0.10230920234629258, + -0.0353475866645023, + 0.9941244264337642, + 0.28886549017603197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9941690685120823, + -0.016095961807992956, + -0.10662449637533707, + -0.05875789327534703 + ], + [ + 0.01986241364603331, + 0.9992122245563995, + 0.03435716550016426, + -0.0692206281985624 + ], + [ + 0.10598748859168478, + -0.03627465107382068, + 0.9937055911845823, + 0.2939198400096008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9937637291712527, + -0.016190745803599978, + -0.11032456813406798, + -0.058679621726760056 + ], + [ + 0.020186083597779972, + 0.9991766066971277, + 0.035194185005440366, + -0.06954836608174957 + ], + [ + 0.10966390752033614, + -0.037201725491392675, + 0.9932722985203174, + 0.2989769697137097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9932458029334909, + -0.016148228132399925, + -0.11489999862136256, + -0.057072823929884886 + ], + [ + 0.02034886743084972, + 0.9991631778469471, + 0.03548052464482236, + -0.06958325937467477 + ], + [ + 0.11423090015090863, + -0.03757896702909902, + 0.9927432309956785, + 0.3049179586637062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9927068191453767, + -0.016105207446500475, + -0.11947298236577782, + -0.055466686723984276 + ], + [ + 0.020514208492816967, + 0.999149615031558, + 0.035766101719404864, + -0.06961792872321704 + ], + [ + 0.11879536384969537, + -0.03795614674061061, + 0.9921930217716831, + 0.31086758864366404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9921878889764234, + -0.016072611877926676, + -0.12371282922935102, + -0.05344736383705137 + ], + [ + 0.02066931928573099, + 0.9991393550208759, + 0.035962876535855906, + -0.0696295738421325 + ], + [ + 0.1230283390474469, + -0.038238990518713184, + 0.9916661773980883, + 0.31536406749735485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9915588177056772, + -0.01576257127460312, + -0.12869596876721867, + -0.05186143226616294 + ], + [ + 0.020625119132024826, + 0.9991193918906444, + 0.03653827046890875, + -0.07050884707991929 + ], + [ + 0.12800670096096395, + -0.03888421395479664, + 0.9910107478802681, + 0.32227727011913787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9908873938498215, + -0.01536253767341517, + -0.13381391985044824, + -0.050282999522471394 + ], + [ + 0.02051509539160269, + 0.9990967900228062, + 0.03721202799093896, + -0.07167121132845383 + ], + [ + 0.1331213866010369, + -0.039618134766264315, + 0.9903075783952477, + 0.32951815469459317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9902534804098505, + -0.015061600749806402, + -0.13846007626399479, + -0.048284991911479586 + ], + [ + 0.020467388501761583, + 0.9990794136594526, + 0.03770160752278934, + -0.07253045953270104 + ], + [ + 0.13776476524894085, + -0.04016806423936707, + 0.9896501382161104, + 0.334989638300019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9894710842774083, + -0.014577262461601822, + -0.14399471100709113, + -0.04719354922234287 + ], + [ + 0.020307881556112625, + 0.9990557580175373, + 0.038408102253390294, + -0.07362503203273182 + ], + [ + 0.14329886016850593, + -0.04092793411753833, + 0.9888328174586833, + 0.34188119059410355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9885946071134988, + -0.01400907924886027, + -0.14994815265519693, + -0.046589013884308667 + ], + [ + 0.020094726281946224, + 0.9990313860292975, + 0.03914705230326381, + -0.07465081314610482 + ], + [ + 0.14925449662157836, + -0.04171373187548635, + 0.9879185491786554, + 0.3484168054914156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9876820922028929, + -0.013438735516969811, + -0.15589575083824816, + -0.04598708037462526 + ], + [ + 0.01988884668585998, + 0.9990061690537223, + 0.03988869476571321, + -0.07567884008434761 + ], + [ + 0.15520476319759832, + -0.04249793618884116, + 0.9869677841249261, + 0.35497037502252143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9866203862689001, + -0.012829862615888402, + -0.16252879136898904, + -0.04420685037183644 + ], + [ + 0.019664664777986247, + 0.9989854382854002, + 0.040514133989227846, + -0.07634535446792656 + ], + [ + 0.16184410510666233, + -0.04316814472484438, + 0.9858716939456367, + 0.3611304076994608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9855690699411481, + -0.012344439806312219, + -0.1688230528725542, + -0.041174593726148456 + ], + [ + 0.019514924608564632, + 0.998973457175665, + 0.04088030792474815, + -0.07656194639598976 + ], + [ + 0.16814510427860493, + -0.04358493620929738, + 0.9847982418966684, + 0.365502279362111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9842972970761924, + -0.011695192957102994, + -0.17613078501556198, + -0.03822276888061804 + ], + [ + 0.019276287435585786, + 0.9989569731463588, + 0.041393121952397346, + -0.07686913269355372 + ], + [ + 0.17546297532870764, + -0.04413828569350525, + 0.983496088464431, + 0.37129913834548006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9829500959540377, + -0.010990496459339508, + -0.18354377639006306, + -0.03538897443918099 + ], + [ + 0.019011637753291753, + 0.9989367497798357, + 0.04199913772014707, + -0.0773721611755853 + ], + [ + 0.1828870320549979, + -0.044772524240604475, + 0.9821139213855177, + 0.3771305596179959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9816989185390509, + -0.010340199122144003, + -0.190158653816682, + -0.03270646392878834 + ], + [ + 0.018781620335377853, + 0.9989138243145352, + 0.04264296343932915, + -0.0781757490018989 + ], + [ + 0.1895111713774046, + -0.04543403873116117, + 0.9808268267373909, + 0.3815942821703961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.980177427880541, + -0.00946957467945263, + -0.19789526782840916, + -0.03022184585248816 + ], + [ + 0.018438165628019764, + 0.9988821148366501, + 0.043526482832127754, + -0.07926473759992798 + ], + [ + 0.19726186636489385, + -0.04631250171230303, + 0.9792563036628293, + 0.3875036852670383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.978594424051126, + -0.00859489829292413, + -0.2056187757462321, + -0.027744969372029804 + ], + [ + 0.01810508579689166, + 0.9988491006601514, + 0.04441486213751094, + -0.08035657591718529 + ], + [ + 0.20500038801019912, + -0.04718688200910504, + 0.977623771745515, + 0.39344301429471795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_009/pan_right/transforms.json b/spatialvid_eval/camera_controls/scene_009/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7d346e534fcc5a6254f41cec53a51cc48797980c --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_009/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": [ + [ + 0.9999999988381678, + -1.0995179582052475e-05, + 4.6933683121183114e-05, + -0.00012040915429576355 + ], + [ + 1.0999017964024834e-05, + 0.9999999965952304, + -8.178362263812044e-05, + -0.00011596544514781612 + ], + [ + -4.6932783735766956e-05, + 8.178413876752536e-05, + 0.9999999955543343, + -0.00036934803215042146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999999239328683, + 9.959912346462563e-05, + 0.0003771130759595666, + -0.002273822882905695 + ], + [ + -0.00010001354162883792, + 0.999999391028194, + 0.0010990634797601248, + -0.0031520401059898615 + ], + [ + -0.000377003380549119, + -0.0010991011125718398, + 0.9999993249223698, + 0.00857436430779249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999997269480092, + 0.0002136673982356999, + 0.0007074250138797294, + -0.004427236611515627 + ], + [ + -0.00021527947412104282, + 0.9999973787578277, + 0.0022795026260170647, + -0.006188114766831907 + ], + [ + -0.000706936104152076, + -0.0022796542976793025, + 0.9999971517047577, + 0.0175180766477354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999983821266052, + 0.00030149770897327176, + 0.0017733706053819755, + -0.006042296907973076 + ], + [ + -0.0003071081669974919, + 0.9999949464176429, + 0.0031643046233877504, + -0.00846517076246344 + ], + [ + -0.0017724076129131267, + -0.003164844120539513, + 0.9999934211448326, + 0.02422586090269259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999958903638542, + 0.00035052457666897484, + 0.002845415246322332, + -0.008578100532681342 + ], + [ + -0.00036335692397548766, + 0.9999897613152824, + 0.004510569404229745, + -0.012312766866042836 + ], + [ + -0.002843805047581779, + -0.004511584768762018, + 0.9999857790867457, + 0.03382635542052971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999912560259328, + 0.00037867597583208704, + 0.004164669996864728, + -0.011241367456089052 + ], + [ + -0.00040329520565151174, + 0.9999824414814747, + 0.005912197706967933, + -0.01643087011720135 + ], + [ + -0.004162358064193436, + -0.0059138256023073595, + 0.9999738503791442, + 0.04364577733099824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999820853562046, + 0.0004015869055802465, + 0.005972243683371496, + -0.013238817648644836 + ], + [ + -0.00044316943996664085, + 0.9999756602430179, + 0.006962939206115889, + -0.01951944755557023 + ], + [ + -0.0059693020952020755, + -0.006965461183428746, + 0.9999579240063046, + 0.051010343763849636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999702680522463, + 0.0004494959983218951, + 0.007698114370835155, + -0.016310871205628276 + ], + [ + -0.0005128067236753705, + 0.999966049304732, + 0.008224187932603306, + -0.02303715659016197 + ], + [ + -0.007694156274934857, + -0.008227891056286362, + 0.9999365488709686, + 0.05992563723894582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999515465488585, + 0.0005140144732750061, + 0.009830582061490352, + -0.01979171139618744 + ], + [ + -0.0006058885770605665, + 0.9999561505038368, + 0.009345050485722803, + -0.025954471408186935 + ], + [ + -0.009825347504216814, + -0.009350553923152588, + 0.9999080106128523, + 0.06793680227866966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999282717189963, + 0.0005798126829423854, + 0.011963077961562619, + -0.023272551586746612 + ], + [ + -0.000705030314610454, + 0.9999449871626132, + 0.010465446986022479, + -0.028871786226211896 + ], + [ + -0.011956351839804917, + -0.010473130650119181, + 0.9998736716131037, + 0.07594796731839348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998955503254731, + 0.0005809098802658845, + 0.01444129436825917, + -0.026947760530560198 + ], + [ + -0.0007471098488478205, + 0.9999335254700688, + 0.011505931855929678, + -0.031145174454690738 + ], + [ + -0.014433650480507666, + -0.01151551929834483, + 0.9998295167422776, + 0.08353270030920715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998488639177483, + 0.000532689483650399, + 0.017377156392876868, + -0.0298499438033612 + ], + [ + -0.0007452174556237324, + 0.9999249804321194, + 0.012226126073690113, + -0.032367270683890274 + ], + [ + -0.017369340037328044, + -0.012237228025167293, + 0.9997742526575328, + 0.08890142601563475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.999795834092315, + 0.00046877317733448013, + 0.020200752049396403, + -0.03371952150042921 + ], + [ + -0.0007352770103424721, + 0.9999127726379994, + 0.013187360733204534, + -0.03399673232282299 + ], + [ + -0.020192808110093143, + -0.013199521472304016, + 0.9997089692173079, + 0.09605972695753821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999730970495949, + 0.00037713745814885045, + 0.02319147253982767, + -0.03757028475702702 + ], + [ + -0.000703751913131877, + 0.9999006687586061, + 0.014076837334330898, + -0.035458325016738776 + ], + [ + -0.02318385999941949, + -0.014089371292932485, + 0.9996319313887972, + 0.10302107796696221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996453641365234, + 0.0002451366179099908, + 0.026628666290230925, + -0.04041602470841745 + ], + [ + -0.0006336346800261785, + 0.9998934760789985, + 0.01458200952371698, + -0.03617681441088753 + ], + [ + -0.026622255115789667, + -0.014593711066622644, + 0.9995390333197868, + 0.10779895387595138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995462672138852, + 6.900546286732094e-05, + 0.030120672918027974, + -0.04421034464360468 + ], + [ + -0.0005287920417140333, + 0.9998834635594624, + 0.015257118971479397, + -0.03713480026975252 + ], + [ + -0.030116109937462856, + -0.015266123888510506, + 0.9994298201392909, + 0.11416945508793694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994349448541869, + -0.00010727421738745293, + 0.033612192676930566, + -0.04800466457879192 + ], + [ + -0.00042852763416686507, + 0.9998729684390425, + 0.01593308974947627, + -0.03809278612861752 + ], + [ + -0.03360963207736104, + -0.01593849042853163, + 0.9993079391030998, + 0.12053995629992251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9992770576252585, + -0.00039381951381266955, + 0.03801587839306462, + -0.05316928859182356 + ], + [ + -0.00022697489307626635, + 0.9998667260242838, + 0.01632417446236419, + -0.03852351556418678 + ], + [ + -0.038017240644261, + -0.01632100167484614, + 0.9991437906118048, + 0.12557502865063455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9990996893971087, + -0.0006807984082153725, + 0.04241871238178538, + -0.058333912604855195 + ], + [ + -2.8437142256572813e-05, + 0.9998602603151452, + 0.016717028260403693, + -0.03895424499975605 + ], + [ + -0.04242416573051497, + -0.016703184009570354, + 0.9989600561614126, + 0.1306101010013466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9989161424714559, + -0.0008963168662242077, + 0.046537478724372645, + -0.062207380614628924 + ], + [ + 0.00010456252124597842, + 0.9998552645022328, + 0.017012910211047717, + -0.03927729207643299 + ], + [ + -0.046545992057590364, + -0.01698960456412518, + 0.998771657567499, + 0.13438640526438062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9986535195157786, + -0.0011371191119555473, + 0.05186381126444533, + -0.06831898381245162 + ], + [ + 0.0002259108694805768, + 0.9998455797305363, + 0.017571728929936477, + -0.04045936108442243 + ], + [ + -0.05187578358953079, + -0.017536352341160955, + 0.9984995640577613, + 0.13755077886024616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9983447543130941, + -0.0013635776932827363, + 0.057496888536705815, + -0.074746246738538 + ], + [ + 0.0003182386390223977, + 0.9998345698030989, + 0.018186031750242703, + -0.041891876616551915 + ], + [ + -0.05751217488233795, + -0.018137631668070236, + 0.9981800318869222, + 0.1400915862044962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9980414696593676, + -0.0015343561725798935, + 0.06253695380577333, + -0.07956669393310278 + ], + [ + 0.0003686340932486858, + 0.9998260465391271, + 0.018647808741098854, + -0.04296626326564903 + ], + [ + -0.06255468766667335, + -0.018588233188632373, + 0.9978684225076221, + 0.1419971917126837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9976290285530277, + -0.0018912497957381165, + 0.0687949457631351, + -0.08648061414178193 + ], + [ + 0.0005721456126458209, + 0.9998157088176141, + 0.0191890867664547, + -0.044568827419579404 + ], + [ + -0.06881855881766569, + -0.019104229263247372, + 0.9974462563900459, + 0.1444984716345763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9971294364078623, + -0.0023776155180000196, + 0.07567849095607099, + -0.0938811916330538 + ], + [ + 0.0008919999379200587, + 0.9998063576795989, + 0.01965836919903158, + -0.04634144019531067 + ], + [ + -0.07571057644114397, + -0.019534433390893335, + 0.9969384707829502, + 0.14696022413411142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9965821258049464, + -0.0028655390771517956, + 0.08255819288169684, + -0.10128176912432571 + ], + [ + 0.0012070763817716133, + 0.9997966157476413, + 0.020131321520756706, + -0.04811405297104193 + ], + [ + -0.08259908893385394, + -0.01996286115166934, + 0.9963828956189166, + 0.1494219766336466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9959695312244019, + -0.0034051786429877763, + 0.08962754950937162, + -0.10793524688838049 + ], + [ + 0.0015771673175137807, + 0.9997894576512799, + 0.02045856575159509, + -0.04934331343821268 + ], + [ + -0.08967834418575138, + -0.02023475049930473, + 0.9957652079965102, + 0.15219931553705593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9953848649170566, + -0.003848039982001559, + 0.09588619964494521, + -0.11236503041600877 + ], + [ + 0.0018809714214721859, + 0.999786098839921, + 0.020596565562336938, + -0.04985774455717036 + ], + [ + -0.09594494588338137, + -0.02032115042877633, + 0.9951791889929604, + 0.1545190095175186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9946569362402921, + -0.004438921992342342, + 0.10314007543443666, + -0.11827140845284648 + ], + [ + 0.0023066927138545457, + 0.9997813444392941, + 0.020783225925769526, + -0.0505436527157806 + ], + [ + -0.10320977840204501, + -0.020434267364004704, + 0.9944496881992055, + 0.15761193482480215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9938604115055911, + -0.005019105500764018, + 0.11052733156061167, + -0.1239768240447975 + ], + [ + 0.002721071038704042, + 0.9997771865756504, + 0.020932581667812335, + -0.05125758972795447 + ], + [ + -0.11060776742317653, + -0.02050331150935154, + 0.9936526234065962, + 0.16111435466260027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9930948161442931, + -0.005429187548191709, + 0.11718877962458475, + -0.12780372023776573 + ], + [ + 0.0029929332328593366, + 0.9997759376082709, + 0.02095511704015349, + -0.051856107407603026 + ], + [ + -0.11727629128684355, + -0.02045967991121672, + 0.9928885501404144, + 0.16466253223460658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9921412348766961, + -0.005975724778065659, + 0.12498024152129572, + -0.13290624849505675 + ], + [ + 0.003378033283858197, + 0.9997740539013479, + 0.02098642505997129, + -0.05265413098046777 + ], + [ + -0.12507741182354928, + -0.02039931025896358, + 0.9919372506325593, + 0.16939343566394835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.991126225081039, + -0.00652197840956217, + 0.13276396255850134, + -0.13800877675234774 + ], + [ + 0.0037628439883423976, + 0.9997719206118986, + 0.021022553629738025, + -0.053452154553332513 + ], + [ + -0.13287079047604608, + -0.020336434142224167, + 0.9909247108053416, + 0.17412433909329011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9900099623565766, + -0.007095370378787738, + 0.14081878480486118, + -0.14166242689894643 + ], + [ + 0.004175603826545261, + 0.9997703593695583, + 0.021018869112017138, + -0.05502840405201765 + ], + [ + -0.14093558375163356, + -0.020220886361685265, + 0.9898122433003818, + 0.18041295917085534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9888279062188623, + -0.0076681920210092585, + 0.14886426943343478, + -0.14531607704554508 + ], + [ + 0.004588485767593595, + 0.9997685164119284, + 0.021020451704301148, + -0.056604653550702794 + ], + [ + -0.14899099865824755, + -0.020102547664940282, + 0.9886341941770966, + 0.1867015792484206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9877711829006035, + -0.008097425722388241, + 0.15570010252987304, + -0.1480563146554941 + ], + [ + 0.004880994973144424, + 0.9997669493443444, + 0.02102909619492092, + -0.05778684067471665 + ], + [ + -0.15583409806334014, + -0.020011963806021233, + 0.9875805056730372, + 0.1914180443065945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9865170532096259, + -0.008677592077552209, + 0.16342828128060394, + -0.1522020866534098 + ], + [ + 0.005285989895498364, + 0.9997617830134851, + 0.021176296572392114, + -0.059938082777811735 + ], + [ + -0.16357310915129442, + -0.020026897449001428, + 0.9863279177541038, + 0.19827525338432142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9852193647575421, + -0.009260704970140766, + 0.17104690190179367, + -0.15651189926843118 + ], + [ + 0.005686561274616463, + 0.9997553810448314, + 0.021373841320045796, + -0.0622809890823768 + ], + [ + -0.1712029974259091, + -0.020085253679266158, + 0.9850310229921819, + 0.2053219921287689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9840623271573327, + -0.009698205405582212, + 0.177559232600298, + -0.15974425872969722 + ], + [ + 0.005968027824777217, + 0.999750386932253, + 0.02153012941655891, + -0.0640381688108006 + ], + [ + -0.17772371511303234, + -0.02012731081695283, + 0.9838745715007072, + 0.2106070461871045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9827082577876667, + -0.01020261354633699, + 0.18487938433679738, + -0.1651226412620152 + ], + [ + 0.006279344333805853, + 0.999742766827641, + 0.021793806701696974, + -0.06562842554402544 + ], + [ + -0.1850541810137416, + -0.020256032499913024, + 0.9825195383485746, + 0.2168758672714014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9813548506673171, + -0.010628532477950222, + 0.19191063380931567, + -0.17156959371162978 + ], + [ + 0.0065022580611307345, + 0.999734221375753, + 0.0221180299828863, + -0.06646603270591006 + ], + [ + -0.1920947102651048, + -0.020457783545207293, + 0.9811631369861912, + 0.22236677069554772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9799509633482943, + -0.011055231173258753, + 0.19893187601904314, + -0.17801654616124432 + ], + [ + 0.006721922776720118, + 0.9997254794206644, + 0.022445078554254597, + -0.06730363986779468 + ], + [ + -0.1991254006573093, + -0.02065787164324186, + 0.9797562590523409, + 0.2278576741196941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.978576290435475, + -0.01146992567932018, + 0.20556479417073348, + -0.18290081305141737 + ], + [ + 0.006954042473361013, + 0.9997186529701455, + 0.022677217572642988, + -0.06730739097984698 + ], + [ + -0.20576706512662282, + -0.020761881139944146, + 0.9783807332530151, + 0.23278193513928463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9774044338523162, + -0.011771519936062196, + 0.21104976665286368, + -0.18539199904946602 + ], + [ + 0.007120124523324042, + 0.9997150164552082, + 0.022785734588446415, + -0.06668481227651198 + ], + [ + -0.2112578436712012, + -0.020768177396142735, + 0.9772097043598353, + 0.2360501491005607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9760316068057484, + -0.01217366552923273, + 0.21728806774365486, + -0.18871358038019756 + ], + [ + 0.0073652662244767, + 0.9997100487520296, + 0.02292534138583649, + -0.06585470733873197 + ], + [ + -0.2175041502354182, + -0.020775473323054166, + 0.9758382675108471, + 0.2404077677155955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9746417628318721, + -0.012578167144074101, + 0.22341715210627108, + -0.191966458270864 + ], + [ + 0.007572960968613114, + 0.9997010996542702, + 0.023245679431047887, + -0.06522524126827717 + ], + [ + -0.22364276068352582, + -0.020964280606281614, + 0.9744456960408376, + 0.24445867944314706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9734400307721199, + -0.012887552130218064, + 0.22857912741644923, + -0.19425153394871741 + ], + [ + 0.007624394118517453, + 0.99968542969572, + 0.02389372864182876, + -0.06520457916691773 + ], + [ + -0.22881515488424262, + -0.021516334589672642, + 0.9732320752221053, + 0.2468067727419735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9720513519833313, + -0.013301804235626142, + 0.2343911924784183, + -0.1972983015191886 + ], + [ + 0.007711520804503957, + 0.9996639118732551, + 0.024750671609927354, + -0.0651770296984385 + ], + [ + -0.23464164497006829, + -0.022251411243735524, + 0.9718272342054438, + 0.2499375638070754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9706278486195428, + -0.01371804046317747, + 0.2401944937962744, + -0.2003450690896598 + ], + [ + 0.007790853862279529, + 0.9996416804453612, + 0.025608852228693187, + -0.06514948022995926 + ], + [ + -0.24045973068331933, + -0.02298534494466127, + 0.970386928929631, + 0.2530683548721773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.969366069749886, + -0.014015570662121935, + 0.24522028178083993, + -0.20497878115047932 + ], + [ + 0.007775219755102621, + 0.9996212844486848, + 0.0263976066135159, + -0.06534495074428931 + ], + [ + -0.24549739056743422, + -0.023682302594493287, + 0.9691079298862454, + 0.2552038673078664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9680782141527522, + -0.014314430445776887, + 0.250239222273071, + -0.20961249321129888 + ], + [ + 0.007753037762793334, + 0.9996003087927485, + 0.027186633975001723, + -0.06554042125861936 + ], + [ + -0.25052836503730896, + -0.02437867392732905, + 0.9678022621224226, + 0.2573393797435556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9668871060213319, + -0.014539447058013744, + 0.2547899697573303, + -0.21308777725691352 + ], + [ + 0.007709373826279378, + 0.9995841967030545, + 0.027784874603211163, + -0.0656870241443669 + ], + [ + -0.2550880039611835, + -0.024900565872218765, + 0.9665971612074715, + 0.2589410140703224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9656644085119273, + -0.014774317455516373, + 0.25937226080873266, + -0.21831372535192997 + ], + [ + 0.007583597932938759, + 0.9995592347784337, + 0.02870235550514726, + -0.06640596402745699 + ], + [ + -0.2596819962486832, + -0.025749868210846336, + 0.965350819708267, + 0.2609392009689413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9644588715624297, + -0.01498829246096271, + 0.26380757410208994, + -0.2237370854583454 + ], + [ + 0.0074199888624545745, + 0.9995324510419165, + 0.029661811802727946, + -0.06729939370013376 + ], + [ + -0.2641288110559052, + -0.026650148278087482, + 0.9641191527850437, + 0.2628916126885367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9633224736539346, + -0.015149555745267496, + 0.2679184628090896, + -0.22780460553815696 + ], + [ + 0.007267537169964578, + 0.9995117942643549, + 0.03038677393098937, + -0.06796946595464133 + ], + [ + -0.26824800960444733, + -0.027325154842578744, + 0.9629622740565081, + 0.26435592147823334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9621364642816868, + -0.01537659813483881, + 0.2721341292990185, + -0.23276349769095372 + ], + [ + 0.00711122970417415, + 0.9994837141549597, + 0.03133265949615182, + -0.06835479560269728 + ], + [ + -0.272475420013677, + -0.028211085920378767, + 0.9617490733655863, + 0.26624465710709233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9609916615045078, + -0.015615502693902043, + 0.2761361667627452, + -0.23725792189013184 + ], + [ + 0.006969033412338945, + 0.9994550204062399, + 0.03226600003192916, + -0.06823202522613239 + ], + [ + -0.27648952799718035, + -0.029082954808263322, + 0.9605767656192383, + 0.2680697166452149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9598302032106416, + -0.01585518294920899, + 0.2801331722204024, + -0.24175234608930993 + ], + [ + 0.006819982633924414, + 0.99942550303397, + 0.03319867048797431, + -0.06810925484956751 + ], + [ + -0.2804986075571348, + -0.029954583271066218, + 0.9593869157433643, + 0.26989477618333746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9586696485158941, + -0.01596296229961333, + 0.2840733863793533, + -0.2463077168348078 + ], + [ + 0.006471623576558789, + 0.9993899808208043, + 0.0343188624997346, + -0.06869571242163978 + ], + [ + -0.2844479268736117, + -0.031062035825320345, + 0.9581881479269566, + 0.27197637146986176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9575667619708004, + -0.015944926993099705, + 0.287770143816105, + -0.249769954803671 + ], + [ + 0.006031393268657028, + 0.9993584438566748, + 0.035303299953466066, + -0.06966747656217187 + ], + [ + -0.28814843165284765, + -0.032069611714991474, + 0.9570485992573493, + 0.2737299697460563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9563927613926507, + -0.015921798365236817, + 0.29164941675332967, + -0.25438627209548864 + ], + [ + 0.005473561087909216, + 0.999314798752515, + 0.03660564332500423, + -0.07096316208288131 + ], + [ + -0.2920324058811925, + -0.03341301140330279, + 0.9558245888154403, + 0.2760681007809824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.955293481863524, + -0.015929084740256328, + 0.29522978807769906, + -0.2586433915546512 + ], + [ + 0.004976753056521299, + 0.9992724766923199, + 0.03781202525932327, + -0.07203821526390786 + ], + [ + -0.2956173124803075, + -0.034652295516098615, + 0.9546777587109619, + 0.27903826253077463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9544217869295366, + -0.016000760093502042, + 0.2980319249856636, + -0.26102803602554925 + ], + [ + 0.004726475085854514, + 0.9992469783759297, + 0.0385115130816371, + -0.07234808238539125 + ], + [ + -0.29842371398314316, + -0.0353475866645023, + 0.9537787138794315, + 0.2826879529515678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9535753704117571, + -0.016095961807992956, + 0.30072401460069004, + -0.26420756198674666 + ], + [ + 0.004429110198852463, + 0.9992122245563995, + 0.03943746036319058, + -0.0727612385473691 + ], + [ + -0.30112189546249674, + -0.03627465107382068, + 0.9528954579399285, + 0.2875542068459587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9527213852460079, + -0.016190745803599978, + 0.30341361512834447, + -0.2673870879479441 + ], + [ + 0.004126140313444228, + 0.9991766066971277, + 0.04036190772656188, + -0.07317439470934696 + ], + [ + -0.3038172757777966, + -0.037201725491392675, + 0.952003726126858, + 0.2924204607403496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9521317083024555, + -0.016148228132399925, + 0.30526127296667005, + -0.26903225171086087 + ], + [ + 0.0038919852788114515, + 0.9991631778469471, + 0.04071604702546231, + -0.07326992083078238 + ], + [ + -0.3056633155869991, + -0.03757896702909902, + 0.9513977920624941, + 0.297977715167704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9515384488565537, + -0.016105207446500475, + 0.30710780296301304, + -0.27067741547377766 + ], + [ + 0.003656011650593243, + 0.999149615031558, + 0.04106921427420186, + -0.07336544695221778 + ], + [ + -0.3075080713192328, + -0.03795614674061061, + 0.950788155688811, + 0.3035349695950584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9508384517983633, + -0.016072611877926676, + 0.30926996253938666, + -0.2719112882959652 + ], + [ + 0.0034440231494207003, + 0.9991393550208759, + 0.0413362788965693, + -0.07343709154329434 + ], + [ + -0.3096681728661154, + -0.038238990518713184, + 0.9500754719062439, + 0.3077029104155742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9503714400972717, + -0.01576257127460312, + 0.31071798659596667, + -0.27357290628701325 + ], + [ + 0.002885798121480334, + 0.9991193918906444, + 0.04185824790016188, + -0.07432438656848293 + ], + [ + -0.31110415943320385, + -0.03888421395479664, + 0.9495800228987958, + 0.3141136337841845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9499468634588122, + -0.01536253767341517, + 0.3120335703750451, + -0.27524000902077167 + ], + [ + 0.0022187489963213375, + 0.9990967900228062, + 0.042434435533141066, + -0.07547560456158925 + ], + [ + -0.31240363915559083, + -0.039618134766264315, + 0.9491229475889759, + 0.32080884679988014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9493706795658942, + -0.015061600749806402, + 0.3137968466435661, + -0.2764903360710905 + ], + [ + 0.0016816482271841931, + 0.9990794136594526, + 0.04286603855180108, + -0.07633901805641899 + ], + [ + -0.3141536007112322, + -0.04016806423936707, + 0.9485220302003691, + 0.3258302565616519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9490774769350988, + -0.014577262461601822, + 0.31470533232475206, + -0.27863813699967976 + ], + [ + 0.0009418489675270695, + 0.9990557580175373, + 0.04343622097427851, + -0.07740466777096566 + ], + [ + -0.3150413555313483, + -0.04092793411753833, + 0.9481950477163659, + 0.33205322456511377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9489192814745184, + -0.01400907924886027, + 0.3152077774175045, + -0.28126663612309993 + ], + [ + 0.00013214238050463263, + 0.9990313860292975, + 0.0440030938318215, + -0.07838474920695268 + ], + [ + -0.3155189055893088, + -0.04171373187548635, + 0.9480019961944938, + 0.3378039475563419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9487603930675542, + -0.013438735516969811, + 0.3157104954448061, + -0.2838951352465201 + ], + [ + -0.0006796987351705044, + 0.9990061690537223, + 0.04456694068741187, + -0.07936483064293971 + ], + [ + -0.31599565591306694, + -0.04249793618884116, + 0.9478083513367879, + 0.34355467054757005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9488226099492797, + -0.012829862615888402, + 0.31554880680220476, + -0.28533403694895715 + ], + [ + -0.0014609838404088726, + 0.9989854382854002, + 0.04501066118094405, + -0.07997821834144139 + ], + [ + -0.3158061436629373, + -0.04316814472484438, + 0.9478412266333215, + 0.3487242819419636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9487769564902546, + -0.012344439806312219, + 0.31570540324637836, + -0.28552101516004763 + ], + [ + -0.002060216771720099, + 0.998973457175665, + 0.0452524846318267, + -0.08016323881220366 + ], + [ + -0.31593993470269566, + -0.04358493620929738, + 0.9477775640917485, + 0.35216565679013284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9490596556390535, + -0.011695192957102994, + 0.3148793300614978, + -0.28577031944150155 + ], + [ + -0.0028107594870970766, + 0.9989569731463588, + 0.045574833333442435, + -0.08040993277322 + ], + [ + -0.3150839089344095, + -0.04413828569350525, + 0.9480368885579566, + 0.35675415658769183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9493784879939501, + -0.010990496459339508, + 0.31394218499892407, + -0.28613003398409265 + ], + [ + -0.0036333761589475207, + 0.9989367497798357, + 0.04595833457585099, + -0.0808394669075517 + ], + [ + -0.31411349081503814, + -0.044772524240604475, + 0.9483291284997607, + 0.3613206314700947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9494439440823018, + -0.010340199122144003, + 0.31376627818737574, + -0.2866482429785946 + ], + [ + -0.004449368987859843, + 0.9989138243145352, + 0.04638291397616273, + -0.08157300789825997 + ], + [ + -0.31390508145146856, + -0.04543403873116117, + 0.9483666737942253, + 0.3646959315727957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9498717997613358, + -0.00946957467945263, + 0.3124962258548918, + -0.28733918830459715 + ], + [ + -0.005488147434109918, + 0.9988821148366501, + 0.046951047881844704, + -0.08255106255253766 + ], + [ + -0.31259149741460135, + -0.04631250171230303, + 0.9487579817473188, + 0.36919633170973026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9502970191031925, + -0.00859489829292413, + 0.31122612873427036, + -0.2880301336305997 + ], + [ + -0.006527966830950467, + 0.9988491006601514, + 0.04751694181511392, + -0.08352911720681536 + ], + [ + -0.31127634207025817, + -0.04718688200910504, + 0.949147215680275, + 0.3736967318466649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_009/pull_out/transforms.json b/spatialvid_eval/camera_controls/scene_009/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..696ac9b1d58920c444770436e11b0e5fa3788c8f --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_009/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": [ + [ + 0.9999999988381678, + -1.0995179582052475e-05, + 4.6933683121183114e-05, + -0.00012040915429576355 + ], + [ + 1.0999017964024834e-05, + 0.9999999965952304, + -8.178362263812044e-05, + -0.00011596544514781612 + ], + [ + -4.6932783735766956e-05, + 8.178413876752536e-05, + 0.9999999955543343, + -0.00036934803215042146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999958034324247, + 9.959912346462563e-05, + -0.002895375200927434, + -0.0022702036639045357 + ], + [ + -9.641633568916639e-05, + 0.999999391028194, + 0.001099384887682131, + -0.003153414337099464 + ], + [ + 0.0028954829354967326, + -0.0010991011125718398, + 0.9999952040661568, + 0.007324370302709794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999829386708191, + 0.0002136673982356999, + -0.005837526318230338, + -0.004412642795720052 + ], + [ + -0.00020035565990926264, + 0.9999973787578277, + 0.0022808627936679684, + -0.006193816923816077 + ], + [ + 0.005837998362679025, + -0.0022796542976793025, + 0.9999803602828411, + 0.015018125747028297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999676009094363, + 0.00030149770897327176, + -0.008044018309162846, + -0.006012131839313715 + ], + [ + -0.0002760283781675089, + 0.9999949464176429, + 0.0031671671112014073, + -0.008477047639130446 + ], + [ + 0.0080449325516818, + -0.003164844120539513, + 0.9999626307127341, + 0.020476001037519835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999474636247505, + 0.00035052457666897484, + -0.010244370305174121, + -0.00852687868115547 + ], + [ + -0.0003042842650084619, + 0.9999897613152824, + 0.004514939167989162, + -0.012335341561882781 + ], + [ + 0.010245848013436983, + -0.004511584768762018, + 0.9999373321370494, + 0.028826668759844465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999255363187829, + 0.00037867597583208704, + -0.012197476054496784, + -0.011165133230748447 + ], + [ + -0.0003065074275080797, + 0.9999824414814747, + 0.005918004895744913, + -0.016467857647799754 + ], + [ + 0.012199502891166395, + -0.0059138256023073595, + 0.9999080951747287, + 0.037396351736156186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999065864872668, + 0.0004015869055802465, + -0.013662248253463384, + -0.01313635078674386 + ], + [ + -0.00030637580784409853, + 0.9999756602430179, + 0.00697029808580336, + -0.019571724791213756 + ], + [ + 0.013664714898100314, + -0.006965461183428746, + 0.9998823720404595, + 0.04351122597354619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998842404952898, + 0.0004494959983218951, + -0.01520866734810367, + -0.01617779536633237 + ], + [ + -0.0003242935134235903, + 0.999966049304732, + 0.008233776266317654, + -0.023109202132492252 + ], + [ + 0.015211852052755888, + -0.008227891056286362, + 0.9998504394987738, + 0.05117694589333155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998662227666631, + 0.000514014473275006, + -0.016348466577845135, + -0.01962822673040899 + ], + [ + -0.00036105605067838196, + 0.9999561505038366, + 0.009357708484281232, + -0.026048048493029746 + ], + [ + 0.01635255970342026, + -0.009350553923152587, + 0.9998225647245996, + 0.05793857663142366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998469021213541, + 0.0005798126829423854, + -0.017488171304756356, + -0.023075809659568104 + ], + [ + -0.00039653625299542627, + 0.9999449871626132, + 0.010481670065491808, + -0.02898970501444868 + ], + [ + 0.017493286636074558, + -0.010473130650119181, + 0.9997921276230645, + 0.06470030588263401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998326996319913, + 0.0005809098802658845, + -0.018282103005827666, + -0.02671923424298735 + ], + [ + -0.0003702462995423413, + 0.9999335254700688, + 0.011524216184939345, + -0.031289227157002476 + ], + [ + 0.018287582242668347, + -0.01151551929834483, + 0.9997664513030068, + 0.07103561966791956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998265224548034, + 0.000532689483650399, + -0.018618303839203553, + -0.02959394212557215 + ], + [ + -0.0003047207757288808, + 0.9999249804321194, + 0.012245025646145895, + -0.03253563978652478 + ], + [ + 0.018623429898483593, + -0.012237228025167293, + 0.9997516782226858, + 0.07515484044007281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998181055412074, + 0.00046877317733448, + -0.019066622241492432, + -0.03343352216680682 + ], + [ + -0.00021697678568048252, + 0.9999127726379992, + 0.013206060595956642, + -0.034194823231762345 + ], + [ + 0.019071149757317673, + -0.013199521472304012, + 0.9997309957582774, + 0.08106376202116405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998127457982131, + 0.00037713745814885045, + -0.019347638273839684, + -0.037255885635077125 + ], + [ + -0.00010443333863044906, + 0.9999006687586061, + 0.014094030997916512, + -0.03568735302045492 + ], + [ + 0.01935103183593753, + -0.014089371292932485, + 0.9997134725427353, + 0.08677573403814276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998159803655291, + 0.0002451366179099908, + -0.019181900681494595, + -0.040080341446491294 + ], + [ + 3.486971849903823e-05, + 0.9998934760789985, + 0.014595728099695348, + -0.036432239652632196 + ], + [ + 0.01918343529764403, + -0.014593711066622644, + 0.9997094674991756, + 0.0903040381947158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.999820221329334, + 6.900546286732094e-05, + -0.018961019466468724, + -0.04385482552860839 + ], + [ + 0.00022047625632578947, + 0.9998834635594624, + 0.01526468769918511, + -0.03742101316411224 + ], + [ + 0.018959863163591346, + -0.015266123888510506, + 0.9997036906254966, + 0.09542501088870887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.999824380242369, + -0.0001072742173874529, + -0.018740255206513432, + -0.047629859474661654 + ], + [ + 0.00040593313600595203, + 0.9998729684390423, + 0.015933681407233002, + -0.03841145975676218 + ], + [ + 0.018736165329438743, + -0.015938490428531626, + 0.9996974145368226, + 0.10054600800918605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998449175087589, + -0.00039381951381266955, + -0.017606414685945454, + -0.052795152279747216 + ], + [ + 0.0006810603907542925, + 0.9998667260242838, + 0.016311540277482557, + -0.038870135795083284 + ], + [ + 0.017597644406200534, + -0.01632100167484614, + 0.9997119324163749, + 0.10433115008678658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998640847591291, + -0.0006807984082153725, + -0.016472659843408198, + -0.05796327775837851 + ], + [ + 0.0009557570671829368, + 0.9998602603151452, + 0.01668970853426522, + -0.039329763441777014 + ], + [ + 0.01645899563210925, + -0.016703184009570354, + 0.9997250147449172, + 0.10811628816958596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998775611063505, + -0.0008963168662242077, + -0.015622400970777177, + -0.061836348591572964 + ], + [ + 0.0011614967571583496, + 0.9998552645022328, + 0.016973537417201274, + -0.03968041359009152 + ], + [ + 0.015604926186929829, + -0.01698960456412518, + 0.999733884398971, + 0.11064272550990505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999073812229528, + -0.0011371191119555473, + -0.013562298329638086, + -0.06797992635421067 + ], + [ + 0.0013746732349694637, + 0.9998455797305363, + 0.017519331231675896, + -0.040897344365214326 + ], + [ + 0.013540282469503255, + -0.017536352341160955, + 0.9997545384229136, + 0.11255691539967333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999364219131223, + -0.0013635776932827363, + -0.011193426082162965, + -0.07445241930388122 + ], + [ + 0.0015662905886923953, + 0.9998345698030989, + 0.018121251624652644, + -0.04236755947169905 + ], + [ + 0.011166864616992454, + -0.018137631668070236, + 0.9997731379928645, + 0.1138475413321835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999544835941214, + -0.0015343561725798935, + -0.009416819587825923, + -0.07930773139443757 + ], + [ + 0.0017090655017430814, + 0.9998260465391271, + 0.01857298460264423, + -0.04347702034222174 + ], + [ + 0.009386683925899905, + -0.018588233188632373, + 0.9997831603661868, + 0.11450315480261357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999977617138474, + -0.001891249795738116, + -0.006417818653545734, + -0.0862961018554925 + ], + [ + 0.002013473612067746, + 0.9998157088176138, + 0.019091734482390633, + -0.045117714785948136 + ], + [ + 0.006380528667217623, + -0.01910422926324737, + 0.9997971380626093, + 0.11575430391527627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999932850970037, + -0.002377615518000019, + -0.0027886744793036277, + -0.0937975313986747 + ], + [ + 0.0024316280706415177, + 0.9998063576795987, + 0.019527783498921505, + -0.04692727370027831 + ], + [ + 0.00274170491282743, + -0.019534433390893332, + 0.9998054255535264, + 0.11696606136750562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999955412862074, + -0.0028655390771517956, + 0.0008402937002463363, + -0.10130802830245841 + ], + [ + 0.002848192218545516, + 0.9997966157476413, + 0.01996534348940007, + -0.04873796995508568 + ], + [ + -0.000897334269697984, + -0.01996286115166934, + 0.9998003195467823, + 0.11817821664780964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999833273782205, + -0.0034051786429877763, + 0.004663659935322809, + -0.10808681583627848 + ], + [ + 0.00331007533329435, + 0.9997894576512799, + 0.02025052519436692, + -0.050001455507029606 + ], + [ + -0.004731634693307538, + -0.02023475049930473, + 0.9997840599376249, + 0.11970633358908311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999631272141006, + -0.003848039982001559, + 0.0076770307081293464, + -0.11262413020240813 + ], + [ + 0.003691123584301315, + 0.999786098839921, + 0.020350237667837043, + -0.05054456507845986 + ], + [ + -0.007753697110543986, + -0.02032115042877633, + 0.999763437532284, + 0.12077699350080401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999217622057155, + -0.004438921992342342, + 0.011694675667266978, + -0.11868072210120083 + ], + [ + 0.004198714784112028, + 0.9997813444392941, + 0.020484972670701988, + -0.05126062675925517 + ], + [ + -0.011783049757102189, + -0.020434267364004704, + 0.9997217615195331, + 0.12262167317161848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998617537507146, + -0.005019105500764018, + 0.015851875804384796, + -0.12455145454270644 + ], + [ + 0.004692395719260729, + 0.9997771865756504, + 0.020580539965976852, + -0.05200363430172113 + ], + [ + -0.015951639695006382, + -0.02050331150935154, + 0.9996625227586514, + 0.12487658821259914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997993022216467, + -0.005429187548191709, + 0.01928416966516634, + -0.12852687660020948 + ], + [ + 0.005032482088838344, + 0.9997759376082709, + 0.020560853667306866, + -0.052627139420127034 + ], + [ + -0.019391477538699384, + -0.02045967991121672, + 0.9996026070878351, + 0.12717743446881277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9996974447233556, + -0.005975724778065659, + 0.023860212215528677, + -0.13383083171840848 + ], + [ + 0.005486031038235167, + 0.9997740539013479, + 0.02053642152645307, + -0.053449917314617824 + ], + [ + -0.023977541096633997, + -0.02039931025896358, + 0.9995043499974964, + 0.13066264210154535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9995743449003611, + -0.00652197840956217, + 0.0284357664682918, + -0.13914620741107941 + ], + [ + 0.00593968596013974, + 0.9997719206118986, + 0.020514065581710875, + -0.05427271717660095 + ], + [ + -0.028563073148891772, + -0.020336434142224167, + 0.9993851010990059, + 0.13414893504932987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9994204568860995, + -0.007095370378787738, + 0.03329273309249286, + -0.14303575213901176 + ], + [ + 0.006416744338561846, + 0.9997703593695583, + 0.02044636686939521, + -0.0558718166853802 + ], + [ + -0.033430162274115306, + -0.020220886361685265, + 0.9992364785200119, + 0.13919445443190484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9992426414302942, + -0.007668192021009257, + 0.03814894990085184, + -0.1469374074163313 + ], + [ + 0.00689412503268328, + 0.9997685164119282, + 0.02038098701059386, + -0.057470845498653035 + ], + [ + -0.03829640436702254, + -0.02010254766494028, + 0.9990641986328689, + 0.14424135080652367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9990935799951799, + -0.008097425722388241, + 0.04179055047598045, + -0.14988465123881825 + ], + [ + 0.00725236519558877, + 0.9997669493443444, + 0.020333474808131326, + -0.0586764301975724 + ], + [ + -0.041945459962728714, + -0.020011963806021233, + 0.9989194660697837, + 0.14771531766604146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988879026433336, + -0.008677592077552209, + 0.046342824132090454, + -0.15428751373935387 + ], + [ + 0.007738356615916188, + 0.9997617830134851, + 0.020408210665860023, + -0.06085645225777544 + ], + [ + -0.046508878611370194, + -0.020026897449001428, + 0.9987171008793632, + 0.15333298384475008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.998666249902769, + -0.009260704970140766, + 0.050793313030326755, + -0.15886108999608378 + ], + [ + 0.008226600122618387, + 0.9997553810448314, + 0.020530492500838837, + -0.0632305243605406 + ], + [ + -0.050971014857105666, + -0.020085253679266158, + 0.9984981413247983, + 0.15914145309249697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.998486773389364, + -0.00969820540558221, + 0.05413047365771365, + -0.16231545622843863 + ], + [ + 0.008592419981201095, + 0.9997503869322528, + 0.02062363080734686, + -0.06501779127414957 + ], + [ + -0.05431697419190388, + -0.020127310816952827, + 0.9983208690966618, + 0.16318680490501306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998247228082023, + -0.01020261354633699, + 0.05829561135610422, + -0.1679645523156253 + ], + [ + 0.009002210112972557, + 0.999742766827641, + 0.020817309838096907, + -0.06664326939863266 + ], + [ + -0.05849300675841294, + -0.020256032499913024, + 0.9980822918515904, + 0.16821935554363637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9980085881560411, + -0.01062853247795022, + 0.06217629985895477, + -0.17467840870457751 + ], + [ + 0.009333612575109583, + 0.9997342213757527, + 0.021080092184692957, + -0.06752003731514471 + ], + [ + -0.062383825171940674, + -0.02045778354520729, + 0.9978425414108852, + 0.17247464362500345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9977546770242324, + -0.011055231173258753, + 0.06605593341991146, + -0.1814019127490148 + ], + [ + 0.00966398665511654, + 0.9997254794206644, + 0.02134415983477864, + -0.06839752805932708 + ], + [ + -0.06627376432797293, + -0.02065787164324186, + 0.9975876104387884, + 0.1767313090847062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.997512584407095, + -0.01146992567932018, + 0.06954915351310505, + -0.18655214361085537 + ], + [ + 0.009995519948713132, + 0.9997186529701455, + 0.021510566810597407, + -0.06843669573740334 + ], + [ + -0.06977631066797284, + -0.020761881139944146, + 0.9973465850751673, + 0.18042123942283833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9973438533564772, + -0.011771519936062196, + 0.07187954848528601, + -0.18925552478055013 + ], + [ + 0.010245519768032648, + 0.9997150164552082, + 0.021561892278870516, + -0.06784376398650127 + ], + [ + -0.0721128802415806, + -0.020768177396142735, + 0.9971802321099761, + 0.18245171162464952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9971102678230741, + -0.01217366552923273, + 0.07498610317505387, + -0.19283781605482553 + ], + [ + 0.010578663278846018, + 0.9997100487520296, + 0.021631234533594227, + -0.06704442523807966 + ], + [ + -0.0752276922750542, + -0.020775473323054166, + 0.9969499355650578, + 0.18557552125951732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9968748421539719, + -0.012578167144074101, + 0.07798935050242108, + -0.1963533592366252 + ], + [ + 0.010901844672987129, + 0.9997010996542702, + 0.021882895895407508, + -0.06645615416239384 + ], + [ + -0.07824128618076147, + -0.020964280606281614, + 0.9967140011434783, + 0.1883935168788264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9967107063565763, + -0.012887552130218064, + 0.08001049202614546, + -0.19885213724022077 + ], + [ + 0.011121435111570105, + 0.99968542969572, + 0.02248010976714676, + -0.06649718547852866 + ], + [ + -0.08027503668784033, + -0.021516334589672642, + 0.9965404988411617, + 0.18950569405860668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.996485333898928, + -0.013301804235626142, + 0.08270454236871715, + -0.20215719338335073 + ], + [ + 0.01141232445916616, + 0.9996639118732551, + 0.023277073456503913, + -0.06654455776400811 + ], + [ + -0.08298637342829586, + -0.022251411243735524, + 0.9963022315155585, + 0.19140480770553633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.996252506281094, + -0.01371804046317747, + 0.08539765274578297, + -0.20546892825440677 + ], + [ + 0.01170104262174403, + 0.9996416804453612, + 0.024074806706151752, + -0.06659396863232836 + ], + [ + -0.08569731226942205, + -0.02298534494466127, + 0.996056044902882, + 0.1933049921780044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9960834893332575, + -0.014015570662121932, + 0.08729974831978252, + -0.210325890735066 + ], + [ + 0.011890268027242547, + 0.9996212844486846, + 0.024817518074989078, + -0.0668650237263824 + ], + [ + -0.0876145182257064, + -0.02368230259449328, + 0.9958729059171658, + 0.19420665182044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.995910751504516, + -0.014314430445776887, + 0.08920130110443086, + -0.2151875745303258 + ], + [ + 0.012078062623425624, + 0.9996003087927485, + 0.025560576376651337, + -0.06713795728216007 + ], + [ + -0.08953153322140156, + -0.02437867392732905, + 0.9956855853212752, + 0.1951090306609759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9957787567468273, + -0.014539447058013744, + 0.09062710461550996, + -0.2188652551761523 + ], + [ + 0.012217969120587816, + 0.9995841967030545, + 0.02611809587389274, + -0.06735205275632757 + ], + [ + -0.09096916423883278, + -0.024900565872218765, + 0.9955423511719287, + 0.1954751891831119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9956409725058235, + -0.014774317455516373, + 0.09209111472548176, + -0.2242996478090863 + ], + [ + 0.012334790556363117, + 0.9995592347784337, + 0.02700350183000319, + -0.0681611916464072 + ], + [ + -0.09244948247334256, + -0.025749868210846336, + 0.9953843667034034, + 0.19623921713322007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9955149773368984, + -0.01498829246096271, + 0.09340921253827077, + -0.22992544578900584 + ], + [ + 0.012427515762232097, + 0.9995324510419165, + 0.02793628762235372, + -0.06915017275511469 + ], + [ + -0.09378425640743047, + -0.026650148278087482, + 0.9952357925872953, + 0.1969572414296284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9954193057905766, + -0.015149555745267496, + 0.09439754562554935, + -0.23417643986788153 + ], + [ + 0.012496238490968106, + 0.9995117942643549, + 0.02863594157744283, + -0.06990239201111872 + ], + [ + -0.09478528199558982, + -0.027325154842578744, + 0.9951226488377428, + 0.1971851426816857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9953107152136971, + -0.015376598134838807, + 0.09549942623177762, + -0.23932908324438842 + ], + [ + 0.012605429300132304, + 0.9994837141549595, + 0.02955348187890366, + -0.0703865974818719 + ], + [ + -0.0959045532441418, + -0.02821108592037876, + 0.9949906790006803, + 0.19783904792579554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.995221586759742, + -0.015615502693902043, + 0.09638542069752193, + -0.24400490133895839 + ], + [ + 0.012732347775007695, + 0.9994550204062399, + 0.030455697412783134, + -0.07036392404502721 + ], + [ + -0.09680847363509976, + -0.029082954808263322, + 0.9948780333146686, + 0.19842825431318808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9951316205431738, + -0.01585518294920899, + 0.09727112093917686, + -0.24868291345622628 + ], + [ + 0.01285844604452839, + 0.99942550303397, + 0.031358001381084216, + -0.07034351244796976 + ], + [ + -0.09771242582413361, + -0.029954583271066218, + 0.9947637934608498, + 0.19901785589925192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9950482862482661, + -0.01596296229961333, + 0.0981024559784815, + -0.2534201448932477 + ], + [ + 0.012830236134301691, + 0.9993899808208043, + 0.032481552852818174, + -0.0710506250034691 + ], + [ + -0.09856111340243084, + -0.031062035825320345, + 0.9946460962851359, + 0.1998645294891894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.994990936514111, + -0.015944926993099705, + 0.09868533608372368, + -0.25704799833984565 + ], + [ + 0.01269330626105121, + 0.9993584438566748, + 0.033490008488036495, + -0.07213736468816456 + ], + [ + -0.09915601964044307, + -0.032069611714991474, + 0.9945549878078708, + 0.2003815393952258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9949139212883338, + -0.015921798365236817, + 0.09946248319586672, + -0.26184595833517865 + ], + [ + 0.012509794890291862, + 0.999314798752515, + 0.034834437357639754, + -0.0735757448847043 + ], + [ + -0.09994895826607776, + -0.03341301140330279, + 0.9944313834601605, + 0.20148574702147032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9948666176013685, + -0.015929084740256328, + 0.09993336500764158, + -0.2662633106364839 + ], + [ + 0.012376005104906045, + 0.9992724766923199, + 0.03607425429361825, + -0.07478887715379624 + ], + [ + -0.1004352910089682, + -0.034652295516098615, + 0.9943399673830924, + 0.20321984001781382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.994899152358111, + -0.016000760093502042, + 0.09959745134059672, + -0.2687468385044455 + ], + [ + 0.012389797742216288, + 0.9992469783759297, + 0.03676913268600826, + -0.0751976901685569 + ], + [ + -0.10011078637698992, + -0.0353475866645023, + 0.9943482179638963, + 0.2056259660593658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9949423612392239, + -0.016095961807992956, + 0.09914947213774573, + -0.27201558291759415 + ], + [ + 0.012408540673684654, + 0.9992122245563995, + 0.037695602069755044, + -0.07572976721036231 + ], + [ + -0.09967811158959373, + -0.03627465107382068, + 0.9943582974760181, + 0.20924849091972228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9949853748846332, + -0.016190745803599974, + 0.0987013855830251, + -0.27528319879458607 + ], + [ + 0.012427686727946367, + 0.9991766066971275, + 0.03862203039465624, + -0.07626415714091946 + ], + [ + -0.0992454349996906, + -0.03720172549139267, + 0.9943673241072362, + 0.2128710748117707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9951167212147826, + -0.016148228132399925, + 0.09737528375786532, + -0.2769439935161874 + ], + [ + 0.012399895510544323, + 0.9991631778469471, + 0.03897674468343561, + -0.07643678133631152 + ], + [ + -0.09792320332826333, + -0.03757896702909902, + 0.9944842218391188, + 0.2171758721432756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9952463047607395, + -0.016105207446500475, + 0.09604902473840415, + -0.278601460014696 + ], + [ + 0.01237257597016238, + 0.999149615031558, + 0.03933149051526194, + -0.07661029491972689 + ], + [ + -0.09660078790546145, + -0.03795614674061061, + 0.9945992251659205, + 0.22148053351886993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9953423354445076, + -0.016072611877926673, + 0.09505422883436151, + -0.279872079960843 + ], + [ + 0.012352395884250626, + 0.9991393550208757, + 0.03959757018287175, + -0.07675338804610984 + ], + [ + -0.09560885726642893, + -0.03823899051871318, + 0.9946842343258073, + 0.2243981057907878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9955121483862649, + -0.01576257127460312, + 0.09331186292308502, + -0.2815044146354755 + ], + [ + 0.012052648982383594, + 0.9991193918906444, + 0.040189232395963885, + -0.07774047132213986 + ], + [ + -0.09386317738000882, + -0.03888421395479664, + 0.9948254730540663, + 0.22955346857458886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9956929244103232, + -0.01536253767341517, + 0.09143080834954727, + -0.2831259162409201 + ], + [ + 0.011662988694918577, + 0.9990967900228062, + 0.04086048042824733, + -0.07899982099852558 + ], + [ + -0.09197594780115585, + -0.039618134766264315, + 0.9949727777299846, + 0.23499244472066896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9958260649178938, + -0.015061600749806402, + 0.09001997896576225, + -0.2843670842305947 + ], + [ + 0.011371578341127588, + 0.9990794136594526, + 0.0413643857432464, + -0.07995840180895306 + ], + [ + -0.09056012166607577, + -0.04016806423936707, + 0.9950805952178385, + 0.238760704480091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9960391877245237, + -0.014577262461601822, + 0.08771225647648466, + -0.28642259976196777 + ], + [ + 0.01091825335388691, + 0.9990557580175373, + 0.042052159465410584, + -0.08113679692352085 + ], + [ + -0.08824244024714746, + -0.04092793411753833, + 0.9952578439520581, + 0.24372409091436859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9962843604806385, + -0.01400907924886027, + 0.08497775450248411, + -0.2889146340283235 + ], + [ + 0.010400809526367568, + 0.9990313860292975, + 0.04275643682040208, + -0.08223282852078886 + ], + [ + -0.08549442217408997, + -0.04171373187548635, + 0.9954650512951917, + 0.24821209293977464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9965216944820594, + -0.013438735516969811, + 0.08224301073228224, + -0.29139980997584086 + ], + [ + 0.009885309174418471, + 0.9990061690537223, + 0.04346210826837601, + -0.08333074802242903 + ], + [ + -0.08274535086113005, + -0.04249793618884116, + 0.9956641664389444, + 0.25270031536001636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9968071254614833, + -0.012829862615888398, + 0.07880957590592916, + -0.2926239227202556 + ], + [ + 0.009375403410826664, + 0.9989854382854, + 0.044047654927498, + -0.08405262642223496 + ], + [ + -0.07929474408874299, + -0.04316814472484437, + 0.9959160882528788, + 0.2566020437785723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9970534557835843, + -0.012344439806312215, + 0.07571011237530006, + -0.292618838195232 + ], + [ + 0.008996982199986866, + 0.9989734571756648, + 0.04439691621940996, + -0.08432544970777335 + ], + [ + -0.076180447762568, + -0.043584936209297376, + 0.9961410004182772, + 0.25877743800091935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9973665374024195, + -0.011695192957102992, + 0.07157662000684382, + -0.2925700983421517 + ], + [ + 0.008494120329628383, + 0.9989569731463586, + 0.04486441487516755, + -0.08467205218636092 + ], + [ + -0.0720266616589564, + -0.044138285693505246, + 0.9964255976972414, + 0.2620937248064539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9976705415769225, + -0.010990496459339506, + 0.06732532552604054, + -0.29261009656597403 + ], + [ + 0.007939870424104833, + 0.9989367497798355, + 0.04541286598472611, + -0.08521045525858159 + ], + [ + -0.06775285180166593, + -0.04477252424060447, + 0.9966970312717229, + 0.26538854221019137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9979044409346878, + -0.010340199122144003, + 0.06387336725852968, + -0.29287589628630123 + ], + [ + 0.007406089702170668, + 0.9989138243145352, + 0.04600349365682614, + -0.08605834852980052 + ], + [ + -0.06427967484479055, + -0.04543403873116117, + 0.9968971218367639, + 0.2674984621937112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9981970619503538, + -0.009469574679452628, + 0.059270166771081344, + -0.29319211727324146 + ], + [ + 0.006697585703116064, + 0.9988821148366499, + 0.04679383511971653, + -0.08717195377060967 + ], + [ + -0.05964702724722281, + -0.04631250171230302, + 0.9971446155526876, + 0.2707283009239023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.998467682847248, + -0.00859489829292413, + 0.054666388512337814, + -0.2934967724818335 + ], + [ + 0.005992757751606364, + 0.9988491006601514, + 0.047587403427141024, + -0.08828785754952946 + ], + [ + -0.055012481894367686, + -0.04718688200910504, + 0.9973700541935681, + 0.2739597264273081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_009/push_in/transforms.json b/spatialvid_eval/camera_controls/scene_009/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..474342ca17772d04ff7b2ce4a3d8fd59e8bd5aa3 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_009/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": [ + [ + 0.9999999988381678, + -1.0995179582052475e-05, + 4.6933683121183114e-05, + -0.00012040915429576355 + ], + [ + 1.0999017964024834e-05, + 0.9999999965952304, + -8.178362263812044e-05, + -0.00011596544514781612 + ], + [ + -4.6932783735766956e-05, + 8.178413876752536e-05, + 0.9999999955543343, + -0.00036934803215042146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999958034324247, + 9.959912346462563e-05, + -0.002895375200927434, + -0.0022774421019068547 + ], + [ + -9.641633568916639e-05, + 0.999999391028194, + 0.001099384887682131, + -0.003150665874880259 + ], + [ + 0.0028954829354967326, + -0.0010991011125718398, + 0.9999952040661568, + 0.009824358312875186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999829386708191, + 0.0002136673982356999, + -0.005837526318230338, + -0.004441830427311203 + ], + [ + -0.00020035565990926264, + 0.9999973787578277, + 0.0022808627936679684, + -0.0061824126098477365 + ], + [ + 0.005837998362679025, + -0.0022796542976793025, + 0.9999803602828411, + 0.020018027548442504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999676009094363, + 0.00030149770897327176, + -0.008044018309162846, + -0.006072461976632437 + ], + [ + -0.0002760283781675089, + 0.9999949464176429, + 0.0031671671112014073, + -0.008453293885796435 + ], + [ + 0.0080449325516818, + -0.003164844120539513, + 0.9999626307127341, + 0.027975720767865343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999474636247505, + 0.00035052457666897484, + -0.010244370305174121, + -0.008629322384207213 + ], + [ + -0.0003042842650084619, + 0.9999897613152824, + 0.004514939167989162, + -0.01229019217020289 + ], + [ + 0.010245848013436983, + -0.004511584768762018, + 0.9999373321370494, + 0.038826042081214956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999255363187829, + 0.00037867597583208704, + -0.012197476054496784, + -0.011317601681429658 + ], + [ + -0.0003065074275080797, + 0.9999824414814747, + 0.005918004895744913, + -0.016393882586602945 + ], + [ + 0.012199502891166395, + -0.0059138256023073595, + 0.9999080951747287, + 0.04989520292584029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999065864872668, + 0.0004015869055802465, + -0.013662248253463384, + -0.01334128451054581 + ], + [ + -0.00030637580784409853, + 0.9999756602430179, + 0.00697029808580336, + -0.019467170319926706 + ], + [ + 0.013664714898100314, + -0.006965461183428746, + 0.9998823720404595, + 0.05850946155415308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998842404952898, + 0.0004494959983218951, + -0.01520866734810367, + -0.016443947044924183 + ], + [ + -0.0003242935134235903, + 0.999966049304732, + 0.008233776266317654, + -0.02296511104783169 + ], + [ + 0.015211852052755888, + -0.008227891056286362, + 0.9998504394987738, + 0.06867432858456009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998662227666631, + 0.000514014473275006, + -0.016348466577845135, + -0.019955196061965892 + ], + [ + -0.00036105605067838196, + 0.9999561505038366, + 0.009357708484281232, + -0.025860894323344125 + ], + [ + 0.01635255970342026, + -0.009350553923152587, + 0.9998225647245996, + 0.07793502792591565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998469021213541, + 0.0005798126829423854, + -0.017488171304756356, + -0.02346929351392512 + ], + [ + -0.00039653625299542627, + 0.9999449871626132, + 0.010481670065491808, + -0.028753867437975113 + ], + [ + 0.017493286636074558, + -0.010473130650119181, + 0.9997921276230645, + 0.08719562875415296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998326996319913, + 0.0005809098802658845, + -0.018282103005827666, + -0.027176286818133045 + ], + [ + -0.0003702462995423413, + 0.9999335254700688, + 0.011524216184939345, + -0.031001121752378995 + ], + [ + 0.018287582242668347, + -0.01151551929834483, + 0.9997664513030068, + 0.09602978095049473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998265224548034, + 0.000532689483650399, + -0.018618303839203553, + -0.03010594548115025 + ], + [ + -0.0003047207757288808, + 0.9999249804321194, + 0.012245025646145895, + -0.03219890158125577 + ], + [ + 0.018623429898483593, + -0.012237228025167293, + 0.9997516782226858, + 0.10264801159119669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998181055412074, + 0.00046877317733448, + -0.019066622241492432, + -0.034005520834051596 + ], + [ + -0.00021697678568048252, + 0.9999127726379992, + 0.013206060595956642, + -0.03379864141388364 + ], + [ + 0.019071149757317673, + -0.013199521472304012, + 0.9997309957582774, + 0.11105569189391237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998127457982131, + 0.00037713745814885045, + -0.019347638273839684, + -0.037884683878976914 + ], + [ + -0.00010443333863044906, + 0.9999006687586061, + 0.014094030997916512, + -0.03522929701302263 + ], + [ + 0.01935103183593753, + -0.014089371292932485, + 0.9997134725427353, + 0.11926642189578165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998159803655291, + 0.0002451366179099908, + -0.019181900681494595, + -0.04075170797034361 + ], + [ + 3.486971849903823e-05, + 0.9998934760789985, + 0.014595728099695348, + -0.03592138916914286 + ], + [ + 0.01918343529764403, + -0.014593711066622644, + 0.9997094674991756, + 0.12529386955718697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.999820221329334, + 6.900546286732094e-05, + -0.018961019466468724, + -0.04456586375860097 + ], + [ + 0.00022047625632578947, + 0.9998834635594624, + 0.01526468769918511, + -0.0368485873753928 + ], + [ + 0.018959863163591346, + -0.015266123888510506, + 0.9997036906254966, + 0.13291389928716502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.999824380242369, + -0.0001072742173874529, + -0.018740255206513432, + -0.048379469682922185 + ], + [ + 0.00040593313600595203, + 0.9998729684390423, + 0.015933681407233002, + -0.03777411250047286 + ], + [ + 0.018736165329438743, + -0.015938490428531626, + 0.9996974145368226, + 0.14053390459065895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998449175087589, + -0.00039381951381266955, + -0.017606414685945454, + -0.0535434249038999 + ], + [ + 0.0006810603907542925, + 0.9998667260242838, + 0.016311540277482557, + -0.03817689533329028 + ], + [ + 0.017597644406200534, + -0.01632100167484614, + 0.9997119324163749, + 0.1468189072144825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998640847591291, + -0.0006807984082153725, + -0.016472659843408198, + -0.05870454745133188 + ], + [ + 0.0009557570671829368, + 0.9998602603151452, + 0.01668970853426522, + -0.03857872655773508 + ], + [ + 0.01645899563210925, + -0.016703184009570354, + 0.9997250147449172, + 0.15310391383310723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998775611063505, + -0.0008963168662242077, + -0.015622400970777177, + -0.06257841263768488 + ], + [ + 0.0011614967571583496, + 0.9998552645022328, + 0.016973537417201274, + -0.03887417056277446 + ], + [ + 0.015604926186929829, + -0.01698960456412518, + 0.999733884398971, + 0.15813008501885617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999073812229528, + -0.0011371191119555473, + -0.013562298329638086, + -0.06865804127069257 + ], + [ + 0.0013746732349694637, + 0.9998455797305363, + 0.017519331231675896, + -0.04002137780363053 + ], + [ + 0.013540282469503255, + -0.017536352341160955, + 0.9997545384229136, + 0.162544642320819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999364219131223, + -0.0013635776932827363, + -0.011193426082162965, + -0.07504007417319478 + ], + [ + 0.0015662905886923953, + 0.9998345698030989, + 0.018121251624652644, + -0.04141619376140478 + ], + [ + 0.011166864616992454, + -0.018137631668070236, + 0.9997731379928645, + 0.16633563107680888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999544835941214, + -0.0015343561725798935, + -0.009416819587825923, + -0.079825656471768 + ], + [ + 0.0017090655017430814, + 0.9998260465391271, + 0.01857298460264423, + -0.042455506189076314 + ], + [ + 0.009386683925899905, + -0.018588233188632373, + 0.9997831603661868, + 0.16949122862275384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999977617138474, + -0.001891249795738116, + -0.006417818653545734, + -0.08666512642807137 + ], + [ + 0.002013473612067746, + 0.9998157088176138, + 0.019091734482390633, + -0.04401994005321067 + ], + [ + 0.006380528667217623, + -0.01910422926324737, + 0.9997971380626093, + 0.17324263935387632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999932850970037, + -0.002377615518000019, + -0.0027886744793036277, + -0.09396485186743292 + ], + [ + 0.0024316280706415177, + 0.9998063576795987, + 0.019527783498921505, + -0.04575560669034302 + ], + [ + 0.00274170491282743, + -0.019534433390893332, + 0.9998054255535264, + 0.17695438690071721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999955412862074, + -0.0028655390771517956, + 0.0008402937002463363, + -0.101255509946193 + ], + [ + 0.002848192218545516, + 0.9997966157476413, + 0.01996534348940007, + -0.04749013598699818 + ], + [ + -0.000897334269697984, + -0.01996286115166934, + 0.9998003195467823, + 0.18066573661948354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999833273782205, + -0.0034051786429877763, + 0.004663659935322809, + -0.1077836779404825 + ], + [ + 0.00331007533329435, + 0.9997894576512799, + 0.02025052519436692, + -0.048685171369395756 + ], + [ + -0.004731634693307538, + -0.02023475049930473, + 0.9997840599376249, + 0.18469229748502874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999631272141006, + -0.003848039982001559, + 0.0076770307081293464, + -0.11210593062960941 + ], + [ + 0.003691123584301315, + 0.999786098839921, + 0.020350237667837043, + -0.04917092403588086 + ], + [ + -0.007753697110543986, + -0.02032115042877633, + 0.999763437532284, + 0.18826102553423318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999217622057155, + -0.004438921992342342, + 0.011694675667266978, + -0.11786209480449213 + ], + [ + 0.004198714784112028, + 0.9997813444392941, + 0.020484972670701988, + -0.049826678672306036 + ], + [ + -0.011783049757102189, + -0.020434267364004704, + 0.9997217615195331, + 0.19260219647798582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998617537507146, + -0.005019105500764018, + 0.015851875804384796, + -0.12340219354688856 + ], + [ + 0.004692395719260729, + 0.9997771865756504, + 0.020580539965976852, + -0.050511545154187806 + ], + [ + -0.015951639695006382, + -0.02050331150935154, + 0.9996625227586514, + 0.1973521211126014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997993022216467, + -0.005429187548191709, + 0.01928416966516634, + -0.127080563875322 + ], + [ + 0.005032482088838344, + 0.9997759376082709, + 0.020560853667306866, + -0.05108507539507902 + ], + [ + -0.019391477538699384, + -0.02045967991121672, + 0.9996026070878351, + 0.2021476300004004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9996974447233556, + -0.005975724778065659, + 0.023860212215528677, + -0.13198166527170502 + ], + [ + 0.005486031038235167, + 0.9997740539013479, + 0.02053642152645307, + -0.051858344646317715 + ], + [ + -0.023977541096633997, + -0.02039931025896358, + 0.9995043499974964, + 0.20812422922635135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9995743449003611, + -0.00652197840956217, + 0.0284357664682918, + -0.13687134609361606 + ], + [ + 0.00593968596013974, + 0.9997719206118986, + 0.020514065581710875, + -0.05263159193006408 + ], + [ + -0.028563073148891772, + -0.020336434142224167, + 0.9993851010990059, + 0.21409974313725036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9994204568860995, + -0.007095370378787738, + 