diff --git a/blenderobj_eval/target/scene_000002__traj002__bullettime_mid/extras/blender_meta.json b/blenderobj_eval/target/scene_000002__traj002__bullettime_mid/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..881a326e2b6ded2b9e0fd2455a6ab30eed6f7ba1 --- /dev/null +++ b/blenderobj_eval/target/scene_000002__traj002__bullettime_mid/extras/blender_meta.json @@ -0,0 +1,377 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000002", + "trajectory_index": 2, + "trajectory_id": "T4", + "trajectory_name": "spherical_figure_eight", + "pattern": "bullettime_40", + "pattern_params": { + "kind": "bullettime", + "bullet_frame": 40, + "stride": 0, + "cam_start": 0, + "src_frame_range": [ + 40, + 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": 0, + "timestamps": [ + 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 + ], + "timestamp_range": [ + 1.333333333, + 1.333333333 + ], + "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": [ + 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 + ], + "written_at": "2026-09-17T14:34:26" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000005__traj001__bullettime_early/caption.txt b/blenderobj_eval/target/scene_000005__traj001__bullettime_early/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..ac8d73e17092d7bf556e5ae2b215fe8c033a8597 --- /dev/null +++ b/blenderobj_eval/target/scene_000005__traj001__bullettime_early/caption.txt @@ -0,0 +1 @@ +In a modern living room with light wooden floors and large windows overlooking a cityscape, a round glass coffee table sits centrally, surrounded by a beige sofa and a floor lamp. Various household items—including boxes, a red bag, a yellow container, and a small figurine—suddenly float and scatter in midair before falling and settling on the floor and table, creating a chaotic yet visually dynamic scene. A high orbital camera move. The camera tracks along a smooth arc at a steep elevation of 58°, 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 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 an early moment while the camera keeps moving, a bullet-time shot. diff --git a/blenderobj_eval/target/scene_000005__traj001__bullettime_early/transforms.json b/blenderobj_eval/target/scene_000005__traj001__bullettime_early/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..fc1ad67ff3d7b94e5bd5ae5e41e9b03f45832636 --- /dev/null +++ b/blenderobj_eval/target/scene_000005__traj001__bullettime_early/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": [ + [ + -0.2409207969903946, + 0.8230688571929932, + -0.5143104195594788, + 0.6200345754623413 + ], + [ + 0.9705449342727661, + 0.20431245863437653, + -0.12766845524311066, + -0.8972641825675964 + ], + [ + 2.739773563575909e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.2648191750049591, + 0.8177711367607117, + -0.5110000371932983, + 0.6154001951217651 + ], + [ + 0.9642980098724365, + 0.22457940876483917, + -0.14033281803131104, + -0.8795340657234192 + ], + [ + -1.053763298841659e-08, + -0.5299192070960999, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.288556307554245, + 0.8119745850563049, + -0.5073779821395874, + 0.610329270362854 + ], + [ + 0.9574628472328186, + 0.2447095662355423, + -0.15291166305541992, + -0.8619237542152405 + ], + [ + -1.0768832225949154e-07, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.31211742758750916, + 0.8056825995445251, + -0.5034462213516235, + 0.6048249006271362 + ], + [ + 0.9500434398651123, + 0.2646905481815338, + -0.16539710760116577, + -0.8444441556930542 + ], + [ + -9.349543006464955e-08, + -0.5299191474914551, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.33548808097839355, + 0.7988989949226379, + -0.4992075562477112, + 0.598890483379364 + ], + [ + 0.9420444965362549, + 0.2845100462436676, + -0.17778155207633972, + -0.8271057605743408 + ], + [ + 3.925562808149152e-08, + -0.5299193263053894, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.35865408182144165, + 0.7916279435157776, + -0.4946640431880951, + 0.5925296545028687 + ], + [ + 0.933470606803894, + 0.3041559159755707, + -0.1900576651096344, + -0.8099192976951599 + ], + [ + 2.488770078912239e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.3816010057926178, + 0.7838738560676575, + -0.4898187518119812, + 0.5857462286949158 + ], + [ + 0.9243271350860596, + 0.3236159682273865, + -0.20221778750419617, + -0.7928951382637024 + ], + [ + -7.519891198626283e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.40431541204452515, + 0.7756414413452148, + -0.4846745729446411, + 0.5785444378852844 + ], + [ + 0.9146196246147156, + 0.34287893772125244, + -0.2142544984817505, + -0.776043713092804 + ], + [ + 2.764433837398883e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.42678302526474, + 0.7669357657432556, + -0.47923460602760315, + 0.5709285736083984 + ], + [ + 0.9043540358543396, + 0.36193257570266724, + -0.2261604517698288, + -0.7593753933906555 + ], + [ + 7.779421196119074e-08, + -0.5299192070960999, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.4489898681640625, + 0.7577622532844543, + -0.47350236773490906, + 0.5629032850265503 + ], + [ + 0.8935368657112122, + 0.38076499104499817, + -0.23792842030525208, + -0.7429001927375793 + ], + [ + -5.999532959322096e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.47092312574386597, + 0.748126208782196, + -0.4674811363220215, + 0.5544735789299011 + ], + [ + 0.8821742534637451, + 0.39936545491218567, + -0.24955126643180847, + -0.7266282439231873 + ], + [ + -2.2958857925914344e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.4925690293312073, + 0.7380337715148926, + -0.46117469668388367, + 0.5456445217132568 + ], + [ + 0.8702735304832458, + 0.417722225189209, + -0.26102179288864136, + -0.7105695009231567 + ], + [ + -3.155465932991319e-08, + -0.5299193263053894, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.5139139890670776, + 0.7274908423423767, + -0.4545866847038269, + 0.5364214777946472 + ], + [ + 0.857841432094574, + 0.4358237385749817, + -0.272333025932312, + -0.694733738899231 + ], + [ + -4.981248125091042e-08, + -0.5299191474914551, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.5349461436271667, + 0.7165042757987976, + -0.4477214813232422, + 0.5268101692199707 + ], + [ + 0.844886302947998, + 0.4536600410938263, + -0.2834782302379608, + -0.6791306138038635 + ], + [ + -4.184169455356823e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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, + 0.7050803303718567, + -0.44058310985565186, + 0.5168163180351257 + ], + [ + 0.8314155340194702, + 0.4712190330028534, + -0.29445019364356995, + -0.6637696027755737 + ], + [ + 9.993023297738546e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.5760172605514526, + 0.693226158618927, + -0.4331757724285126, + 0.5064461827278137 + ], + [ + 0.8174372911453247, + 0.48849040269851685, + -0.3052426278591156, + -0.6486601829528809 + ], + [ + 7.634902488007356e-08, + -0.5299191474914551, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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, + -0.42550426721572876, + 0.4957059621810913 + ], + [ + 0.8029605746269226, + 0.5054638981819153, + -0.3158489465713501, + -0.6338114738464355 + ], + [ + -4.241550399797234e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.6156831383705139, + 0.6682563424110413, + -0.4175729751586914, + 0.48460227251052856 + ], + [ + 0.7879934906959534, + 0.5221288800239563, + -0.32626238465309143, + -0.6192325949668884 + ], + [ + 8.423909747534708e-08, + -0.5299192070960999, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.634958803653717, + 0.6551562547683716, + -0.4093869924545288, + 0.4731418788433075 + ], + [ + 0.7725460529327393, + 0.5384755730628967, + -0.3364769220352173, + -0.604932427406311 + ], + [ + -5.805674874181932e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.6538466215133667, + 0.6416560411453247, + -0.4009512960910797, + 0.4613317549228668 + ], + [ + 0.7566270232200623, + 0.5544933676719666, + -0.3464859127998352, + -0.5909196734428406 + ], + [ + 8.749834279342394e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.6723355650901794, + 0.6277644634246826, + -0.3922707736492157, + 0.44917914271354675 + ], + [ + 0.7402462959289551, + 0.5701728463172913, + -0.35628366470336914, + -0.5772029161453247 + ], + [ + -2.4889917682457963e-08, + -0.5299192070960999, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.6904143691062927, + 0.6134899258613586, + -0.3833509683609009, + 0.43669143319129944 + ], + [ + 0.7234140634536743, + 0.5855045914649963, + -0.36586394906044006, + -0.563790500164032 + ], + [ + -9.19782436881178e-08, + -0.5299192070960999, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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, + -0.37419724464416504, + 0.42387622594833374 + ], + [ + 0.7061401009559631, + 0.6004791855812073, + -0.37522098422050476, + -0.5506905913352966 + ], + [ + 6.20082332147831e-08, + -0.5299192070960999, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.7252974510192871, + 0.58382648229599, + -0.3648151755332947, + 0.41074138879776 + ], + [ + 0.6884355545043945, + 0.6150871515274048, + -0.3843490481376648, + -0.5379112362861633 + ], + [ + -2.989029468380977e-08, + -0.5299191474914551, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.742080569267273, + 0.5684558749198914, + -0.35521069169044495, + 0.39729490876197815 + ], + [ + 0.670310914516449, + 0.6293200254440308, + -0.393242746591568, + -0.5254602432250977 + ], + [ + 3.151852467908611e-08, + -0.5299193263053894, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.7584107518196106, + 0.5527384281158447, + -0.345389187335968, + 0.3835449814796448 + ], + [ + 0.6517772078514099, + 0.6431688070297241, + -0.4018964171409607, + -0.5133451223373413 + ], + [ + -7.080994635089155e-08, + -0.5299192667007446, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.7742778062820435, + 0.5366835594177246, + -0.3353571891784668, + 0.3695000410079956 + ], + [ + 0.6328456997871399, + 0.6566247940063477, + -0.4103047847747803, + -0.5015733242034912 + ], + [ + 3.8747781871961706e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.7896728515625, + 0.5203014016151428, + -0.32512038946151733, + 0.35516858100891113 + ], + [ + 0.6135281920433044, + 0.6696805953979492, + -0.41846275329589844, + -0.4901520311832428 + ], + [ + 5.442340267336476e-08, + -0.5299192070960999, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.8045857548713684, + 0.5036018490791321, + -0.31468531489372253, + 0.3405594229698181 + ], + [ + 0.5938364267349243, + 0.682327389717102, + -0.42636558413505554, + -0.4790882170200348 + ], + [ + -8.954820174267297e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.8190080523490906, + 0.4865948259830475, + -0.30405816435813904, + 0.3256814479827881 + ], + [ + 0.5737820863723755, + 0.6945582032203674, + -0.43400809168815613, + -0.4683886170387268 + ], + [ + 3.7611123104852595e-09, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.8329305052757263, + 0.46929094195365906, + -0.2932455241680145, + 0.3105437159538269 + ], + [ + 0.5533777475357056, + 0.7063651084899902, + -0.4413859248161316, + -0.45805975794792175 + ], + [ + -5.918001200200251e-09, + -0.5299193263053894, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.8463447690010071, + 0.4517006576061249, + -0.2822539508342743, + 0.29515549540519714 + ], + [ + 0.5326356887817383, + 0.717741072177887, + -0.4484943449497223, + -0.4481079578399658 + ], + [ + 3.8369527999293496e-08, + -0.5299193263053894, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.8592424988746643, + 0.43383482098579407, + -0.2710901200771332, + 0.27952614426612854 + ], + [ + 0.5115686655044556, + 0.7286790013313293, + -0.45532912015914917, + -0.4385392665863037 + ], + [ + 3.6001015502051814e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.8716158270835876, + 0.4157041907310486, + -0.25976091623306274, + 0.26366522908210754 + ], + [ + 0.49018946290016174, + 0.739172101020813, + -0.4618860185146332, + -0.4293595552444458 + ], + [ + 8.851505128859571e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.8834572434425354, + 0.3973201513290405, + -0.24827319383621216, + 0.24758243560791016 + ], + [ + 0.46851134300231934, + 0.7492141723632812, + -0.46816113591194153, + -0.4205743968486786 + ], + [ + -2.7814426317718244e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.8947599530220032, + 0.37869346141815186, + -0.23663391172885895, + 0.23128753900527954 + ], + [ + 0.44654712080955505, + 0.7587994337081909, + -0.4741506278514862, + -0.41218915581703186 + ], + [ + -3.487698663207084e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9055165648460388, + 0.35983577370643616, + -0.22485032677650452, + 0.2147904932498932 + ], + [ + 0.424310564994812, + 0.7679215669631958, + -0.479850709438324, + -0.4042089581489563 + ], + [ + -1.3433144374630501e-08, + -0.5299192070960999, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9157207608222961, + 0.3407585024833679, + -0.21292954683303833, + 0.19810138642787933 + ], + [ + 0.4018150568008423, + 0.7765752673149109, + -0.4852580428123474, + -0.3966386616230011 + ], + [ + 2.5205025622199173e-08, + -0.5299192070960999, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9253662824630737, + 0.32147347927093506, + -0.20087887346744537, + 0.181230366230011 + ], + [ + 0.3790745437145233, + 0.7847550511360168, + -0.49036943912506104, + -0.38948288559913635 + ], + [ + -6.838764221583915e-08, + -0.5299193263053894, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9344467520713806, + 0.3019920587539673, + -0.18870554864406586, + 0.16418777406215668 + ], + [ + 0.35610249638557434, + 0.792455792427063, + -0.49518144130706787, + -0.38274601101875305 + ], + [ + -5.693898685876775e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9429576992988586, + 0.28232645988464355, + -0.17641711235046387, + 0.14698396623134613 + ], + [ + 0.33291324973106384, + 0.7996734976768494, + -0.4996913969516754, + -0.3764321208000183 + ], + [ + -3.96202466390605e-08, + -0.5299193263053894, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9508925676345825, + 0.26248857378959656, + -0.1640210598707199, + 0.129629448056221 + ], + [ + 0.3095208406448364, + 0.8064026236534119, + -0.5038962960243225, + -0.3705451190471649 + ], + [ + 8.941587026356501e-09, + -0.5299192070960999, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9582476019859314, + 0.2424904853105545, + -0.1515248864889145, + 0.11213482916355133 + ], + [ + 0.2859395444393158, + 0.8126400709152222, + -0.5077937841415405, + -0.365088552236557 + ], + [ + 4.00475030915004e-08, + -0.5299192070960999, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.965018093585968, + 0.22234444320201874, + -0.13893626630306244, + 0.0945107713341713 + ], + [ + 0.2621837854385376, + 0.8183817863464355, + -0.5113816261291504, + -0.360065758228302 + ], + [ + 3.4364418866061897e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9711995720863342, + 0.20206275582313538, + -0.12626288831233978, + 0.07676802575588226 + ], + [ + 0.23826807737350464, + 0.8236240148544312, + -0.5146572589874268, + -0.35547980666160583 + ], + [ + 6.0414720337576e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9767881631851196, + 0.18165798485279083, + -0.11351244151592255, + 0.05891742184758186 + ], + [ + 0.21420714259147644, + 0.8283633589744568, + -0.5176188945770264, + -0.35133349895477295 + ], + [ + -6.240136940505181e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9817811846733093, + 0.16114215552806854, + -0.1006927415728569, + 0.0409698523581028 + ], + [ + 0.19001531600952148, + 0.8325976729393005, + -0.520264744758606, + -0.3476293683052063 + ], + [ + -4.8034372923666524e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9861747026443481, + 0.14052797853946686, + -0.08781161904335022, + 0.022936267778277397 + ], + [ + 0.1657075434923172, + 0.8363234996795654, + -0.5225931406021118, + -0.34436964988708496 + ], + [ + -2.007478983045985e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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, + 0.11982807517051697, + -0.07487688958644867, + 0.0048276688903570175 + ], + [ + 0.14129868149757385, + 0.839539647102356, + -0.5246025323867798, + -0.3415563702583313 + ], + [ + 1.2689827855183466e-08, + -0.5299192070960999, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9931551218032837, + 0.09905505180358887, + -0.06189651042222977, + -0.013344892300665379 + ], + [ + 0.1168036013841629, + 0.8422433137893677, + -0.526292085647583, + -0.3391912281513214 + ], + [ + 2.7570340677129934e-08, + -0.5299193859100342, + -0.8480480313301086, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9957368969917297, + 0.07822158187627792, + -0.04887833446264267, + -0.031570326536893845 + ], + [ + 0.09223723411560059, + 0.8444328308105469, + -0.5276601910591125, + -0.3372756540775299 + ], + [ + 5.715849127341244e-08, + -0.5299192070960999, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9977115988731384, + 0.057340625673532486, + -0.03583034127950668, + -0.049837518483400345 + ], + [ + 0.06761479377746582, + 0.8461074233055115, + -0.5287065505981445, + -0.3358108401298523 + ], + [ + -4.686970100920007e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9990772604942322, + 0.03642445057630539, + -0.02276049740612507, + -0.06813531368970871 + ], + [ + 0.042950913310050964, + 0.8472654819488525, + -0.5294304490089417, + -0.3347976505756378 + ], + [ + -2.8688049269476323e-08, + -0.529919445514679, + -0.8480479717254639, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.999833345413208, + 0.015486045740544796, + -0.00967674795538187, + -0.08645255118608475 + ], + [ + 0.018260806798934937, + 0.8479067087173462, + -0.5298309326171875, + -0.334236741065979 + ], + [ + -6.8916077289316036e-09, + -0.5299193263053894, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9999794363975525, + -0.005461873486638069, + 0.0034129004925489426, + -0.10477805882692337 + ], + [ + -0.006440493278205395, + 0.8480306267738342, + -0.5299083590507507, + -0.33412840962409973 + ], + [ + 4.861079361262455e-08, + -0.5299193263053894, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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, + -0.02640615403652191, + 0.01650046557188034, + -0.1231006532907486 + ], + [ + -0.031137604266405106, + 0.847636878490448, + -0.5296623110771179, + -0.33447277545928955 + ], + [ + -5.7813917209159627e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9984411597251892, + -0.047334566712379456, + 0.029577959328889847, + -0.14140914380550385 + ], + [ + -0.0558159165084362, + 0.8467261791229248, + -0.5290931463241577, + -0.335269570350647 + ], + [ + -3.627036804232375e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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, + -0.06823409348726273, + 0.042637404054403305, + -0.15969237685203552 + ], + [ + -0.08046017587184906, + 0.8452985882759094, + -0.5282011032104492, + -0.3365183472633362 + ], + [ + -1.3667565745834054e-08, + -0.5299192070960999, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9944663047790527, + -0.08909198641777039, + 0.055670831352472305, + -0.17793917655944824 + ], + [ + -0.10505533963441849, + 0.8433552980422974, + -0.5269867777824402, + -0.3382183611392975 + ], + [ + 7.290633874390551e-09, + -0.5299191474914551, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9915682077407837, + -0.10989552736282349, + 0.06867029517889023, + -0.1961384266614914 + ], + [ + -0.12958641350269318, + 0.8408976197242737, + -0.5254509449005127, + -0.34036850929260254 + ], + [ + 2.4920336016975853e-08, + -0.5299191474914551, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.988064706325531, + -0.13063201308250427, + 0.08162787556648254, + -0.21427902579307556 + ], + [ + -0.1540384143590927, + 0.8379263281822205, + -0.5235946178436279, + -0.34296754002571106 + ], + [ + 6.83315590777056e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9839589595794678, + -0.15128853917121887, + 0.09453564882278442, + -0.23234987258911133 + ], + [ + -0.17839621007442474, + 0.8344444632530212, + -0.5214188694953918, + -0.3460138440132141 + ], + [ + -4.09874871820648e-08, + -0.529919445514679, + -0.8480480313301086, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.979252278804779, + -0.1718529909849167, + 0.10738570988178253, + -0.25033998489379883 + ], + [ + -0.20264534652233124, + 0.830453097820282, + -0.5189245939254761, + -0.34950557351112366 + ], + [ + -4.9141771540917034e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9739477634429932, + -0.1923125833272934, + 0.12017020583152771, + -0.268238365650177 + ], + [ + -0.22677083313465118, + 0.8259545564651489, + -0.5161136984825134, + -0.3534405827522278 + ], + [ + 1.3759562378368173e-08, + -0.5299190878868103, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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, + -0.21265484392642975, + 0.13288147747516632, + -0.28603407740592957 + ], + [ + -0.25075799226760864, + 0.820952832698822, + -0.512988269329071, + -0.3578164577484131 + ], + [ + 2.1027267038675745e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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, + -0.2328672707080841, + 0.14551164209842682, + -0.3037162721157074 + ], + [ + -0.2745920717716217, + 0.8154497742652893, + -0.5095496773719788, + -0.36263054609298706 + ], + [ + 1.1685524547999648e-08, + -0.5299193859100342, + -0.8480480313301086, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9544848799705505, + -0.2529374957084656, + 0.1580529808998108, + -0.32127416133880615 + ], + [ + -0.2982584834098816, + 0.8094490766525269, + -0.5058000087738037, + -0.3678799569606781 + ], + [ + -7.44380983519477e-08, + -0.5299192070960999, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9468268752098083, + -0.2728535234928131, + 0.17049789428710938, + -0.33869704604148865 + ], + [ + -0.32174304127693176, + 0.8029546737670898, + -0.5017419457435608, + -0.37356141209602356 + ], + [ + -3.071354015560246e-08, + -0.5299193263053894, + -0.8480480313301086, + 0.7324141263961792 + ], + [ + 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, + -0.29260316491127014, + 0.18283875286579132, + -0.3559742867946625 + ], + [ + -0.34503135085105896, + 0.7959703803062439, + -0.49737754464149475, + -0.37967145442962646 + ], + [ + 1.5633899508316063e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9297826886177063, + -0.3121742010116577, + 0.1950681209564209, + -0.3730953633785248 + ], + [ + -0.3681091070175171, + 0.7885004878044128, + -0.4927096962928772, + -0.38620641827583313 + ], + [ + -3.677560656001333e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.9204064607620239, + -0.3315547704696655, + 0.20717841386795044, + -0.3900497555732727 + ], + [ + -0.3909622132778168, + 0.7805489301681519, + -0.48774123191833496, + -0.39316225051879883 + ], + [ + 1.7264829565988293e-08, + -0.5299192070960999, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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, + -0.35073304176330566, + 0.21916227042675018, + -0.4068272113800049 + ], + [ + -0.41357681155204773, + 0.7721216678619385, + -0.482475221157074, + -0.4005347192287445 + ], + [ + 5.818782966571234e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.8999763131141663, + -0.36969733238220215, + 0.23101244866847992, + -0.42341741919517517 + ], + [ + -0.43593907356262207, + 0.7632232308387756, + -0.47691473364830017, + -0.408319354057312 + ], + [ + 5.4813529715147524e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.8889340162277222, + -0.3884357213973999, + 0.24272161722183228, + -0.43981030583381653 + ], + [ + -0.45803502202033997, + 0.7538588047027588, + -0.4710632562637329, + -0.4165113866329193 + ], + [ + -5.040058681515802e-08, + -0.5299192070960999, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.877349317073822, + -0.4069373905658722, + 0.25428271293640137, + -0.4559958577156067 + ], + [ + -0.47985178232192993, + 0.7440344095230103, + -0.4649243950843811, + -0.4251058101654053 + ], + [ + -1.9292372144263936e-09, + -0.5299192070960999, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.8652294278144836, + -0.425190806388855, + 0.2656886577606201, + -0.47196415066719055 + ], + [ + -0.5013757944107056, + 0.7337561249732971, + -0.45850178599357605, + -0.43409740924835205 + ], + [ + 3.487206967633938e-08, + -0.5299192070960999, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.8525817394256592, + -0.44318467378616333, + 0.2769324779510498, + -0.4877055287361145 + ], + [ + -0.5225937962532043, + 0.7230303287506104, + -0.4517994821071625, + -0.4434806704521179 + ], + [ + 2.8241924354688308e-08, + -0.5299192070960999, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.839413583278656, + -0.46090811491012573, + 0.28800731897354126, + -0.5032103061676025 + ], + [ + -0.5434929132461548, + 0.711863100528717, + -0.44482147693634033, + -0.45324987173080444 + ], + [ + 2.7841544181228528e-08, + -0.5299192070960999, + -0.8480481505393982, + 0.7324141263961792 + ], + [ + 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, + -0.47835028171539307, + 0.29890647530555725, + -0.5184690952301025 + ], + [ + -0.5640603303909302, + 0.7002618312835693, + -0.43757206201553345, + -0.4633990526199341 + ], + [ + -6.884902603587761e-08, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.8115496039390564, + -0.49550071358680725, + 0.3096231520175934, + -0.53347247838974 + ], + [ + -0.584283709526062, + 0.6882331371307373, + -0.4300557076931, + -0.4739220440387726 + ], + [ + 1.2992167341963068e-09, + -0.5299192667007446, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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": [ + [ + -0.7968701124191284, + -0.5123486518859863, + 0.3201510012149811, + -0.5482114553451538 + ], + [ + -0.6041505336761475, + 0.675784170627594, + -0.4222768247127533, + -0.4848124086856842 + ], + [ + -4.0213567586988574e-08, + -0.5299192070960999, + -0.8480480909347534, + 0.7324141263961792 + ], + [ + 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__traj001__bullettime_early/extras/blender_meta.json b/blenderobj_eval/target/scene_000010__traj001__bullettime_early/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1bdc4654d91e38bf208f144c26f3483b7a07e94 --- /dev/null +++ b/blenderobj_eval/target/scene_000010__traj001__bullettime_early/extras/blender_meta.json @@ -0,0 +1,377 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000010", + "trajectory_index": 1, + "trajectory_id": "T2", + "trajectory_name": "high_polar_arc", + "pattern": "bullettime_10", + "pattern_params": { + "kind": "bullettime", + "bullet_frame": 10, + "stride": 0, + "cam_start": 0, + "src_frame_range": [ + 10, + 10 + ] + }, + "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": [ + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333 + ], + "timestamp_range": [ + 0.333333333, + 0.333333333 + ], + "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": [ + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10 + ], + "written_at": "2026-09-17T14:34:26" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000010__traj001__bullettime_early/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000010__traj001__bullettime_early/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..0b3cd3d477d4280c8036a573647c9be59ac55840 --- /dev/null +++ b/blenderobj_eval/target/scene_000010__traj001__bullettime_early/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "bullettime_early", + "original_pattern": "bullettime_10", + "trajectory": { + "dir": "traj001", + "index": 1, + "id": "T2", + "name": "high_polar_arc" + }, + "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": [ + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10, + 10 + ], + "timestamps_seconds": [ + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333, + 0.333333333 + ], + "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": [ + 0.333333333, + 0.333333333 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000018__traj000__bullettime_late/extras/blender_meta.json b/blenderobj_eval/target/scene_000018__traj000__bullettime_late/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..38fc384a58c2883d6ea1a6a6ab813a50eb7beb9c --- /dev/null +++ b/blenderobj_eval/target/scene_000018__traj000__bullettime_late/extras/blender_meta.json @@ -0,0 +1,377 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000018", + "trajectory_index": 0, + "trajectory_id": "T0", + "trajectory_name": "low_elevation_arc", + "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_000018__traj000__bullettime_late/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000018__traj000__bullettime_late/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..6969fce494d371dc4294a9762dae028eb2a188c6 --- /dev/null +++ b/blenderobj_eval/target/scene_000018__traj000__bullettime_late/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "bullettime_late", + "original_pattern": "bullettime_70", + "trajectory": { + "dir": "traj000", + "index": 0, + "id": "T0", + "name": "low_elevation_arc" + }, + "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_000018__traj000__bullettime_late/extras/traj_caption.txt b/blenderobj_eval/target/scene_000018__traj000__bullettime_late/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..39ee80a3e0474925cbbfc9ce5e29c5785238ee3a --- /dev/null +++ b/blenderobj_eval/target/scene_000018__traj000__bullettime_late/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_000025__traj001__slowmo/caption.txt b/blenderobj_eval/target/scene_000025__traj001__slowmo/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..5c6c53690da21029a6a006e8b1d5bab517c199d7 --- /dev/null +++ b/blenderobj_eval/target/scene_000025__traj001__slowmo/caption.txt @@ -0,0 +1 @@ +In a futuristic, brightly lit corridor with pink and white walls and a grated floor, various kitchen items including a yellow cup, a white box, a wooden plate, and a blue bottle are suddenly knocked off a shelf and scatter across the floor, rolling and tumbling before coming to rest. A high orbital camera move. The camera tracks along a smooth arc at a steep elevation of 58°, 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 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 advances in slow motion at half speed. diff --git a/blenderobj_eval/target/scene_000025__traj001__slowmo/transforms.json b/blenderobj_eval/target/scene_000025__traj001__slowmo/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..0009ab1c038404c68def21743a8a1c06f5edd8d9 --- /dev/null +++ b/blenderobj_eval/target/scene_000025__traj001__slowmo/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": [ + [ + -0.9609764814376831, + 0.23459479212760925, + -0.14659109711647034, + -18.876771926879883 + ], + [ + 0.27662912011146545, + 0.8149542212486267, + -0.5092400312423706, + 1.9629361629486084 + ], + [ + 3.36789796051562e-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": 1, + "c2w": [ + [ + -0.9675166606903076, + 0.21439403295516968, + -0.1339682936668396, + -18.89444351196289 + ], + [ + 0.2528088390827179, + 0.8205007314682007, + -0.5127055644989014, + 1.967787742614746 + ], + [ + 3.84417226939604e-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": 2, + "c2w": [ + [ + -0.9734651446342468, + 0.19406238198280334, + -0.12126368284225464, + -18.9122314453125 + ], + [ + 0.22883419692516327, + 0.8255452513694763, + -0.515857994556427, + 1.9722013473510742 + ], + [ + 3.8334672325390784e-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": [ + [ + -0.9788205623626709, + 0.17361260950565338, + -0.10848511010408401, + -18.93012046813965 + ], + [ + 0.20472018420696259, + 0.830086886882782, + -0.5186958312988281, + 1.976174235343933 + ], + [ + -7.160296888741868e-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": [ + [ + -0.9835784435272217, + 0.15305665135383606, + -0.09564036875963211, + -18.948102951049805 + ], + [ + 0.18048107624053955, + 0.8341218829154968, + -0.5212171673774719, + 1.9797040224075317 + ], + [ + -3.262145398252869e-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": 5, + "c2w": [ + [ + -0.9877363443374634, + 0.1324073076248169, + -0.0827372670173645, + -18.966167449951172 + ], + [ + 0.1561318337917328, + 0.8376479148864746, + -0.523420512676239, + 1.9827886819839478 + ], + [ + -9.782699983418297e-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": 6, + "c2w": [ + [ + -0.9912911057472229, + 0.11167716979980469, + -0.06978365778923035, + -18.984302520751953 + ], + [ + 0.13168731331825256, + 0.8406624794006348, + -0.52530437707901, + 1.9854260683059692 + ], + [ + 5.004282765952439e-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": 7, + "c2w": [ + [ + -0.9942417144775391, + 0.09087889641523361, + -0.05678747594356537, + -19.00249671936035 + ], + [ + 0.10716245323419571, + 0.8431648015975952, + -0.5268678069114685, + 1.9876148700714111 + ], + [ + 3.166061901538342e-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": [ + [ + -0.996584951877594, + 0.07002516835927963, + -0.043756648898124695, + -19.020740509033203 + ], + [ + 0.08257219940423965, + 0.8451519012451172, + -0.5281096696853638, + 1.9893535375595093 + ], + [ + 4.870696557190968e-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": 9, + "c2w": [ + [ + -0.9983204007148743, + 0.049128953367471695, + -0.0306991096585989, + -19.039020538330078 + ], + [ + 0.05793176591396332, + 0.8466237187385559, + -0.5290291905403137, + 1.9906409978866577 + ], + [ + -5.350313259100403e-08, + -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": 10, + "c2w": [ + [ + -0.9994468688964844, + 0.028202522546052933, + -0.01762285642325878, + -19.057327270507812 + ], + [ + 0.03325578570365906, + 0.8475790619850159, + -0.5296260714530945, + 1.9914766550064087 + ], + [ + -2.572702584302533e-08, + -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": 11, + "c2w": [ + [ + -0.9999632239341736, + 0.007258879952132702, + -0.004535840358585119, + -19.07564926147461 + ], + [ + 0.008559508249163628, + 0.8480169177055359, + -0.5298997163772583, + 1.991859793663025 + ], + [ + -8.417668340143791e-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": 12, + "c2w": [ + [ + -0.9998700618743896, + -0.0136892544105649, + 0.008553942665457726, + -19.093975067138672 + ], + [ + -0.016142044216394424, + 0.8479378819465637, + -0.529850423336029, + 1.9917902946472168 + ], + [ + 4.582499713023935e-08, + -0.529919445514679, + -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": 13, + "c2w": [ + [ + -0.9991658926010132, + -0.0346287377178669, + 0.021638499572873116, + -19.112293243408203 + ], + [ + -0.0408334918320179, + 0.8473407626152039, + -0.5294771790504456, + 1.9912681579589844 + ], + [ + -5.862118968025243e-08, + -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": 14, + "c2w": [ + [ + -0.9978528022766113, + -0.0555473230779171, + 0.034709855914115906, + -19.13059425354004 + ], + [ + -0.06550022214651108, + 0.8462272882461548, + -0.5287812352180481, + 1.9902938604354858 + ], + [ + -4.3863547460887276e-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": 15, + "c2w": [ + [ + -0.9959301948547363, + -0.0764320120215416, + 0.04776003956794739, + -19.14886474609375 + ], + [ + -0.09012699127197266, + 0.8445966839790344, + -0.5277626514434814, + 1.9888676404953003 + ], + [ + -1.1681868805624163e-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": [ + [ + -0.9934003949165344, + -0.09727008640766144, + 0.06078106164932251, + -19.16709327697754 + ], + [ + -0.11469876766204834, + 0.8424513936042786, + -0.526421844959259, + 1.9869908094406128 + ], + [ + 1.0194749933134517e-08, + -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": 17, + "c2w": [ + [ + -0.990264356136322, + -0.11804879456758499, + 0.07376502454280853, + -19.185270309448242 + ], + [ + -0.13920056819915771, + 0.8397918343544006, + -0.5247600674629211, + 1.9846640825271606 + ], + [ + 3.861600106347396e-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": [ + [ + -0.9865238666534424, + -0.1387554407119751, + 0.08670395612716675, + -19.203386306762695 + ], + [ + -0.16361738741397858, + 0.8366197347640991, + -0.5227779746055603, + 1.981889247894287 + ], + [ + 5.629031463172396e-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": 19, + "c2w": [ + [ + -0.9821814298629761, + -0.15937721729278564, + 0.0995900109410286, + -19.221426010131836 + ], + [ + -0.18793420493602753, + 0.8329370617866516, + -0.5204768776893616, + 1.9786677360534668 + ], + [ + -6.907774263709143e-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": 20, + "c2w": [ + [ + -0.9772402048110962, + -0.17990203201770782, + 0.11241527646780014, + -19.239381790161133 + ], + [ + -0.21213659644126892, + 0.8287466764450073, + -0.5178583860397339, + 1.9750016927719116 + ], + [ + -1.2286229811309113e-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": 21, + "c2w": [ + [ + -0.9717020392417908, + -0.20031696557998657, + 0.125171959400177, + -19.257240295410156 + ], + [ + -0.2362094521522522, + 0.8240500092506409, + -0.5149236917495728, + 1.970893144607544 + ], + [ + -5.7747815418451864e-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": 22, + "c2w": [ + [ + -0.9655712842941284, + -0.22060976922512054, + 0.1378522664308548, + -19.274993896484375 + ], + [ + -0.26013827323913574, + 0.8188508749008179, + -0.5116748213768005, + 1.9663448333740234 + ], + [ + -4.6331525282994335e-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": 23, + "c2w": [ + [ + -0.958851158618927, + -0.24076789617538452, + 0.15044844150543213, + -19.292627334594727 + ], + [ + -0.28390827775001526, + 0.8131518959999084, + -0.5081138014793396, + 1.9613593816757202 + ], + [ + 3.46863657796348e-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": [ + [ + -0.9515461325645447, + -0.26077914237976074, + 0.16295282542705536, + -19.310134887695312 + ], + [ + -0.3075051009654999, + 0.8069568872451782, + -0.5042427182197571, + 1.9559398889541626 + ], + [ + 5.3966122237625314e-08, + -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": 25, + "c2w": [ + [ + -0.9436606168746948, + -0.2806312143802643, + 0.17535777390003204, + -19.32750129699707 + ], + [ + -0.3309142291545868, + 0.8002695441246033, + -0.5000640153884888, + 1.950089693069458 + ], + [ + 7.075548325019554e-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": [ + [ + -0.9351993203163147, + -0.30031195282936096, + 0.1876557320356369, + -19.34471893310547 + ], + [ + -0.3541213572025299, + 0.7930940389633179, + -0.49558016657829285, + 1.9438122510910034 + ], + [ + -5.070465824985604e-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": [ + [ + -0.9261674284934998, + -0.31980958580970764, + 0.199839249253273, + -19.361774444580078 + ], + [ + -0.37711256742477417, + 0.7854345440864563, + -0.49079397320747375, + 1.937111496925354 + ], + [ + -2.682788036167949e-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": 28, + "c2w": [ + [ + -0.916570246219635, + -0.33911213278770447, + 0.2119007408618927, + -19.378660202026367 + ], + [ + -0.39987367391586304, + 0.7772956490516663, + -0.4857082664966583, + 1.9299914836883545 + ], + [ + 3.727609865222803e-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": [ + [ + -0.9064138531684875, + -0.35820767283439636, + 0.22383294999599457, + -19.395366668701172 + ], + [ + -0.42239072918891907, + 0.768682599067688, + -0.4803261458873749, + 1.9224566221237183 + ], + [ + 3.45857138484007e-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": [ + [ + -0.895704448223114, + -0.3770847022533417, + 0.2356286346912384, + -19.411880493164062 + ], + [ + -0.4446501135826111, + 0.7596004605293274, + -0.474651038646698, + 1.9145114421844482 + ], + [ + 3.938302839401331e-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": 31, + "c2w": [ + [ + -0.8844482898712158, + -0.3957314193248749, + 0.2472805231809616, + -19.428192138671875 + ], + [ + -0.4666379988193512, + 0.750054657459259, + -0.4686862528324127, + 1.9061607122421265 + ], + [ + -4.603305114869727e-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": 32, + "c2w": [ + [ + -0.8726524710655212, + -0.41413694620132446, + 0.2587814927101135, + -19.444293975830078 + ], + [ + -0.4883413314819336, + 0.7400512099266052, + -0.46243542432785034, + 1.8974096775054932 + ], + [ + 4.941899334198752e-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": 33, + "c2w": [ + [ + -0.8603247404098511, + -0.43228965997695923, + 0.27012455463409424, + -19.460174560546875 + ], + [ + -0.5097466111183167, + 0.7295967936515808, + -0.4559025466442108, + 1.8882635831832886 + ], + [ + -2.5172370854420478e-08, + -0.5299192667007446, + -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": 34, + "c2w": [ + [ + -0.8474715948104858, + -0.45017874240875244, + 0.2813028395175934, + -19.4758243560791 + ], + [ + -0.5308409929275513, + 0.7186967134475708, + -0.44909143447875977, + 1.8787280321121216 + ], + [ + 6.981099254232959e-09, + -0.5299192667007446, + -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": 35, + "c2w": [ + [ + -0.8341012597084045, + -0.4677930474281311, + 0.2923094630241394, + -19.491233825683594 + ], + [ + -0.5516114234924316, + 0.7073580026626587, + -0.44200628995895386, + 1.8688088655471802 + ], + [ + 3.187490449363395e-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": 36, + "c2w": [ + [ + -0.8202223181724548, + -0.4851217567920685, + 0.30313774943351746, + -19.506393432617188 + ], + [ + -0.572045087814331, + 0.6955881118774414, + -0.4346514344215393, + 1.858512043952942 + ], + [ + -1.2558339790302853e-07, + -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": 37, + "c2w": [ + [ + -0.8058425784111023, + -0.5021546483039856, + 0.3137810528278351, + -19.52129364013672 + ], + [ + -0.5921298861503601, + 0.6833932995796204, + -0.4270314574241638, + 1.8478440046310425 + ], + [ + -5.415583714807326e-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": 38, + "c2w": [ + [ + -0.7909712791442871, + -0.5188810229301453, + 0.3242328464984894, + -19.535926818847656 + ], + [ + -0.611853301525116, + 0.670781672000885, + -0.41915085911750793, + 1.8368111848831177 + ], + [ + -2.177709745865286e-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": 39, + "c2w": [ + [ + -0.7756171226501465, + -0.5352909564971924, + 0.3344869017601013, + -19.550281524658203 + ], + [ + -0.6312035322189331, + 0.6577606201171875, + -0.41101446747779846, + 1.8254202604293823 + ], + [ + -2.325034031969153e-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": 40, + "c2w": [ + [ + -0.7597899436950684, + -0.5513741970062256, + 0.3445369005203247, + -19.56435203552246 + ], + [ + -0.6501685380935669, + 0.6443384289741516, + -0.4026273787021637, + 1.81367826461792 + ], + [ + -2.6980673695220503e-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": 41, + "c2w": [ + [ + -0.7434993386268616, + -0.5671208500862122, + 0.35437649488449097, + -19.578126907348633 + ], + [ + -0.6687366962432861, + 0.6305232048034668, + -0.39399453997612, + 1.8015923500061035 + ], + [ + -9.200478245929844e-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": 42, + "c2w": [ + [ + -0.7267546057701111, + -0.5825217962265015, + 0.3639999330043793, + -19.59160041809082 + ], + [ + -0.6868970990180969, + 0.6163228750228882, + -0.38512131571769714, + 1.7891699075698853 + ], + [ + 6.668759056083218e-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": 43, + "c2w": [ + [ + -0.7095670700073242, + -0.5975670218467712, + 0.3734012544155121, + -19.604761123657227 + ], + [ + -0.7046381235122681, + 0.6017470955848694, + -0.3760131895542145, + 1.7764184474945068 + ], + [ + -3.149525085177629e-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": 44, + "c2w": [ + [ + -0.6919459104537964, + -0.61224764585495, + 0.38257482647895813, + -19.617605209350586 + ], + [ + -0.7219492197036743, + 0.5868033766746521, + -0.3666754961013794, + 1.763345718383789 + ], + [ + -3.4659890957300377e-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": 45, + "c2w": [ + [ + -0.6739031076431274, + -0.6265548467636108, + 0.39151495695114136, + -19.6301212310791 + ], + [ + -0.73881995677948, + 0.5715022683143616, + -0.35711416602134705, + 1.7499598264694214 + ], + [ + -5.113593104510983e-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": 46, + "c2w": [ + [ + -0.6554486155509949, + -0.6404796838760376, + 0.40021607279777527, + -19.642303466796875 + ], + [ + -0.7552397847175598, + 0.555851936340332, + -0.3473348915576935, + 1.7362687587738037 + ], + [ + 7.40288399470046e-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": [ + [ + -0.6365944147109985, + -0.6540136933326721, + 0.4086730480194092, + -19.654142379760742 + ], + [ + -0.7711988091468811, + 0.5398626923561096, + -0.33734366297721863, + 1.7222810983657837 + ], + [ + 5.154747029223472e-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": 48, + "c2w": [ + [ + -0.6173519492149353, + -0.6671485304832458, + 0.41688069701194763, + -19.665632247924805 + ], + [ + -0.7866871356964111, + 0.523544192314148, + -0.32714661955833435, + 1.7080051898956299 + ], + [ + -5.682181125621355e-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": 49, + "c2w": [ + [ + -0.5977320075035095, + -0.6798765063285828, + 0.42483392357826233, + -19.676767349243164 + ], + [ + -0.8016956448554993, + 0.5069054365158081, + -0.3167498707771301, + 1.693449854850769 + ], + [ + 1.0997625565778435e-07, + -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": 50, + "c2w": [ + [ + -0.5777483582496643, + -0.6921894550323486, + 0.432528018951416, + -19.68754005432129 + ], + [ + -0.8162148594856262, + 0.48995840549468994, + -0.306160032749176, + 1.6786240339279175 + ], + [ + -5.663068236572144e-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": [ + [ + -0.5574116110801697, + -0.7040801048278809, + 0.4399580955505371, + -19.697940826416016 + ], + [ + -0.83023601770401, + 0.47271180152893066, + -0.2953832447528839, + 1.663536548614502 + ], + [ + 1.8160401182854002e-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": 52, + "c2w": [ + [ + -0.536734938621521, + -0.7155411839485168, + 0.44711968302726746, + -19.70796775817871 + ], + [ + -0.8437506556510925, + 0.45517697930336, + -0.28442633152008057, + 1.648196816444397 + ], + [ + 8.735769085888023e-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": 53, + "c2w": [ + [ + -0.5157310366630554, + -0.7265656590461731, + 0.4540086090564728, + -19.71761131286621 + ], + [ + -0.8567505478858948, + 0.43736475706100464, + -0.2732957601547241, + 1.632614016532898 + ], + [ + -5.502901245790781e-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": 54, + "c2w": [ + [ + -0.49441206455230713, + -0.7371470332145691, + 0.4606204628944397, + -19.726869583129883 + ], + [ + -0.8692277669906616, + 0.4192851781845093, + -0.2619985044002533, + 1.616797924041748 + ], + [ + 1.3816489286000433e-07, + -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": 55, + "c2w": [ + [ + -0.4727916717529297, + -0.747278094291687, + 0.4669512212276459, + -19.73573112487793 + ], + [ + -0.8811742067337036, + 0.4009501338005066, + -0.2505413293838501, + 1.6007578372955322 + ], + [ + -9.980628590255947e-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": 56, + "c2w": [ + [ + -0.45088231563568115, + -0.7569537162780762, + 0.47299709916114807, + -19.74419593811035 + ], + [ + -0.892583429813385, + 0.3823698163032532, + -0.2389313280582428, + 1.5845038890838623 + ], + [ + 1.5110390449990518e-07, + -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": 57, + "c2w": [ + [ + -0.42869842052459717, + -0.7661670446395874, + 0.47875434160232544, + -19.752256393432617 + ], + [ + -0.903447687625885, + 0.3635569214820862, + -0.2271755039691925, + 1.568045735359192 + ], + [ + -6.162409249554912e-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": 58, + "c2w": [ + [ + -0.40625250339508057, + -0.7749131321907043, + 0.48421937227249146, + -19.759906768798828 + ], + [ + -0.913760781288147, + 0.3445216119289398, + -0.21528111398220062, + 1.5513935089111328 + ], + [ + 8.779080928889016e-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": 59, + "c2w": [ + [ + -0.3835590183734894, + -0.7831863760948181, + 0.4893890917301178, + -19.76714515686035 + ], + [ + -0.9235163927078247, + 0.3252764940261841, + -0.2032553106546402, + 1.5345574617385864 + ], + [ + 2.6520728724221954e-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": 60, + "c2w": [ + [ + -0.36063140630722046, + -0.790981650352478, + 0.4942602217197418, + -19.773963928222656 + ], + [ + -0.9327085018157959, + 0.30583280324935913, + -0.19110547006130219, + 1.5175477266311646 + ], + [ + -4.699517219819427e-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": 61, + "c2w": [ + [ + -0.3374837338924408, + -0.7982942461967468, + 0.49882957339286804, + -19.78036117553711 + ], + [ + -0.9413313269615173, + 0.28620246052742004, + -0.17883913218975067, + 1.500374674797058 + ], + [ + -5.472038822063041e-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": 62, + "c2w": [ + [ + -0.31413018703460693, + -0.8051199913024902, + 0.5030947923660278, + -19.786333084106445 + ], + [ + -0.949380099773407, + 0.26639747619628906, + -0.1664636731147766, + 1.483048915863037 + ], + [ + 1.212966651564784e-07, + -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": [ + [ + -0.290584534406662, + -0.8114541172981262, + 0.5070527791976929, + -19.791873931884766 + ], + [ + -0.9568491578102112, + 0.24642963707447052, + -0.15398643910884857, + 1.4655810594558716 + ], + [ + 3.265495962523346e-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": 64, + "c2w": [ + [ + -0.2668619155883789, + -0.8172933459281921, + 0.5107016563415527, + -19.796981811523438 + ], + [ + -0.9637346863746643, + 0.22631168365478516, + -0.14141535758972168, + 1.447981595993042 + ], + [ + 4.058686542407486e-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": [ + [ + -0.24297676980495453, + -0.8226339221000671, + 0.5140387415885925, + -19.801654815673828 + ], + [ + -0.9700321555137634, + 0.20605598390102386, + -0.12875807285308838, + 1.430261254310608 + ], + [ + 1.8077304986263698e-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": 66, + "c2w": [ + [ + -0.21894294023513794, + -0.827472448348999, + 0.5170621871948242, + -19.80588722229004 + ], + [ + -0.9757376909255981, + 0.18567410111427307, + -0.11602213233709335, + 1.412431001663208 + ], + [ + 6.762331850040937e-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": 67, + "c2w": [ + [ + -0.19477558135986328, + -0.8318060636520386, + 