0.03329273309249286, + -0.1402891016588811 + ], + [ + 0.006416744338561846, + 0.9997703593695583, + 0.02044636686939521, + -0.0541849914186551 + ], + [ + -0.033430162274115306, + -0.020220886361685265, + 0.9992364785200119, + 0.22163146390980584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9992426414302942, + -0.007668192021009257, + 0.03814894990085184, + -0.14369474667475887 + ], + [ + 0.00689412503268328, + 0.9997685164119282, + 0.02038098701059386, + -0.05573846160275255 + ], + [ + -0.03829640436702254, + -0.02010254766494028, + 0.9990641986328689, + 0.22916180769031752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9990935799951799, + -0.008097425722388241, + 0.04179055047598045, + -0.14622797807216995 + ], + [ + 0.00725236519558877, + 0.9997669493443444, + 0.020333474808131326, + -0.0568972511518609 + ], + [ + -0.041945459962728714, + -0.020011963806021233, + 0.9989194660697837, + 0.23512077094714756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988879026433336, + -0.008677592077552209, + 0.046342824132090454, + -0.15011665956746575 + ], + [ + 0.007738356615916188, + 0.9997617830134851, + 0.020408210665860023, + -0.05901971329784803 + ], + [ + -0.046508878611370194, + -0.020026897449001428, + 0.9987171008793632, + 0.24321752292389276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.998666249902769, + -0.009260704970140766, + 0.050793313030326755, + -0.15416270854077857 + ], + [ + 0.008226600122618387, + 0.9997553810448314, + 0.020530492500838837, + -0.061331453804213 + ], + [ + -0.050971014857105666, + -0.020085253679266158, + 0.9984981413247983, + 0.25150253116504084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.998486773389364, + -0.00969820540558221, + 0.05413047365771365, + -0.1571730612309558 + ], + [ + 0.008592419981201095, + 0.9997503869322528, + 0.02062363080734686, + -0.06305854634745163 + ], + [ + -0.05431697419190388, + -0.020127310816952827, + 0.9983208690966618, + 0.25802728746919595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998247228082023, + -0.01020261354633699, + 0.05829561135610422, + -0.1622807302084051 + ], + [ + 0.009002210112972557, + 0.999742766827641, + 0.020817309838096907, + -0.06461358168941822 + ], + [ + -0.05849300675841294, + -0.020256032499913024, + 0.9980822918515904, + 0.26553237899916643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9980085881560411, + -0.01062853247795022, + 0.06217629985895477, + -0.16846077871868204 + ], + [ + 0.009333612575109583, + 0.9997342213757527, + 0.021080092184692957, + -0.06541202809667541 + ], + [ + -0.062383825171940674, + -0.02045778354520729, + 0.9978425414108852, + 0.27225889776609197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9977546770242324, + -0.011055231173258753, + 0.06605593341991146, + -0.17463117957347385 + ], + [ + 0.00966398665511654, + 0.9997254794206644, + 0.02134415983477864, + -0.06620975167626228 + ], + [ + -0.06627376432797293, + -0.02065787164324186, + 0.9975876104387884, + 0.278984039154682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.997512584407095, + -0.01146992567932018, + 0.06954915351310505, + -0.17924948249197936 + ], + [ + 0.009995519948713132, + 0.9997186529701455, + 0.021510566810597407, + -0.06617808622229061 + ], + [ + -0.06977631066797284, + -0.020761881139944146, + 0.9973465850751673, + 0.28514263085573094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9973438533564772, + -0.011771519936062196, + 0.07187954848528601, + -0.1815284733183819 + ], + [ + 0.010245519768032648, + 0.9997150164552082, + 0.021561892278870516, + -0.06552586056652268 + ], + [ + -0.0721128802415806, + -0.020768177396142735, + 0.9971802321099761, + 0.2896485865764719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9971102678230741, + -0.01217366552923273, + 0.07498610317505387, + -0.1845893447055696 + ], + [ + 0.010578663278846018, + 0.9997100487520296, + 0.021631234533594227, + -0.06466498943938429 + ], + [ + -0.0752276922750542, + -0.020775473323054166, + 0.9969499355650578, + 0.29524001417167367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9968748421539719, + -0.012578167144074101, + 0.07798935050242108, + -0.1875795573051028 + ], + [ + 0.010901844672987129, + 0.9997010996542702, + 0.021882895895407508, + -0.0639943283741605 + ], + [ + -0.07824128618076147, + -0.020964280606281614, + 0.9967140011434783, + 0.30052384200746773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9967107063565763, + -0.012887552130218064, + 0.08001049202614546, + -0.18965093065721406 + ], + [ + 0.011121435111570105, + 0.99968542969572, + 0.02248010976714676, + -0.0639119728553068 + ], + [ + -0.08027503668784033, + -0.021516334589672642, + 0.9965404988411617, + 0.3041078514253403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.996485333898928, + -0.013301804235626142, + 0.08270454236871715, + -0.19243940965502646 + ], + [ + 0.01141232445916616, + 0.9996639118732551, + 0.023277073456503913, + -0.06380950163286889 + ], + [ + -0.08298637342829586, + -0.022251411243735524, + 0.9963022315155585, + 0.30847031990861445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.996252506281094, + -0.01371804046317747, + 0.08539765274578297, + -0.19522120992491282 + ], + [ + 0.01170104262174403, + 0.9996416804453612, + 0.024074806706151752, + -0.06370499182759015 + ], + [ + -0.08569731226942205, + -0.02298534494466127, + 0.996056044902882, + 0.31283171756635025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9960834893332575, + -0.014015570662121932, + 0.08729974831978252, + -0.19963167156589265 + ], + [ + 0.011890268027242547, + 0.9996212844486846, + 0.024817518074989078, + -0.06382487776219622 + ], + [ + -0.0876145182257064, + -0.02368230259449328, + 0.9958729059171658, + 0.31620108279529285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.995910751504516, + -0.014314430445776887, + 0.08920130110443086, + -0.20403741189227195 + ], + [ + 0.012078062623425624, + 0.9996003087927485, + 0.025560576376651337, + -0.06394288523507866 + ], + [ + -0.08953153322140156, + -0.02437867392732905, + 0.9956855853212752, + 0.31956972882613527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9957787567468273, + -0.014539447058013744, + 0.09062710461550996, + -0.20731029933767475 + ], + [ + 0.012217969120587816, + 0.9995841967030545, + 0.02611809587389274, + -0.06402199553240624 + ], + [ + -0.09096916423883278, + -0.024900565872218765, + 0.9955423511719287, + 0.32240683895753286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9956409725058235, + -0.014774317455516373, + 0.09209111472548176, + -0.21232780289477365 + ], + [ + 0.012334790556363117, + 0.9995592347784337, + 0.02700350183000319, + -0.06465073640850678 + ], + [ + -0.09244948247334256, + -0.025749868210846336, + 0.9953843667034034, + 0.32563918480466253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9955149773368984, + -0.01498829246096271, + 0.09340921253827077, + -0.21754872512768494 + ], + [ + 0.012427515762232097, + 0.9995324510419165, + 0.02793628762235372, + -0.06544861464515282 + ], + [ + -0.09378425640743047, + -0.026650148278087482, + 0.9952357925872953, + 0.32882598394744506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9954193057905766, + -0.015149555745267496, + 0.09439754562554935, + -0.22143277120843238 + ], + [ + 0.012496238490968106, + 0.9995117942643549, + 0.02863594157744283, + -0.06603653989816394 + ], + [ + -0.09478528199558982, + -0.027325154842578744, + 0.9951226488377428, + 0.331526700274781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9953107152136971, + -0.015376598134838807, + 0.09549942623177762, + -0.22619791213751902 + ], + [ + 0.012605429300132304, + 0.9994837141549595, + 0.02955348187890366, + -0.06632299372352266 + ], + [ + -0.0959045532441418, + -0.02821108592037876, + 0.9949906790006803, + 0.3346502662883891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.995221586759742, + -0.015615502693902043, + 0.09638542069752193, + -0.2305109424413053 + ], + [ + 0.012732347775007695, + 0.9994550204062399, + 0.030455697412783134, + -0.06610012640723757 + ], + [ + -0.09680847363509976, + -0.029082954808263322, + 0.9948780333146686, + 0.3377111789772417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9951316205431738, + -0.01585518294920899, + 0.09727112093917686, + -0.23482177872239357 + ], + [ + 0.01285844604452839, + 0.99942550303397, + 0.031358001381084216, + -0.06587499725116526 + ], + [ + -0.09771242582413361, + -0.029954583271066218, + 0.9947637934608498, + 0.340771696467423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9950482862482661, + -0.01596296229961333, + 0.0981024559784815, + -0.23919528877636786 + ], + [ + 0.012830236134301691, + 0.9993899808208043, + 0.032481552852818174, + -0.06634079983981046 + ], + [ + -0.09856111340243084, + -0.031062035825320345, + 0.9946460962851359, + 0.3440882134505341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.994990936514111, + -0.015944926993099705, + 0.09868533608372368, + -0.2424919112674964 + ], + [ + 0.01269330626105121, + 0.9993584438566748, + 0.033490008488036495, + -0.06719758843617918 + ], + [ + -0.09915601964044307, + -0.032069611714991474, + 0.9945549878078708, + 0.3470784000968868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9949139212883338, + -0.015921798365236817, + 0.09946248319586672, + -0.24692658585579863 + ], + [ + 0.012509794890291862, + 0.999314798752515, + 0.034834437357639754, + -0.06835057928105832 + ], + [ + -0.09994895826607776, + -0.03341301140330279, + 0.9944313834601605, + 0.3506504545404944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9948666176013685, + -0.015929084740256328, + 0.09993336500764158, + -0.25102347247281853 + ], + [ + 0.012376005104906045, + 0.9992724766923199, + 0.03607425429361825, + -0.06928755337401947 + ], + [ + -0.1004352910089682, + -0.034652295516098615, + 0.9943399673830924, + 0.35485668504373546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.994899152358111, + -0.016000760093502042, + 0.09959745134059672, + -0.253309233546653 + ], + [ + 0.012389797742216288, + 0.9992469783759297, + 0.03676913268600826, + -0.06949847460222561 + ], + [ + -0.10011078637698992, + -0.0353475866645023, + 0.9943482179638963, + 0.3597499398437698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9949423612392239, + -0.016095961807992956, + 0.09914947213774573, + -0.2563995410558992 + ], + [ + 0.012408540673684654, + 0.9992122245563995, + 0.037695602069755044, + -0.06979270988437589 + ], + [ + -0.09967811158959373, + -0.03627465107382068, + 0.9943582974760181, + 0.36585992277219515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9949853748846332, + -0.016190745803599974, + 0.0987013855830251, + -0.2594909771013021 + ], + [ + 0.012427686727946367, + 0.9991766066971275, + 0.03862203039465624, + -0.07008463227777446 + ], + [ + -0.0992454349996906, + -0.03720172549139267, + 0.9943673241072362, + 0.3719698466689285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9951167212147826, + -0.016148228132399925, + 0.09737528375786532, + -0.2611205099055343 + ], + [ + 0.012399895510544323, + 0.9991631778469471, + 0.03897674468343561, + -0.07010306032525324 + ], + [ + -0.09792320332826333, + -0.03757896702909902, + 0.9944842218391188, + 0.3787795581921324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9952463047607395, + -0.016105207446500475, + 0.09604902473840415, + -0.26275337093285933 + ], + [ + 0.01237257597016238, + 0.999149615031558, + 0.03933149051526194, + -0.07012059898470867 + ], + [ + -0.09660078790546145, + -0.03795614674061061, + 0.9945992251659205, + 0.38558940567124683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9953423354445076, + -0.016072611877926673, + 0.09505422883436151, + -0.26395049663108744 + ], + [ + 0.012352395884250626, + 0.9991393550208757, + 0.03959757018287175, + -0.07012079504047883 + ], + [ + -0.09560885726642893, + -0.03823899051871318, + 0.9946842343258073, + 0.3910077150403606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9955121483862649, + -0.01576257127460312, + 0.09331186292308502, + -0.265641397938551 + ], + [ + 0.012052648982383594, + 0.9991193918906444, + 0.040189232395963885, + -0.070908301814826 + ], + [ + -0.09386317738000882, + -0.03888421395479664, + 0.9948254730540663, + 0.39867379899378014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9956929244103232, + -0.01536253767341517, + 0.09143080834954727, + -0.26735410180062325 + ], + [ + 0.011662988694918577, + 0.9990967900228062, + 0.04086048042824733, + -0.07195138812465292 + ], + [ + -0.09197594780115585, + -0.039618134766264315, + 0.9949727777299846, + 0.40662524887909135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9958260649178938, + -0.015061600749806402, + 0.09001997896576225, + -0.26861358791158635 + ], + [ + 0.011371578341127588, + 0.9990794136594526, + 0.0413643857432464, + -0.07271963430388492 + ], + [ + -0.09056012166607577, + -0.04016806423936707, + 0.9950805952178385, + 0.41289980864321274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9960391877245237, + -0.014577262461601822, + 0.08771225647648466, + -0.27085367423739176 + ], + [ + 0.01091825335388691, + 0.9990557580175373, + 0.042052159465410584, + -0.07367253861841047 + ], + [ + -0.08824244024714746, + -0.04092793411753833, + 0.9952578439520581, + 0.42038235821585895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9962843604806385, + -0.01400907924886027, + 0.08497775450248411, + -0.27361863821787635 + ], + [ + 0.010400809526367568, + 0.9990313860292975, + 0.04275643682040208, + -0.0745366698931165 + ], + [ + -0.08549442217408997, + -0.04171373187548635, + 0.9954650512951917, + 0.4273958021729092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9965216944820594, + -0.013438735516969811, + 0.08224301073228224, + -0.27639046051719934 + ], + [ + 0.009885309174418471, + 0.9990061690537223, + 0.04346210826837601, + -0.0753989132634504 + ], + [ + -0.08274535086113005, + -0.04249793618884116, + 0.9956641664389444, + 0.43440902573512374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9968071254614833, + -0.012829862615888398, + 0.07880957590592916, + -0.2780441511776587 + ], + [ + 0.009375403410826664, + 0.9989854382854, + 0.044047654927498, + -0.07590381026064782 + ], + [ + -0.07929474408874299, + -0.04316814472484437, + 0.9959160882528788, + 0.44084652010535486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9970534557835843, + -0.012344439806312215, + 0.07571011237530006, + -0.2784231921248633 + ], + [ + 0.008996982199986866, + 0.9989734571756648, + 0.04439691621940996, + -0.07600102791663398 + ], + [ + -0.076180447762568, + -0.043584936209297376, + 0.9961410004182772, + 0.44555387557934634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9973665374024195, + -0.011695192957102992, + 0.07157662000684382, + -0.2789705405408514 + ], + [ + 0.008494120329628383, + 0.9989569731463586, + 0.04486441487516755, + -0.07614781336007909 + ], + [ + -0.0720266616589564, + -0.044138285693505246, + 0.9964255976972414, + 0.4514145883689298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9976705415769225, + -0.010990496459339506, + 0.06732532552604054, + -0.27964997140221126 + ], + [ + 0.007939870424104833, + 0.9989367497798355, + 0.04541286598472611, + -0.07646847855652181 + ], + [ + -0.06775285180166593, + -0.04477252424060447, + 0.9966970312717229, + 0.457252720729998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9979044409346878, + -0.010340199122144003, + 0.06387336725852968, + -0.28042058967088795 + ], + [ + 0.007406089702170668, + 0.9989138243145352, + 0.04600349365682614, + -0.07708766726671942 + ], + [ + -0.06427967484479055, + -0.04543403873116117, + 0.9968971218367639, + 0.46189340095188014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9981970619503538, + -0.009469574679452628, + 0.059270166771081344, + -0.28148625933595284 + ], + [ + 0.006697585703116064, + 0.9988821148366499, + 0.04679383511971653, + -0.07793017133446566 + ], + [ + -0.05964702724722281, + -0.04631250171230302, + 0.9971446155526876, + 0.4676643624955582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.998467682847248, + -0.00859489829292413, + 0.054666388512337814, + -0.28256349477936593 + ], + [ + 0.005992757751606364, + 0.9988491006601514, + 0.047587403427141024, + -0.07877037686410125 + ], + [ + -0.055012481894367686, + -0.04718688200910504, + 0.9973700541935681, + 0.4734337372660217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_009/tilt_down/transforms.json b/spatialvid_eval/camera_controls/scene_009/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..6630ce6d5acb88e42200a662bd08dbbfed243c4e --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_009/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": [ + [ + 0.9999999988381678, + -1.0995179582052475e-05, + 4.6933683121183114e-05, + -0.00012040915429576355 + ], + [ + 1.0999017964024834e-05, + 0.9999999965952304, + -8.178362263812044e-05, + -0.00011596544514781612 + ], + [ + -4.6932783735766956e-05, + 8.178413876752536e-05, + 0.9999999955543343, + -0.00036934803215042146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999958034324247, + 0.00010907366642769492, + -0.002895033760568695, + -0.002273822882905695 + ], + [ + -9.641633568916639e-05, + 0.9999904387109408, + 0.004371863514592284, + -0.0031520401059898615 + ], + [ + 0.0028954829354967326, + -0.0043715660392247245, + 0.9999862526999733, + 0.00857436430779249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999829386708191, + 0.0002518690694712013, + -0.005836002848263902, + -0.004427236611515627 + ], + [ + -0.00020035565990926264, + 0.9999610323726029, + 0.008825734752867022, + -0.006188114766831907 + ], + [ + 0.005837998362679025, + -0.008824414897899242, + 0.999944022171655, + 0.0175180766477354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999676009094363, + 0.00038045387597984606, + -0.008040670760260934, + -0.006042296907973076 + ], + [ + -0.0002760283781675089, + 0.9999156625295835, + 0.012984284206640157, + -0.00846517076246344 + ], + [ + 0.0080449325516818, + -0.012981644074330905, + 0.9998833711875432, + 0.02422586090269259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999474636247505, + 0.0004845892105559411, + -0.010238904420170895, + -0.008578100532681342 + ], + [ + -0.0003042842650084619, + 0.9998449910387243, + 0.017604013913299733, + -0.012312766866042836 + ], + [ + 0.010245848013436983, + -0.017599973524712903, + 0.9997926102599554, + 0.03382635542052971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999255363187829, + 0.0005781971151985387, + -0.012189647480164096, + -0.011241367456089052 + ], + [ + -0.0003065074275080797, + 0.999751752933588, + 0.022278657037957256, + -0.01643087011720135 + ], + [ + 0.012199502891166395, + -0.022273261869650257, + 0.9996774849594716, + 0.04364577733099824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999065864872668, + 0.000669749876411174, + -0.013651730091275759, + -0.013238817648644836 + ], + [ + -0.00030637580784409853, + 0.9996460527278269, + 0.026602169075829622, + -0.01951944755557023 + ], + [ + 0.013664714898100314, + -0.026595501513934743, + 0.9995528774737112, + 0.051010343763849636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998842404952898, + 0.0007977393302792861, + -0.015194381235137798, + -0.016310871205628276 + ], + [ + -0.0003242935134235903, + 0.9995150958412149, + 0.031136281397181952, + -0.02303715659016197 + ], + [ + 0.015211852052755888, + -0.031127749637393853, + 0.9993996511704599, + 0.05992563723894582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998662227666634, + 0.0009417912978740567, + -0.016329409036364557, + -0.01979171139618744 + ], + [ + -0.000361056050678382, + 0.999368534254248, + 0.03553030229317641, + -0.025954471408186935 + ], + [ + 0.016352559703420262, + -0.03551965331569943, + 0.9992351815360981, + 0.06793680227866966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998469021213541, + 0.0010945559214838964, + -0.017463512409207634, + -0.023272551586746612 + ], + [ + -0.00039653625299542627, + 0.9992026534872177, + 0.039923677474696724, + -0.028871786226211896 + ], + [ + 0.017493286636074558, + -0.03991064032859271, + 0.9990501117117351, + 0.07594796731839348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998326996319913, + 0.001178772496244805, + -0.018253307700435567, + -0.026947760530560198 + ], + [ + -0.0003702462995423413, + 0.9990210867539191, + 0.04423495381139463, + -0.031145174454690738 + ], + [ + 0.018287582242668347, + -0.04422079506771264, + 0.9988543865946115, + 0.08353270030920715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998265224548034, + 0.001202410477516396, + -0.018587070909060747, + -0.0298499438033612 + ], + [ + -0.0003047207757288808, + 0.9988364979312213, + 0.04822403493842603, + -0.032367270683890274 + ], + [ + 0.018623429898483593, + -0.048210005284559494, + 0.9986635886269608, + 0.08890142601563475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998181055412076, + 0.0012169638465521868, + -0.019033518618157472, + -0.03371952150042921 + ], + [ + -0.00021697678568048258, + 0.9986234086219569, + 0.05245227043074166, + -0.03399673232282299 + ], + [ + 0.019071149757317676, + -0.05243859982170925, + 0.9984420286104114, + 0.09605972695753821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998127457982131, + 0.001199642945837915, + -0.019314093202637977, + -0.03757028475702702 + ], + [ + -0.00010443333863044906, + 0.998396554121071, + 0.05660662340088087, + -0.035458325016738776 + ], + [ + 0.01935103183593753, + -0.056594006537564315, + 0.9982097254539802, + 0.10302107796696221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998159803655291, + 0.0011233887083885198, + -0.01915054577619208, + -0.04041602470841745 + ], + [ + 3.486971849903823e-05, + 0.998175801406315, + 0.0603744007917566, + -0.03617681441088753 + ], + [ + 0.01918343529764403, + -0.060363958490731805, + 0.9979920782879543, + 0.10779895387595138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.999820221329334, + 0.0009992954708617355, + -0.018934794150548, + -0.04421034464360468 + ], + [ + 0.00022047625632578947, + 0.9979300574131479, + 0.06430825686964352, + -0.03713480026975252 + ], + [ + 0.018959863163591346, + -0.06430087028923925, + 0.997750430553084, + 0.11416945508793694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998243802423692, + 0.0008736619746688942, + -0.018720186636809678, + -0.04800466457879192 + ], + [ + 0.00040593313600595214, + 0.9976687728330377, + 0.06824115277536077, + -0.03809278612861752 + ], + [ + 0.018736165329438746, + -0.068236767424718, + 0.9974932078366114, + 0.12053995629992251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998449175087589, + 0.0005857711643000823, + -0.01760107394581393, + -0.05316928859182356 + ], + [ + 0.0006810603907542925, + 0.9974128693658053, + 0.07188257215914987, + -0.03852351556418678 + ], + [ + 0.017597644406200534, + -0.07188341182508184, + 0.99725778914769, + 0.12557502865063455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998640847591291, + 0.00029014108486420827, + -0.016484168979361242, + -0.058333912604855195 + ], + [ + 0.0009557570671829368, + 0.997143576308831, + 0.075523339137403, + -0.03895424499975605 + ], + [ + 0.01645899563210925, + -0.07552882922557143, + 0.9970077719950817, + 0.1306101010013466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998775611063505, + 7.614896939532834e-05, + -0.015647907123666017, + -0.062207380614628924 + ], + [ + 0.0011614967571583496, + 0.9968684653780061, + 0.07906904362759246, + -0.03927729207643299 + ], + [ + 0.015604926186929829, + -0.07907753749474923, + 0.99674632145921, + 0.13438640526438062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999073812229528, + -0.0002476677023389263, + -0.013607631556082666, + -0.06831898381245162 + ], + [ + 0.0013746732349694637, + 0.9965590145102193, + 0.08287485066000412, + -0.04045936108442243 + ], + [ + 0.013540282469503255, + -0.08288588093957948, + 0.9964670548952015, + 0.13755077886024616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999364219131223, + -0.0005917259552768065, + -0.011260639057190146, + -0.074746246738538 + ], + [ + 0.0015662905886923953, + 0.9962301547420769, + 0.08673537638339587, + -0.041891876616551915 + ], + [ + 0.011166864616992454, + -0.08674749934707875, + 0.9961677431495433, + 0.1400915862044962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999544835941214, + -0.0008530045923727543, + -0.009502795545490128, + -0.07956669393310278 + ], + [ + 0.0017090655017430814, + 0.9958999844449193, + 0.09044501134789287, + -0.04296626326564903 + ], + [ + 0.009386683925899905, + -0.09045713551608359, + 0.9958561124977344, + 0.1419971917126837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999776171384742, + -0.001403299128712568, + -0.006541863160830681, + -0.08648061414178193 + ], + [ + 0.0020134736120677463, + 0.995549355208777, + 0.0942201001241363, + -0.044568827419579404 + ], + [ + 0.006380528667217625, + -0.09423116307753034, + 0.9955298974711825, + 0.1444984716345763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999932850970039, + -0.002151489244921608, + -0.0029666234900877653, + -0.0938811916330538 + ], + [ + 0.002431628070641518, + 0.9951921561124812, + 0.09791148858595425, + -0.04634144019531067 + ], + [ + 0.0027417049128274306, + -0.09791804484475967, + 0.9951907051153318, + 0.14696022413411142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999955412862074, + -0.002924624238460416, + 0.0006033081875521638, + -0.10128176912432571 + ], + [ + 0.002848192218545516, + 0.9948209460130727, + 0.10160301754742161, + -0.04811405297104193 + ], + [ + -0.000897334269697984, + -0.10160084619096071, + 0.9948248402831975, + 0.1494219766336466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999833273782205, + -0.0037891882880558793, + 0.004357409517208061, + -0.10793524688838049 + ], + [ + 0.00331007533329435, + 0.9944517570785978, + 0.10514155336772324, + -0.04934331343821268 + ], + [ + -0.004731634693307538, + -0.10512537702861065, + 0.9944477194592595, + 0.15219931553705593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999631272141006, + -0.004510468294228597, + 0.007307522696742181, + -0.11236503041600877 + ], + [ + 0.003691123584301315, + 0.9940902133004583, + 0.10849434744232163, + -0.04985774455717036 + ], + [ + -0.007753697110543986, + -0.10846337398410832, + 0.9940702071207554, + 0.1545190095175186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999217622057155, + -0.005490382146392472, + 0.011239447108432051, + -0.11827140845284648 + ], + [ + 0.004198714784112028, + 0.9937127811322243, + 0.11188064805238537, + -0.0505436527157806 + ], + [ + -0.011783049757102189, + -0.1118247035245192, + 0.9936580877847646, + 0.15761193482480215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998617537507146, + -0.006498642275495025, + 0.015304934992367285, + -0.1239768240447975 + ], + [ + 0.004692395719260729, + 0.9933281371883554, + 0.11522670390289684, + -0.05125758972795447 + ], + [ + -0.015951639695006382, + -0.115138957431823, + 0.9932213075002738, + 0.16111435466260027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997993022216467, + -0.007293223690408926, + 0.018659157679542224, + -0.12780372023776573 + ], + [ + 0.005032482088838344, + 0.9929464271229225, + 0.11845702591171373, + -0.051856107407603026 + ], + [ + -0.019391477538699384, + -0.11833934997296781, + 0.992783847998567, + 0.16466253223460658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9996974447233556, + -0.00836140489574469, + 0.02313235659768949, + -0.13290624849505675 + ], + [ + 0.005486031038235167, + 0.9925540615772722, + 0.1216812981107126, + -0.05265413098046777 + ], + [ + -0.023977541096633997, + -0.12151757796561782, + 0.9922996300353686, + 0.16939343566394835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9995743449003611, + -0.009458597300197139, + 0.027598259983678805, + -0.13800877675234774 + ], + [ + 0.00593968596013974, + 0.9921507616722962, + 0.12490630986374437, + -0.053452154553332513 + ], + [ + -0.028563073148891772, + -0.12468921785862445, + 0.9917846287385663, + 0.17412433909329011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9994204568860995, + -0.01064240908780411, + 0.03233402985073113, + -0.14166242689894643 + ], + [ + 0.006416744338561846, + 0.9917424394765336, + 0.1280849684124869, + -0.05502840405201765 + ], + [ + -0.033430162274115306, + -0.1278032584480617, + 0.9912359715932348, + 0.18041295917085534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9992426414302944, + -0.011856655887951133, + 0.03706161435452438, + -0.14531607704554508 + ], + [ + 0.0068941250326832815, + 0.9913234006744945, + 0.13126456610673629, + -0.056604653550702794 + ], + [ + -0.03829640436702255, + -0.13090964435942343, + 0.9906543546698047, + 0.1867015792484206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9990935799951799, + -0.012820484777875122, + 0.040591299344506546, + -0.1480563146554941 + ], + [ + 0.00725236519558877, + 0.9908924042401333, + 0.13446057570261385, + -0.05778684067471665 + ], + [ + -0.041945459962728714, + -0.13404431502032757, + 0.9900872183798993, + 0.1914180443065945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988879026433336, + -0.014064457913871252, + 0.04500165526279236, + -0.1522020866534098 + ], + [ + 0.007738356615916188, + 0.9904331632112712, + 0.13777614832836912, + -0.059938082777811735 + ], + [ + -0.046508878611370194, + -0.13727468898127143, + 0.9894405408994561, + 0.19827525338432142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.998666249902769, + -0.015328052839729924, + 0.04930286098476638, + -0.15651189926843118 + ], + [ + 0.008226600122618387, + 0.9899558641530007, + 0.14113720303133648, + -0.0622809890823768 + ], + [ + -0.050971014857105666, + -0.1405433663508478, + 0.9887616081843029, + 0.2053219921287689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9984867733893642, + -0.016337358617915382, + 0.052509561794847635, + -0.15974425872969722 + ], + [ + 0.008592419981201097, + 0.989472185838162, + 0.1444678641481109, + -0.0640381688108006 + ], + [ + -0.05431697419190389, + -0.14379806732373004, + 0.988115267642696, + 0.2106070461871045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998247228082023, + -0.017539556512709206, + 0.05652287664207587, + -0.1651226412620152 + ], + [ + 0.009002210112972557, + 0.9889619086866582, + 0.1478962588435693, + -0.06562842554402544 + ], + [ + -0.05849300675841294, + -0.14712819962257284, + 0.987386378798179, + 0.2168758672714014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9980085881560413, + -0.0186532395761299, + 0.0602570711211639, + -0.17156959371162978 + ], + [ + 0.009333612575109585, + 0.988429852358022, + 0.15139125022205518, + -0.06646603270591006 + ], + [ + -0.06238382517194069, + -0.1505273517365355, + 0.986635583554588, + 0.22236677069554772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9977546770242324, + -0.019792172365365415, + 0.06398339151162304, + -0.17801654616124432 + ], + [ + 0.00966398665511654, + 0.987885146178571, + 0.1548855878436508, + -0.06730363986779468 + ], + [ + -0.06627376432797293, + -0.15391948503293276, + 0.9858582962520512, + 0.2278576741196941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.997512584407095, + -0.020890849099930237, + 0.06732173774764377, + -0.18290081305141737 + ], + [ + 0.009995519948713132, + 0.9873434335721522, + 0.15828150164472338, + -0.06730739097984698 + ], + [ + -0.06977631066797284, + -0.15721487399682524, + 0.9850963150188561, + 0.23278193513928463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9973438533564772, + -0.021736505342999778, + 0.0695180732437791, + -0.18539199904946602 + ], + [ + 0.010245519768032648, + 0.9868093735330539, + 0.16156203029172578, + -0.06668481227651198 + ], + [ + -0.0721128802415806, + -0.160420649053591, + 0.9844109649229269, + 0.2360501491005607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9971102678230741, + -0.022807637531173562, + 0.0724632698133617, + -0.18871358038019756 + ], + [ + 0.010578663278846018, + 0.9862605136048745, + 0.16485839738115152, + -0.06585470733873197 + ], + [ + -0.0752276922750542, + -0.16361543623416305, + 0.9836517591815074, + 0.2404077677155955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9968748421539719, + -0.023885441879014643, + 0.07529963311157607, + -0.191966458270864 + ], + [ + 0.010901844672987129, + 0.9856699570667742, + 0.1683326632555598, + -0.06522524126827717 + ], + [ + -0.07824128618076147, + -0.16698569220812853, + 0.9828499782441634, + 0.24445867944314706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9967107063565763, + -0.024740721215857284, + 0.07717295217817059, + -0.19425153394871741 + ], + [ + 0.011121435111570105, + 0.9850087578566532, + 0.17214546356716026, + -0.06520457916691773 + ], + [ + -0.08027503668784033, + -0.17072095260808673, + 0.9820439271363341, + 0.2468067727419735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.996485333898928, + -0.025815230402254728, + 0.07969035828518, + -0.1972983015191886 + ], + [ + 0.01141232445916616, + 0.9842967800422023, + 0.17615222862340144, + -0.0651770296984385 + ], + [ + -0.08298637342829586, + -0.17462366013181282, + 0.9811319173013324, + 0.2499375638070754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.996252506281094, + -0.02690828474427067, + 0.08220029160994478, + -0.2003450690896598 + ], + [ + 0.01170104262174403, + 0.9835683030407899, + 0.18015681739813522, + -0.06514948022995926 + ], + [ + -0.08569731226942205, + -0.17851985174086984, + 0.9801972419897003, + 0.2530683548721773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9960834893332577, + -0.02777455288419554, + 0.08394198287963736, + -0.20497878115047932 + ], + [ + 0.011890268027242551, + 0.9828347557118793, + 0.18410449340255483, + -0.06534495074428931 + ], + [ + -0.08761451822570641, + -0.1823853535151714, + 0.9793157197856183, + 0.2552038673078664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.995910751504516, + -0.028653725522738063, + 0.08567811302414353, + -0.20961249321129888 + ], + [ + 0.012078062623425624, + 0.9820852772312384, + 0.18804953775244115, + -0.06554042125861936 + ], + [ + -0.08953153322140156, + -0.18624573084854795, + 0.9784153679801415, + 0.2573393797435556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9957787567468273, + -0.029392701859113825, + 0.08695249673910817, + -0.21308777725691352 + ], + [ + 0.012217969120587816, + 0.9813561237501441, + 0.1918094877962512, + -0.0656870241443669 + ], + [ + -0.09096916423883278, + -0.18993743036988028, + 0.9775726999574892, + 0.2589410140703224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9956409725058235, + -0.03015650267439562, + 0.08825893277231142, + -0.21831372535192997 + ], + [ + 0.012334790556363117, + 0.9805486305862436, + 0.19588832532178396, + -0.06640596402745699 + ], + [ + -0.09244948247334256, + -0.19394578727544348, + 0.976646366290542, + 0.2609392009689413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9955149773368984, + -0.030883401184617153, + 0.08942116879791484, + -0.2237370854583454 + ], + [ + 0.012427515762232097, + 0.9797149819480745, + 0.20001027723210613, + -0.06729939370013376 + ], + [ + -0.09378425640743047, + -0.19800194362115356, + 0.9757047420056701, + 0.2628916126885367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9954193057905766, + -0.03150836252630526, + 0.09026421633359236, + -0.22780460553815696 + ], + [ + 0.012496238490968106, + 0.9789118733912968, + 0.20390043687329018, + -0.06796946595464133 + ], + [ + -0.09478528199558982, + -0.2018384681483009, + 0.9748215134539061, + 0.26435592147823334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9953107152136973, + -0.03222421219743906, + 0.09120405873125104, + -0.23276349769095372 + ], + [ + 0.012605429300132307, + 0.9780474885947607, + 0.20800051251292961, + -0.06835479560269728 + ], + [ + -0.09590455324414182, + -0.2058754725598376, + 0.9738673454148187, + 0.26624465710709233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.995221586759742, + -0.032918867448451954, + 0.09192573857920752, + -0.23725792189013184 + ], + [ + 0.012732347775007695, + 0.9771689436816194, + 0.21208192479389792, + -0.06823202522613239 + ], + [ + -0.09680847363509976, + -0.20989807924337842, + 0.9729187611318753, + 0.2680697166452149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9951316205431738, + -0.033619294601222184, + 0.09264340681145686, + -0.24175234608930993 + ], + [ + 0.01285844604452839, + 0.9762733364642483, + 0.21615973925383175, + -0.06810925484956751 + ], + [ + -0.09771242582413361, + -0.21391614137198905, + 0.9719527592944435, + 0.26989477618333746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9950482862482661, + -0.03418497809542734, + 0.09332896285186036, + -0.2463077168348078 + ], + [ + 0.012830236134301691, + 0.975313867762619, + 0.22045009501168, + -0.06869571242163978 + ], + [ + -0.09856111340243084, + -0.2181610566130808, + 0.9709229940125723, + 0.27197637146986176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.994990936514111, + -0.03458435548017762, + 0.09379210313663663, + -0.249769954803671 + ], + [ + 0.01269330626105121, + 0.9743627722933152, + 0.22462428173518717, + -0.06966747656217187 + ], + [ + -0.09915601964044307, + -0.22230859255752192, + 0.969921117124562, + 0.2737299697460563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9949139212883338, + -0.03502003334937787, + 0.09444515070070983, + -0.25438627209548864 + ], + [ + 0.012509794890291862, + 0.9733173835042308, + 0.22912174929561205, + -0.07096316208288131 + ], + [ + -0.09994895826607776, + -0.2267749285804913, + 0.968805108114547, + 0.2760681007809824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9948666176013685, + -0.03542943332946095, + 0.09479012836981535, + -0.2586433915546512 + ], + [ + 0.012376005104906045, + 0.9722750380212316, + 0.23351249418062486, + -0.07203821526390786 + ], + [ + -0.1004352910089682, + -0.23114066214053794, + 0.9677224533021738, + 0.27903826253077463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.994899152358111, + -0.03574195975016466, + 0.09433021228816325, + -0.26102803602554925 + ], + [ + 0.012389797742216288, + 0.971340668418091, + 0.23736848735458324, + -0.07234808238539125 + ], + [ + -0.10011078637698992, + -0.23498897461437115, + 0.9668288433123347, + 0.2826879529515678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9949423612392239, + -0.03605194267267189, + 0.09375476116573689, + -0.26420756198674666 + ], + [ + 0.012408540673684654, + 0.9703350070983316, + 0.24144565044297334, + -0.0727612385473691 + ], + [ + -0.09967811158959373, + -0.2390611457953955, + 0.9658747551525122, + 0.2875542068459587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9949853748846335, + -0.03635811112450461, + 0.09317827816151124, + -0.2673870879479441 + ], + [ + 0.01242768672794637, + 0.9693122289079729, + 0.24551854408995222, + -0.07317439470934696 + ], + [ + -0.09924543499969063, + -0.24312937018162978, + 0.9649033386753341, + 0.2924204607403496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9951167212147826, + -0.03634132627765265, + 0.09177155966377609, + -0.26903225171086087 + ], + [ + 0.012399895510544323, + 0.9684155720331531, + 0.24903317537032812, + -0.07326992083078238 + ], + [ + -0.09792320332826333, + -0.24667911919755636, + 0.9641371574635268, + 0.297977715167704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9952463047607395, + -0.036315202289748015, + 0.09036591693082115, + -0.27067741547377766 + ], + [ + 0.01237257597016238, + 0.9675061558765983, + 0.25254456577948803, + -0.07336544695221778 + ], + [ + -0.09660078790546145, + -0.250225986707101, + 0.9633562390686541, + 0.3035349695950584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9953423354445078, + -0.0363625413268796, + 0.08928270190873823, + -0.2719112882959652 + ], + [ + 0.01235239588425063, + 0.9666066386927702, + 0.2559668422881834, + -0.07343709154329434 + ], + [ + -0.09560885726642895, + -0.2536717793198841, + 0.9625536737184541, + 0.3077029104155742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9955121483862649, + -0.03596759164835501, + 0.08753224986472549, + -0.27357290628701325 + ], + [ + 0.012052648982383594, + 0.965613765646403, + 0.2597013462550425, + -0.07432438656848293 + ], + [ + -0.09386317738000882, + -0.25748084966690477, + 0.9617137391068811, + 0.3141136337841845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9956929244103232, + -0.03544282283089035, + 0.08567033669244485, + -0.27524000902077167 + ], + [ + 0.011662988694918577, + 0.9645864134931958, + 0.26350906170193816, + -0.07547560456158925 + ], + [ + -0.09197594780115585, + -0.2613749360862892, + 0.960845236139498, + 0.32080884679988014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9958260649178938, + -0.03510954666328085, + 0.0842482531762039, + -0.2764903360710905 + ], + [ + 0.011371578341127588, + 0.9635875712955486, + 0.2671510427656564, + -0.07633901805641899 + ], + [ + -0.09056012166607577, + -0.26507793604493923, + 0.9599648702874396, + 0.3258302565616519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9960391877245237, + -0.034382355564907555, + 0.08199872037342608, + -0.27863813699967976 + ], + [ + 0.01091825335388691, + 0.9625267753206578, + 0.27096678492855253, + -0.07740466777096566 + ], + [ + -0.08824244024714746, + -0.2689982535568296, + 0.9590897827224543, + 0.33205322456511377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9962843604806385, + -0.033459670093549214, + 0.07935945777861737, + -0.28126663612309993 + ], + [ + 0.010400809526367568, + 0.9614467773573677, + 0.27479431848262154, + -0.07838474920695268 + ], + [ + -0.08549442217408997, + -0.27294787924870023, + 0.958222395371114, + 0.3378039475563419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9965216944820594, + -0.032517935302716384, + 0.0767274156364836, + -0.2838951352465201 + ], + [ + 0.009885309174418471, + 0.9603508873239892, + 0.27861883259850334, + -0.07936483064293971 + ], + [ + -0.08274535086113005, + -0.276891236949953, + 0.957331943377632, + 0.34355467054757005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9968071254614835, + -0.03135439088851848, + 0.07343334938040734, + -0.28533403694895715 + ], + [ + 0.009375403410826665, + 0.959273426087939, + 0.2823235658112733, + -0.07997821834144139 + ], + [ + -0.079294744088743, + -0.28073367481212175, + 0.9565045464535875, + 0.3487242819419636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9970534557835845, + -0.03037054914074839, + 0.07044172098196934, + -0.28552101516004763 + ], + [ + 0.008996982199986868, + 0.958247903882054, + 0.2857971466214159, + -0.08016323881220366 + ], + [ + -0.07618044776256801, + -0.28432126978215927, + 0.9556976273530011, + 0.35216565679013284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9973665374024198, + -0.028954163227578475, + 0.06649546226396753, + -0.28577031944150155 + ], + [ + 0.008494120329628384, + 0.9571764523792097, + 0.2893805261771714, + -0.08040993277322 + ], + [ + -0.07202666165895641, + -0.2880536329271713, + 0.954901704139083, + 0.35675415658769183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9976705415769227, + -0.02742922261130521, + 0.062459012292458996, + -0.28613003398409265 + ], + [ + 0.007939870424104834, + 0.9560680066019309, + 0.293037412645312, + -0.0808394669075517 + ], + [ + -0.06775285180166594, + -0.29185887771172886, + 0.9540586704042847, + 0.3613206314700947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9979044409346878, + -0.02613265451378541, + 0.05919299900234597, + -0.2866482429785946 + ], + [ + 0.007406089702170668, + 0.9549326150912415, + 0.2967302655111654, + -0.08157300789825997 + ], + [ + -0.06427967484479055, + -0.295670061052969, + 0.9531250381764094, + 0.3646959315727957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9981970619503541, + -0.024307692386164696, + 0.0548795189897025, + -0.28733918830459715 + ], + [ + 0.006697585703116066, + 0.9537237442492772, + 0.30060965054516997, + -0.08255106255253766 + ], + [ + -0.059647027247222824, + -0.29970010968633193, + 0.9521670422749205, + 0.36919633170973026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.998467682847248, + -0.022450736709429923, + 0.050579153125091224, + -0.2880301336305997 + ], + [ + 0.005992757751606364, + 0.9524976165793283, + 0.30448707241068446, + -0.08352911720681536 + ], + [ + -0.055012481894367686, + -0.3037173930348782, + 0.9511726299699331, + 0.3736967318466649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_009/tilt_up/transforms.json b/spatialvid_eval/camera_controls/scene_009/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..aeca379626ebb33739e8f89a62abdd7e46e59030 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_009/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": [ + [ + 0.9999999988381678, + -1.0995179582052475e-05, + 4.6933683121183114e-05, + -0.00012040915429576355 + ], + [ + 1.0999017964024834e-05, + 0.9999999965952304, + -8.178362263812044e-05, + -0.00011596544514781612 + ], + [ + -4.6932783735766956e-05, + 8.178413876752536e-05, + 0.9999999955543343, + -0.00036934803215042146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999958034324247, + 9.012351387496124e-05, + -0.0028956856341438944, + -0.002273822882905695 + ], + [ + -9.641633568916639e-05, + 0.9999976341553616, + -0.002173105512756931, + -0.0031520401059898615 + ], + [ + 0.0028954829354967326, + 0.00217337558457095, + 0.9999934462870936, + 0.00857436430779249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999829386708191, + 0.00017545657419999842, + -0.005838799727998098, + -0.004427236611515627 + ], + [ + -0.00020035565990926264, + 0.9999908885835962, + -0.004264106870101865, + -0.006188114766831907 + ], + [ + 0.005837998362679025, + 0.004265203955343471, + 0.9999738625635857, + 0.0175180766477354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999676009094363, + 0.00022251248298998613, + -0.008046590558837753, + -0.006042296907973076 + ], + [ + -0.0002760283781675089, + 0.999977848711433, + -0.006650255242395485, + -0.00846517076246344 + ], + [ + 0.0080449325516818, + 0.006652260867515346, + 0.9999455117583106, + 0.02422586090269259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999474636247505, + 0.0002163998822003018, + -0.01024808087006372, + -0.008578100532681342 + ], + [ + -0.0003042842650084619, + 0.9999631884942007, + -0.008574909188904873, + -0.012312766866042836 + ], + [ + 0.010245848013436983, + 0.008577577024013289, + 0.9999107198999733, + 0.03382635542052971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999255363187829, + 0.00017905345575018817, + -0.012202039069544021, + -0.011241367456089052 + ], + [ + -0.0003065074275080797, + 0.9999454105493248, + -0.010444231639480566, + -0.01643087011720135 + ], + [ + 0.012199502891166395, + 0.010447193939150765, + 0.9998710058142531, + 0.04364577733099824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999065864872668, + 0.00013326911535266155, + -0.013667499358876513, + -0.013238817648644836 + ], + [ + -0.00030637580784409853, + 0.999919758105778, + -0.01266426008682067, + -0.01951944755557023 + ], + [ + 0.013664714898100314, + 0.012667264464957079, + 0.999826392919155, + 0.051010343763849636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998842404952898, + 0.00010101680315840939, + -0.015214973045104673, + -0.016310871205628276 + ], + [ + -0.0003242935134235903, + 0.9998922924276556, + -0.014673049358779498, + -0.02303715659016197 + ], + [ + 0.015211852052755888, + 0.014676284930918574, + 0.9997765781502145, + 0.05992563723894582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998662227666634, + 8.58853688315686e-05, + -0.016356319696957392, + -0.01979171139618744 + ], + [ + -0.000361056050678382, + 0.9998584467567944, + -0.016821298630581103, + -0.025954471408186935 + ], + [ + 0.016352559703420262, + 0.016824953871982587, + 0.9997247194694908, + 0.06793680227866966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998469021213541, + 6.45665247388499e-05, + -0.017497661257884944, + -0.023272551586746612 + ], + [ + -0.00039653625299542627, + 0.999819985559251, + -0.01896942896609715, + -0.028871786226211896 + ], + [ + 0.017493286636074558, + 0.0189734632437947, + 0.9996669408434016, + 0.07594796731839348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9998326996319913, + -1.7574788563030657e-05, + -0.01829132137740438, + -0.026947760530560198 + ], + [ + -0.0003702462995423413, + 0.9997752103215414, + -0.021198861860856916, + -0.031145174454690738 + ], + [ + 0.018287582242668347, + 0.021202087577519953, + 0.999607941053928, + 0.08353270030920715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998265224548034, + -0.00013772170214248474, + -0.018625413516688765, + -0.0298499438033612 + ], + [ + -0.0003047207757288808, + 0.9997178861098047, + -0.02374984920778861, + -0.032367270683890274 + ], + [ + 0.018623429898483593, + 0.023751404692704328, + 0.9995444155383693, + 0.08890142601563475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998181055412076, + -0.0002801403061453187, + -0.019070326515307365, + -0.03371952150042921 + ], + [ + -0.00021697678568048258, + 0.9996603436337576, + -0.026060512027072966, + -0.03399673232282299 + ], + [ + 0.019071149757317676, + 0.02605990958249111, + 0.9994784501726325, + 0.09605972695753821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998127457982131, + -0.0004460504910329404, + -0.01934617218979337, + -0.03757028475702702 + ], + [ + -0.00010443333863044906, + 0.9995953802508569, + -0.02844406572244072, + -0.035458325016738776 + ], + [ + 0.01935103183593753, + 0.028440759836969785, + 0.9994081552332762, + 0.10302107796696221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998159803655291, + -0.0006336299254141362, + -0.019172999734881936, + -0.04041602470841745 + ], + [ + 3.486971849903823e-05, + 0.9995127370244742, + -0.03121357573151794, + -0.03617681441088753 + ], + [ + 0.01918343529764403, + 0.03120716326361775, + 0.999328829150455, + 0.10779895387595138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.999820221329334, + -0.0008614507853313058, + -0.01894156602570557, + -0.04421034464360468 + ], + [ + 0.00022047625632578947, + 0.9994280628626145, + -0.03381565544096937, + -0.03713480026975252 + ], + [ + 0.018959863163591346, + 0.03380539994182019, + 0.9992485769434908, + 0.11416945508793694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9998243802423692, + -0.0010879163782704804, + -0.018708958039315306, + -0.04800466457879192 + ], + [ + 0.00040593313600595214, + 0.9993365817388736, + -0.03641746307409538, + -0.03809278612861752 + ], + [ + 0.018736165329438746, + 0.03640347286204846, + 0.999161520111904, + 0.12053995629992251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998449175087589, + -0.0013721916503807543, + -0.017557278319191752, + -0.05316928859182356 + ], + [ + 0.0006810603907542925, + 0.9992268326219913, + -0.03930996215932102, + -0.03852351556418678 + ], + [ + 0.017597644406200534, + 0.03929190830562611, + 0.999072804580855, + 0.12557502865063455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998640847591291, + -0.0016493763616440126, + -0.016404010680529064, + -0.058333912604855195 + ], + [ + 0.0009557570671829368, + 0.9991086494170636, + -0.042201814989876345, + -0.03895424499975605 + ], + [ + 0.01645899563210925, + 0.04218040087088874, + 0.9989744317274359, + 0.1306101010013466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998775611063505, + -0.0018653186360714387, + -0.015536517705146873, + -0.062207380614628924 + ], + [ + 0.0011614967571583496, + 0.9989778449226302, + -0.04518756774844505, + -0.03927729207643299 + ], + [ + 0.015604926186929829, + 0.04516398941771116, + 0.9988576977420645, + 0.13438640526438062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999073812229528, + -0.0020217012029610727, + -0.013458889259624079, + -0.06831898381245162 + ], + [ + 0.0013746732349694637, + 0.9988506526793614, + -0.047911208662603025, + -0.04045936108442243 + ], + [ + 0.013540282469503255, + 0.04788826961021221, + 0.99876091953199, + 0.13755077886024616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999364219131223, + -0.0021289921153029427, + -0.011073370045087553, + -0.074746246738538 + ], + [ + 0.0015662905886923953, + 0.998718864337818, + -0.050578421778175446, + -0.041891876616551915 + ], + [ + 0.011166864616992454, + 0.050557861983594764, + 0.9986587023234083, + 0.1400915862044962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999544835941214, + -0.0022077582268737214, + -0.009282054924728006, + -0.07956669393310278 + ], + [ + 0.0017090655017430814, + 0.9985719925639335, + -0.05339526909761316, + -0.04296626326564903 + ], + [ + 0.009386683925899905, + 0.053376975097015784, + 0.9985303143592427, + 0.1419971917126837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999776171384742, + -0.002368491268259484, + -0.006257433273464259, + -0.08648061414178193 + ], + [ + 0.0020134736120677463, + 0.998420609921239, + -0.0561447380305123, + -0.044568827419579404 + ], + [ + 0.006380528667217625, + 0.05613088217384016, + 0.9984030313056514, + 0.1444984716345763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9999932850970039, + -0.0025890830007725715, + -0.002593532363026219, + -0.0938811916330538 + ], + [ + 0.002431628070641518, + 0.9982564205822704, + -0.05897631686702904, + -0.04634144019531067 + ], + [ + 0.0027417049128274306, + 0.058969614340686136, + 0.9982560130741424, + 0.14696022413411142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9999955412862074, + -0.0027872848309166455, + 0.001071658050265854, + -0.10128176912432571 + ], + [ + 0.002848192218545516, + 0.9980841246438755, + -0.061805889160785596, + -0.04811405297104193 + ], + [ + -0.000897334269697984, + 0.061808665874134826, + 0.998087613195389, + 0.1494219766336466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9999833273782205, + -0.002996532336399174, + 0.004936168508054535, + -0.10793524688838049 + ], + [ + 0.00331007533329435, + 0.9978936245265033, + -0.06478701668271339, + -0.04934331343821268 + ], + [ + -0.004731634693307538, + 0.06480227560290751, + 0.9978869057712975, + 0.15219931553705593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9999631272141006, + -0.0031555895177425887, + 0.007986643036480135, + -0.11236503041600877 + ], + [ + 0.003691123584301315, + 0.997681719725384, + -0.06795264330757254, + -0.04985774455717036 + ], + [ + -0.007753697110543986, + 0.06797961739077589, + 0.997656580091828, + 0.1545190095175186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9999217622057155, + -0.0033502186397956044, + 0.01205178420327185, + -0.11827140845284648 + ], + [ + 0.004198714784112028, + 0.997461597447514, + -0.07108257459895073, + -0.0505436527157806 + ], + [ + -0.011783049757102189, + 0.07112761525961125, + 0.997397624864779, + 0.15761193482480215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998617537507146, + -0.0034943983588180613, + 0.01625615473152644, + -0.1239768240447975 + ], + [ + 0.004692395719260729, + 0.9972285564672908, + -0.07425084234254413, + -0.05125758972795447 + ], + [ + -0.015951639695006382, + 0.07431685775295785, + 0.9971070904595791, + 0.16111435466260027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997993022216467, + -0.0035128653619895967, + 0.019723464555115443, + -0.12780372023776573 + ], + [ + 0.005032482088838344, + 0.9969770592813305, + -0.0775333308376221, + -0.051856107407603026 + ], + [ + -0.019391477538699384, + 0.07761702805247811, + 0.9967946466324783, + 0.16466253223460658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9996974447233556, + -0.003528597932852847, + 0.024342719860802706, + -0.13290624849505675 + ], + [ + 0.005486031038235167, + 0.9967136457439768, + -0.08081962540867113, + -0.05265413098046777 + ], + [ + -0.023977541096633997, + 0.08092871792125875, + 0.9964314427689346, + 0.16939343566394835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9995743449003611, + -0.003513903358660314, + 0.0289617247449115, + -0.13800877675234774 + ], + [ + 0.00593968596013974, + 0.9964393691735525, + -0.08410293509568006, + -0.053452154553332513 + ], + [ + -0.028563073148891772, + 0.08423915980231075, + 0.9960361011570275, + 0.17412433909329011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9994204568860995, + -0.0034656635395359857, + 0.03386354284198389, + -0.14166242689894643 + ], + [ + 0.006416744338561846, + 0.9961499590394521, + -0.08743045520750437, + -0.05502840405201765 + ], + [ + -0.033430162274115306, + 0.08759707918605861, + 0.9955948854671752, + 0.18041295917085534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9992426414302944, + -0.003384895041425603, + 0.038764494488736805, + -0.14531607704554508 + ], + [ + 0.0068941250326832815, + 0.9958494190372186, + -0.0907546452985655, + -0.056604653550702794 + ], + [ + -0.03829640436702255, + 0.09095315876204212, + 0.9951185398352121, + 0.1867015792484206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9990935799951799, + -0.0032682544214879153, + 0.042442159764218994, + -0.1480563146554941 + ], + [ + 0.00725236519558877, + 0.9955401064862355, + -0.09406008492684208, + -0.05778684067471665 + ], + [ + -0.041945459962728714, + 0.09428263302650897, + 0.9946614315927325, + 0.1914180443065945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988879026433336, + -0.0031704280352068816, + 0.04704153844078483, + -0.1522020866534098 + ], + [ + 0.007738356615916188, + 0.995230619148144, + -0.09724264777805575, + -0.059938082777811735 + ], + [ + -0.046508878611370194, + 0.09749852868672264, + 0.9941483597100774, + 0.19827525338432142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.998666249902769, + -0.0030577525962858106, + 0.051539998585570984, + -0.15651189926843118 + ], + [ + 0.008226600122618387, + 0.9949154797421761, + -0.10037684603442577, + -0.0622809890823768 + ], + [ + -0.050971014857105666, + 0.10066696736495141, + 0.9936136660322167, + 0.2053219921287689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9984867733893642, + -0.0029092714041364593, + 0.05491538496991868, + -0.15974425872969722 + ], + [ + 0.008592419981201097, + 0.9945882673063752, + -0.10353911751299402, + -0.0640381688108006 + ], + [ + -0.05431697419190389, + 0.10385429541622246, + 0.9931082275554043, + 0.2106070461871045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998247228082023, + -0.002699708701307939, + 0.059120074420503974, + -0.1651226412620152 + ], + [ + 0.009002210112972557, + 0.9942612048541354, + -0.10660026611169923, + -0.06562842554402544 + ], + [ + -0.05849300675841294, + 0.10694563149063771, + 0.9925427950801061, + 0.2168758672714014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9980085881560413, + -0.002421968242286901, + 0.06303167486763189, + -0.17156959371162978 + ], + [ + 0.009333612575109585, + 0.9939328606870533, + -0.10959175207445508, + -0.06646603270591006 + ], + [ + -0.06238382517194069, + 0.10996182299454857, + 0.991976136729424, + 0.22236677069554772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9977546770242324, + -0.002119570152987052, + 0.06694110768904661, + -0.17801654616124432 + ], + [ + 0.00966398665511654, + 0.9935955619851208, + -0.11258093340082836, + -0.06730363986779468 + ], + [ + -0.06627376432797293, + 0.11297507081581579, + 0.9913851025388479, + 0.2278576741196941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.997512584407095, + -0.0018326643302718445, + 0.07046478050012736, + -0.18290081305141737 + ], + [ + 0.009995519948713132, + 0.993237859831405, + -0.11566608568844143, + -0.06730739097984698 + ], + [ + -0.06977631066797284, + 0.11608270818250041, + 0.990785582924269, + 0.23278193513928463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9973438533564772, + -0.0015738272432504422, + 0.07282006069663836, + -0.18539199904946602 + ], + [ + 0.010245519768032648, + 0.9928576237294131, + -0.11886449565394247, + -0.06668481227651198 + ], + [ + -0.0721128802415806, + 0.11929485349415396, + 0.9902365729627803, + 0.2360501491005607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9971102678230741, + -0.0012877324161944086, + 0.07595693218542818, + -0.18871358038019756 + ], + [ + 0.010578663278846018, + 0.9924683587251377, + -0.12204363487156537, + -0.06585470733873197 + ], + [ + -0.0752276922750542, + 0.12249448426217181, + 0.9896140134619731, + 0.2404077677155955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9968748421539719, + -0.0009986130756431452, + 0.07899083397723375, + -0.191966458270864 + ], + [ + 0.010901844672987129, + 0.9920917324611551, + -0.1250405700760761, + -0.06522524126827717 + ], + [ + -0.07824128618076147, + 0.12551094436004057, + 0.9890021759241135, + 0.24445867944314706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9967107063565763, + -0.0007428934169696362, + 0.08103836093817543, + -0.19425153394871741 + ], + [ + 0.011121435111570105, + 0.9917512961092089, + -0.12769369736507674, + -0.06520457916691773 + ], + [ + -0.08027503668784033, + 0.12817493817075043, + 0.9884973969159911, + 0.2468067727419735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.996485333898928, + -0.0004743219814035535, + 0.0837660691628765, + -0.1972983015191886 + ], + [ + 0.01141232445916616, + 0.9914289419509997, + -0.13014765427144578, + -0.0651770296984385 + ], + [ + -0.08298637342829586, + 0.13064619428279964, + 0.9879498133734529, + 0.2499375638070754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.996252506281094, + -0.00019001249831474912, + 0.08649224025245959, + -0.2003450690896598 + ], + [ + 0.01170104262174403, + 0.9911005620568375, + -0.13260000562663976, + -0.06514948022995926 + ], + [ + -0.08569731226942205, + 0.1331151373280712, + 0.9873886422700668, + 0.2530683548721773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9960834893332577, + 0.000103019645338436, + 0.08841759816142361, + -0.20497878115047932 + ], + [ + 0.011890268027242551, + 0.9907597746661636, + -0.13510621906371842, + -0.06534495074428931 + ], + [ + -0.08761451822570641, + 0.13562838305607647, + 0.9868782285093091, + 0.2552038673078664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.995910751504516, + 0.00040725081890096565, + 0.09034162487182101, + -0.20961249321129888 + ], + [ + 0.012078062623425624, + 0.9904126816094646, + -0.1376111932599025, + -0.06554042125861936 + ], + [ + -0.08953153322140156, + 0.13813961869760658, + 0.9863577192403907, + 0.2573393797435556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9957787567468273, + 0.0007178596814825912, + 0.09178318086240568, + -0.21308777725691352 + ], + [ + 0.012217969120587816, + 0.9900337763847563, + -0.1402991191986143, + -0.0656870241443669 + ], + [ + -0.09096916423883278, + 0.14082828655783722, + 0.9858458321983575, + 0.2589410140703224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9956409725058235, + 0.0010346665009322562, + 0.09326297943391079, + -0.21831372535192997 + ], + [ + 0.012334790556363117, + 0.9896946898604382, + -0.14266139563309288, + -0.06640596402745699 + ], + [ + -0.09244948247334256, + 0.14318991000515033, + 0.9853678211019112, + 0.2609392009689413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9955149773368984, + 0.0013565673215732226, + 0.09459434244719517, + -0.2237370854583454 + ], + [ + 0.012427515762232097, + 0.989357125465295, + -0.1449759812625126, + -0.06729939370013376 + ], + [ + -0.09378425640743047, + 0.14550133338272533, + 0.9849029775739105, + 0.2628916126885367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9954193057905766, + 0.0016811121855048962, + 0.09559068741894466, + -0.22780460553815696 + ], + [ + 0.012496238490968106, + 0.9889800573947608, + -0.14752047349108083, + -0.06796946595464133 + ], + [ + -0.09478528199558982, + 0.14803925133989154, + 0.9844288345938171, + 0.26435592147823334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9953107152136973, + 0.00196780287802524, + 0.09670939940167296, + -0.23276349769095372 + ], + [ + 0.012605429300132307, + 0.988628631726275, + -0.14984836229733434, + -0.06835479560269728 + ], + [ + -0.09590455324414182, + 0.1503647441485771, + 0.9839678655241618, + 0.26624465710709233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.995221586759742, + 0.0022108281327372753, + 0.09761713725770209, + -0.23725792189013184 + ], + [ + 0.012732347775007695, + 0.9882691637261162, + -0.15219049690509423, + -0.06823202522613239 + ], + [ + -0.09680847363509976, + 0.15270616316000718, + 0.9835186562365716, + 0.2680697166452149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9951316205431738, + 0.0024589995623649856, + 0.09852416513865594, + -0.24175234608930993 + ], + [ + 0.01285844604452839, + 0.9879041595419052, + -0.15453165347307296, + -0.06810925484956751 + ], + [ + -0.09771242582413361, + 0.15504620240739286, + 0.983063048313082, + 0.26989477618333746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9950482862482661, + 0.002832407100085692, + 0.09935233014080828, + -0.2463077168348078 + ], + [ + 0.012830236134301691, + 0.9875702597327132, + -0.15665365342755172, + -0.06869571242163978 + ], + [ + -0.09856111340243084, + 0.15715266323381485, + 0.9826437540448688, + 0.27197637146986176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.994990936514111, + 0.0032870641188937504, + 0.09991111782104661, + -0.249769954803671 + ], + [ + 0.01269330626105121, + 0.9872148759001862, + -0.15888885668146685, + -0.06966747656217187 + ], + [ + -0.09915601964044307, + 0.15936117472853553, + 0.9822281302010271, + 0.2737299697460563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9949139212883338, + 0.003788302401032896, + 0.10065752824100965, + -0.25438627209548864 + ], + [ + 0.012509794890291862, + 0.986909106706936, + -0.1607915424726091, + -0.07096316208288131 + ], + [ + -0.09994895826607776, + 0.16123294906388197, + 0.9818422184229448, + 0.2760681007809824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9948666176013685, + 0.004203916177649525, + 0.10110756782350215, + -0.2586433915546512 + ], + [ + 0.012376005104906045, + 0.9865820067550276, + -0.1627967396628887, + -0.07203821526390786 + ], + [ + -0.1004352910089682, + 0.16321234952047692, + 0.9814654763586694, + 0.27903826253077463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.994899152358111, + 0.004396873320229145, + 0.10077868892835526, + -0.26102803602554925 + ], + [ + 0.012389797742216288, + 0.986159020285146, + -0.16533868156649803, + -0.07234808238539125 + ], + [ + -0.10011078637698992, + 0.16574394171506457, + 0.981074297000861, + 0.2826879529515678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9949423612392239, + 0.004541755427653378, + 0.10034475705961605, + -0.26420756198674666 + ], + [ + 0.012408540673684654, + 0.9857683105455124, + -0.1676510245796185, + -0.0727612385473691 + ], + [ + -0.09967811158959373, + 0.16804823825878604, + 0.9807262939719986, + 0.2875542068459587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9949853748846335, + 0.0046842328007401166, + 0.09991076883276527, + -0.2673870879479441 + ], + [ + 0.01242768672794637, + 0.9853721721923087, + -0.16996245135794996, + -0.07317439470934696 + ], + [ + -0.09924543499969063, + 0.170351813116503, + 0.9803726859718412, + 0.2924204607403496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9951167212147826, + 0.004772768353382697, + 0.09858971468153141, + -0.26903225171086087 + ], + [ + 0.012399895510544323, + 0.9848724541851914, + -0.17283660370004347, + -0.07326992083078238 + ], + [ + -0.09792320332826333, + 0.17321509654035136, + 0.9800038655946458, + 0.297977715167704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9952463047607395, + 0.004853167999074985, + 0.09726890366641407, + -0.27067741547377766 + ], + [ + 0.01237257597016238, + 0.9843643527188219, + -0.1757092497858813, + -0.07336544695221778 + ], + [ + -0.09660078790546145, + 0.1760774484618272, + 0.9796249383918402, + 0.3035349695950584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9953423354445078, + 0.004986895851180502, + 0.09627443140129738, + -0.2719112882959652 + ], + [ + 0.01235239588425063, + 0.9838319348290804, + -0.17866768685575818, + -0.07343709154329434 + ], + [ + -0.09560885726642895, + 0.1790247325936782, + 0.9791879755858781, + 0.3077029104155742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9955121483862649, + 0.00521978596005054, + 0.0944897679640225, + -0.27357290628701325 + ], + [ + 0.012052648982383594, + 0.9833530866569475, + -0.18130482788597185, + -0.07432438656848293 + ], + [ + -0.09386317738000882, + 0.18163001072726304, + 0.9788770316721829, + 0.3141136337841845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9956929244103232, + 0.005497707560118916, + 0.09254931383215197, + -0.27524000902077167 + ], + [ + 0.011662988694918577, + 0.9828827598884773, + -0.18386259817785813, + -0.07547560456158925 + ], + [ + -0.09197594780115585, + 0.18415008967033855, + 0.9785852898447256, + 0.32080884679988014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9958260649178938, + 0.005773254180675486, + 0.0910885172033674, + -0.2764903360710905 + ], + [ + 0.011371578341127588, + 0.9823733115701261, + -0.18658339669106597, + -0.07633901805641899 + ], + [ + -0.09056012166607577, + 0.18684042991523384, + 0.9782072981290398, + 0.3258302565616519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9960391877245237, + 0.006011251777401888, + 0.08871190094423484, + -0.27863813699967976 + ], + [ + 0.01091825335388691, + 0.9818928079092434, + -0.18912246170088373, + -0.07740466777096566 + ], + [ + -0.08824244024714746, + 0.18934196214302465, + 0.9779380824525948, + 0.33205322456511377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9962843604806385, + 0.006215655545431206, + 0.08590016698369017, + -0.28126663612309993 + ], + [ + 0.010400809526367568, + 0.9814093612588094, + -0.19164417234753622, + -0.07838474920695268 + ], + [ + -0.08549442217408997, + 0.19182552296218688, + 0.9776981500020352, + 0.3378039475563419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9965216944820594, + 0.00640376383262226, + 0.08308732897007434, + -0.2838951352465201 + ], + [ + 0.009885309174418471, + 0.9809194327450197, + -0.19416319714537827, + -0.07936483064293971 + ], + [ + -0.08274535086113005, + 0.19430918216071227, + 0.977444192084082, + 0.34355467054757005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9968071254614835, + 0.006443385431101987, + 0.0795866660528084, + -0.28533403694895715 + ], + [ + 0.009375403410826665, + 0.980399074706334, + -0.19679877064110143, + -0.07997821834144139 + ], + [ + -0.079294744088743, + 0.19691657395747786, + 0.9772083741253706, + 0.3487242819419636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9970534557835845, + 0.006421564310145083, + 0.07644062939185485, + -0.28552101516004763 + ], + [ + 0.008996982199986868, + 0.9798230452623388, + -0.1996643540648411, + -0.08016323881220366 + ], + [ + -0.07618044776256801, + 0.1997637691991413, + 0.9768781786354158, + 0.35216565679013284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9973665374024198, + 0.006283478209560551, + 0.07225308278196832, + -0.28577031944150155 + ], + [ + 0.008494120329628384, + 0.9792634993018925, + -0.20241257089133163, + -0.08040993277322 + ], + [ + -0.07202666165895641, + 0.20249325133594587, + 0.9766312728833046, + 0.35675415658769183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9976705415769227, + 0.006142385348782466, + 0.06793939631640204, + -0.28613003398409265 + ], + [ + 0.007939870424104834, + 0.9787130205141701, + -0.20507994034931398, + -0.0808394669075517 + ], + [ + -0.06775285180166594, + 0.20514164515830716, + 0.9763843794809935, + 0.3613206314700947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9979044409346878, + 0.006122319942963624, + 0.06441462536834774, + -0.2866482429785946 + ], + [ + 0.007406089702170668, + 0.9781636044144791, + -0.20770438809567351, + -0.08157300789825997 + ], + [ + -0.06427967484479055, + 0.20774619177590414, + 0.9760684623552067, + 0.3646959315727957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9981970619503541, + 0.0059979357330404, + 0.059721439036780115, + -0.28733918830459715 + ], + [ + 0.006697585703116066, + 0.9776500573114069, + -0.2101321198311975, + -0.08255106255253766 + ], + [ + -0.059647027247222824, + 0.2101532540931633, + 0.9758472431352276, + 0.36919633170973026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.998467682847248, + 0.005846668238503442, + 0.05502819986294704, + -0.2880301336305997 + ], + [ + 0.005992757751606364, + 0.9771306692071705, + -0.21255526845805958, + -0.08352911720681536 + ], + [ + -0.055012481894367686, + 0.21255933704557908, + 0.9755983574558569, + 0.3736967318466649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 686.3661193847656, + "fy": 686.3659858703613, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_052/boom_down/transforms.json b/spatialvid_eval/camera_controls/scene_052/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2cc8e0584b75d97fb848e9142db0738e1246b7f4 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_052/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": [ + [ + 0.9999999852230789, + -0.0001592555185181777, + 6.474196424313855e-05, + 4.7279135628466675e-05 + ], + [ + 0.00015925914668826204, + 0.9999999857480673, + -5.603917746133868e-05, + -7.772513111711447e-05 + ], + [ + -6.473303877217649e-05, + 5.604948738323246e-05, + 0.9999999963340443, + -0.0003366873388506274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999904249866112, + -0.000814685737454414, + 0.004299560703872008, + 0.002221070976914632 + ], + [ + 0.0008105414280049092, + 0.9999992053715807, + 0.0009655458564294232, + 0.0012257840777809654 + ], + [ + -0.004300343903756973, + -0.00096205163924221, + 0.9999902907023414, + 0.0031827010618348446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999787584069612, + -0.001144015985310554, + 0.006416694031802606, + 0.0033066343933521648 + ], + [ + 0.0011345582691327954, + 0.9999982650762126, + 0.0014773699938410829, + 0.002502535834848823 + ], + [ + -0.0064183730342166675, + -0.0014700584988746293, + 0.9999783214728225, + 0.0049405239627539725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999941652607804, + -0.0018058987698508961, + 0.010650357252551984, + 0.005477532511386484 + ], + [ + 0.0017793354932570825, + 0.9999952842940345, + 0.0025030690952359564, + 0.003806032690444525 + ], + [ + -0.01065482731799869, + -0.002483972489006429, + 0.999940150476766, + 0.008455475177401911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998861839259582, + -0.002472067228115251, + 0.014883147436116007, + 0.007646754494090831 + ], + [ + 0.0024197603558845605, + 0.9999908366410982, + 0.003531486040898561, + 0.005109514759730991 + ], + [ + -0.01489174112740271, + -0.0034950704508851533, + 0.9998830034202694, + 0.011967905687215783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998515638264588, + -0.002806754548635844, + 0.01699918947153534, + 0.008728977713531426 + ], + [ + 0.0027383367649352827, + 0.9999880627639534, + 0.004046707471284559, + 0.00638624106989201 + ], + [ + -0.017010344662800037, + -0.003999557288008074, + 0.9998473142015001, + 0.013720679289037422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997685529500219, + -0.003479327254569387, + 0.02123051610477395, + 0.010895235173509111 + ], + [ + 0.0033722098113984703, + 0.9999814149755907, + 0.0050791637504031635, + 0.0076896864921178355 + ], + [ + -0.021247793607981118, + -0.0050063944382272045, + 0.9997617052485666, + 0.017228719529035295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9996671825497393, + -0.004156153162854427, + 0.02546076440237406, + 0.01305977398620139 + ], + [ + 0.004001699588073383, + 0.9999733005855915, + 0.006114287886992962, + 0.008993102462108434 + ], + [ + -0.025485496531814256, + -0.006010366614867239, + 0.9996571236977616, + 0.020734267744676432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995777539565995, + -0.004569126204660821, + 0.02869558991910636, + 0.014103837934813264 + ], + [ + 0.0043785310983552195, + 0.9999679600617167, + 0.0067012920716484035, + 0.010338609199070928 + ], + [ + -0.028725289563386006, + -0.006572817944739023, + 0.999565733608233, + 0.022952855602506483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9993669784083009, + -0.005400519296211359, + 0.03516357289004943, + 0.016195551095744505 + ], + [ + 0.005126474318895107, + 0.9999558198360786, + 0.007878936286933352, + 0.011779619604548148 + ], + [ + -0.035204569705086286, + -0.007693683596762668, + 0.999350511834858, + 0.027395480500284994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9992456337664255, + -0.005818930221330161, + 0.03839665935747673, + 0.017236959180543764 + ], + [ + 0.005497577820398796, + 0.9999490202675556, + 0.008469563392795547, + 0.013125072901205959 + ], + [ + -0.038443985704443726, + -0.008252085617297832, + 0.999226682513093, + 0.0296106086999297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9989710374060576, + -0.006661157869788876, + 0.04486084483933693, + 0.019324882628567807 + ], + [ + 0.0062340282414214, + 0.9999339625922301, + 0.009654395190061997, + 0.014565989166443182 + ], + [ + -0.044922191795931696, + -0.009364797404881834, + 0.9989465937945908, + 0.034048444464623503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9986539085171235, + -0.007510562404569714, + 0.05132214391312582, + 0.02141059285417587 + ], + [ + 0.0069627763129251246, + 0.9999169607589554, + 0.010843953734215721, + 0.01600683862512285 + ], + [ + -0.05139932635247959, + -0.01047201217248654, + 0.9986232754205014, + 0.03848358090514803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9984793986521645, + -0.007937944363747049, + 0.054551622400162675, + 0.022447648564817037 + ], + [ + 0.0073242519567809, + 0.9999077310129996, + 0.011440489225052763, + 0.017352178359169013 + ], + [ + -0.05463740294418709, + -0.011023542974607285, + 0.9984454094740491, + 0.04069325384379531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9980984976575604, + -0.008798044212920552, + 0.061008060055604676, + 0.024529452127968827 + ], + [ + 0.008041386624580543, + 0.9998878143689367, + 0.012637039909124858, + 0.018792901514602667 + ], + [ + -0.06111239706372831, + -0.01212242115001341, + 0.9980572738227936, + 0.045123694705802145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9976795233194805, + -0.009752508147947059, + 0.0673829157415922, + 0.02660853591104592 + ], + [ + 0.008841826036973493, + 0.9998656809750154, + 0.01380007683677615, + 0.019585387717115994 + ], + [ + -0.06750845029584211, + -0.01317226606143583, + 0.9976317459591294, + 0.04939679828793896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9974567349461407, + -0.010275844123667626, + 0.07052991520008184, + 0.02764046722298806 + ], + [ + 0.009284827163488921, + 0.999853715745387, + 0.014364508160296264, + 0.02028242843296112 + ], + [ + -0.07066720523077721, + -0.013673117336188013, + 0.9974062321678074, + 0.051446531801133275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.996980564719934, + -0.011327235528916032, + 0.07682087806055017, + 0.029714457683754917 + ], + [ + 0.010165449412540042, + 0.999828230248954, + 0.015497536432800461, + 0.020426599849281506 + ], + [ + -0.07698322680274285, + -0.014669823874789725, + 0.9969244600562874, + 0.05556069213305006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9964636200493321, + -0.012384882675364592, + 0.08310757245460916, + 0.03178567891183165 + ], + [ + 0.011038867501079812, + 0.9998006722716039, + 0.016636079151736406, + 0.020570660921040172 + ], + [ + -0.08329704269945158, + -0.01565983417430366, + 0.9964017122983878, + 0.059672511363999814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9961898640222826, + -0.012916038265942247, + 0.08624923637214794, + 0.03281217152985271 + ], + [ + 0.011472863497944722, + 0.9997861164612508, + 0.017207403478957706, + 0.02126751398010272 + ], + [ + -0.08645304056204998, + -0.016152315216179807, + 0.9961249793528589, + 0.061717456017803526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9956117989715895, + -0.013982985567594565, + 0.09252903254207348, + 0.03487853013276194 + ], + [ + 0.012335406588754327, + 0.9997554519621519, + 0.0183541280436801, + 0.021411375851639658 + ], + [ + -0.09276305025626189, + -0.017132203202452685, + 0.9955408098719933, + 0.06582520016665878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9949930170234713, + -0.015056076954840314, + 0.09880389982819596, + 0.03694206008517022 + ], + [ + 0.013190654287618316, + 0.9997227180419506, + 0.01950624695525227, + 0.021555106739624914 + ], + [ + -0.09907019084464708, + -0.018105291423909153, + 0.9949157229175045, + 0.06993067308937478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9946683652758591, + -0.015594912591866907, + 0.10193940268954939, + 0.03796301067559992 + ], + [ + 0.013615531116438874, + 0.9997055754756117, + 0.020084314162880743, + 0.022251736635821966 + ], + [ + -0.10222260235323381, + -0.018589272826768623, + 0.9945878435331413, + 0.07197094785778242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9938677725734153, + -0.01672668951444906, + 0.10930264634420035, + 0.04044303088574526 + ], + [ + 0.01447180133278864, + 0.9996664481576117, + 0.021390638001921432, + 0.0231244079281203 + ], + [ + -0.10962398280550846, + -0.01967765956185258, + 0.9937783314743914, + 0.07522381384693426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9930113861669612, + -0.017866478411982707, + 0.11665837257533168, + 0.042919981294335614 + ], + [ + 0.015318307724062553, + 0.9996248859271952, + 0.0227032350891507, + 0.02399690835475114 + ], + [ + -0.11702023923767063, + -0.020757562096654653, + 0.9929125778358144, + 0.07847421339525683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9925622856143276, + -0.018439356852943883, + 0.12033328423554489, + 0.044145771963745306 + ], + [ + 0.01573788422603414, + 0.999603192462481, + 0.02336186248792766, + 0.02505784365806097 + ], + [ + -0.12071631280051005, + -0.02129431233138763, + 0.9924586258812925, + 0.0800851898472101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9916223021457244, + -0.019591040471703774, + 0.1276769400496805, + 0.046617345487478846 + ], + [ + 0.016569653632916206, + 0.9995579823959808, + 0.02468372757428469, + 0.02593004255482414 + ], + [ + -0.12810408450045152, + -0.022361372089216267, + 0.9915086043865625, + 0.0833312862134854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.990626654313066, + -0.02075057107770517, + 0.13501202007395574, + 0.04908577496634609 + ], + [ + 0.017391538377628066, + 0.9995103436647333, + 0.026011676225612207, + 0.02680204645898583 + ], + [ + -0.13548566771935922, + -0.023419793063895647, + 0.9905024720491532, + 0.0865750064892974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9901079740568394, + -0.021333258146782857, + 0.13867621211261788, + 0.05030546892378594 + ], + [ + 0.01779875918533118, + 0.999485614401872, + 0.026677907998473343, + 0.027862650981039766 + ], + [ + -0.13917400576445177, + -0.023945744936316803, + 0.989978382298786, + 0.08818102028184227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.989028938209844, + -0.022504433863314608, + 0.14599763641922384, + 0.05276839966878761 + ], + [ + 0.01860572835131791, + 0.9994343378621938, + 0.028014838469549854, + 0.028734313457825088 + ], + [ + -0.14654550916362172, + -0.024991093582508634, + 0.9888881933694653, + 0.09142058791106639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9879197154192096, + -0.023635086047212345, + 0.15315357845499047, + 0.055407585220197814 + ], + [ + 0.01938634674047872, + 0.9993862736070125, + 0.029176114990652858, + 0.030158935012752998 + ], + [ + -0.1537491640500396, + -0.02585457084213035, + 0.9877716009890564, + 0.09508497380132912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9873452016436804, + -0.024202740669172544, + 0.15672804514604632, + 0.05671090252135559 + ], + [ + 0.0197734697884916, + 0.9993615064427063, + 0.029758853020381854, + 0.03149577364822963 + ], + [ + -0.15734822110123764, + -0.026283203470388868, + 0.9871933602550265, + 0.09690004865066977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9861564086725978, + -0.02534266810240317, + 0.16386972510935618, + 0.05934476754882541 + ], + [ + 0.02054131708274819, + 0.999310503736619, + 0.030928488714631084, + 0.03292006646520899 + ], + [ + -0.16454054797061582, + -0.027134227372757492, + 0.985997029294923, + 0.10056115884471373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9855421457578442, + -0.02591492530209882, + 0.1674368405746205, + 0.06064434137952771 + ], + [ + 0.020922030813142287, + 0.999284268893332, + 0.03151537036071493, + 0.034256687928678906 + ], + [ + -0.16813371928818494, + -0.02755660699189475, + 0.9853789554528837, + 0.10237382047844672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9842739291321742, + -0.027063987481772345, + 0.1745633782106038, + 0.06327282813089947 + ], + [ + 0.021677012370712397, + 0.9992303340227283, + 0.03269322106349914, + 0.03568063207496438 + ], + [ + -0.17531383164311887, + -0.02839507264321245, + 0.9841030333680487, + 0.10603174508400252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9829528496417735, + -0.028219060878523758, + 0.18167933284843196, + 0.0658981792360749 + ], + [ + 0.02242336497435027, + 0.9991744480467247, + 0.033876467846430044, + 0.03710435602321209 + ], + [ + -0.18248530922883693, + -0.029225108616689473, + 0.9827741372980867, + 0.10968794232383555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9822725088248276, + -0.028798832022387085, + 0.18523321970188045, + 0.06719167348382064 + ], + [ + 0.022793292623118643, + 0.9991457743467385, + 0.03447009452341548, + 0.03844059928785585 + ], + [ + -0.1860676871957505, + -0.02963695124675689, + 0.9820898466547863, + 0.11149688059695001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9808399300963424, + -0.02999442352978182, + 0.19249250916780772, + 0.06995703606871681 + ], + [ + 0.02355323528319705, + 0.999086242885229, + 0.03566404891724707, + 0.039302078015261796 + ], + [ + -0.19338634035602628, + -0.030446901888262802, + 0.9806501463463461, + 0.11499756359356397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9793186738911709, + -0.031227597819033323, + 0.19989940495782174, + 0.07286456617421193 + ], + [ + 0.02433072873828169, + 0.9990239639034796, + 0.03686645067867741, + 0.03960144620420043 + ], + [ + -0.2008555466177189, + -0.031240305392743934, + 0.9791226137271396, + 0.11834419195094822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9785364899704656, + -0.03184641237397958, + 0.2035979956069992, + 0.0742971639242079 + ], + [ + 0.024716023034315353, + 0.9989920569936181, + 0.037469831451810674, + 0.04037540501570664 + ], + [ + -0.20458606013521163, + -0.03163346459947674, + 0.9783372976207059, + 0.11999716188348279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9769290689137242, + -0.03308845008557666, + 0.21098518616788814, + 0.07719885293680737 + ], + [ + 0.025479677985935315, + 0.9989267107190316, + 0.038680907716718047, + 0.040674346410184525 + ], + [ + -0.2120386293133804, + -0.032412668557070645, + 0.9767236244690268, + 0.12334103350606118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9752643239653226, + -0.03433630405153521, + 0.2183586879987676, + 0.08009713877209182 + ], + [ + 0.026234050116572916, + 0.9988593244377922, + 0.039897676601007896, + 0.040973019888635005 + ], + [ + -0.21947955033429364, + -0.033182347833720253, + 0.975052644105588, + 0.12668344525864397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9744104859828234, + -0.03496238884298064, + 0.22204016792713457, + 0.08152314839729992 + ], + [ + 0.026607741016378198, + 0.9988248675481832, + 0.040508173068648026, + 0.04174651937596037 + ], + [ + -0.22319550381834138, + -0.033563601322659314, + 0.9741956947870024, + 0.12833313834128623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9726599427739427, + -0.03621882728085722, + 0.22939231084190698, + 0.08441551075885712 + ], + [ + 0.02734810457418327, + 0.9987544288445542, + 0.041733344457255864, + 0.04204473301704073 + ], + [ + -0.23061811919099112, + -0.034318907526141695, + 0.9724389418811971, + 0.13167295978240315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.970855515677001, + -0.037483644307890515, + 0.23671616778104612, + 0.08712146040464464 + ], + [ + 0.028105562376177076, + 0.9986852738696443, + 0.04286958268321123, + 0.04229722827527152 + ], + [ + -0.2380118590387119, + -0.03496712978374707, + 0.9706326054649221, + 0.1349076441580946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9699336247665912, + -0.0381191426234658, + 0.24036575153876177, + 0.08835784772856072 + ], + [ + 0.0284943672812748, + 0.9986516666621871, + 0.04339262271488097, + 0.04302481588950164 + ], + [ + -0.24169574795676835, + -0.0352388938317885, + 0.9697120117752128, + 0.13645069692682626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9680474688589132, + -0.039393150255338724, + 0.24765354378407678, + 0.09087492068055276 + ], + [ + 0.029265980292862023, + 0.9985831552528266, + 0.04444304718183724, + 0.04323143392141622 + ], + [ + -0.24905340879688664, + -0.03577515560091256, + 0.9678287750466925, + 0.13957991007513923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9661049072246037, + -0.040671109909896225, + 0.25492581088473004, + 0.09338857643213241 + ], + [ + 0.03002955969562016, + 0.9985129178956499, + 0.04549921252068524, + 0.043437779275373185 + ], + [ + -0.25639721874666893, + -0.03630170263517177, + 0.9658895654290715, + 0.1427083533097027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9651125099356633, + -0.04131154819919402, + 0.2585559884262399, + 0.09461829990693921 + ], + [ + 0.0304083227007391, + 0.9984771532772819, + 0.04602942856285719, + 0.044164895972953214 + ], + [ + -0.2600637942432817, + -0.03656132339892974, + 0.9648990064017617, + 0.14424944734424694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9630855555821036, + -0.04259529448331948, + 0.26580416384434286, + 0.0971260083308916 + ], + [ + 0.031159767392855843, + 0.9984043347978558, + 0.04709408830070176, + 0.044370775137310026 + ], + [ + -0.2673860159491032, + -0.03707324027827173, + 0.962876052942504, + 0.14737648759846594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.962051028406404, + -0.043238583548372234, + 0.26942205484130494, + 0.0983515473057737 + ], + [ + 0.03153243799925379, + 0.9983672820105594, + 0.04762851629719031, + 0.04509758618391385 + ], + [ + -0.27104155418681447, + -0.0373255288452681, + 0.9618436883404794, + 0.1489164264213445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9599399503312273, + -0.044527946095766345, + 0.27664517666963495, + 0.10085327953304593 + ], + [ + 0.03227164825631091, + 0.998291892072643, + 0.04870152914276397, + 0.04530298203250996 + ], + [ + -0.2783412159147508, + -0.037822747633072216, + 0.9597372595062583, + 0.15204216862989273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.957804290937839, + -0.04567747017332266, + 0.28376840729656494, + 0.10305909542839456 + ], + [ + 0.03289176055593254, + 0.9982243348363887, + 0.04966195151200837, + 0.04679934147121048 + ], + [ + -0.28553296193013367, + -0.03823278774841155, + 0.9576059636366047, + 0.15508831368777948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9567161163393415, + -0.04625335138697908, + 0.28732368545255776, + 0.10413194390677791 + ], + [ + 0.03319909954152884, + 0.9981900679694752, + 0.050143872972939874, + 0.04817129460680607 + ], + [ + -0.28912297128765013, + -0.03843456377490592, + 0.9565200948130852, + 0.15658719309130126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9544991551202524, + -0.04740731100069882, + 0.2944213133222648, + 0.10633242983662762 + ], + [ + 0.033808321216043, + 0.9981205601874339, + 0.05111110200021067, + 0.04966722621044636 + ], + [ + -0.29629100609245135, + -0.03883161334281776, + 0.9543079930053593, + 0.1596324251406737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9522281505046911, + -0.04856414518976812, + 0.3015013651518055, + 0.10852983324038772 + ], + [ + 0.03441023884070983, + 0.9980497569943966, + 0.052082799716904764, + 0.05116289498512558 + ], + [ + -0.30344272087057966, + -0.03921997406186078, + 0.9520421780495055, + 0.16267726192448606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9510724223849107, + -0.04914361958408548, + 0.3050346734931503, + 0.10959666229780304 + ], + [ + 0.034708447861888224, + 0.9980138708810997, + 0.05257030697972456, + 0.052534388050420905 + ], + [ + -0.3070123304134814, + -0.039410889143719915, + 0.9508891685107076, + 0.16417491095114117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9487205971315126, + -0.05030464155209942, + 0.31208760247203204, + 0.11178870485111145 + ], + [ + 0.03529934500628529, + 0.9979411321860485, + 0.053548603467831836, + 0.054029608550966134 + ], + [ + -0.31413879865523386, + -0.039786175105715325, + 0.9485430277272107, + 0.16721898431484444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9463150589173319, + -0.05146837241720526, + 0.3191219451980868, + 0.11397764845446065 + ], + [ + 0.03588285283951626, + 0.9978671083402453, + 0.05453122926154375, + 0.055524554031344195 + ], + [ + -0.3212479262787302, + -0.040152717634069184, + 0.9461435034540027, + 0.17026275336258176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9450913978755854, + -0.05202721677206733, + 0.3226382159269486, + 0.11493986960210935 + ], + [ + 0.036173203561502595, + 0.9978338964793172, + 0.05494555833733377, + 0.05654095138330261 + ], + [ + -0.32479801262580116, + -0.04025771667463977, + 0.9449262231743145, + 0.17186048281016286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9426039045872435, + -0.05314602364796276, + 0.3296564563713157, + 0.11692646783413468 + ], + [ + 0.03674920460213963, + 0.997766693536116, + 0.05577742582009888, + 0.05732622921571479 + ], + [ + -0.331884580868098, + -0.040461406802244734, + 0.9424518552910756, + 0.17510621195248074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400629682772518, + -0.054266268210171005, + 0.3366552952328309, + 0.11891015942538892 + ], + [ + 0.03731891108992429, + 0.9976984548324223, + 0.05661353283499951, + 0.058111260064031396 + ], + [ + -0.33895267302209764, + -0.04065667669078507, + 0.9399245289339118, + 0.17835207391270827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.93877250417308, + -0.054826909653699483, + 0.3401473142425646, + 0.11986664826259405 + ], + [ + 0.03760139370501552, + 0.997663948284729, + 0.05703316126926824, + 0.05912722171640225 + ], + [ + -0.3424796645058584, + -0.04075115054511975, + 0.9386410512699751, + 0.17994959536699962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9361516760981415, + -0.05594919088245687, + 0.34711630238039654, + 0.12184527774744484 + ], + [ + 0.038161597531842326, + 0.9975941632585454, + 0.05787553806488941, + 0.05991183176349932 + ], + [ + -0.3495192867531893, + -0.040933769336346036, + 0.9360345585048988, + 0.1831956032467407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9334777731230721, + -0.05707274986732924, + 0.35406489279194575, + 0.12382099930873457 + ], + [ + 0.03871542622400992, + 0.9975233523153071, + 0.0587220346882267, + 0.06069618527466655 + ], + [ + -0.3565394267924432, + -0.041107940938623085, + 0.9333754733944444, + 0.18644183035461964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9321209661034501, + -0.05763498848891542, + 0.3575314149165831, + 0.12477174786773783 + ], + [ + 0.038989940006025015, + 0.9974875633850135, + 0.05914681285205048, + 0.061711694455750865 + ], + [ + -0.3600420657766226, + -0.04119185591972643, + 0.9320262560020458, + 0.1880392913600975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9295808056145715, + -0.05866465573499176, + 0.36392029896731404, + 0.12670354899218578 + ], + [ + 0.039519823131855286, + 0.9974254044682784, + 0.05983933573259389, + 0.062282177944676546 + ], + [ + -0.36649380542185317, + -0.04124343206846529, + 0.9295059278448001, + 0.19125766637118202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9272122034657905, + -0.059598596520615756, + 0.36976416407879026, + 0.12859404267875923 + ], + [ + 0.040031205788290315, + 0.9973727165677034, + 0.06037521684843118, + 0.06263902569668568 + ], + [ + -0.37239096700544344, + -0.0411785325033856, + 0.9271619578874116, + 0.19444845909845063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9260137676237944, + -0.06006539456687743, + 0.3726803597544559, + 0.12950088762269532 + ], + [ + 0.040285608289437724, + 0.9973461442303617, + 0.060644359618850834, + 0.06344072224776975 + ], + [ + -0.3753339472202526, + -0.04114385694554961, + 0.9259760316010932, + 0.19601838919462686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9235886874197323, + -0.06099862220053173, + 0.3785011288753747, + 0.13138735704312224 + ], + [ + 0.040791822685372514, + 0.9972925441344291, + 0.06118503588201108, + 0.06379726052788046 + ], + [ + -0.3812085566619686, + -0.04107005604469822, + 0.9235763567914589, + 0.19921023637992208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9211260783260146, + -0.06193132688263097, + 0.38430620418917716, + 0.1332715391527261 + ], + [ + 0.041294565772472015, + 0.9972383386320081, + 0.06172888141004409, + 0.0641536118346836 + ], + [ + -0.38706783212429297, + -0.0409903246270265, + 0.921139667271783, + 0.20240278698769124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.919880731730203, + -0.06239747124444092, + 0.387202782755762, + 0.1341737757055313 + ], + [ + 0.041544629170712694, + 0.9972110095423354, + 0.06200198573130065, + 0.06495497360531365 + ], + [ + -0.389991645011242, + -0.04094823597977828, + 0.9199074729512583, + 0.20397374028874013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9173620178441495, + -0.06332932027709376, + 0.39298387423678316, + 0.1360539545005752 + ], + [ + 0.042042126945269806, + 0.9971559000774523, + 0.06255054358392109, + 0.06531100612349904 + ], + [ + -0.39582747223863624, + -0.04085961495128748, + 0.9174154479226978, + 0.20716744256510833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.91608867620067, + -0.06379501545939938, + 0.39586832828535184, + 0.13695331918836254 + ], + [ + 0.04228955625582345, + 0.9971281202633933, + 0.06282599152960379, + 0.06611215539461145 + ], + [ + -0.3987394271558679, + -0.04081308347242707, + 0.9161556425896658, + 0.20873906988325464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9139866533565892, + -0.0645029045034529, + 0.400584289253386, + 0.1388042968700167 + ], + [ + 0.04267077413984681, + 0.9970886125787888, + 0.06319417457339162, + 0.06732000274905464 + ], + [ + -0.40349424100020087, + -0.040665390399263965, + 0.9140780729802828, + 0.21179924856799173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9118598029392051, + -0.06520999806793099, + 0.4052892250426287, + 0.1406535794052709 + ], + [ + 0.04305005744580259, + 0.9970487803303124, + 0.06356431542736413, + 0.06852772090642331 + ], + [ + -0.4082381563959782, + -0.04051401971931175, + 0.9119759985156386, + 0.21486014126104827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9107870854386682, + -0.06556324053542253, + 0.4076375184997456, + 0.14153660946705096 + ], + [ + 0.04323897040670368, + 0.9970287428327822, + 0.0637501168896979, + 0.06975467415204077 + ], + [ + -0.4106059868490769, + -0.04043695655926974, + 0.9109157898005278, + 0.21636558645150816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9086231023187396, + -0.06626910483315634, + 0.4123256767135433, + 0.14338291716527815 + ], + [ + 0.043615332522642984, + 0.996988425772271, + 0.06412317556912023, + 0.0709621712284474 + ], + [ + -0.41533331277614677, + -0.04028007721865825, + 0.9087770654443532, + 0.21942767332215302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9064344374838048, + -0.06697412562064042, + 0.41700249044912074, + 0.14522754244501038 + ], + [ + 0.04398973437386113, + 0.9969477868724032, + 0.06449816679514675, + 0.0721695361328655 + ], + [ + -0.4200494182987705, + -0.040119530749600084, + 0.9066139803903844, + 0.22249050993617292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9053308679968238, + -0.06732631370569611, + 0.41933660338076845, + 0.14610714680836198 + ], + [ + 0.04417619701635488, + 0.9969273470777285, + 0.0646863839284183, + 0.0733962482692018 + ], + [ + -0.4224032233178268, + -0.040037883702372844, + 0.9055233209582985, + 0.22399718988355463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9031052923974192, + -0.06803003328652196, + 0.42399616202839246, + 0.14794881814570063 + ], + [ + 0.04454763939669601, + 0.9968862274937061, + 0.06506425483742198, + 0.07460338715958659 + ], + [ + -0.4271022578586468, + -0.03987184475794625, + 0.9033238053586568, + 0.22706127985317942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_052/boom_up/transforms.json b/spatialvid_eval/camera_controls/scene_052/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..c583d65e7ee5c85ff1b69fca799c6b83ff20d67d --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_052/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": [ + [ + 0.9999999852230789, + -0.0001592555185181777, + 6.474196424313855e-05, + 4.7279135628466675e-05 + ], + [ + 0.00015925914668826204, + 0.9999999857480673, + -5.603917746133868e-05, + -7.772513111711447e-05 + ], + [ + -6.473303877217649e-05, + 5.604948738323246e-05, + 0.9999999963340443, + -0.0003366873388506274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999904249866112, + -0.000814685737454414, + 0.004299560703872008, + 0.002223107691258268 + ], + [ + 0.0008105414280049092, + 0.9999992053715807, + 0.0009655458564294232, + -0.0012742139356479868 + ], + [ + -0.004300343903756973, + -0.00096205163924221, + 0.9999902907023414, + 0.0031851061909329505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999787584069612, + -0.001144015985310554, + 0.006416694031802606, + 0.003312354473278718 + ], + [ + 0.0011345582691327954, + 0.9999982650762126, + 0.0014773699938410829, + -0.0024974554905322407 + ], + [ + -0.0064183730342166675, + -0.0014700584988746293, + 0.9999783214728225, + 0.0049478742552483464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999941652607804, + -0.0018058987698508961, + 0.010650357252551984, + 0.005491076752160366 + ], + [ + 0.0017793354932570825, + 0.9999952842940345, + 0.0025030690952359564, + -0.003693931941760735 + ], + [ + -0.01065482731799869, + -0.002483972489006429, + 0.999940150476766, + 0.008474104971069459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998861839259582, + -0.002472067228115251, + 0.014883147436116007, + 0.007671475166371984 + ], + [ + 0.0024197603558845605, + 0.9999908366410982, + 0.003531486040898561, + -0.004890393606679994 + ], + [ + -0.01489174112740271, + -0.0034950704508851533, + 0.9998830034202694, + 0.012002856391724636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998515638264588, + -0.002806754548635844, + 0.01699918947153534, + 0.008764062145389372 + ], + [ + 0.0027383367649352827, + 0.9999880627639534, + 0.004046707471284559, + -0.006113609714657409 + ], + [ + -0.017010344662800037, + -0.003999557288008074, + 0.9998473142015001, + 0.013770673755137523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997685529500219, + -0.003479327254569387, + 0.02123051610477395, + 0.010947425082327654 + ], + [ + 0.0033722098113984703, + 0.9999814149755907, + 0.0050791637504031635, + -0.007310034732516027 + ], + [ + -0.021247793607981118, + -0.0050063944382272045, + 0.9997617052485666, + 0.0173038154456087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9996671825497393, + -0.004156153162854427, + 0.02546076440237406, + 0.013132506666551342 + ], + [ + 0.004001699588073383, + 0.9999733005855915, + 0.006114287886992962, + -0.008506430298139418 + ], + [ + -0.025485496531814256, + -0.006010366614867239, + 0.9996571236977616, + 0.02083944916043661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995777539565995, + -0.004569126204660821, + 0.02869558991910636, + 0.014195220458906482 + ], + [ + 0.0043785310983552195, + 0.9999679600617167, + 0.0067012920716484035, + -0.009660750002163411 + ], + [ + -0.028725289563386006, + -0.006572817944739023, + 0.999565733608233, + 0.02308431196140126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9993669784083009, + -0.005400519296211359, + 0.03516357289004943, + 0.016317062779909262 + ], + [ + 0.005126474318895107, + 0.9999558198360786, + 0.007878936286933352, + -0.010719386341763623 + ], + [ + -0.035204569705086286, + -0.007693683596762668, + 0.999350511834858, + 0.027568588381212157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9992456337664255, + -0.005818930221330161, + 0.03839665935747673, + 0.017382432436077018 + ], + [ + 0.005497577820398796, + 0.9999490202675556, + 0.008469563392795547, + -0.011873652605482933 + ], + [ + -0.038443985704443726, + -0.008252085617297832, + 0.999226682513093, + 0.02981691084036215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9989710374060576, + -0.006661157869788876, + 0.04486084483933693, + 0.019508064469987003 + ], + [ + 0.0062340282414214, + 0.9999339625922301, + 0.009654395190061997, + -0.01293219480484315 + ], + [ + -0.044922191795931696, + -0.009364797404881834, + 0.9989465937945908, + 0.03430597639325775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9986539085171235, + -0.007510562404569714, + 0.05132214391312582, + 0.021635909726312966 + ], + [ + 0.0069627763129251246, + 0.9999169607589554, + 0.010843953734215721, + -0.013990670197645815 + ], + [ + -0.05139932635247959, + -0.01047201217248654, + 0.9986232754205014, + 0.03879774127032262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9984793986521645, + -0.007937944363747049, + 0.054551622400162675, + 0.022705631756638815 + ], + [ + 0.0073242519567809, + 0.9999077310129996, + 0.011440489225052763, + -0.015144822898753473 + ], + [ + -0.05463740294418709, + -0.011023542974607285, + 0.9984454094740491, + 0.04105151899047005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9980984976575604, + -0.008798044212920552, + 0.061008060055604676, + 0.024837383675421047 + ], + [ + 0.008041386624580543, + 0.9998878143689367, + 0.012637039909124858, + -0.016203171988310124 + ], + [ + -0.06111239706372831, + -0.01212242115001341, + 0.9980572738227936, + 0.045547979446052614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9976795233194805, + -0.009752508147947059, + 0.0673829157415922, + 0.026974254966593936 + ], + [ + 0.008841826036973493, + 0.9998656809750154, + 0.01380007683677615, + -0.01790957531944709 + ], + [ + -0.06750845029584211, + -0.01317226606143583, + 0.9976317459591294, + 0.0498907582652428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9974567349461407, + -0.010275844123667626, + 0.07052991520008184, + 0.02805150098793477 + ], + [ + 0.009284827163488921, + 0.999853715745387, + 0.014364508160296264, + -0.019711720196854365 + ], + [ + -0.07066720523077721, + -0.013673117336188013, + 0.9974062321678074, + 0.0519934564945808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.996980564719934, + -0.011327235528916032, + 0.07682087806055017, + 0.030195865193733847 + ], + [ + 0.010165449412540042, + 0.999828230248954, + 0.015497536432800461, + -0.022066099936299047 + ], + [ + -0.07698322680274285, + -0.014669823874789725, + 0.9969244600562874, + 0.056184159647728625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9964636200493321, + -0.012384882675364592, + 0.08310757245460916, + 0.03234299863222305 + ], + [ + 0.011038867501079812, + 0.9998006722716039, + 0.016636079151736406, + -0.02442036933118201 + ], + [ + -0.08329704269945158, + -0.01565983417430366, + 0.9964017122983878, + 0.06037720390184348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9961898640222826, + -0.012916038265942247, + 0.08624923637214794, + 0.03342568334748496 + ], + [ + 0.011472863497944722, + 0.9997861164612508, + 0.017207403478957706, + -0.026222326551806705 + ], + [ + -0.08645304056204998, + -0.016152315216179807, + 0.9961249793528589, + 0.062484690990572064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9956117989715895, + -0.013982985567594565, + 0.09252903254207348, + 0.03557767941114167 + ], + [ + 0.012335406588754327, + 0.9997554519621519, + 0.0183541280436801, + -0.02857639674646794 + ], + [ + -0.09276305025626189, + -0.017132203202452685, + 0.9955408098719933, + 0.06668181032678143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9949930170234713, + -0.015056076954840314, + 0.09880389982819596, + 0.03773250412529934 + ], + [ + 0.013190654287618316, + 0.9997227180419506, + 0.01950624695525227, + -0.030930335957577493 + ], + [ + -0.09907019084464708, + -0.018105291423909153, + 0.9949157229175045, + 0.07088120088913002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9946683652758591, + -0.015594912591866907, + 0.10193940268954939, + 0.038820730868152596 + ], + [ + 0.013615531116438874, + 0.9997055754756117, + 0.020084314162880743, + -0.032732070015336685 + ], + [ + -0.10222260235323381, + -0.018589272826768623, + 0.9945878435331413, + 0.07299335786325468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9938677725734153, + -0.01672668951444906, + 0.10930264634420035, + 0.041404815532826086 + ], + [ + 0.01447180133278864, + 0.9996664481576117, + 0.021390638001921432, + -0.03435641284094238 + ], + [ + -0.10962398280550846, + -0.01967765956185258, + 0.9937783314743914, + 0.07635527927174078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9930113861669612, + -0.017866478411982707, + 0.11665837257533168, + 0.043991969999054574 + ], + [ + 0.015318307724062553, + 0.9996248859271952, + 0.0227032350891507, + -0.03598058480088058 + ], + [ + -0.11702023923767063, + -0.020757562096654653, + 0.9929125778358144, + 0.07971966712105612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9925622856143276, + -0.018439356852943883, + 0.12033328423554489, + 0.0452982317670543 + ], + [ + 0.01573788422603414, + 0.999603192462481, + 0.02336186248792766, + -0.03741735587084409 + ], + [ + -0.12071631280051005, + -0.02129431233138763, + 0.9924586258812925, + 0.08141608436792182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9916223021457244, + -0.019591040471703774, + 0.1276769400496805, + 0.04789076311813959 + ], + [ + 0.016569653632916206, + 0.9995579823959808, + 0.02468372757428469, + -0.03904122630091462 + ], + [ + -0.12810408450045152, + -0.022361372089216267, + 0.9915086043865625, + 0.08478477539928445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.990626654313066, + -0.02075057107770517, + 0.13501202007395574, + 0.05048643851409119 + ], + [ + 0.017391538377628066, + 0.9995103436647333, + 0.026011676225612207, + -0.04066490173838368 + ], + [ + -0.13548566771935922, + -0.023419793063895647, + 0.9905024720491532, + 0.08815584252111035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9901079740568394, + -0.021333258146782857, + 0.13867621211261788, + 0.051798796994060745 + ], + [ + 0.01779875918533118, + 0.999485614401872, + 0.026677907998473343, + -0.04210134202709129 + ], + [ + -0.13917400576445177, + -0.023945744936316803, + 0.989978382298786, + 0.08985722242738445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.989028938209844, + -0.022504433863314608, + 0.14599763641922384, + 0.05439997112387792 + ], + [ + 0.01860572835131791, + 0.9994343378621938, + 0.028014838469549854, + -0.043724676037183975 + ], + [ + -0.14654550916362172, + -0.024991093582508634, + 0.9888881933694653, + 0.09323244219579827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9879197154192096, + -0.023635086047212345, + 0.15315357845499047, + 0.05718021667373874 + ], + [ + 0.01938634674047872, + 0.9993862736070125, + 0.029176114990652858, + -0.04479503550777295 + ], + [ + -0.1537491640500396, + -0.02585457084213035, + 0.9877716009890564, + 0.09702406661448888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9873452016436804, + -0.024202740669172544, + 0.15672804514604632, + 0.05858661492321647 + ], + [ + 0.0197734697884916, + 0.9993615064427063, + 0.029758853020381854, + -0.04595474310108012 + ], + [ + -0.15734822110123764, + -0.026283203470388868, + 0.9871933602550265, + 0.09893699691962492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9861564086725978, + -0.02534266810240317, + 0.16386972510935618, + 0.06137218099701766 + ], + [ + 0.02054131708274819, + 0.999310503736619, + 0.030928488714631084, + -0.04702477383372055 + ], + [ + -0.16454054797061582, + -0.027134227372757492, + 0.985997029294923, + 0.10273189703453434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9855421457578442, + -0.02591492530209882, + 0.1674368405746205, + 0.06278232271695086 + ], + [ + 0.020922030813142287, + 0.999284268893332, + 0.03151537036071493, + -0.048184264255020995 + ], + [ + -0.16813371928818494, + -0.02755660699189475, + 0.9853789554528837, + 0.10464724055527803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9842739291321742, + -0.027063987481772345, + 0.1745633782106038, + 0.06557326706685011 + ], + [ + 0.021677012370712397, + 0.9992303340227283, + 0.03269322106349914, + -0.04925394631696755 + ], + [ + -0.17531383164311887, + -0.02839507264321245, + 0.9841030333680487, + 0.10844532625867558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9829528496417735, + -0.028219060878523758, + 0.18167933284843196, + 0.06836734706294571 + ], + [ + 0.02242336497435027, + 0.9991744480467247, + 0.033876467846430044, + -0.05032340818087633 + ], + [ + -0.18248530922883693, + -0.029225108616689473, + 0.9827741372980867, + 0.1122451393277959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9822725088248276, + -0.028798832022387085, + 0.18523321970188045, + 0.06978356836583548 + ], + [ + 0.022793292623118643, + 0.9991457743467385, + 0.03447009452341548, + -0.05148252040335063 + ], + [ + -0.1860676871957505, + -0.02963695124675689, + 0.9820898466547863, + 0.11416420620915813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9808399300963424, + -0.02999442352978182, + 0.19249250916780772, + 0.07273152024522161 + ], + [ + 0.02355323528319705, + 0.999086242885229, + 0.03566404891724707, + -0.0531133994516219 + ], + [ + -0.19338634035602628, + -0.030446901888262802, + 0.9806501463463461, + 0.11781390201822828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9793186738911709, + -0.031227597819033323, + 0.19989940495782174, + 0.07583118796702008 + ], + [ + 0.02433072873828169, + 0.9990239639034796, + 0.03686645067867741, + -0.05530583036663014 + ], + [ + -0.2008555466177189, + -0.031240305392743934, + 0.9791226137271396, + 0.12131202096325891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9785364899704656, + -0.03184641237397958, + 0.2035979956069992, + 0.0774021891306709 + ], + [ + 0.024716023034315353, + 0.9989920569936181, + 0.037469831451810674, + -0.05702632054117115 + ], + [ + -0.20458606013521163, + -0.03163346459947674, + 0.9783372976207059, + 0.12308142468193177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9769290689137242, + -0.03308845008557666, + 0.21098518616788814, + 0.08050769794536503 + ], + [ + 0.025479677985935315, + 0.9989267107190316, + 0.038680907716718047, + -0.05921832466171864 + ], + [ + -0.2120386293133804, + -0.032412668557070645, + 0.9767236244690268, + 0.12658230036176824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9752643239653226, + -0.03433630405153521, + 0.2183586879987676, + 0.08361660993737419 + ], + [ + 0.026234050116572916, + 0.9988593244377922, + 0.039897676601007896, + -0.061410060866238715 + ], + [ + -0.21947955033429364, + -0.033182347833720253, + 0.975052644105588, + 0.13008463591160033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9744104859828234, + -0.03496238884298064, + 0.22204016792713457, + 0.08519419922581288 + ], + [ + 0.026607741016378198, + 0.9988248675481832, + 0.040508173068648026, + -0.06313009171659888 + ], + [ + -0.22319550381834138, + -0.033563601322659314, + 0.9741956947870024, + 0.13185731648016547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9726599427739427, + -0.03621882728085722, + 0.22939231084190698, + 0.08830903469154927 + ], + [ + 0.02734810457418327, + 0.9987544288445542, + 0.041733344457255864, + -0.06532136808374885 + ], + [ + -0.23061811919099112, + -0.034318907526141695, + 0.9724389418811971, + 0.1353622423414634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.970855515677001, + -0.037483644307890515, + 0.23671616778104612, + 0.0912446612785126 + ], + [ + 0.028105562376177076, + 0.9986852738696443, + 0.04286958268321123, + -0.06755815185038937 + ], + [ + -0.2380118590387119, + -0.03496712978374707, + 0.9706326054649221, + 0.1387540284343068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9699336247665912, + -0.0381191426234658, + 0.24036575153876177, + 0.09264625127370062 + ], + [ + 0.0284943672812748, + 0.9986516666621871, + 0.04339262271488097, + -0.06932349660999441 + ], + [ + -0.24169574795676835, + -0.0352388938317885, + 0.9697120117752128, + 0.14041507248290247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9680474688589132, + -0.039393150255338724, + 0.24765354378407678, + 0.09540513295991672 + ], + [ + 0.029265980292862023, + 0.9985831552528266, + 0.04444304718183724, + -0.07160562893265886 + ], + [ + -0.24905340879688664, + -0.03577515560091256, + 0.9678287750466925, + 0.14369405296924417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9661049072246037, + -0.040671109909896225, + 0.25492581088473004, + 0.09816743184654522 + ], + [ + 0.03002955969562016, + 0.9985129178956499, + 0.04549921252068524, + -0.07388748857736568 + ], + [ + -0.25639721874666893, + -0.03630170263517177, + 0.9658895654290715, + 0.14697380336933538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9651125099356633, + -0.04131154819919402, + 0.2585559884262399, + 0.09957568569084249 + ], + [ + 0.0304083227007391, + 0.9984771532772819, + 0.04602942856285719, + -0.07565236242032064 + ], + [ + -0.2600637942432817, + -0.03656132339892974, + 0.9648990064017617, + 0.1486368061521185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9630855555821036, + -0.04259529448331948, + 0.26580416384434286, + 0.10234393190509825 + ], + [ + 0.031159767392855843, + 0.9984043347978558, + 0.04709408830070176, + -0.07793375587542732 + ], + [ + -0.2673860159491032, + -0.03707324027827173, + 0.962876052942504, + 0.15191795953255421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.962051028406404, + -0.043238583548372234, + 0.26942205484130494, + 0.10375637024932022 + ], + [ + 0.03153243799925379, + 0.9983672820105594, + 0.04762851629719031, + -0.07969832406740607 + ], + [ + -0.27104155418681447, + -0.0373255288452681, + 0.9618436883404794, + 0.15358211752700301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9599399503312273, + -0.044527946095766345, + 0.27664517666963495, + 0.10653059266025613 + ], + [ + 0.03227164825631091, + 0.998291892072643, + 0.04870152914276397, + -0.08197923420675204 + ], + [ + -0.2783412159147508, + -0.037822747633072216, + 0.9597372595062583, + 0.15686456895310946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.957804290937839, + -0.04567747017332266, + 0.28376840729656494, + 0.1089971665509265 + ], + [ + 0.03289176055593254, + 0.9982243348363887, + 0.04966195151200837, + -0.08296982205752007 + ], + [ + -0.28553296193013367, + -0.03823278774841155, + 0.9576059636366047, + 0.16005857609507296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9567161163393415, + -0.04625335138697908, + 0.28732368545255776, + 0.11026051296555264 + ], + [ + 0.03319909954152884, + 0.9981900679694752, + 0.050143872972939874, + -0.08408888939914942 + ], + [ + -0.28912297128765013, + -0.03843456377490592, + 0.9565200948130852, + 0.16167977279147627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9544991551202524, + -0.04740731100069882, + 0.2944213133222648, + 0.11273241682172196 + ], + [ + 0.033808321216043, + 0.9981205601874339, + 0.05111110200021067, + -0.08507904941485722 + ], + [ + -0.29629100609245135, + -0.03883161334281776, + 0.9543079930053593, + 0.1648746929419541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9522281505046911, + -0.04856414518976812, + 0.3015013651518055, + 0.11520740320398083 + ], + [ + 0.03441023884070983, + 0.9980497569943966, + 0.052082799716904764, + -0.08606894660160397 + ], + [ + -0.30344272087057966, + -0.03921997406186078, + 0.9520421780495055, + 0.1680700083579919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9510724223849107, + -0.04914361958408548, + 0.3050346734931503, + 0.11647676903957502 + ], + [ + 0.034708447861888224, + 0.9980138708810997, + 0.05257030697972456, + -0.08718755387293306 + ], + [ + -0.3070123304134814, + -0.039410889143719915, + 0.9508891685107076, + 0.16969243543126195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9487205971315126, + -0.05030464155209942, + 0.31208760247203204, + 0.11895711627228561 + ], + [ + 0.03529934500628529, + 0.9979411321860485, + 0.053548603467831836, + -0.0881770027855458 + ], + [ + -0.31413879865523386, + -0.039786175105715325, + 0.9485430277272107, + 0.17288851426740887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9463150589173319, + -0.05146837241720526, + 0.3191219451980868, + 0.12144056245495541 + ], + [ + 0.03588285283951626, + 0.9978671083402453, + 0.05453122926154375, + -0.08916617667799139 + ], + [ + -0.3212479262787302, + -0.040152717634069184, + 0.9461435034540027, + 0.1760848974195218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9450913978755854, + -0.05202721677206733, + 0.3226382159269486, + 0.12261388407598929 + ], + [ + 0.036173203561502595, + 0.9978338964793172, + 0.05494555833733377, + -0.09063954834739668 + ], + [ + -0.32479801262580116, + -0.04025771667463977, + 0.9449262231743145, + 0.17779849601967224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9426039045872435, + -0.05314602364796276, + 0.3296564563713157, + 0.12489837138132909 + ], + [ + 0.03674920460213963, + 0.997766693536116, + 0.05577742582009888, + -0.09233877481470265 + ], + [ + -0.331884580868098, + -0.040461406802244734, + 0.9424518552910756, + 0.18117542297281744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400629682772518, + -0.054266268210171005, + 0.3366552952328309, + 0.12718576532744 + ], + [ + 0.03731891108992429, + 0.9976984548324223, + 0.05661353283499951, + -0.09403775429791303 + ], + [ + -0.33895267302209764, + -0.04065667669078507, + 0.9399245289339118, + 0.184552217108053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.93877250417308, + -0.054826909653699483, + 0.3401473142425646, + 0.12836481925891746 + ], + [ + 0.03760139370501552, + 0.997663948284729, + 0.05703316126926824, + -0.09551069026773076 + ], + [ + -0.3424796645058584, + -0.04075115054511975, + 0.9386410512699751, + 0.1862660237014932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9361516760981415, + -0.05594919088245687, + 0.34711630238039654, + 0.13065727531143181 + ], + [ + 0.038161597531842326, + 0.9975941632585454, + 0.05787553806488941, + -0.0972092489497216 + ], + [ + -0.3495192867531893, + -0.040933769336346036, + 0.9360345585048988, + 0.1896426719172152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9334777731230721, + -0.05707274986732924, + 0.35406489279194575, + 0.13295263928750725 + ], + [ + 0.03871542622400992, + 0.9975233523153071, + 0.0587220346882267, + -0.09890755109578261 + ], + [ + -0.3565394267924432, + -0.041107940938623085, + 0.9333754733944444, + 0.19301910090479935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9321209661034501, + -0.05763498848891542, + 0.3575314149165831, + 0.1341374334971866 + ], + [ + 0.038989940006025015, + 0.9974875633850135, + 0.05914681285205048, + -0.10038003459431383 + ], + [ + -0.3600420657766226, + -0.04119185591972643, + 0.9320262560020458, + 0.19473296794705303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9295808056145715, + -0.05866465573499176, + 0.36392029896731404, + 0.13638321718845942 + ], + [ + 0.039519823131855286, + 0.9974254044682784, + 0.05983933573259389, + -0.10229301379258943 + ], + [ + -0.36649380542185317, + -0.04124343206846529, + 0.9295059278448001, + 0.19806283266247882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9272122034657905, + -0.059598596520615756, + 0.36976416407879026, + 0.13857680759596236 + ], + [ + 0.040031205788290315, + 0.9973727165677034, + 0.06037521684843118, + -0.10442090432840466 + ], + [ + -0.37239096700544344, + -0.0411785325033856, + 0.9271619578874116, + 0.20134586329276774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9260137676237944, + -0.06006539456687743, + 0.3726803597544559, + 0.1397120046990645 + ], + [ + 0.040285608289437724, + 0.9973461442303617, + 0.060644359618850834, + -0.10610812227139177 + ], + [ + -0.3753339472202526, + -0.04114385694554961, + 0.9259760316010932, + 0.20301284487537027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9235886874197323, + -0.06099862220053173, + 0.3785011288753747, + 0.14190961937271399 + ], + [ + 0.040791822685372514, + 0.9972925441344291, + 0.06118503588201108, + -0.10823570333530858 + ], + [ + -0.3812085566619686, + -0.04107005604469822, + 0.9235763567914589, + 0.20629482104763253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9211260783260146, + -0.06193132688263097, + 0.38430620418917716, + 0.14410952135718652 + ], + [ + 0.041294565772472015, + 0.9972383386320081, + 0.06172888141004409, + -0.11036309742591782 + ], + [ + -0.38706783212429297, + -0.0409903246270265, + 0.921139667271783, + 0.2095760937974209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.919880731730203, + -0.06239747124444092, + 0.387202782755762, + 0.14524932685141956 + ], + [ + 0.041544629170712694, + 0.9972110095423354, + 0.06200198573130065, + -0.1120499805884509 + ], + [ + -0.389991645011242, + -0.04094823597977828, + 0.9199074729512583, + 0.21124205217515077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9173620178441495, + -0.06332932027709376, + 0.39298387423678316, + 0.14745323215045206 + ], + [ + 0.042042126945269806, + 0.9971559000774523, + 0.06255054358392109, + -0.1141770558904424 + ], + [ + -0.39582747223863624, + -0.04085961495128748, + 0.9174154479226978, + 0.2145221732563401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.91608867620067, + -0.06379501545939938, + 0.39586832828535184, + 0.14859590950970294 + ], + [ + 0.04228955625582345, + 0.9971281202633933, + 0.06282599152960379, + -0.11586372655345785 + ], + [ + -0.3987394271558679, + -0.04081308347242707, + 0.9161556425896658, + 0.21618745761697256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9139866533565892, + -0.0645029045034529, + 0.400584289253386, + 0.15073733420315547 + ], + [ + 0.04267077413984681, + 0.9970886125787888, + 0.06319417457339162, + -0.11714139057802131 + ], + [ + -0.40349424100020087, + -0.040665390399263965, + 0.9140780729802828, + 0.21932234579185558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9118598029392051, + -0.06520999806793099, + 0.4052892250426287, + 0.15288045404300799 + ], + [ + 0.04305005744580259, + 0.9970487803303124, + 0.06356431542736413, + -0.11841892540551027 + ], + [ + -0.4082381563959782, + -0.04051401971931175, + 0.9119759985156386, + 0.22245651995841922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9107870854386682, + -0.06556324053542253, + 0.4076375184997456, + 0.15399362516878126 + ], + [ + 0.04323897040670368, + 0.9970287428327822, + 0.0637501168896979, + -0.11968078698618788 + ], + [ + -0.4106059868490769, + -0.04043695655926974, + 0.9109157898005278, + 0.2240486081977694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9086231023187396, + -0.06626910483315634, + 0.4123256767135433, + 0.15613971984566075 + ], + [ + 0.043615332522642984, + 0.996988425772271, + 0.06412317556912023, + -0.12095810073271478 + ], + [ + -0.41533331277614677, + -0.04028007721865825, + 0.9087770654443532, + 0.22718158818674472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9064344374838048, + -0.06697412562064042, + 0.41700249044912074, + 0.15828749694103525 + ], + [ + 0.04398973437386113, + 0.9969477868724032, + 0.06449816679514675, + -0.12223528230725314 + ], + [ + -0.4200494182987705, + -0.040119530749600084, + 0.9066139803903844, + 0.23031381843234494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9053308679968238, + -0.06732631370569611, + 0.41933660338076845, + 0.15940409376523698 + ], + [ + 0.04417619701635488, + 0.9969273470777285, + 0.0646863839284183, + -0.12349690277864958 + ], + [ + -0.4224032233178268, + -0.040037883702372844, + 0.9055233209582985, + 0.2319046719147733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9031052923974192, + -0.06803003328652196, + 0.42399616202839246, + 0.161554824803005 + ], + [ + 0.04454763939669601, + 0.9968862274937061, + 0.06506425483742198, + -0.12477385833915466 + ], + [ + -0.4271022578586468, + -0.03987184475794625, + 0.9033238053586568, + 0.23503564880476868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_052/move_left/transforms.json b/spatialvid_eval/camera_controls/scene_052/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..6d0d4dfb5756fbb6eedbd70e5fd82d2104af82de --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_052/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": [ + [ + 0.9999999852230789, + -0.0001592555185181777, + 6.474196424313855e-05, + 4.7279135628466675e-05 + ], + [ + 0.00015925914668826204, + 0.9999999857480673, + -5.603917746133868e-05, + -7.772513111711447e-05 + ], + [ + -6.473303877217649e-05, + 5.604948738323246e-05, + 0.9999999963340443, + -0.0003366873388506274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999904249866112, + -0.000814685737454414, + 0.004299560703872008, + 0.0009721013028531856 + ], + [ + 0.0008105414280049092, + 0.9999992053715807, + 0.0009655458564294232, + -2.522810571851688e-05 + ], + [ + -0.004300343903756973, + -0.00096205163924221, + 0.9999902907023414, + 0.0031892790562635938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999787584069612, + -0.001144015985310554, + 0.006416694031802606, + 0.000809547537298038 + ], + [ + 0.0011345582691327954, + 0.9999982650762126, + 0.0014773699938410829, + -2.9622351454086757e-07 + ], + [ + -0.0064183730342166675, + -0.0014700584988746293, + 0.9999783214728225, + 0.004960245041586701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999941652607804, + -0.0018058987698508961, + 0.010650357252551984, + 0.0017345234344941594 + ], + [ + 0.0017793354932570825, + 0.9999952842940345, + 0.0025030690952359564, + 4.937786624218079e-05 + ], + [ + -0.01065482731799869, + -0.002483972489006429, + 0.999940150476766, + 0.00850474567667818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998861839259582, + -0.002472067228115251, + 0.014883147436116007, + 0.002659683910601616 + ], + [ + 0.0024197603558845605, + 0.9999908366410982, + 0.003531486040898561, + 9.746177474607577e-05 + ], + [ + -0.01489174112740271, + -0.0034950704508851533, + 0.9998830034202694, + 0.012059839745107223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998515638264588, + -0.002806754548635844, + 0.01699918947153534, + 0.0024974476555450313 + ], + [ + 0.0027383367649352827, + 0.9999880627639534, + 0.004046707471284559, + 0.00011920107283645494 + ], + [ + -0.017010344662800037, + -0.003999557288008074, + 0.9998473142015001, + 0.013851991176229973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997685529500219, + -0.003479327254569387, + 0.02123051610477395, + 0.003423065980793217 + ], + [ + 0.0033722098113984703, + 0.9999814149755907, + 0.0050791637504031635, + 0.00016453430621541566 + ], + [ + -0.021247793607981118, + -0.0050063944382272045, + 0.9997617052485666, + 0.017425625939381857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9996671825497393, + -0.004156153162854427, + 0.02546076440237406, + 0.004349052479066147 + ], + [ + 0.004001699588073383, + 0.9999733005855915, + 0.006114287886992962, + 0.00020832121058886582 + ], + [ + -0.025485496531814256, + -0.006010366614867239, + 0.9996571236977616, + 0.021009856547209896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995777539565995, + -0.004569126204660821, + 0.02869558991910636, + 0.004153751657293876 + ], + [ + 0.0043785310983552195, + 0.9999679600617167, + 0.0067012920716484035, + 0.0002951442874702071 + ], + [ + -0.028725289563386006, + -0.006572817944739023, + 0.999565733608233, + 0.023305836677587732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9993669784083009, + -0.005400519296211359, + 0.03516357289004943, + 0.005013428430733498 + ], + [ + 0.005126474318895107, + 0.9999558198360786, + 0.007878936286933352, + 0.000472443795304692 + ], + [ + -0.035204569705086286, + -0.007693683596762668, + 0.999350511834858, + 0.027878085849930796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9992456337664255, + -0.005818930221330161, + 0.03839665935747673, + 0.004819125386230071 + ], + [ + 0.005497577820398796, + 0.9999490202675556, + 0.008469563392795547, + 0.0005569904251065284 + ], + [ + -0.038443985704443726, + -0.008252085617297832, + 0.999226682513093, + 0.030194309591451474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9989710374060576, + -0.006661157869788876, + 0.04486084483933693, + 0.00568062178494411 + ], + [ + 0.0062340282414214, + 0.9999339625922301, + 0.009654395190061997, + 0.0007311792924804718 + ], + [ + -0.044922191795931696, + -0.009364797404881834, + 0.9989465937945908, + 0.03479489056613469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9986539085171235, + -0.007510562404569714, + 0.05132214391312582, + 0.006543442662487563 + ], + [ + 0.0069627763129251246, + 0.9999169607589554, + 0.010843953734215721, + 0.0009036425690446418 + ], + [ + -0.05139932635247959, + -0.01047201217248654, + 0.9986232754205014, + 0.03941165098302252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9984793986521645, + -0.007937944363747049, + 0.054551622400162675, + 0.0063513499326302535 + ], + [ + 0.0073242519567809, + 0.9999077310129996, + 0.011440489225052763, + 0.0009846586359100805 + ], + [ + -0.05463740294418709, + -0.011023542974607285, + 0.9984454094740491, + 0.04176024421497572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9980984976575604, + -0.008798044212920552, + 0.061008060055604676, + 0.007216694192687629 + ], + [ + 0.008041386624580543, + 0.9998878143689367, + 0.012637039909124858, + 0.0011541404972161134 + ], + [ + -0.06111239706372831, + -0.01212242115001341, + 0.9980572738227936, + 0.046405304024542626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9976795233194805, + -0.009752508147947059, + 0.0673829157415922, + 0.008084904376579664 + ], + [ + 0.008841826036973493, + 0.9998656809750154, + 0.01380007683677615, + 0.0006721219606411974 + ], + [ + -0.06750845029584211, + -0.01317226606143583, + 0.9976317459591294, + 0.050909561719637925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9974567349461407, + -0.010275844123667626, + 0.07052991520008184, + 0.007896849406538595 + ], + [ + 0.009284827163488921, + 0.999853715745387, + 0.014364508160296264, + 9.965757478359812e-05 + ], + [ + -0.07066720523077721, + -0.013673117336188013, + 0.9974062321678074, + 0.05313333825247258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.996980564719934, + -0.011327235528916032, + 0.07682087806055017, + 0.008769324438445778 + ], + [ + 0.010165449412540042, + 0.999828230248954, + 0.015497536432800461, + -0.001035765843525247 + ], + [ + -0.07698322680274285, + -0.014669823874789725, + 0.9969244600562874, + 0.05750831945994763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9964636200493321, + -0.012384882675364592, + 0.08310757245460916, + 0.009643907320917376 + ], + [ + 0.011038867501079812, + 0.9998006722716039, + 0.016636079151736406, + -0.0021732287238452144 + ], + [ + -0.08329704269945158, + -0.01565983417430366, + 0.9964017122983878, + 0.061899041093659304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9961898640222826, + -0.012916038265942247, + 0.08624923637214794, + 0.009459418168139621 + ], + [ + 0.011472863497944722, + 0.9997861164612508, + 0.017207403478957706, + -0.0027498867939281797 + ], + [ + -0.08645304056204998, + -0.016152315216179807, + 0.9961249793528589, + 0.06415433321753648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9956117989715895, + -0.013982985567594565, + 0.09252903254207348, + 0.010337809797662065 + ], + [ + 0.012335406588754327, + 0.9997554519621519, + 0.0183541280436801, + -0.0038908956121329985 + ], + [ + -0.09276305025626189, + -0.017132203202452685, + 0.9955408098719933, + 0.06857258150312666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9949930170234713, + -0.015056076954840314, + 0.09880389982819596, + 0.011218715408368655 + ], + [ + 0.013190654287618316, + 0.9997227180419506, + 0.01950624695525227, + -0.0050338692840262685 + ], + [ + -0.09907019084464708, + -0.018105291423909153, + 0.9949157229175045, + 0.07300652949892439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9946683652758591, + -0.015594912591866907, + 0.10193940268954939, + 0.01103849072679013 + ], + [ + 0.013615531116438874, + 0.9997055754756117, + 0.020084314162880743, + -0.00561459379545943 + ], + [ + -0.10222260235323381, + -0.018589272826768623, + 0.9945878435331413, + 0.07529327442523248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9938677725734153, + -0.01672668951444906, + 0.10930264634420035, + 0.012350224747799978 + ], + [ + 0.01447180133278864, + 0.9996664481576117, + 0.021390638001921432, + -0.006032066744728715 + ], + [ + -0.10962398280550846, + -0.01967765956185258, + 0.9937783314743914, + 0.0789412360649959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9930113861669612, + -0.017866478411982707, + 0.11665837257533168, + 0.013665634061686253 + ], + [ + 0.015318307724062553, + 0.9996248859271952, + 0.0227032350891507, + -0.006451387454786598 + ], + [ + -0.11702023923767063, + -0.020757562096654653, + 0.9929125778358144, + 0.08260754743528659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9925622856143276, + -0.018439356852943883, + 0.12033328423554489, + 0.013704430439952068 + ], + [ + 0.01573788422603414, + 0.999603192462481, + 0.02336186248792766, + -0.006671564988455129 + ], + [ + -0.12071631280051005, + -0.02129431233138763, + 0.9924586258812925, + 0.0845230218825819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9916223021457244, + -0.019591040471703774, + 0.1276769400496805, + 0.015026329483073177 + ], + [ + 0.016569653632916206, + 0.9995579823959808, + 0.02468372757428469, + -0.007094105616115018 + ], + [ + -0.12810408450045152, + -0.022361372089216267, + 0.9915086043865625, + 0.08822141355264959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.990626654313066, + -0.02075057107770517, + 0.13501202007395574, + 0.01635245715715266 + ], + [ + 0.017391538377628066, + 0.9995103436647333, + 0.026011676225612207, + -0.007518392059943869 + ], + [ + -0.13548566771935922, + -0.023419793063895647, + 0.9905024720491532, + 0.09193806579073224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9901079740568394, + -0.021333258146782857, + 0.13867621211261788, + 0.01639835386693396 + ], + [ + 0.01779875918533118, + 0.999485614401872, + 0.026677907998473343, + -0.007742302094512354 + ], + [ + -0.13917400576445177, + -0.023945744936316803, + 0.989978382298786, + 0.09389021155636917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.989028938209844, + -0.022504433863314608, + 0.14599763641922384, + 0.017731886386225915 + ], + [ + 0.01860572835131791, + 0.9994343378621938, + 0.028014838469549854, + -0.008169638942414716 + ], + [ + -0.14654550916362172, + -0.024991093582508634, + 0.9888881933694653, + 0.09763878976061362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9879197154192096, + -0.023635086047212345, + 0.15315357845499047, + 0.019246911618747906 + ], + [ + 0.01938634674047872, + 0.9993862736070125, + 0.029176114990652858, + -0.00804503825027793 + ], + [ + -0.1537491640500396, + -0.02585457084213035, + 0.9877716009890564, + 0.10182011385978548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9873452016436804, + -0.024202740669172544, + 0.15672804514604632, + 0.019389132158593406 + ], + [ + 0.0197734697884916, + 0.9993615064427063, + 0.029758853020381854, + -0.007995706680729294 + ], + [ + -0.15734822110123764, + -0.026283203470388868, + 0.9871933602550265, + 0.10401576635282031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9861564086725978, + -0.02534266810240317, + 0.16386972510935618, + 0.020912217926017614 + ], + [ + 0.02054131708274819, + 0.999310503736619, + 0.030928488714631084, + -0.007874006367565708 + ], + [ + -0.16454054797061582, + -0.027134227372757492, + 0.985997029294923, + 0.10822814985844867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9855421457578442, + -0.02591492530209882, + 0.1674368405746205, + 0.02105971853572821 + ], + [ + 0.020922030813142287, + 0.999284268893332, + 0.03151537036071493, + -0.007826821934213168 + ], + [ + -0.16813371928818494, + -0.02755660699189475, + 0.9853789554528837, + 0.1104460464375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9842739291321742, + -0.027063987481772345, + 0.1745633782106038, + 0.022591405610757384 + ], + [ + 0.021677012370712397, + 0.9992303340227283, + 0.03269322106349914, + -0.00770793014675686 + ], + [ + -0.17531383164311887, + -0.02839507264321245, + 0.9841030333680487, + 0.1146893735161716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9829528496417735, + -0.028219060878523758, + 0.18167933284843196, + 0.024128575977682712 + ], + [ + 0.02242336497435027, + 0.9991744480467247, + 0.033876467846430044, + -0.007590548296459943 + ], + [ + -0.18248530922883693, + -0.029225108616689473, + 0.9827741372980867, + 0.11895027310457734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9822725088248276, + -0.028798832022387085, + 0.18523321970188045, + 0.024285358027710813 + ], + [ + 0.022793292623118643, + 0.9991457743467385, + 0.03447009452341548, + -0.007546658725787725 + ], + [ + -0.1860676871957505, + -0.02963695124675689, + 0.9820898466547863, + 0.12120358932686284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9808399300963424, + -0.02999442352978182, + 0.19249250916780772, + 0.025980431390013367 + ], + [ + 0.02355323528319705, + 0.999086242885229, + 0.03566404891724707, + -0.007994997850027918 + ], + [ + -0.19338634035602628, + -0.030446901888262802, + 0.9806501463463461, + 0.12534985104736235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9793186738911709, + -0.031227597819033323, + 0.19989940495782174, + 0.027830240060785383 + ], + [ + 0.02433072873828169, + 0.9990239639034796, + 0.03686645067867741, + -0.009007901696283235 + ], + [ + -0.2008555466177189, + -0.031240305392743934, + 0.9791226137271396, + 0.1293687449214452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9785364899704656, + -0.03184641237397958, + 0.2035979956069992, + 0.028146022641379193 + ], + [ + 0.024716023034315353, + 0.9989920569936181, + 0.037469831451810674, + -0.009530363885655127 + ], + [ + -0.20458606013521163, + -0.03163346459947674, + 0.9783372976207059, + 0.13151286371429885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9769290689137242, + -0.03308845008557666, + 0.21098518616788814, + 0.03000682199539998 + ], + [ + 0.025479677985935315, + 0.9989267107190316, + 0.038680907716718047, + -0.01054597302506382 + ], + [ + -0.2120386293133804, + -0.032412668557070645, + 0.9767236244690268, + 0.13556359839958373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9752643239653226, + -0.03433630405153521, + 0.2183586879987676, + 0.03187457775151021 + ], + [ + 0.026234050116572916, + 0.9988593244377922, + 0.039897676601007896, + -0.011563015557276218 + ], + [ + -0.21947955033429364, + -0.033182347833720253, + 0.975052644105588, + 0.1396323675397547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9744104859828234, + -0.03496238884298064, + 0.22204016792713457, + 0.03220212329745816 + ], + [ + 0.026607741016378198, + 0.9988248675481832, + 0.040508173068648026, + -0.01208869257367911 + ], + [ + -0.22319550381834138, + -0.033563601322659314, + 0.9741956947870024, + 0.14181299136118877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9726599427739427, + -0.03621882728085722, + 0.22939231084190698, + 0.03408180080110377 + ], + [ + 0.02734810457418327, + 0.9987544288445542, + 0.041733344457255864, + -0.013108278154216405 + ], + [ + -0.23061811919099112, + -0.034318907526141695, + 0.9724389418811971, + 0.14591332496844905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.970855515677001, + -0.037483644307890515, + 0.23671616778104612, + 0.03578600747934356 + ], + [ + 0.028105562376177076, + 0.9986852738696443, + 0.04286958268321123, + -0.01417626771824866 + ], + [ + -0.2380118590387119, + -0.03496712978374707, + 0.9706326054649221, + 0.14992148854332984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9699336247665912, + -0.0381191426234658, + 0.24036575153876177, + 0.03594328310800991 + ], + [ + 0.0284943672812748, + 0.9986516666621871, + 0.04339262271488097, + -0.014752148519818093 + ], + [ + -0.24169574795676835, + -0.0352388938317885, + 0.9697120117752128, + 0.1520282705274326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9680474688589132, + -0.039393150255338724, + 0.24765354378407678, + 0.03747729736084722 + ], + [ + 0.029265980292862023, + 0.9985831552528266, + 0.04444304718183724, + -0.015869891372460882 + ], + [ + -0.24905340879688664, + -0.03577515560091256, + 0.9678287750466925, + 0.1559575525280127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9661049072246037, + -0.040671109909896225, + 0.25492581088473004, + 0.03901934083989334 + ], + [ + 0.03002955969562016, + 0.9985129178956499, + 0.04549921252068524, + -0.01698909128311393 + ], + [ + -0.25639721874666893, + -0.03630170263517177, + 0.9658895654290715, + 0.15990441494088584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9651125099356633, + -0.04131154819919402, + 0.2585559884262399, + 0.03919024220275104 + ], + [ + 0.0304083227007391, + 0.9984771532772819, + 0.04602942856285719, + -0.01756823258572806 + ], + [ + -0.2600637942432817, + -0.03656132339892974, + 0.9648990064017617, + 0.1620469544027796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9630855555821036, + -0.04259529448331948, + 0.26580416384434286, + 0.04074597983859107 + ], + [ + 0.031159767392855843, + 0.9984043347978558, + 0.04709408830070176, + -0.018690026121871064 + ], + [ + -0.2673860159491032, + -0.03707324027827173, + 0.962876052942504, + 0.16602461704239266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.962051028406404, + -0.043238583548372234, + 0.26942205484130494, + 0.04092576950214671 + ], + [ + 0.03153243799925379, + 0.9983672820105594, + 0.04762851629719031, + -0.019271146316699468 + ], + [ + -0.27104155418681447, + -0.0373255288452681, + 0.9618436883404794, + 0.16818936911084967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9599399503312273, + -0.044527946095766345, + 0.27664517666963495, + 0.04249576426303528 + ], + [ + 0.03227164825631091, + 0.998291892072643, + 0.04870152914276397, + -0.020395443663460862 + ], + [ + -0.2783412159147508, + -0.037822747633072216, + 0.9597372595062583, + 0.17219762130606647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.957804290937839, + -0.04567747017332266, + 0.28376840729656494, + 0.043770852078700996 + ], + [ + 0.03289176055593254, + 0.9982243348363887, + 0.04966195151200837, + -0.020223204729290414 + ], + [ + -0.28553296193013367, + -0.03823278774841155, + 0.9576059636366047, + 0.1761330874168849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9567161163393415, + -0.04625335138697908, + 0.28732368545255776, + 0.043813785728683885 + ], + [ + 0.03319909954152884, + 0.9981900679694752, + 0.050143872972939874, + -0.020158237740797964 + ], + [ + -0.28912297128765013, + -0.03843456377490592, + 0.9565200948130852, + 0.17828787978919558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9544991551202524, + -0.04740731100069882, + 0.2944213133222648, + 0.04510373035855775 + ], + [ + 0.033808321216043, + 0.9981205601874339, + 0.05111110200021067, + -0.01998797328428834 + ], + [ + -0.29629100609245135, + -0.03883161334281776, + 0.9543079930053593, + 0.18225320195255434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9522281505046911, + -0.04856414518976812, + 0.3015013651518055, + 0.04640293287498676 + ], + [ + 0.03441023884070983, + 0.9980497569943966, + 0.052082799716904764, + -0.019818729728538 + ], + [ + -0.30344272087057966, + -0.03921997406186078, + 0.9520421780495055, + 0.18623532220109135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9510724223849107, + -0.04914361958408548, + 0.3050346734931503, + 0.046461646101745274 + ], + [ + 0.034708447861888224, + 0.9980138708810997, + 0.05257030697972456, + -0.019756174261588252 + ], + [ + -0.3070123304134814, + -0.039410889143719915, + 0.9508891685107076, + 0.18842453632014527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9487205971315126, + -0.05030464155209942, + 0.31208760247203204, + 0.047776568016078255 + ], + [ + 0.03529934500628529, + 0.9979411321860485, + 0.053548603467831836, + -0.019588775448987662 + ], + [ + -0.31413879865523386, + -0.039786175105715325, + 0.9485430277272107, + 0.19243613869531206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9463150589173319, + -0.05146837241720526, + 0.3191219451980868, + 0.04910126368320146 + ], + [ + 0.03588285283951626, + 0.9978671083402453, + 