0.519770085811615, + -19.80967903137207 + ], + [ + -0.9808477163314819, + 0.1651790291070938, + -0.10321540385484695, + 1.3945015668869019 + ], + [ + 4.4084409012157266e-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": 68, + "c2w": [ + [ + -0.17048950493335724, + -0.8356321454048157, + 0.5221608877182007, + -19.813024520874023 + ], + [ + -0.9853593707084656, + 0.14458328485488892, + -0.09034570306539536, + 1.3764840364456177 + ], + [ + -8.399062778607913e-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": 69, + "c2w": [ + [ + -0.14609943330287933, + -0.8389484286308289, + 0.5242331027984619, + -19.81592559814453 + ], + [ + -0.9892698526382446, + 0.12389932572841644, + -0.07742094993591309, + 1.3583892583847046 + ], + [ + 1.7063834789610155e-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": 70, + "c2w": [ + [ + -0.12162009626626968, + -0.8417527675628662, + 0.5259854793548584, + -19.81838035583496 + ], + [ + -0.9925766587257385, + 0.10313965380191803, + -0.06444890797138214, + 1.3402284383773804 + ], + [ + 5.414685944060693e-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": 71, + "c2w": [ + [ + -0.09706674516201019, + -0.8440435528755188, + 0.5274168848991394, + -19.820383071899414 + ], + [ + -0.9952778816223145, + 0.0823173001408577, + -0.051437485963106155, + 1.3220124244689941 + ], + [ + -4.876741499515447e-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": [ + [ + -0.07245390862226486, + -0.8458192944526672, + 0.5285264253616333, + -19.821937561035156 + ], + [ + -0.9973717927932739, + 0.06144433841109276, + -0.038394808769226074, + 1.3037526607513428 + ], + [ + 1.1521817100401677e-07, + -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": 73, + "c2w": [ + [ + -0.04779692739248276, + -0.8470788598060608, + 0.5293135643005371, + -19.82303810119629 + ], + [ + -0.9988570809364319, + 0.04053403064608574, + -0.025328608229756355, + 1.2854599952697754 + ], + [ + 1.2267574334146047e-07, + -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": [ + [ + -0.023110870271921158, + -0.8478215932846069, + 0.5297776460647583, + -19.823688507080078 + ], + [ + -0.9997328519821167, + 0.01959909498691559, + -0.012246966361999512, + 1.2671456336975098 + ], + [ + 4.861670532818607e-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": 75, + "c2w": [ + [ + 0.001589314779266715, + -0.8480469584465027, + 0.5299186706542969, + -19.82388687133789 + ], + [ + -0.9999987483024597, + -0.0013478038599714637, + 0.0008422260289080441, + 1.2488209009170532 + ], + [ + -2.23591634096465e-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": 76, + "c2w": [ + [ + 0.02628851868212223, + -0.8477550745010376, + 0.5297361612319946, + -19.823631286621094 + ], + [ + -0.9996544718742371, + -0.02229391410946846, + 0.013930846005678177, + 1.230496883392334 + ], + [ + 2.473285576343187e-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": 77, + "c2w": [ + [ + 0.05097174644470215, + -0.8469457626342773, + 0.5292304158210754, + -19.822921752929688 + ], + [ + -0.9987001419067383, + -0.043226465582847595, + 0.0270109660923481, + 1.2121846675872803 + ], + [ + -3.152493732727635e-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": 78, + "c2w": [ + [ + 0.07562388479709625, + -0.8456196188926697, + 0.5284018516540527, + -19.821762084960938 + ], + [ + -0.9971364736557007, + -0.0641326829791069, + 0.04007457569241524, + 1.1938955783843994 + ], + [ + -9.76358549564793e-10, + -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": 79, + "c2w": [ + [ + 0.10022982954978943, + -0.8437775373458862, + 0.5272507667541504, + -19.82015037536621 + ], + [ + -0.9949643015861511, + -0.0849997028708458, + 0.05311372131109238, + 1.1756408214569092 + ], + [ + -2.4413829180502944e-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": 80, + "c2w": [ + [ + 0.12477458268404007, + -0.8414207696914673, + 0.5257779955863953, + -19.81808853149414 + ], + [ + -0.9921851754188538, + -0.1058148667216301, + 0.0661204382777214, + 1.1574313640594482 + ], + [ + 3.978462359555124e-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 + } + } + ] +} diff --git a/blenderobj_eval/target/scene_000027__traj002__bullettime_mid/caption.txt b/blenderobj_eval/target/scene_000027__traj002__bullettime_mid/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..ba3a32ded747512dddcfb36ae8b141faa8c2195e --- /dev/null +++ b/blenderobj_eval/target/scene_000027__traj002__bullettime_mid/caption.txt @@ -0,0 +1 @@ +A cozy bedroom with a neatly made bed, a window with white shutters letting in warm sunlight, and a vase of green flowers on the windowsill. Various household items, including bottles, containers, and a small figurine, are seen floating and gradually settling onto the bed and floor, creating a sense of gentle chaos. 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 middle moment while the camera keeps moving, a bullet-time shot. diff --git a/blenderobj_eval/target/scene_000027__traj002__bullettime_mid/extras/blender_meta.json b/blenderobj_eval/target/scene_000027__traj002__bullettime_mid/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..570b8b52e6860e635520fa4dc74814a2de5684cb --- /dev/null +++ b/blenderobj_eval/target/scene_000027__traj002__bullettime_mid/extras/blender_meta.json @@ -0,0 +1,377 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000027", + "trajectory_index": 2, + "trajectory_id": "T4", + "trajectory_name": "spherical_figure_eight", + "pattern": "bullettime_40", + "pattern_params": { + "kind": "bullettime", + "bullet_frame": 40, + "stride": 0, + "cam_start": 0, + "src_frame_range": [ + 40, + 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": 0, + "timestamps": [ + 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 + ], + "timestamp_range": [ + 1.333333333, + 1.333333333 + ], + "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": [ + 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 + ], + "written_at": "2026-09-17T14:34:26" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000027__traj002__bullettime_mid/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000027__traj002__bullettime_mid/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..4e7ad004c83ebd8f8b76628783511661a61c7323 --- /dev/null +++ b/blenderobj_eval/target/scene_000027__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_000029__traj000__bullettime_late/caption.txt b/blenderobj_eval/target/scene_000029__traj000__bullettime_late/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..8a6a0139d1a00a5a0d3ee86e577bbd5e5772c66b --- /dev/null +++ b/blenderobj_eval/target/scene_000029__traj000__bullettime_late/caption.txt @@ -0,0 +1 @@ +Various everyday objects, including a pink shoe, a frisbee, a phone, a glove, and other small items, float and tumble through a dimly lit, gray space before gradually settling onto the ground. 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 is frozen at a late moment while the camera keeps moving, a bullet-time shot. diff --git a/blenderobj_eval/target/scene_000029__traj000__bullettime_late/extras/blender_meta.json b/blenderobj_eval/target/scene_000029__traj000__bullettime_late/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec86932b54dc3998ca68b7fef665b5b82569095a --- /dev/null +++ b/blenderobj_eval/target/scene_000029__traj000__bullettime_late/extras/blender_meta.json @@ -0,0 +1,377 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000029", + "trajectory_index": 0, + "trajectory_id": "T0", + "trajectory_name": "low_elevation_arc", + "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_000029__traj000__bullettime_late/transforms.json b/blenderobj_eval/target/scene_000029__traj000__bullettime_late/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f99bc44e8aab158c2796bbe50e1944ded879e9f9 --- /dev/null +++ b/blenderobj_eval/target/scene_000029__traj000__bullettime_late/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, + -14.045384407043457 + ], + [ + 0.7851922512054443, + -0.14981064200401306, + 0.6008577346801758, + -14.966200828552246 + ], + [ + -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, + -14.034132957458496 + ], + [ + 0.7934746742248535, + -0.14723438024520874, + 0.5905253291130066, + -14.951735496520996 + ], + [ + -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, + -14.023077964782715 + ], + [ + 0.8016127347946167, + -0.14463147521018982, + 0.580085277557373, + -14.937119483947754 + ], + [ + -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, + -14.012221336364746 + ], + [ + 0.8096047639846802, + -0.14200222492218018, + 0.5695397257804871, + -14.922355651855469 + ], + [ + 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, + -14.001564979553223 + ], + [ + 0.8174497485160828, + -0.13934697210788727, + 0.5588904023170471, + -14.90744686126709 + ], + [ + -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, + -13.991110801696777 + ], + [ + 0.8251456618309021, + -0.13666662573814392, + 0.5481395125389099, + -14.89239501953125 + ], + [ + -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, + -13.980860710144043 + ], + [ + 0.832691490650177, + -0.13396114110946655, + 0.5372890830039978, + -14.877204895019531 + ], + [ + -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, + -13.970815658569336 + ], + [ + 0.8400859236717224, + -0.13123127818107605, + 0.5263405442237854, + -14.861876487731934 + ], + [ + -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, + -13.960978507995605 + ], + [ + 0.8473271131515503, + -0.12847794592380524, + 0.5152960419654846, + -14.846414566040039 + ], + [ + -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, + -13.951351165771484 + ], + [ + 0.8544144630432129, + -0.12570060789585114, + 0.504158079624176, + -14.83082103729248 + ], + [ + -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, + -13.941935539245605 + ], + [ + 0.8613462448120117, + -0.12290067225694656, + 0.4929283559322357, + -14.815099716186523 + ], + [ + 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, + -13.932732582092285 + ], + [ + 0.8681212663650513, + -0.12007841467857361, + 0.48160892724990845, + -14.7992525100708 + ], + [ + -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, + -13.92374324798584 + ], + [ + 0.8747380971908569, + -0.1172342523932457, + 0.470201700925827, + -14.783282279968262 + ], + [ + -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, + -13.914971351623535 + ], + [ + 0.8811956644058228, + -0.11436907947063446, + 0.45870891213417053, + -14.767192840576172 + ], + [ + -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, + -13.906416893005371 + ], + [ + 0.8874931931495667, + -0.1114826500415802, + 0.44713255763053894, + -14.750986099243164 + ], + [ + 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, + -13.89808177947998 + ], + [ + 0.8936290740966797, + -0.1085759848356247, + 0.4354751408100128, + -14.734664916992188 + ], + [ + 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, + -13.889967918395996 + ], + [ + 0.8996021747589111, + -0.1056496649980545, + 0.4237383306026459, + -14.718233108520508 + ], + [ + 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, + -13.882076263427734 + ], + [ + 0.9054117798805237, + -0.10270412266254425, + 0.4119243025779724, + -14.701693534851074 + ], + [ + -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, + -13.874408721923828 + ], + [ + 0.9110565185546875, + -0.09973973780870438, + 0.4000352919101715, + -14.685049057006836 + ], + [ + 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, + -13.866965293884277 + ], + [ + 0.9165353178977966, + -0.09675759822130203, + 0.38807347416877747, + -14.668302536010742 + ], + [ + -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, + -13.859749794006348 + ], + [ + 0.9218474626541138, + -0.09375746548175812, + 0.3760412037372589, + -14.651457786560059 + ], + [ + 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, + -13.852761268615723 + ], + [ + 0.9269918203353882, + -0.09074018895626068, + 0.36394044756889343, + -14.634516716003418 + ], + [ + 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, + -13.846002578735352 + ], + [ + 0.9319674372673035, + -0.08770686388015747, + 0.35177329182624817, + -14.617483139038086 + ], + [ + -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, + -13.839473724365234 + ], + [ + 0.9367733597755432, + -0.0846572294831276, + 0.3395422399044037, + -14.600358963012695 + ], + [ + 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, + -13.83317756652832 + ], + [ + 0.9414089322090149, + -0.08159217983484268, + 0.3272494375705719, + -14.583148956298828 + ], + [ + 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, + -13.827113151550293 + ], + [ + 