0.05453122926154375, + -0.019422318154188524 + ], + [ + -0.3212479262787302, + -0.040152717634069184, + 0.9461435034540027, + 0.19646430004625973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9450913978755854, + -0.05202721677206733, + 0.3226382159269486, + 0.049076386245724885 + ], + [ + 0.036173203561502595, + 0.9978338964793172, + 0.05494555833733377, + -0.019717072244707857 + ], + [ + -0.32479801262580116, + -0.04025771667463977, + 0.9449262231743145, + 0.19878334284607038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9426039045872435, + -0.05314602364796276, + 0.3296564563713157, + 0.05021712676368861 + ], + [ + 0.03674920460213963, + 0.997766693536116, + 0.05577742582009888, + -0.020262463144654397 + ], + [ + -0.331884580868098, + -0.040461406802244734, + 0.9424518552910756, + 0.20303216102775645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400629682772518, + -0.054266268210171005, + 0.3366552952328309, + 0.051368161045274 + ], + [ + 0.03731891108992429, + 0.9976984548324223, + 0.05661353283499951, + -0.02080881408754754 + ], + [ + -0.33895267302209764, + -0.04065667669078507, + 0.9399245289339118, + 0.20729728682831558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.93877250417308, + -0.054826909653699483, + 0.3401473142425646, + 0.05136086468734204 + ], + [ + 0.03760139370501552, + 0.997663948284729, + 0.05703316126926824, + -0.02110584228780296 + ], + [ + -0.3424796645058584, + -0.04075115054511975, + 0.9386410512699751, + 0.20964998353345043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9361516760981415, + -0.05594919088245687, + 0.34711630238039654, + 0.05252933203670966 + ], + [ + 0.038161597531842326, + 0.9975941632585454, + 0.05787553806488941, + -0.021653934398743732 + ], + [ + -0.3495192867531893, + -0.040933769336346036, + 0.9360345585048988, + 0.2139437814137916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9334777731230721, + -0.05707274986732924, + 0.35406489279194575, + 0.05370859744827512 + ], + [ + 0.03871542622400992, + 0.9975233523153071, + 0.0587220346882267, + -0.022202917008478828 + ], + [ + -0.3565394267924432, + -0.041107940938623085, + 0.9333754733944444, + 0.21825361977310495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9321209661034501, + -0.05763498848891542, + 0.3575314149165831, + 0.053719762186556885 + ], + [ + 0.038989940006025015, + 0.9974875633850135, + 0.05914681285205048, + -0.02250210269477101 + ], + [ + -0.3600420657766226, + -0.04119185591972643, + 0.9320262560020458, + 0.22063954749792586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9295808056145715, + -0.05866465573499176, + 0.36392029896731404, + 0.05485296662712043 + ], + [ + 0.039519823131855286, + 0.9974254044682784, + 0.05983933573259389, + -0.023265803332334505 + ], + [ + -0.36649380542185317, + -0.04124343206846529, + 0.9295059278448001, + 0.2248959884641333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9272122034657905, + -0.059598596520615756, + 0.36976416407879026, + 0.055931403097100846 + ], + [ + 0.040031205788290315, + 0.9973727165677034, + 0.06037521684843118, + -0.024243552800628808 + ], + [ + -0.37239096700544344, + -0.0411785325033856, + 0.9271619578874116, + 0.22908490468231507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9260137676237944, + -0.06006539456687743, + 0.3726803597544559, + 0.05589527591285737 + ], + [ + 0.040285608289437724, + 0.9973461442303617, + 0.060644359618850834, + -0.02475797671641322 + ], + [ + -0.3753339472202526, + -0.04114385694554961, + 0.9259760316010932, + 0.23141900254872005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9235886874197323, + -0.06099862220053173, + 0.3785011288753747, + 0.05698896391796619 + ], + [ + 0.040791822685372514, + 0.9972925441344291, + 0.06118503588201108, + -0.025737516110327444 + ], + [ + -0.3812085566619686, + -0.04107005604469822, + 0.9235763567914589, + 0.2356317667258721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9211260783260146, + -0.06193132688263097, + 0.38430620418917716, + 0.058091998401430034 + ], + [ + 0.041294565772472015, + 0.9972383386320081, + 0.06172888141004409, + -0.026718017300708413 + ], + [ + -0.38706783212429297, + -0.0409903246270265, + 0.921139667271783, + 0.2398578757034317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.919880731730203, + -0.06239747124444092, + 0.387202782755762, + 0.058072136337419894 + ], + [ + 0.041544629170712694, + 0.9972110095423354, + 0.06200198573130065, + -0.027234589330469385 + ], + [ + -0.389991645011242, + -0.04094823597977828, + 0.9199074729512583, + 0.24221965472669318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9173620178441495, + -0.06332932027709376, + 0.39298387423678316, + 0.059191011719540165 + ], + [ + 0.042042126945269806, + 0.9971559000774523, + 0.06255054358392109, + -0.028216816308545965 + ], + [ + -0.39582747223863624, + -0.04085961495128748, + 0.9174154479226978, + 0.24646928041220148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.91608867620067, + -0.06379501545939938, + 0.39586832828535184, + 0.05918152264572159 + ], + [ + 0.04228955625582345, + 0.9971281202633933, + 0.06282599152960379, + -0.028734707587767097 + ], + [ + -0.3987394271558679, + -0.04081308347242707, + 0.9161556425896658, + 0.24884823647808654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9139866533565892, + -0.0645029045034529, + 0.400584289253386, + 0.06022705010110156 + ], + [ + 0.04267077413984681, + 0.9970886125787888, + 0.06319417457339162, + -0.02885774052241917 + ], + [ + -0.40349424100020087, + -0.040665390399263965, + 0.9140780729802828, + 0.25288401447244224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9118598029392051, + -0.06520999806793099, + 0.4052892250426287, + 0.061280160198588965 + ], + [ + 0.04305005744580259, + 0.9970487803303124, + 0.06356431542736413, + -0.028981545135087473 + ], + [ + -0.4082381563959782, + -0.04051401971931175, + 0.9119759985156386, + 0.2569306577718567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9107870854386682, + -0.06556324053542253, + 0.4076375184997456, + 0.06124034420124262 + ], + [ + 0.04323897040670368, + 0.9970287428327822, + 0.0637501168896979, + -0.0290707586057104 + ], + [ + -0.4106059868490769, + -0.04043695655926974, + 0.9109157898005278, + 0.2592146660753011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9086231023187396, + -0.06626910483315634, + 0.4123256767135433, + 0.06230634490729077 + ], + [ + 0.043615332522642984, + 0.996988425772271, + 0.06412317556912023, + -0.029195940507438074 + ], + [ + -0.41533331277614677, + -0.04028007721865825, + 0.9087770654443532, + 0.263280462109153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9064344374838048, + -0.06697412562064042, + 0.41700249044912074, + 0.06338016203835183 + ], + [ + 0.04398973437386113, + 0.9969477868724032, + 0.06449816679514675, + -0.029321872188645286 + ], + [ + -0.4200494182987705, + -0.040119530749600084, + 0.9066139803903844, + 0.26735698246838907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9053308679968238, + -0.06732631370569611, + 0.41933660338076845, + 0.06335419707211312 + ], + [ + 0.04417619701635488, + 0.9969273470777285, + 0.0646863839284183, + -0.029412726710088936 + ], + [ + -0.4224032233178268, + -0.040037883702372844, + 0.9055233209582985, + 0.26966324920179935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9031052923974192, + -0.06803003328652196, + 0.42399616202839246, + 0.0644412922346109 + ], + [ + 0.04454763939669601, + 0.9968862274937061, + 0.06506425483742198, + -0.02953999952945363 + ], + [ + -0.4271022578586468, + -0.03987184475794625, + 0.9033238053586568, + 0.2737586901148387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_052/orbit_left/transforms.json b/spatialvid_eval/camera_controls/scene_052/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..66ac14d3d83cd342b21ec13925ace5bb64d74d0b --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_052/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": [ + [ + 0.9999999852230789, + -0.0001592555185181777, + 6.474196424313855e-05, + 4.7279135628466675e-05 + ], + [ + 0.00015925914668826204, + 0.9999999857480673, + -5.603917746133868e-05, + -7.772513111711447e-05 + ], + [ + -6.473303877217649e-05, + 5.604948738323246e-05, + 0.9999999963340443, + -0.0003366873388506274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999710001851905, + -0.000814685737454414, + 0.007571992853876067, + -0.0010112864525184772 + ], + [ + 0.0008073773520945558, + 0.9999992053715807, + 0.0009681931722053451, + -2.6425971198190966e-05 + ], + [ + -0.00757277561012385, + -0.00096205163924221, + 0.9999708633386286, + 0.003623739298601641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999153436616564, + -0.001144015985310554, + 0.012961355539337745, + -0.0031553781623496696 + ], + [ + 0.0011248646738182052, + 0.9999982650762126, + 0.0014847639645261697, + -3.5424559923253708e-06 + ], + [ + -0.012963031646083534, + -0.0014700584988746293, + 0.9999148957479095, + 0.005837564914322624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997889064207505, + -0.0018058987698508961, + 0.020466590522920394, + -0.004207234426842129 + ], + [ + 0.0017546763165970762, + 0.9999952842940345, + 0.0025204167744766123, + 4.197902801238412e-05 + ], + [ + -0.02047104562604991, + -0.002483972489006429, + 0.9997873604780418, + 0.009845907822487829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9996057068700971, + -0.002472067228115251, + 0.027969978125734457, + -0.005255007988959408 + ], + [ + 0.00237332732510334, + 0.9999908366410982, + 0.0035628571743601786, + 8.42631967319151e-05 + ], + [ + -0.0279785294492456, + -0.0034950704508851533, + 0.9996024141489465, + 0.013881603707853143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9994395854299959, + -0.002806754548635844, + 0.03335621687814856, + -0.007391067174216351 + ], + [ + 0.002671759063835547, + 0.9999880627639534, + 0.004090969701813874, + 0.00010063783428381292 + ], + [ + -0.03336730104493295, + -0.003999557288008074, + 0.9994351538556552, + 0.01615014978652504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9991590046217269, + -0.003479327254569387, + 0.04085557202115219, + -0.008431349614906129 + ], + [ + 0.0032718370468282614, + 0.9999814149755907, + 0.005144393623596833, + 0.00013734659365085425 + ], + [ + -0.04087271174829173, + -0.0050063944382272045, + 0.9991518190190468, + 0.020233671562296753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9988217157027302, + -0.004156153162854427, + 0.04835190411495266, + -0.009467077894767868 + ], + [ + 0.003860599212964425, + 0.9999733005855915, + 0.006204344419443041, + 0.00017094061560768518 + ], + [ + -0.04837639935310956, + -0.006010366614867239, + 0.9988110929894518, + 0.02434448790910689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9984840606513539, + -0.004569126204660822, + 0.054851651852151295, + -0.011623668930052948 + ], + [ + 0.004201611308948568, + 0.999967960061717, + 0.006813612288450015, + 0.00024843897368466406 + ], + [ + -0.054881026663066775, + -0.006572817944739025, + 0.9984712669760074, + 0.02716798662770895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.997898058459921, + -0.005400519296211359, + 0.06457785466590957, + -0.012707609766036593 + ], + [ + 0.00489223072978112, + 0.9999558198360786, + 0.00802648456314665, + 0.0004110510251629336 + ], + [ + -0.06461834879046875, + -0.007693683596762668, + 0.9978803917465793, + 0.03233794574667564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9974543216623233, + -0.005818930221330161, + 0.07107050195569288, + -0.01485473748086752 + ], + [ + 0.0052175180022709395, + 0.9999490202675556, + 0.008644904386510117, + 0.0004839245894176945 + ], + [ + -0.07111718289591365, + -0.008252085617297832, + 0.9974338320810631, + 0.035213492173459454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9967093412484433, + -0.006661157869788876, + 0.08078439232876826, + -0.015924344843634995 + ], + [ + 0.005882531380570721, + 0.9999339625922301, + 0.009872501160158583, + 0.0006402757223515979 + ], + [ + -0.08084481982570807, + -0.009364797404881834, + 0.9966827056174471, + 0.04045614772948804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9958690846312069, + -0.0075105624045697155, + 0.09048954485557645, + -0.016985032411263902 + ], + [ + 0.006531676639018735, + 0.9999169607589556, + 0.011108950754096413, + 0.0007931941607404049 + ], + [ + -0.0905654651403371, + -0.010472012172486542, + 0.9958354449832433, + 0.04574021921632323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9952559260394523, + -0.007937944363747049, + 0.09696716311530386, + -0.019115445835842182 + ], + [ + 0.006831065959490487, + 0.9999077310129996, + 0.011741635247785867, + 0.0008589802446506007 + ], + [ + -0.09705142050072724, + -0.011023542974607285, + 0.9952183194048821, + 0.04869877686891473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9942570742737327, + -0.008798044212920552, + 0.10665582344468845, + -0.020159999746335592 + ], + [ + 0.007454186538425245, + 0.9998878143689367, + 0.012992066023583666, + 0.001005997983123014 + ], + [ + -0.1067581629651214, + -0.01212242115001341, + 0.9942111151791526, + 0.05405521718131736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9931714516755992, + -0.009752508147947059, + 0.1162555640019322, + -0.021194062880134687 + ], + [ + 0.008154037994365433, + 0.9998656809750154, + 0.014217301880296167, + 0.0004969924319922811 + ], + [ + -0.11637860302035581, + -0.01317226606143583, + 0.9931175721765463, + 0.05929364391157944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9923985046013509, + -0.010275844123667627, + 0.12263610843690813, + -0.02330552611203727 + ], + [ + 0.008520322360022897, + 0.9998537157453872, + 0.014830752409246592, + -9.737215276064704e-05 + ], + [ + -0.1227705672051909, + -0.013673117336188017, + 0.9923408858302811, + 0.062175156506486105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9911666314725293, + -0.011327235528916032, + 0.1321378158994311, + -0.024321577894376917 + ], + [ + 0.009288002616020126, + 0.999828230248954, + 0.016038796857922095, + -0.0012666261028251536 + ], + [ + -0.1322967938493004, + -0.014669823874789725, + 0.991101586420221, + 0.06732492266709851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9898427541155153, + -0.012384882675364592, + 0.14162604564884818, + -0.02532684789898547 + ], + [ + 0.010040342452446156, + 0.9998006722716039, + 0.017257092706676937, + -0.0024401511163913902 + ], + [ + -0.14181154271937732, + -0.01565983417430366, + 0.9897697994711617, + 0.07251470350138536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9889055430472133, + -0.012916038265942247, + 0.14798311689516663, + -0.027418406558894548 + ], + [ + 0.010381471884540916, + 0.9997861164612508, + 0.017887044832520675, + -0.0030433848218219543 + ], + [ + -0.14818249549797144, + -0.016152315216179807, + 0.9888281199182953, + 0.07547655788901517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9874284294125499, + -0.013982985567594565, + 0.15744704793193723, + -0.028404506421669834 + ], + [ + 0.011108578128017367, + 0.9997554519621519, + 0.019121604637880738, + -0.004224319549159065 + ], + [ + -0.15767592168698122, + -0.017132203202452685, + 0.9873422868152621, + 0.0807362738917258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9858596932350359, + -0.015056076954840314, + 0.16689511616956054, + -0.02937879423696746 + ], + [ + 0.011820058381986963, + 0.9997227180419506, + 0.020365982683415298, + -0.005409314600173064 + ], + [ + -0.1671554709675026, + -0.018105291423909153, + 0.9857642958375434, + 0.08603576012203053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9847588965624796, + -0.015594912591866907, + 0.1732244623091664, + -0.03144867351239022 + ], + [ + 0.012135541960566099, + 0.9997055754756117, + 0.021011686850401775, + -0.006021057336686458 + ], + [ + -0.1735011361990783, + -0.018589272826768623, + 0.984658212108852, + 0.08907755456259772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.982834734322598, + -0.016726689514449063, + 0.18372833985783343, + -0.03195948605860868 + ], + [ + 0.0128223317315385, + 0.999666448157612, + 0.022418301383274546, + -0.0064833064338662184 + ], + [ + -0.1840420408982543, + -0.019677659561852582, + 0.9827213831479263, + 0.09368209469781412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9807973530428621, + -0.01786647841198271, + 0.19420952915155917, + -0.032454590680813994 + ], + [ + 0.01348981119838458, + 0.9996248859271955, + 0.023835109164303325, + -0.006949160963514901 + ], + [ + -0.19456252788743286, + -0.020757562096654657, + 0.9806704575737235, + 0.09833286292838916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9794086370564539, + -0.018439356852943883, + 0.20104405432160824, + -0.03427604992748358 + ], + [ + 0.013776088273241732, + 0.999603192462481, + 0.02456983945215653, + -0.007203889858482698 + ], + [ + -0.20141733056295782, + -0.02129431233138763, + 0.9792740225346663, + 0.10108216474085249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9771848158490598, + -0.019591040471703774, + 0.21148528744873785, + -0.03474352730780645 + ], + [ + 0.014412035523871061, + 0.9995579823959808, + 0.02600255873053639, + -0.007676017773714445 + ], + [ + -0.21190122440915218, + -0.022361372089216267, + 0.9770352297293021, + 0.10581373011129938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9748484719745288, + -0.02075057107770517, + 0.2219005869502723, + -0.0351939030826366 + ], + [ + 0.015028362593358576, + 0.9995103436647333, + 0.0274448761150261, + -0.008151468195967834 + ], + [ + -0.22236142877461637, + -0.023419793063895647, + 0.9746829783504766, + 0.1105911027529992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.973265301518352, + -0.021333258146782857, + 0.2286909376368767, + -0.03698460010951578 + ], + [ + 0.015283020337053916, + 0.999485614401872, + 0.02819460751792114, + -0.008413516087766278 + ], + [ + -0.22917478515266096, + -0.023945744936316803, + 0.9730907044822062, + 0.1134328738798608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9707437443710458, + -0.022504433863314608, + 0.23906094039171916, + -0.03740504609996019 + ], + [ + 0.015867322581670586, + 0.9994343378621938, + 0.02965185282654715, + -0.008894769999830267 + ], + [ + -0.239593010829971, + -0.024991093582508634, + 0.9705517165009702, + 0.11829032990334737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9681509361721435, + -0.023635086047212345, + 0.24924916749418283, + -0.03763379495779212 + ], + [ + 0.01643323682478553, + 0.9993862736070125, + 0.030935818291268475, + -0.00882682665038327 + ], + [ + -0.24982736742891654, + -0.02585457084213035, + 0.967945157356607, + 0.1235985375617471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9663965293880153, + -0.024202740669172544, + 0.25591399987280883, + -0.03930504468832714 + ], + [ + 0.016658028662804466, + 0.9993615064427063, + 0.03160837739641605, + -0.008819684845109711 + ], + [ + -0.25651560979376753, + -0.026283203470388868, + 0.9661826613779955, + 0.1267339971064715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9636250901408677, + -0.02534266810240317, + 0.2660534435493296, + -0.03950245954109211 + ], + [ + 0.017195882201964073, + 0.999310503736619, + 0.03290621152550443, + -0.008757402234426202 + ], + [ + -0.266703931891341, + -0.027134227372757492, + 0.9633964637772878, + 0.13211983256404727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9617541169933161, + -0.02591492530209882, + 0.2726855975166151, + -0.041152537548079675 + ], + [ + 0.017403345325758594, + 0.999284268893332, + 0.0335868056503071, + -0.008754516594047456 + ], + [ + -0.27336082751169594, + -0.02755660699189475, + 0.9615167660489417, + 0.13531105574650915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9588049353825762, + -0.027063987481772352, + 0.28277311836099395, + -0.04131726502457185 + ], + [ + 0.0179128698537949, + 0.9992303340227285, + 0.03489797504767072, + -0.008697639509231279 + ], + [ + -0.28349995587233384, + -0.028395072643212456, + 0.9585517695304577, + 0.14077403455955792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9557487458090052, + -0.028219060878523758, + 0.29282762760308034, + -0.04146188769083049 + ], + [ + 0.01840480343794523, + 0.9991744480467247, + 0.036217200070321934, + -0.008643586630316006 + ], + [ + -0.2936078985567737, + -0.029225108616689473, + 0.9554790918337346, + 0.14628061776764464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.953692014081421, + -0.028798832022387085, + 0.2994030219477904, + -0.04307600281187593 + ], + [ + 0.01858377473375462, + 0.9991457743467385, + 0.03691022787387496, + -0.008647119767023047 + ], + [ + -0.3002102356582263, + -0.02963695124675689, + 0.9534125369045814, + 0.14956033592464732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9504082003071592, + -0.02999442352978182, + 0.3095554673172859, + -0.043032448639147 + ], + [ + 0.019073052084850307, + 0.999086242885229, + 0.038247849111368575, + -0.009163032044181715 + ], + [ + -0.310419830991958, + -0.030446901888262802, + 0.9501118432544303, + 0.15500917932056774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9469618759758938, + -0.03122759781903333, + 0.3198250186940807, + -0.04281320849409316 + ], + [ + 0.01957013472558268, + 0.9990239639034798, + 0.039599613298638967, + -0.010246696594940749 + ], + [ + -0.32074945872914407, + -0.03124030539274394, + 0.9466487352993873, + 0.16036842298880544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9446635998059237, + -0.03184641237397958, + 0.3264911778603219, + -0.04423446612308682 + ], + [ + 0.019745802406051397, + 0.9989920569936181, + 0.04031095819998679, + -0.010821566930881479 + ], + [ + -0.3274458527589792, + -0.03163346459947674, + 0.944340265703194, + 0.163604110112048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.94103221233588, + -0.03308845008557667, + 0.3366950100865383, + -0.04397607599152725 + ], + [ + 0.02021282421273655, + 0.9989267107190318, + 0.041675752535511895, + -0.011910292104268819 + ], + [ + -0.337712624998807, + -0.03241266855707065, + 0.9406910235743856, + 0.16904200993964716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9372892074937725, + -0.03433630405153521, + 0.34685726133350114, + -0.04369362760263028 + ], + [ + 0.020661157631352626, + 0.9988593244377922, + 0.04304842098160944, + -0.013001596100355457 + ], + [ + -0.3479397334036867, + -0.033182347833720253, + 0.93692949239055, + 0.17452421100004706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9347989090661569, + -0.03496238884298064, + 0.353452445139534, + -0.04507215822872565 + ], + [ + 0.02080669281989337, + 0.9988248675481832, + 0.04377174318270628, + -0.01358259765839806 + ], + [ + -0.3545674564065654, + -0.033563601322659314, + 0.9344278482170959, + 0.1778503616743038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9308728331701119, + -0.03621882728085722, + 0.3635436218891053, + -0.04474825550576858 + ], + [ + 0.02122455027805043, + 0.9987544288445542, + 0.04515649819110138, + -0.014678514865294182 + ], + [ + -0.3647263178485257, + -0.034318907526141695, + 0.9304820931403617, + 0.1834101865283746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9268414839086637, + -0.037483644307890515, + 0.3735770872462414, + -0.04458243348180502 + ], + [ + 0.021663239960048753, + 0.9986852738696443, + 0.0464588827927148, + -0.015827891852513647 + ], + [ + -0.3748273839254806, + -0.03496712978374707, + 0.9264349583722902, + 0.18890236464437032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.924166577078004, + -0.0381191426234658, + 0.3800829761743848, + -0.046099404987958614 + ], + [ + 0.02181893866212906, + 0.9986516666621871, + 0.047103955125811225, + -0.016466018766335293 + ], + [ + -0.38136606001004375, + -0.0352388938317885, + 0.9237522117071914, + 0.1922065337094171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9199600601225126, + -0.039393150255338724, + 0.39002777784709547, + -0.04607352886871134 + ], + [ + 0.02227003289442787, + 0.9985831552528266, + 0.04832936664379433, + -0.01767173145961696 + ], + [ + -0.39137901504074546, + -0.03577515560091256, + 0.9195339062957203, + 0.19766367698962908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9156450220835548, + -0.040671109909896225, + 0.3999250609205477, + -0.046020974236692574 + ], + [ + 0.022704515740100465, + 0.9985129178956499, + 0.04956266498608429, + -0.018880205563797107 + ], + [ + -0.40134610811444804, + -0.03630170263517177, + 0.9152068006123936, + 0.2031635969840839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9127833056935568, + -0.04131154819919402, + 0.4063495943550685, + -0.047490657145754026 + ], + [ + 0.022833356755236373, + 0.9984771532772819, + 0.050219639610251686, + -0.019524836203629044 + ], + [ + -0.40780543726933216, + -0.03656132339892974, + 0.9123365579460728, + 0.20655568629783688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9082904078353996, + -0.04259529448331949, + 0.41616604369179755, + -0.04739232367197521 + ], + [ + 0.023240706124320727, + 0.9984043347978561, + 0.05146507394043206, + -0.020738270440799365 + ], + [ + -0.417694151997663, + -0.03707324027827174, + 0.9078310251595412, + 0.2121306755827213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.905313599136262, + -0.043238583548372234, + 0.4225372316277922, + -0.048831537856093524 + ], + [ + 0.023352799987030916, + 0.9983672820105594, + 0.05212884943689278, + -0.02138680216350667 + ], + [ + -0.4241013251001626, + -0.0373255288452681, + 0.9048452193301944, + 0.21557723769730575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9006443301635465, + -0.044527946095766345, + 0.4322696526021103, + -0.04868604590600151 + ], + [ + 0.023732770379706634, + 0.998291892072643, + 0.05338589544183615, + -0.02260494726088102 + ], + [ + -0.433908453656253, + -0.037822747633072216, + 0.9001627039636357, + 0.2212265606972887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8959137833419119, + -0.04567747017332266, + 0.4418733546351798, + -0.04882060069196455 + ], + [ + 0.024006447060253868, + 0.9982243348363887, + 0.0545148405481764, + -0.022518775955673864 + ], + [ + -0.4435788355157687, + -0.03823278774841155, + 0.8954194942167943, + 0.22681859521878533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8927775653081997, + -0.04625335138697908, + 0.44811700075743155, + -0.05036351941727904 + ], + [ + 0.024047480261891213, + 0.9981900679694752, + 0.05512083907333616, + -0.022519413080913035 + ], + [ + -0.44985546298274204, + -0.03843456377490592, + 0.892273975151139, + 0.2303013285710156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8878761559042901, + -0.04740731100069882, + 0.4576335637169806, + -0.05044959458172926 + ], + [ + 0.0242966680326075, + 0.9981205601874339, + 0.05625850383396586, + -0.022436763072947105 + ], + [ + -0.45944053336545526, + -0.03883161334281776, + 0.8873592858059581, + 0.23596559186909222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8828720345452724, + -0.048564145189768135, + 0.46709580860876804, + -0.050506074163695514 + ], + [ + 0.024530676714609373, + 0.9980497569943968, + 0.05740146743201983, + -0.022355826728836938 + ], + [ + -0.46897251147355645, + -0.039219974061860785, + 0.8823415308806292, + 0.2416701891383824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.879558472741352, + -0.04914361958408548, + 0.4732460223637124, + -0.05199658054408965 + ], + [ + 0.024547074176395633, + 0.9980138708810997, + 0.05801512456508579, + -0.022360925203634356 + ], + [ + -0.4751571678700419, + -0.039410889143719915, + 0.8790178881220919, + 0.24523665382119741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.874386061574553, + -0.05030464155209942, + 0.4826162640882058, + -0.05200248212359691 + ], + [ + 0.024756308767792903, + 0.9979411321860485, + 0.05916605333653369, + -0.022283153942185312 + ], + [ + -0.48459894810073173, + -0.039786175105715325, + 0.8738311734941262, + 0.25101221999625456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8691125388251745, + -0.05146837241720526, + 0.4919292647297818, + -0.05197753845190736 + ], + [ + 0.02495019576114399, + 0.9978671083402453, + 0.06032181880678018, + -0.022206879191811905 + ], + [ + -0.4939846987390809, + -0.040152717634069184, + 0.8685429619070426, + 0.2568273266103225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.865622428791694, + -0.05202721677206733, + 0.4979869270249181, + -0.05351346476759629 + ], + [ + 0.02495811405629404, + 0.9978338964793172, + 0.06086548759072149, + -0.0225732394917314 + ], + [ + -0.5000748977058556, + -0.04025771667463977, + 0.8650459022113351, + 0.2605723395816212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8601792506416038, + -0.05314602364796276, + 0.5072150992784614, + -0.05363588374415676 + ], + [ + 0.025161442975831408, + 0.997766693536116, + 0.06187509238280408, + -0.023214391059639138 + ], + [ + -0.5093707476416597, + -0.040461406802244734, + 0.8595954374044574, + 0.2666493063645812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.85463645084763, + -0.054266268210171005, + 0.5163832966093195, + -0.053726186064745024 + ], + [ + 0.02535141678102281, + 0.9976984548324223, + 0.06288957697577649, + -0.023857208621958274 + ], + [ + -0.518607599780182, + -0.04065667669078507, + 0.8540451932366926, + 0.27276499662632747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8509743634708379, + -0.054826909653699483, + 0.5223376711412145, + -0.05520528866921655 + ], + [ + 0.025337606547136814, + 0.997663948284729, + 0.06344014491935235, + -0.02422789847654891 + ], + [ + -0.5245956904225052, + -0.04075115054511975, + 0.8503756260144009, + 0.27659115995915395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8452685189241886, + -0.05594919088245687, + 0.5314045718238667, + -0.0552408415543027 + ], + [ + 0.025505761488138788, + 0.9975941632585454, + 0.0644619388739817, + -0.02487380718053505 + ], + [ + -0.5337326925031095, + -0.040933769336346036, + 0.8446619675830682, + 0.28277515868026876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8394648135990868, + -0.057072749867329256, + 0.5404086675393286, + -0.0552430664636438 + ], + [ + 0.025660403752113637, + 0.9975233523153073, + 0.06548820706746039, + -0.02552119077888551 + ], + [ + -0.5428078577253003, + -0.04110794093862309, + 0.8388502648169444, + 0.288997019231138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8356337883936513, + -0.05763498848891542, + 0.5462548670691707, + -0.05666321686524817 + ], + [ + 0.025624608282939023, + 0.9974875633850135, + 0.06604498726303797, + -0.025895887784915105 + ], + [ + -0.5486889384206871, + -0.04119185591972643, + 0.8350111854703913, + 0.2929029413251813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8299913638002183, + -0.05866465573499176, + 0.5546826067081502, + -0.05671578661062776 + ], + [ + 0.025777497510204205, + 0.9974254044682784, + 0.06691848132917115, + -0.02676176117017065 + ], + [ + -0.55718027301688, + -0.04124343206846529, + 0.8293666997607566, + 0.2990456211617784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8245887652462416, + -0.05959859652061577, + 0.5625845496656054, + -0.05684596869036382 + ], + [ + 0.02594095293449245, + 0.9973727165677037, + 0.06763675928967905, + -0.027845206685732562 + ], + [ + -0.5651375365258705, + -0.04117853250338561, + 0.8239683812321553, + 0.3050755135763244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8209308174563237, + -0.06006539456687743, + 0.5678597902000262, + -0.058319094044684466 + ], + [ + 0.025908204055715294, + 0.9973461442303617, + 0.06803994085416255, + -0.02843993480272572 + ], + [ + -0.5704396181131706, + -0.04114385694554961, + 0.820308371969069, + 0.30890674270698304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8154013883406758, + -0.06099862220053173, + 0.5756732962208128, + -0.058401771744536674 + ], + [ + 0.026057718663216527, + 0.9972925441344291, + 0.06876464725385067, + -0.02952707268801868 + ], + [ + -0.5783092349168977, + -0.04107005604469822, + 0.8147832100051634, + 0.3149932208730022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8097966659855126, + -0.06193132688263097, + 0.5834328329030727, + -0.05845576844022696 + ], + [ + 0.02619866326317942, + 0.9972383386320081, + 0.06949335224102257, + -0.03061614481699832 + ], + [ + -0.5861254045014349, + -0.0409903246270265, + 0.8091827997955716, + 0.3211110901606468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8060041992034982, + -0.06239747124444092, + 0.5886117450821273, + -0.059877469692382945 + ], + [ + 0.026151565222247354, + 0.9972110095423354, + 0.06990206065619943, + -0.031215392393316773 + ], + [ + -0.5913318243615463, + -0.04094823597977828, + 0.8053880527220342, + 0.3250084838015434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8002749687562584, + -0.06332932027709376, + 0.5962796085524065, + -0.05988255128235115 + ], + [ + 0.026278365224787888, + 0.9971559000774523, + 0.07063680670754342, + -0.03230797543950745 + ], + [ + -0.5990571107192388, + -0.04085961495128748, + 0.7996630977872807, + 0.3311818834657069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7963996495681472, + -0.06379501545939938, + 0.6013965365466176, + -0.06127161872565745 + ], + [ + 0.026222290830249774, + 0.9971281202633933, + 0.07104859775960466, + -0.03290998200176099 + ], + [ + -0.6042019444120865, + -0.04081308347242707, + 0.7957853370012083, + 0.3351202401675294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7912557262641093, + -0.06450290450345292, + 0.6080738038798215, + -0.06141869059870167 + ], + [ + 0.02627144731207076, + 0.997088612578789, + 0.0715828870739034, + -0.03313460966910656 + ], + [ + -0.610920769585047, + -0.04066539039926397, + 0.7906466589528406, + 0.34097086269373666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7860552585691349, + -0.065209998067931, + 0.6147070738390696, + -0.06154247203226029 + ], + [ + 0.02631503237628026, + 0.9970487803303126, + 0.07211968325548629, + -0.03336085840645863 + ], + [ + -0.6175958626374096, + -0.040514019719311754, + 0.7854514400389991, + 0.3468470541157739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7824216778280044, + -0.06556324053542255, + 0.6192881232151194, + -0.06298205820414998 + ], + [ + 0.02621624541869048, + 0.9970287428327824, + 0.07243199873970711, + -0.033530951068216616 + ], + [ + -0.6221969354962764, + -0.040436956559269745, + 0.7818157238142927, + 0.3506528819976213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7771263620302248, + -0.06626910483315636, + 0.6258458461812145, + -0.06306601444970156 + ], + [ + 0.02625053657682957, + 0.9969884257722712, + 0.07297251678239877, + -0.03376011670078052 + ], + [ + -0.6287968883249159, + -0.040280077218658256, + 0.7765255878669822, + 0.3565743047962325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7717755225606654, + -0.06697412562064042, + 0.6323582918516706, + -0.06312612356061797 + ], + [ + 0.026279183204623652, + 0.9969477868724032, + 0.07351540505441874, + -0.033990840910097075 + ], + [ + -0.635351829545103, + -0.040119530749600084, + 0.771179924496302, + 0.36252085299088377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7680383792084772, + -0.06732631370569613, + 0.6368549407405254, + -0.06452234817190353 + ], + [ + 0.02617061139976225, + 0.9969273470777287, + 0.0738306423345021, + -0.03416446447448218 + ], + [ + -0.6398688515327016, + -0.04003788370237285, + 0.7674404346311559, + 0.36637962677108127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7625944440016854, + -0.06803003328652196, + 0.6432896925560014, + -0.06454170905325624 + ], + [ + 0.02618984708615242, + 0.9968862274937061, + 0.07437702160594363, + -0.03439800235830568 + ], + [ + -0.646346506053343, + -0.03987184475794625, + 0.7620015945575404, + 0.3723706751300903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_052/orbit_right/transforms.json b/spatialvid_eval/camera_controls/scene_052/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..45d601a17131681da394afe870a9923aa8a04b78 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_052/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": [ + [ + 0.9999999852230789, + -0.0001592555185181777, + 6.474196424313855e-05, + 4.7279135628466675e-05 + ], + [ + 0.00015925914668826204, + 0.9999999857480673, + -5.603917746133868e-05, + -7.772513111711447e-05 + ], + [ + -6.473303877217649e-05, + 5.604948738323246e-05, + 0.9999999963340443, + -0.0003366873388506274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999991406939652, + -0.000814685737454414, + 0.0010270825090270457, + 0.0054591277201489884 + ], + [ + 0.0008136968236677518, + 0.9999992053715807, + 0.0009628882004330914, + -2.118138223788436e-05 + ], + [ + -0.0010278661441617517, + -0.00096205163924221, + 0.9999990089734255, + 0.0035959140260320706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999993373904437, + -0.001144015985310554, + -0.00012824234554843842, + 0.00978529920633503 + ], + [ + 0.001144203263747239, + 0.9999982650762126, + 0.001469912737542529, + 1.1139808399180571e-05 + ], + [ + 0.0001265605193889815, + -0.0014700584988746293, + 0.9999989114546299, + 0.005754505055331238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999980223371566, + -0.0018058987698508961, + 0.0008330974785845162, + 0.015203061349622002 + ], + [ + 0.0018038231738588394, + 0.9999952842940345, + 0.0024854801649861536, + 7.651847150852068e-05 + ], + [ + -0.0008375820755142037, + -0.002483972489006429, + 0.9999965641625678, + 0.009639082405074578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999953356316319, + -0.002472067228115251, + 0.0017937665958030322, + 0.020623950744532583 + ], + [ + 0.002465778773185761, + 0.9999908366410982, + 0.0034995098054839756, + 0.00014689120320061287 + ], + [ + -0.001802401182380532, + -0.0034950704508851533, + 0.9999922678863682, + 0.013496177086002313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999995857781998, + -0.002806754548635844, + 0.0006376109708452873, + 0.024956511200011917 + ], + [ + 0.0028041813470676613, + 0.9999880627639534, + 0.0040013618393122475, + 0.0001892295476175224 + ], + [ + -0.000648834200075852, + -0.003999557288008074, + 0.9999917912441487, + 0.015599824641213705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999926714696901, + -0.003479327254569387, + 0.001597275420295968, + 0.030382521714801915 + ], + [ + 0.003471282524893436, + 0.9999814149755907, + 0.005011975762897411, + 0.0002682654121415798 + ], + [ + -0.0016146840387643816, + -0.0050063944382272045, + 0.9999861643093788, + 0.019408771514473785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999880958799561, + -0.004156153162854427, + 0.002556264709853513, + 0.03581118058660603 + ], + [ + 0.004140700158738709, + 0.9999733005855915, + 0.0060210230155378726, + 0.0003521909271878383 + ], + [ + -0.0025812207529323362, + -0.006010366614867239, + 0.9999786061674417, + 0.02319016483074953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999863865993066, + -0.004569126204660822, + 0.002519861462107581, + 0.04011828302690095 + ], + [ + 0.004552450061259569, + 0.999967960061717, + 0.006584379123997896, + 0.0004750884212502619 + ], + [ + -0.002549865585098729, + -0.006572817944739025, + 0.9999751478160663, + 0.025681056224691155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999690644328881, + -0.005400519296211359, + 0.005718790828987348, + 0.04548981182215468 + ], + [ + 0.005356271291355673, + 0.9999558198360786, + 0.007724553955358536, + 0.0007095875924537147 + ], + [ + -0.005760254774561625, + -0.007693683596762668, + 0.99995381228217, + 0.030287832795954636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999669286175168, + -0.005818930221330161, + 0.005681700654689156, + 0.04980121270770484 + ], + [ + 0.005771750694497261, + 0.9999490202675556, + 0.008285152978460542, + 0.0008396440498807979 + ], + [ + -0.005729621730164647, + -0.008252085617297832, + 0.9999495359855888, + 0.032725983255969676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999383927396586, + -0.006661157869788876, + 0.008879172318547285, + 0.05517765590265535 + ], + [ + 0.006577447833814051, + 0.9999339625922301, + 0.009423780270899077, + 0.001083984162412977 + ], + [ + -0.008941359249138883, + -0.009364797404881834, + 0.9999161728186736, + 0.03725880006374083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998988804599863, + -0.0075105624045697155, + 0.01207560794466437, + 0.06055616288582672 + ], + [ + 0.007383139890429081, + 0.9999169607589556, + 0.010562236123662317, + 0.0013338238957125242 + ], + [ + -0.012153933528884062, + -0.010472012172486542, + 0.9998713011487205, + 0.04174928184668475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998960400256639, + -0.007937944363747049, + 0.01203736600231897, + 0.06487283663110784 + ], + [ + 0.007804184113023373, + 0.9999077310129996, + 0.011118640688725881, + 0.0014750684113524987 + ], + [ + -0.012124514477939372, + -0.011023542974607285, + 0.9998657298102387, + 0.04410288672042348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998452743228166, + -0.008798044212920552, + 0.01523226287716865, + 0.07025441528236104 + ], + [ + 0.008611710756964269, + 0.9998878143689367, + 0.012255493231575102, + 0.0017344403857389556 + ], + [ + -0.0153383784074478, + -0.01212242115001341, + 0.9998088722617396, + 0.04851924889313127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997840976052799, + -0.009752508147947059, + 0.018347936135184362, + 0.07563786019882257 + ], + [ + 0.009508313346205988, + 0.9998656809750154, + 0.013349606199412367, + 0.0013551547964368127 + ], + [ + -0.01847566380152384, + -0.01317226606143583, + 0.9997425374834764, + 0.05274146667085912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.999781005712811, + -0.010275844123667627, + 0.01823040436816644, + 0.07995879375589804 + ], + [ + 0.010023882901080246, + 0.9998537157453872, + 0.013858891792943287, + 0.0008638638873978124 + ], + [ + -0.0183701493588432, + -0.013673117336188017, + 0.9997377573518194, + 0.05485914907532866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997096781584486, + -0.011327235528916032, + 0.02126624394677334, + 0.08534438414792181 + ], + [ + 0.011011442657382265, + 0.999828230248954, + 0.014908324112658357, + -0.0001484460410787258 + ], + [ + -0.021431461147910405, + -0.014669823874789725, + 0.9996626874804063, + 0.05885691443584992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9996279732753197, + -0.012384882675364592, + 0.024300817405893637, + 0.09072984528027066 + ], + [ + 0.011999101150981182, + 0.9998006722716039, + 0.015957358704301813, + -0.0011544700008521633 + ], + [ + -0.024493603594523437, + -0.01565983417430366, + 0.99957732716213, + 0.06281321602828419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9996241322529313, + -0.012916038265942247, + 0.024182021691463773, + 0.09505222538095762 + ], + [ + 0.012519915040051, + 0.9997861164612508, + 0.016461259329711774, + -0.0016329219236353853 + ], + [ + -0.024389463810498453, + -0.016152315216179807, + 0.9995720368078498, + 0.06484810352188751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9995318059583287, + -0.013982985567594565, + 0.027214793629549074, + 0.10043714112964497 + ], + [ + 0.01350941294471217, + 0.9997554519621519, + 0.017508056255419423, + -0.002628000472032696 + ], + [ + -0.027452953203102697, + -0.017132203202452685, + 0.9994762743426472, + 0.06873185184766438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994290767794125, + -0.015056076954840314, + 0.030246240007336864, + 0.10582085560162033 + ], + [ + 0.014498978413558542, + 0.9997227180419506, + 0.0185544241564624, + -0.0036169685129986712 + ], + [ + -0.030517210108636453, + -0.018105291423909153, + 0.9993702508628325, + 0.07257410272094911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9994244399558205, + -0.015594912591866907, + 0.03012619325846749, + 0.1101428405595205 + ], + [ + 0.015024977969704274, + 0.9997055754756117, + 0.01905288429571514, + -0.004082880017520257 + ], + [ + -0.030414451433560377, + -0.018589272826768623, + 0.9993644981085568, + 0.07452611858167045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999273038484529, + -0.016726689514449063, + 0.03425802702702751, + 0.1159488609583732 + ], + [ + 0.01603932441610766, + 0.999666448157612, + 0.020241850217304774, + -0.004329599197793417 + ], + [ + -0.0345851793427789, + -0.019677659561852582, + 0.9992080139210233, + 0.07736774933153143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9991031738855473, + -0.01786647841198271, + 0.03838797833933191, + 0.12175156456538405 + ], + [ + 0.017052361788767467, + 0.9996248859271955, + 0.021431388020081703, + -0.004570359096877838 + ], + [ + -0.0387564818998299, + -0.020757562096654657, + 0.999033061878611, + 0.0801606229820917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9990761675399753, + -0.018439356852943883, + 0.03881754207166497, + 0.12628271442718875 + ], + [ + 0.01759440126579473, + 0.999603192462481, + 0.02199760584507088, + -0.004658099753910085 + ], + [ + -0.03920776068247062, + -0.02129431233138763, + 0.9990041560296934, + 0.08155486423627424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.998885344580405, + -0.019591040471703774, + 0.04294484271390408, + 0.13207945196561136 + ], + [ + 0.018607389353732844, + 0.9995579823959808, + 0.023186308242471573, + -0.004888465518596369 + ], + [ + -0.04338010424059032, + -0.022361372089216267, + 0.9988083577916054, + 0.08426247517560873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9986760333746679, + -0.02075057107770517, + 0.04707009839577713, + 0.13787140210499194 + ], + [ + 0.019619026536071293, + 0.9995103436647333, + 0.024375534968150335, + -0.005113116780828795 + ], + [ + -0.04755285649480971, + -0.023419793063895647, + 0.9985941313326593, + 0.08692136973066288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9986434972751798, + -0.021333258146782857, + 0.04749797308139103, + 0.142396560166132 + ], + [ + 0.020165163865881196, + 0.999485614401872, + 0.02493737696660533, + -0.005188855588316283 + ], + [ + -0.04800553630842994, + -0.023945744936316803, + 0.9985599980888403, + 0.0882182555873271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9984131833998542, + -0.022504433863314608, + 0.051620399745260656, + 0.1481801097905579 + ], + [ + 0.021176688431329364, + 0.9994343378621938, + 0.026125699398110026, + -0.0054035202869696436 + ], + [ + -0.05217914411382393, + -0.024991093582508634, + 0.9983249882483654, + 0.09079197256264869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9981742877549379, + -0.023635086047212345, + 0.05558303673301431, + 0.15413553307927327 + ], + [ + 0.022152755539405967, + 0.9993862736070125, + 0.02713542975339043, + -0.005063659836835469 + ], + [ + -0.056190272173518366, + -0.02585457084213035, + 0.9980852641330978, + 0.09375362869319055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9981412758730984, + -0.024202740669172544, + 0.055930499215763145, + 0.15874135557555208 + ], + [ + 0.02268558578532563, + 0.9993615064427063, + 0.027603326577456424, + -0.0048534281541184835 + ], + [ + -0.05656286410711831, + -0.026283203470388868, + 0.9980530224488748, + 0.09517234194761948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9978831912244154, + -0.02534266810240317, + 0.05989061566914013, + 0.16468638847040626 + ], + [ + 0.023661696995026772, + 0.999310503736619, + 0.028611906909197894, + -0.004504214976422215 + ], + [ + -0.06057442337400134, + -0.027134227372757492, + 0.99779480502646, + 0.09805085055892704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.997847627155777, + -0.02591492530209882, + 0.06023727771216196, + 0.16928605103742134 + ], + [ + 0.024196953808123853, + 0.999284268893332, + 0.029076749624513138, + -0.004287125063800478 + ], + [ + -0.06094768581326945, + -0.02755660699189475, + 0.9977604988197826, + 0.09941018358905393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9975703325063591, + -0.027063987481772352, + 0.06419479951474952, + 0.17521924766412933 + ], + [ + 0.025173073630632578, + 0.9992303340227285, + 0.030084147533436828, + -0.003928779413137462 + ], + [ + -0.06495958795389, + -0.028395072643212456, + 0.9974838203111105, + 0.10220565983529223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9972759049059027, + -0.028219060878523758, + 0.06815023182093795, + 0.18114416549361928 + ], + [ + 0.026148080825876125, + 0.9991744480467247, + 0.031091803415797172, + -0.0035654419585001897 + ], + [ + -0.06897135175735548, + -0.029225108616689473, + 0.9971904761193351, + 0.10495377847277958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9972356752144108, + -0.028798832022387085, + 0.06849551338448819, + 0.1857317466761734 + ], + [ + 0.026686825134570453, + 0.9991457743467385, + 0.03155209928504237, + -0.0033377153587109405 + ], + [ + -0.06934566636708543, + -0.02963695124675689, + 0.9971523603125564, + 0.10621826091265252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9969092206421135, + -0.02999442352978182, + 0.07261088317773395, + 0.19178810140886465 + ], + [ + 0.027688528453761706, + 0.999086242885229, + 0.03255802004948487, + -0.0035242081189900596 + ], + [ + -0.07352109350927588, + -0.030446901888262802, + 0.9968287891983293, + 0.10871101646976128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9965507020543374, + -0.03122759781903333, + 0.07688650967146443, + 0.19797979933210763 + ], + [ + 0.028715554699294932, + 0.9990239639034798, + 0.033563916113752305, + -0.004264303415184749 + ], + [ + -0.07785958613632163, + -0.03124030539274394, + 0.9964747503904197, + 0.11098244424861972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9964919141374765, + -0.03184641237397958, + 0.0773929652974659, + 0.20269781681073826 + ], + [ + 0.029284197892927143, + 0.9989920569936181, + 0.03401919777754597, + -0.004584513887419908 + ], + [ + -0.07839834700040686, + -0.03163346459947674, + 0.9964201037238449, + 0.1119771106047027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9961103982665463, + -0.03308845008557667, + 0.08166534721776066, + 0.20887177275761754 + ], + [ + 0.03031056740449339, + 0.9989267107190318, + 0.035024221842517474, + -0.005315666178429322 + ], + [ + -0.08273659389218754, + -0.03241266855707065, + 0.9960442133500547, + 0.11416237437591067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9957088835596296, + -0.03433630405153521, + 0.08593507679938774, + 0.21503377797491147 + ], + [ + 0.031335380691459885, + 0.9988593244377922, + 0.036029764093021145, + -0.006041977505003803 + ], + [ + -0.08707418169214928, + -0.033182347833720253, + 0.9956490439280725, + 0.11629858617206823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9956433957764651, + -0.03496238884298064, + 0.08643992025159168, + 0.21973363286722977 + ], + [ + 0.03190693211868117, + 0.9988248675481832, + 0.03648056537566363, + -0.006351678030094171 + ], + [ + -0.08761378960804733, + -0.033563601322659314, + 0.9955889254791711, + 0.1171947521463927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9952188595368441, + -0.03621882728085722, + 0.09070621904028035, + 0.2258753809123226 + ], + [ + 0.03293102323245216, + 0.9987544288445542, + 0.037485178034152765, + -0.00706943878069614 + ], + [ + -0.09195090717903542, + -0.034318907526141695, + 0.9951719666746872, + 0.11924519803159657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9947755310738763, + -0.037483644307890515, + 0.09495588020805862, + 0.23182105376823542 + ], + [ + 0.033966177605812026, + 0.9986852738696443, + 0.038393001116926215, + -0.007826211554615015 + ], + [ + -0.09627014882889748, + -0.03496712978374707, + 0.9947408498092096, + 0.12114016235694762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9947045386102081, + -0.0381191426234658, + 0.0954453342699633, + 0.23631755140882166 + ], + [ + 0.03455297889976305, + 0.9986516666621871, + 0.03874197106483765, + -0.008169273219477732 + ], + [ + -0.09679345286436312, + -0.0352388938317885, + 0.9946804752502717, + 0.12183163818146799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9942396570480319, + -0.039393150255338724, + 0.09967790159294221, + 0.24205796086086123 + ], + [ + 0.03559999208001882, + 0.9985831552528266, + 0.039551518418536054, + -0.008960949425221059 + ], + [ + -0.10109473238954915, + -0.03577515560091256, + 0.994233369649609, + 0.12353494672864043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9937550199472838, + -0.040671109909896225, + 0.10390775307103511, + 0.24778348649246676 + ], + [ + 0.03664560464144776, + 0.9985129178956499, + 0.040361521973012834, + -0.009747844754605384 + ], + [ + -0.10539478160723506, + -0.03630170263517177, + 0.9937676420550988, + 0.1251900290796118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9936774411583706, + -0.04131154819919402, + 0.10439587596422852, + 0.25225674073990056 + ], + [ + 0.037234534821912545, + 0.9984771532772819, + 0.04070582022133003, + -0.010080532550139524 + ], + [ + -0.10591851750071236, + -0.03656132339892974, + 0.9937024390036338, + 0.12578433082769536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9931700896081325, + -0.04259529448331949, + 0.108622345747337, + 0.2579571590415684 + ], + [ + 0.03827933896786569, + 0.9984043347978561, + 0.041514774057369225, + -0.01085896241906074 + ], + [ + -0.1102173548764348, + -0.03707324027827174, + 0.9932158423722974, + 0.1273550487636213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9930888654688963, + -0.043238583548372234, + 0.10910971622376804, + 0.2624148727839609 + ], + [ + 0.038869739405656314, + 0.9983672820105594, + 0.041855866606544855, + -0.01118530779760504 + ], + [ + -0.11074135921252332, + -0.0373255288452681, + 0.9931481038879267, + 0.12788884240013768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9925587927557302, + -0.044527946095766345, + 0.11333271786990673, + 0.26808864925212256 + ], + [ + 0.03991369546382743, + 0.998291892072643, + 0.04266374498849561, + -0.011955487849262921 + ], + [ + -0.11503886229317543, + -0.037822747633072216, + 0.9926406700935524, + 0.12937555085973246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9920258613093144, + -0.04567747017332266, + 0.11746599172560016, + 0.2734467888763525 + ], + [ + 0.040826900757719733, + 0.9982243348363887, + 0.04337443388644022, + -0.011451857679198481 + ], + [ + -0.11923864586631658, + -0.03823278774841155, + 0.9921292250876155, + 0.13074681610111824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9919466549338909, + -0.04625335138697908, + 0.11790869879248551, + 0.2777281465390322 + ], + [ + 0.041354519273312476, + 0.9981900679694752, + 0.04366224848502304, + -0.011134272085790348 + ], + [ + -0.11971481738338682, + -0.03843456377490592, + 0.9920640840219421, + 0.13115087453773366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9913924991351725, + -0.04740731100069882, + 0.12203876237573105, + 0.2830578612554426 + ], + [ + 0.04226695122257227, + 0.9981205601874339, + 0.04437174963275372, + -0.010623942564512125 + ], + [ + -0.12391294320153086, + -0.03883161334281776, + 0.9915329991040783, + 0.1324398222555191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9908196906654646, + -0.048564145189768135, + 0.12616601916356238, + 0.2883692492071794 + ], + [ + 0.04317807537824894, + 0.9980497569943968, + 0.04508144152593353, + -0.01011004213589643 + ], + [ + -0.1281093064387733, + -0.039219974061860785, + 0.9909842578156143, + 0.1336821506572104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9907347807760517, + -0.04914361958408548, + 0.12660765701490473, + 0.29262133811491586 + ], + [ + 0.04370742921186286, + 0.9980138708810997, + 0.04536490009482979, + -0.009784434937988001 + ], + [ + -0.12858559325336205, + -0.039410889143719915, + 0.990914994853031, + 0.13399176035195381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9901407503051906, + -0.05030464155209942, + 0.13073154792699782, + 0.2979019344780098 + ], + [ + 0.04461772548951193, + 0.9979411321860485, + 0.04607336826595606, + -0.009264150498823863 + ], + [ + -0.13278009322641962, + -0.039786175105715325, + 0.9903466600707252, + 0.1351524469421736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.989528076355959, + -0.05146837241720526, + 0.13485248512355832, + 0.303162783425016 + ], + [ + 0.04552667877194824, + 0.9978671083402453, + 0.04678200094772843, + -0.008740488915968984 + ], + [ + -0.13697265282994084, + -0.040152717634069184, + 0.9897607042327592, + 0.13626695840541483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9894378581043022, + -0.05202721677206733, + 0.13529927444344786, + 0.30728282360323284 + ], + [ + 0.0460439853465639, + 0.9978338964793172, + 0.04698368280912707, + -0.008763826335702775 + ], + [ + -0.13745063245899064, + -0.04025771667463977, + 0.9896901736830411, + 0.13657807015008683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9888048190979554, + -0.05314602364796276, + 0.139429300719291, + 0.31230987999861015 + ], + [ + 0.04692471490477901, + 0.997766693536116, + 0.04753626406346807, + -0.00894729999453473 + ], + [ + -0.14164427577479272, + -0.040461406802244734, + 0.9890903769119475, + 0.13780223090778398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9881531895100574, + -0.054266268210171005, + 0.14355642164543686, + 0.3173157686085384 + ], + [ + 0.047804217539910855, + 0.9976984548324223, + 0.048088980134684926, + -0.009127470099804155 + ], + [ + -0.14583562955086637, + -0.04065667669078507, + 0.988473066802512, + 0.13898070069737492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9880573518601198, + -0.054826909653699483, + 0.14400235905356815, + 0.3214016261335805 + ], + [ + 0.048322577636762405, + 0.997663948284729, + 0.04828638300250919, + -0.00914336541600203 + ], + [ + -0.14631335525408046, + -0.04075115054511975, + 0.9883985763868453, + 0.1391987573707751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9873845996326684, + -0.05594919088245687, + 0.14812609644432592, + 0.3263720239798787 + ], + [ + 0.049201118295848965, + 0.9975941632585454, + 0.04883784793498434, + -0.009317613713909472 + ], + [ + -0.15050216731553473, + -0.040933769336346036, + 0.9877618762440904, + 0.14029711801352876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9866932746382511, + -0.057072749867329256, + 0.15224678323769925, + 0.33131985491898186 + ], + [ + 0.05007839879269029, + 0.9975233523153073, + 0.04938942761353214, + -0.00948872734522897 + ], + [ + -0.15468851204276926, + -0.04110794093862309, + 0.9871076949521675, + 0.14135030885702562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9865918124339257, + -0.05763498848891542, + 0.15269185878829522, + 0.3353691029810197 + ], + [ + 0.05059775923950216, + 0.9974875633850135, + 0.04958253374092824, + -0.009497461843348659 + ], + [ + -0.1551659189328748, + -0.04119185591972643, + 0.9870292643116543, + 0.1414761078759841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9859742659099486, + -0.05866465573499176, + 0.1562472563945775, + 0.3402630205397846 + ], + [ + 0.05142573223185905, + 0.9974254044682784, + 0.04997956167983413, + -0.009884764408918612 + ], + [ + -0.15877701668615343, + -0.04124343206846529, + 0.9864526538478463, + 0.1425339195155778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.985439473949764, + -0.05959859652061577, + 0.15923897285019684, + 0.3451208279662398 + ], + [ + 0.052204710652586715, + 0.9973727165677037, + 0.05022282779811624, + -0.010490802271215995 + ], + [ + -0.16181381698511593, + -0.04117853250338561, + 0.9859617726329837, + 0.14363587381369283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.985430016417721, + -0.06006539456687743, + 0.1591220635816906, + 0.34911990440521823 + ], + [ + 0.05267631328851905, + 0.9973461442303617, + 0.05025808001864289, + -0.010714574265686722 + ], + [ + -0.1617185479816711, + -0.04114385694554961, + 0.9859788508250794, + 0.14376266722300332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.984885146052967, + -0.06099862220053173, + 0.16211235971961926, + 0.35394626845639154 + ], + [ + 0.053454915146767805, + 0.9972925441344291, + 0.05049904415461455, + -0.011315039160920116 + ], + [ + -0.16475381977629017, + -0.04107005604469822, + 0.9854792891611712, + 0.14479776115322465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9843302994019189, + -0.06193132688263097, + 0.16510109760351532, + 0.35875293257966845 + ], + [ + 0.05423299068694902, + 0.9972383386320081, + 0.05073932088254241, + -0.011912459674978048 + ], + [ + -0.1677874977478301, + -0.0409903246270265, + 0.9849706335147728, + 0.1457951684351003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9843204094663017, + -0.06239747124444092, + 0.16498450560701647, + 0.36271923866306616 + ], + [ + 0.054704973453685045, + 0.9972110095423354, + 0.05076975799615413, + -0.01212963167261039 + ], + [ + -0.16769226990986824, + -0.04094823597977828, + 0.9849886012450199, + 0.14584483814295002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9837554957776767, + -0.06332932027709376, + 0.1679717884659763, + 0.36749281936678874 + ], + [ + 0.05548263403745415, + 0.9971559000774523, + 0.05100772746351408, + -0.012721629769410804 + ], + [ + -0.1707243446245536, + -0.04085961495128748, + 0.9844712743491042, + 0.14677604436343988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9837452712026432, + -0.06379501545939938, + 0.16785540619525194, + 0.3714380647107114 + ], + [ + 0.05595483975351943, + 0.9971281202633933, + 0.051034965348771076, + -0.012934731815267648 + ], + [ + -0.17062912205891467, + -0.04081308347242707, + 0.9844897129593975, + 0.14677776221682504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9833795283313465, + -0.06450290450345292, + 0.1697176436598073, + 0.3762120421889703 + ], + [ + 0.05657993771784643, + 0.997088612578789, + 0.05111760277586122, + -0.012703192988284654 + ], + [ + -0.17252076369719538, + -0.04066539039926397, + 0.9841660998617113, + 0.14777167349766573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9830097561965596, + -0.065209998067931, + 0.17157935590962395, + 0.38097005946292306 + ], + [ + 0.05720476997221775, + 0.9970487803303126, + 0.05119906184943236, + -0.012469280731962464 + ], + [ + -0.17441167826383247, + -0.040514019719311754, + 0.9838390014079422, + 0.14873491071673528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9831043129097634, + -0.06556324053542255, + 0.17090164255710544, + 0.3849031249112438 + ], + [ + 0.05760084782545521, + 0.9970287428327824, + 0.051145168834120534, + -0.01226791990764613 + ], + [ + -0.17374709283326453, + -0.040436956559269745, + 0.983959755414932, + 0.14873484808127435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9827315464440879, + -0.06626910483315636, + 0.1727631713306511, + 0.3896342406732338 + ], + [ + 0.05822540033786306, + 0.9969884257722712, + 0.05122383850927724, + -0.012029795173752219 + ], + [ + -0.17563744014049895, + -0.040280077218658256, + 0.9836305226049828, + 0.1496441748281539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.982354755426159, + -0.06697412562064042, + 0.17462417068940364, + 0.39434874277669985 + ], + [ + 0.05884967090201025, + 0.9969477868724032, + 0.05130133024535054, + -0.011789347872432347 + ], + [ + -0.1775270422395878, + -0.040119530749600084, + 0.9832978045974147, + 0.15052311377796743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9824507868521265, + -0.06732631370569613, + 0.17394717271758184, + 0.3982534715727255 + ], + [ + 0.059245623712149656, + 0.9969273470777287, + 0.05124276260625405, + -0.011583023246615436 + ], + [ + -0.17686267973938538, + -0.04003788370237285, + 0.9834208460186511, + 0.15046077892907145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9820710075683299, + -0.06803003328652196, + 0.17580799374533582, + 0.4029399897574094 + ], + [ + 0.059869583700809664, + 0.9968862274937061, + 0.05131746662549504, + -0.011338447377857093 + ], + [ + -0.17875169661073725, + -0.03987184475794625, + 0.9830859916377515, + 0.1512862780498792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_052/pan_left/transforms.json b/spatialvid_eval/camera_controls/scene_052/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..56833c2689ef09c4dd89c9606dcac453a2a392f6 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_052/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": [ + [ + 0.9999999852230789, + -0.0001592555185181777, + 6.474196424313855e-05, + 4.7279135628466675e-05 + ], + [ + 0.00015925914668826204, + 0.9999999857480673, + -5.603917746133868e-05, + -7.772513111711447e-05 + ], + [ + -6.473303877217649e-05, + 5.604948738323246e-05, + 0.9999999963340443, + -0.0003366873388506274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999991406939652, + -0.000814685737454414, + 0.0010270825090270457, + 0.00222208933408645 + ], + [ + 0.0008136968236677518, + 0.9999992053715807, + 0.0009628882004330914, + -2.4214928933510743e-05 + ], + [ + -0.0010278661441617517, + -0.00096205163924221, + 0.9999990089734255, + 0.0031839036263838975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999993373904437, + -0.001144015985310554, + -0.00012824234554843842, + 0.0033094944333154413 + ], + [ + 0.001144203263747239, + 0.9999982650762126, + 0.001469912737542529, + 2.5401721582911217e-06 + ], + [ + 0.0001265605193889815, + -0.0014700584988746293, + 0.9999989114546299, + 0.0049441991090011595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999980223371566, + -0.0018058987698508961, + 0.0008330974785845162, + 0.005484304631773425 + ], + [ + 0.0018038231738588394, + 0.9999952842940345, + 0.0024854801649861536, + 5.605037434189485e-05 + ], + [ + -0.0008375820755142037, + -0.002483972489006429, + 0.9999965641625678, + 0.008464790074235685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999953356316319, + -0.002472067228115251, + 0.0017937665958030322, + 0.007659114830231408 + ], + [ + 0.002465778773185761, + 0.9999908366410982, + 0.0034995098054839756, + 0.00010956057652549858 + ], + [ + -0.001802401182380532, + -0.0034950704508851533, + 0.9999922678863682, + 0.01198538103947021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999995857781998, + -0.002806754548635844, + 0.0006376109708452873, + 0.008746519929460399 + ], + [ + 0.0028041813470676613, + 0.9999880627639534, + 0.0040013618393122475, + 0.00013631567761730046 + ], + [ + -0.000648834200075852, + -0.003999557288008074, + 0.9999917912441487, + 0.013745676522087472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999926714696901, + -0.003479327254569387, + 0.001597275420295968, + 0.010921330127918382 + ], + [ + 0.003471282524893436, + 0.9999814149755907, + 0.005011975762897411, + 0.0001898258798009042 + ], + [ + -0.0016146840387643816, + -0.0050063944382272045, + 0.9999861643093788, + 0.017266267487321997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999880958799561, + -0.004156153162854427, + 0.002556264709853513, + 0.013096140326376366 + ], + [ + 0.004140700158738709, + 0.9999733005855915, + 0.0060210230155378726, + 0.00024333608198450792 + ], + [ + -0.0025812207529323362, + -0.006010366614867239, + 0.9999786061674417, + 0.020786858452556522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999863865993066, + -0.004569126204660822, + 0.002519861462107581, + 0.014149529196859873 + ], + [ + 0.004552450061259569, + 0.999967960061717, + 0.006584379123997896, + 0.0003389295984537593 + ], + [ + -0.002549865585098729, + -0.006572817944739025, + 0.9999751478160663, + 0.023018583781953872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999690644328881, + -0.005400519296211359, + 0.005718790828987348, + 0.016256306937826884 + ], + [ + 0.005356271291355673, + 0.9999558198360786, + 0.007724553955358536, + 0.000530116631392262 + ], + [ + -0.005760254774561625, + -0.007693683596762668, + 0.99995381228217, + 0.027482034440748575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999669286175168, + -0.005818930221330161, + 0.005681700654689156, + 0.01730969580831039 + ], + [ + 0.005771750694497261, + 0.9999490202675556, + 0.008285152978460542, + 0.0006257101478615133 + ], + [ + -0.005729621730164647, + -0.008252085617297832, + 0.9999495359855888, + 0.029713759770145926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999383927396586, + -0.006661157869788876, + 0.008879172318547285, + 0.019416473549277405 + ], + [ + 0.006577447833814051, + 0.9999339625922301, + 0.009423780270899077, + 0.000816897180800016 + ], + [ + -0.008941359249138883, + -0.009364797404881834, + 0.9999161728186736, + 0.034177210428940626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998988804599863, + -0.0075105624045697155, + 0.01207560794466437, + 0.02152325129024442 + ], + [ + 0.007383139890429081, + 0.9999169607589556, + 0.010562236123662317, + 0.0010080842137385187 + ], + [ + -0.012153933528884062, + -0.010472012172486542, + 0.9998713011487205, + 0.038640661087735326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998960400256639, + -0.007937944363747049, + 0.01203736600231897, + 0.022576640160727926 + ], + [ + 0.007804184113023373, + 0.9999077310129996, + 0.011118640688725881, + 0.00110367773020777 + ], + [ + -0.012124514477939372, + -0.011023542974607285, + 0.9998657298102387, + 0.04087238641713268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998452743228166, + -0.008798044212920552, + 0.01523226287716865, + 0.024683417901694937 + ], + [ + 0.008611710756964269, + 0.9998878143689367, + 0.012255493231575102, + 0.001294864763146273 + ], + [ + -0.0153383784074478, + -0.01212242115001341, + 0.9998088722617396, + 0.04533583707592738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997840976052799, + -0.009752508147947059, + 0.018347936135184362, + 0.026791395438819927 + ], + [ + 0.009508313346205988, + 0.9998656809750154, + 0.013349606199412367, + 0.0008379061988344503 + ], + [ + -0.01847566380152384, + -0.01317226606143583, + 0.9997425374834764, + 0.04964377827659088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.999781005712811, + -0.010275844123667627, + 0.01823040436816644, + 0.027845984105461415 + ], + [ + 0.010023882901080246, + 0.9998537157453872, + 0.013858891792943287, + 0.00028535411805337657 + ], + [ + -0.0183701493588432, + -0.013673117336188017, + 0.9997377573518194, + 0.05171999414785704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9997096781584486, + -0.011327235528916032, + 0.02126624394677334, + 0.029955161438744382 + ], + [ + 0.011011442657382265, + 0.999828230248954, + 0.014908324112658357, + -0.000819750043508771 + ], + [ + -0.021431461147910405, + -0.014669823874789725, + 0.9996626874804063, + 0.05587242589038934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9996279732753197, + -0.012384882675364592, + 0.024300817405893637, + 0.03206433877202735 + ], + [ + 0.011999101150981182, + 0.9998006722716039, + 0.015957358704301813, + -0.0019248542050709187 + ], + [ + -0.024493603594523437, + -0.01565983417430366, + 0.99957732716213, + 0.06002485763292165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9996241322529313, + -0.012916038265942247, + 0.024182021691463773, + 0.03311892743866884 + ], + [ + 0.012519915040051, + 0.9997861164612508, + 0.016461259329711774, + -0.0024774062858519924 + ], + [ + -0.024389463810498453, + -0.016152315216179807, + 0.9995720368078498, + 0.062101073504187795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9995318059583287, + -0.013982985567594565, + 0.027214793629549074, + 0.035228104771951804 + ], + [ + 0.01350941294471217, + 0.9997554519621519, + 0.017508056255419423, + -0.00358251044741414 + ], + [ + -0.027452953203102697, + -0.017132203202452685, + 0.9994762743426472, + 0.0662535052467201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9994290767794125, + -0.015056076954840314, + 0.030246240007336864, + 0.03733728210523478 + ], + [ + 0.014498978413558542, + 0.9997227180419506, + 0.0185544241564624, + -0.0046876146089762875 + ], + [ + -0.030517210108636453, + -0.018105291423909153, + 0.9993702508628325, + 0.0704059369892524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9994244399558205, + -0.015594912591866907, + 0.03012619325846749, + 0.03839187077187626 + ], + [ + 0.015024977969704274, + 0.9997055754756117, + 0.01905288429571514, + -0.0052401666897573616 + ], + [ + -0.030414451433560377, + -0.018589272826768623, + 0.9993644981085568, + 0.07248215286051855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.999273038484529, + -0.016726689514449063, + 0.03425802702702751, + 0.04092392320928567 + ], + [ + 0.01603932441610766, + 0.999666448157612, + 0.020241850217304774, + -0.005616002456411042 + ], + [ + -0.0345851793427789, + -0.019677659561852582, + 0.9992080139210233, + 0.07578954655933752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9991031738855473, + -0.01786647841198271, + 0.03838797833933191, + 0.043455975646695094 + ], + [ + 0.017052361788767467, + 0.9996248859271955, + 0.021431388020081703, + -0.005991838223064721 + ], + [ + -0.0387564818998299, + -0.020757562096654657, + 0.999033061878611, + 0.07909694025815647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9990761675399753, + -0.018439356852943883, + 0.03881754207166497, + 0.044722001865399805 + ], + [ + 0.01759440126579473, + 0.999603192462481, + 0.02199760584507088, + -0.006179756106391562 + ], + [ + -0.03920776068247062, + -0.02129431233138763, + 0.9990041560296934, + 0.08075063710756596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.998885344580405, + -0.019591040471703774, + 0.04294484271390408, + 0.04725405430280922 + ], + [ + 0.018607389353732844, + 0.9995579823959808, + 0.023186308242471573, + -0.0065555918730452415 + ], + [ + -0.04338010424059032, + -0.022361372089216267, + 0.9988083577916054, + 0.08405803080638492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9986760333746679, + -0.02075057107770517, + 0.04707009839577713, + 0.04978610674021864 + ], + [ + 0.019619026536071293, + 0.9995103436647333, + 0.024375534968150335, + -0.006931427639698922 + ], + [ + -0.04755285649480971, + -0.023419793063895647, + 0.9985941313326593, + 0.08736542450520388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9986434972751798, + -0.021333258146782857, + 0.04749797308139103, + 0.051052132958923344 + ], + [ + 0.020165163865881196, + 0.999485614401872, + 0.02493737696660533, + -0.0071193455230257625 + ], + [ + -0.04800553630842994, + -0.023945744936316803, + 0.9985599980888403, + 0.08901912135461336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9984131833998542, + -0.022504433863314608, + 0.051620399745260656, + 0.053584185396332765 + ], + [ + 0.021176688431329364, + 0.9994343378621938, + 0.026125699398110026, + -0.007495181289679442 + ], + [ + -0.05217914411382393, + -0.024991093582508634, + 0.9983249882483654, + 0.09232651505343233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9981742877549379, + -0.023635086047212345, + 0.05558303673301431, + 0.056293900946968276 + ], + [ + 0.022152755539405967, + 0.9993862736070125, + 0.02713542975339043, + -0.007318050247509977 + ], + [ + -0.056190272173518366, + -0.02585457084213035, + 0.9980852641330978, + 0.096054520207909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9981412758730984, + -0.024202740669172544, + 0.055930499215763145, + 0.05764875872228603 + ], + [ + 0.02268558578532563, + 0.9993615064427063, + 0.027603326577456424, + -0.007229484726425245 + ], + [ + -0.05656286410711831, + -0.026283203470388868, + 0.9980530224488748, + 0.09791852278514734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9978831912244154, + -0.02534266810240317, + 0.05989061566914013, + 0.060358474272921535 + ], + [ + 0.023661696995026772, + 0.999310503736619, + 0.028611906909197894, + -0.00705235368425578 + ], + [ + -0.06057442337400134, + -0.027134227372757492, + 0.99779480502646, + 0.10164652793962403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.997847627155777, + -0.02591492530209882, + 0.06023727771216196, + 0.06171333204823929 + ], + [ + 0.024196953808123853, + 0.999284268893332, + 0.029076749624513138, + -0.006963788163171048 + ], + [ + -0.06094768581326945, + -0.02755660699189475, + 0.9977604988197826, + 0.10351053051686238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9975703325063591, + -0.027063987481772352, + 0.06419479951474952, + 0.0644230475988748 + ], + [ + 0.025173073630632578, + 0.9992303340227285, + 0.030084147533436828, + -0.0067866571210015835 + ], + [ + -0.06495958795389, + -0.028395072643212456, + 0.9974838203111105, + 0.10723853567133905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9972759049059027, + -0.028219060878523758, + 0.06815023182093795, + 0.0671327631495103 + ], + [ + 0.026148080825876125, + 0.9991744480467247, + 0.031091803415797172, + -0.006609526078832119 + ], + [ + -0.06897135175735548, + -0.029225108616689473, + 0.9971904761193351, + 0.11096654082581572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9972356752144108, + -0.028798832022387085, + 0.06849551338448819, + 0.06848762092482806 + ], + [ + 0.026686825134570453, + 0.9991457743467385, + 0.03155209928504237, + -0.006520960557747387 + ], + [ + -0.06934566636708543, + -0.02963695124675689, + 0.9971523603125564, + 0.11283054340305407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9969092206421135, + -0.02999442352978182, + 0.07261088317773395, + 0.07134427815696921 + ], + [ + 0.027688528453761706, + 0.999086242885229, + 0.03255802004948487, + -0.006905660718180055 + ], + [ + -0.07352109350927588, + -0.030446901888262802, + 0.9968287891983293, + 0.11640573280589613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9965507020543374, + -0.03122759781903333, + 0.07688650967146443, + 0.074347877070616 + ], + [ + 0.028715554699294932, + 0.9990239639034798, + 0.033563916113752305, + -0.007852192081214855 + ], + [ + -0.07785958613632163, + -0.03124030539274394, + 0.9964747503904197, + 0.11982810645710357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9964919141374765, + -0.03184641237397958, + 0.0773929652974659, + 0.0758496765274394 + ], + [ + 0.029284197892927143, + 0.9989920569936181, + 0.03401919777754597, + -0.008325457762732254 + ], + [ + -0.07839834700040686, + -0.03163346459947674, + 0.9964201037238449, + 0.12153929328270728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9961103982665463, + -0.03308845008557667, + 0.08166534721776066, + 0.0788532754410862 + ], + [ + 0.03031056740449339, + 0.9989267107190318, + 0.035024221842517474, + -0.009271989125767054 + ], + [ + -0.08273659389218754, + -0.03241266855707065, + 0.9960442133500547, + 0.12496166693391471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9957088835596296, + -0.03433630405153521, + 0.08593507679938774, + 0.081856874354733 + ], + [ + 0.031335380691459885, + 0.9988593244377922, + 0.036029764093021145, + -0.010218520488801855 + ], + [ + -0.08707418169214928, + -0.033182347833720253, + 0.9956490439280725, + 0.12838404058512215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9956433957764651, + -0.03496238884298064, + 0.08643992025159168, + 0.0833586738115564 + ], + [ + 0.03190693211868117, + 0.9988248675481832, + 0.03648056537566363, + -0.010691786170319253 + ], + [ + -0.08761378960804733, + -0.033563601322659314, + 0.9955889254791711, + 0.13009522741072585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9952188595368441, + -0.03621882728085722, + 0.09070621904028035, + 0.08636227272520319 + ], + [ + 0.03293102323245216, + 0.9987544288445542, + 0.037485178034152765, + -0.011638317533354054 + ], + [ + -0.09195090717903542, + -0.034318907526141695, + 0.9951719666746872, + 0.13351760106193328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9947755310738763, + -0.037483644307890515, + 0.09495588020805862, + 0.08918306084157862 + ], + [ + 0.033966177605812026, + 0.9986852738696443, + 0.038393001116926215, + -0.01263046178755892 + ], + [ + -0.09627014882889748, + -0.03496712978374707, + 0.9947408498092096, + 0.1368308362962007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9947045386102081, + -0.0381191426234658, + 0.0954453342699633, + 0.09050204950113067 + ], + [ + 0.03455297889976305, + 0.9986516666621871, + 0.03874197106483765, + -0.013149340360246385 + ], + [ + -0.09679345286436312, + -0.0352388938317885, + 0.9946804752502717, + 0.13843288470486437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9942396570480319, + -0.039393150255338724, + 0.09967790159294221, + 0.09314002682023474 + ], + [ + 0.03559999208001882, + 0.9985831552528266, + 0.039551518418536054, + -0.014187097505621317 + ], + [ + -0.10109473238954915, + -0.03577515560091256, + 0.994233369649609, + 0.1416369815221917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9937550199472838, + -0.040671109909896225, + 0.10390775307103511, + 0.09577800413933882 + ], + [ + 0.03664560464144776, + 0.9985129178956499, + 0.040361521973012834, + -0.015224854650996246 + ], + [ + -0.10539478160723506, + -0.03630170263517177, + 0.9937676420550988, + 0.14484107833951904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9936774411583706, + -0.04131154819919402, + 0.10439587596422852, + 0.09709699279889085 + ], + [ + 0.037234534821912545, + 0.9984771532772819, + 0.04070582022133003, + -0.015743733223683713 + ], + [ + -0.10591851750071236, + -0.03656132339892974, + 0.9937024390036338, + 0.14644312674818272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9931700896081325, + -0.04259529448331949, + 0.108622345747337, + 0.09973497011799493 + ], + [ + 0.03827933896786569, + 0.9984043347978561, + 0.041514774057369225, + -0.016781490369058644 + ], + [ + -0.1102173548764348, + -0.03707324027827174, + 0.9932158423722974, + 0.14964722356551008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9930888654688963, + -0.043238583548372234, + 0.10910971622376804, + 0.10105395877754696 + ], + [ + 0.038869739405656314, + 0.9983672820105594, + 0.041855866606544855, + -0.017300368941746108 + ], + [ + -0.11074135921252332, + -0.0373255288452681, + 0.9931481038879267, + 0.15124927197417376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9925587927557302, + -0.044527946095766345, + 0.11333271786990673, + 0.10369193609665103 + ], + [ + 0.03991369546382743, + 0.998291892072643, + 0.04266374498849561, + -0.01833812608712104 + ], + [ + -0.11503886229317543, + -0.037822747633072216, + 0.9926406700935524, + 0.1544533687915011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9920258613093144, + -0.04567747017332266, + 0.11746599172560016, + 0.10602813098966053 + ], + [ + 0.040826900757719733, + 0.9982243348363887, + 0.04337443388644022, + -0.018085240293154798 + ], + [ + -0.11923864586631658, + -0.03823278774841155, + 0.9921292250876155, + 0.15757344489142622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9919466549338909, + -0.04625335138697908, + 0.11790869879248551, + 0.10719622843616528 + ], + [ + 0.041354519273312476, + 0.9981900679694752, + 0.04366224848502304, + -0.017958797396171677 + ], + [ + -0.11971481738338682, + -0.03843456377490592, + 0.9920640840219421, + 0.15913348294138877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9913924991351725, + -0.04740731100069882, + 0.12203876237573105, + 0.10953242332917479 + ], + [ + 0.04226695122257227, + 0.9981205601874339, + 0.04437174963275372, + -0.017705911602205436 + ], + [ + -0.12391294320153086, + -0.03883161334281776, + 0.9915329991040783, + 0.1622535590413139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9908196906654646, + -0.048564145189768135, + 0.12616601916356238, + 0.11186861822218427 + ], + [ + 0.04317807537824894, + 0.9980497569943968, + 0.04508144152593353, + -0.0174530258082392 + ], + [ + -0.1281093064387733, + -0.039219974061860785, + 0.9909842578156143, + 0.16537363514123898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9907347807760517, + -0.04914361958408548, + 0.12660765701490473, + 0.11303671566868903 + ], + [ + 0.04370742921186286, + 0.9980138708810997, + 0.04536490009482979, + -0.017326582911256078 + ], + [ + -0.12858559325336205, + -0.039410889143719915, + 0.990914994853031, + 0.16693367319120156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9901407503051906, + -0.05030464155209942, + 0.13073154792699782, + 0.11537291056169853 + ], + [ + 0.04461772548951193, + 0.9979411321860485, + 0.04607336826595606, + -0.017073697117289836 + ], + [ + -0.13278009322641962, + -0.039786175105715325, + 0.9903466600707252, + 0.17005374929112665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.989528076355959, + -0.05146837241720526, + 0.13485248512355832, + 0.11770910545470803 + ], + [ + 0.04552667877194824, + 0.9978671083402453, + 0.04678200094772843, + -0.016820811323323595 + ], + [ + -0.13697265282994084, + -0.040152717634069184, + 0.9897607042327592, + 0.17317382539105178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9894378581043022, + -0.05202721677206733, + 0.13529927444344786, + 0.11877687683904932 + ], + [ + 0.0460439853465639, + 0.9978338964793172, + 0.04698368280912707, + -0.01704929848204704 + ], + [ + -0.13745063245899064, + -0.04025771667463977, + 0.9896901736830411, + 0.17482948941491755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9888048190979554, + -0.05314602364796276, + 0.139429300719291, + 0.12091241960773189 + ], + [ + 0.04692471490477901, + 0.997766693536116, + 0.04753626406346807, + -0.017506272799493926 + ], + [ + -0.14164427577479272, + -0.040461406802244734, + 0.9890903769119475, + 0.1781408174626491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9881531895100574, + -0.054266268210171005, + 0.14355642164543686, + 0.12304796237641447 + ], + [ + 0.047804217539910855, + 0.9976984548324223, + 0.048088980134684926, + -0.017963247116940813 + ], + [ + -0.14583562955086637, + -0.04065667669078507, + 0.988473066802512, + 0.18145214551038064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9880573518601198, + -0.054826909653699483, + 0.14400235905356815, + 0.12411573376075576 + ], + [ + 0.048322577636762405, + 0.997663948284729, + 0.04828638300250919, + -0.018191734275664256 + ], + [ + -0.14631335525408046, + -0.04075115054511975, + 0.9883985763868453, + 0.1831078095342464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9873845996326684, + -0.05594919088245687, + 0.14812609644432592, + 0.12625127652943832 + ], + [ + 0.049201118295848965, + 0.9975941632585454, + 0.04883784793498434, + -0.018648708593111147 + ], + [ + -0.15050216731553473, + -0.040933769336346036, + 0.9877618762440904, + 0.18641913758197795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9866932746382511, + -0.057072749867329256, + 0.15224678323769925, + 0.1283868192981209 + ], + [ + 0.05007839879269029, + 0.9975233523153073, + 0.04938942761353214, + -0.019105682910558034 + ], + [ + -0.15468851204276926, + -0.04110794093862309, + 0.9871076949521675, + 0.1897304656297095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9865918124339257, + -0.05763498848891542, + 0.15269185878829522, + 0.1294545906824622 + ], + [ + 0.05059775923950216, + 0.9974875633850135, + 0.04958253374092824, + -0.019334170069281478 + ], + [ + -0.1551659189328748, + -0.04119185591972643, + 0.9870292643116543, + 0.19138612965357527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9859742659099486, + -0.05866465573499176, + 0.1562472563945775, + 0.1315433830903226 + ], + [ + 0.05142573223185905, + 0.9974254044682784, + 0.04997956167983413, + -0.020005417923956444 + ], + [ + -0.15877701668615343, + -0.04124343206846529, + 0.9864526538478463, + 0.19466024951683042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.985439473949764, + -0.05959859652061577, + 0.15923897285019684, + 0.1335854251373608 + ], + [ + 0.052204710652586715, + 0.9973727165677037, + 0.05022282779811624, + -0.020890939315859492 + ], + [ + -0.16181381698511593, + -0.04117853250338561, + 0.9859617726329837, + 0.19789716119560918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.985430016417721, + -0.06006539456687743, + 0.1591220635816906, + 0.1346064461608799 + ], + [ + 0.05267631328851905, + 0.9973461442303617, + 0.05025808001864289, + -0.021333700011811015 + ], + [ + -0.1617185479816711, + -0.04114385694554961, + 0.9859788508250794, + 0.19951561703499857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.984885146052967, + -0.06099862220053173, + 0.16211235971961926, + 0.1366484882079181 + ], + [ + 0.053454915146767805, + 0.9972925441344291, + 0.05049904415461455, + -0.022219221403714063 + ], + [ + -0.16475381977629017, + -0.04107005604469822, + 0.9854792891611712, + 0.2027525287137773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9843302994019189, + -0.06193132688263097, + 0.16510109760351532, + 0.1386905302549563 + ], + [ + 0.05423299068694902, + 0.9972383386320081, + 0.05073932088254241, + -0.02310474279561711 + ], + [ + -0.1677874977478301, + -0.0409903246270265, + 0.9849706335147728, + 0.20598944039255607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9843204094663017, + -0.06239747124444092, + 0.16498450560701647, + 0.13971155127847543 + ], + [ + 0.054704973453685045, + 0.9972110095423354, + 0.05076975799615413, + -0.023547503491568634 + ], + [ + -0.16769226990986824, + -0.04094823597977828, + 0.9849886012450199, + 0.20760789623194545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9837554957776767, + -0.06332932027709376, + 0.1679717884659763, + 0.14175359332551363 + ], + [ + 0.05548263403745415, + 0.9971559000774523, + 0.05100772746351408, + -0.024433024883471682 + ], + [ + -0.1707243446245536, + -0.04085961495128748, + 0.9844712743491042, + 0.2108448079107242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9837452712026432, + -0.06379501545939938, + 0.16785540619525194, + 0.14277461434903274 + ], + [ + 0.05595483975351943, + 0.9971281202633933, + 0.051034965348771076, + -0.024875785579423205 + ], + [ + -0.17062912205891467, + -0.04081308347242707, + 0.9844897129593975, + 0.2124632637501136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9833795283313465, + -0.06450290450345292, + 0.1697176436598073, + 0.14477081553658608 + ], + [ + 0.05657993771784643, + 0.997088612578789, + 0.05111760277586122, + -0.02491069391448334 + ], + [ + -0.17252076369719538, + -0.04066539039926397, + 0.9841660998617113, + 0.21556079717992366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9830097561965596, + -0.065209998067931, + 0.17157935590962395, + 0.14676701672413944 + ], + [ + 0.05720476997221775, + 0.9970487803303126, + 0.05119906184943236, + -0.02494560224954348 + ], + [ + -0.17441167826383247, + -0.040514019719311754, + 0.9838390014079422, + 0.21865833060973375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9831043129097634, + -0.06556324053542255, + 0.17090164255710544, + 0.1477651173179161 + ], + [ + 0.05760084782545521, + 0.9970287428327824, + 0.051145168834120534, + -0.02496305641707355 + ], + [ + -0.17374709283326453, + -0.040436956559269745, + 0.983959755414932, + 0.22020709732463878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9827315464440879, + -0.06626910483315636, + 0.1727631713306511, + 0.14976131850546945 + ], + [ + 0.05822540033786306, + 0.9969884257722712, + 0.05122383850927724, + -0.024997964752133686 + ], + [ + -0.17563744014049895, + -0.040280077218658256, + 0.9836305226049828, + 0.22330463075444887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.982354755426159, + -0.06697412562064042, + 0.17462417068940364, + 0.1517575196930228 + ], + [ + 0.05884967090201025, + 0.9969477868724032, + 0.05130133024535054, + -0.025032873087193826 + ], + [ + -0.1775270422395878, + -0.040119530749600084, + 0.9832978045974147, + 0.22640216418425893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9824507868521265, + -0.06732631370569613, + 0.17394717271758184, + 0.15275562028679948 + ], + [ + 0.059245623712149656, + 0.9969273470777287, + 0.05124276260625405, + -0.025050327254723892 + ], + [ + -0.17686267973938538, + -0.04003788370237285, + 0.9834208460186511, + 0.22795093089916396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9820710075683299, + -0.06803003328652196, + 0.17580799374533582, + 0.15475182147435282 + ], + [ + 0.059869583700809664, + 0.9968862274937061, + 0.05131746662549504, + -0.02508523558978403 + ], + [ + -0.17875169661073725, + -0.03987184475794625, + 0.9830859916377515, + 0.23104846432897405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_052/pan_right/transforms.json b/spatialvid_eval/camera_controls/scene_052/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..77e5523ccf40f8d47d5ca7aea68159cf3b7c4500 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_052/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": [ + [ + 0.9999999852230789, + -0.0001592555185181777, + 6.474196424313855e-05, + 4.7279135628466675e-05 + ], + [ + 0.00015925914668826204, + 0.9999999857480673, + -5.603917746133868e-05, + -7.772513111711447e-05 + ], + [ + -6.473303877217649e-05, + 5.604948738323246e-05, + 0.9999999963340443, + -0.0003366873388506274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999710001851905, + -0.000814685737454414, + 0.007571992853876067, + 0.00222208933408645 + ], + [ + 0.0008073773520945558, + 0.9999992053715807, + 0.0009681931722053451, + -2.4214928933510743e-05 + ], + [ + -0.00757277561012385, + -0.00096205163924221, + 0.9999708633386286, + 0.0031839036263838975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999153436616564, + -0.001144015985310554, + 0.012961355539337745, + 0.0033094944333154413 + ], + [ + 0.0011248646738182052, + 0.9999982650762126, + 0.0014847639645261697, + 2.5401721582911217e-06 + ], + [ + -0.012963031646083534, + -0.0014700584988746293, + 0.9999148957479095, + 0.0049441991090011595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997889064207505, + -0.0018058987698508961, + 0.020466590522920394, + 0.005484304631773425 + ], + [ + 0.0017546763165970762, + 0.9999952842940345, + 0.0025204167744766123, + 5.605037434189485e-05 + ], + [ + -0.02047104562604991, + -0.002483972489006429, + 0.9997873604780418, + 0.008464790074235685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9996057068700971, + -0.002472067228115251, + 0.027969978125734457, + 0.007659114830231408 + ], + [ + 0.00237332732510334, + 0.9999908366410982, + 0.0035628571743601786, + 0.00010956057652549858 + ], + [ + -0.0279785294492456, + -0.0034950704508851533, + 0.9996024141489465, + 0.01198538103947021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9994395854299959, + -0.002806754548635844, + 0.03335621687814856, + 0.008746519929460399 + ], + [ + 0.002671759063835547, + 0.9999880627639534, + 0.004090969701813874, + 0.00013631567761730046 + ], + [ + -0.03336730104493295, + -0.003999557288008074, + 0.9994351538556552, + 0.013745676522087472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9991590046217269, + -0.003479327254569387, + 0.04085557202115219, + 0.010921330127918382 + ], + [ + 0.0032718370468282614, + 0.9999814149755907, + 0.005144393623596833, + 0.0001898258798009042 + ], + [ + -0.04087271174829173, + -0.0050063944382272045, + 0.9991518190190468, + 0.017266267487321997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9988217157027302, + -0.004156153162854427, + 0.04835190411495266, + 0.013096140326376366 + ], + [ + 0.003860599212964425, + 0.9999733005855915, + 0.006204344419443041, + 0.00024333608198450792 + ], + [ + -0.04837639935310956, + -0.006010366614867239, + 0.9988110929894518, + 0.020786858452556522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9984840606513539, + -0.004569126204660822, + 0.054851651852151295, + 0.014149529196859873 + ], + [ + 0.004201611308948568, + 0.999967960061717, + 0.006813612288450015, + 0.0003389295984537593 + ], + [ + -0.054881026663066775, + -0.006572817944739025, + 0.9984712669760074, + 0.023018583781953872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.997898058459921, + -0.005400519296211359, + 0.06457785466590957, + 0.016256306937826884 + ], + [ + 0.00489223072978112, + 0.9999558198360786, + 0.00802648456314665, + 0.000530116631392262 + ], + [ + -0.06461834879046875, + -0.007693683596762668, + 0.9978803917465793, + 0.027482034440748575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9974543216623233, + -0.005818930221330161, + 0.07107050195569288, + 0.01730969580831039 + ], + [ + 0.0052175180022709395, + 0.9999490202675556, + 0.008644904386510117, + 0.0006257101478615133 + ], + [ + -0.07111718289591365, + -0.008252085617297832, + 0.9974338320810631, + 0.029713759770145926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9967093412484433, + -0.006661157869788876, + 0.08078439232876826, + 0.019416473549277405 + ], + [ + 0.005882531380570721, + 0.9999339625922301, + 0.009872501160158583, + 0.000816897180800016 + ], + [ + -0.08084481982570807, + -0.009364797404881834, + 0.9966827056174471, + 0.034177210428940626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9958690846312069, + -0.0075105624045697155, + 0.09048954485557645, + 0.02152325129024442 + ], + [ + 0.006531676639018735, + 0.9999169607589556, + 0.011108950754096413, + 0.0010080842137385187 + ], + [ + -0.0905654651403371, + -0.010472012172486542, + 0.9958354449832433, + 0.038640661087735326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9952559260394523, + -0.007937944363747049, + 0.09696716311530386, + 0.022576640160727926 + ], + [ + 0.006831065959490487, + 0.9999077310129996, + 0.011741635247785867, + 0.00110367773020777 + ], + [ + -0.09705142050072724, + -0.011023542974607285, + 0.9952183194048821, + 0.04087238641713268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9942570742737327, + -0.008798044212920552, + 0.10665582344468845, + 0.024683417901694937 + ], + [ + 0.007454186538425245, + 0.9998878143689367, + 0.012992066023583666, + 0.001294864763146273 + ], + [ + -0.1067581629651214, + -0.01212242115001341, + 0.9942111151791526, + 0.04533583707592738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9931714516755992, + -0.009752508147947059, + 0.1162555640019322, + 0.026791395438819927 + ], + [ + 0.008154037994365433, + 0.9998656809750154, + 0.014217301880296167, + 0.0008379061988344503 + ], + [ + -0.11637860302035581, + -0.01317226606143583, + 0.9931175721765463, + 0.04964377827659088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9923985046013509, + -0.010275844123667627, + 0.12263610843690813, + 0.027845984105461415 + ], + [ + 0.008520322360022897, + 0.9998537157453872, + 0.014830752409246592, + 0.00028535411805337657 + ], + [ + -0.1227705672051909, + -0.013673117336188017, + 0.9923408858302811, + 0.05171999414785704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9911666314725293, + -0.011327235528916032, + 0.1321378158994311, + 0.029955161438744382 + ], + [ + 0.009288002616020126, + 0.999828230248954, + 0.016038796857922095, + -0.000819750043508771 + ], + [ + -0.1322967938493004, + -0.014669823874789725, + 0.991101586420221, + 0.05587242589038934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9898427541155153, + -0.012384882675364592, + 0.14162604564884818, + 0.03206433877202735 + ], + [ + 0.010040342452446156, + 0.9998006722716039, + 0.017257092706676937, + -0.0019248542050709187 + ], + [ + -0.14181154271937732, + -0.01565983417430366, + 0.9897697994711617, + 0.06002485763292165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9889055430472133, + -0.012916038265942247, + 0.14798311689516663, + 0.03311892743866884 + ], + [ + 0.010381471884540916, + 0.9997861164612508, + 0.017887044832520675, + -0.0024774062858519924 + ], + [ + -0.14818249549797144, + -0.016152315216179807, + 0.9888281199182953, + 0.062101073504187795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9874284294125499, + -0.013982985567594565, + 0.15744704793193723, + 0.035228104771951804 + ], + [ + 0.011108578128017367, + 0.9997554519621519, + 0.019121604637880738, + -0.00358251044741414 + ], + [ + -0.15767592168698122, + -0.017132203202452685, + 0.9873422868152621, + 0.0662535052467201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9858596932350359, + -0.015056076954840314, + 0.16689511616956054, + 0.03733728210523478 + ], + [ + 0.011820058381986963, + 0.9997227180419506, + 0.020365982683415298, + -0.0046876146089762875 + ], + [ + -0.1671554709675026, + -0.018105291423909153, + 0.9857642958375434, + 0.0704059369892524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9847588965624796, + -0.015594912591866907, + 0.1732244623091664, + 0.03839187077187626 + ], + [ + 0.012135541960566099, + 0.9997055754756117, + 0.021011686850401775, + -0.0052401666897573616 + ], + [ + -0.1735011361990783, + -0.018589272826768623, + 0.984658212108852, + 0.07248215286051855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.982834734322598, + -0.016726689514449063, + 0.18372833985783343, + 0.04092392320928567 + ], + [ + 0.0128223317315385, + 0.999666448157612, + 0.022418301383274546, + -0.005616002456411042 + ], + [ + -0.1840420408982543, + -0.019677659561852582, + 0.9827213831479263, + 0.07578954655933752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9807973530428621, + -0.01786647841198271, + 0.19420952915155917, + 0.043455975646695094 + ], + [ + 0.01348981119838458, + 0.9996248859271955, + 0.023835109164303325, + -0.005991838223064721 + ], + [ + -0.19456252788743286, + -0.020757562096654657, + 0.9806704575737235, + 0.07909694025815647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9794086370564539, + -0.018439356852943883, + 0.20104405432160824, + 0.044722001865399805 + ], + [ + 0.013776088273241732, + 0.999603192462481, + 0.02456983945215653, + -0.006179756106391562 + ], + [ + -0.20141733056295782, + -0.02129431233138763, + 0.9792740225346663, + 0.08075063710756596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9771848158490598, + -0.019591040471703774, + 0.21148528744873785, + 0.04725405430280922 + ], + [ + 0.014412035523871061, + 0.9995579823959808, + 0.02600255873053639, + -0.0065555918730452415 + ], + [ + -0.21190122440915218, + -0.022361372089216267, + 0.9770352297293021, + 0.08405803080638492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9748484719745288, + -0.02075057107770517, + 0.2219005869502723, + 0.04978610674021864 + ], + [ + 0.015028362593358576, + 0.9995103436647333, + 0.0274448761150261, + -0.006931427639698922 + ], + [ + -0.22236142877461637, + -0.023419793063895647, + 0.9746829783504766, + 0.08736542450520388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.973265301518352, + -0.021333258146782857, + 0.2286909376368767, + 0.051052132958923344 + ], + [ + 0.015283020337053916, + 0.999485614401872, + 0.02819460751792114, + -0.0071193455230257625 + ], + [ + -0.22917478515266096, + -0.023945744936316803, + 0.9730907044822062, + 0.08901912135461336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9707437443710458, + -0.022504433863314608, + 0.23906094039171916, + 0.053584185396332765 + ], + [ + 0.015867322581670586, + 0.9994343378621938, + 0.02965185282654715, + -0.007495181289679442 + ], + [ + -0.239593010829971, + -0.024991093582508634, + 0.9705517165009702, + 0.09232651505343233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9681509361721435, + -0.023635086047212345, + 0.24924916749418283, + 0.056293900946968276 + ], + [ + 0.01643323682478553, + 0.9993862736070125, + 0.030935818291268475, + -0.007318050247509977 + ], + [ + -0.24982736742891654, + -0.02585457084213035, + 0.967945157356607, + 0.096054520207909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9663965293880153, + -0.024202740669172544, + 0.25591399987280883, + 0.05764875872228603 + ], + [ + 0.016658028662804466, + 0.9993615064427063, + 0.03160837739641605, + -0.007229484726425245 + ], + [ + -0.25651560979376753, + -0.026283203470388868, + 0.9661826613779955, + 0.09791852278514734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9636250901408677, + -0.02534266810240317, + 0.2660534435493296, + 0.060358474272921535 + ], + [ + 0.017195882201964073, + 0.999310503736619, + 0.03290621152550443, + -0.00705235368425578 + ], + [ + -0.266703931891341, + -0.027134227372757492, + 0.9633964637772878, + 0.10164652793962403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9617541169933161, + -0.02591492530209882, + 0.2726855975166151, + 0.06171333204823929 + ], + [ + 0.017403345325758594, + 0.999284268893332, + 0.0335868056503071, + -0.006963788163171048 + ], + [ + -0.27336082751169594, + -0.02755660699189475, + 0.9615167660489417, + 0.10351053051686238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9588049353825762, + -0.027063987481772352, + 0.28277311836099395, + 0.0644230475988748 + ], + [ + 0.0179128698537949, + 0.9992303340227285, + 0.03489797504767072, + -0.0067866571210015835 + ], + [ + -0.28349995587233384, + -0.028395072643212456, + 0.9585517695304577, + 0.10723853567133905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9557487458090052, + -0.028219060878523758, + 0.29282762760308034, + 0.0671327631495103 + ], + [ + 0.01840480343794523, + 0.9991744480467247, + 0.036217200070321934, + -0.006609526078832119 + ], + [ + -0.2936078985567737, + -0.029225108616689473, + 0.9554790918337346, + 0.11096654082581572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.953692014081421, + -0.028798832022387085, + 0.2994030219477904, + 0.06848762092482806 + ], + [ + 0.01858377473375462, + 0.9991457743467385, + 0.03691022787387496, + -0.006520960557747387 + ], + [ + -0.3002102356582263, + -0.02963695124675689, + 0.9534125369045814, + 0.11283054340305407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9504082003071592, + -0.02999442352978182, + 0.3095554673172859, + 0.07134427815696921 + ], + [ + 0.019073052084850307, + 0.999086242885229, + 0.038247849111368575, + -0.006905660718180055 + ], + [ + -0.310419830991958, + -0.030446901888262802, + 0.9501118432544303, + 0.11640573280589613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9469618759758938, + -0.03122759781903333, + 0.3198250186940807, + 0.074347877070616 + ], + [ + 0.01957013472558268, + 0.9990239639034798, + 0.039599613298638967, + -0.007852192081214855 + ], + [ + -0.32074945872914407, + -0.03124030539274394, + 0.9466487352993873, + 0.11982810645710357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9446635998059237, + -0.03184641237397958, + 0.3264911778603219, + 0.0758496765274394 + ], + [ + 0.019745802406051397, + 0.9989920569936181, + 0.04031095819998679, + -0.008325457762732254 + ], + [ + -0.3274458527589792, + -0.03163346459947674, + 0.944340265703194, + 0.12153929328270728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.94103221233588, + -0.03308845008557667, + 0.3366950100865383, + 0.0788532754410862 + ], + [ + 0.02021282421273655, + 0.9989267107190318, + 0.041675752535511895, + -0.009271989125767054 + ], + [ + -0.337712624998807, + -0.03241266855707065, + 0.9406910235743856, + 0.12496166693391471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9372892074937725, + -0.03433630405153521, + 0.34685726133350114, + 0.081856874354733 + ], + [ + 0.020661157631352626, + 0.9988593244377922, + 0.04304842098160944, + -0.010218520488801855 + ], + [ + -0.3479397334036867, + -0.033182347833720253, + 0.93692949239055, + 0.12838404058512215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9347989090661569, + -0.03496238884298064, + 0.353452445139534, + 0.0833586738115564 + ], + [ + 0.02080669281989337, + 0.9988248675481832, + 0.04377174318270628, + -0.010691786170319253 + ], + [ + -0.3545674564065654, + -0.033563601322659314, + 0.9344278482170959, + 0.13009522741072585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9308728331701119, + -0.03621882728085722, + 0.3635436218891053, + 0.08636227272520319 + ], + [ + 0.02122455027805043, + 0.9987544288445542, + 0.04515649819110138, + -0.011638317533354054 + ], + [ + -0.3647263178485257, + -0.034318907526141695, + 0.9304820931403617, + 0.13351760106193328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9268414839086637, + -0.037483644307890515, + 0.3735770872462414, + 0.08918306084157862 + ], + [ + 0.021663239960048753, + 0.9986852738696443, + 0.0464588827927148, + -0.01263046178755892 + ], + [ + -0.3748273839254806, + -0.03496712978374707, + 0.9264349583722902, + 0.1368308362962007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.924166577078004, + -0.0381191426234658, + 0.3800829761743848, + 0.09050204950113067 + ], + [ + 0.02181893866212906, + 0.9986516666621871, + 0.047103955125811225, + -0.013149340360246385 + ], + [ + -0.38136606001004375, + -0.0352388938317885, + 0.9237522117071914, + 0.13843288470486437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9199600601225126, + -0.039393150255338724, + 0.39002777784709547, + 0.09314002682023474 + ], + [ + 0.02227003289442787, + 0.9985831552528266, + 0.04832936664379433, + -0.014187097505621317 + ], + [ + -0.39137901504074546, + -0.03577515560091256, + 0.9195339062957203, + 0.1416369815221917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9156450220835548, + -0.040671109909896225, + 0.3999250609205477, + 0.09577800413933882 + ], + [ + 0.022704515740100465, + 0.9985129178956499, + 0.04956266498608429, + -0.015224854650996246 + ], + [ + -0.40134610811444804, + -0.03630170263517177, + 0.9152068006123936, + 0.14484107833951904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9127833056935568, + -0.04131154819919402, + 0.4063495943550685, + 0.09709699279889085 + ], + [ + 0.022833356755236373, + 0.9984771532772819, + 0.050219639610251686, + -0.015743733223683713 + ], + [ + -0.40780543726933216, + -0.03656132339892974, + 0.9123365579460728, + 0.14644312674818272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9082904078353996, + -0.04259529448331949, + 0.41616604369179755, + 0.09973497011799493 + ], + [ + 0.023240706124320727, + 0.9984043347978561, + 0.05146507394043206, + -0.016781490369058644 + ], + [ + -0.417694151997663, + -0.03707324027827174, + 0.9078310251595412, + 0.14964722356551008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.905313599136262, + -0.043238583548372234, + 0.4225372316277922, + 0.10105395877754696 + ], + [ + 0.023352799987030916, + 0.9983672820105594, + 0.05212884943689278, + -0.017300368941746108 + ], + [ + -0.4241013251001626, + -0.0373255288452681, + 0.9048452193301944, + 0.15124927197417376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9006443301635465, + -0.044527946095766345, + 0.4322696526021103, + 0.10369193609665103 + ], + [ + 0.023732770379706634, + 0.998291892072643, + 0.05338589544183615, + -0.01833812608712104 + ], + [ + -0.433908453656253, + -0.037822747633072216, + 0.9001627039636357, + 0.1544533687915011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8959137833419119, + -0.04567747017332266, + 0.4418733546351798, + 0.10602813098966053 + ], + [ + 0.024006447060253868, + 0.9982243348363887, + 0.0545148405481764, + -0.018085240293154798 + ], + [ + -0.4435788355157687, + -0.03823278774841155, + 0.8954194942167943, + 0.15757344489142622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8927775653081997, + -0.04625335138697908, + 0.44811700075743155, + 0.10719622843616528 + ], + [ + 0.024047480261891213, + 0.9981900679694752, + 0.05512083907333616, + -0.017958797396171677 + ], + [ + -0.44985546298274204, + -0.03843456377490592, + 0.892273975151139, + 0.15913348294138877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8878761559042901, + -0.04740731100069882, + 0.4576335637169806, + 0.10953242332917479 + ], + [ + 0.0242966680326075, + 0.9981205601874339, + 0.05625850383396586, + -0.017705911602205436 + ], + [ + -0.45944053336545526, + -0.03883161334281776, + 0.8873592858059581, + 0.1622535590413139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8828720345452724, + -0.048564145189768135, + 0.46709580860876804, + 0.11186861822218427 + ], + [ + 0.024530676714609373, + 0.9980497569943968, + 0.05740146743201983, + -0.0174530258082392 + ], + [ + -0.46897251147355645, + -0.039219974061860785, + 0.8823415308806292, + 0.16537363514123898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.879558472741352, + -0.04914361958408548, + 0.4732460223637124, + 0.11303671566868903 + ], + [ + 0.024547074176395633, + 0.9980138708810997, + 0.05801512456508579, + -0.017326582911256078 + ], + [ + -0.4751571678700419, + -0.039410889143719915, + 0.8790178881220919, + 0.16693367319120156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.874386061574553, + -0.05030464155209942, + 0.4826162640882058, + 0.11537291056169853 + ], + [ + 0.024756308767792903, + 0.9979411321860485, + 0.05916605333653369, + -0.017073697117289836 + ], + [ + -0.48459894810073173, + -0.039786175105715325, + 0.8738311734941262, + 0.17005374929112665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8691125388251745, + -0.05146837241720526, + 0.4919292647297818, + 0.11770910545470803 + ], + [ + 0.02495019576114399, + 0.9978671083402453, + 0.06032181880678018, + -0.016820811323323595 + ], + [ + -0.4939846987390809, + -0.040152717634069184, + 0.8685429619070426, + 0.17317382539105178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.865622428791694, + -0.05202721677206733, + 0.4979869270249181, + 0.11877687683904932 + ], + [ + 0.02495811405629404, + 0.9978338964793172, + 0.06086548759072149, + -0.01704929848204704 + ], + [ + -0.5000748977058556, + -0.04025771667463977, + 0.8650459022113351, + 0.17482948941491755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8601792506416038, + -0.05314602364796276, + 0.5072150992784614, + 0.12091241960773189 + ], + [ + 0.025161442975831408, + 0.997766693536116, + 0.06187509238280408, + -0.017506272799493926 + ], + [ + -0.5093707476416597, + -0.040461406802244734, + 0.8595954374044574, + 0.1781408174626491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.85463645084763, + -0.054266268210171005, + 0.5163832966093195, + 0.12304796237641447 + ], + [ + 0.02535141678102281, + 0.9976984548324223, + 0.06288957697577649, + -0.017963247116940813 + ], + [ + -0.518607599780182, + -0.04065667669078507, + 0.8540451932366926, + 0.18145214551038064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8509743634708379, + -0.054826909653699483, + 0.5223376711412145, + 0.12411573376075576 + ], + [ + 0.025337606547136814, + 0.997663948284729, + 0.06344014491935235, + -0.018191734275664256 + ], + [ + -0.5245956904225052, + -0.04075115054511975, + 0.8503756260144009, + 0.1831078095342464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8452685189241886, + -0.05594919088245687, + 0.5314045718238667, + 0.12625127652943832 + ], + [ + 0.025505761488138788, + 0.9975941632585454, + 0.0644619388739817, + -0.018648708593111147 + ], + [ + -0.5337326925031095, + -0.040933769336346036, + 0.8446619675830682, + 0.18641913758197795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8394648135990868, + -0.057072749867329256, + 0.5404086675393286, + 0.1283868192981209 + ], + [ + 0.025660403752113637, + 0.9975233523153073, + 0.06548820706746039, + -0.019105682910558034 + ], + [ + -0.5428078577253003, + -0.04110794093862309, + 0.8388502648169444, + 0.1897304656297095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8356337883936513, + -0.05763498848891542, + 0.5462548670691707, + 0.1294545906824622 + ], + [ + 0.025624608282939023, + 0.9974875633850135, + 0.06604498726303797, + -0.019334170069281478 + ], + [ + -0.5486889384206871, + -0.04119185591972643, + 0.8350111854703913, + 0.19138612965357527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8299913638002183, + -0.05866465573499176, + 0.5546826067081502, + 0.1315433830903226 + ], + [ + 0.025777497510204205, + 0.9974254044682784, + 0.06691848132917115, + -0.020005417923956444 + ], + [ + -0.55718027301688, + -0.04124343206846529, + 0.8293666997607566, + 0.19466024951683042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8245887652462416, + -0.05959859652061577, + 0.5625845496656054, + 0.1335854251373608 + ], + [ + 0.02594095293449245, + 0.9973727165677037, + 0.06763675928967905, + -0.020890939315859492 + ], + [ + -0.5651375365258705, + -0.04117853250338561, + 0.8239683812321553, + 0.19789716119560918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8209308174563237, + -0.06006539456687743, + 0.5678597902000262, + 0.1346064461608799 + ], + [ + 0.025908204055715294, + 0.9973461442303617, + 0.06803994085416255, + -0.021333700011811015 + ], + [ + -0.5704396181131706, + -0.04114385694554961, + 0.820308371969069, + 0.19951561703499857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8154013883406758, + -0.06099862220053173, + 0.5756732962208128, + 0.1366484882079181 + ], + [ + 0.026057718663216527, + 0.9972925441344291, + 0.06876464725385067, + -0.022219221403714063 + ], + [ + -0.5783092349168977, + -0.04107005604469822, + 0.8147832100051634, + 0.2027525287137773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8097966659855126, + -0.06193132688263097, + 0.5834328329030727, + 0.1386905302549563 + ], + [ + 0.02619866326317942, + 0.9972383386320081, + 0.06949335224102257, + -0.02310474279561711 + ], + [ + -0.5861254045014349, + -0.0409903246270265, + 0.8091827997955716, + 0.20598944039255607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8060041992034982, + -0.06239747124444092, + 0.5886117450821273, + 0.13971155127847543 + ], + [ + 0.026151565222247354, + 0.9972110095423354, + 0.06990206065619943, + -0.023547503491568634 + ], + [ + -0.5913318243615463, + -0.04094823597977828, + 0.8053880527220342, + 0.20760789623194545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8002749687562584, + -0.06332932027709376, + 0.5962796085524065, + 0.14175359332551363 + ], + [ + 0.026278365224787888, + 0.9971559000774523, + 0.07063680670754342, + -0.024433024883471682 + ], + [ + -0.5990571107192388, + -0.04085961495128748, + 0.7996630977872807, + 0.2108448079107242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7963996495681472, + -0.06379501545939938, + 0.6013965365466176, + 0.14277461434903274 + ], + [ + 0.026222290830249774, + 0.9971281202633933, + 0.07104859775960466, + -0.024875785579423205 + ], + [ + -0.6042019444120865, + -0.04081308347242707, + 0.7957853370012083, + 0.2124632637501136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7912557262641093, + -0.06450290450345292, + 0.6080738038798215, + 0.14477081553658608 + ], + [ + 0.02627144731207076, + 0.997088612578789, + 0.0715828870739034, + -0.02491069391448334 + ], + [ + -0.610920769585047, + -0.04066539039926397, + 0.7906466589528406, + 0.21556079717992366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7860552585691349, + -0.065209998067931, + 0.6147070738390696, + 0.14676701672413944 + ], + [ + 0.02631503237628026, + 0.9970487803303126, + 0.07211968325548629, + -0.02494560224954348 + ], + [ + -0.6175958626374096, + -0.040514019719311754, + 0.7854514400389991, + 0.21865833060973375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7824216778280044, + -0.06556324053542255, + 0.6192881232151194, + 0.1477651173179161 + ], + [ + 0.02621624541869048, + 0.9970287428327824, + 0.07243199873970711, + -0.02496305641707355 + ], + [ + -0.6221969354962764, + -0.040436956559269745, + 0.7818157238142927, + 0.22020709732463878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7771263620302248, + -0.06626910483315636, + 0.6258458461812145, + 0.14976131850546945 + ], + [ + 0.02625053657682957, + 0.9969884257722712, + 0.07297251678239877, + -0.024997964752133686 + ], + [ + -0.6287968883249159, + -0.040280077218658256, + 0.7765255878669822, + 0.22330463075444887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7717755225606654, + -0.06697412562064042, + 0.6323582918516706, + 0.1517575196930228 + ], + [ + 0.026279183204623652, + 0.9969477868724032, + 0.07351540505441874, + -0.025032873087193826 + ], + [ + -0.635351829545103, + -0.040119530749600084, + 0.771179924496302, + 0.22640216418425893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7680383792084772, + -0.06732631370569613, + 0.6368549407405254, + 0.15275562028679948 + ], + [ + 0.02617061139976225, + 0.9969273470777287, + 0.0738306423345021, + -0.025050327254723892 + ], + [ + -0.6398688515327016, + -0.04003788370237285, + 0.7674404346311559, + 0.22795093089916396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7625944440016854, + -0.06803003328652196, + 0.6432896925560014, + 0.15475182147435282 + ], + [ + 0.02618984708615242, + 0.9968862274937061, + 0.07437702160594363, + -0.02508523558978403 + ], + [ + -0.646346506053343, + -0.03987184475794625, + 0.7620015945575404, + 0.23104846432897405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_052/pull_out/transforms.json b/spatialvid_eval/camera_controls/scene_052/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2b079002e3ac6debef61c053cfc198b4605be571 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_052/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": [ + [ + 0.9999999852230789, + -0.0001592555185181777, + 6.474196424313855e-05, + 4.7279135628466675e-05 + ], + [ + 0.00015925914668826204, + 0.9999999857480673, + -5.603917746133868e-05, + -7.772513111711447e-05 + ], + [ + -6.473303877217649e-05, + 5.604948738323246e-05, + 0.9999999963340443, + -0.0003366873388506274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999904249866112, + -0.000814685737454414, + 0.004299560703872008, + 0.00221671488320661 + ], + [ + 0.0008105414280049092, + 0.9999992053715807, + 0.0009655458564294232, + -2.5421861254047524e-05 + ], + [ + -0.004300343903756973, + -0.00096205163924221, + 0.9999902907023414, + 0.0019339157630059705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999787584069612, + -0.001144015985310554, + 0.006416694031802606, + 0.003293452698235935 + ], + [ + 0.0011345582691327954, + 0.9999982650762126, + 0.0014773699938410829, + -1.1532528263115864e-06 + ], + [ + -0.0064183730342166675, + -0.0014700584988746293, + 0.9999783214728225, + 0.002444253305319103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999941652607804, + -0.0018058987698508961, + 0.010650357252551984, + 0.005444365792076355 + ], + [ + 0.0017793354932570825, + 0.9999952842940345, + 0.0025030690952359564, + 4.6663865234760016e-05 + ], + [ + -0.01065482731799869, + -0.002483972489006429, + 0.999940150476766, + 0.004715014509947811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998861839259582, + -0.002472067228115251, + 0.014883147436116007, + 0.007584699093050828 + ], + [ + 0.0024197603558845605, + 0.9999908366410982, + 0.003531486040898561, + 9.190314632100577e-05 + ], + [ + -0.01489174112740271, + -0.0034950704508851533, + 0.9998830034202694, + 0.006985966022368862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998515638264588, + -0.002806754548635844, + 0.01699918947153534, + 0.008640274995263302 + ], + [ + 0.0027383367649352827, + 0.9999880627639534, + 0.004046707471284559, + 0.00011102375592177197 + ], + [ + -0.017010344662800037, + -0.003999557288008074, + 0.9998473142015001, + 0.007496630808328096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997685529500219, + -0.003479327254569387, + 0.02123051610477395, + 0.010762101257132577 + ], + [ + 0.0033722098113984703, + 0.9999814149755907, + 0.0050791637504031635, + 0.00015173215167288046 + ], + [ + -0.021247793607981118, + -0.0050063944382272045, + 0.9997617052485666, + 0.009768054697957745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9996671825497393, + -0.004156153162854427, + 0.02546076440237406, + 0.012873358637855593 + ], + [ + 0.004001699588073383, + 0.9999733005855915, + 0.006114287886992962, + 0.0001898360629733195 + ], + [ + -0.025485496531814256, + -0.006010366614867239, + 0.9996571236977616, + 0.012039858620201106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995777539565995, + -0.004569126204660821, + 0.02869558991910636, + 0.01386257329766881 + ], + [ + 0.0043785310983552195, + 0.9999679600617167, + 0.0067012920716484035, + 0.00027191667773727524 + ], + [ + -0.028725289563386006, + -0.006572817944739023, + 0.999565733608233, + 0.01302292644587154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9993669784083009, + -0.005400519296211359, + 0.03516357289004943, + 0.015860716742813828 + ], + [ + 0.005126474318895107, + 0.9999558198360786, + 0.007878936286933352, + 0.0004414785981642618 + ], + [ + -0.035204569705086286, + -0.007693683596762668, + 0.999350511834858, + 0.01623934118260642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9992456337664255, + -0.005818930221330161, + 0.03839665935747673, + 0.016829737566341933 + ], + [ + 0.005497577820398796, + 0.9999490202675556, + 0.008469563392795547, + 0.000519840605451569 + ], + [ + -0.038443985704443726, + -0.008252085617297832, + 0.999226682513093, + 0.017223426238732263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9989710374060576, + -0.006661157869788876, + 0.04486084483933693, + 0.01879963693273652 + ], + [ + 0.0062340282414214, + 0.9999339625922301, + 0.009654395190061997, + 0.0006841492469366636 + ], + [ + -0.044922191795931696, + -0.009364797404881834, + 0.9989465937945908, + 0.020441694764265002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9986539085171235, + -0.007510562404569714, + 0.05132214391312582, + 0.020753419131547532 + ], + [ + 0.0069627763129251246, + 0.9999169607589554, + 0.010843953734215721, + 0.0008454249077252827 + ], + [ + -0.05139932635247959, + -0.01047201217248654, + 0.9986232754205014, + 0.023661311956427802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9984793986521645, + -0.007937944363747049, + 0.054551622400162675, + 0.021690176296725282 + ], + [ + 0.0073242519567809, + 0.9999077310129996, + 0.011440489225052763, + 0.0009177697803006627 + ], + [ + -0.05463740294418709, + -0.011023542974607285, + 0.9984454094740491, + 0.02464764851317938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9980984976575604, + -0.008798044212920552, + 0.061008060055604676, + 0.023615776850721856 + ], + [ + 0.008041386624580543, + 0.9998878143689367, + 0.012637039909124858, + 0.001073716564736588 + ], + [ + -0.06111239706372831, + -0.01212242115001341, + 0.9980572738227936, + 0.027869834784028488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9976795233194805, + -0.009752508147947059, + 0.0673829157415922, + 0.025527965768665072 + ], + [ + 0.008841826036973493, + 0.9998656809750154, + 0.01380007683677615, + 0.0005791547581448975 + ], + [ + -0.06750845029584211, + -0.01317226606143583, + 0.9976317459591294, + 0.030938183039857202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9974567349461407, + -0.010275844123667626, + 0.07052991520008184, + 0.02643538580145978 + ], + [ + 0.009284827163488921, + 0.999853715745387, + 0.014364508160296264, + -1.936045152548763e-06 + ], + [ + -0.07066720523077721, + -0.013673117336188013, + 0.9974062321678074, + 0.03177186950450088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.996980564719934, + -0.011327235528916032, + 0.07682087806055017, + 0.02832271777995769 + ], + [ + 0.010165449412540042, + 0.999828230248954, + 0.015497536432800461, + -0.0011490726927057809 + ], + [ + -0.07698322680274285, + -0.014669823874789725, + 0.9969244600562874, + 0.034687781114193225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9964636200493321, + -0.012384882675364592, + 0.08310757245460916, + 0.030194418391798643 + ], + [ + 0.011038867501079812, + 0.9998006722716039, + 0.016636079151736406, + -0.002299165985984988 + ], + [ + -0.08329704269945158, + -0.01565983417430366, + 0.9964017122983878, + 0.037605819106207916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9961898640222826, + -0.012916038265942247, + 0.08624923637214794, + 0.031070508074830323 + ], + [ + 0.011472863497944722, + 0.9997861164612508, + 0.017207403478957706, + -0.002886082118477238 + ], + [ + -0.08645304056204998, + -0.016152315216179807, + 0.9961249793528589, + 0.03844310524455739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9956117989715895, + -0.013982985567594565, + 0.09252903254207348, + 0.032914878958399965 + ], + [ + 0.012335406588754327, + 0.9997554519621519, + 0.0183541280436801, + -0.004041363648506143 + ], + [ + -0.09276305025626189, + -0.017132203202452685, + 0.9955408098719933, + 0.04136498499992027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9949930170234713, + -0.015056076954840314, + 0.09880389982819596, + 0.03474367973474463 + ], + [ + 0.013190654287618316, + 0.9997227180419506, + 0.01950624695525227, + -0.0051996535915516595 + ], + [ + -0.09907019084464708, + -0.018105291423909153, + 0.9949157229175045, + 0.04428939926266791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9946683652758591, + -0.015594912591866907, + 0.10193940268954939, + 0.03558853719791365 + ], + [ + 0.013615531116438874, + 0.9997055754756117, + 0.020084314162880743, + -0.0057924853292365824 + ], + [ + -0.10222260235323381, + -0.018589272826768623, + 0.9945878435331413, + 0.04513098716335716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9938677725734153, + -0.01672668951444906, + 0.10930264634420035, + 0.03778147212688991 + ], + [ + 0.01447180133278864, + 0.9996664481576117, + 0.021390638001921432, + -0.006230983298966283 + ], + [ + -0.10962398280550846, + -0.01967765956185258, + 0.9937783314743914, + 0.04721841952944876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9930113861669612, + -0.017866478411982707, + 0.11665837257533168, + 0.03995622446943514 + ], + [ + 0.015318307724062553, + 0.9996248859271952, + 0.0227032350891507, + -0.006672935275739243 + ], + [ + -0.11702023923767063, + -0.020757562096654653, + 0.9929125778358144, + 0.049309562923082036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9925622856143276, + -0.018439356852943883, + 0.12033328423554489, + 0.04096158673303903 + ], + [ + 0.01573788422603414, + 0.999603192462481, + 0.02336186248792766, + -0.006909814309139301 + ], + [ + -0.12071631280051005, + -0.02129431233138763, + 0.9924586258812925, + 0.04973630504877556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9916223021457244, + -0.019591040471703774, + 0.1276769400496805, + 0.0431045537511946 + ], + [ + 0.016569653632916206, + 0.9995579823959808, + 0.02468372757428469, + -0.007357813019209494 + ], + [ + -0.12810408450045152, + -0.022361372089216267, + 0.9915086043865625, + 0.05183400116382164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.990626654313066, + -0.02075057107770517, + 0.13501202007395574, + 0.045229451062722636 + ], + [ + 0.017391538377628066, + 0.9995103436647333, + 0.026011676225612207, + -0.007809321712313334 + ], + [ + -0.13548566771935922, + -0.023419793063895647, + 0.9905024720491532, + 0.05393596607354495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9901079740568394, + -0.021333258146782857, + 0.13867621211261788, + 0.04619846553498172 + ], + [ + 0.01779875918533118, + 0.999485614401872, + 0.026677907998473343, + -0.00805307230297233 + ], + [ + -0.13917400576445177, + -0.023945744936316803, + 0.989978382298786, + 0.05436987797415584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.989028938209844, + -0.022504433863314608, + 0.14599763641922384, + 0.0482917710761359 + ], + [ + 0.01860572835131791, + 0.9994343378621938, + 0.028014838469549854, + -0.008510719184200623 + ], + [ + -0.14654550916362172, + -0.024991093582508634, + 0.9888881933694653, + 0.0564793180437892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9879197154192096, + -0.023635086047212345, + 0.15315357845499047, + 0.05055064175490613 + ], + [ + 0.01938634674047872, + 0.9993862736070125, + 0.029176114990652858, + -0.00841215455965946 + ], + [ + -0.1537491640500396, + -0.02585457084213035, + 0.9877716009890564, + 0.05901308517081938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9873452016436804, + -0.024202740669172544, + 0.15672804514604632, + 0.05157554697287674 + ], + [ + 0.0197734697884916, + 0.9993615064427063, + 0.029758853020381854, + -0.008382640280965041 + ], + [ + -0.15734822110123764, + -0.026283203470388868, + 0.9871933602550265, + 0.05966478007526506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9861564086725978, + -0.02534266810240317, + 0.16386972510935618, + 0.053803685268547286 + ], + [ + 0.02054131708274819, + 0.999310503736619, + 0.030928488714631084, + -0.008289493232841024 + ], + [ + -0.16454054797061582, + -0.027134227372757492, + 0.985997029294923, + 0.062206646767827105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9855421457578442, + -0.02591492530209882, + 0.1674368405746205, + 0.0548065623745362 + ], + [ + 0.020922030813142287, + 0.999284268893332, + 0.03151537036071493, + -0.008263797190550539 + ], + [ + -0.16813371928818494, + -0.02755660699189475, + 0.9853789554528837, + 0.06286364860443092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9842739291321742, + -0.027063987481772345, + 0.1745633782106038, + 0.05700410402492413 + ], + [ + 0.021677012370712397, + 0.9992303340227283, + 0.03269322106349914, + -0.008176119016200297 + ], + [ + -0.17531383164311887, + -0.02839507264321245, + 0.9841030333680487, + 0.06541415675319698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9829528496417735, + -0.028219060878523758, + 0.18167933284843196, + 0.059184292337391406 + ], + [ + 0.02242336497435027, + 0.9991744480467247, + 0.033876467846430044, + -0.008091621547113433 + ], + [ + -0.18248530922883693, + -0.029225108616689473, + 0.9827741372980867, + 0.06797017231902443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9822725088248276, + -0.028798832022387085, + 0.18523321970188045, + 0.060152126038243436 + ], + [ + 0.022793292623118643, + 0.9991457743467385, + 0.03447009452341548, + -0.008072114811301084 + ], + [ + -0.1860676871957505, + -0.02963695124675689, + 0.9820898466547863, + 0.06863650030358867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9808399300963424, + -0.02999442352978182, + 0.19249250916780772, + 0.062441499607958105 + ], + [ + 0.02355323528319705, + 0.999086242885229, + 0.03566404891724707, + -0.008555122980602731 + ], + [ + -0.19338634035602628, + -0.030446901888262802, + 0.9806501463463461, + 0.07105066353737761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9793186738911709, + -0.031227597819033323, + 0.19989940495782174, + 0.06485265533511947 + ], + [ + 0.02433072873828169, + 0.9990239639034796, + 0.03686645067867741, + -0.009603348488452032 + ], + [ + -0.2008555466177189, + -0.031240305392743934, + 0.9791226137271396, + 0.07331978230506443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9785364899704656, + -0.03184641237397958, + 0.2035979956069992, + 0.06592427424159819 + ], + [ + 0.024716023034315353, + 0.9989920569936181, + 0.037469831451810674, + -0.010152112046008025 + ], + [ + -0.20458606013521163, + -0.03163346459947674, + 0.9783372976207059, + 0.07384535002369785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9769290689137242, + -0.03308845008557666, + 0.21098518616788814, + 0.06830401613269178 + ], + [ + 0.025479677985935315, + 0.9989267107190316, + 0.038680907716718047, + -0.011206034511602956 + ], + [ + -0.2120386293133804, + -0.032412668557070645, + 0.9767236244690268, + 0.07612548571046336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9752643239653226, + -0.03433630405153521, + 0.2183586879987676, + 0.07066599159479617 + ], + [ + 0.026234050116572916, + 0.9988593244377922, + 0.039897676601007896, + -0.01226327641460351 + ], + [ + -0.21947955033429364, + -0.033182347833720253, + 0.975052644105588, + 0.07841259257471075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9744104859828234, + -0.03496238884298064, + 0.22204016792713457, + 0.07170156499538183 + ], + [ + 0.026607741016378198, + 0.9988248675481832, + 0.040508173068648026, + -0.012818465256423276 + ], + [ + -0.22319550381834138, + -0.033563601322659314, + 0.9741956947870024, + 0.07894995343440822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9726599427739427, + -0.03621882728085722, + 0.22939231084190698, + 0.07403243601745069 + ], + [ + 0.02734810457418327, + 0.9987544288445542, + 0.041733344457255864, + -0.013881484797931557 + ], + [ + -0.23061811919099112, + -0.034318907526141695, + 0.9724389418811971, + 0.08124900793581893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.970855515677001, + -0.037483644307890515, + 0.23671616778104612, + 0.07616367161362109 + ], + [ + 0.028105562376177076, + 0.9986852738696443, + 0.04286958268321123, + -0.014988288835135538 + ], + [ + -0.2380118590387119, + -0.03496712978374707, + 0.9706326054649221, + 0.08344604299562997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9699336247665912, + -0.0381191426234658, + 0.24036575153876177, + 0.07698147597707532 + ], + [ + 0.0284943672812748, + 0.9986516666621871, + 0.04339262271488097, + -0.015590175387958441 + ], + [ + -0.24169574795676835, + -0.0352388938317885, + 0.9697120117752128, + 0.08388658404250865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9680474688589132, + -0.039393150255338724, + 0.24765354378407678, + 0.07889994805265033 + ], + [ + 0.029265980292862023, + 0.9985831552528266, + 0.04444304718183724, + -0.01674257271857696 + ], + [ + -0.24905340879688664, + -0.03577515560091256, + 0.9678287750466925, + 0.08598682695700688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9661049072246037, + -0.040671109909896225, + 0.25492581088473004, + 0.08080111274986093 + ], + [ + 0.03002955969562016, + 0.9985129178956499, + 0.04549921252068524, + -0.017897933386586504 + ], + [ + -0.25639721874666893, + -0.03630170263517177, + 0.9658895654290715, + 0.08809506637056108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9651125099356633, + -0.04131154819919402, + 0.2585559884262399, + 0.08158363349331646 + ], + [ + 0.0304083227007391, + 0.9984771532772819, + 0.04602942856285719, + -0.018505498937455143 + ], + [ + -0.2600637942432817, + -0.03656132339892974, + 0.9648990064017617, + 0.08854918636407699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9630855555821036, + -0.04259529448331948, + 0.26580416384434286, + 0.08345446508252892 + ], + [ + 0.031159767392855843, + 0.9984043347978558, + 0.04709408830070176, + -0.019666003277476626 + ], + [ + -0.2673860159491032, + -0.03707324027827173, + 0.962876052942504, + 0.09067106532278171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.962051028406404, + -0.043238583548372234, + 0.26942205484130494, + 0.0842150803499654 + ], + [ + 0.03153243799925379, + 0.9983672820105594, + 0.04762851629719031, + -0.020277151210320504 + ], + [ + -0.27104155418681447, + -0.0373255288452681, + 0.9618436883404794, + 0.0911340414528938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9599399503312273, + -0.044527946095766345, + 0.27664517666963495, + 0.0860558060839618 + ], + [ + 0.03227164825631091, + 0.998291892072643, + 0.04870152914276397, + -0.021442848569972243 + ], + [ + -0.2783412159147508, + -0.037822747633072216, + 0.9597372595062583, + 0.09327011849797712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.957804290937839, + -0.04567747017332266, + 0.28376840729656494, + 0.08758318451538381 + ], + [ + 0.03289176055593254, + 0.9982243348363887, + 0.04966195151200837, + -0.021313267141435343 + ], + [ + -0.28553296193013367, + -0.03823278774841155, + 0.9576059636366047, + 0.09532905725504691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9567161163393415, + -0.04625335138697908, + 0.28732368545255776, + 0.08816103427493333 + ], + [ + 0.03319909954152884, + 0.9981900679694752, + 0.050143872972939874, + -0.021280828980628944 + ], + [ + -0.28912297128765013, + -0.03843456377490592, + 0.9565200948130852, + 0.09576402666002186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9544991551202524, + -0.04740731100069882, + 0.2944213133222648, + 0.08965898467992192 + ], + [ + 0.033808321216043, + 0.9981205601874339, + 0.05111110200021067, + -0.021155910987219657 + ], + [ + -0.29629100609245135, + -0.03883161334281776, + 0.9543079930053593, + 0.09783776951345213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9522281505046911, + -0.04856414518976812, + 0.3015013651518055, + 0.09114039936799764 + ], + [ + 0.03441023884070983, + 0.9980497569943966, + 0.052082799716904764, + -0.021033718288776402 + ], + [ + -0.30344272087057966, + -0.03921997406186078, + 0.9520421780495055, + 0.09992073540033547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9510724223849107, + -0.04914361958408548, + 0.3050346734931503, + 0.09168428852416852 + ], + [ + 0.034708447861888224, + 0.9980138708810997, + 0.05257030697972456, + -0.021006504399836798 + ], + [ + -0.3070123304134814, + -0.039410889143719915, + 0.9508891685107076, + 0.10037143139545202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9487205971315126, + -0.05030464155209942, + 0.31208760247203204, + 0.09313666888556624 + ], + [ + 0.03529934500628529, + 0.9979411321860485, + 0.053548603467831836, + -0.020889035114372855 + ], + [ + -0.31413879865523386, + -0.039786175105715325, + 0.9485430277272107, + 0.10247005856556289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9463150589173319, + -0.05146837241720526, + 0.3191219451980868, + 0.09457276442784673 + ], + [ + 0.03588285283951626, + 0.9978671083402453, + 0.05453122926154375, + -0.020774325444785517 + ], + [ + -0.3212479262787302, + -0.040152717634069184, + 0.9461435034540027, + 0.10457842139063657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9450913978755854, + -0.05202721677206733, + 0.3226382159269486, + 0.09498230841443686 + ], + [ + 0.036173203561502595, + 0.9978338964793172, + 0.05494555833733377, + -0.021101533409425405 + ], + [ + -0.32479801262580116, + -0.04025771667463977, + 0.9449262231743145, + 0.10514118045581185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9426039045872435, + -0.05314602364796276, + 0.3296564563713157, + 0.0961881853798832 + ], + [ + 0.03674920460213963, + 0.997766693536116, + 0.05577742582009888, + -0.021689579736001344 + ], + [ + -0.331884580868098, + -0.040461406802244734, + 0.9424518552910756, + 0.10745692831581842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400629682772518, + -0.054266268210171005, + 0.3366552952328309, + 0.0973779961149111 + ], + [ + 0.03731891108992429, + 0.9976984548324223, + 0.05661353283499951, + -0.022280028995609526 + ], + [ + -0.33895267302209764, + -0.04065667669078507, + 0.9399245289339118, + 0.10978290017916985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.93877250417308, + -0.054826909653699483, + 0.3401473142425646, + 0.09775431690695699 + ], + [ + 0.03760139370501552, + 0.997663948284729, + 0.05703316126926824, + -0.022611804274032546 + ], + [ + -0.3424796645058584, + -0.04075115054511975, + 0.9386410512699751, + 0.11036312806082332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9361516760981415, + -0.05594919088245687, + 0.34711630238039654, + 0.09891586771698209 + ], + [ + 0.038161597531842326, + 0.9975941632585454, + 0.05787553806488941, + -0.02320640721572119 + ], + [ + -0.3495192867531893, + -0.040933769336346036, + 0.9360345585048988, + 0.11270641609971715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9334777731230721, + -0.05707274986732924, + 0.35406489279194575, + 0.10006162787476523 + ], + [ + 0.03871542622400992, + 0.9975233523153071, + 0.0587220346882267, + -0.02380344568561617 + ], + [ + -0.3565394267924432, + -0.041107940938623085, + 0.9333754733944444, + 0.11506042775815394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9321209661034501, + -0.05763498848891542, + 0.3575314149165831, + 0.10040516322048983 + ], + [ + 0.038989940006025015, + 0.9974875633850135, + 0.05914681285205048, + -0.02413984861351058 + ], + [ + -0.3600420657766226, + -0.04119185591972643, + 0.9320262560020458, + 0.11565899635340904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9295808056145715, + -0.05866465573499176, + 0.36392029896731404, + 0.10151995842551918 + ], + [ + 0.039519823131855286, + 0.9974254044682784, + 0.05983933573259389, + -0.02494216312189544 + ], + [ + -0.36649380542185317, + -0.04124343206846529, + 0.9295059278448001, + 0.1179760104696344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9272122034657905, + -0.059598596520615756, + 0.36976416407879026, + 0.10261767639576211 + ], + [ + 0.040031205788290315, + 0.9973727165677034, + 0.06037521684843118, + -0.025947363726915605 + ], + [ + -0.37239096700544344, + -0.0411785325033856, + 0.9271619578874116, + 0.12024734722253845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9260137676237944, + -0.06006539456687743, + 0.3726803597544559, + 0.10292861558175115 + ], + [ + 0.040285608289437724, + 0.9973461442303617, + 0.060644359618850834, + -0.026488470579413337 + ], + [ + -0.3753339472202526, + -0.04114385694554961, + 0.9259760316010932, + 0.12080765434890563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9235886874197323, + -0.06099862220053173, + 0.3785011288753747, + 0.10400276584241705 + ], + [ + 0.040791822685372514, + 0.9972925441344291, + 0.06118503588201108, + -0.02749643074853752 + ], + [ + -0.3812085566619686, + -0.04107005604469822, + 0.9235763567914589, + 0.12309406794051397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9211260783260146, + -0.06193132688263097, + 0.38430620418917716, + 0.1050637373884033 + ], + [ + 0.041294565772472015, + 0.9972383386320081, + 0.06172888141004409, + -0.02850601991899597 + ], + [ + -0.38706783212429297, + -0.0409903246270265, + 0.921139667271783, + 0.12538971950627503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.919880731730203, + -0.06239747124444092, + 0.387202782755762, + 0.10534730430890155 + ], + [ + 0.041544629170712694, + 0.9972110095423354, + 0.06200198573130065, + -0.029050179725221566 + ], + [ + -0.389991645011242, + -0.04094823597977828, + 0.9199074729512583, + 0.12596610800752128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9173620178441495, + -0.06332932027709376, + 0.39298387423678316, + 0.10638504464420315 + ], + [ + 0.042042126945269806, + 0.9971559000774523, + 0.06255054358392109, + -0.030062573806024583 + ], + [ + -0.39582747223863624, + -0.04085961495128748, + 0.9174154479226978, + 0.1282774175976814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.91608867620067, + -0.06379501545939938, + 0.39586832828535184, + 0.10665162939299438 + ], + [ + 0.04228955625582345, + 0.9971281202633933, + 0.06282599152960379, + -0.030608657306499552 + ], + [ + -0.3987394271558679, + -0.04081308347242707, + 0.9161556425896658, + 0.12886406136380657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9139866533565892, + -0.0645029045034529, + 0.400584289253386, + 0.10771676878064787 + ], + [ + 0.04267077413984681, + 0.9970886125787888, + 0.06319417457339162, + -0.030756155062522064 + ], + [ + -0.40349424100020087, + -0.040665390399263965, + 0.9140780729802828, + 0.1310085754292475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9118598029392051, + -0.06520999806793099, + 0.4052892250426287, + 0.108771151876393 + ], + [ + 0.04305005744580259, + 0.9970487803303124, + 0.06356431542736413, + -0.030904756820858865 + ], + [ + -0.4082381563959782, + -0.04051401971931175, + 0.9119759985156386, + 0.13316058074889264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9107870854386682, + -0.06556324053542253, + 0.4076375184997456, + 0.10903955306044028 + ], + [ + 0.04323897040670368, + 0.9970287428327822, + 0.0637501168896979, + -0.031019317521594852 + ], + [ + -0.4106059868490769, + -0.04043695655926974, + 0.9109157898005278, + 0.13367009729358864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9086231023187396, + -0.06626910483315634, + 0.4123256767135433, + 0.1100749721217909 + ], + [ + 0.043615332522642984, + 0.996988425772271, + 0.06412317556912023, + -0.03116982040066151 + ], + [ + -0.41533331277614677, + -0.04028007721865825, + 0.9087770654443532, + 0.13583483820542985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9064344374838048, + -0.06697412562064042, + 0.41700249044912074, + 0.11109977687423353 + ], + [ + 0.04398973437386113, + 0.9969477868724032, + 0.06449816679514675, + -0.03132144434972063 + ], + [ + -0.4200494182987705, + -0.040119530749600084, + 0.9066139803903844, + 0.13800730109619644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9053308679968238, + -0.06732631370569611, + 0.41933660338076845, + 0.1113461307029486 + ], + [ + 0.04417619701635488, + 0.9969273470777285, + 0.0646863839284183, + -0.0314381076676552 + ], + [ + -0.4224032233178268, + -0.040037883702372844, + 0.9055233209582985, + 0.13853050295453198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9031052923974192, + -0.06803003328652196, + 0.42399616202839246, + 0.11235220527151357 + ], + [ + 0.04454763939669601, + 0.9968862274937061, + 0.06506425483742198, + -0.031591661073526234 + ], + [ + -0.4271022578586468, + -0.03987184475794625, + 0.9033238053586568, + 0.14071608379310838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_052/push_in/transforms.json b/spatialvid_eval/camera_controls/scene_052/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..097e7db570743e69b0391ff30a9a4e511a6aadee --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_052/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": [ + [ + 0.9999999852230789, + -0.0001592555185181777, + 6.474196424313855e-05, + 4.7279135628466675e-05 + ], + [ + 0.00015925914668826204, + 0.9999999857480673, + -5.603917746133868e-05, + -7.772513111711447e-05 + ], + [ + -6.473303877217649e-05, + 5.604948738323246e-05, + 0.9999999963340443, + -0.0003366873388506274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999904249866112, + -0.000814685737454414, + 0.004299560703872008, + 0.0022274637849662897 + ], + [ + 0.0008105414280049092, + 0.9999992053715807, + 0.0009655458564294232, + -2.3007996612973962e-05 + ], + [ + -0.004300343903756973, + -0.00096205163924221, + 0.9999902907023414, + 0.0044338914897618245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999787584069612, + -0.001144015985310554, + 