0.9458730816841125, + -0.07851239293813705, + 0.3148970603942871, + -14.565855979919434 + ], + [ + 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, + -13.821282386779785 + ], + [ + 0.9501650929450989, + -0.0754183679819107, + 0.30248722434043884, + -14.548481941223145 + ], + [ + 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, + -13.81568717956543 + ], + [ + 0.9542842507362366, + -0.07231056690216064, + 0.2900224030017853, + -14.531031608581543 + ], + [ + 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, + -13.810327529907227 + ], + [ + 0.9582296013832092, + -0.06918971985578537, + 0.27750492095947266, + -14.513506889343262 + ], + [ + -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, + -13.805205345153809 + ], + [ + 0.9620004892349243, + -0.06605620682239532, + 0.26493680477142334, + -14.495911598205566 + ], + [ + 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, + -13.800320625305176 + ], + [ + 0.9655966758728027, + -0.0629103034734726, + 0.25232064723968506, + -14.478248596191406 + ], + [ + 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, + -13.795674324035645 + ], + [ + 0.9690167307853699, + -0.0597534216940403, + 0.23965825140476227, + -14.460521697998047 + ], + [ + 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, + -13.791267395019531 + ], + [ + 0.9722606539726257, + -0.05658553168177605, + 0.22695252299308777, + -14.442733764648438 + ], + [ + 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, + -13.787101745605469 + ], + [ + 0.9753276109695435, + -0.05340728908777237, + 0.2142053097486496, + -14.424887657165527 + ], + [ + -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, + -13.78317642211914 + ], + [ + 0.9782170057296753, + -0.050219252705574036, + 0.20141921937465668, + -14.406987190246582 + ], + [ + 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, + -13.77949333190918 + ], + [ + 0.9809284210205078, + -0.04702221229672432, + 0.1885964423418045, + -14.38903522491455 + ], + [ + -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, + -13.776052474975586 + ], + [ + 0.9834612607955933, + -0.043816499412059784, + 0.1757393628358841, + -14.3710355758667 + ], + [ + 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, + -13.772854804992676 + ], + [ + 0.9858150482177734, + -0.04060303792357445, + 0.16285015642642975, + -14.35299015045166 + ], + [ + 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, + -13.769901275634766 + ], + [ + 0.987989604473114, + -0.03738171234726906, + 0.14993159472942352, + -14.334903717041016 + ], + [ + 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, + -13.767191886901855 + ], + [ + 0.9899842143058777, + -0.034154195338487625, + 0.13698554039001465, + -14.316780090332031 + ], + [ + -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, + -13.764726638793945 + ], + [ + 0.9917986989021301, + -0.030919987708330154, + 0.1240147203207016, + -14.298620223999023 + ], + [ + 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, + -13.762507438659668 + ], + [ + 0.9934325814247131, + -0.027680588886141777, + 0.11102113127708435, + -14.28042984008789 + ], + [ + -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, + -13.760533332824707 + ], + [ + 0.9948856830596924, + -0.02443588338792324, + 0.0980072170495987, + -14.26220989227295 + ], + [ + 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, + -13.758805274963379 + ], + [ + 0.9961580038070679, + -0.02118641696870327, + 0.08497575670480728, + -14.243966102600098 + ], + [ + 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, + -13.757323265075684 + ], + [ + 0.997248649597168, + -0.017933808267116547, + 0.0719287320971489, + -14.225700378417969 + ], + [ + -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, + -13.756088256835938 + ], + [ + 0.9981580972671509, + -0.014677152037620544, + 0.058868736028671265, + -14.207416534423828 + ], + [ + 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, + -13.75510025024414 + ], + [ + 0.9988855719566345, + -0.011418580077588558, + 0.045797839760780334, + -14.189117431640625 + ], + [ + 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, + -13.754358291625977 + ], + [ + 0.9994314908981323, + -0.008157425560057163, + 0.032718725502491, + -14.170805931091309 + ], + [ + 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, + -13.753864288330078 + ], + [ + 0.9997952580451965, + -0.004895282443612814, + 0.019633622840046883, + -14.152486801147461 + ], + [ + -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, + -13.753617286682129 + ], + [ + 0.9999772906303406, + -0.0016316778492182493, + 0.006544921081513166, + -14.134162902832031 + ], + [ + 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, + -13.753617286682129 + ], + [ + 0.9999772906303406, + 0.0016318140551447868, + -0.0065450058318674564, + -14.115837097167969 + ], + [ + -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, + -13.753864288330078 + ], + [ + 0.9997953772544861, + 0.00489544402807951, + -0.019633591175079346, + -14.097513198852539 + ], + [ + 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, + -13.754358291625977 + ], + [ + 0.9994314908981323, + 0.008157973177731037, + -0.03271876275539398, + -14.079194068908691 + ], + [ + 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, + -13.75510025024414 + ], + [ + 0.9988855719566345, + 0.011418910697102547, + -0.04579797759652138, + -14.060882568359375 + ], + [ + 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, + -13.756088256835938 + ], + [ + 0.9981579780578613, + 0.014677795581519604, + -0.058868736028671265, + -14.042583465576172 + ], + [ + -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, + -13.757323265075684 + ], + [ + 0.997248649597168, + 0.017933987081050873, + -0.07192880660295486, + -14.024299621582031 + ], + [ + -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, + -13.758805274963379 + ], + [ + 0.9961579442024231, + 0.02118709497153759, + -0.08497590571641922, + -14.006033897399902 + ], + [ + 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, + -13.760533332824707 + ], + [ + 0.9948856830596924, + 0.02443585731089115, + -0.09800746291875839, + -13.98779010772705 + ], + [ + -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, + -13.762507438659668 + ], + [ + 0.9934325218200684, + 0.02768070064485073, + -0.11102116107940674, + -13.96957015991211 + ], + [ + -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, + -13.764726638793945 + ], + [ + 0.9917986392974854, + 0.03092053160071373, + -0.12401468306779861, + -13.951379776000977 + ], + [ + 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, + -13.767191886901855 + ], + [ + 0.9899842143058777, + 0.034154441207647324, + -0.1369856745004654, + -13.933219909667969 + ], + [ + -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, + -13.769901275634766 + ], + [ + 0.987989604473114, + 0.03738223761320114, + -0.1499316543340683, + -13.915096282958984 + ], + [ + -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, + -13.772854804992676 + ], + [ + 0.9858149886131287, + 0.04060309752821922, + -0.1628503054380417, + -13.89700984954834 + ], + [ + -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, + -13.776052474975586 + ], + [ + 0.9834612607955933, + 0.04381681978702545, + -0.17573943734169006, + -13.8789644241333 + ], + [ + -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, + -13.77949333190918 + ], + [ + 0.9809284210205078, + 0.04702248051762581, + -0.18859651684761047, + -13.86096477508545 + ], + [ + -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, + -13.78317642211914 + ], + [ + 0.9782171249389648, + 0.050219640135765076, + -0.2014193832874298, + -13.843012809753418 + ], + [ + -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, + -13.787101745605469 + ], + [ + 0.9753276705741882, + 0.05340756103396416, + -0.21420539915561676, + -13.825112342834473 + ], + [ + -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, + -13.791267395019531 + ], + [ + 0.9722604751586914, + 0.056585490703582764, + -0.2269524484872818, + -13.807266235351562 + ], + [ + -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, + -13.795674324035645 + ], + [ + 0.9690167307853699, + 0.059753671288490295, + -0.239658385515213, + -13.789478302001953 + ], + [ + 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, + -13.800320625305176 + ], + [ + 0.965596616268158, + 0.06291071325540543, + -0.2523205280303955, + -13.771751403808594 + ], + [ + 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, + -13.805205345153809 + ], + [ + 0.9620006680488586, + 0.06605635583400726, + -0.26493680477142334, + -13.754088401794434 + ], + [ + 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, + -13.810327529907227 + ], + [ + 0.9582294821739197, + 0.0691896304488182, + -0.27750489115715027, + -13.736493110656738 + ], + [ + -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, + -13.81568717956543 + ], + [ + 0.9542841911315918, + 0.07231086492538452, + -0.2900225818157196, + -13.718968391418457 + ], + [ + -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, + -13.821282386779785 + ], + [ + 0.9501650929450989, + 0.07541865110397339, + -0.3024873435497284, + -13.701518058776855 + ], + [ + -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, + -13.827113151550293 + ], + [ + 0.9458730816841125, + 0.07851283252239227, + -0.3148970603942871, + -13.684144020080566 + ], + [ + 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, + -13.83317756652832 + ], + [ + 0.9414088726043701, + 0.08159247040748596, + -0.3272494673728943, + -13.666851043701172 + ], + [ + -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, + -13.839473724365234 + ], + [ + 0.9367733001708984, + 0.08465734869241714, + -0.33954229950904846, + -13.649641036987305 + ], + [ + -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, + -13.846002578735352 + ], + [ + 0.9319673776626587, + 0.0877070426940918, + -0.3517734408378601, + -13.632516860961914 + ], + [ + -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, + -13.852761268615723 + ], + [ + 0.926991879940033, + 0.09074068069458008, + -0.36394041776657104, + -13.615483283996582 + ], + [ + -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, + -13.859749794006348 + ], + [ + 0.9218475222587585, + 0.09375786781311035, + -0.3760414719581604, + -13.598542213439941 + ], + [ + -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, + -13.866965293884277 + ], + [ + 0.9165353775024414, + 0.09675780683755875, + -0.3880736529827118, + -13.581697463989258 + ], + [ + 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/blenderobj_eval/target/scene_000040__traj001__bullettime_mid/extras/blender_meta.json b/blenderobj_eval/target/scene_000040__traj001__bullettime_mid/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..209d1d844a5962dcb97e45cd411e60b30bc8a000 --- /dev/null +++ b/blenderobj_eval/target/scene_000040__traj001__bullettime_mid/extras/blender_meta.json @@ -0,0 +1,377 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000040", + "trajectory_index": 1, + "trajectory_id": "T2", + "trajectory_name": "high_polar_arc", + "pattern": "bullettime_40", + "pattern_params": { + "kind": "bullettime", + "bullet_frame": 40, + "stride": 0, + "cam_start": 0, + "src_frame_range": [ + 40, + 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": 0, + "timestamps": [ + 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 + ], + "timestamp_range": [ + 1.333333333, + 1.333333333 + ], + "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": [ + 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 + ], + "written_at": "2026-09-17T14:34:27" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000045__traj000__backward/extras/blender_meta.json b/blenderobj_eval/target/scene_000045__traj000__backward/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..825006b0fc9c5340a931e7a236f2579260b308f9 --- /dev/null +++ b/blenderobj_eval/target/scene_000045__traj000__backward/extras/blender_meta.json @@ -0,0 +1,376 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000045", + "trajectory_index": 0, + "trajectory_id": "T0", + "trajectory_name": "low_elevation_arc", + "pattern": "backward", + "pattern_params": { + "kind": "time_backward", + "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": [ + 2.666666667, + 2.633333333, + 2.6, + 2.566666667, + 2.533333333, + 2.5, + 2.466666667, + 2.433333333, + 2.4, + 2.366666667, + 2.333333333, + 2.3, + 2.266666667, + 2.233333333, + 2.2, + 2.166666667, + 2.133333333, + 2.1, + 2.066666667, + 2.033333333, + 2.0, + 1.966666667, + 1.933333333, + 1.9, + 1.866666667, + 1.833333333, + 1.8, + 1.766666667, + 1.733333333, + 1.7, + 1.666666667, + 1.633333333, + 