0.006416694031802606, + 0.0033255361683949478 + ], + [ + 0.0011345582691327954, + 0.9999982650762126, + 0.0014773699938410829, + 6.23359714289383e-06 + ], + [ + -0.0064183730342166675, + -0.0014700584988746293, + 0.9999783214728225, + 0.007444144912683216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999941652607804, + -0.0018058987698508961, + 0.010650357252551984, + 0.005524243471470495 + ], + [ + 0.0017793354932570825, + 0.9999952842940345, + 0.0025030690952359564, + 6.543688344902969e-05 + ], + [ + -0.01065482731799869, + -0.002483972489006429, + 0.999940150476766, + 0.012214565638523559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998861839259582, + -0.002472067228115251, + 0.014883147436116007, + 0.007733530567411988 + ], + [ + 0.0024197603558845605, + 0.9999908366410982, + 0.003531486040898561, + 0.0001272180067299914 + ], + [ + -0.01489174112740271, + -0.0034950704508851533, + 0.9998830034202694, + 0.016984796056571556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998515638264588, + -0.002806754548635844, + 0.01699918947153534, + 0.008852764863657495 + ], + [ + 0.0027383367649352827, + 0.9999880627639534, + 0.004046707471284559, + 0.00016160759931282896 + ], + [ + -0.017010344662800037, + -0.003999557288008074, + 0.9998473142015001, + 0.01999472223584685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997685529500219, + -0.003479327254569387, + 0.02123051610477395, + 0.011080558998704188 + ], + [ + 0.0033722098113984703, + 0.9999814149755907, + 0.0050791637504031635, + 0.0002279196079289279 + ], + [ + -0.021247793607981118, + -0.0050063944382272045, + 0.9997617052485666, + 0.02476448027668625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9996671825497393, + -0.004156153162854427, + 0.02546076440237406, + 0.01331892201489714 + ], + [ + 0.004001699588073383, + 0.9999733005855915, + 0.006114287886992962, + 0.0002968361009956963 + ], + [ + -0.025485496531814256, + -0.006010366614867239, + 0.9996571236977616, + 0.029533858284911937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995777539565995, + -0.004569126204660821, + 0.02869558991910636, + 0.014436485096050937 + ], + [ + 0.0043785310983552195, + 0.9999679600617167, + 0.0067012920716484035, + 0.0004059425191702433 + ], + [ + -0.028725289563386006, + -0.006572817944739023, + 0.999565733608233, + 0.033014241118036206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9993669784083009, + -0.005400519296211359, + 0.03516357289004943, + 0.01665189713283994 + ], + [ + 0.005126474318895107, + 0.9999558198360786, + 0.007878936286933352, + 0.0006187546646202623 + ], + [ + -0.035204569705086286, + -0.007693683596762668, + 0.999350511834858, + 0.03872472769889073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9992456337664255, + -0.005818930221330161, + 0.03839665935747673, + 0.01778965405027885 + ], + [ + 0.005497577820398796, + 0.9999490202675556, + 0.008469563392795547, + 0.0007315796902714576 + ], + [ + -0.038443985704443726, + -0.008252085617297832, + 0.999226682513093, + 0.04220409330155959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9989710374060576, + -0.006661157869788876, + 0.04486084483933693, + 0.02003331016581829 + ], + [ + 0.0062340282414214, + 0.9999339625922301, + 0.009654395190061997, + 0.0009496451146633685 + ], + [ + -0.044922191795931696, + -0.009364797404881834, + 0.9989465937945908, + 0.04791272609361625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9986539085171235, + -0.007510562404569714, + 0.05132214391312582, + 0.022293083448941306 + ], + [ + 0.0069627763129251246, + 0.9999169607589554, + 0.010843953734215721, + 0.0011707435197517546 + ], + [ + -0.05139932635247959, + -0.01047201217248654, + 0.9986232754205014, + 0.05362001021904285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9984793986521645, + -0.007937944363747049, + 0.054551622400162675, + 0.02346310402473057 + ], + [ + 0.0073242519567809, + 0.9999077310129996, + 0.011440489225052763, + 0.0012895856801148774 + ], + [ + -0.05463740294418709, + -0.011023542974607285, + 0.9984454094740491, + 0.057097124321085976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9980984976575604, + -0.008798044212920552, + 0.061008060055604676, + 0.025751058952668018 + ], + [ + 0.008041386624580543, + 0.9998878143689367, + 0.012637039909124858, + 0.0015160129615559579 + ], + [ + -0.06111239706372831, + -0.01212242115001341, + 0.9980572738227936, + 0.06280183936782627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9976795233194805, + -0.009752508147947059, + 0.0673829157415922, + 0.028054825108974783 + ], + [ + 0.008841826036973493, + 0.9998656809750154, + 0.01380007683677615, + 0.0010966576395240032 + ], + [ + -0.06750845029584211, + -0.01317226606143583, + 0.9976317459591294, + 0.06834937351332457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9974567349461407, + -0.010275844123667626, + 0.07052991520008184, + 0.02925658240946305 + ], + [ + 0.009284827163488921, + 0.999853715745387, + 0.014364508160296264, + 0.0005726442812593018 + ], + [ + -0.07066720523077721, + -0.013673117336188013, + 0.9974062321678074, + 0.0716681187912132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.996980564719934, + -0.011327235528916032, + 0.07682087806055017, + 0.03158760509753107 + ], + [ + 0.010165449412540042, + 0.999828230248954, + 0.015497536432800461, + -0.0004904273943117611 + ], + [ + -0.07698322680274285, + -0.014669823874789725, + 0.9969244600562874, + 0.07705707066658546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9964636200493321, + -0.012384882675364592, + 0.08310757245460916, + 0.033934259152256056 + ], + [ + 0.011038867501079812, + 0.9998006722716039, + 0.016636079151736406, + -0.0015505424241568496 + ], + [ + -0.08329704269945158, + -0.01565983417430366, + 0.9964017122983878, + 0.08244389615963538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9961898640222826, + -0.012916038265942247, + 0.08624923637214794, + 0.035167346802507354 + ], + [ + 0.011472863497944722, + 0.9997861164612508, + 0.017207403478957706, + -0.002068730453226747 + ], + [ + -0.08645304056204998, + -0.016152315216179807, + 0.9961249793528589, + 0.0857590417638182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9956117989715895, + -0.013982985567594565, + 0.09252903254207348, + 0.03754133058550364 + ], + [ + 0.012335406588754327, + 0.9997554519621519, + 0.0183541280436801, + -0.0031236572463221378 + ], + [ + -0.09276305025626189, + -0.017132203202452685, + 0.9955408098719933, + 0.09114202549351993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9949930170234713, + -0.015056076954840314, + 0.09880389982819596, + 0.039930884475724925 + ], + [ + 0.013190654287618316, + 0.9997227180419506, + 0.01950624695525227, + -0.0041755756264009155 + ], + [ + -0.09907019084464708, + -0.018105291423909153, + 0.9949157229175045, + 0.0965224747158369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9946683652758591, + -0.015594912591866907, + 0.10193940268954939, + 0.04119520434583887 + ], + [ + 0.013615531116438874, + 0.9997055754756117, + 0.020084314162880743, + -0.004687848050278141 + ], + [ + -0.10222260235323381, + -0.018589272826768623, + 0.9945878435331413, + 0.09983331855767995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9938677725734153, + -0.01672668951444906, + 0.10930264634420035, + 0.044066374291681434 + ], + [ + 0.01447180133278864, + 0.9996664481576117, + 0.021390638001921432, + -0.005001021613855801 + ], + [ + -0.10962398280550846, + -0.01967765956185258, + 0.9937783314743914, + 0.10436067358922628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9930113861669612, + -0.017866478411982707, + 0.11665837257533168, + 0.046955726823955046 + ], + [ + 0.015318307724062553, + 0.9996248859271952, + 0.0227032350891507, + -0.0053107411703902 + ], + [ + -0.11702023923767063, + -0.020757562096654653, + 0.9929125778358144, + 0.10888431759323092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9925622856143276, + -0.018439356852943883, + 0.12033328423554489, + 0.04848241699776058 + ], + [ + 0.01573788422603414, + 0.999603192462481, + 0.02336186248792766, + -0.005449697903643823 + ], + [ + -0.12071631280051005, + -0.02129431233138763, + 0.9924586258812925, + 0.11176496916635635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9916223021457244, + -0.019591040471703774, + 0.1276769400496805, + 0.051403554854423834 + ], + [ + 0.016569653632916206, + 0.9995579823959808, + 0.02468372757428469, + -0.005753370726880989 + ], + [ + -0.12810408450045152, + -0.022361372089216267, + 0.9915086043865625, + 0.1162820604489482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.990626654313066, + -0.02075057107770517, + 0.13501202007395574, + 0.05434276241771464 + ], + [ + 0.017391538377628066, + 0.9995103436647333, + 0.026011676225612207, + -0.006053533567084509 + ], + [ + -0.13548566771935922, + -0.023419793063895647, + 0.9905024720491532, + 0.1207948829368628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9901079740568394, + -0.021333258146782857, + 0.13867621211261788, + 0.05590580038286497 + ], + [ + 0.01779875918533118, + 0.999485614401872, + 0.026677907998473343, + -0.006185618743079196 + ], + [ + -0.13917400576445177, + -0.023945744936316803, + 0.989978382298786, + 0.12366836473507087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.989028938209844, + -0.022504433863314608, + 0.14599763641922384, + 0.05887659971652963 + ], + [ + 0.01860572835131791, + 0.9994343378621938, + 0.028014838469549854, + -0.00647964339515826 + ], + [ + -0.14654550916362172, + -0.024991093582508634, + 0.9888881933694653, + 0.12817371206307546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9879197154192096, + -0.023635086047212345, + 0.15315357845499047, + 0.06203716013903042 + ], + [ + 0.01938634674047872, + 0.9993862736070125, + 0.029176114990652858, + -0.0062239459353604955 + ], + [ + -0.1537491640500396, + -0.02585457084213035, + 0.9877716009890564, + 0.13309595524499862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9873452016436804, + -0.024202740669172544, + 0.15672804514604632, + 0.06372197047169532 + ], + [ + 0.0197734697884916, + 0.9993615064427063, + 0.029758853020381854, + -0.006076329171885448 + ], + [ + -0.15734822110123764, + -0.026283203470388868, + 0.9871933602550265, + 0.13617226549502964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9861564086725978, + -0.02534266810240317, + 0.16386972510935618, + 0.06691326327729578 + ], + [ + 0.02054131708274819, + 0.999310503736619, + 0.030928488714631084, + -0.005815214135670536 + ], + [ + -0.16454054797061582, + -0.027134227372757492, + 0.985997029294923, + 0.14108640911142095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9855421457578442, + -0.02591492530209882, + 0.1674368405746205, + 0.06862010172194238 + ], + [ + 0.020922030813142287, + 0.999284268893332, + 0.03151537036071493, + -0.005663779135791557 + ], + [ + -0.16813371928818494, + -0.02755660699189475, + 0.9853789554528837, + 0.14415741242929384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9842739291321742, + -0.027063987481772345, + 0.1745633782106038, + 0.07184199117282546 + ], + [ + 0.021677012370712397, + 0.9992303340227283, + 0.03269322106349914, + -0.00539719522580287 + ], + [ + -0.17531383164311887, + -0.02839507264321245, + 0.9841030333680487, + 0.14906291458948112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9829528496417735, + -0.028219060878523758, + 0.18167933284843196, + 0.0750812339616292 + ], + [ + 0.02242336497435027, + 0.9991744480467247, + 0.033876467846430044, + -0.005127430610550804 + ], + [ + -0.18248530922883693, + -0.029225108616689473, + 0.9827741372980867, + 0.15396290933260703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9822725088248276, + -0.028798832022387085, + 0.18523321970188045, + 0.07682311581141268 + ], + [ + 0.022793292623118643, + 0.9991457743467385, + 0.03447009452341548, + -0.0049698063041936896 + ], + [ + -0.1860676871957505, + -0.02963695124675689, + 0.9820898466547863, + 0.15702458650251946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9808399300963424, + -0.02999442352978182, + 0.19249250916780772, + 0.08024705670598031 + ], + [ + 0.02355323528319705, + 0.999086242885229, + 0.03566404891724707, + -0.005256198455757377 + ], + [ + -0.19338634035602628, + -0.030446901888262802, + 0.9806501463463461, + 0.16176080207441462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9793186738911709, + -0.031227597819033323, + 0.19989940495782174, + 0.08384309880611254 + ], + [ + 0.02433072873828169, + 0.9990239639034796, + 0.03686645067867741, + -0.006101035673977678 + ], + [ + -0.2008555466177189, + -0.031240305392743934, + 0.9791226137271396, + 0.16633643060914272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9785364899704656, + -0.03184641237397958, + 0.2035979956069992, + 0.08577507881328061 + ], + [ + 0.024716023034315353, + 0.9989920569936181, + 0.037469831451810674, + -0.006498803479456483 + ], + [ + -0.20458606013521163, + -0.03163346459947674, + 0.9783372976207059, + 0.1692332365417167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9769290689137242, + -0.03308845008557666, + 0.21098518616788814, + 0.08940253474948061 + ], + [ + 0.025479677985935315, + 0.9989267107190316, + 0.038680907716718047, + -0.007337943739931152 + ], + [ + -0.2120386293133804, + -0.032412668557070645, + 0.9767236244690268, + 0.17379784815736604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9752643239653226, + -0.03433630405153521, + 0.2183586879987676, + 0.09304775711466984 + ], + [ + 0.026234050116572916, + 0.9988593244377922, + 0.039897676601007896, + -0.0081737645630002 + ], + [ + -0.21947955033429364, + -0.033182347833720253, + 0.975052644105588, + 0.17835548859553355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9744104859828234, + -0.03496238884298064, + 0.22204016792713457, + 0.09501578262773097 + ], + [ + 0.026607741016378198, + 0.9988248675481832, + 0.040508173068648026, + -0.008565107084215231 + ], + [ + -0.22319550381834138, + -0.033563601322659314, + 0.9741956947870024, + 0.18124050138704348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9726599427739427, + -0.03621882728085722, + 0.22939231084190698, + 0.0986921094329557 + ], + [ + 0.02734810457418327, + 0.9987544288445542, + 0.041733344457255864, + -0.009395150268776551 + ], + [ + -0.23061811919099112, + -0.034318907526141695, + 0.9724389418811971, + 0.18578619418804762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.970855515677001, + -0.037483644307890515, + 0.23671616778104612, + 0.10220245006953615 + ], + [ + 0.028105562376177076, + 0.9986852738696443, + 0.04286958268321123, + -0.010272634739982302 + ], + [ + -0.2380118590387119, + -0.03496712978374707, + 0.9706326054649221, + 0.1902156295967714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9699336247665912, + -0.0381191426234658, + 0.24036575153876177, + 0.10402262302518601 + ], + [ + 0.0284943672812748, + 0.9986516666621871, + 0.04339262271488097, + -0.01070850533253433 + ], + [ + -0.24169574795676835, + -0.0352388938317885, + 0.9697120117752128, + 0.19297918536722009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9680474688589132, + -0.039393150255338724, + 0.24765354378407678, + 0.10738010558781916 + ], + [ + 0.029265980292862023, + 0.9985831552528266, + 0.04444304718183724, + -0.011631622292665674 + ], + [ + -0.24905340879688664, + -0.03577515560091256, + 0.9678287750466925, + 0.19728713608737652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9661049072246037, + -0.040671109909896225, + 0.25492581088473004, + 0.1107548955288167 + ], + [ + 0.03002955969562016, + 0.9985129178956499, + 0.04549921252068524, + -0.012551775915405988 + ], + [ + -0.25639721874666893, + -0.03630170263517177, + 0.9658895654290715, + 0.201587090308477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9651125099356633, + -0.04131154819919402, + 0.2585559884262399, + 0.11261035210446524 + ], + [ + 0.0304083227007391, + 0.9984771532772819, + 0.04602942856285719, + -0.012981967509912281 + ], + [ + -0.2600637942432817, + -0.03656132339892974, + 0.9648990064017617, + 0.20433706713228844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9630855555821036, + -0.04259529448331948, + 0.26580416384434286, + 0.11601547515346093 + ], + [ + 0.031159767392855843, + 0.9984043347978558, + 0.04709408830070176, + -0.01389697746064066 + ], + [ + -0.2673860159491032, + -0.03707324027827173, + 0.962876052942504, + 0.20862338180823845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.962051028406404, + -0.043238583548372234, + 0.26942205484130494, + 0.11789283720512851 + ], + [ + 0.03153243799925379, + 0.9983672820105594, + 0.04762851629719031, + -0.014323586673171714 + ], + [ + -0.27104155418681447, + -0.0373255288452681, + 0.9618436883404794, + 0.21136450249545372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9599399503312273, + -0.044527946095766345, + 0.27664517666963495, + 0.12132806610934027 + ], + [ + 0.03227164825631091, + 0.998291892072643, + 0.04870152914276397, + -0.015233403604269835 + ], + [ + -0.2783412159147508, + -0.037822747633072216, + 0.9597372595062583, + 0.21563661908502507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.957804290937839, + -0.04567747017332266, + 0.28376840729656494, + 0.12447307746393725 + ], + [ + 0.03289176055593254, + 0.9982243348363887, + 0.04966195151200837, + -0.014857213444874253 + ], + [ + -0.28553296193013367, + -0.03823278774841155, + 0.9576059636366047, + 0.2198178325278055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9567161163393415, + -0.04625335138697908, + 0.28732368545255776, + 0.12623142259739722 + ], + [ + 0.03319909954152884, + 0.9981900679694752, + 0.050143872972939874, + -0.01463676581171441 + ], + [ + -0.28912297128765013, + -0.03843456377490592, + 0.9565200948130852, + 0.22250293922275566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9544991551202524, + -0.04740731100069882, + 0.2944213133222648, + 0.12940586197842766 + ], + [ + 0.033808321216043, + 0.9981205601874339, + 0.05111110200021067, + -0.014255912217191215 + ], + [ + -0.29629100609245135, + -0.03883161334281776, + 0.9543079930053593, + 0.22666934856917564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9522281505046911, + -0.04856414518976812, + 0.3015013651518055, + 0.1325968370763709 + ], + [ + 0.03441023884070983, + 0.9980497569943966, + 0.052082799716904764, + -0.013872333327701995 + ], + [ + -0.30344272087057966, + -0.03921997406186078, + 0.9520421780495055, + 0.2308265348821425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9510724223849107, + -0.04914361958408548, + 0.3050346734931503, + 0.13438914281320954 + ], + [ + 0.034708447861888224, + 0.9980138708810997, + 0.05257030697972456, + -0.013646661422675357 + ], + [ + -0.3070123304134814, + -0.039410889143719915, + 0.9508891685107076, + 0.2334959149869511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9487205971315126, + -0.05030464155209942, + 0.31208760247203204, + 0.13760915223783082 + ], + [ + 0.03529934500628529, + 0.9979411321860485, + 0.053548603467831836, + -0.013258359120206818 + ], + [ + -0.31413879865523386, + -0.039786175105715325, + 0.9485430277272107, + 0.2376374400166904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9463150589173319, + -0.05146837241720526, + 0.3191219451980868, + 0.14084544648156933 + ], + [ + 0.03588285283951626, + 0.9978671083402453, + 0.05453122926154375, + -0.012867297201861673 + ], + [ + -0.3212479262787302, + -0.040152717634069184, + 0.9461435034540027, + 0.241769229391467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9450913978755854, + -0.05202721677206733, + 0.3226382159269486, + 0.14257144526366178 + ], + [ + 0.036173203561502595, + 0.9978338964793172, + 0.05494555833733377, + -0.012997063554668672 + ], + [ + -0.32479801262580116, + -0.04025771667463977, + 0.9449262231743145, + 0.24451779837402327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9426039045872435, + -0.05314602364796276, + 0.3296564563713157, + 0.14563665383558055 + ], + [ + 0.03674920460213963, + 0.997766693536116, + 0.05577742582009888, + -0.013322965862986508 + ], + [ + -0.331884580868098, + -0.040461406802244734, + 0.9424518552910756, + 0.24882470660947975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400629682772518, + -0.054266268210171005, + 0.3366552952328309, + 0.14871792863791783 + ], + [ + 0.03731891108992429, + 0.9976984548324223, + 0.05661353283499951, + -0.0136464652382721 + ], + [ + -0.33895267302209764, + -0.04065667669078507, + 0.9399245289339118, + 0.2531213908415914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.93877250417308, + -0.054826909653699483, + 0.3401473142425646, + 0.15047715061455452 + ], + [ + 0.03760139370501552, + 0.997663948284729, + 0.05703316126926824, + -0.013771664277295967 + ], + [ + -0.3424796645058584, + -0.04075115054511975, + 0.9386410512699751, + 0.2558524910076695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9361516760981415, + -0.05594919088245687, + 0.34711630238039654, + 0.15358668534189457 + ], + [ + 0.038161597531842326, + 0.9975941632585454, + 0.05787553806488941, + -0.014091009970501105 + ], + [ + -0.3495192867531893, + -0.040933769336346036, + 0.9360345585048988, + 0.26013185906423875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9334777731230721, + -0.05707274986732924, + 0.35406489279194575, + 0.15671201072147656 + ], + [ + 0.03871542622400992, + 0.9975233523153071, + 0.0587220346882267, + -0.014407920135499897 + ], + [ + -0.3565394267924432, + -0.041107940938623085, + 0.9333754733944444, + 0.26440050350126504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9321209661034501, + -0.05763498848891542, + 0.3575314149165831, + 0.15850401814443457 + ], + [ + 0.038989940006025015, + 0.9974875633850135, + 0.05914681285205048, + -0.014528491525052376 + ], + [ + -0.3600420657766226, + -0.04119185591972643, + 0.9320262560020458, + 0.2671132629537415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9295808056145715, + -0.05866465573499176, + 0.36392029896731404, + 0.161566807755126 + ], + [ + 0.039519823131855286, + 0.9974254044682784, + 0.05983933573259389, + -0.015068672726017446 + ], + [ + -0.36649380542185317, + -0.04124343206846529, + 0.9295059278448001, + 0.27134448856402643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9272122034657905, + -0.059598596520615756, + 0.36976416407879026, + 0.16455317387895949 + ], + [ + 0.040031205788290315, + 0.9973727165677034, + 0.06037521684843118, + -0.01583451490480338 + ], + [ + -0.37239096700544344, + -0.0411785325033856, + 0.9271619578874116, + 0.27554697516867993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9260137676237944, + -0.06006539456687743, + 0.3726803597544559, + 0.16628427674000867 + ], + [ + 0.040285608289437724, + 0.9973461442303617, + 0.060644359618850834, + -0.016178929444208692 + ], + [ + -0.3753339472202526, + -0.04114385694554961, + 0.9259760316010932, + 0.2782235797210915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9235886874197323, + -0.06099862220053173, + 0.3785011288753747, + 0.16929421057341917 + ], + [ + 0.040791822685372514, + 0.9972925441344291, + 0.06118503588201108, + -0.016942012058890607 + ], + [ + -0.3812085566619686, + -0.04107005604469822, + 0.9235763567914589, + 0.28241098948704063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9211260783260146, + -0.06193132688263097, + 0.38430620418917716, + 0.17231732312150932 + ], + [ + 0.041294565772472015, + 0.9972383386320081, + 0.06172888141004409, + -0.017703465672238253 + ], + [ + -0.38706783212429297, + -0.0409903246270265, + 0.921139667271783, + 0.2865891612788371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.919880731730203, + -0.06239747124444092, + 0.387202782755762, + 0.1740757982480493 + ], + [ + 0.041544629170712694, + 0.9972110095423354, + 0.06200198573130065, + -0.018044827257915702 + ], + [ + -0.389991645011242, + -0.04094823597977828, + 0.9199074729512583, + 0.2892496844563696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9173620178441495, + -0.06332932027709376, + 0.39298387423678316, + 0.1771221420068241 + ], + [ + 0.042042126945269806, + 0.9971559000774523, + 0.06255054358392109, + -0.018803475960918782 + ], + [ + -0.39582747223863624, + -0.04085961495128748, + 0.9174154479226978, + 0.293412198223767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.91608867620067, + -0.06379501545939938, + 0.39586832828535184, + 0.1788975993050711 + ], + [ + 0.04228955625582345, + 0.9971281202633933, + 0.06282599152960379, + -0.019142913852346857 + ], + [ + -0.3987394271558679, + -0.04081308347242707, + 0.9161556425896658, + 0.2960624661364206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9139866533565892, + -0.0645029045034529, + 0.400584289253386, + 0.1818248622925243 + ], + [ + 0.04267077413984681, + 0.9970886125787888, + 0.06319417457339162, + -0.019065232766444618 + ], + [ + -0.40349424100020087, + -0.040665390399263965, + 0.9140780729802828, + 0.30011301893059983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9118598029392051, + -0.06520999806793099, + 0.4052892250426287, + 0.1847628815718859 + ], + [ + 0.04305005744580259, + 0.9970487803303124, + 0.06356431542736413, + -0.018986447678228095 + ], + [ + -0.4082381563959782, + -0.04051401971931175, + 0.9119759985156386, + 0.30415608047057485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9107870854386682, + -0.06556324053542253, + 0.4076375184997456, + 0.18649068157539195 + ], + [ + 0.04323897040670368, + 0.9970287428327822, + 0.0637501168896979, + -0.01890679531255225 + ], + [ + -0.4106059868490769, + -0.04043695655926974, + 0.9109157898005278, + 0.3067440973556889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9086231023187396, + -0.06626910483315634, + 0.4123256767135433, + 0.189447664889148 + ], + [ + 0.043615332522642984, + 0.996988425772271, + 0.06412317556912023, + -0.018826109103605864 + ], + [ + -0.41533331277614677, + -0.04028007721865825, + 0.9087770654443532, + 0.3107744233034679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9064344374838048, + -0.06697412562064042, + 0.41700249044912074, + 0.1924152625118121 + ], + [ + 0.04398973437386113, + 0.9969477868724032, + 0.06449816679514675, + -0.018744301824667017 + ], + [ + -0.4200494182987705, + -0.040119530749600084, + 0.9066139803903844, + 0.3147970272723214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9053308679968238, + -0.06732631370569611, + 0.41933660338076845, + 0.19416510987065036 + ], + [ + 0.04417619701635488, + 0.9969273470777285, + 0.0646863839284183, + -0.018662546841792586 + ], + [ + -0.4224032233178268, + -0.040037883702372844, + 0.9055233209582985, + 0.31737135884379597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9031052923974192, + -0.06803003328652196, + 0.42399616202839246, + 0.19715143767719207 + ], + [ + 0.04454763939669601, + 0.9968862274937061, + 0.06506425483742198, + -0.018578810106041833 + ], + [ + -0.4271022578586468, + -0.03987184475794625, + 0.9033238053586568, + 0.32138084486483975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_052/tilt_down/transforms.json b/spatialvid_eval/camera_controls/scene_052/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..38127f2db627e8cda525ac8ac2741724189e5ac9 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_052/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": [ + [ + 0.9999999852230789, + -0.0001592555185181777, + 6.474196424313855e-05, + 4.7279135628466675e-05 + ], + [ + 0.00015925914668826204, + 0.9999999857480673, + -5.603917746133868e-05, + -7.772513111711447e-05 + ], + [ + -6.473303877217649e-05, + 5.604948738323246e-05, + 0.9999999963340443, + -0.0003366873388506274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999904249866112, + -0.0008287516295269596, + 0.004296871633368677, + 0.00222208933408645 + ], + [ + 0.0008105414280049092, + 0.9999906910417454, + 0.004238024592435064, + -2.4214928933510743e-05 + ], + [ + -0.004300343903756973, + -0.004234501220823183, + 0.9999817878550191, + 0.0031839036263838975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999787584069612, + -0.001185988346785564, + 0.006409069083237137, + 0.0033094944333154413 + ], + [ + 0.0011345582691327954, + 0.9999671774825365, + 0.00802226496341764, + 2.5401721582911217e-06 + ], + [ + -0.0064183730342166675, + -0.008014823095404208, + 0.9999472821595862, + 0.0049441991090011595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999941652607804, + -0.001910369699912859, + 0.010632114915838263, + 0.005484304631773425 + ], + [ + 0.0017793354932570825, + 0.9999225200519863, + 0.012320221511289637, + 5.605037434189485e-05 + ], + [ + -0.01065482731799869, + -0.012300584559055036, + 0.9998675763691556, + 0.008464790074235685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998861839259582, + -0.0026666698208860514, + 0.014849514000527543, + 0.007659114830231408 + ], + [ + 0.0024197603558845605, + 0.9998589392761112, + 0.016620659116604417, + 0.00010956057652549858 + ], + [ + -0.01489174112740271, + -0.016582835153153144, + 0.9997515919589619, + 0.01198538103947021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998515638264588, + -0.0030845150066056773, + 0.016950990559830723, + 0.008746519929460399 + ], + [ + 0.0027383367649352827, + 0.9997879911298423, + 0.020407702083197286, + 0.00013631567761730046 + ], + [ + -0.017010344662800037, + -0.020358255321337223, + 0.9996480328669308, + 0.013745676522087472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997685529500219, + -0.0038954900051066054, + 0.021158111679437982, + 0.010921330127918382 + ], + [ + 0.0033722098113984703, + 0.9996889363010633, + 0.024711512261221796, + 0.0001898258798009042 + ], + [ + -0.021247793607981118, + -0.02463444326281237, + 0.999470697655476, + 0.017266267487321997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9996671825497393, + -0.0047382528261758735, + 0.025358885882892004, + 0.013096140326376366 + ], + [ + 0.004001699588073383, + 0.9995708930399321, + 0.02901751518927183, + 0.00024333608198450792 + ], + [ + -0.025485496531814256, + -0.028906379010662068, + 0.9992571794683384, + 0.020786858452556522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995777539565998, + -0.005318723453203331, + 0.028566150876657884, + 0.014149529196859873 + ], + [ + 0.00437853109835522, + 0.9994498766404053, + 0.032875105306288885, + 0.0003389295984537593 + ], + [ + -0.028725289563386013, + -0.032736146143173175, + 0.9990511510804604, + 0.023018583781953872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9993669784083009, + -0.006433680123391478, + 0.03498928731958466, + 0.016256306937826884 + ], + [ + 0.005126474318895107, + 0.9992901272178741, + 0.037322391482094486, + 0.000530116631392262 + ], + [ + -0.035204569705086286, + -0.03711939391955218, + 0.9986905370869021, + 0.027482034440748575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9992456337664255, + -0.007072118170812314, + 0.03818571124534518, + 0.01730969580831039 + ], + [ + 0.005497577820398796, + 0.9991365186929954, + 0.04118244349417339, + 0.0006257101478615133 + ], + [ + -0.038443985704443726, + -0.040941447930186725, + 0.9984216833605611, + 0.029713759770145926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9989710374060576, + -0.0082713682707853, + 0.04459204963661526, + 0.019416473549277405 + ], + [ + 0.0062340282414214, + 0.9989387101350263, + 0.04563540605336293, + 0.000816897180800016 + ], + [ + -0.044922191795931696, + -0.04531046083079711, + 0.9979624035120515, + 0.034177210428940626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9986539085171238, + -0.009519669947533728, + 0.050987713103870014, + 0.02152325129024442 + ], + [ + 0.006962776312925126, + 0.9987203293942188, + 0.050092149092643805, + 0.0010080842137385187 + ], + [ + -0.0513993263524796, + -0.04966970443634137, + 0.9974422437974633, + 0.038640661087735326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9984793986521645, + -0.010250819172688112, + 0.0541646672056676, + 0.022576640160727926 + ], + [ + 0.0073242519567809, + 0.9985164639737236, + 0.05395578288455273, + 0.00110367773020777 + ], + [ + -0.05463740294418709, + -0.05347702197860547, + 0.9970731980751535, + 0.04087238641713268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9980984976575604, + -0.011582912285664267, + 0.06054110270471937, + 0.024683417901694937 + ], + [ + 0.008041386624580543, + 0.9982598513370012, + 0.0584175085893109, + 0.001294864763146273 + ], + [ + -0.06111239706372831, + -0.05781959314636175, + 0.9964548005672482, + 0.04533583707592738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9976795233194805, + -0.013047083789613738, + 0.06682321717487932, + 0.026791395438819927 + ], + [ + 0.008841826036973493, + 0.9979841612974156, + 0.06284453764509837, + 0.0008379061988344503 + ], + [ + -0.06750845029584211, + -0.06210786909950369, + 0.9957837223687547, + 0.04964377827659088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.997456734946141, + -0.013953011992158747, + 0.0698954602741217, + 0.027845984105461415 + ], + [ + 0.009284827163488923, + 0.9977316707069193, + 0.06667312241769031, + 0.00028535411805337657 + ], + [ + -0.07066720523077723, + -0.06585458772725598, + 0.9953237259204388, + 0.05171999414785704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.996980564719934, + -0.015581234718559149, + 0.07607219396971947, + 0.029955161438744382 + ], + [ + 0.010165449412540042, + 0.9974196947539783, + 0.07106768713784209, + -0.000819750043508771 + ], + [ + -0.07698322680274285, + -0.07007979481652528, + 0.9945664407919218, + 0.05587242589038934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9964636200493321, + -0.017256012040891215, + 0.0822343235311465, + 0.03206433877202735 + ], + [ + 0.011038867501079812, + 0.9970872488190343, + 0.07546629477311777, + -0.0019248542050709187 + ], + [ + -0.08329704269945158, + -0.07429164347982965, + 0.9937516562937603, + 0.06002485763292165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9961898640222826, + -0.018250374058052053, + 0.08528000155961017, + 0.03311892743866884 + ], + [ + 0.011472863497944722, + 0.9967849191524975, + 0.07929816109662609, + -0.0024774062858519924 + ], + [ + -0.08645304056204998, + -0.0780176185030671, + 0.993196417120343, + 0.062101073504187795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9956117989715895, + -0.020004735195030193, + 0.09141638976864254, + 0.035228104771951804 + ], + [ + 0.012335406588754327, + 0.996414481388529, + 0.08370196546987078, + -0.00358251044741414 + ], + [ + -0.09276305025626189, + -0.08220700608224366, + 0.9922887808789076, + 0.0662535052467201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9949930170234713, + -0.021805229598843564, + 0.09753680349833067, + 0.03733728210523478 + ], + [ + 0.013190654287618316, + 0.9960234617835871, + 0.0881094218350333, + -0.0046876146089762875 + ], + [ + -0.09907019084464708, + -0.08638168520456767, + 0.991324014511514, + 0.0704059369892524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9946683652758591, + -0.022887285532374943, + 0.10055354434533684, + 0.03839187077187626 + ], + [ + 0.013615531116438874, + 0.9956711115176755, + 0.0919437599925842, + -0.0052401666897573616 + ], + [ + -0.10222260235323381, + -0.09008445953723751, + 0.9906741793940208, + 0.07248215286051855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9938677725734155, + -0.024898484188734304, + 0.10773539866293468, + 0.04092392320928567 + ], + [ + 0.014471801332788643, + 0.9952276481566705, + 0.09650127103166609, + -0.005616002456411042 + ], + [ + -0.10962398280550849, + -0.09435037800478664, + 0.9894850117936157, + 0.07578954655933752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9930113861669614, + -0.026964312443016846, + 0.11489696600540032, + 0.043455975646695094 + ], + [ + 0.015318307724062556, + 0.9947621007166304, + 0.10106291320909043, + -0.005991838223064721 + ], + [ + -0.11702023923767066, + -0.09859659645399829, + 0.9882231401745492, + 0.07909694025815647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9925622856143276, + -0.028211446858738894, + 0.11842391414828002, + 0.044722001865399805 + ], + [ + 0.01573788422603414, + 0.9943506025016381, + 0.10497236924409153, + -0.006179756106391562 + ], + [ + -0.12071631280051005, + -0.10232787289280716, + 0.987398895205521, + 0.08075063710756596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9916223021457244, + -0.030370433690288384, + 0.12555017580504393, + 0.04725405430280922 + ], + [ + 0.016569653632916206, + 0.9938443760006518, + 0.10953904724051913, + -0.0065555918730452415 + ], + [ + -0.12810408450045152, + -0.10654103927285152, + 0.9860214756712767, + 0.08405803080638492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.990626654313066, + -0.03258340448999211, + 0.13265426309147657, + 0.04978610674021864 + ], + [ + 0.017391538377628066, + 0.9933159550781462, + 0.11410936762619348, + -0.006931427639698922 + ], + [ + -0.13548566771935922, + -0.11073271936980435, + 0.9845719367845133, + 0.08736542450520388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9901079740568394, + -0.03393286146220253, + 0.13614242770733903, + 0.051052132958923344 + ], + [ + 0.01779875918533118, + 0.9928516280969587, + 0.11802054379081978, + -0.0071193455230257625 + ], + [ + -0.13917400576445177, + -0.11442991522414578, + 0.9836342768637494, + 0.08901912135461336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.989028938209844, + -0.03623788697263769, + 0.14320815246090743, + 0.053584185396332765 + ], + [ + 0.01860572835131791, + 0.9922823579547054, + 0.12259506092973893, + -0.007495181289679442 + ], + [ + -0.14654550916362172, + -0.1185855709587291, + 0.9820701991733416, + 0.09232651505343233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9879197154192096, + -0.038532952439166046, + 0.1500994585678077, + 0.056293900946968276 + ], + [ + 0.01938634674047872, + 0.9917141961822299, + 0.12699260864590464, + -0.007318050247509977 + ], + [ + -0.1537491640500396, + -0.12254862164445152, + 0.9804810196464587, + 0.096054520207909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9873452016436804, + -0.039950678862686356, + 0.15347115706089812, + 0.05764875872228603 + ], + [ + 0.0197734697884916, + 0.9912096486965127, + 0.13081453368590112, + -0.007229484726425245 + ], + [ + -0.15734822110123764, + -0.12612444485248153, + 0.979456054004941, + 0.09791852278514734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9861564086725978, + -0.0423328888566649, + 0.16032299945738848, + 0.060358474272921535 + ], + [ + 0.02054131708274819, + 0.990603268841035, + 0.13521545050016465, + -0.00705235368425578 + ], + [ + -0.16454054797061582, + -0.1300503374947783, + 0.9777593353126445, + 0.10164652793962403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9855421457578442, + -0.043810713040854855, + 0.1636682631357592, + 0.06171333204823929 + ], + [ + 0.020922030813142287, + 0.9900661362596239, + 0.13903709741861645, + -0.006963788163171048 + ], + [ + -0.16813371928818494, + -0.13360264688542584, + 0.9766685134596743, + 0.10351053051686238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9842739291321744, + -0.04627933485016457, + 0.17047890073712402, + 0.0644230475988748 + ], + [ + 0.0216770123707124, + 0.9894214534494621, + 0.14344090974556137, + -0.0067866571210015835 + ], + [ + -0.1753138316431189, + -0.13748967459333317, + 0.9748649392684239, + 0.10723853567133905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9829528496417735, + -0.04879774290423269, + 0.177263858889988, + 0.0671327631495103 + ], + [ + 0.02242336497435027, + 0.9887559975710325, + 0.14784711688274366, + -0.006609526078832119 + ], + [ + -0.18248530922883693, + -0.1413518926465613, + 0.9729947350119069, + 0.11096654082581572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9822725088248276, + -0.050371042245070954, + 0.18056432790040247, + 0.06848762092482806 + ], + [ + 0.022793292623118643, + 0.9881686272031427, + 0.15166815757717023, + -0.006520960557747387 + ], + [ + -0.1860676871957505, + -0.14486380608903568, + 0.9717989984904403, + 0.11283054340305407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9808399300963424, + -0.0530253295231378, + 0.18746025167369515, + 0.07134427815696921 + ], + [ + 0.02355323528319705, + 0.987463694698616, + 0.15607913620933853, + -0.006905660718180055 + ], + [ + -0.19338634035602628, + -0.14867335363514722, + 0.9697927393430938, + 0.11640573280589613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9793186738911711, + -0.055780868603177096, + 0.1944824662171724, + 0.074347877070616 + ], + [ + 0.024330728738281696, + 0.9867367030591158, + 0.1604951540548532, + -0.007852192081214855 + ], + [ + -0.20085554661771896, + -0.15244400130507596, + 0.9676868687023689, + 0.11982810645710357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9785364899704656, + -0.057501553043538545, + 0.19788862825807438, + 0.0758496765274394 + ], + [ + 0.024716023034315353, + 0.9860977549428901, + 0.16431778936548358, + -0.008325457762732254 + ], + [ + -0.20458606013521163, + -0.15589993295115093, + 0.9663538455991049, + 0.12153929328270728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9769290689137244, + -0.060344466773501956, + 0.20486126925601592, + 0.0788532754410862 + ], + [ + 0.025479677985935322, + 0.9853318826355485, + 0.16873608704607093, + -0.009271989125767054 + ], + [ + -0.21203862931338047, + -0.1596233892376299, + 0.9641369162557751, + 0.12496166693391471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9752643239653226, + -0.0632375413716425, + 0.21180300224910034, + 0.081856874354733 + ], + [ + 0.026234050116572916, + 0.9845448722170501, + 0.1731564876220167, + -0.010218520488801855 + ], + [ + -0.21947955033429364, + -0.16331689426505233, + 0.9618504660458788, + 0.12838404058512215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9744104859828234, + -0.06505491381167734, + 0.21515590392939055, + 0.0833586738115564 + ], + [ + 0.026607741016378198, + 0.9838551706164533, + 0.1769774883121431, + -0.010691786170319253 + ], + [ + -0.22319550381834138, + -0.16672390782435684, + 0.9604097592356359, + 0.13009522741072585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9726599427739427, + -0.06803384145305678, + 0.22204511284901313, + 0.08636227272520319 + ], + [ + 0.02734810457418327, + 0.9830291693128279, + 0.1813993755676445, + -0.011638317533354054 + ], + [ + -0.23061811919099112, + -0.17036739329247286, + 0.9580136921795732, + 0.13351760106193328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.970855515677001, + -0.07106276415496532, + 0.22888785732362607, + 0.08918306084157862 + ], + [ + 0.028105562376177076, + 0.982198797458594, + 0.18572991044635476, + -0.01263046178755892 + ], + [ + -0.2380118590387119, + -0.17388388603188024, + 0.9555703789545742, + 0.1368308362962007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9699336247665912, + -0.07297554122923174, + 0.23217091533920128, + 0.09050204950113067 + ], + [ + 0.0284943672812748, + 0.981475750180597, + 0.1894555959603049, + -0.013149340360246385 + ], + [ + -0.24169574795676835, + -0.1771437895883883, + 0.9540457238675111, + 0.13843288470486437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9680474688589132, + -0.07608745315066014, + 0.23894517678517269, + 0.09314002682023474 + ], + [ + 0.029265980292862023, + 0.9806252385250197, + 0.19369471847535283, + -0.014187097505621317 + ], + [ + -0.24905340879688664, + -0.18051271711653577, + 0.9515185539577546, + 0.1416369815221917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9661049072246037, + -0.07924598564079677, + 0.24568553477231547, + 0.09577800413933882 + ], + [ + 0.03002955969562016, + 0.9797549100734098, + 0.19793570100295743, + -0.015224854650996246 + ], + [ + -0.25639721874666893, + -0.18384882362110344, + 0.94892574855576, + 0.14484107833951904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9651125099356633, + -0.08125000222068496, + 0.2489101852171239, + 0.09709699279889085 + ], + [ + 0.0304083227007391, + 0.9789836536092575, + 0.20165896924361507, + -0.015743733223683713 + ], + [ + -0.2600637942432817, + -0.18705465272216099, + 0.9473000474077788, + 0.14644312674818272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9630855555821038, + -0.08448868554381368, + 0.25559318192039, + 0.09973497011799493 + ], + [ + 0.03115976739285585, + 0.9780766112147249, + 0.20590097496307191, + -0.016781490369058644 + ], + [ + -0.2673860159491033, + -0.19033603077136768, + 0.9446041043024679, + 0.14964722356551008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.962051028406404, + -0.08654869331311363, + 0.25878010438975657, + 0.10105395877754696 + ], + [ + 0.03153243799925379, + 0.9772739520581097, + 0.2096218690464977, + -0.017300368941746108 + ], + [ + -0.27104155418681447, + -0.1935069670955452, + 0.9429165019181073, + 0.15124927197417376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9599399503312273, + -0.08986646050183447, + 0.26540405240868725, + 0.10369193609665103 + ], + [ + 0.03227164825631091, + 0.9763301394991336, + 0.21386444170180124, + -0.01833812608712104 + ], + [ + -0.2783412159147508, + -0.19673199531971008, + 0.9401184444210333, + 0.1544533687915011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.957804290937839, + -0.09307374647546397, + 0.2719342162694592, + 0.10602813098966053 + ], + [ + 0.03289176055593254, + 0.9753958146484892, + 0.21799343305187333, + -0.018085240293154798 + ], + [ + -0.28553296193013367, + -0.19985065044485453, + 0.9372996560162463, + 0.15757344489142622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9567161163393415, + -0.09514393810495524, + 0.27503073242539305, + 0.10719622843616528 + ], + [ + 0.03319909954152884, + 0.974560291455052, + 0.22165301285720418, + -0.017958797396171677 + ], + [ + -0.28912297128765013, + -0.20292823697288828, + 0.9355362302513335, + 0.15913348294138877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9544991551202524, + -0.09842718808622927, + 0.281502134130742, + 0.10953242332917479 + ], + [ + 0.033808321216043, + 0.9735912560102933, + 0.22578100814030466, + -0.017705911602205436 + ], + [ + -0.29629100609245135, + -0.20599066693842594, + 0.9326196892855017, + 0.1622535590413139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9522281505046913, + -0.1017534683363122, + 0.2879371130437102, + 0.11186861822218427 + ], + [ + 0.03441023884070984, + 0.9726035678036077, + 0.22990918937401955, + -0.0174530258082392 + ], + [ + -0.3034427208705797, + -0.20901801735071687, + 0.9296418576922164, + 0.16537363514123898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9510724223849107, + -0.10390885914885799, + 0.29097112634981653, + 0.11303671566868903 + ], + [ + 0.034708447861888224, + 0.9717218588430065, + 0.23356359453842718, + -0.017326582911256078 + ], + [ + -0.3070123304134814, + -0.21203673747036153, + 0.9277843773943429, + 0.16693367319120156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9487205971315126, + -0.1073093653520453, + 0.2973447976443636, + 0.11537291056169853 + ], + [ + 0.03529934500628529, + 0.9706994177607643, + 0.23769012726876257, + -0.017073697117289836 + ], + [ + -0.31413879865523386, + -0.21500544287681314, + 0.9247104815631711, + 0.17005374929112665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9463150589173319, + -0.1107518272533397, + 0.30368049332535874, + 0.11770910545470803 + ], + [ + 0.03588285283951626, + 0.9696582988341578, + 0.2418164683683584, + -0.016820811323323595 + ], + [ + -0.3212479262787302, + -0.21793764305895863, + 0.9215763417099647, + 0.17317382539105178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9450913978755854, + -0.11296818557400504, + 0.3066601355078439, + 0.11877687683904932 + ], + [ + 0.036173203561502595, + 0.9687496695136459, + 0.24538862475938028, + -0.01704929848204704 + ], + [ + -0.32479801262580116, + -0.220821798890687, + 0.9196434005249052, + 0.17482948941491755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9426039045872435, + -0.1164376219340596, + 0.3129539251315184, + 0.12091241960773189 + ], + [ + 0.03674920460213963, + 0.96771325033235, + 0.24936030376206453, + -0.017506272799493926 + ], + [ + -0.331884580868098, + -0.22354718814948224, + 0.9164492782759269, + 0.1781408174626491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400629682772518, + -0.11994699618555947, + 0.3192089187034475, + 0.12304796237641447 + ], + [ + 0.03731891108992429, + 0.9666593577072519, + 0.2533317686988069, + -0.017963247116940813 + ], + [ + -0.33895267302209764, + -0.22623528518572178, + 0.9131969564054132, + 0.18145214551038064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.93877250417308, + -0.12224376245374029, + 0.32212210099550515, + 0.12411573376075576 + ], + [ + 0.03760139370501552, + 0.9657068007476913, + 0.25689785943269283, + -0.018191734275664256 + ], + [ + -0.3424796645058584, + -0.22905640687571416, + 0.911175527474889, + 0.1831078095342464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9361516760981415, + -0.12582238130956072, + 0.3283119974966373, + 0.12625127652943832 + ], + [ + 0.038161597531842326, + 0.96462018520665, + 0.2608669982303358, + -0.018648708593111147 + ], + [ + -0.3495192867531893, + -0.23168216731867788, + 0.9078323862553385, + 0.18641913758197795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9334777731230723, + -0.12943980386959086, + 0.33446163346397845, + 0.1283868192981209 + ], + [ + 0.038715426224009926, + 0.9635160762228722, + 0.26483558415057123, + -0.019105682910558034 + ], + [ + -0.35653942679244327, + -0.23426930664148665, + 0.9044321583779702, + 0.1897304656297095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9321209661034501, + -0.13181502169436243, + 0.3373059510386469, + 0.1294545906824622 + ], + [ + 0.038989940006025015, + 0.9625195882096851, + 0.26839490846695496, + -0.019334170069281478 + ], + [ + -0.3600420657766226, + -0.23702498258279303, + 0.9023241482432626, + 0.19138612965357527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9295808056145715, + -0.13529308521623992, + 0.342892558865945, + 0.1315433830903226 + ], + [ + 0.039519823131855286, + 0.9614269868864581, + 0.27220641518166505, + -0.020005417923956444 + ], + [ + -0.36649380542185317, + -0.2394868054384153, + 0.8990708318082127, + 0.19466024951683042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9272122034657907, + -0.13859712038090805, + 0.3479488007828649, + 0.1335854251373608 + ], + [ + 0.04003120578829032, + 0.9603630639616567, + 0.2758628063754062, + -0.020890939315859492 + ], + [ + -0.3723909670054435, + -0.24185455050566942, + 0.8960085625106781, + 0.19789716119560918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9260137676237944, + -0.14083392079981633, + 0.3502346483763941, + 0.1346064461608799 + ], + [ + 0.040285608289437724, + 0.959369848047457, + 0.2792607462966276, + -0.021333700011811015 + ], + [ + -0.3753339472202526, + -0.24448987997369237, + 0.8940632677022998, + 0.19951561703499857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9235886874197323, + -0.14419204301470462, + 0.35523596552368086, + 0.1366484882079181 + ], + [ + 0.040791822685372514, + 0.9582775435797032, + 0.2829137265543253, + -0.022219221403714063 + ], + [ + -0.3812085566619686, + -0.24680519484422525, + 0.8909361549098808, + 0.2027525287137773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9211260783260146, + -0.1475803102552969, + 0.36020383098002595, + 0.1386905302549563 + ], + [ + 0.041294565772472015, + 0.957170297134602, + 0.28656549185294566, + -0.02310474279561711 + ], + [ + -0.38706783212429297, + -0.24908848690416824, + 0.8877687869183012, + 0.20598944039255607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.919880731730203, + -0.14987887274524794, + 0.3624303559252735, + 0.13971155127847543 + ], + [ + 0.041544629170712694, + 0.9561379098865058, + 0.28995575708189075, + -0.023547503491568634 + ], + [ + -0.389991645011242, + -0.2516676792567497, + 0.8857595023701115, + 0.20760789623194545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9173620178441495, + -0.15331978962738585, + 0.36734176229435805, + 0.14175359332551363 + ], + [ + 0.042042126945269806, + 0.9550022687760525, + 0.2936036890001725, + -0.024433024883471682 + ], + [ + -0.39582747223863624, + -0.25389704358500575, + 0.8825286983888769, + 0.2108448079107242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.91608867620067, + -0.15565609676481243, + 0.3695304004772103, + 0.14277461434903274 + ], + [ + 0.04228955625582345, + 0.9539441719278274, + 0.29698840091259004, + -0.024875785579423205 + ], + [ + -0.3987394271558679, + -0.2564404343797505, + 0.8804800808914052, + 0.2124632637501136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9139866533565895, + -0.15868268873070743, + 0.37342763928667017, + 0.14477081553658608 + ], + [ + 0.042670774139846816, + 0.9528405265695811, + 0.30045654587795195, + -0.02491069391448334 + ], + [ + -0.403494241000201, + -0.25867882639249207, + 0.8776546372325933, + 0.21556079717992366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9118598029392053, + -0.16173298496036123, + 0.3772984778123094, + 0.14676701672413944 + ], + [ + 0.0430500574458026, + 0.951723609081936, + 0.3039224645694485, + -0.02494560224954348 + ], + [ + -0.4082381563959783, + -0.26089195750706107, + 0.874801116923468, + 0.21865833060973375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9107870854386684, + -0.1638872368083498, + 0.3789562753266662, + 0.1477651173179161 + ], + [ + 0.043238970406703686, + 0.9506587742162169, + 0.3072104920797602, + -0.02496305641707355 + ], + [ + -0.410605986849077, + -0.26341766952321943, + 0.8729340495974778, + 0.22020709732463878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9086231023187398, + -0.16697893107093745, + 0.3827820457010444, + 0.14976131850546945 + ], + [ + 0.04361533252264299, + 0.9495162853786983, + 0.3106710906563047, + -0.024997964752133686 + ], + [ + -0.4153333127761469, + -0.26558776398592937, + 0.8700352745258929, + 0.22330463075444887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9064344374838048, + -0.17009371959490052, + 0.38658082867337035, + 0.1517575196930228 + ], + [ + 0.04398973437386113, + 0.9483605298596136, + 0.3141292865590693, + -0.025032873087193826 + ], + [ + -0.4200494182987705, + -0.26773201519199025, + 0.8671090209587836, + 0.22640216418425893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.905330867996824, + -0.1722951049621269, + 0.3881886348905741, + 0.15275562028679948 + ], + [ + 0.04417619701635489, + 0.9472595884189718, + 0.31740783822314944, + -0.025050327254723892 + ], + [ + -0.4224032233178269, + -0.27021041607312346, + 0.8651946879034222, + 0.22795093089916396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9031052923974192, + -0.17545024789807873, + 0.3919413748971583, + 0.15475182147435282 + ], + [ + 0.04454763939669601, + 0.9460782847007215, + 0.3208603855914946, + -0.02508523558978403 + ], + [ + -0.4271022578586468, + -0.27231064931479154, + 0.8622242003109183, + 0.23104846432897405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_052/tilt_up/transforms.json b/spatialvid_eval/camera_controls/scene_052/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..33bbf212cbdddffcc516ce055eb4fc0a199aa767 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_052/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": [ + [ + 0.9999999852230789, + -0.0001592555185181777, + 6.474196424313855e-05, + 4.7279135628466675e-05 + ], + [ + 0.00015925914668826204, + 0.9999999857480673, + -5.603917746133868e-05, + -7.772513111711447e-05 + ], + [ + -6.473303877217649e-05, + 5.604948738323246e-05, + 0.9999999963340443, + -0.0003366873388506274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999904249866112, + -0.000800611120752133, + 0.004302203729534436, + 0.00222208933408645 + ], + [ + 0.0008105414280049092, + 0.9999970105133186, + -0.0023069432197966267, + -2.4214928933510743e-05 + ], + [ + -0.004300343903756973, + 0.0023104082451389147, + 0.9999880844570351, + 0.0031839036263838975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999787584069612, + -0.0011019946179983142, + 0.006424044110552169, + 0.0033094944333154413 + ], + [ + 0.0011345582691327954, + 0.9999865160724655, + -0.005067588261348942, + 2.5401721582911217e-06 + ], + [ + -0.0064183730342166675, + 0.005074769070068307, + 0.9999665250429532, + 0.0049441991090011595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999941652607804, + -0.0017012537835067985, + 0.010667573085666647, + 0.005484304631773425 + ], + [ + 0.0017793354932570825, + 0.9999716669092482, + -0.00731432457182687, + 5.605037434189485e-05 + ], + [ + -0.01065482731799869, + 0.0073328789914806685, + 0.999916348271454, + 0.008464790074235685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998861839259582, + -0.0022770410593511508, + 0.014914230721009948, + 0.007659114830231408 + ], + [ + 0.0024197603558845605, + 0.9999513907241937, + -0.009558292136760262, + 0.00010956057652549858 + ], + [ + -0.01489174112740271, + 0.009593293113711925, + 0.9998430900763527, + 0.01198538103947021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998515638264588, + -0.0025282426546035554, + 0.017042837289163126, + 0.008746519929460399 + ], + [ + 0.0027383367649352827, + 0.9999204134130745, + -0.012315370542071163, + 0.00013631567761730046 + ], + [ + -0.017010344662800037, + 0.012360211523519874, + 0.9997789122328731, + 0.013745676522087472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997685529500219, + -0.0030618231571435096, + 0.021294735762010176, + 0.010921330127918382 + ], + [ + 0.0033722098113984703, + 0.9998883817791284, + -0.014555142874727551, + 0.0001898258798009042 + ], + [ + -0.021247793607981118, + 0.014623584446714976, + 0.9996672856729495, + 0.017266267487321997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9996671825497393, + -0.003571872648949947, + 0.025549282941914168, + 0.013096140326376366 + ], + [ + 0.004001699588073383, + 0.9998509939857063, + -0.016792147754290918, + 0.00024333608198450792 + ], + [ + -0.025485496531814256, + 0.016888799589515162, + 0.9995325196885553, + 0.020786858452556522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995777539565998, + -0.0038163975052505844, + 0.028805362437600995, + 0.014149529196859873 + ], + [ + 0.00437853109835522, + 0.9998007153927163, + -0.019477113893840974, + 0.0003389295984537593 + ], + [ + -0.028725289563386013, + 0.01959501493479487, + 0.9993952637116134, + 0.023018583781953872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9993669784083009, + -0.004362674150424366, + 0.03530735817531226, + 0.016256306937826884 + ], + [ + 0.005126474318895107, + 0.9997541677794487, + -0.021571352963589297, + 0.000530116631392262 + ], + [ + -0.035204569705086286, + 0.02173870009635495, + 0.9991436669418471, + 0.027482034440748575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9992456337664255, + -0.0045595112156187, + 0.03856649136503685, + 0.01730969580831039 + ], + [ + 0.005497577820398796, + 0.9996907513852217, + -0.02425238612920273, + 0.0006257101478615133 + ], + [ + -0.038443985704443726, + 0.02444611323556227, + 0.9989616847060907, + 0.029713759770145926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9989710374060576, + -0.005042316779570018, + 0.045071515010700273, + 0.019416473549277405 + ], + [ + 0.0062340282414214, + 0.9996336265882696, + -0.02633912462230527, + 0.000816897180800016 + ], + [ + -0.044922191795931696, + 0.02659299974577208, + 0.9986364749240693, + 0.034177210428940626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9986539085171238, + -0.005489874118754279, + 0.051577439696370804, + 0.02152325129024442 + ], + [ + 0.006962776312925126, + 0.9995717926456291, + -0.028420962214885073, + 0.0010080842137385187 + ], + [ + -0.0513993263524796, + 0.028741827175111676, + 0.9982645023345004, + 0.038640661087735326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9984793986521645, + -0.005610705186476591, + 0.05483986191195523, + 0.022576640160727926 + ], + [ + 0.0073242519567809, + 0.9994895821272565, + -0.031095506948040984, + 0.00110367773020777 + ], + [ + -0.05463740294418709, + 0.0314498840441824, + 0.9980108511399673, + 0.04087238641713268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9980984976575604, + -0.005994712236580455, + 0.061346983617137724, + 0.024683417901694937 + ], + [ + 0.008041386624580543, + 0.9994173755555403, + -0.03316994933415213, + 0.001294864763146273 + ], + [ + -0.06111239706372831, + 0.03360019141131185, + 0.997565186873644, + 0.04533583707592738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9976795233194805, + -0.0064344378599331484, + 0.06778028296223723, + 0.026791395438819927 + ], + [ + 0.008841826036973493, + 0.9993384366492561, + -0.03527762956538983, + 0.0008379061988344503 + ], + [ + -0.06750845029584211, + 0.035795070119328275, + 0.9970763872912679, + 0.04964377827659088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.997456734946141, + -0.006570510880698702, + 0.07097105253095287, + 0.027845984105461415 + ], + [ + 0.009284827163488923, + 0.9992352312479766, + -0.03798347821550044, + 0.00028535411805337657 + ], + [ + -0.07066720523077723, + 0.03854583011909171, + 0.9967549172616615, + 0.05171999414785704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.996980564719934, + -0.007038188032639795, + 0.07733186587648498, + 0.029955161438744382 + ], + [ + 0.010165449412540042, + 0.9991431347953404, + -0.04012056616726164, + -0.000819750043508771 + ], + [ + -0.07698322680274285, + 0.04078553788486473, + 0.9961978331087054, + 0.05587242589038934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9964636200493321, + -0.00747079288108669, + 0.0836925395235953, + 0.03206433877202735 + ], + [ + 0.011038867501079812, + 0.9990460075175693, + -0.04225184336213901, + -0.0019248542050709187 + ], + [ + -0.08329704269945158, + 0.04302629564502423, + 0.9955954703395314, + 0.06002485763292165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9961898640222826, + -0.007531784852334015, + 0.08688513702702023, + 0.03311892743866884 + ], + [ + 0.011472863497944722, + 0.9989233623080075, + -0.04494985693439364, + -0.0024774062858519924 + ], + [ + -0.08645304056204998, + 0.04577541318440589, + 0.9952037396058022, + 0.062101073504187795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9956117989715895, + -0.007901358649251502, + 0.09324545179284377, + 0.035228104771951804 + ], + [ + 0.012335406588754327, + 0.9988153162052238, + -0.04707230457657062, + -0.00358251044741414 + ], + [ + -0.09276305025626189, + 0.048015962401634874, + 0.9945297802790017, + 0.0662535052467201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9949930170234713, + -0.00823584605446698, + 0.09960455267856673, + 0.03733728210523478 + ], + [ + 0.013190654287618316, + 0.9987023818151587, + -0.04918901499515561, + -0.0046876146089762875 + ], + [ + -0.09907019084464708, + 0.05025657565429849, + 0.993810532188862, + 0.0704059369892524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9946683652758591, + -0.008221742139033933, + 0.10279711122229707, + 0.03839187077187626 + ], + [ + 0.013615531116438874, + 0.9985605475268138, + -0.05187918884646728, + -0.0052401666897573616 + ], + [ + -0.10222260235323381, + 0.05300222522828041, + 0.9933485308233879, + 0.07248215286051855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9938677725734155, + -0.008460180026803397, + 0.11025096822192626, + 0.04092392320928567 + ], + [ + 0.014471801332788643, + 0.9984446408412396, + -0.05384111943108677, + -0.005616002456411042 + ], + [ + -0.10962398280550849, + 0.05510648355068875, + 0.992444385275334, + 0.07578954655933752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9930113861669614, + -0.008658491600331742, + 0.11770054148549076, + 0.043455975646695094 + ], + [ + 0.015318307724062556, + 0.9983246513070133, + -0.055796416024705406, + -0.005991838223064721 + ], + [ + -0.11702023923767066, + 0.057209449533604684, + 0.9914803792777853, + 0.07909694025815647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9925622856143276, + -0.008543916375217427, + 0.1214376822449932, + 0.044722001865399805 + ], + [ + 0.01573788422603414, + 0.9981689154941912, + -0.05840492394686412, + -0.006179756106391562 + ], + [ + -0.12071631280051005, + 0.05988169698768003, + 0.9908792833588387, + 0.08075063710756596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9916223021457244, + -0.00866990495894329, + 0.12887995435759797, + 0.04725405430280922 + ], + [ + 0.016569653632916206, + 0.9980397298305136, + -0.060350180267511176, + -0.0065555918730452415 + ], + [ + -0.12810408450045152, + 0.061980080895710346, + 0.9898221118496306, + 0.08405803080638492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.990626654313066, + -0.008755843089852973, + 0.13631642225457283, + 0.04978610674021864 + ], + [ + 0.017391538377628066, + 0.9979066190208589, + -0.06228895654301705, + -0.006931427639698922 + ], + [ + -0.13548566771935922, + 0.0640758529100023, + 0.9887051728986226, + 0.08736542450520388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9901079740568394, + -0.0085546657053748, + 0.1400464830109287, + 0.051052132958923344 + ], + [ + 0.01779875918533118, + 0.997733771625786, + -0.06488855930629331, + -0.0071193455230257625 + ], + [ + -0.13917400576445177, + 0.06673933362008523, + 0.9880164257072972, + 0.08901912135461336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.989028938209844, + -0.008568447943829289, + 0.14747318767607237, + 0.053584185396332765 + ], + [ + 0.01860572835131791, + 0.9975917238043642, + -0.06681750870508177, + -0.007495181289679442 + ], + [ + -0.14654550916362172, + 0.06882829575741797, + 0.9868065055759939, + 0.09232651505343233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9879197154192096, + -0.008509600856371704, + 0.1547327456593894, + 0.056293900946968276 + ], + [ + 0.01938634674047872, + 0.9974337148968503, + -0.06892136060124573, + -0.007318050247509977 + ], + [ + -0.1537491640500396, + 0.07108847361094664, + 0.9855494018432461, + 0.096054520207909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9873452016436804, + -0.008205932377603307, + 0.15837334202767384, + 0.05764875872228603 + ], + [ + 0.0197734697884916, + 0.997237205819034, + -0.07160282971202864, + -0.007229484726425245 + ], + [ + -0.15734822110123764, + 0.07382830083416768, + 0.9847796298219293, + 0.09791852278514734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9861564086725978, + -0.008074787773117277, + 0.16562105976108124, + 0.060358474272921535 + ], + [ + 0.02054131708274819, + 0.9970690836340977, + -0.07369733206546232, + -0.00705235368425578 + ], + [ + -0.16454054797061582, + 0.07607917102256136, + 0.9834319334911034, + 0.10164652793962403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9855421457578442, + -0.007717202878394017, + 0.16925461209301787, + 0.06171333204823929 + ], + [ + 0.020922030813142287, + 0.9968597447419891, + -0.07637354214379621, + -0.006963788163171048 + ], + [ + -0.16813371928818494, + 0.07881049481300062, + 0.9826087514090498, + 0.10351053051686238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9842739291321744, + -0.007513937726381633, + 0.17648901713861942, + 0.0644230475988748 + ], + [ + 0.0216770123707124, + 0.9966816572262998, + -0.07845878716445383, + -0.0067866571210015835 + ], + [ + -0.1753138316431189, + 0.08105069332511068, + 0.9811706505731443, + 0.10723853567133905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9829528496417735, + -0.007270583807335153, + 0.18371400053403028, + 0.0671327631495103 + ], + [ + 0.02242336497435027, + 0.9964992749589634, + -0.08053811339662456, + -0.006609526078832119 + ], + [ + -0.18248530922883693, + 0.08328465415285692, + 0.9796748329411628, + 0.11096654082581572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9822725088248276, + -0.0068273811120811816, + 0.1873342074318761, + 0.06848762092482806 + ], + [ + 0.022793292623118643, + 0.9962716776039586, + -0.08320583041825289, + -0.006520960557747387 + ], + [ + -0.1860676871957505, + 0.08600076320210519, + 0.9787658987266975, + 0.11283054340305407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9808399300963424, + -0.0065243091881835805, + 0.1947060988213247, + 0.07134427815696921 + ], + [ + 0.02355323528319705, + 0.9960791710675274, + -0.08527326704848509, + -0.006905660718180055 + ], + [ + -0.19338634035602628, + 0.08822538384753494, + 0.9771478931096658, + 0.11640573280589613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9793186738911711, + -0.006192042524733386, + 0.20222906214837275, + 0.074347877070616 + ], + [ + 0.024330728738281696, + 0.995882123032828, + -0.08733162464246194, + -0.007852192081214855 + ], + [ + -0.20085554661771896, + 0.09044587128774649, + 0.9754366169874381, + 0.11982810645710357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9785364899704656, + -0.005673238711985691, + 0.20599551489971343, + 0.0758496765274394 + ], + [ + 0.024716023034315353, + 0.9956361504297658, + -0.08998763338795081, + -0.008325457762732254 + ], + [ + -0.20458606013521163, + 0.0931475728074214, + 0.974406523827934, + 0.12153929328270728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9769290689137244, + -0.005266280842835663, + 0.21349908804828305, + 0.0788532754410862 + ], + [ + 0.025479677985935322, + 0.9954296258273053, + -0.09203611266804156, + -0.009271989125767054 + ], + [ + -0.21203862931338047, + 0.09535264186898953, + 0.9725983206686651, + 0.12496166693391471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9752643239653226, + -0.004817865305785331, + 0.22098933588378855, + 0.081856874354733 + ], + [ + 0.026234050116572916, + 0.9952190952771575, + -0.09407830254738613, + -0.010218520488801855 + ], + [ + -0.21947955033429364, + 0.09754865744648508, + 0.9707280702727437, + 0.12838404058512215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9744104859828234, + -0.004210427101369094, + 0.22473646146173512, + 0.0833586738115564 + ], + [ + 0.026607741016378198, + 0.9949554099152411, + -0.0967251797537732, + -0.010691786170319253 + ], + [ + -0.22319550381834138, + 0.10022975897416123, + 0.969607014460631, + 0.13009522741072585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9726599427739427, + -0.0036878150863247005, + 0.23220472808037249, + 0.08636227272520319 + ], + [ + 0.02734810457418327, + 0.9947356422672295, + -0.09875769934239034, + -0.011638317533354054 + ], + [ + -0.23061811919099112, + 0.10240801737701744, + 0.9676403676354757, + 0.13351760106193328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.970855515677001, + -0.0031287169897528536, + 0.23964511013067397, + 0.08918306084157862 + ], + [ + 0.028105562376177076, + 0.9945017351043572, + -0.10087802653671375, + -0.01263046178755892 + ], + [ + -0.2380118590387119, + 0.1046733490647029, + 0.9656054292269256, + 0.1368308362962007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9699336247665912, + -0.0024375796970275117, + 0.24335739510514678, + 0.09050204950113067 + ], + [ + 0.0284943672812748, + 0.9942097904182309, + -0.10360966976965603, + -0.013149340360246385 + ], + [ + -0.24169574795676835, + 0.10742881755729232, + 0.964386963089952, + 0.13843288470486437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9680474688589132, + -0.0018078562251408797, + 0.250760502654865, + 0.09314002682023474 + ], + [ + 0.029265980292862023, + 0.9939551977106106, + -0.10581383341302245, + -0.014187097505621317 + ], + [ + -0.24905340879688664, + 0.10977156553466053, + 0.9622487219875746, + 0.1416369815221917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9661049072246037, + -0.001135987777067906, + 0.25814727921926733, + 0.09577800413933882 + ], + [ + 0.03002955969562016, + 0.9936959989747571, + -0.1080115140438603, + -0.015224854650996246 + ], + [ + -0.25639721874666893, + 0.11210250288610951, + 0.9600486941117324, + 0.14484107833951904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9651125099356633, + -0.00035586675587103204, + 0.26183528510217313, + 0.09709699279889085 + ], + [ + 0.0304083227007391, + 0.9933848316759337, + -0.11073350941203335, + -0.015743733223683713 + ], + [ + -0.2600637942432817, + 0.1148322670464588, + 0.9587389495419277, + 0.14644312674818272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9630855555821038, + 0.00039099622891907733, + 0.2691952075187446, + 0.09973497011799493 + ], + [ + 0.03115976739285585, + 0.9931152440582699, + -0.11292112696527062, + -0.016781490369058644 + ], + [ + -0.2673860159491033, + 0.11714076634986055, + 0.9564427632293707, + 0.14964722356551008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.962051028406404, + 0.0012265730195207922, + 0.2728668434618037, + 0.10105395877754696 + ], + [ + 0.03153243799925379, + 0.9927908914767352, + -0.11563715300306009, + -0.017300368941746108 + ], + [ + -0.27104155418681447, + 0.11985299879209405, + 0.9550768213000139, + 0.15124927197417376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9599399503312273, + 0.002048002090349258, + 0.2801983180633298, + 0.10369193609665103 + ], + [ + 0.03227164825631091, + 0.9925110645832543, + -0.11781480127146948, + -0.01833812608712104 + ], + [ + -0.2783412159147508, + 0.12213759604336752, + 0.9526849296361547, + 0.1544533687915011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.957804290937839, + 0.003038331491938434, + 0.2874051300913208, + 0.10602813098966053 + ], + [ + 0.03289176055593254, + 0.9922162683459551, + -0.12010415861725672, + -0.018085240293154798 + ], + [ + -0.28553296193013367, + 0.12448953920459763, + 0.9502490632881635, + 0.15757344489142622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9567161163393415, + 0.004025151520735962, + 0.29099496712452405, + 0.10719622843616528 + ], + [ + 0.03319909954152884, + 0.9918673304664731, + -0.12286992529884498, + -0.017958797396171677 + ], + [ + -0.28912297128765013, + 0.12721240862646693, + 0.9488018289217477, + 0.15913348294138877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9544991551202524, + 0.005089155144653064, + 0.2981701919619697, + 0.10953242332917479 + ], + [ + 0.033808321216043, + 0.9915615392002581, + -0.1251507546735851, + -0.017705911602205436 + ], + [ + -0.29629100609245135, + 0.12953692322549845, + 0.9462725956245348, + 0.1622535590413139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9522281505046913, + 0.006194187783880077, + 0.30532471472862016, + 0.11186861822218427 + ], + [ + 0.03441023884070984, + 0.9912509664672472, + -0.12742628041606618, + -0.0174530258082392 + ], + [ + -0.3034427208705797, + 0.13184518768406625, + 0.9436839310040269, + 0.16537363514123898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9510724223849107, + 0.007267448885841737, + 0.3088825530288006, + 0.11303671566868903 + ], + [ + 0.034708447861888224, + 0.9908822138784739, + -0.1301835698785116, + -0.017326582911256078 + ], + [ + -0.3070123304134814, + 0.13453483714631834, + 0.94214850558078, + 0.16693367319120156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9487205971315126, + 0.00844532337859234, + 0.31600301437084, + 0.11537291056169853 + ], + [ + 0.03529934500628529, + 0.9905608344824833, + -0.13245070566627284, + -0.017073697117289836 + ], + [ + -0.31413879865523386, + 0.13681341199749897, + 0.9394673520016803, + 0.17005374929112665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9463150589173319, + 0.009663710277444856, + 0.32310125652798144, + 0.11770910545470803 + ], + [ + 0.03588285283951626, + 0.9902347818449619, + -0.1347126486138498, + -0.016820811323323595 + ], + [ + -0.3212479262787302, + 0.13907440285018144, + 0.9367273244298371, + 0.17317382539105178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9450913978755854, + 0.010847243738603053, + 0.3266260659605221, + 0.11877687683904932 + ], + [ + 0.036173203561502595, + 0.9898355408039159, + -0.13753945435953174, + -0.01704929848204704 + ], + [ + -0.32479801262580116, + 0.14180246635617788, + 0.9350926753694712, + 0.17482948941491755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9426039045872435, + 0.01218794652229184, + 0.333690474866234, + 0.12091241960773189 + ], + [ + 0.03674920460213963, + 0.9894765222612976, + -0.13994894731579238, + -0.017506272799493926 + ], + [ + -0.331884580868098, + 0.14417928371738467, + 0.9322365360404778, + 0.1781408174626491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400629682772518, + 0.013569742476867954, + 0.34073079955130886, + 0.12304796237641447 + ], + [ + 0.03731891108992429, + 0.9891121584661399, + -0.14235321158834552, + -0.017963247116940813 + ], + [ + -0.33895267302209764, + 0.14653668504359385, + 0.9293213036337914, + 0.18145214551038064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.93877250417308, + 0.014839225935541598, + 0.3442179291992775, + 0.12411573376075576 + ], + [ + 0.03760139370501552, + 0.9886917718373168, + -0.1451713315108313, + -0.018191734275664256 + ], + [ + -0.3424796645058584, + 0.14922592829271064, + 0.9275986749263572, + 0.1831078095342464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9361516760981415, + 0.016293699398918986, + 0.3512186707715553, + 0.12625127652943832 + ], + [ + 0.038161597531842326, + 0.9883155420143601, + -0.1475672114213698, + -0.018648708593111147 + ], + [ + -0.3495192867531893, + 0.15154835786889687, + 0.92459145757182, + 0.18641913758197795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9334777731230723, + 0.0177886571695734, + 0.3581938173130494, + 0.1283868192981209 + ], + [ + 0.038715426224009926, + 0.9879340712634489, + -0.1499579494695787, + -0.019105682910558034 + ], + [ + -0.35653942679244327, + 0.15385003904104433, + 0.9215258013911417, + 0.1897304656297095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9321209661034501, + 0.01914300234591183, + 0.36164077481881896, + 0.1294545906824622 + ], + [ + 0.038989940006025015, + 0.9874927391662482, + -0.15276738746298876, + -0.019334170069281478 + ], + [ + -0.3600420657766226, + 0.15649803690501932, + 0.9197163015387831, + 0.19138612965357527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9295808056145715, + 0.02068981689349033, + 0.3680373042367827, + 0.1315433830903226 + ], + [ + 0.039519823131855286, + 0.987075221608113, + -0.15530837217265975, + -0.020005417923956444 + ], + [ + -0.36649380542185317, + 0.15891645089231124, + 0.9167485218003901, + 0.19466024951683042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9272122034657907, + 0.022253588322614374, + 0.37387472173293734, + 0.1335854251373608 + ], + [ + 0.04003120578829032, + 0.9866268216797509, + -0.1580032192876109, + -0.020890939315859492 + ], + [ + -0.3723909670054435, + 0.1614691690350852, + 0.9139215913544609, + 0.19789716119560918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9260137676237944, + 0.02366527816158104, + 0.37674720540532264, + 0.1346064461608799 + ], + [ + 0.040285608289437724, + 0.9861379572802608, + -0.1609627254238222, + -0.021333700011811015 + ], + [ + -0.3753339472202526, + 0.16423119015780707, + 0.9122239550918486, + 0.19951561703499857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9235886874197323, + 0.025291714697586478, + 0.38254969041675113, + 0.1366484882079181 + ], + [ + 0.040791822685372514, + 0.9856747400632545, + -0.16365003514586007, + -0.022219221403714063 + ], + [ + -0.3812085566619686, + 0.1667502202963822, + 0.909326344256454, + 0.2027525287137773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9211260783260146, + 0.026953323161109342, + 0.3883300995265621, + 0.1386905302549563 + ], + [ + 0.041294565772472015, + 0.9852046245583715, + -0.16633281872938066, + -0.02310474279561711 + ], + [ + -0.38706783212429297, + 0.1692494198494365, + 0.9063846463920432, + 0.20598944039255607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.919880731730203, + 0.02843733751755566, + 0.3911658947638703, + 0.13971155127847543 + ], + [ + 0.041544629170712694, + 0.9846913181179434, + -0.1692839384295372, + -0.023547503491568634 + ], + [ + -0.389991645011242, + 0.1719718751949283, + 0.9046171515969426, + 0.20760789623194545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9173620178441495, + 0.030160737394032598, + 0.3969096347240247, + 0.14175359332551363 + ], + [ + 0.042042126945269806, + 0.9842065375887189, + -0.17195915482911495, + -0.024433024883471682 + ], + [ + -0.39582747223863624, + 0.1744357225096795, + 0.901605673747508, + 0.2108448079107242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.91608867620067, + 0.031689524869683475, + 0.3997215422646593, + 0.14277461434903274 + ], + [ + 0.04228955625582345, + 0.983676720851097, + -0.17490483780421429, + -0.024875785579423205 + ], + [ + -0.3987394271558679, + 0.17713238797342137, + 0.8997949690692008, + 0.2124632637501136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9139866533565895, + 0.03344111333652963, + 0.40436380825295853, + 0.14477081553658608 + ], + [ + 0.042670774139846816, + 0.9831490169753568, + -0.1777560560281873, + -0.02491069391448334 + ], + [ + -0.403494241000201, + 0.1797211794953596, + 0.8971581215819587, + 0.21556079717992366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9118598029392053, + 0.035221512667063436, + 0.40898795193638415, + 0.14676701672413944 + ], + [ + 0.0430500574458026, + 0.9826133466778736, + -0.18060371946452983, + -0.02494560224954348 + ], + [ + -0.4082381563959783, + 0.18229222686651614, + 0.8944893245234734, + 0.21865833060973375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9107870854386684, + 0.0367953982734091, + 0.4112334904455586, + 0.1477651173179161 + ], + [ + 0.043238970406703686, + 0.9820433766229817, + -0.18363332450593256, + -0.02496305641707355 + ], + [ + -0.410605986849077, + 0.18503217313979242, + 0.892841429631747, + 0.22020709732463878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9086231023187398, + 0.03862625334292564, + 0.4158269718108212, + 0.14976131850546945 + ], + [ + 0.04361533252264299, + 0.9814911491397318, + -0.1864747353646287, + -0.024997964752133686 + ], + [ + -0.4153333127761469, + 0.18757168419848755, + 0.8901208359460722, + 0.22330463075444887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9064344374838048, + 0.040485513270593146, + 0.4204016338677039, + 0.1517575196930228 + ], + [ + 0.04398973437386113, + 0.9809310175570003, + -0.1893125512593, + -0.025032873087193826 + ], + [ + -0.4200494182987705, + 0.19009277211352507, + 0.887368708134933, + 0.22640216418425893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.905330867996824, + 0.04211730268152241, + 0.4226134785675332, + 0.15275562028679948 + ], + [ + 0.04417619701635489, + 0.9803346007313591, + -0.1923344332823933, + -0.025050327254723892 + ], + [ + -0.4224032233178269, + 0.19279575572019275, + 0.8856665927463847, + 0.22795093089916396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9031052923974192, + 0.044026315668565665, + 0.4271563114041789, + 0.15475182147435282 + ], + [ + 0.04454763939669601, + 0.9797580213153788, + -0.19516589736005593, + -0.02508523558978403 + ], + [ + -0.4271022578586468, + 0.19528416012781416, + 0.8828633858843735, + 0.23104846432897405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 666.1230977376301, + "fy": 666.122932434082, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_085/move_left/transforms.json b/spatialvid_eval/camera_controls/scene_085/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..fd2655dc9fe622fc0b4cc404ffbcf99595e2b236 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_085/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": [ + [ + 0.9999999973260562, + -6.919410117160017e-05, + -2.366567194754885e-05, + -3.479231650580499e-05 + ], + [ + 6.919419045911323e-05, + 0.9999999975989677, + 3.772072441269068e-06, + -6.767783295550936e-05 + ], + [ + 2.366541088556468e-05, + -3.77370995819484e-06, + 0.9999999997128537, + -0.00021331843226794447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9995891980303167, + -0.0007936432473401996, + -0.02864970002468483, + 0.0023795463637239418 + ], + [ + 0.0008019559094666421, + 0.9999996396078141, + 0.00027865922069622475, + 0.001285093976310937 + ], + [ + 0.028649468543547996, + -0.00030152054317873496, + 0.9995894742530728, + 0.025683414996208638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9989344109718415, + -0.0017986238248186067, + -0.04611732352031237, + 0.002413769243389184 + ], + [ + 0.0018039401936428084, + 0.9999983701856002, + 7.366085258427595e-05, + -0.0012337048410554002 + ], + [ + 0.04611711586947, + -0.00015677525390947765, + 0.9989360275039648, + 0.049586631903842555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.99803462435055, + -0.0024315400144731924, + -0.06261769886074324, + 0.003223031257319477 + ], + [ + 0.0024356327826761353, + 0.9999970337818981, + -1.0970583295504167e-05, + -0.003749900127926309 + ], + [ + 0.06261753979840363, + -0.00014156469814273338, + 0.9980375863007525, + 0.07756795123544184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9973895492471614, + -0.002969000368750176, + -0.07214757161093335, + 0.0043909782636339795 + ], + [ + 0.0029933602254709397, + 0.9999954935477092, + 0.00022951870112104835, + -0.003470379394550072 + ], + [ + 0.07214656504023573, + -0.0004448832250794006, + 0.9973939418463554, + 0.10085683457703265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9967850406318611, + -0.003112966281603066, + -0.08006180246202645, + 0.005889613538672567 + ], + [ + 0.0031480934529230435, + 0.999994995903624, + 0.0003125305151215176, + -0.0010169958245481467 + ], + [ + 0.08006042892809533, + -0.0005635677783740219, + 0.9967898525322219, + 0.12944248909479064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9963214590761201, + -0.0028396720743759083, + -0.08564745441016614, + 0.006876329979930681 + ], + [ + 0.0029067471428037713, + 0.9999955586184174, + 0.0006584561393367738, + 0.0018358678676857923 + ], + [ + 0.08564520421762845, + -0.00090498947487681, + 0.99632528824103, + 0.1527886356143448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9956420947511853, + -0.0032177107687307947, + -0.09320120973936516, + 0.007707112039598453 + ], + [ + 0.003334771517843206, + 0.999993834316003, + 0.0011002858276815365, + 0.003882461980266451 + ], + [ + 0.09319709468860132, + -0.001406295625965252, + 0.9956466862668788, + 0.18160437899926282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9949836188149747, + -0.0035637201007534575, + -0.09997448769011337, + 0.007428853163708955 + ], + [ + 0.0036864576858177595, + 0.9999926610877302, + 0.0010429767066389196, + 0.003989644101037386 + ], + [ + 0.09997003710906492, + -0.001406296456442228, + 0.9949894542208418, + 0.20801554213560225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9941150555736082, + -0.003579407748870463, + -0.10827023654749053, + 0.007768002181961393 + ], + [ + 0.0037238957518126513, + 0.999992425159139, + 0.0011323536435001013, + 0.004420454254666633 + ], + [ + 0.10826536326227267, + -0.0015288768791640313, + 0.9941208546515745, + 0.23725597835604215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9935575368923916, + -0.004197990495308202, + -0.11325103867128883, + 0.010403171240002087 + ], + [ + 0.004398345779317115, + 0.9999891730521355, + 0.0015193198846926424, + 0.005939448423211462 + ], + [ + 0.11324343441776225, + -0.002007648950329996, + 0.9935652439105157, + 0.2681380944723464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9931887867591376, + -0.004218390415321753, + -0.1164398515896366, + 0.012061636187281814 + ], + [ + 0.004422564026246453, + 0.9999891026481974, + 0.0014951629633514572, + 0.007710254743867465 + ], + [ + 0.11643227552249602, + -0.001999941788440033, + 0.9931966197332213, + 0.2935471482562999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9927092046054385, + -0.004238330166413909, + -0.12045941909638432, + 0.014199500413567458 + ], + [ + 0.004496567543864856, + 0.9999881381146285, + 0.0018720337503617623, + 0.01105269187824773 + ], + [ + 0.12045005592344636, + -0.002400039049577777, + 0.9927164871405125, + 0.3235420862965001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9921010740848342, + -0.004425322478852331, + -0.12536297428139184, + 0.014871462248692291 + ], + [ + 0.004734295677770559, + 0.999986445604753, + 0.0021668066845580754, + 0.012492084177696861 + ], + [ + 0.12535168624376056, + -0.0027431966263771193, + 0.9921085775398352, + 0.35032920871231493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9911580579153639, + -0.0048254269597910225, + -0.1325987159971768, + 0.015116783882455707 + ], + [ + 0.0051079909906187925, + 0.9999853504571939, + 0.0017908933644858005, + 0.01283817141513906 + ], + [ + 0.13258813166148767, + -0.0024523714357584567, + 0.9911681861404034, + 0.38358564530256745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9904573303109727, + -0.0050871251491049286, + -0.13772580728018358, + 0.01721076447986425 + ], + [ + 0.005404124938163662, + 0.9999835392918366, + 0.001927843101750154, + 0.014889593688089703 + ], + [ + 0.1377137330367369, + -0.0026537338015694446, + 0.9904685181417918, + 0.41049536725970953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9899250416385151, + -0.005420518530229403, + -0.1414886211532492, + 0.021978550991463952 + ], + [ + 0.0057843293832473015, + 0.9999809374510266, + 0.0021601546593734288, + 0.01754323640972201 + ], + [ + 0.14147421486111997, + -0.0029568079798577584, + 0.9899375252085356, + 0.44133323523511253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9896023657827275, + -0.005582020807294149, + -0.14372194919682832, + 0.027180535523030035 + ], + [ + 0.005926389047390319, + 0.9999805020919929, + 0.001968082494434973, + 0.020291004379569325 + ], + [ + 0.14370816104204984, + -0.002799371278138092, + 0.9896161518338105, + 0.47146972454325436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9893128134570653, + -0.0058308686051067584, + -0.14569199738137945, + 0.03245781672231479 + ], + [ + 0.0062373975671628544, + 0.9999778241661937, + 0.0023336768058474485, + 0.023280832595721224 + ], + [ + 0.14567515917703694, + -0.00321747527651415, + 0.9893272440661836, + 0.49606018908508104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9890065823994257, + -0.005489981785872924, + -0.14776955055287497, + 0.03739782305006905 + ], + [ + 0.006144096659620417, + 0.9999732422946547, + 0.003970487495629424, + 0.025250614016468605 + ], + [ + 0.1477437986747502, + -0.0048347486704576415, + 0.9890138498314613, + 0.5254394964301683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.988643994663284, + -0.005635028500669331, + -0.15017089688092494, + 0.040419202309596905 + ], + [ + 0.006515921294018448, + 0.9999643279271951, + 0.005374536519865951, + 0.026351702781986928 + ], + [ + 0.15013525430729086, + -0.006292004999192244, + 0.9886454450849281, + 0.550672084058809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9880498849084757, + -0.006274480219835968, + -0.1540066746291179, + 0.044904983896295936 + ], + [ + 0.00721651613314634, + 0.9999585111949066, + 0.005558577494825543, + 0.027230572749187568 + ], + [ + 0.15396540789166943, + -0.006603543506090469, + 0.9880541717871116, + 0.5805874301941036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9874952850553778, + -0.006635119979940462, + -0.15750884793004466, + 0.04796914271376294 + ], + [ + 0.00759099788714232, + 0.999956238370292, + 0.005467915088326043, + 0.026827815165586657 + ], + [ + 0.15746567481351464, + -0.006595189700648317, + 0.9875024378341235, + 0.6056670686821118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.986354630949004, + -0.007171325585437955, + -0.16447830888844187, + 0.05200411541195819 + ], + [ + 0.008150896586887339, + 0.9999528333673035, + 0.005281470016169912, + 0.027771413044146452 + ], + [ + 0.16443267585940427, + -0.0065500480952033055, + 0.9863665606556553, + 0.6341260129781926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.984626723678949, + -0.007940071845239588, + -0.17449117535380212, + 0.057812653170565526 + ], + [ + 0.009020239033640144, + 0.9999447459279608, + 0.005398182920404539, + 0.029775607083902412 + ], + [ + 0.17443867204560712, + -0.006889147273689694, + 0.9846439403890154, + 0.6616334342042962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.983520748423839, + -0.00837172759632429, + -0.18060136100501892, + 0.0620670734959215 + ], + [ + 0.009438067426231213, + 0.9999427295112391, + 0.005045847884297943, + 0.03038338334107878 + ], + [ + 0.1805487754128234, + -0.00666722391003205, + 0.9835434346393981, + 0.6849797792683925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9825435627391641, + -0.008802902149701239, + -0.18582426169252847, + 0.06456684692694827 + ], + [ + 0.009855176285650025, + 0.9999402032527034, + 0.004739769965003403, + 0.031087813487370733 + ], + [ + 0.18577142627489646, + -0.006488361325109156, + 0.9825715639825456, + 0.7132817155756034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9813547390107913, + -0.009223177140848011, + -0.1919838775118645, + 0.06274391803647131 + ], + [ + 0.01037701056607831, + 0.9999336294157606, + 0.005005438555818248, + 0.03183110349224389 + ], + [ + 0.19192496938328155, + -0.00690432957303687, + 0.9813853149300603, + 0.737275802417338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9777796271724675, + -0.010131162006873912, + -0.20939044926371803, + 0.058020169653320755 + ], + [ + 0.011406555102803263, + 0.9999230143416201, + 0.004884249241742909, + 0.03183773605890228 + ], + [ + 0.20932484608177288, + -0.007164143100136116, + 0.9778199138218057, + 0.7635467030098508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9706712804479402, + -0.011822825162318652, + -0.2401197328807809, + 0.05322106756482867 + ], + [ + 0.01326126496555636, + 0.9999024919382623, + 0.004375553355478871, + 0.03286351280757287 + ], + [ + 0.24004458786873248, + -0.007431515379421608, + 0.9707334177899182, + 0.7834107627171714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9491775417684837, + -0.01580226539413753, + -0.3143442103980156, + 0.04635602266299944 + ], + [ + 0.017665852379685272, + 0.9998392014695272, + 0.003080400051537521, + 0.03529180848641043 + ], + [ + 0.31424498701178644, + -0.008477004965881964, + 0.9493040759023269, + 0.8045872766653078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9175120612772304, + -0.020137852694097548, + -0.39719778989777743, + 0.040975845529834715 + ], + [ + 0.022151939578155602, + 0.9997544991082831, + 0.0004827894696686893, + 0.03693611751774341 + ], + [ + 0.397090555142947, + -0.009241666603871167, + 0.9177329037441391, + 0.8229584368072076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8695901245739976, + -0.024738754983003246, + -0.4931541434939692, + 0.037893372445269975 + ], + [ + 0.02685761893055658, + 0.9996353828988156, + -0.0027873934274418016, + 0.038013932626011056 + ], + [ + 0.493043287702774, + -0.010821056262180183, + 0.8699374811977068, + 0.844167068556072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8214084930019998, + -0.02893391115897254, + -0.5696059308058761, + 0.03640655624930662 + ], + [ + 0.031169907449837563, + 0.9994971452941317, + -0.005821805428733063, + 0.04004677986162932 + ], + [ + 0.5694879493841396, + -0.012972483722331247, + 0.8218973112088406, + 0.8664229615655247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.7842277977921317, + -0.03150924127231288, + -0.6196724367636073, + 0.03417737669738926 + ], + [ + 0.03377592741969177, + 0.9993968300148321, + -0.008072353017854972, + 0.040523215751257294 + ], + [ + 0.6195530226679904, + -0.014599447617918062, + 0.7848190289692323, + 0.883001051269817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.7304841747977382, + -0.034604500931883525, + -0.6820523432151838, + 0.03126637646048268 + ], + [ + 0.036694698031855086, + 0.9992615193992672, + -0.011398025452634174, + 0.04206448238312466 + ], + [ + 0.6819430837734323, + -0.016701627559109262, + 0.7312145281177462, + 0.9011015433331222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.679217420332588, + -0.037358926989572744, + -0.7329856795947194, + 0.029824891832040578 + ], + [ + 0.0392951182706984, + 0.9991222800083097, + -0.014510798430440187, + 0.044418631518026136 + ], + [ + 0.7328844312692395, + -0.018946771893512983, + 0.6800892810785794, + 0.9137595776708844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.6301759364776057, + -0.03924496913201818, + -0.7754599418940995, + 0.02676824640495681 + ], + [ + 0.04065209952457814, + 0.999019692028074, + -0.017523177348203918, + 0.04783736107466142 + ], + [ + 0.7753874488852763, + -0.020481390039734933, + 0.6311535603743544, + 0.9359574434153142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.6048311704829703, + -0.03998910523892078, + -0.7953490596426142, + 0.023622828636087556 + ], + [ + 0.040888661970775717, + 0.9989804986637737, + -0.01913323317470993, + 0.05100838098969422 + ], + [ + 0.7953033210885264, + -0.020948383032317785, + 0.6058496453030996, + 0.9558671699929523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.5908591692323228, + -0.04025714381394428, + -0.8057696969395369, + 0.019776399524387523 + ], + [ + 0.04082920460114961, + 0.9989665533357566, + -0.019970011720499645, + 0.05404651963961128 + ], + [ + 0.8057409125678845, + -0.02109947128301649, + 0.5918922149562793, + 0.9809711460305162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.5841182050768322, + -0.04014193682797021, + -0.8106753649923741, + 0.01636301262265152 + ], + [ + 0.04036007022044254, + 0.9989772298990253, + -0.020385261221553205, + 0.05575330284087465 + ], + [ + 0.8106645343356405, + -0.020811512462319093, + 0.585140917830406, + 1.0005330642355417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.5747900992993612, + -0.04006012719887019, + -0.8173197219914867, + 0.01323001416258025 + ], + [ + 0.03987882843317624, + 0.9989855221446172, + -0.020919024552883164, + 0.058633775130168084 + ], + [ + 0.8173285880172234, + -0.020569704768352313, + 0.5758045384117036, + 1.0240427902851434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.5596592863472178, + -0.04038579213563234, + -0.8277381657256722, + 0.010098596250943611 + ], + [ + 0.04013784384381208, + 0.99896062646162, + -0.02160139511646243, + 0.06191319843484638 + ], + [ + 0.8277502260325227, + -0.02113420386447683, + 0.5606985899127286, + 1.0457791793263884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.5419768188803313, + -0.04104900677143702, + -0.8393903185285349, + 0.006610249446713512 + ], + [ + 0.040577365860054, + 0.9989196309883588, + -0.02265056745295394, + 0.06337505645764106 + ], + [ + 0.8394132505364781, + -0.021784165560333274, + 0.5430569444861415, + 1.06351922163163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.5152276255003767, + -0.04192315342281741, + -0.8560274196124389, + 0.0011405745649778962 + ], + [ + 0.040968689779732156, + 0.9988658611697234, + -0.02426021119856454, + 0.06468865903577921 + ], + [ + 0.8560736302322223, + -0.022570790787072557, + 0.5163608225110331, + 1.0860852761392934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.4902103867092839, + -0.04267031369873798, + -0.870559027918949, + -0.0035068236608081504 + ], + [ + 0.04179073851285963, + 0.998802863998715, + -0.025423867575844885, + 0.06499744763920269 + ], + [ + 0.8706016947702802, + -0.02391826073976953, + 0.49140676212919604, + 1.1068131852595067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.4677288705977677, + -0.04347572168162756, + -0.8828021098941702, + -0.008060105438572756 + ], + [ + 0.04218453436696513, + 0.9987493787959432, + -0.02683548797693463, + 0.0657845066425037 + ], + [ + 0.8828647510630262, + -0.024688863460668335, + 0.4689779220298558, + 1.1335889253181781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.4479109697538771, + -0.04360631295658011, + -0.8930141391066965, + -0.011402603978744867 + ], + [ + 0.04204777437138258, + 0.9987321365948948, + -0.027678583833172093, + 0.06825959085447927 + ], + [ + 0.8930888801483058, + -0.02515171570548274, + 0.4491766282349471, + 1.1535364823469763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.4165379373524077, + -0.04434093570073965, + -0.9080363583950725, + -0.0155663815254981 + ], + [ + 0.04259704439595332, + 0.998664769322896, + -0.02922619239613612, + 0.07190843207186565 + ], + [ + 0.9081198371112321, + -0.02650584717434352, + 0.41787055592687966, + 1.1762943871662377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.37776320563759835, + -0.04530476281375699, + -0.9247931871141759, + -0.020530339351728696 + ], + [ + 0.04314509229333825, + 0.9985785404586087, + -0.03129535982465044, + 0.07243067487148248 + ], + [ + 0.9248964598685656, + -0.02807805196134949, + 0.37918090869748544, + 1.1980239427949635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.33762088347758673, + -0.0459498276818747, + -0.9401599610575958, + -0.02279972800957957 + ], + [ + 0.043538614481915795, + 0.9985010771857523, + -0.03316606560760239, + 0.0710814504144567 + ], + [ + 0.9402747088424793, + -0.029735705723905305, + 0.3391154076657273, + 1.2148213929165108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.27772195838997493, + -0.04679565344252376, + -0.9595210683705306, + -0.025942133256374025 + ], + [ + 0.04435320040530456, + 0.9983723563702733, + -0.035852916889356226, + 0.06949496532879806 + ], + [ + 0.9596370706896666, + -0.032600687946045065, + 0.2793454630087997, + 1.2374173496790661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.22980029295288512, + -0.04750243786064261, + -0.9720778486088777, + -0.02709931711813362 + ], + [ + 0.04484627651182148, + 0.9982640287901468, + -0.03818036546040997, + 0.06893300553132749 + ], + [ + 0.9722040098877363, + -0.03482021282187983, + 0.23153167372358702, + 1.2559931606797692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.16276489817830053, + -0.04818896665081006, + -0.9854873978971699, + -0.026057989028889568 + ], + [ + 0.044365073626696366, + 0.9981538325437291, + -0.041480921160974064, + 0.07125087126119438 + ], + [ + 0.9856669458610781, + -0.036969583056781295, + 0.16460231397371805, + 1.279774863464762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.09736051137281865, + -0.0485632726712549, + -0.9940636495580554, + -0.02333300839120266 + ], + [ + 0.044878005015078395, + 0.9980070702074737, + -0.044360483335519514, + 0.07367643276944658 + ], + [ + 0.9942368407432353, + -0.04029263410788197, + 0.09934590150357736, + 1.2955067245066652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.008593096060487582, + -0.04947091099045966, + -0.998738598265767, + -0.022664706215549998 + ], + [ + 0.044782576147706234, + 0.9977924248890087, + -0.049038736807619436, + 0.07628512771311682 + ], + [ + 0.9989597987775434, + -0.04430469275241727, + 0.010789560994024672, + 1.3195083840110071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + -0.07204126656652132, + -0.049452273049009204, + -0.996174948792519, + -0.021503805163754226 + ], + [ + 0.043749213378733276, + 0.9976521576212118, + -0.05268945551515002, + 0.07765164080922606 + ], + [ + 0.9964417003719955, + -0.04737768550728439, + -0.06970862698217029, + 1.3452938853318273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + -0.12058079349150297, + -0.04894414274944531, + -0.9914962143808124, + -0.02192382345816217 + ], + [ + 0.04324639777037918, + 0.9975766112125329, + -0.054503704842931364, + 0.0769240374555499 + ], + [ + 0.9917610706822717, + -0.04945073965312509, + -0.11817192148269895, + 1.367379109680499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + -0.1626487362696583, + -0.04854557137445972, + -0.9854890745664359, + -0.02058862077618617 + ], + [ + 0.0430932838519716, + 0.9974863594686063, + -0.05624883608502058, + 0.07563762821697935 + ], + [ + 0.9857425411722557, + -0.051616762529175984, + -0.16014790772679516, + 1.3935829087702596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + -0.19473285282908587, + -0.04801844726701934, + -0.9796802257630347, + -0.01937607870138392 + ], + [ + 0.042735675134302445, + 0.9974371172524932, + -0.057383440101233876, + 0.07673384271847272 + ], + [ + 0.9799248839068541, + -0.053041736859769345, + -0.1921816745973403, + 1.4156909362778194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + -0.22764442144678249, + -0.04761137260133194, + -0.9725796494802761, + -0.019870438781101975 + ], + [ + 0.041834999176938614, + 0.9974034756055494, + -0.058618595119942725, + 0.07870953886864566 + ], + [ + 0.9728452344684766, + -0.05403206500761714, + -0.22506151541964575, + 1.4434591310560678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + -0.24577095355564127, + -0.04733840939942371, + -0.9681713243966089, + -0.021324000767750314 + ], + [ + 0.040774049340732525, + 0.9974178808250652, + -0.05911893022370909, + 0.07927496231013449 + ], + [ + 0.9684699867774481, + -0.054005981205500084, + -0.24320616502325942, + 1.4648978959430805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + -0.2677442523348813, + -0.046761546746107385, + -0.9623545984134682, + -0.022447393504783378 + ], + [ + 0.04024083120148794, + 0.9974072889033788, + -0.059660502400044044, + 0.07971721333551895 + ], + [ + 0.9626493083391529, + -0.05469970555975526, + -0.2651683453314654, + 1.4891962683941145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + -0.2861203059216992, + -0.04622485614425496, + -0.9570780705949313, + -0.025172806196274402 + ], + [ + 0.039967029583307064, + 0.9973907013999197, + -0.06012009071236888, + 0.07817430914106044 + ], + [ + 0.9573598106697192, + -0.05545314630766535, + -0.2835262624150016, + 1.510954790928957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + -0.3043907332559563, + -0.045995379637857055, + -0.9514361284709925, + -0.029962345611231955 + ], + [ + 0.039480346793926153, + 0.9973660260950314, + -0.06084662857083154, + 0.07757390830267732 + ], + [ + 0.9517287343171545, + -0.05608417819113349, + -0.30177306246862495, + 1.5381355455504906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + -0.32209745051377364, + -0.04513446804787948, + -0.9456300080721646, + -0.03442643424030628 + ], + [ + 0.03864427736647872, + 0.9974035348269188, + -0.060768483127274245, + 0.08003023189352407 + ], + [ + 0.9459174658496109, + -0.05611656180489054, + -0.3195169467991456, + 1.565404371442036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.3358000900383704, + -0.044702570851364656, + -0.9408719252318573, + -0.040598527279931254 + ], + [ + 0.03834719544728106, + 0.9973963166604352, + -0.061074381810424065, + 0.08277281912127378 + ], + [ + 0.9411523745555502, + -0.056588582518703835, + -0.33321155471707975, + 1.5875068290351801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.349410134748086, + -0.04446328244614303, + -0.935914298560204, + -0.050759409662429894 + ], + [ + 0.037677366151042724, + 0.9973987379386393, + -0.061450578828272436, + 0.08469079202779699 + ], + [ + 0.9362120346455949, + -0.05673424074158368, + -0.3468259680477104, + 1.6130117041392418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.3599124219096056, + -0.0439280714052988, + -0.9319513791490266, + -0.05978294861767535 + ], + [ + 0.03728586864955661, + 0.9974157469125761, + -0.06141328691639633, + 0.08533359829807617 + ], + [ + 0.9322407481730295, + -0.05685202154223344, + -0.3573444208216373, + 1.6332558271650714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.3706111323577404, + -0.04354589834626703, + -0.927766750487282, + -0.07108204463825955 + ], + [ + 0.03672086703531556, + 0.997432322340104, + -0.06148447182339663, + 0.0849437126904841 + ], + [ + 0.9280619410883568, + -0.05685522920931686, + -0.3680604792895699, + 1.6571624277719583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.3811785686752128, + -0.04320560274402844, + -0.9234912964799622, + -0.08017378912444964 + ], + [ + 0.036317174924885474, + 0.997436554872272, + -0.06165534697014258, + 0.0847350542541047 + ], + [ + 0.9237878336437386, + -0.05704029186512462, + -0.37863233289795784, + 1.6764167508520693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.39777945980929263, + -0.04248958979238071, + -0.9164966645400858, + -0.09066292093876702 + ], + [ + 0.03576178319634836, + 0.997449897390038, + -0.06176404341702824, + 0.08714399572471349 + ], + [ + 0.9167838328725288, + -0.05734402284352214, + -0.3952455778723868, + 1.7004028016816846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.41292307738442985, + -0.04185926489896644, + -0.9098034590533773, + -0.10180221171135834 + ], + [ + 0.03516474078448372, + 0.9974656504067023, + -0.06185238285057706, + 0.08853150954635984 + ], + [ + 0.9100867943053191, + -0.05753327907265888, + -0.4104046157515963, + 1.7189675430962916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.42850646592478675, + -0.04140792012426325, + -0.9025893821731078, + -0.11545117446605163 + ], + [ + 0.03475242490466918, + 0.9974548139088635, + -0.06225884012154149, + 0.08990110409640675 + ], + [ + 0.9028701333103754, + -0.05804548527678074, + -0.42597681159317585, + 1.7405335455676005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.4432494244011224, + -0.040743640498122076, + -0.8954718887419267, + -0.12837795577087205 + ], + [ + 0.03401910186575403, + 0.9974822564250738, + -0.062224181998566185, + 0.09008240799813629 + ], + [ + 0.895752559849159, + -0.0580439822557259, + -0.4407473739542595, + 1.7627327085572828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.45170623210079314, + -0.04043295157039306, + -0.8912500526275499, + -0.13947605376351999 + ], + [ + 0.03361458665865484, + 0.9974918978010086, + -0.062289432371067606, + 0.08860880474711888 + ], + [ + 0.8915332520131102, + -0.0580955269246116, + -0.449214169752335, + 1.7818983420156302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.4588835772384118, + -0.04011346917065207, + -0.8875904303967984, + -0.1506184481066049 + ], + [ + 0.033042735848349776, + 0.9975187915758753, + -0.06216460456450935, + 0.08770762190859459 + ], + [ + 0.8878817714924295, + -0.05785473225329784, + -0.4564195326751085, + 1.805604585548659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.46440658304740245, + -0.0398381314958525, + -0.8847256348163284, + -0.15917342560530498 + ], + [ + 0.032736496638213014, + 0.9975328122944072, + -0.062101611765452834, + 0.08898447463435066 + ], + [ + 0.8850168627829034, + -0.05780321509163593, + -0.4619566439775249, + 1.825630330164764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.4690543094967753, + -0.040035706964072534, + -0.8822614107566931, + -0.17226060819092642 + ], + [ + 0.032258429418099005, + 0.9975287297277887, + -0.062416561096729786, + 0.09100191189469266 + ], + [ + 0.8825799955097446, + -0.057737124413597116, + -0.4666036604983591, + 1.8499816114285677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.4717916306980093, + -0.04042579631673868, + -0.8807828405432698, + -0.18291631655350576 + ], + [ + 0.031355208605032686, + 0.9975472624795167, + -0.06258042835389908, + 0.09209249396549017 + ], + [ + 0.8811523750729202, + -0.057142052043833436, + -0.46936689038701035, + 1.8687285990740587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.47540227489229453, + -0.04014475505621434, + -0.8788521352700396, + -0.19487981714055794 + ], + [ + 0.030740825546402412, + 0.9975903421068166, + -0.06219735508790036, + 0.09415293940108095 + ], + [ + 0.8792312998704932, + -0.0565854042724912, + -0.4730226351363768, + 1.889991548678994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_085/move_right/transforms.json b/spatialvid_eval/camera_controls/scene_085/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9b0372f2c9fc6ac8be3b9d833f2d29bcc6be6485 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_085/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": [ + [ + 0.9999999973260562, + -6.919410117160017e-05, + -2.366567194754885e-05, + -3.479231650580499e-05 + ], + [ + 6.919419045911323e-05, + 0.9999999975989677, + 3.772072441269068e-06, + -6.767783295550936e-05 + ], + [ + 2.366541088556468e-05, + -3.77370995819484e-06, + 0.9999999997128537, + -0.00021331843226794447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9995891980303167, + -0.0007936432473401996, + -0.02864970002468483, + 0.004878519358799734 + ], + [ + 0.0008019559094666421, + 0.9999996396078141, + 0.00027865922069622475, + 0.0012870988660846035 + ], + [ + 0.028649468543547996, + -0.00030152054317873496, + 0.9995894742530728, + 0.02575503866756751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9989344109718415, + -0.0017986238248186067, + -0.04611732352031237, + 0.007408441298248393 + ], + [ + 0.0018039401936428084, + 0.9999983701856002, + 7.366085258427595e-05, + -0.0012246851400871863 + ], + [ + 0.04611711586947, + -0.00015677525390947765, + 0.9989360275039648, + 0.04981721748318991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.99803462435055, + -0.0024315400144731924, + -0.06261769886074324, + 0.010708290939948604 + ], + [ + 0.0024356327826761353, + 0.9999970337818981, + -1.0970583295504167e-05, + -0.0037316328820562383 + ], + [ + 0.06261753979840363, + -0.00014156469814273338, + 0.9980375863007525, + 0.07803758278392987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9973895492471614, + -0.002969000368750176, + -0.07214757161093335, + 0.014364873756105595 + ], + [ + 0.0029933602254709397, + 0.9999954935477092, + 0.00022951870112104835, + -0.003440445792295363 + ], + [ + 0.07214656504023573, + -0.0004448832250794006, + 0.9973939418463554, + 0.101578300227435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9967850406318611, + -0.003112966281603066, + -0.08006180246202645, + 0.018349426546570832 + ], + [ + 0.0031480934529230435, + 0.999994995903624, + 0.0003125305151215176, + -0.0009776446563866086 + ], + [ + 0.08006042892809533, + -0.0005635677783740219, + 0.9967898525322219, + 0.13044324445639185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9963214590761201, + -0.0028396720743759083, + -0.08564745441016614, + 0.021821151866072485 + ], + [ + 0.0029067471428037713, + 0.9999955586184174, + 0.0006584561393367738, + 0.0018794690748278487 + ], + [ + 0.08564520421762845, + -0.00090498947487681, + 0.99632528824103, + 0.15407331367760924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9956420947511853, + -0.0032177107687307947, + -0.09320120973936516, + 0.0251308486977442 + ], + [ + 0.003334771517843206, + 0.999993834316003, + 0.0011002858276815365, + 0.003940820481828707 + ], + [ + 0.09319709468860132, + -0.001406295625965252, + 0.9956466862668788, + 0.18323532815631335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9949836188149747, + -0.0035637201007534575, + -0.09997448769011337, + 0.027328525540008454 + ], + [ + 0.0036864576858177595, + 0.9999926610877302, + 0.0010429767066389196, + 0.004063373254753741 + ], + [ + 0.09997003710906492, + -0.001406296456442228, + 0.9949894542208418, + 0.21001494287778355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9941150555736082, + -0.003579407748870463, + -0.10827023654749053, + 0.030135590932367583 + ], + [ + 0.0037238957518126513, + 0.999992425159139, + 0.0011323536435001013, + 0.004504241909082417 + ], + [ + 0.10826536326227267, + -0.0015288768791640313, + 0.9941208546515745, + 0.23969194902944327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9935575368923916, + -0.004197990495308202, + -0.11325103867128883, + 0.03524210966231188 + ], + [ + 0.004398345779317115, + 0.9999891730521355, + 0.0015193198846926424, + 0.00604940706769439 + ], + [ + 0.11324343441776225, + -0.002007648950329996, + 0.9935652439105157, + 0.2709691803327904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9931887867591376, + -0.004218390415321753, + -0.1164398515896366, + 0.0393743278231581 + ], + [ + 0.004422564026246453, + 0.9999891026481974, + 0.0014951629633514572, + 0.007831875254589242 + ], + [ + 0.11643227552249602, + -0.001999941788440033, + 0.9931966197332213, + 0.2967490358331686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9927092046054385, + -0.004238330166413909, + -0.12045941909638432, + 0.04398077655173062 + ], + [ + 0.004496567543864856, + 0.9999881381146285, + 0.0018720337503617623, + 0.011187588904563674 + ], + [ + 0.12045005592344636, + -0.002400039049577777, + 0.9927164871405125, + 0.32715558797420347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9921010740848342, + -0.004425322478852331, + -0.12536297428139184, + 0.0471147471564494 + ], + [ + 0.004734295677770559, + 0.999986445604753, + 0.0021668066845580754, + 0.012645948787224404 + ], + [ + 0.12535168624376056, + -0.0027431966263771193, + 0.9921085775398352, + 0.35440313851523714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9911580579153639, + -0.0048254269597910225, + -0.1325987159971768, + 0.04980731590949345 + ], + [ + 0.0051079909906187925, + 0.9999853504571939, + 0.0017908933644858005, + 0.013016951099810716 + ], + [ + 0.13258813166148767, + -0.0024523714357584567, + 0.9911681861404034, + 0.38822622991071953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9904573303109727, + -0.0050871251491049286, + -0.13772580728018358, + 0.05435291436652573 + ], + [ + 0.005404124938163662, + 0.9999835392918366, + 0.001927843101750154, + 0.01509224837327084 + ], + [ + 0.1377137330367369, + -0.0026537338015694446, + 0.9904685181417918, + 0.4156596322485872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9899250416385151, + -0.005420518530229403, + -0.1414886211532492, + 0.06157555265700457 + ], + [ + 0.0057843293832473015, + 0.9999809374510266, + 0.0021601546593734288, + 0.0177746095850519 + ], + [ + 0.14147421486111997, + -0.0029568079798577584, + 0.9899375252085356, + 0.44699220382955734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9896023657827275, + -0.005582020807294149, + -0.14372194919682832, + 0.06923863606879596 + ], + [ + 0.005926389047390319, + 0.9999805020919929, + 0.001968082494434973, + 0.020542875914083412 + ], + [ + 0.14370816104204984, + -0.002799371278138092, + 0.9896161518338105, + 0.47757732138754144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9893128134570653, + -0.0058308686051067584, + -0.14569199738137945, + 0.07697689332788274 + ], + [ + 0.0062373975671628544, + 0.9999778241661937, + 0.0023336768058474485, + 0.02356151548624355 + ], + [ + 0.14567515917703694, + -0.00321747527651415, + 0.9893272440661836, + 0.5026155712480477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9890065823994257, + -0.005489981785872924, + -0.14776955055287497, + 0.08437563571404177 + ], + [ + 0.006144096659620417, + 0.9999732422946547, + 0.003970487495629424, + 0.025542458607800574 + ], + [ + 0.1477437986747502, + -0.0048347486704576415, + 0.9890138498314613, + 0.532457326867219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.988643994663284, + -0.005635028500669331, + -0.15017089688092494, + 0.08985140204276111 + ], + [ + 0.006515921294018448, + 0.9999643279271951, + 0.005374536519865951, + 0.02667749884668785 + ], + [ + 0.15013525430729086, + -0.006292004999192244, + 0.9886454450849281, + 0.5581788467741734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9880498849084757, + -0.006274480219835968, + -0.1540066746291179, + 0.09677760285399092 + ], + [ + 0.00721651613314634, + 0.9999585111949066, + 0.005558577494825543, + 0.027609439846177752 + ], + [ + 0.15396540789166943, + -0.006603543506090469, + 0.9880541717871116, + 0.5886706141084164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9874952850553778, + -0.006635119979940462, + -0.15750884793004466, + 0.10228138339180873 + ], + [ + 0.00759099788714232, + 0.999956238370292, + 0.005467915088326043, + 0.027245320049379487 + ], + [ + 0.15746567481351464, + -0.006595189700648317, + 0.9875024378341235, + 0.6143276807968551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.986354630949004, + -0.007171325585437955, + -0.16447830888844187, + 0.10871950669152593 + ], + [ + 0.008150896586887339, + 0.9999528333673035, + 0.005281470016169912, + 0.028240089597892475 + ], + [ + 0.16443267585940427, + -0.0065500480952033055, + 0.9863665606556553, + 0.6435808918401084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.984626723678949, + -0.007940071845239588, + -0.17449117535380212, + 0.11689025659130248 + ], + [ + 0.009020239033640144, + 0.9999447459279608, + 0.005398182920404539, + 0.030316821425920824 + ], + [ + 0.17443867204560712, + -0.006889147273689694, + 0.9846439403890154, + 0.6720997545270326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.983520748423839, + -0.00837172759632429, + -0.18060136100501892, + 0.12353712027241143 + ], + [ + 0.009438067426231213, + 0.9999427295112391, + 0.005045847884297943, + 0.03097326255521823 + ], + [ + 0.1805487754128234, + -0.00666722391003205, + 0.9835434346393981, + 0.696264077731694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9825435627391641, + -0.008802902149701239, + -0.18582426169252847, + 0.12843217850499394 + ], + [ + 0.009855176285650025, + 0.9999402032527034, + 0.004739769965003403, + 0.031728399945937985 + ], + [ + 0.18577142627489646, + -0.006488361325109156, + 0.9825715639825456, + 0.7253568582834716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9813547390107913, + -0.009223177140848011, + -0.1919838775118645, + 0.12898536291969973 + ], + [ + 0.01037701056607831, + 0.9999336294157606, + 0.005005438555818248, + 0.03253155170545418 + ], + [ + 0.19192496938328155, + -0.00690432957303687, + 0.9813853149300603, + 0.7502307378507096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9777796271724675, + -0.010131162006873912, + -0.20939044926371803, + 0.1264647435553935 + ], + [ + 0.011406555102803263, + 0.9999230143416201, + 0.004884249241742909, + 0.03263619491609851 + ], + [ + 0.20932484608177288, + -0.007164143100136116, + 0.9778199138218057, + 0.7781994422355749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9706712804479402, + -0.011822825162318652, + -0.2401197328807809, + 0.12359473539730434 + ], + [ + 0.01326126496555636, + 0.9999024919382623, + 0.004375553355478871, + 0.03382495451757571 + ], + [ + 0.24004458786873248, + -0.007431515379421608, + 0.9707334177899182, + 0.8008139953376545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9491775417684837, + -0.01580226539413753, + -0.3143442103980156, + 0.11754433829563574 + ], + [ + 0.017665852379685272, + 0.9998392014695272, + 0.003080400051537521, + 0.03661674741488682 + ], + [ + 0.31424498701178644, + -0.008477004965881964, + 0.9493040759023269, + 0.8281556506911919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9175120612772304, + -0.020137852694097548, + -0.39719778989777743, + 0.11208303027882008 + ], + [ + 0.022151939578155602, + 0.9997544991082831, + 0.0004827894696686893, + 0.03865289283505047 + ], + [ + 0.397090555142947, + -0.009241666603871167, + 0.9177329037441391, + 0.8537329548307859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8695901245739976, + -0.024738754983003246, + -0.4931541434939692, + 0.1074605824111898 + ], + [ + 0.02685761893055658, + 0.9996353828988156, + -0.0027873934274418016, + 0.04016254214045558 + ], + [ + 0.493043287702774, + -0.010821056262180183, + 0.8699374811977068, + 0.883610531572294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8214084930019998, + -0.02893391115897254, + -0.5696059308058761, + 0.10417275692197162 + ], + [ + 0.031169907449837563, + 0.9994971452941317, + -0.005821805428733063, + 0.04261829722624092 + ], + [ + 0.5694879493841396, + -0.012972483722331247, + 0.8218973112088406, + 0.9134057173897162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.7842277977921317, + -0.03150924127231288, + -0.6196724367636073, + 0.10083673950972047 + ], + [ + 0.03377592741969177, + 0.9993968300148321, + -0.008072353017854972, + 0.0433941695819311 + ], + [ + 0.6195530226679904, + -0.014599447617918062, + 0.7848190289692323, + 0.9356630581965961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.7304841747977382, + -0.034604500931883525, + -0.6820523432151838, + 0.09518374175528478 + ], + [ + 0.036694698031855086, + 0.9992615193992672, + -0.011398025452634174, + 0.04527526846091198 + ], + [ + 0.6819430837734323, + -0.016701627559109262, + 0.7312145281177462, + 0.9607715631632976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.679217420332588, + -0.037358926989572744, + -0.7329856795947194, + 0.0909544596619735 + ], + [ + 0.0392951182706984, + 0.9991222800083097, + -0.014510798430440187, + 0.047955192162389 + ], + [ + 0.7328844312692395, + -0.018946771893512983, + 0.6800892810785794, + 0.9797191764851161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.6301759364776057, + -0.03924496913201818, + -0.7754599418940995, + 0.08505952052913535 + ], + [ + 0.04065209952457814, + 0.999019692028074, + -0.017523177348203918, + 0.05159768028068489 + ], + [ + 0.7753874488852763, + -0.020481390039734933, + 0.6311535603743544, + 1.0076807824372023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.6048311704829703, + -0.03998910523892078, + -0.7953490596426142, + 0.08108178983196974 + ], + [ + 0.040888661970775717, + 0.9989804986637737, + -0.01913323317470993, + 0.05489280387691792 + ], + [ + 0.7953033210885264, + -0.020948383032317785, + 0.6058496453030996, + 1.0314209854963623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.5908591692323228, + -0.04025714381394428, + -0.8057696969395369, + 0.07738516852453901 + ], + [ + 0.04082920460114961, + 0.9989665533357566, + -0.019970011720499645, + 0.05802736708822337 + ], + [ + 0.8057409125678845, + -0.02109947128301649, + 0.5918922149562793, + 1.0595308850058849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.5841182050768322, + -0.04014193682797021, + -0.8106753649923741, + 0.07477483313033474 + ], + [ + 0.04036007022044254, + 0.9989772298990253, + -0.020385261221553205, + 0.0597893098629189 + ], + [ + 0.8106645343356405, + -0.020811512462319093, + 0.585140917830406, + 1.0815995176691056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.5747900992993612, + -0.04006012719887019, + -0.8173197219914867, + 0.07214599934076478 + ], + [ + 0.03987882843317624, + 0.9989855221446172, + -0.020919024552883164, + 0.06272135504456865 + ], + [ + 0.8173285880172234, + -0.020569704768352313, + 0.5758045384117036, + 1.1078189705569088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.5596592863472178, + -0.04038579213563234, + -0.8277381657256722, + 0.06886282131740148 + ], + [ + 0.04013784384381208, + 0.99896062646162, + -0.02160139511646243, + 0.06612767203844665 + ], + [ + 0.8277502260325227, + -0.02113420386447683, + 0.5606985899127286, + 1.132692953059803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.5419768188803313, + -0.04104900677143702, + -0.8393903185285349, + 0.06487275747634913 + ], + [ + 0.040577365860054, + 0.9989196309883588, + -0.02265056745295394, + 0.06773712328759686 + ], + [ + 0.8394132505364781, + -0.021784165560333274, + 0.5430569444861415, + 1.1537561460643013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.5152276255003767, + -0.04192315342281741, + -0.8560274196124389, + 0.05781561337001934 + ], + [ + 0.040968689779732156, + 0.9988658611697234, + -0.02426021119856454, + 0.06919521491154974 + ], + [ + 0.8560736302322223, + -0.022570790787072557, + 0.5163608225110331, + 1.1802533754648379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.4902103867092839, + -0.04267031369873798, + -0.870559027918949, + 0.05164184484398629 + ], + [ + 0.04179073851285963, + 0.998802863998715, + -0.025423867575844885, + 0.06969890572189939 + ], + [ + 0.8706016947702802, + -0.02391826073976953, + 0.49140676212919604, + 1.2047558759211632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.4677288705977677, + -0.04347572168162756, + -0.8828021098941702, + 0.045728714680170535 + ], + [ + 0.04218453436696513, + 0.9987493787959432, + -0.02683548797693463, + 0.07063572809470468 + ], + [ + 0.8828647510630262, + -0.024688863460668335, + 0.4689779220298558, + 1.2351183716904264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.4479109697538771, + -0.04360631295658011, + -0.8930141391066965, + 0.0412269349673357 + ], + [ + 0.04204777437138258, + 0.9987321365948948, + -0.027678583833172093, + 0.07320020434311672 + ], + [ + 0.8930888801483058, + -0.02515171570548274, + 0.4491766282349471, + 1.2584744257644023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.4165379373524077, + -0.04434093570073965, + -0.9080363583950725, + 0.03441817095679083 + ], + [ + 0.04259704439595332, + 0.998664769322896, + -0.02922619239613612, + 0.07702007739938005 + ], + [ + 0.9081198371112321, + -0.02650584717434352, + 0.41787055592687966, + 1.2852687676195855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.37776320563759835, + -0.04530476281375699, + -0.9247931871141759, + 0.025745653338877107 + ], + [ + 0.04314509229333825, + 0.9985785404586087, + -0.03129535982465044, + 0.07771594867741642 + ], + [ + 0.9248964598685656, + -0.02807805196134949, + 0.37918090869748544, + 1.3113237591288627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.33762088347758673, + -0.0459498276818747, + -0.9401599610575958, + 0.01940288242511877 + ], + [ + 0.043538614481915795, + 0.9985010771857523, + -0.03316606560760239, + 0.07652377722469618 + ], + [ + 0.9402747088424793, + -0.029735705723905305, + 0.3391154076657273, + 1.3323557315218209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.27772195838997493, + -0.04679565344252376, + -0.9595210683705306, + 0.009467416438347788 + ], + [ + 0.04435320040530456, + 0.9983723563702733, + -0.035852916889356226, + 0.0751499983804744 + ], + [ + 0.9596370706896666, + -0.032600687946045065, + 0.2793454630087997, + 1.3597710761919986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.22980029295288512, + -0.04750243786064261, + -0.9720778486088777, + 0.0027747209657414448 + ], + [ + 0.04484627651182148, + 0.9982640287901468, + -0.03818036546040997, + 0.07476302147786427 + ], + [ + 0.9722040098877363, + -0.03482021282187983, + 0.23153167372358702, + 1.3823796819651748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.16276489817830053, + -0.04818896665081006, + -0.9854873978971699, + -0.004491640020264745 + ], + [ + 0.044365073626696366, + 0.9981538325437291, + -0.041480921160974064, + 0.07712924351673166 + ], + [ + 0.9856669458610781, + -0.036969583056781295, + 0.16460231397371805, + 1.410375733791355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.09736051137281865, + -0.0485632726712549, + -0.9940636495580554, + -0.01018933935587214 + ], + [ + 0.044878005015078395, + 0.9980070702074737, + -0.044360483335519514, + 0.07973496344648215 + ], + [ + 0.9942368407432353, + -0.04029263410788197, + 0.09934590150357736, + 1.429728698007002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.008593096060487582, + -0.04947091099045966, + -0.998738598265767, + -0.021483155507232957 + ], + [ + 0.044782576147706234, + 0.9977924248890087, + -0.049038736807619436, + 0.08244273193342644 + ], + [ + 0.9989597987775434, + -0.04430469275241727, + 0.010789560994024672, + 1.4568653563429195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + -0.07204126656652132, + -0.049452273049009204, + -0.996174948792519, + -0.03158958248306721 + ], + [ + 0.043749213378733276, + 0.9976521576212118, + -0.05268945551515002, + 0.0837765306822487 + ], + [ + 0.9964417003719955, + -0.04737768550728439, + -0.06970862698217029, + 1.4847957233839066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + -0.12058079349150297, + -0.04894414274944531, + -0.9914962143808124, + -0.03910658653070134 + ], + [ + 0.04324639777037918, + 0.9975766112125329, + -0.054503704842931364, + 0.08308664913782893 + ], + [ + 0.9917610706822717, + -0.04945073965312509, + -0.11817192148269895, + 1.508705062252723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + -0.1626487362696583, + -0.04854557137445972, + -0.9854890745664359, + -0.04417268753528662 + ], + [ + 0.0430932838519716, + 0.9974863594686063, + -0.05624883608502058, + 0.08188615437551523 + ], + [ + 0.9857425411722557, + -0.051616762529175984, + -0.16014790772679516, + 1.5365155772402368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + -0.19473285282908587, + -0.04801844726701934, + -0.9796802257630347, + -0.04809917449367409 + ], + [ + 0.042735675134302445, + 0.9974371172524932, + -0.057383440101233876, + 0.08303735480078234 + ], + [ + 0.9799248839068541, + -0.053041736859769345, + -0.1921816745973403, + 1.5602298566540802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + -0.22764442144678249, + -0.04761137260133194, + -0.9725796494802761, + -0.05401710199811935 + ], + [ + 0.041834999176938614, + 0.9974034756055494, + -0.058618595119942725, + 0.08498478874518646 + ], + [ + 0.9728452344684766, + -0.05403206500761714, + -0.22506151541964575, + 1.5893859162263395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + -0.24577095355564127, + -0.04733840939942371, + -0.9681713243966089, + -0.05880407118498561 + ], + [ + 0.040774049340732525, + 0.9974178808250652, + -0.05911893022370909, + 0.0854930048345962 + ], + [ + 0.9684699867774481, + -0.054005981205500084, + -0.24320616502325942, + 1.6125895689266414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + -0.2677442523348813, + -0.046761546746107385, + -0.9623545984134682, + -0.06394775261668999 + ], + [ + 0.04024083120148794, + 0.9974072889033788, + -0.059660502400044044, + 0.08595454217174958 + ], + [ + 0.9626493083391529, + -0.05469970555975526, + -0.2651683453314654, + 1.638406911186683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + -0.2861203059216992, + -0.04622485614425496, + -0.9570780705949313, + -0.07023675437894203 + ], + [ + 0.039967029583307064, + 0.9973907013999197, + -0.06012009071236888, + 0.0844691163004313 + ], + [ + 0.9573598106697192, + -0.05545314630766535, + -0.2835262624150016, + 1.6617389611094375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + -0.3043907332559563, + -0.045995379637857055, + -0.9514361284709925, + -0.07866486293218497 + ], + [ + 0.039480346793926153, + 0.9973660260950314, + -0.06084662857083154, + 0.0838907637897055 + ], + [ + 0.9517287343171545, + -0.05608417819113349, + -0.30177306246862495, + 1.6904121430412355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + -0.32209745051377364, + -0.04513446804787948, + -0.9456300080721646, + -0.0867672699487945 + ], + [ + 0.03864427736647872, + 0.9974035348269188, + -0.060768483127274245, + 0.08630992696557685 + ], + [ + 0.9459174658496109, + -0.05611656180489054, + -0.3195169467991456, + 1.719115959642598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.3358000900383704, + -0.044702570851364656, + -0.9408719252318573, + -0.09600554213626238 + ], + [ + 0.03834719544728106, + 0.9973963166604352, + -0.061074381810424065, + 0.08910010637007516 + ], + [ + 0.9411523745555502, + -0.056588582518703835, + -0.33321155471707975, + 1.742796970836846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.349410134748086, + -0.04446328244614303, + -0.935914298560204, + -0.10928560723273431 + ], + [ + 0.037677366151042724, + 0.9973987379386393, + -0.061450578828272436, + 0.09100175085809666 + ], + [ + 0.9362120346455949, + -0.05673424074158368, + -0.3468259680477104, + 1.7698272199423788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.3599124219096056, + -0.0439280714052988, + -0.9319513791490266, + -0.12096806034230831 + ], + [ + 0.03728586864955661, + 0.9974157469125761, + -0.06141328691639633, + 0.0916721959685008 + ], + [ + 0.9322407481730295, + -0.05685202154223344, + -0.3573444208216373, + 1.7917367543544864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.3706111323577404, + -0.04354589834626703, + -0.927766750487282, + -0.13501246496996977 + ], + [ + 0.03672086703531556, + 0.997432322340104, + -0.06148447182339663, + 0.09127806225407605 + ], + [ + 0.9280619410883568, + -0.05685522920931686, + -0.3680604792895699, + 1.8172531126096998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.3811785686752128, + -0.04320560274402844, + -0.9234912964799622, + -0.14688003864261187 + ], + [ + 0.036317174924885474, + 0.997436554872272, + -0.06165534697014258, + 0.09109055986595967 + ], + [ + 0.9237878336437386, + -0.05704029186512462, + -0.37863233289795784, + 1.8380796217397235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.39777945980929263, + -0.04248958979238071, + -0.9164966645400858, + -0.16126877505491646 + ], + [ + 0.03576178319634836, + 0.997449897390038, + -0.06176404341702824, + 0.09349171224206532 + ], + [ + 0.9167838328725288, + -0.05734402284352214, + -0.3952455778723868, + 1.8631319320165582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.41292307738442985, + -0.04185926489896644, + -0.9098034590533773, + -0.17612836564055573 + ], + [ + 0.03516474078448372, + 0.9974656504067023, + -0.06185238285057706, + 0.09486116288756692 + ], + [ + 0.9100867943053191, + -0.05753327907265888, + -0.4104046157515963, + 1.882783166071249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.42850646592478675, + -0.04140792012426325, + -0.9025893821731078, + -0.19365360449732522 + ], + [ + 0.03475242490466918, + 0.9974548139088635, + -0.06225884012154149, + 0.09624342164150887 + ], + [ + 0.9028701333103754, + -0.05804548527678074, + -0.42597681159317585, + 1.9053073448967441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.4432494244011224, + -0.040743640498122076, + -0.8954718887419267, + -0.21037909928507972 + ], + [ + 0.03401910186575403, + 0.9974822564250738, + -0.062224181998566185, + 0.09637594184330077 + ], + [ + 0.895752559849159, + -0.0580439822557259, + -0.4407473739542595, + 1.9284469321293773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.45170623210079314, + -0.04043295157039306, + -0.8912500526275499, + -0.2241709722824187 + ], + [ + 0.03361458665865484, + 0.9974918978010086, + -0.062289432371067606, + 0.09491153974561667 + ], + [ + 0.8915332520131102, + -0.0580955269246116, + -0.449214169752335, + 1.9490608267680882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.4588835772384118, + -0.04011346917065207, + -0.8875904303967984, + -0.2378063277819032 + ], + [ + 0.033042735848349776, + 0.9975187915758753, + -0.06216460456450935, + 0.09398574171978104 + ], + [ + 0.8878817714924295, + -0.05785473225329784, + -0.4564195326751085, + 1.9743021221322206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.46440658304740245, + -0.0398381314958525, + -0.8847256348163284, + -0.24857169284192995 + ], + [ + 0.032736496638213014, + 0.9975328122944072, + -0.062101611765452834, + 0.09528625023720666 + ], + [ + 0.8850168627829034, + -0.05780321509163593, + -0.4619566439775249, + 1.9959960762504732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.4690543094967753, + -0.040035706964072534, + -0.8822614107566931, + -0.2637261985427976 + ], + [ + 0.032258429418099005, + 0.9975287297277887, + -0.062416561096729786, + 0.09729230563122197 + ], + [ + 0.8825799955097446, + -0.057737124413597116, + -0.4666036604983591, + 2.022084710552968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.4717916306980093, + -0.04042579631673868, + -0.8807828405432698, + -0.2760951636163626 + ], + [ + 0.031355208605032686, + 0.9975472624795167, + -0.06258042835389908, + 0.09828514766498413 + ], + [ + 0.8811523750729202, + -0.057142052043833436, + -0.46936689038701035, + 2.0427561931509604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.47540227489229453, + -0.04014475505621434, + -0.8788521352700396, + -0.28996027211901687 + ], + [ + 0.030740825546402412, + 0.9975903421068166, + -0.06219735508790036, + 0.10030110451036144 + ], + [ + 0.8792312998704932, + -0.0565854042724912, + -0.4730226351363768, + 2.0658378086530926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_085/orbit_left/transforms.json b/spatialvid_eval/camera_controls/scene_085/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a4113de418af20501073b36a86b915817d22d99d --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_085/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": [ + [ + 0.9999999973260562, + -6.919410117160017e-05, + -2.366567194754885e-05, + -3.479231650580499e-05 + ], + [ + 6.919419045911323e-05, + 0.9999999975989677, + 3.772072441269068e-06, + -6.767783295550936e-05 + ], + [ + 2.366541088556468e-05, + -3.77370995819484e-06, + 0.9999999997128537, + -0.00021331843226794447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9996776013884394, + -0.0007936432473401996, + -0.025378404454425695, + 0.000382921153956735 + ], + [ + 0.0008010397067752421, + 0.9999996396078141, + 0.00028128211848059317, + 0.0012836205914476412 + ], + [ + 0.02537817207059311, + -0.00030152054317873496, + 0.9996778768521976, + 0.026052291298065352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9992148504807752, + -0.0017986238248186067, + -0.03957837201072388, + -0.0015917612306935976 + ], + [ + 0.0018034194505350638, + 0.9999983701856002, + 8.546595155559965e-05, + -0.0012408045942126442 + ], + [ + 0.039578153784226584, + -0.00015677525390947765, + 0.9992164656192132, + 0.05025447298939272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9986012659692493, + -0.0024315400144731924, + -0.05281665663188915, + -0.0028009894564417926 + ], + [ + 0.0024356231087171703, + 0.9999970337818981, + 1.2941330203883578e-05, + -0.003764420078663532 + ], + [ + 0.05281646849880393, + -0.00014156469814273338, + 0.9986042262151464, + 0.07847029304324932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9982484829986592, + -0.002969000368750176, + -0.059085964726713076, + -0.0036521629710940477 + ], + [ + 0.002990099470064818, + 0.9999954935477092, + 0.0002686809124478756, + -0.003493758492178335 + ], + [ + 0.05908490074490386, + -0.0004448832250794006, + 0.9982528620459252, + 0.10198319087031196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9979615586280209, + -0.003112966281603066, + -0.06374195589766939, + -0.004175166966973114 + ], + [ + 0.0031425585021390345, + 0.999994995903624, + 0.0003639969393452646, + -0.001047578823112179 + ], + [ + 0.06374050381658007, + -0.0005635677783740219, + 0.9979663474108571, + 0.1307705934520168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.997810984411885, + -0.0028396720743759083, + -0.06606947592871665, + -0.005210159193951125 + ], + [ + 0.002893258914287214, + 0.9999955586184174, + 0.000715399395111393, + 0.0018029270834331583 + ], + [ + 0.06606715098927876, + -0.00090498947487681, + 0.9978147686590986, + 0.15431465096879465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9975156890315938, + -0.0032177107687307947, + -0.07037113380665351, + -0.006406872544662719 + ], + [ + 0.003308694059242711, + 0.999993834316003, + 0.0011763815712374601, + 0.0038394002642199022 + ], + [ + 0.07036691466483001, + -0.001406295625965252, + 0.9975201850855777, + 0.18327776089807019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9972596897754475, + -0.0035637201007534583, + -0.07389459417320038, + -0.008714036465596951 + ], + [ + 0.003657892481504163, + 0.9999926610877304, + 0.0011391195168512923, + 0.0039346499890379905 + ], + [ + 0.07388999236413715, + -0.0014062964564422282, + 0.9972654066790368, + 0.20981817190271634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9968722770094418, + -0.003579407748870463, + -0.07894840828147559, + -0.010409030371347903 + ], + [ + 0.003688934983613978, + 0.999992425159139, + 0.0012415244786089432, + 0.004358259579997626 + ], + [ + 0.07894336633750747, + -0.0015288768791640313, + 0.9968779300630499, + 0.23913239342754955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9967310438581262, + -0.004197990495308202, + -0.08068211130908756, + -0.0098036781135343 + ], + [ + 0.004346280096763564, + 0.9999891730521355, + 0.0016624162616312576, + 0.005858601984832917 + ], + [ + 0.08067425896040924, + -0.002007648950329996, + 0.9967384979456154, + 0.2701218070468204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9967359908764152, + -0.004218390415321753, + -0.08061990866972749, + -0.010172785699532366 + ], + [ + 0.004365888545798627, + 0.9999891026481974, + 0.0016533608374736308, + 0.007620681612828062 + ], + [ + 0.08061205560471053, + -0.001999941788440033, + 0.9967435461160642, + 0.29565786831449165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9966730763853557, + -0.00423833016641391, + -0.08139296877465639, + -0.010065352053131554 + ], + [ + 0.004419605153113434, + 0.9999881381146287, + 0.002047124893504432, + 0.010955138994194771 + ], + [ + 0.08138332690940017, + -0.0024000390495777773, + 0.9966799857094145, + 0.3257465209711338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9965350627930832, + -0.004425322478852331, + -0.0830559157733157, + -0.011426917812819997 + ], + [ + 0.004637858772968715, + 0.999986445604753, + 0.0023661937314598054, + 0.01238189874984292 + ], + [ + 0.08304431883029655, + -0.0027431966263771193, + 0.9965420793836461, + 0.35258747850856054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9961908882387855, + -0.0048254269597910225, + -0.08706566168516364, + -0.013221485515185531 + ], + [ + 0.005020610193555978, + 0.9999853504571939, + 0.0020229543463864486, + 0.012706882383152514 + ], + [ + 0.08705462459458436, + -0.0024523714357584567, + 0.9962005210855078, + 0.3858108956881236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9960221661378099, + -0.0050871251491049286, + -0.0889604727947339, + -0.013163556863233991 + ], + [ + 0.005303020655531888, + 0.9999835392918366, + 0.002190688772795032, + 0.014740983381547687 + ], + [ + 0.08894786413440318, + -0.0026537338015694446, + 0.9960327480373516, + 0.4127224609029548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9959733260589236, + -0.005420518530229404, + -0.08948604225234776, + -0.010429460546815657 + ], + [ + 0.005663348401128506, + 0.9999809374510268, + 0.0024599226519844176, + 0.017374225172902043 + ], + [ + 0.08947100236396684, + -0.0029568079798577593, + 0.9959850385535708, + 0.44358573593232326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9960628394902967, + -0.005582020807294149, + -0.08847406868814417, + -0.0072582577303805795 + ], + [ + 0.005807787817543112, + 0.9999805020919929, + 0.0022945667373879385, + 0.020105244813337628 + ], + [ + 0.08845953530962, + -0.002799371278138092, + 0.9960758375411248, + 0.47378528599110503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9961739643606641, + -0.0058308686051067584, + -0.08719767027431648, + -0.004011544700486341 + ], + [ + 0.00608919405932611, + 0.9999778241661937, + 0.0026968299080340707, + 0.023075835226969578 + ], + [ + 0.08718001173242813, + -0.00321747527651415, + 0.9961873786628591, + 0.49843945579159415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9962774376914567, + -0.005489981785872924, + -0.08602980441065938, + -0.0011028759584143996 + ], + [ + 0.005885508505261138, + 0.9999732422946547, + 0.004344592541333098, + 0.02505099325155296 + ], + [ + 0.08600365071658309, + -0.0048347486704576415, + 0.9962830909278313, + 0.5278703803455471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9963488785563259, + -0.005635028500669331, + -0.08518895851780751, + -0.00011390879175594837 + ], + [ + 0.00615045869979582, + 0.9999643279271951, + 0.005789190867066119, + 0.026138772905265544 + ], + [ + 0.08515329739554532, + -0.006292004999192244, + 0.9963479947366565, + 0.5531328187860682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9962930120170111, + -0.006274480219835968, + -0.08579548417045409, + 0.0023356766738674845 + ], + [ + 0.006817784063762398, + 0.9999585111949066, + 0.006041002344466513, + 0.02697943472933924 + ], + [ + 0.08575402046861512, + -0.006603543506090469, + 0.9962944550616708, + 0.583006233930695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.996267199292384, + -0.006635119979940462, + -0.08606766406125393, + 0.0033641311469566754 + ], + [ + 0.007178011701818586, + 0.999956238370292, + 0.005999791025052309, + 0.026547513070091545 + ], + [ + 0.08602408826670366, + -0.006595189700648317, + 0.9962712279849775, + 0.6080430085936278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9959301728367143, + -0.007171325585437957, + -0.08984243386496307, + 0.00535541102401009 + ], + [ + 0.007730672494241651, + 0.9999528333673037, + 0.005879433942873162, + 0.0274509782269563 + ], + [ + 0.08979603296482196, + -0.006550048095203307, + 0.9959386373335113, + 0.6362807061561453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9952818679231515, + -0.00794007184523959, + -0.09670035492435113, + 0.009115717573422222 + ], + [ + 0.008568896096543583, + 0.999944745927961, + 0.00608926192184182, + 0.029401012945692626 + ], + [ + 0.09664666265882998, + -0.006889147273689696, + 0.9952949121977629, + 0.6633874578077952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9949900440972378, + -0.00837172759632429, + -0.09962292067807539, + 0.011330927167638269 + ], + [ + 0.008994147240286725, + 0.9999427295112391, + 0.005800259738460288, + 0.029968692166416674 + ], + [ + 0.09956865703019806, + -0.00666722391003205, + 0.9950083570817568, + 0.6864919185617222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9947809337739012, + -0.008802902149701239, + -0.10165334580656098, + 0.011793854388942412 + ], + [ + 0.009416728932775719, + 0.9999402032527034, + 0.005560138051254811, + 0.0306316155562641 + ], + [ + 0.10159832191592591, + -0.006488361325109156, + 0.9948043436531543, + 0.7145740045041349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9944676192589502, + -0.009223177140848011, + -0.1046378862977678, + 0.007934081876330684 + ], + [ + 0.009894838429253691, + 0.9999336294157606, + 0.0059016045177169504, + 0.03133244362212676 + ], + [ + 0.10457650987623852, + -0.00690432957303687, + 0.9944928777096658, + 0.7382743141660446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.992837335860746, + -0.010131162006873912, + -0.11904362258150371, + 0.001171478015872543 + ], + [ + 0.010911787066448419, + 0.9999230143416201, + 0.005907477717710184, + 0.031261933057623224 + ], + [ + 0.11897460831603318, + -0.007164143100136116, + 0.9928714507073348, + 0.7635724747105724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9890571314194816, + -0.011822825162318652, + -0.1470585311821366, + -0.005628258102730974 + ], + [ + 0.012786964422463597, + 0.9999024919382623, + 0.005612500023339433, + 0.03215408288090551 + ], + [ + 0.14697783618329957, + -0.007431515379421608, + 0.9891118684203726, + 0.7815813292102434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9754181130506234, + -0.01580226539413753, + -0.21979488879674786, + -0.014190911104459136 + ], + [ + 0.01727885446778573, + 0.9998392014695272, + 0.004797123415071302, + 0.03427904159163225 + ], + [ + 0.2196837406842905, + -0.008477004965881964, + 0.975534312295455, + 0.7980017753733049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9530203481549554, + -0.020137852694097548, + -0.3022361376332731, + -0.020734527644075004 + ], + [ + 0.021989154735666726, + 0.9997544991082831, + 0.0027237082731425694, + 0.03557920906274092 + ], + [ + 0.30210708875598874, + -0.009241666603871167, + 0.9532291951685934, + 0.8106380477504184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9163750636583656, + -0.024738754983003246, + -0.3995556741018924, + -0.024071144821571466 + ], + [ + 0.0270018520353888, + 0.9996353828988156, + 3.526183924282984e-05, + 0.036269740817960756 + ], + [ + 0.39940911693623826, + -0.010821056262180183, + 0.9167089298406476, + 0.8247021632379997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8780169097513111, + -0.02893391115897254, + -0.4777542621220694, + -0.0254124113721214 + ], + [ + 0.03161581574845313, + 0.9994971452941317, + -0.002428321115776888, + 0.037922921251153915 + ], + [ + 0.47758428197054204, + -0.012972483722331247, + 0.8784901640204948, + 0.8406664365829143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.8481840156666693, + -0.03150924127231289, + -0.5287636932335719, + -0.027730306205613134 + ], + [ + 0.03446338889900767, + 0.9993968300148324, + -0.004272116793922392, + 0.03812650504908291 + ], + [ + 0.52857937000337, + -0.014599447617918065, + 0.8487583317624003, + 0.8525477784713654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.8036475733162539, + -0.034604500931883525, + -0.5940985662481875, + -0.029657760032379354 + ], + [ + 0.03775691199713204, + 0.9992615193992672, + -0.007129617402690889, + 0.03934489698269624 + ], + [ + 0.5939065528341453, + -0.016701627559109262, + 0.8043606542699235, + 0.8646184102270681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.7606626247000167, + -0.037358926989572744, + -0.6480715099112675, + -0.029956952737719117 + ], + [ + 0.04072830394949301, + 0.9991222800083097, + -0.009791570272165389, + 0.041387766035720405 + ], + [ + 0.6478684871498844, + -0.018946771893512983, + 0.7615165416410439, + 0.8718094413118628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.7192272508095476, + -0.03924496913201818, + -0.6936656212403551, + -0.03174128607036018 + ], + [ + 0.04247102968359217, + 0.999019692028074, + -0.01248465368956009, + 0.044575156444374625 + ], + [ + 0.6934755751506727, + -0.020481390039734933, + 0.72018896085089, + 0.8889488240154029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.6988112953478811, + -0.03998910523892079, + -0.7141874018466073, + -0.03487796757154354 + ], + [ + 0.04294609621046736, + 0.9989804986637739, + -0.013913881908348308, + 0.04761410349342576 + ], + [ + 0.7140156905240235, + -0.02094838303231779, + 0.6998162322594651, + 0.9056760632093973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.6886127085587624, + -0.04025714381394428, + -0.7240109805681879, + -0.03935521799074601 + ], + [ + 0.04303893147021161, + 0.9989665533357566, + -0.014610807451399057, + 0.05055362263359224 + ], + [ + 0.7238509432122527, + -0.02109947128301649, + 0.6896336885059413, + 0.9284192484910615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.6849353613773741, + -0.040141936827970216, + -0.7274971997489376, + -0.043833081760960464 + ], + [ + 0.042675594749404334, + 0.9989772298990255, + -0.014942816202263471, + 0.052201023468531005 + ], + [ + 0.7273529709485148, + -0.020811512462319097, + 0.6859479109971837, + 0.9461276772544722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.6789569655549005, + -0.04006012719887019, + -0.7330843233443833, + -0.04782775414334793 + ], + [ + 0.04231875133288063, + 0.9989855221446172, + -0.015396422671278172, + 0.05502253821704631 + ], + [ + 0.732957408182841, + -0.020569704768352313, + 0.6799634733098796, + 0.9675718082506602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.667791674535698, + -0.04038579213563234, + -0.7432518195163641, + -0.051373153679483516 + ], + [ + 0.04271897523169618, + 0.99896062646162, + -0.01589829973806944, + 0.05818007898114018 + ], + [ + 0.7431213686713375, + -0.02113420386447683, + 0.6688228291939896, + 0.9867916706782852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.654346944389773, + -0.04104900677143702, + -0.7550795027087187, + -0.05502905320059824 + ], + [ + 0.04335310090563557, + 0.9989196309883588, + -0.016735574921324704, + 0.059496317853208074 + ], + [ + 0.7549507169409361, + -0.021784165560333274, + 0.6554196099608304, + 1.0018085272301789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.6327293530407858, + -0.04192315342281741, + -0.7732373600697754, + -0.05990743800430422 + ], + [ + 0.04402588197163857, + 0.9988658611697234, + -0.01813044694116049, + 0.06065536887346998 + ], + [ + 0.7731204870634382, + -0.022570790787072557, + 0.6338574539169184, + 1.0209838506693503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.612642138681521, + -0.04267031369873798, + -0.7892077383303987, + -0.06398588150674091 + ], + [ + 0.04506887302289525, + 0.998802863998715, + -0.019016717708649145, + 0.06077675000268262 + ], + [ + 0.7890743986444991, + -0.02391826073976953, + 0.6138318256713367, + 1.0384560193799555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.5948303116441845, + -0.04347572168162756, + -0.8026747547877311, + -0.06806998333664688 + ], + [ + 0.045731902213383545, + 0.9987493787959432, + -0.02020572875853257, + 0.061406396529013946 + ], + [ + 0.8025493713593127, + -0.024688863460668335, + 0.5960746316962271, + 1.0621533969345944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.57943441619625, + -0.04360631295658011, + -0.8138514893994137, + -0.07107234193182288 + ], + [ + 0.04579179826214967, + 0.9987321365948948, + -0.020910058453175586, + 0.0637821874088067 + ], + [ + 0.8137314474316634, + -0.02515171570548274, + 0.58069658399016, + 1.0791976394477905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.5534578461011335, + -0.04434093570073965, + -0.8316960346245958, + -0.07382322916814522 + ], + [ + 0.046644587866348966, + 0.998664769322896, + -0.022202723617277993, + 0.06725178390880363 + ], + [ + 0.8315700181054344, + -0.02650584717434352, + 0.5547871168779047, + 1.0983015082918417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.5205747940536868, + -0.045304762813757, + -0.852613254800998, + -0.07657871697214884 + ], + [ + 0.047588388597475544, + 0.9985785404586089, + -0.0240050787595184, + 0.06758051651636912 + ], + [ + 0.8524888439543699, + -0.028078051961349496, + 0.5219907987037687, + 1.1159667687351407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.486259195378882, + -0.0459498276818747, + -0.8726056430286757, + -0.07633460310315397 + ], + [ + 0.04835968562458275, + 0.9985010771857523, + -0.02563083426625436, + 0.0660534082532528 + ], + [ + 0.8724754069403757, + -0.029735705723905305, + 0.48775244959849007, + 1.1287098591142872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.43326188632799784, + -0.04679565344252376, + -0.9000523899609358, + -0.07490367842788848 + ], + [ + 0.049692919280923536, + 0.9983723563702733, + -0.027986636257467796, + 0.06422552327703708 + ], + [ + 0.899897078353322, + -0.032600687946045065, + 0.43488210300793007, + 1.146324861599322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.3911019724575779, + -0.04750243786064261, + -0.9191206479766886, + -0.07235193528545147 + ], + [ + 0.05066434548991447, + 0.9982640287901468, + -0.030034195839805662, + 0.06345779084024111 + ], + [ + 0.918951778514994, + -0.03482021282187983, + 0.3928297106166594, + 1.1607582403634076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.33039219015577176, + -0.04818896665081006, + -0.9426127647009664, + -0.065430254379024 + ], + [ + 0.050857966995430465, + 0.9981538325437291, + -0.03320231575292362, + 0.06564648779420636 + ], + [ + 0.9424725289774574, + -0.036969583056781295, + 0.33223302372197083, + 1.1797810915843336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.27059696568849473, + -0.0485632726712549, + -0.9614670512855014, + -0.056633864013342104 + ], + [ + 0.05197750840618883, + 0.9980070702074737, + -0.035780252036268216, + 0.06784508838501509 + ], + [ + 0.9612885210903456, + -0.04029263410788197, + 0.27258188284730916, + 1.1912066586072474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.1872453323350198, + -0.04947091099045967, + -0.981066671783586, + -0.04699941482799571 + ], + [ + 0.0528379194223169, + 0.9977924248890089, + -0.04022972912204138, + 0.07024662242604632 + ], + [ + 0.9808910947653001, + -0.044304692752417274, + 0.18944591420837015, + 1.2106866242870769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.11070353637666262, + -0.049452273049009204, + -0.9926223852623853, + -0.037255424325048817 + ], + [ + 0.0526185193704006, + 0.9976521576212118, + -0.043834504822202386, + 0.07153115024229792 + ], + [ + 0.9924595802615681, + -0.04737768550728439, + 0.1130457273098155, + 1.2328534570789798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.0653860798873667, + -0.04894414274944531, + -0.9966589845315624, + -0.032350468488956396 + ], + [ + 0.052604048636798656, + 0.9975766112125329, + -0.04553810304279876, + 0.0707071042384349 + ], + [ + 0.9964725157393858, + -0.04945073965312509, + 0.06780228406018952, + 1.2522838854633718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.026201484049806725, + -0.04854557137445972, + -0.9984772454760874, + -0.02620592725444048 + ], + [ + 0.0529316742403191, + 0.9974863594686063, + -0.04710839135634806, + 0.06928614478444133 + ], + [ + 0.99825433637711, + -0.051616762529175984, + 0.028705221307319544, + 1.2761245011386644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + -0.0031336971683556176, + -0.04801844726701934, + -0.9988415333095246, + -0.02118627868872328 + ], + [ + 0.05295229603596243, + 0.9974371172524932, + -0.048117060088458556, + 0.07028622505667119 + ], + [ + 0.9985921260888139, + -0.053041736859769345, + -0.0005829788350764, + 1.2960838012801221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + -0.03352942071747352, + -0.04761137260133194, + -0.9983030277152163, + -0.01760962249636262 + ], + [ + 0.05246707199650533, + 0.9974034756055494, + -0.049330651790583054, + 0.07222835775818029 + ], + [ + 0.9980596095937678, + -0.05403206500761714, + -0.030944331444522348, + 1.321827778798911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + -0.0489030420894199, + -0.04733840939942371, + -0.997681095074941, + -0.016715854688240134 + ], + [ + 0.0516875597733297, + 0.9974178808250652, + -0.049859474276357396, + 0.07280124254716418 + ], + [ + 0.997465231794612, + -0.054005981205500084, + -0.04632996174132125, + 1.3412977686290048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + -0.06833255327641469, + -0.046761546746107385, + -0.9965661141683666, + -0.014905520739297046 + ], + [ + 0.05143729668068591, + 0.9974072889033788, + -0.05032796988350915, + 0.07318869648680919 + ], + [ + 0.9963357198619898, + -0.05469970555975526, + -0.06575009915404709, + 1.363706380354234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + -0.08413799346576792, + -0.04622485614425496, + -0.9953813644679096, + -0.01506941009216601 + ], + [ + 0.05142779774456328, + 0.9973907013999197, + -0.05066527785496391, + 0.07156240567890193 + ], + [ + 0.9951261124474119, + -0.05545314630766535, + -0.08154120976464586, + 1.3836098243510093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + -0.09992437124441057, + -0.04599537963785706, + -0.9939313583358658, + -0.017223429069319826 + ], + [ + 0.05126833191933924, + 0.9973660260950317, + -0.05130855809330322, + 0.0708990846468575 + ], + [ + 0.9936733256828515, + -0.0560841781911335, + -0.09730306666805273, + 1.4089872923243172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + -0.11520459114214718, + -0.04513446804787948, + -0.9923158680449515, + -0.019042844948429234 + ], + [ + 0.050602240482403915, + 0.9974035348269188, + -0.05124062814728286, + 0.0733611643908212 + ], + [ + 0.9920520729467439, + -0.05611656180489054, + -0.11262156122726329, + 1.4344968214375937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.1263606054548341, + -0.044702570851364656, + -0.990976628154452, + -0.023049113894186263 + ], + [ + 0.050545031197010745, + 0.9973963166604352, + -0.051437217396459546, + 0.0760314767730995 + ], + [ + 0.9906958146728899, + -0.056588582518703835, + -0.12377210961336513, + 1.4548246944330188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.1374794881904126, + -0.04446328244614304, + -0.989506142902113, + -0.030992334704130153 + ], + [ + 0.05014111954495858, + 0.9973987379386395, + -0.0517844155049339, + 0.07792566718048274 + ], + [ + 0.9892346832060027, + -0.056734240741583696, + -0.13489242925307432, + 1.4785878373168964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.14535853782221297, + -0.0439280714052988, + -0.9884033690881466, + -0.03818829573046544 + ], + [ + 0.049920240549522335, + 0.9974157469125761, + -0.05167008219758734, + 0.07852143219598037 + ], + [ + 0.9881188516902539, + -0.05685202154223344, + -0.1427899946806335, + 1.497057096059894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.15348723341659096, + -0.04354589834626703, + -0.9871906725224556, + -0.04758131676200694 + ], + [ + 0.049554341369332976, + 0.997432322340104, + -0.05170231718868115, + 0.07810667035071996 + ], + [ + 0.9869073089351266, + -0.05685522920931686, + -0.1509352393643827, + 1.5192182591330963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.16151808047723573, + -0.04320560274402844, + -0.9859235191283726, + -0.05473647736991735 + ], + [ + 0.04936892639780163, + 0.997436554872272, + -0.05179795469766972, + 0.07784992946450227 + ], + [ + 0.9856341201405713, + -0.05704029186512462, + -0.15897102351895362, + 1.5367521510392497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.17605619541756629, + -0.04248958979238071, + -0.9834626839968902, + -0.062310768357706006 + ], + [ + 0.049022731212270645, + 0.997449897390038, + -0.051869779458685185, + 0.0802355084596497 + ], + [ + 0.98315867889145, + -0.05734402284352214, + -0.1735242783144205, + 1.559227822230918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.1891245803505847, + -0.04185926489896644, + -0.9810604951017717, + -0.07068088874140004 + ], + [ + 0.048632288217321094, + 0.9974656504067023, + -0.05193435088148983, + 0.08160835009504036 + ], + [ + 0.9807480785859143, + -0.05753327907265888, + -0.18660956071215895, + 1.576296560675506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.20276093215325633, + -0.04140792012426325, + -0.9783523846464143, + -0.08141492415523452 + ], + [ + 0.04849755428027428, + 0.9974548139088635, + -0.05226740321525629, + 0.08292890560348128 + ], + [ + 0.9780265802222219, + -0.05804548527678074, + -0.20023668499505423, + 1.5964426960447684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.21557778493826374, + -0.04074364049812208, + -0.9756362920679366, + -0.09148526905814583 + ], + [ + 0.04794810223567257, + 0.997482256425074, + -0.05225062305026352, + 0.08312352305263239 + ], + [ + 0.9753087706634804, + -0.058043982255725914, + -0.21308143511528121, + 1.6172480899301067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.22161306427428254, + -0.04043295157039307, + -0.9742960669992818, + -0.1006907943860224 + ], + [ + 0.04774229710570576, + 0.9974918978010088, + -0.05225501782998971, + 0.08161402584685896 + ], + [ + 0.9739652574964023, + -0.05809552692461161, + -0.21912687407371684, + 1.6348054719386738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.22628083971308244, + -0.040113469170652075, + -0.973235783954658, + -0.11011468411790928 + ], + [ + 0.04732806304889518, + 0.9975187915758755, + -0.0521182779938616, + 0.08070989978346299 + ], + [ + 0.9729116280663842, + -0.057854732253297854, + -0.22382089698934973, + 1.6568681646725527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.2291575790497433, + -0.039838131495852504, + -0.9725737644225142, + -0.11719849732957542 + ], + [ + 0.04718609215245573, + 0.9975328122944074, + -0.051978467689907125, + 0.08194355590035945 + ], + [ + 0.9722449674189324, + -0.05780321509163595, + -0.2267123985441234, + 1.6751931933334188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.23109294919517268, + -0.040035706964072534, + -0.9721076025832553, + -0.12893898994817468 + ], + [ + 0.04697288296909636, + 0.9975287297277887, + -0.05224922614963646, + 0.08393311733530262 + ], + [ + 0.9717970966708271, + -0.057737124413597116, + -0.22864126348190061, + 1.6978137062905307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.23093486267144728, + -0.040425796316738684, + -0.972129026516068, + -0.13856023714852278 + ], + [ + 0.046312305444442925, + 0.997547262479517, + -0.05248456424553067, + 0.08506921554766672 + ], + [ + 0.9718663794819434, + -0.05714205204383345, + -0.22849622824212978, + 1.714740744664904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.23173966475813934, + -0.04014475505621434, + -0.9719491377738146, + -0.14932304212601222 + ], + [ + 0.04579121736846963, + 0.9975903421068166, + -0.05212172049269169, + 0.08715138736051253 + ], + [ + 0.9716994865644927, + -0.0565854042724912, + -0.2293429742408081, + 1.7342350177704746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_085/orbit_right/transforms.json b/spatialvid_eval/camera_controls/scene_085/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2e4cf5cfb07617d5abf5f537813340e9eac7f621 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_085/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": [ + [ + 0.9999999973260562, + -6.919410117160017e-05, + -2.366567194754885e-05, + -3.479231650580499e-05 + ], + [ + 6.919419045911323e-05, + 0.9999999975989677, + 3.772072441269068e-06, + -6.767783295550936e-05 + ], + [ + 2.366541088556468e-05, + -3.77370995819484e-06, + 0.9999999997128537, + -0.00021331843226794447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9994900898749457, + -0.0007936432473401996, + -0.03192068877967366, + 0.006850739197181761 + ], + [ + 0.0008028635238545373, + 0.9999996396078141, + 0.00027603333869547544, + 0.0012888096280152031 + ], + [ + 0.03192045820371155, + -0.00030152054317873496, + 0.9994903668537417, + 0.02623766700034375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9986111804374538, + -0.0017986238248186067, + -0.052654299517251625, + 0.011335401287695456 + ], + [ + 0.0018043836619566363, + 0.9999983701856002, + 6.185259822718989e-05, + -0.0012174598902956097 + ], + [ + 0.05265410245095926, + -0.00015677525390947765, + 0.9986127982940155, + 0.05085127238400365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9973717900775024, + -0.0024315400144731924, + -0.07241270586545216, + 0.01657228817758289 + ], + [ + 0.002435407705278117, + 0.9999970337818981, + -3.4881439427240337e-05, + -0.0037171409673360844 + ], + [ + 0.07241257588918894, + -0.00014156469814273338, + 0.9973747534465313, + 0.07968578893254621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9963597179309757, + -0.002969000368750176, + -0.08519681638017482, + 0.022162178102044343 + ], + [ + 0.0029961080840122875, + 0.9999954935477092, + 0.00019031716294634957, + -0.0034162846286579095 + ], + [ + 0.08519586739305951, + -0.0004448832250794006, + 0.9963641233294485, + 0.10385048137742604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9953416591771881, + -0.003112966281603066, + -0.09636021454589985, + 0.02807320208162884 + ], + [ + 0.003152785582966046, + 0.999994995903624, + 0.00026098041892161074, + -0.0009457305054397992 + ], + [ + 0.09635891992685518, + -0.0005635677783740219, + 0.9953464929068113, + 0.1333607389227253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9944478328520352, + -0.0028396720743759083, + -0.10519241416756667, + 0.033469886104033626 + ], + [ + 0.002919114764964316, + 0.9999955586184174, + 0.0006012590361861545, + 0.0019157753114114012 + ], + [ + 0.10519023958942122, + -0.00090498947487681, + 0.9944517054584253, + 0.1576396424647772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9932460590308804, + -0.0032177107687307947, + -0.11598238037320184, + 0.03868907629512795 + ], + [ + 0.0033590991279361985, + 0.999993834316003, + 0.0010236127331727535, + 0.003990443180699473 + ], + [ + 0.11597837157278067, + -0.001406295625965252, + 0.993250743598986, + 0.18749896793245596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9920256357827071, + -0.0035637201007534583, + -0.12598586368700068, + 0.042790105557271495 + ], + [ + 0.0037124963761761684, + 0.9999926610877304, + 0.000946119092289666, + 0.0041254750806488305 + ], + [ + 0.12598156738417296, + -0.0014062964564422282, + 0.9920315856915565, + 0.21499300181140268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.990495555642545, + -0.003579407748870463, + -0.1374981530513559, + 0.047482549244912235 + ], + [ + 0.0037556264761574847, + 0.999992425159139, + 0.0010222006240954771, + 0.00457511798707036 + ], + [ + 0.13749345265189303, + -0.0015288768791640313, + 0.9905014957148478, + 0.24543714946342382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.98932010363025, + -0.004197990495308202, + -0.14569869398465168, + 0.05448422512469102 + ], + [ + 0.004445701603043624, + 0.9999891730521355, + 0.0013745965819666852, + 0.006143195898491307 + ], + [ + 0.145691345969102, + -0.002007648950329996, + 0.9893280553261411, + 0.2774491964368542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9883547337298108, + -0.004218390415321753, + -0.15210892641846885, + 0.06051766198423868 + ], + [ + 0.004473509305365473, + 0.9999891026481974, + 0.0013350278454158455, + 0.007935458657326975 + ], + [ + 0.15210163716531805, + -0.001999941788440033, + 0.9883628342893481, + 0.3039449631661993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9872146471850187, + -0.00423833016641391, + -0.15934012972493852, + 0.0670142624670072 + ], + [ + 0.004566596553381356, + 0.9999881381146287, + 0.0016940560668637483, + 0.011304278189577398 + ], + [ + 0.15933105968165284, + -0.0024000390495777773, + 0.9872222917019665, + 0.3350989515081293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.985871796244398, + -0.004425322478852331, + -0.1674431780957427, + 0.07202484429512214 + ], + [ + 0.004822165482101614, + 0.999986445604753, + 0.0019634986213466657, + 0.012780129662972829 + ], + [ + 0.16743221939013908, + -0.0027431966263771193, + 0.9858797729857133, + 0.3631315847226308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9840451463389692, + -0.0048254269597910225, + -0.17785349370021583, + 0.07656421821817769 + ], + [ + 0.005184651967351145, + 0.9999853504571939, + 0.0015550739470018549, + 0.013169598255856996 + ], + [ + 0.17784338433209834, + -0.0024523714357584567, + 0.9840557486868551, + 0.39782161245811737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9825063960216003, + -0.0050871251491049286, + -0.18615934823253932, + 0.08296740080397023 + ], + [ + 0.00549221021047396, + 0.9999835392918366, + 0.001660353087814047, + 0.015265492302589027 + ], + [ + 0.18614783749388672, + -0.0026537338015694446, + 0.9825181628312325, + 0.42608856223373165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9811634414878219, + -0.005420518530229404, + -0.19310338957832313, + 0.09205512105316577 + ], + [ + 0.005889455920590423, + 0.9999809374510268, + 0.0018544658329916074, + 0.017973063015914253 + ], + [ + 0.1930896563690909, + -0.0029568079798577593, + 0.9811766619166179, + 0.45823222441111683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9800799016122362, + -0.005582020807294149, + -0.19852513064963948, + 0.10159611649042885 + ], + [ + 0.006026653066889082, + 0.9999805020919929, + 0.001635508684564453, + 0.020757136313852058 + ], + [ + 0.19851213038139717, + -0.002799371278138092, + 0.9800944330072926, + 0.4895929098222006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9790199544178867, + -0.0058308686051067584, + -0.2036809510555891, + 0.1112123042585043 + ], + [ + 0.006363964917370869, + 0.9999778241661937, + 0.0019624286930923734, + 0.023802296003985625 + ], + [ + 0.20366499159681267, + -0.00321747527651415, + 0.9790353512773251, + 0.5154060333086055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9779134361522925, + -0.005489981785872924, + -0.20893820017604872, + 0.12048465018853088 + ], + [ + 0.006378939243922554, + 0.9999732422946547, + 0.003581037396907932, + 0.02580634263602172 + ], + [ + 0.20891294963916948, + -0.0048347486704576415, + 0.9779222896929772, + 0.5460338620696357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9767055854057067, + -0.005635028500669331, + -0.21450978040894275, + 0.12782603853079044 + ], + [ + 0.006853481712917653, + 0.9999643279271951, + 0.00493686758217386, + 0.02698199516890606 + ], + [ + 0.21447430901090905, + -0.006292004999192244, + 0.9767093638577362, + 0.5725617503640867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9751422716103036, + -0.006274480219835968, + -0.2214908147455959, + 0.13659189372984276 + ], + [ + 0.007581179740649467, + 0.9999585111949066, + 0.005049911148318207, + 0.027960014931976872 + ], + [ + 0.2214499397887409, + -0.006603543506090469, + 0.9751493820849841, + 0.6039270533515996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9736071406378514, + -0.006635119979940462, + -0.2281339757288224, + 0.1439345538436576 + ], + [ + 0.007964654980896485, + 0.999956238370292, + 0.004907709788793913, + 0.02762809522358053 + ], + [ + 0.2280914289709774, + -0.006595189700648317, + 0.9736173804440789, + 0.6304583221690397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9711938598563863, + -0.007171325585437957, + -0.23818282613698566, + 0.1521456451599456 + ], + [ + 0.008524966259778883, + 0.9999528333673037, + 0.0046535997863444535, + 0.028664002407981157 + ], + [ + 0.2381382193758984, + -0.006550048095203307, + 0.9712091872209752, + 0.6607517333421558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9679010282616552, + -0.00794007184523959, + -0.2512061996629932, + 0.16201980661642773 + ], + [ + 0.009415969197560459, + 0.999944745927961, + 0.004673822326184988, + 0.03080177873766256 + ], + [ + 0.25115520901247845, + -0.006889147273689696, + 0.9679223112604339, + 0.6904762881244726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9654721696745728, + -0.00837172759632429, + -0.2603716646659662, + 0.17042711525862236 + ], + [ + 0.009818851458326575, + 0.9999427295112391, + 0.004257681722825087, + 0.031495411915710654 + ], + [ + 0.26032110890189586, + -0.00666722391003205, + 0.9654990773612481, + 0.7156978320909575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9631974330393863, + -0.008802902149701239, + -0.26865072845626176, + 0.17708949573079885 + ], + [ + 0.010222320876516701, + 0.9999402032527034, + 0.003885109372967229, + 0.03228957531138391 + ], + [ + 0.2686004637788901, + -0.006488361325109156, + 0.9632298230563049, + 0.7458267735554062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9605853943522719, + -0.009223177140848011, + -0.27783202328118933, + 0.17937955698521504 + ], + [ + 0.010778221956572607, + 0.9999336294157606, + 0.004070220495185607, + 0.033145336998995294 + ], + [ + 0.27777604304285436, + -0.00690432957303687, + 0.9606210491888056, + 0.7718041543483449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9545182057801714, + -0.010131162006873912, + -0.2979804597462615, + 0.17831907061370633 + ], + [ + 0.011805620489598361, + 0.9999230143416201, + 0.003820041207150603, + 0.033328496647355 + ], + [ + 0.2979188180680409, + -0.007164143100136116, + 0.9545643262214353, + 0.801496554455954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9435496939601469, + -0.011822825162318652, + -0.33101993268214897, + 0.17651219698490234 + ], + [ + 0.013616218304622878, + 0.9999024919382623, + 0.003099228086828686, + 0.034642477133952194 + ], + [ + 0.33095101393830784, + -0.007431515379421608, + 0.943618672426723, + 0.8266242096955481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.913795871885889, + -0.01580226539413753, + -0.4058662254151255, + 0.17005800764049858 + ], + [ + 0.017882718476031206, + 0.9998392014695272, + 0.0013340107515894756, + 0.03770823587450643 + ], + [ + 0.40577988233057494, + -0.008477004965881964, + 0.9139315223158645, + 0.8590012159732884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.8725692512693238, + -0.020137852694097548, + -0.4880751669857451, + 0.16330440892253417 + ], + [ + 0.022086942143823438, + 0.9997544991082831, + -0.0017630937245863391, + 0.04002255054555082 + ], + [ + 0.48799084901873674, + -0.009241666603871167, + 0.8727998183274076, + 0.8902883614339472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8132777741113646, + -0.024738754983003246, + -0.5813495128907871, + 0.15598204371668783 + ], + [ + 0.0264191281324031, + 0.9996353828988156, + -0.005579509428435807, + 0.04183075144622799 + ], + [ + 0.5812755730332972, + -0.010821056262180183, + 0.8136348154646426, + 0.9267893575719511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.7552298493792693, + -0.02893391115897254, + -0.6548211232020628, + 0.14997942211112814 + ], + [ + 0.03036083869152402, + 0.9994971452941317, + -0.009147459911293579, + 0.044578497938887164 + ], + [ + 0.6547565151111623, + -0.012972483722331247, + 0.7557285363049092, + 0.9622667565699358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.7105729752294128, + -0.03150924127231289, + -0.702917644242954, + 0.14479682009668732 + ], + [ + 0.032670756482814506, + 0.9993968300148324, + -0.01177275783942712, + 0.04555708033896708 + ], + [ + 0.7028646160851045, + -0.014599447617918065, + 0.7111738096870489, + 0.9888470819310786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.6477481888070754, + -0.034604500931883525, + -0.7610682048360771, + 0.1357725544783174 + ], + [ + 0.035151620525939196, + 0.9992615193992672, + -0.015517068739562148, + 0.04765502284951006 + ], + [ + 0.7610431311506293, + -0.016701627559109262, + 0.6484862436207287, + 1.0190557857640126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.588356166393161, + -0.037358926989572744, + -0.8077384056991046, + 0.128258010995011 + ], + [ + 0.03731718098439458, + 0.9991222800083097, + -0.01902886214083702, + 0.0505410585249319 + ], + [ + 0.8077403354237805, + -0.018946771893512983, + 0.5892338842635361, + 1.0425254451163104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.5318969558133695, + -0.03924496913201818, + -0.8458992025024602, + 0.11912763299593145 + ], + [ + 0.03823790066613265, + 0.999019692028074, + -0.022305109118311565, + 0.05430757870621128 + ], + [ + 0.8459453240896353, + -0.020481390039734933, + 0.532876178218658, + 1.0745824851874972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.5015099266990191, + -0.03998910523892079, + -0.8642272067486277, + 0.11383676712146666 + ], + [ + 0.03819973604786862, + 0.9989804986637739, + -0.024057087424527283, + 0.057667729717881894 + ], + [ + 0.8643081473573057, + -0.02094838303231779, + 0.5025262099235358, + 1.1012237270338434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.483494357529246, + -0.04025714381394428, + -0.8744212763933216, + 0.10974724783076303 + ], + [ + 0.03795532521186361, + 0.9989665533357566, + -0.025004371708585285, + 0.0608568139870781 + ], + [ + 0.874524213229939, + -0.02109947128301649, + 0.48452266488383566, + 1.1317468147421437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.47330662433926385, + -0.040141936827970216, + -0.8799826499791178, + 0.10734783430402363 + ], + [ + 0.0373539737000835, + 0.9989772298990255, + -0.02547890876948, + 0.06264697830325662 + ], + [ + 0.8801054027816128, + -0.020811512462319097, + 0.47432200132783875, + 1.1559430979297023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.4602912745371536, + -0.04006012719887019, + -0.8868636472388376, + 0.10465803610757195 + ], + [ + 0.03672207620539478, + 0.9989855221446172, + -0.026065603093195708, + 0.06560197351930028 + ], + [ + 0.8870081350833984, + -0.020569704768352313, + 0.4612954102759045, + 1.1844005180534098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.44097098576447546, + -0.04038579213563234, + -0.896612278249347, + 0.10071985249941888 + ], + [ + 0.036799659774688284, + 0.99896062646162, + -0.02689705968828116, + 0.06908793931807619 + ], + [ + 0.8967666222347784, + -0.02113420386447683, + 0.44199883560100106, + 1.2117410699176752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.418892532819542, + -0.04104900677143702, + -0.9071075046493153, + 0.09576541373448413 + ], + [ + 0.036999470283928804, + 0.9989196309883588, + -0.028117788405032172, + 0.07078617756923349 + ], + [ + 0.9072817010977009, + -0.021784165560333274, + 0.4199587658141004, + 1.2353588733767022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.38706211516772115, + -0.04192315342281741, + -0.9211000858804523, + 0.08677835624238711 + ], + [ + 0.037063559341754974, + 0.9988658611697234, + -0.029887856373234486, + 0.07231919375815082 + ], + [ + 0.9213084236946983, + -0.022570790787072557, + 0.3881769542778606, + 1.2647088261349175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.35716706026562917, + -0.04267031369873798, + -0.9330653435799978, + 0.07874937570412269 + ], + [ + 0.03760796071910724, + 0.998802863998715, + -0.031280667488312854, + 0.07294501891821352 + ], + [ + 0.9332830933600792, + -0.02391826073976953, + 0.35834422620076617, + 1.2919503560981707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.3300483752099962, + -0.04347572168162756, + -0.942962317192741, + 0.07114572726659706 + ], + [ + 0.037683040082162604, + 0.9987493787959432, + -0.03285828426567631, + 0.0739622815674092 + ], + [ + 0.9432115661459034, + -0.024688863460668335, + 0.33127390707632376, + 1.3249309405331227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.305812328829647, + -0.04360631295658011, + -0.9510926921210786, + 0.06514292821028209 + ], + [ + 0.03731100098008201, + 0.9987321365948948, + -0.03379361683011974, + 0.07656943606230449 + ], + [ + 0.9513604515333042, + -0.02515171570548274, + 0.3070515957545545, + 1.3507970225509958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.2693614821759085, + -0.04434093570073965, + -0.962017813421966, + 0.055546312265283324 + ], + [ + 0.037500620321044134, + 0.998664769322896, + -0.03553001532202984, + 0.08048169553450402 + ], + [ + 0.9623087318504049, + -0.02650584717434352, + 0.2706646350560703, + 1.3803479591875847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.2252590612504544, + -0.045304762813757, + -0.9732450019347411, + 0.04319236542138938 + ], + [ + 0.037594789759667006, + 0.9985785404586089, + -0.03778267219879317, + 0.081259811711941 + ], + [ + 0.9735733085430656, + -0.028078051961349496, + 0.22664208764164978, + 1.4092082714734486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.1799635915326517, + -0.0459498276818747, + -0.9825994703126373, + 0.03289379023226906 + ], + [ + 0.03755448170901, + 0.9985010771857523, + -0.0398153207002067, + 0.08013918653487308 + ], + [ + 0.9829561366745909, + -0.029735705723905305, + 0.18141946196278058, + 1.4329111119601137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.11446412376850473, + -0.04679565344252376, + -0.9923246097869365, + 0.01674297996709306 + ], + [ + 0.03778090394084509, + 0.9983723563702733, + -0.042722843223278455, + 0.0788618258216177 + ], + [ + 0.9927087023227514, + -0.032600687946045065, + 0.11604579905418175, + 1.4629996082074437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.06186016972849653, + -0.04750243786064261, + -0.9969537791685518, + 0.00496776481679735 + ], + [ + 0.037732693594924746, + 0.9982640287901468, + -0.045223585193311926, + 0.07854698244239232 + ], + [ + 0.9973713266558414, + -0.03482021282187983, + 0.06354517718761878, + 1.4878706278925888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + -0.00974645150588333, + -0.04818896665081006, + -0.9987906838653285, + -0.009612435811424276 + ], + [ + 0.03654092528726227, + 0.9981538325437291, + -0.04851481585470413, + 0.08086083473355943 + ], + [ + 0.9992846278524423, + -0.036969583056781295, + -0.007967588494241498, + 1.5178010170592027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + -0.07890841753205328, + -0.0485632726712549, + -0.9956982827091971, + -0.022615545324663963 + ], + [ + 0.03638069251324031, + 0.9980070702074737, + -0.05155902470132039, + 0.08352571963056186 + ], + [ + 0.996217800912453, + -0.04029263410788197, + -0.07698439310538299, + 1.5385986887385774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + -0.170336765859703, + -0.04947091099045967, + -0.9841432899543802, + -0.043941336567327474 + ], + [ + 0.035280397933775076, + 0.9977924248890089, + -0.05626340156572972, + 0.08618367487024416 + ], + [ + 0.9847541214527064, + -0.044304692752417274, + -0.16821538122901464, + 1.5661926284582657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + -0.2523733941739729, + -0.049452273049009204, + -0.9663654291226456, + -0.06335933687406131 + ], + [ + 0.03341473814300362, + 0.9976521576212118, + -0.05977982660208548, + 0.08738353172523616 + ], + [ + 0.9670528037227044, + -0.04737768550728439, + -0.2501284264693436, + 1.5939107822258367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + -0.30236430418481614, + -0.04894414274944531, + -0.9519350284790208, + -0.07682273179553084 + ], + [ + 0.032388380539808304, + 0.9975766112125329, + -0.06157838555636063, + 0.08665711694788589 + ], + [ + 0.9526420210975582, + -0.04945073965312509, + -0.3000463363997605, + 1.6180623663928426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + -0.3456569808106169, + -0.04854557137445972, + -0.9371043587118865, + -0.08724598363668529 + ], + [ + 0.03170707989769427, + 0.9974863594686063, + -0.06336894948180333, + 0.08545852052094512 + ], + [ + 0.937825097073676, + -0.051616762529175984, + -0.3432488851034429, + 1.6460614688122108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + -0.37909513556593055, + -0.04801844726701934, + -0.924110981923878, + -0.095527120942211 + ], + [ + 0.030930864845128855, + 0.9974371172524932, + -0.06451727463996682, + 0.08660091483602694 + ], + [ + 0.9248406131816346, + -0.053041736859769345, + -0.37663830708083557, + 1.6701780547994534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + -0.413011174724354, + -0.04761137260133194, + -0.9094805807447602, + -0.10598769016902068 + ], + [ + 0.029595230800339985, + 0.9974034756055494, + -0.06565385871252988, + 0.08846989956644027 + ], + [ + 0.9102449625604548, + -0.05403206500761714, + -0.41052971157314416, + 1.6995140907254145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + -0.4328776283513622, + -0.04733840939942371, + -0.9002088834645173, + -0.11372141504588087 + ], + [ + 0.028241124002217902, + 0.9974178808250652, + -0.06603037123572475, + 0.08889472083304466 + ], + [ + 0.9010102095914294, + -0.054005981205500084, + -0.430422996836879, + 1.7235519463409947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + -0.45617170036610605, + -0.046761546746107385, + -0.8886623304332234, + -0.12231635390685067 + ], + [ + 0.027393479148227658, + 0.9974072889033788, + -0.0665454532073223, + 0.08933209142064548 + ], + [ + 0.8894700540688549, + -0.05469970555975526, + -0.45370801748087375, + 1.7498919412212934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + -0.4759841366524638, + -0.04622485614425496, + -0.8782382161632752, + -0.13170349046404112 + ], + [ + 0.026813477975401494, + 0.9973907013999197, + -0.06702854734990953, + 0.08785456545983071 + ], + [ + 0.8790450153741113, + -0.05545314630766535, + -0.47350270274889605, + 1.7738679737778895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + -0.49555375959542447, + -0.04599537963785706, + -0.8673585742948589, + -0.14327481934030017 + ], + [ + 0.025966881065895696, + 0.9973660260950317, + -0.0677254094052966, + 0.08724830969889004 + ], + [ + 0.8681890303606413, + -0.0560841781911335, + -0.49305412737150406, + 1.8031081278644718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + -0.514471429064818, + -0.04513446804787948, + -0.8563188824672961, + -0.15451089612781763 + ], + [ + 0.02494438286740702, + 0.9974035348269188, + -0.06755713491653835, + 0.0896142112116583 + ], + [ + 0.857144635659215, + -0.05611656180489054, + -0.5120097704652028, + 1.8323316862302068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.5296355363330802, + -0.044702570851364656, + -0.8470465623638701, + -0.16645302066515427 + ], + [ + 0.024367433117483708, + 0.9973963166604352, + -0.0678735273539131, + 0.09240770121134079 + ], + [ + 0.8478752425070777, + -0.056588582518703835, + -0.5271672462056879, + 1.8567451565824404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.5446105539718196, + -0.04446328244614304, + -0.8375096184621539, + -0.18246928039040672 + ], + [ + 0.02340956977621705, + 0.9973987379386395, + -0.06817440576420077, + 0.09425963056187753 + ], + [ + 0.8383622943247152, + -0.056734240741583696, + -0.5421530128866534, + 1.8844562578911686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.5567170957080942, + -0.0439280714052988, + -0.8295398723924942, + -0.1965470176410709 + ], + [ + 0.02281273075214597, + 0.9974157469125761, + -0.06812787334459883, + 0.09492693015946402 + ], + [ + 0.8303888575010954, + -0.05685202154223344, + -0.554276278569259, + 1.9072359184811591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.5689190066858312, + -0.04354589834626703, + -0.8212398666460515, + -0.2130454201945671 + ], + [ + 0.022023064629030736, + 0.997432322340104, + -0.06814504366109772, + 0.0945011734046643 + ], + [ + 0.8220986245311164, + -0.05685522920931686, + -0.5664991919284645, + 1.933563440928225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.5809239855761121, + -0.04320560274402844, + -0.8128103092812556, + -0.22738495539652973 + ], + [ + 0.021367994825666356, + 0.997436554872272, + -0.068291491429487, + 0.0942991884005424 + ], + [ + 0.8136772897036612, + -0.05704029186512462, + -0.5785116017198323, + 1.9551664497559975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.5981249904199343, + -0.04248958979238071, + -0.800275659129046, + -0.24505216576760286 + ], + [ + 0.020578901149254796, + 0.997449897390038, + -0.06833894222251595, + 0.0966646077356747 + ], + [ + 0.8011385677038917, + -0.05734402284352214, + -0.595725321252571, + 1.980401803467275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.6139033794227388, + -0.04185926489896644, + -0.7882705390127549, + -0.2630511306023784 + ], + [ + 0.019753984177505644, + 0.9974656504067023, + -0.06835244229615463, + 0.09799069843105229 + ], + [ + 0.7891339688813653, + -0.05753327907265888, + -0.6115206463862786, + 2.0002825917880362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.6299134897128187, + -0.04140792012426325, + -0.7755606872636089, + -0.28381770680914375 + ], + [ + 0.01903341110081478, + 0.9974548139088635, + -0.06871407040702592, + 0.09934403131108423 + ], + [ + 0.7764320477283804, + -0.05804548527678074, + -0.6275221086936275, + 2.0229086700476016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.6450540987250123, + -0.04074364049812208, + -0.7630499102136258, + -0.3037198456747657 + ], + [ + 0.01810482893014761, + 0.997482256425074, + -0.06856648807218675, + 0.0994123872538911 + ], + [ + 0.7639223945450693, + -0.058043982255725914, + -0.6426923612712576, + 2.046148060978458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.6547252605267535, + -0.04043295157039307, + -0.7547847439207295, + -0.31989737374699406 + ], + [ + 0.017472102138517364, + 0.9974918978010088, + -0.06859037445737733, + 0.0979267043853133 + ], + [ + 0.755664977933367, + -0.05809552692461161, + -0.6523766940014917, + 2.067453818744633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.6632474543194687, + -0.040113469170652075, + -0.7473243766463393, + -0.33577352173865094 + ], + [ + 0.016724018802096893, + 0.9975187915758755, + -0.06838543447337851, + 0.09695886952916795 + ], + [ + 0.7482132861249201, + -0.057854732253297854, + -0.6609309407359046, + 2.0934895179696027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.6703238405155756, + -0.039838131495852504, + -0.7409985641790195, + -0.3485782389296078 + ], + [ + 0.01621927620927906, + 0.9975328122944074, + -0.06830244121009056, + 0.09825375134017499 + ], + [ + 0.7418914232660305, + -0.05780321509163595, + -0.6680238801190971, + 2.116132190534236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.6766200990783237, + -0.040035706964072534, + -0.7352430779620618, + -0.365669357494271 + ], + [ + 0.015453571082743839, + 0.9975287297277887, + -0.06853918958125242, + 0.10021385433737655 + ], + [ + 0.736170108510275, + -0.057737124413597116, + -0.6743292932984735, + 2.143249304036148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.6812908962958566, + -0.040425796316738684, + -0.7308956626061935, + -0.379724839354147 + ], + [ + 0.014314096352863837, + 0.997547262479517, + -0.06851690131072438, + 0.10109698271920291 + ], + [ + 0.731872817687602, + -0.05714205204383345, + -0.6790412098085289, + 2.1651573018696317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.6866670056319454, + -0.04014475505621434, + -0.7258628121194352, + -0.3954093677803917 + ], + [ + 0.013595497264964066, + 0.9975903421068166, + -0.06803434271985778, + 0.10306400958767863 + ], + [ + 0.7268449530887425, + -0.0565854042724912, + -0.6844665851542663, + 2.189358628683933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_085/push_in/transforms.json b/spatialvid_eval/camera_controls/scene_085/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f56126191ed3722dbcf8592d48d5a7534f1858b4 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_085/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": [ + [ + 0.9999999973260562, + -6.919410117160017e-05, + -2.366567194754885e-05, + -3.479231650580499e-05 + ], + [ + 6.919419045911323e-05, + 0.9999999975989677, + 3.772072441269068e-06, + -6.767783295550936e-05 + ], + [ + 2.366541088556468e-05, + -3.77370995819484e-06, + 0.9999999997128537, + -0.00021331843226794447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9995891980303167, + -0.0007936432473401996, + -0.02864970002468483, + 0.003593220736230982 + ], + [ + 0.0008019559094666421, + 0.9999996396078141, + 0.00027865922069622475, + 0.0012864447452236405 + ], + [ + 0.028649468543547996, + -0.00030152054317873496, + 0.9995894742530728, + 0.026968713674704416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9989344109718415, + -0.0017986238248186067, + -0.04611732352031237, + 0.0047958119620180074 + ], + [ + 0.0018039401936428084, + 0.9999983701856002, + 7.366085258427595e-05, + -0.0012290108384398325 + ], + [ + 0.04611711586947, + -0.00015677525390947765, + 0.9989360275039648, + 0.05219926476227615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.99803462435055, + -0.0024315400144731924, + -0.06261769886074324, + 0.006730844727906252 + ], + [ + 0.0024356327826761353, + 0.9999970337818981, + -1.0970583295504167e-05, + -0.0037408076446786317 + ], + [ + 0.06261753979840363, + -0.00014156469814273338, + 0.9980375863007525, + 0.08154540795831368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9973895492471614, + -0.002969000368750176, + -0.07214757161093335, + 0.00901718815181512 + ], + [ + 0.0029933602254709397, + 0.9999954935477092, + 0.00022951870112104835, + -0.003454264999917112 + ], + [ + 0.07214656504023573, + -0.0004448832250794006, + 0.9973939418463554, + 0.1062045371114656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9967850406318611, + -0.003112966281603066, + -0.08006180246202645, + 0.011619133777234034 + ], + [ + 0.0031480934529230435, + 0.999994995903624, + 0.0003125305151215176, + -0.0009953669247478683 + ], + [ + 0.08006042892809533, + -0.0005635677783740219, + 0.9967898525322219, + 0.13617280335391763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9963214590761201, + -0.0028396720743759083, + -0.08564745441016614, + 0.013706385014925337 + ], + [ + 0.0029067471428037713, + 0.9999955586184174, + 0.0006584561393367738, + 0.0018626068923018463 + ], + [ + 0.08564520421762845, + -0.00090498947487681, + 0.99632528824103, + 0.16090341430778474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9956420947511853, + -0.0032177107687307947, + -0.09320120973936516, + 0.01560346978345188 + ], + [ + 0.003334771517843206, + 0.999993834316003, + 0.0011002858276815365, + 0.003921268732039793 + ], + [ + 0.09319709468860132, + -0.001406295625965252, + 0.9956466862668788, + 0.19113176208262328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9949836188149747, + -0.0035637201007534575, + -0.09997448769011337, + 0.01637894447495757 + ], + [ + 0.0036864576858177595, + 0.9999926610877302, + 0.0010429767066389196, + 0.004036938444961952 + ], + [ + 0.09997003710906492, + -0.001406296456442228, + 0.9949894542208418, + 0.21896513704890133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9941150555736082, + -0.003579407748870463, + -0.10827023654749053, + 0.017733756396005218 + ], + [ + 0.0037238957518126513, + 0.999992425159139, + 0.0011323536435001013, + 0.004475087060363901 + ], + [ + 0.10826536326227267, + -0.0015288768791640313, + 0.9941208546515745, + 0.2496578233075729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9935575368923916, + -0.004197990495308202, + -0.11325103867128883, + 0.021407002467765873 + ], + [ + 0.004398345779317115, + 0.9999891730521355, + 0.0015193198846926424, + 0.006013419244011584 + ], + [ + 0.11324343441776225, + -0.002007648950329996, + 0.9935652439105157, + 0.28197320295144984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9931887867591376, + -0.004218390415321753, + -0.1164398515896366, + 0.024116934045862452 + ], + [ + 0.004422564026246453, + 0.9999891026481974, + 0.0014951629633514572, + 0.007791623489974435 + ], + [ + 0.11643227552249602, + -0.001999941788440033, + 0.9931966197332213, + 0.308804545566066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9927092046054385, + -0.004238330166413909, + -0.12045941909638432, + 0.027283247196203276 + ], + [ + 0.004496567543864856, + 0.9999881381146285, + 0.0018720337503617623, + 0.011148220897661128 + ], + [ + 0.12045005592344636, + -0.002400039049577777, + 0.9927164871405125, + 0.3402395844424595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9921010740848342, + -0.004425322478852331, + -0.12536297428139184, + 0.028955956370498227 + ], + [ + 0.004734295677770559, + 0.999986445604753, + 0.0021668066845580754, + 0.012604227091084701 + ], + [ + 0.12535168624376056, + -0.0027431966263771193, + 0.9921085775398352, + 0.36848793799879836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9911580579153639, + -0.0048254269597910225, + -0.1325987159971768, + 0.030141572366023984 + ], + [ + 0.0051079909906187925, + 0.9999853504571939, + 0.0017908933644858005, + 0.012958901891353389 + ], + [ + 0.13258813166148767, + -0.0024523714357584567, + 0.9911681861404034, + 0.40325138086410056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9904573303109727, + -0.0050871251491049286, + -0.13772580728018358, + 0.03319948053669155 + ], + [ + 0.005404124938163662, + 0.9999835392918366, + 0.001927843101750154, + 0.015027068088838087 + ], + [ + 0.1377137330367369, + -0.0026537338015694446, + 0.9904685181417918, + 0.431648784469307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9899250416385151, + -0.005420518530229403, + -0.1414886211532492, + 0.03894727940116927 + ], + [ + 0.0057843293832473015, + 0.9999809374510266, + 0.0021601546593734288, + 0.017702126090574425 + ], + [ + 0.14147421486111997, + -0.0029568079798577584, + 0.9899375252085356, + 0.4639614700365057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9896023657827275, + -0.005582020807294149, + -0.14372194919682832, + 0.0451554943754804 + ], + [ + 0.005926389047390319, + 0.9999805020919929, + 0.001968082494434973, + 0.020458761899833113 + ], + [ + 0.14370816104204984, + -0.002799371278138092, + 0.9896161518338105, + 0.4955528661918664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9893128134570653, + -0.0058308686051067584, + -0.14569199738137945, + 0.051439285084017725 + ], + [ + 0.0062373975671628544, + 0.9999778241661937, + 0.0023336768058474485, + 0.023473681769113956 + ], + [ + 0.14567515917703694, + -0.00321747527651415, + 0.9893272440661836, + 0.5215977431580535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9890065823994257, + -0.005489981785872924, + -0.14776955055287497, + 0.05737720255642464 + ], + [ + 0.006144096659620417, + 0.9999732422946547, + 0.003970487495629424, + 0.02549083539015579 + ], + [ + 0.1477437986747502, + -0.0048347486704576415, + 0.9890138498314613, + 0.5524374905821908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.988643994663284, + -0.005635028500669331, + -0.15017089688092494, + 0.06138102975415589 + ], + [ + 0.006515921294018448, + 0.9999643279271951, + 0.005374536519865951, + 0.026648964227334038 + ], + [ + 0.15013525430729086, + -0.006292004999192244, + 0.9886454450849281, + 0.5791416015436144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9880498849084757, + -0.006274480219835968, + -0.1540066746291179, + 0.06679861816612909 + ], + [ + 0.00721651613314634, + 0.9999585111949066, + 0.005558577494825543, + 0.02756591895692183 + ], + [ + 0.15396540789166943, + -0.006603543506090469, + 0.9880541717871116, + 0.6105654441606717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9874952850553778, + -0.006635119979940462, + -0.15750884793004466, + 0.0707937697347096 + ], + [ + 0.00759099788714232, + 0.999956238370292, + 0.005467915088326043, + 0.027186935272412036 + ], + [ + 0.15746567481351464, + -0.006595189700648317, + 0.9875024378341235, + 0.6371536917799219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.986354630949004, + -0.007171325585437955, + -0.16447830888844187, + 0.07563305967119935 + ], + [ + 0.008150896586887339, + 0.9999528333673035, + 0.005281470016169912, + 0.02815759358398435 + ], + [ + 0.16443267585940427, + -0.0065500480952033055, + 0.9863665606556553, + 0.6672114910280006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.984626723678949, + -0.007940071845239588, + -0.17449117535380212, + 0.08211671962031994 + ], + [ + 0.009020239033640144, + 0.9999447459279608, + 0.005398182920404539, + 0.030208159742523753 + ], + [ + 0.17443867204560712, + -0.006889147273689694, + 0.9846439403890154, + 0.6964059125773349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.983520748423839, + -0.00837172759632429, + -0.18060136100501892, + 0.08715830435275962 + ], + [ + 0.009438067426231213, + 0.9999427295112391, + 0.005045847884297943, + 0.030836005694532816 + ], + [ + 0.1805487754128234, + -0.00666722391003205, + 0.9835434346393981, + 0.7213576608325244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9825435627391641, + -0.008802902149701239, + -0.18582426169252847, + 0.09046022421096392 + ], + [ + 0.009855176285650025, + 0.9999402032527034, + 0.004739769965003403, + 0.03156214924051697 + ], + [ + 0.18577142627489646, + -0.006488361325109156, + 0.9825715639825456, + 0.7512528627589703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9813547390107913, + -0.009223177140848011, + -0.1919838775118645, + 0.08938518461206009 + ], + [ + 0.01037701056607831, + 0.9999336294157606, + 0.005005438555818248, + 0.032350261150107903 + ], + [ + 0.19192496938328155, + -0.00690432957303687, + 0.9813853149300603, + 0.7768750245129133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9777796271724675, + -0.010131162006873912, + -0.20939044926371803, + 0.08491379088012699 + ], + [ + 0.011406555102803263, + 0.9999230143416201, + 0.004884249241742909, + 0.0324079142109614 + ], + [ + 0.20932484608177288, + -0.007164143100136116, + 0.9778199138218057, + 0.805096769606476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9706712804479402, + -0.011822825162318652, + -0.2401197328807809, + 0.0797035611641382 + ], + [ + 0.01326126496555636, + 0.9999024919382623, + 0.004375553355478871, + 0.033502847471710395 + ], + [ + 0.24004458786873248, + -0.007431515379421608, + 0.9707334177899182, + 0.8273014654222974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9491775417684837, + -0.01580226539413753, + -0.3143442103980156, + 0.07016227258939199 + ], + [ + 0.017665852379685272, + 0.9998392014695272, + 0.003080400051537521, + 0.03606979295258128 + ], + [ + 0.31424498701178644, + -0.008477004965881964, + 0.9493040759023269, + 0.8519703665245871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9175120612772304, + -0.020137852694097548, + -0.39719778989777743, + 0.06113802354578852 + ], + [ + 0.022151939578155602, + 0.9997544991082831, + 0.0004827894696686893, + 0.0378132132683466 + ], + [ + 0.397090555142947, + -0.009241666603871167, + 0.9177329037441391, + 0.8739078458390821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.8695901245739976, + -0.024738754983003246, + -0.4931541434939692, + 0.052950811688471114 + ], + [ + 0.02685761893055658, + 0.9996353828988156, + -0.0027873934274418016, + 0.03897674164613565 + ], + [ + 0.493043287702774, + -0.010821056262180183, + 0.8699374811977068, + 0.8986862993120913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.8214084930019998, + -0.02893391115897254, + -0.5696059308058761, + 0.04679341193989672 + ], + [ + 0.031169907449837563, + 0.9994971452941317, + -0.005821805428733063, + 0.04109238906999988 + ], + [ + 0.5694879493841396, + -0.012972483722331247, + 0.8218973112088406, + 0.9238176035649851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.7842277977921317, + -0.03150924127231288, + -0.6196724367636073, + 0.04117097954110155 + ], + [ + 0.03377592741969177, + 0.9993968300148321, + -0.008072353017854972, + 0.04161561766333536 + ], + [ + 0.6195530226679904, + -0.014599447617918062, + 0.7848190289692323, + 0.9426868634643989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.7304841747977382, + -0.034604500931883525, + -0.6820523432151838, + 0.033385269092219436 + ], + [ + 0.036694698031855086, + 0.9992615193992672, + -0.011398025452634174, + 0.04317121180846557 + ], + [ + 0.6819430837734323, + -0.016701627559109262, + 0.7312145281177462, + 0.9629271888533613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.679217420332588, + -0.037358926989572744, + -0.7329856795947194, + 0.02740532016524467 + ], + [ + 0.0392951182706984, + 0.9991222800083097, + -0.014510798430440187, + 0.04553392591083776 + ], + [ + 0.7328844312692395, + -0.018946771893512983, + 0.6800892810785794, + 0.9773433947265363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.6301759364776057, + -0.03924496913201818, + -0.7754599418940995, + 0.020048861154443973 + ], + [ + 0.04065209952457814, + 0.999019692028074, + -0.017523177348203918, + 0.048907073725318724 + ], + [ + 0.7753874488852763, + -0.020481390039734933, + 0.6311535603743544, + 1.0010099650935722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.6048311704829703, + -0.03998910523892078, + -0.7953490596426142, + 0.014573228901004473 + ], + [ + 0.040888661970775717, + 0.9989804986637737, + -0.01913323317470993, + 0.05204176385750735 + ], + [ + 0.7953033210885264, + -0.020948383032317785, + 0.6058496453030996, + 1.0224219358965545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.5908591692323228, + -0.04025714381394428, + -0.8057696969395369, + 0.009299511298660836 + ], + [ + 0.04082920460114961, + 0.9989665533357566, + -0.019970011720499645, + 0.055063405292542965 + ], + [ + 0.8057409125678845, + -0.02109947128301649, + 0.5918922149562793, + 1.0491057609973191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.5841182050768322, + -0.04014193682797021, + -0.8106753649923741, + 0.0050351546268744204 + ], + [ + 0.04036007022044254, + 0.9989772298990253, + -0.020385261221553205, + 0.056752043290819114 + ], + [ + 0.8106645343356405, + -0.020811512462319093, + 0.585140917830406, + 1.0703233368438438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.5747900992993612, + -0.04006012719887019, + -0.8173197219914867, + 0.000800370999608814 + ], + [ + 0.03987882843317624, + 0.9989855221446172, + -0.020919024552883164, + 0.0596054650790331 + ], + [ + 0.8173285880172234, + -0.020569704768352313, + 0.5758045384117036, + 1.095440863014626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.5596592863472178, + -0.04038579213563234, + -0.8277381657256722, + -0.003975544916425246 + ], + [ + 0.04013784384381208, + 0.99896062646162, + -0.02160139511646243, + 0.06288636199303223 + ], + [ + 0.8277502260325227, + -0.02113420386447683, + 0.5606985899127286, + 1.118672742163514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.5419768188803313, + -0.04104900677143702, + -0.8393903185285349, + -0.009375726159377429 + ], + [ + 0.040577365860054, + 0.9989196309883588, + -0.02265056745295394, + 0.06433862187202269 + ], + [ + 0.8394132505364781, + -0.021784165560333274, + 0.5430569444861415, + 1.1378269946140958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.5152276255003767, + -0.04192315342281741, + -0.8560274196124389, + -0.017603414111185524 + ], + [ + 0.040968689779732156, + 0.9988658611697234, + -0.02426021119856454, + 0.06560762535774342 + ], + [ + 0.8560736302322223, + -0.022570790787072557, + 0.5163608225110331, + 1.1615691710401725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.4902103867092839, + -0.04267031369873798, + -0.870559027918949, + -0.024901434728851812 + ], + [ + 0.04179073851285963, + 0.998802863998715, + -0.025423867575844885, + 0.06591808412940976 + ], + [ + 0.8706016947702802, + -0.02391826073976953, + 0.49140676212919604, + 1.1834261609601022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.4677288705977677, + -0.04347572168162756, + -0.8828021098941702, + -0.03192681669811591 + ], + [ + 0.04218453436696513, + 0.9987493787959432, + -0.02683548797693463, + 0.06666707680993045 + ], + [ + 0.8828647510630262, + -0.024688863460668335, + 0.4689779220298558, + 1.211319879021019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.4479109697538771, + -0.04360631295658011, + -0.8930141391066965, + -0.037552415178223005 + ], + [ + 0.04204777437138258, + 0.9987321365948948, + -0.027678583833172093, + 0.06910378079859913 + ], + [ + 0.8930888801483058, + -0.02515171570548274, + 0.4491766282349471, + 1.2323945809644925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.4165379373524077, + -0.04434093570073965, + -0.9080363583950725, + -0.045056286788057995 + ], + [ + 0.04259704439595332, + 0.998664769322896, + -0.02922619239613612, + 0.07271068319185468 + ], + [ + 0.9081198371112321, + -0.02650584717434352, + 0.41787055592687966, + 1.2558538107485244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.37776320563759835, + -0.04530476281375699, + -0.9247931871141759, + -0.05403592571716908 + ], + [ + 0.04314509229333825, + 0.9985785404586087, + -0.03129535982465044, + 0.07315647098518961 + ], + [ + 0.9248964598685656, + -0.02807805196134949, + 0.37918090869748544, + 1.277898681619634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.33762088347758673, + -0.0459498276818747, + -0.9401599610575958, + -0.06045842035833014 + ], + [ + 0.043538614481915795, + 0.9985010771857523, + -0.03316606560760239, + 0.07172973471910128 + ], + [ + 0.9402747088424793, + -0.029735705723905305, + 0.3391154076657273, + 1.2947832751982737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.27772195838997493, + -0.04679565344252376, + -0.9595210683705306, + -0.06940682651763447 + ], + [ + 0.04435320040530456, + 0.9983723563702733, + -0.035852916889356226, + 0.07003685840293977 + ], + [ + 0.9596370706896666, + -0.032600687946045065, + 0.2793454630087997, + 1.3164024862023433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.22980029295288512, + -0.04750243786064261, + -0.9720778486088777, + -0.07534735823577314 + ], + [ + 0.04484627651182148, + 0.9982640287901468, + -0.03818036546040997, + 0.06936628974966923 + ], + [ + 0.9722040098877363, + -0.03482021282187983, + 0.23153167372358702, + 1.3342359801145052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.16276489817830053, + -0.04818896665081006, + -0.9854873978971699, + -0.08056335463526468 + ], + [ + 0.044365073626696366, + 0.9981538325437291, + -0.041480921160974064, + 0.07144194636204848 + ], + [ + 0.9856669458610781, + -0.036969583056781295, + 0.16460231397371805, + 1.3559802019288174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.09736051137281865, + -0.0485632726712549, + -0.9940636495580554, + -0.08386047021870614 + ], + [ + 0.044878005015078395, + 0.9980070702074737, + -0.044360483335519514, + 0.0737113654828168 + ], + [ + 0.9942368407432353, + -0.04029263410788197, + 0.09934590150357736, + 1.369323559608325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.008593096060487582, + -0.04947091099045966, + -0.998738598265767, + -0.09073720949216296 + ], + [ + 0.044782576147706234, + 0.9977924248890087, + -0.049038736807619436, + 0.0759925166677478 + ], + [ + 0.9989597987775434, + -0.04430469275241727, + 0.010789560994024672, + 1.3889286524953024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + -0.07204126656652132, + -0.049452273049009204, + -0.996174948792519, + -0.09627894023888706 + ], + [ + 0.043749213378733276, + 0.9976521576212118, + -0.05268945551515002, + 0.07702582385967688 + ], + [ + 0.9964417003719955, + -0.04737768550728439, + -0.06970862698217029, + 1.410165200469115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + -0.12058079349150297, + -0.04894414274944531, + -0.9914962143808124, + -0.10115931026906463 + ], + [ + 0.04324639777037918, + 0.9975766112125329, + -0.054503704842931364, + 0.07612195432663056 + ], + [ + 0.9917610706822717, + -0.04945073965312509, + -0.11817192148269895, + 1.4296223365609686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + -0.1626487362696583, + -0.04854557137445972, + -0.9854890745664359, + -0.103828612061803 + ], + [ + 0.0430932838519716, + 0.9974863594686063, + -0.05624883608502058, + 0.0746838506800833 + ], + [ + 0.9857425411722557, + -0.051616762529175984, + -0.16014790772679516, + 1.4534385196950554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + -0.19473285282908587, + -0.04801844726701934, + -0.9796802257630347, + -0.10598904324755283 + ], + [ + 0.042735675134302445, + 0.9974371172524932, + -0.057383440101233876, + 0.07565357005216153 + ], + [ + 0.9799248839068541, + -0.053041736859769345, + -0.1921816745973403, + 1.473786997964396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + -0.22764442144678249, + -0.04761137260133194, + -0.9725796494802761, + -0.10988724410063139 + ], + [ + 0.041834999176938614, + 0.9974034756055494, + -0.058618595119942725, + 0.07745076917292036 + ], + [ + 0.9728452344684766, + -0.05403206500761714, + -0.22506151541964575, + 1.4995429099847302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + -0.24577095355564127, + -0.04733840939942371, + -0.9681713243966089, + -0.11388709946160941 + ], + [ + 0.040774049340732525, + 0.9974178808250652, + -0.05911893022370909, + 0.07787616514280753 + ], + [ + 0.9684699867774481, + -0.054005981205500084, + -0.24320616502325942, + 1.5201992623518374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + -0.2677442523348813, + -0.046761546746107385, + -0.9623545984134682, + -0.11778005443778047 + ], + [ + 0.04024083120148794, + 0.9974072889033788, + -0.059660502400044044, + 0.07821218881763085 + ], + [ + 0.9626493083391529, + -0.05469970555975526, + -0.2651683453314654, + 1.5432510430272102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + -0.2861203059216992, + -0.04622485614425496, + -0.9570780705949313, + -0.12307467834695908 + ], + [ + 0.039967029583307064, + 0.9973907013999197, + -0.06012009071236888, + 0.07658725557714682 + ], + [ + 0.9573598106697192, + -0.05545314630766535, + -0.2835262624150016, + 1.5640191828540158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + -0.3043907332559563, + -0.045995379637857055, + -0.9514361284709925, + -0.13042849454938787 + ], + [ + 0.039480346793926153, + 0.9973660260950314, + -0.06084662857083154, + 0.0758646057605249 + ], + [ + 0.9517287343171545, + -0.05608417819113349, + -0.30177306246862495, + 1.5901319992983731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + -0.32209745051377364, + -0.04513446804787948, + -0.9456300080721646, + -0.13742929025041378 + ], + [ + 0.03864427736647872, + 0.9974035348269188, + -0.060768483127274245, + 0.07823264017545943 + ], + [ + 0.9459174658496109, + -0.05611656180489054, + -0.3195169467991456, + 1.6162994136148865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + -0.3358000900383704, + -0.044702570851364656, + -0.9408719252318573, + -0.14592396853972506 + ], + [ + 0.03834719544728106, + 0.9973963166604352, + -0.061074381810424065, + 0.08089782624631449 + ], + [ + 0.9411523745555502, + -0.056588582518703835, + -0.33321155471707975, + 1.637661946671854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + -0.349410134748086, + -0.04446328244614303, + -0.935914298560204, + -0.1584053309519992 + ], + [ + 0.037677366151042724, + 0.9973987379386393, + -0.061450578828272436, + 0.082699785466079 + ], + [ + 0.9362120346455949, + -0.05673424074158368, + -0.3468259680477104, + 1.6623727872168146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + -0.3599124219096056, + -0.0439280714052988, + -0.9319513791490266, + -0.16959137170765912 + ], + [ + 0.03728586864955661, + 0.9974157469125761, + -0.06141328691639633, + 0.0832827677453948 + ], + [ + 0.9322407481730295, + -0.05685202154223344, + -0.3573444208216373, + 1.6821220149899399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + -0.3706111323577404, + -0.04354589834626703, + -0.927766750487282, + -0.18306713703364275 + ], + [ + 0.03672086703531556, + 0.997432322340104, + -0.06148447182339663, + 0.08280785177751211 + ], + [ + 0.9280619410883568, + -0.05685522920931686, + -0.3680604792895699, + 1.7054625538521035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + -0.3811785686752128, + -0.04320560274402844, + -0.9234912964799622, + -0.19433240232552745 + ], + [ + 0.036317174924885474, + 0.997436554872272, + -0.06165534697014258, + 0.0825179642001447 + ], + [ + 0.9237878336437386, + -0.05704029186512462, + -0.37863233289795784, + 1.724117857167325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + -0.39777945980929263, + -0.04248958979238071, + -0.9164966645400858, + -0.20730492697477437 + ], + [ + 0.03576178319634836, + 0.997449897390038, + -0.06176404341702824, + 0.08483629513012815 + ], + [ + 0.9167838328725288, + -0.05734402284352214, + -0.3952455778723868, + 1.7466893218129471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + -0.41292307738442985, + -0.04185926489896644, + -0.9098034590533773, + -0.220847599990761 + ], + [ + 0.03516474078448372, + 0.9974656504067023, + -0.06185238285057706, + 0.08612962176041145 + ], + [ + 0.9100867943053191, + -0.05753327907265888, + -0.4104046157515963, + 1.7639389391661267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + -0.42850646592478675, + -0.04140792012426325, + -0.9025893821731078, + -0.23691367060498453 + ], + [ + 0.03475242490466918, + 0.9974548139088635, + -0.06225884012154149, + 0.08739114370786714 + ], + [ + 0.9028701333103754, + -0.05804548527678074, + -0.42597681159317585, + 1.784050061174295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + -0.4432494244011224, + -0.040743640498122076, + -0.8954718887419267, + -0.25220967723660415 + ], + [ + 0.03401910186575403, + 0.9974822564250738, + -0.062224181998566185, + 0.08747343808585116 + ], + [ + 0.895752559849159, + -0.0580439822557259, + -0.4407473739542595, + 1.804820688252561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + -0.45170623210079314, + -0.04043295157039306, + -0.8912500526275499, + -0.26537820545680213 + ], + [ + 0.03361458665865484, + 0.9974918978010086, + -0.062289432371067606, + 0.08592053796158018 + ], + [ + 0.8915332520131102, + -0.0580955269246116, + -0.449214169752335, + 1.8233657559775778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + -0.4588835772384118, + -0.04011346917065207, + -0.8875904303967984, + -0.2785334788319499 + ], + [ + 0.033042735848349776, + 0.9975187915758753, + -0.06216460456450935, + 0.08494104438055942 + ], + [ + 0.8878817714924295, + -0.05785473225329784, + -0.4564195326751085, + 1.8465934982363046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + -0.46440658304740245, + -0.0398381314958525, + -0.8847256348163284, + -0.2890274015746891 + ], + [ + 0.032736496638213014, + 0.9975328122944072, + -0.062101611765452834, + 0.08615808230335383 + ], + [ + 0.8850168627829034, + -0.05780321509163593, + -0.4619566439775249, + 1.8663498762247819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + -0.4690543094967753, + -0.040035706964072534, + -0.8822614107566931, + -0.3040138909156396 + ], + [ + 0.032258429418099005, + 0.9975287297277887, + -0.062416561096729786, + 0.08806149405602616 + ], + [ + 0.8825799955097446, + -0.057737124413597116, + -0.4666036604983591, + 1.8905393040921776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + -0.4717916306980093, + -0.04042579631673868, + -0.8807828405432698, + -0.3164830455885821 + ], + [ + 0.031355208605032686, + 0.9975472624795167, + -0.06258042835389908, + 0.08900900351528962 + ], + [ + 0.8811523750729202, + -0.057142052043833436, + -0.46936689038701035, + 1.9093924156867923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + -0.47540227489229453, + -0.04014475505621434, + -0.8788521352700396, + -0.33030525815679135 + ], + [ + 0.030740825546402412, + 0.9975903421068166, + -0.06219735508790036, + 0.09100728644693115 + ], + [ + 0.8792312998704932, + -0.0565854042724912, + -0.4730226351363768, + 1.9306124151524056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 573.5985819498698, + "fy": 573.5987663269043, + "cx": 416.0, + "cy": 240.0 + } + } + ] +}