1.6, + 1.566666667, + 1.533333333, + 1.5, + 1.466666667, + 1.433333333, + 1.4, + 1.366666667, + 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, + 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": [ + 80, + 79, + 78, + 77, + 76, + 75, + 74, + 73, + 72, + 71, + 70, + 69, + 68, + 67, + 66, + 65, + 64, + 63, + 62, + 61, + 60, + 59, + 58, + 57, + 56, + 55, + 54, + 53, + 52, + 51, + 50, + 49, + 48, + 47, + 46, + 45, + 44, + 43, + 42, + 41, + 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_000045__traj000__backward/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000045__traj000__backward/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..678842963065d8a73b61c737047b2306a2efde07 --- /dev/null +++ b/blenderobj_eval/target/scene_000045__traj000__backward/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "backward", + "original_pattern": "backward", + "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": [ + 80, + 79, + 78, + 77, + 76, + 75, + 74, + 73, + 72, + 71, + 70, + 69, + 68, + 67, + 66, + 65, + 64, + 63, + 62, + 61, + 60, + 59, + 58, + 57, + 56, + 55, + 54, + 53, + 52, + 51, + 50, + 49, + 48, + 47, + 46, + 45, + 44, + 43, + 42, + 41, + 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": [ + 2.666666667, + 2.633333333, + 2.6, + 2.566666667, + 2.533333333, + 2.5, + 2.466666667, + 2.433333333, + 2.4, + 2.366666667, + 2.333333333, + 2.3, + 2.266666667, + 2.233333333, + 2.2, + 2.166666667, + 2.133333333, + 2.1, + 2.066666667, + 2.033333333, + 2.0, + 1.966666667, + 1.933333333, + 1.9, + 1.866666667, + 1.833333333, + 1.8, + 1.766666667, + 1.733333333, + 1.7, + 1.666666667, + 1.633333333, + 1.6, + 1.566666667, + 1.533333333, + 1.5, + 1.466666667, + 1.433333333, + 1.4, + 1.366666667, + 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, + 2.666666667 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000045__traj000__backward/extras/traj_caption.txt b/blenderobj_eval/target/scene_000045__traj000__backward/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..39ee80a3e0474925cbbfc9ce5e29c5785238ee3a --- /dev/null +++ b/blenderobj_eval/target/scene_000045__traj000__backward/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_000049__traj002__bullettime_early/transforms.json b/blenderobj_eval/target/scene_000049__traj002__bullettime_early/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f6afaab4b0af4d0b4a099bfc98c5ed4fe28cc0bc --- /dev/null +++ b/blenderobj_eval/target/scene_000049__traj002__bullettime_early/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": [ + [ + -0.9781477451324463, + 0.11017630249261856, + -0.17631912231445312, + -3.1962943077087402 + ], + [ + 0.2079116553068161, + 0.5183393359184265, + -0.8295162916183472, + 2.069039821624756 + ], + [ + 8.137729423651763e-08, + -0.848048210144043, + -0.5299191474914551, + 1.2477936744689941 + ], + [ + 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": [ + [ + -0.9802975654602051, + 0.10626556724309921, + -0.1665061116218567, + -3.2107577323913574 + ], + [ + 0.19752633571624756, + 0.5273824334144592, + -0.826348066329956, + 2.0643701553344727 + ], + [ + 5.635346056465096e-08, + -0.8429563641548157, + -0.5379819869995117, + 1.259677529335022 + ], + [ + 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": [ + [ + -0.9823489189147949, + 0.10213302820920944, + -0.15671442449092865, + -3.225189447402954 + ], + [ + 0.18705765902996063, + 0.5363603830337524, + -0.8229987025260925, + 2.059433698654175 + ], + [ + 5.860709251237495e-08, + -0.8377865552902222, + -0.5459978580474854, + 1.2714917659759521 + ], + [ + 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": [ + [ + -0.9843052625656128, + 0.09775599837303162, + -0.14692288637161255, + -3.239621162414551 + ], + [ + 0.17647257447242737, + 0.5452499389648438, + -0.8194873332977295, + 2.0542585849761963 + ], + [ + -8.914620508448934e-08, + -0.8325538039207458, + -0.5539440512657166, + 1.2832036018371582 + ], + [ + 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": [ + [ + -0.9861704707145691, + 0.0931088998913765, + -0.1371077001094818, + -3.2540876865386963 + ], + [ + 0.16573408246040344, + 0.5540273189544678, + -0.8158345222473145, + 2.0488743782043457 + ], + [ + -4.2786329146338176e-08, + -0.8272753357887268, + -0.5617967247962952, + 1.294777512550354 + ], + [ + 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": [ + [ + -0.987945556640625, + 0.08816344290971756, + -0.12724167108535767, + -3.2686290740966797 + ], + [ + 0.1548006385564804, + 0.5626631379127502, + -0.8120632171630859, + 2.043315887451172 + ], + [ + -7.824014147672642e-08, + -0.8219714760780334, + -0.5695285797119141, + 1.30617356300354 + ], + [ + 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": [ + [ + -0.9896321892738342, + 0.0828859955072403, + -0.11729247123003006, + -3.2832932472229004 + ], + [ + 0.14362315833568573, + 0.571124255657196, + -0.8082010746002197, + 2.037623882293701 + ], + [ + 4.170787448742885e-08, + -0.816667914390564, + -0.5771077871322632, + 1.317344307899475 + ], + [ + 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": [ + [ + -0.9912307262420654, + 0.0772368535399437, + -0.10722075402736664, + -3.298137903213501 + ], + [ + 0.13214318454265594, + 0.5793676376342773, + -0.8042831420898438, + 2.031848907470703 + ], + [ + -6.651926298673061e-08, + -0.8113986253738403, + -0.5844932198524475, + 1.3282300233840942 + ], + [ + 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": [ + [ + -0.9927392601966858, + 0.07116642594337463, + -0.09697716683149338, + -3.3132357597351074 + ], + [ + 0.12028811126947403, + 0.5873370170593262, + -0.8003539443016052, + 2.026057720184326 + ], + [ + -6.544735242641764e-08, + -0.8062077760696411, + -0.5916325449943542, + 1.3387523889541626 + ], + [ + 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": [ + [ + -0.9941543340682983, + 0.0646129697561264, + -0.08649864792823792, + -3.3286800384521484 + ], + [ + 0.10796689987182617, + 0.5949528217315674, + -0.7964760661125183, + 2.0203421115875244 + ], + [ + -6.007824993048416e-08, + -0.8011592626571655, + -0.5984511971473694, + 1.3488023281097412 + ], + [ + 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": [ + [ + -0.9954712390899658, + 0.05749817565083504, + -0.07570332288742065, + -3.3445911407470703 + ], + [ + 0.09506331384181976, + 0.6021009087562561, + -0.7927404642105103, + 2.014836311340332 + ], + [ + -9.304826420475365e-08, + -0.7963469624519348, + -0.604840099811554, + 1.3582189083099365 + ], + [ + 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": [ + [ + -0.9966791272163391, + 0.04972320422530174, + -0.0644853264093399, + -3.3611252307891846 + ], + [ + 0.08142944425344467, + 0.6086006760597229, + -0.7892873287200928, + 2.009746789932251 + ], + [ + -8.172080612212085e-08, + -0.7919172048568726, + -0.6106284856796265, + 1.3667503595352173 + ], + [ + 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": [ + [ + -0.9977601766586304, + 0.04117339849472046, + -0.052717313170433044, + -3.378469944000244 + ], + [ + 0.06689068675041199, + 0.6141533255577087, + -0.7863467335700989, + 2.0054125785827637 + ], + [ + -5.060066499140703e-08, + -0.7881118655204773, + -0.6155320405960083, + 1.3739778995513916 + ], + [ + 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": [ + [ + -0.9986831545829773, + 0.031761109828948975, + -0.04029255360364914, + -3.396782875061035 + ], + [ + 0.051305536180734634, + 0.6182423233985901, + -0.7843114137649536, + 2.0024125576019287 + ], + [ + -4.4081506445081686e-08, + -0.785345733165741, + -0.6190574765205383, + 1.3791738748550415 + ], + [ + 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": [ + [ + -0.9993935823440552, + 0.021606778725981712, + -0.027315432205796242, + -3.415909767150879 + ], + [ + 0.03482794389128685, + 0.6200088262557983, + -0.783821702003479, + 2.0016908645629883 + ], + [ + -5.515504852837694e-08, + -0.784297525882721, + -0.6203849911689758, + 1.3811304569244385 + ], + [ + 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": [ + [ + -0.9998288154602051, + 0.011446204036474228, + -0.014539816416800022, + -3.434739589691162 + ], + [ + 0.018504643812775612, + 0.6184504628181458, + -0.7856059074401855, + 2.0043206214904785 + ], + [ + -4.992569913042644e-08, + -0.7857404351234436, + -0.6185563206672668, + 1.3784351348876953 + ], + [ + 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": [ + [ + -0.9999912977218628, + 0.0025608392897993326, + -0.0032968404702842236, + -3.451310634613037 + ], + [ + 0.004174572415649891, + 0.6134178042411804, + -0.7897475361824036, + 2.010424852371216 + ], + [ + -7.58057083771746e-08, + -0.7897544503211975, + -0.6134231686592102, + 1.370869517326355 + ], + [ + 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": [ + [ + -0.9999740123748779, + -0.004372654482722282, + 0.005740659311413765, + -3.4646308422088623 + ], + [ + -0.007216319907456636, + 0.6059273481369019, + -0.7954872846603394, + 2.0188848972320557 + ], + [ + -3.127949099734906e-08, + -0.7955080270767212, + -0.6059430837631226, + 1.3598445653915405 + ], + [ + 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": [ + [ + -0.9998728036880493, + -0.009526739828288555, + 0.012798135168850422, + -3.4750328063964844 + ], + [ + -0.015954656526446342, + 0.5970346927642822, + -0.8020568490028381, + 2.0285675525665283 + ], + [ + 5.653190626730975e-08, + -0.8021589517593384, + -0.5971106290817261, + 1.346826434135437 + ], + [ + 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": [ + [ + -0.9997442364692688, + -0.013289387337863445, + 0.01830500364303589, + -3.483149290084839 + ], + [ + -0.022620366886258125, + 0.5873490571975708, + -0.8090176582336426, + 2.0388271808624268 + ], + [ + -7.684261760232403e-08, + -0.8092247247695923, + -0.5874992609024048, + 1.3326603174209595 + ], + [ + 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": [ + [ + -0.9996170401573181, + -0.015979213640093803, + 0.022595057263970375, + -3.4894723892211914 + ], + [ + -0.027674390003085136, + 0.5771793723106384, + -0.8161484003067017, + 2.0493369102478027 + ], + [ + 9.464493189170753e-09, + -0.8164610862731934, + -0.5774004459381104, + 1.317775845527649 + ], + [ + 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": [ + [ + -0.9995062947273254, + -0.01781849004328251, + 0.025888124480843544, + -3.494326114654541 + ], + [ + -0.031427592039108276, + 0.5666890144348145, + -0.8233324289321899, + 2.0599253177642822 + ], + [ + 2.9159339831608122e-08, + -0.8237393498420715, + -0.5669687986373901, + 1.302400827407837 + ], + [ + 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": [ + [ + -0.999419093132019, + -0.01895957440137863, + 0.02832157351076603, + -3.497912645339966 + ], + [ + -0.03408191725611687, + 0.5559709072113037, + -0.8305028080940247, + 2.070493698120117 + ], + [ + 9.211465368252902e-09, + -0.8309855461120605, + -0.5562940239906311, + 1.2866673469543457 + ], + [ + 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": [ + [ + -0.9993601441383362, + -0.01950722746551037, + 0.029976243153214455, + -3.5003514289855957 + ], + [ + -0.03576460853219032, + 0.5450850129127502, + -0.8376175165176392, + 2.0809803009033203 + ], + [ + -6.329476942568135e-09, + -0.8381537199020386, + -0.5454340577125549, + 1.2706608772277832 + ], + [ + 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": [ + [ + -0.9993316531181335, + -0.019533317536115646, + 0.030892208218574524, + -3.501701593399048 + ], + [ + -0.036549679934978485, + 0.5340744853019714, + -0.8446468114852905, + 2.0913407802581787 + ], + [ + 1.0798430594149977e-08, + -0.8452115654945374, + -0.5344318151473999, + 1.2544447183609009 + ], + [ + 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": [ + [ + -0.9993348717689514, + -0.01908556930720806, + 0.031077180057764053, + -3.501974105834961 + ], + [ + -0.036469850689172745, + 0.5229758024215698, + -0.8515670299530029, + 2.1015400886535645 + ], + [ + 2.9612392538069798e-08, + -0.8521339297294617, + -0.5233238339424133, + 1.2380732297897339 + ], + [ + 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": [ + [ + -0.9993690252304077, + -0.018192391842603683, + 0.030509663745760918, + -3.5011377334594727 + ], + [ + -0.03552186116576195, + 0.5118252635002136, + -0.8583549857139587, + 2.1115448474884033 + ], + [ + -8.537923434914774e-08, + -0.8588970303535461, + -0.512148380279541, + 1.2216014862060547 + ], + [ + 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": [ + [ + -0.9994329810142517, + -0.016865435987710953, + 0.02913815528154373, + -3.4991161823272705 + ], + [ + -0.03366712108254433, + 0.5006648898124695, + -0.8649861812591553, + 2.121318817138672 + ], + [ + -8.348841618044389e-08, + -0.8654767870903015, + -0.500948965549469, + 1.2050944566726685 + ], + [ + 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": [ + [ + -0.999524712562561, + -0.015098673291504383, + 0.026876308023929596, + -3.4957823753356934 + ], + [ + -0.030827032402157784, + 0.48955175280570984, + -0.8714291453361511, + 2.130814790725708 + ], + [ + 7.84310074664063e-08, + -0.8718434572219849, + -0.4897845685482025, + 1.188639521598816 + ], + [ + 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": [ + [ + -0.9996392130851746, + -0.01286550797522068, + 0.023593898862600327, + -3.4909446239471436 + ], + [ + -0.02687365561723709, + 0.47857049107551575, + -0.8776381015777588, + 2.1399660110473633 + ], + [ + -7.91794079191277e-08, + -0.8779551982879639, + -0.4787430465221405, + 1.1723655462265015 + ], + [ + 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": [ + [ + -0.9997663497924805, + -0.010115869343280792, + 0.019103892147541046, + -3.4843268394470215 + ], + [ + -0.02161688171327114, + 0.46785515546798706, + -0.8835407495498657, + 2.1486661434173584 + ], + [ + -7.110699584700342e-08, + -0.8837472796440125, + -0.4679644703865051, + 1.1564791202545166 + ], + [ + 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": [ + [ + -0.9998904466629028, + -0.006769510451704264, + 0.013150467537343502, + -3.4755520820617676 + ], + [ + -0.01479057315737009, + 0.4576359689235687, + -0.8890164494514465, + 2.1567368507385254 + ], + [ + 7.827556203210406e-08, + -0.88911372423172, + -0.4576862156391144, + 1.1413300037384033 + ], + [ + 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": [ + [ + -0.9999814629554749, + -0.0027194428257644176, + 0.0054218964651227, + -3.464160919189453 + ], + [ + -0.006065668538212776, + 0.44831255078315735, + -0.8938561677932739, + 2.163870096206665 + ], + [ + 8.599040057788443e-08, + -0.8938726186752319, + -0.4483209550380707, + 1.1275264024734497 + ], + [ + 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": [ + [ + -0.9999881982803345, + 0.002127777086570859, + -0.0043357922695577145, + -3.4497792720794678 + ], + [ + 0.004829754587262869, + 0.44054388999938965, + -0.8977179527282715, + 2.1695618629455566 + ], + [ + -3.6472268760689985e-08, + -0.8977283835411072, + -0.44054922461509705, + 1.1160717010498047 + ], + [ + 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": [ + [ + -0.9998417496681213, + 0.007738423999398947, + -0.01600661315023899, + -3.432577610015869 + ], + [ + 0.01777905784547329, + 0.43518778681755066, + -0.900164008140564, + 2.1731672286987305 + ], + [ + 3.332432640945626e-08, + -0.9003063440322876, + -0.4352567493915558, + 1.1082713603973389 + ], + [ + 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": [ + [ + -0.9994878768920898, + 0.013856904581189156, + -0.028843069449067116, + -3.4136581420898438 + ], + [ + 0.03199900686740875, + 0.4328181743621826, + -0.9009131193161011, + 2.1742711067199707 + ], + [ + -6.216558290361718e-08, + -0.9013746976852417, + -0.43303993344306946, + 1.105004072189331 + ], + [ + 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": [ + [ + -0.9989205598831177, + 0.020149333402514458, + -0.04186076298356056, + -3.3944714069366455 + ], + [ + 0.04645771160721779, + 0.43324750661849976, + -0.9000770449638367, + 2.1730387210845947 + ], + [ + 1.117550922913324e-07, + -0.9010499715805054, + -0.4337155222892761, + 1.1059998273849487 + ], + [ + 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": [ + [ + -0.9981672763824463, + 0.026421204209327698, + -0.05444308742880821, + -3.3759264945983887 + ], + [ + 0.06051553413271904, + 0.4358024299144745, + -0.8980056047439575, + 2.169985771179199 + ], + [ + 3.857180885802336e-08, + -0.8996544480323792, + -0.4366026222705841, + 1.1102550029754639 + ], + [ + 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": [ + [ + -0.9972603917121887, + 0.03262266889214516, + -0.06638623028993607, + -3.358323574066162 + ], + [ + 0.07396870851516724, + 0.4398263096809387, + -0.8950313925743103, + 2.165602207183838 + ], + [ + 1.0285550899880036e-07, + -0.8974900245666504, + -0.4410346448421478, + 1.116787314414978 + ], + [ + 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": [ + [ + -0.9962236285209656, + 0.038770176470279694, + -0.07768817991018295, + -3.341665744781494 + ], + [ + 0.08682499080896378, + 0.44484567642211914, + -0.8913887143135071, + 2.16023325920105 + ], + [ + -5.010469550370544e-08, + -0.8947677612304688, + -0.44653189182281494, + 1.124889612197876 + ], + [ + 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": [ + [ + -0.9950717091560364, + 0.04489635303616524, + -0.08841144293546677, + -3.3258607387542725 + ], + [ + 0.09915778040885925, + 0.45054471492767334, + -0.8872300386428833, + 2.1541037559509277 + ], + [ + -8.435078058255385e-08, + -0.8916242122650146, + -0.45277613401412964, + 1.134092926979065 + ], + [ + 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": [ + [ + -0.9938149452209473, + 0.05103379487991333, + -0.09862931817770004, + -3.310800790786743 + ], + [ + 0.11105039715766907, + 0.45671361684799194, + -0.8826555013656616, + 2.1473612785339355 + ], + [ + 8.351672420303657e-08, + -0.8881489038467407, + -0.45955589413642883, + 1.1440857648849487 + ], + [ + 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": [ + [ + -0.9924587607383728, + 0.05721111223101616, + -0.108409084379673, + -3.296386480331421 + ], + [ + 0.12257912009954453, + 0.4632076621055603, + -0.8777318000793457, + 2.140104293823242 + ], + [ + -9.624716312828241e-08, + -0.884401261806488, + -0.4667273461818695, + 1.1546556949615479 + ], + [ + 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": [ + [ + -0.991007387638092, + 0.06345079839229584, + -0.11780861765146255, + -3.2825324535369873 + ], + [ + 0.13380910456180573, + 0.4699242413043976, + -0.8725060224533081, + 2.132401943206787 + ], + [ + -9.818585056109441e-08, + -0.8804235458374023, + -0.47418826818466187, + 1.1656521558761597 + ], + [ + 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": [ + [ + -0.9894615411758423, + 0.06977177411317825, + -0.12687674164772034, + -3.269166946411133 + ], + [ + 0.1447957456111908, + 0.4767857491970062, + -0.8670117855072021, + 2.1243042945861816 + ], + [ + 6.990227063852217e-08, + -0.8762460947036743, + -0.4818638861179352, + 1.1769652366638184 + ], + [ + 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": [ + [ + -0.9878220558166504, + 0.07619055360555649, + -0.13565494120121002, + -3.2562289237976074 + ], + [ + 0.155586838722229, + 0.4837338328361511, + -0.8612747192382812, + 2.1158485412597656 + ], + [ + -1.0558838425822614e-07, + -0.8718923926353455, + -0.4896973967552185, + 1.1885110139846802 + ], + [ + 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": [ + [ + -0.9860885143280029, + 0.08271998167037964, + -0.14417894184589386, + -3.2436654567718506 + ], + [ + 0.16622322797775269, + 0.4907214939594269, + -0.8553144335746765, + 2.1070632934570312 + ], + [ + 8.302619391997723e-08, + -0.8673813343048096, + -0.4976442754268646, + 1.2002239227294922 + ], + [ + 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": [ + [ + -0.9842573404312134, + 0.08937278389930725, + -0.15248000621795654, + -3.2314305305480957 + ], + [ + 0.17674174904823303, + 0.4977078437805176, + -0.8491462469100952, + 2.0979723930358887 + ], + [ + -7.05602545281181e-08, + -0.86272794008255, + -0.5056684017181396, + 1.2120505571365356 + ], + [ + 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": [ + [ + -0.9823266267776489, + 0.09615941345691681, + -0.16058646142482758, + -3.219482421875 + ], + [ + 0.1871754378080368, + 0.50465989112854, + -0.8427833914756775, + 2.0885941982269287 + ], + [ + -1.4283213722876553e-08, + -0.8579463362693787, + -0.5137394070625305, + 1.2239463329315186 + ], + [ + 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": [ + [ + -0.9802918434143066, + 0.10309058427810669, + -0.16852450370788574, + -3.207782745361328 + ], + [ + 0.19755549728870392, + 0.5115466117858887, + -0.836236834526062, + 2.0789451599121094 + ], + [ + -1.8708265159261828e-08, + -0.8530489802360535, + -0.5218308568000793, + 1.2358723878860474 + ], + [ + 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": [ + [ + -0.9781477451324463, + 0.11017630249261856, + -0.17631912231445312, + -3.1962943077087402 + ], + [ + 0.2079116553068161, + 0.5183393359184265, + -0.8295162916183472, + 2.069039821624756 + ], + [ + 8.137729423651763e-08, + -0.848048210144043, + -0.5299191474914551, + 1.2477936744689941 + ], + [ + 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": [ + [ + -0.9758877754211426, + 0.11742723733186722, + -0.1839950978755951, + -3.184980630874634 + ], + [ + 0.2182735651731491, + 0.525010347366333, + -0.8226305842399597, + 2.0588910579681396 + ], + [ + 7.875691920844474e-08, + -0.8429562449455261, + -0.537982165813446, + 1.259677529335022 + ], + [ + 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": [ + [ + -0.973503589630127, + 0.12485410273075104, + -0.1915779709815979, + -3.17380428314209 + ], + [ + 0.22867152094841003, + 0.5315308570861816, + -0.8155882358551025, + 2.048511505126953 + ], + [ + 7.078117647552062e-08, + -0.8377865552902222, + -0.5459978580474854, + 1.2714917659759521 + ], + [ + 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": [ + [ + -0.970986008644104, + 0.13246870040893555, + -0.19909490644931793, + -3.1627254486083984 + ], + [ + 0.23913748562335968, + 0.5378718376159668, + -0.8083981871604919, + 2.0379137992858887 + ], + [ + 5.91812288064375e-08, + -0.8325541019439697, + -0.5539438128471375, + 1.2832036018371582 + ], + [ + 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": [ + [ + -0.968321681022644, + 0.14028409123420715, + -0.20657563209533691, + -3.1516993045806885 + ], + [ + 0.24970605969429016, + 0.543999969959259, + -0.8010686039924622, + 2.027111291885376 + ], + [ + -3.620059985109947e-08, + -0.827275276184082, + -0.5617967844009399, + 1.294777512550354 + ], + [ + 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": [ + [ + -0.965496301651001, + 0.14831455051898956, + -0.21405477821826935, + -3.1406760215759277 + ], + [ + 0.26041629910469055, + 0.5498778223991394, + -0.7936104536056519, + 2.0161187648773193 + ], + [ + -1.6143088255038407e-10, + -0.8219714164733887, + -0.5695286989212036, + 1.30617356300354 + ], + [ + 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": [ + [ + -0.9624909162521362, + 0.15657715499401093, + -0.22157302498817444, + -3.1295948028564453 + ], + [ + 0.27131348848342896, + 0.5554607510566711, + -0.7860357165336609, + 2.0049543380737305 + ], + [ + -9.574976900239562e-08, + -0.8166680932044983, + -0.5771076083183289, + 1.317344307899475 + ], + [ + 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": [ + [ + -0.9592821002006531, + 0.16509081423282623, + -0.22918042540550232, + -3.118382453918457 + ], + [ + 0.28245115280151367, + 0.56069415807724, + -0.7783598303794861, + 1.993640661239624 + ], + [ + 1.7826513598606653e-08, + -0.8113986253738403, + -0.5844933390617371, + 1.3282300233840942 + ], + [ + 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": [ + [ + -0.9558374881744385, + 0.17387765645980835, + -0.2369401901960373, + -3.106945276260376 + ], + [ + 0.2938947081565857, + 0.5655044317245483, + -0.7706037759780884, + 1.9822092056274414 + ], + [ + -1.8027920489771532e-08, + -0.8062077164649963, + -0.5916325449943542, + 1.3387523889541626 + ], + [ + 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": [ + [ + -0.9521194100379944, + 0.1829623579978943, + -0.2449355274438858, + -3.095160961151123 + ], + [ + 0.30572640895843506, + 0.5697970390319824, + -0.7627992630004883, + 1.9707062244415283 + ], + [ + -2.4581044755223047e-08, + -0.8011592626571655, + -0.5984511971473694, + 1.3488023281097412 + ], + [ + 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": [ + [ + -0.9480739235877991, + 0.19236938655376434, + -0.25327813625335693, + -3.082864999771118 + ], + [ + 0.31804999709129333, + 0.5734331011772156, + -0.7549957633018494, + 1.9592046737670898 + ], + [ + -4.2035743774704315e-09, + -0.7963469624519348, + -0.604840099811554, + 1.3582189083099365 + ], + [ + 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": [ + [ + -0.9436323642730713, + 0.20211586356163025, + -0.2621217966079712, + -3.0698304176330566 + ], + [ + 0.33099645376205444, + 0.5762088894844055, + -0.7472785711288452, + 1.9478302001953125 + ], + [ + 1.3090655670566775e-08, + -0.7919173240661621, + -0.6106284260749817, + 1.3667503595352173 + ], + [ + 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": [ + [ + -0.9387061595916748, + 0.21218499541282654, + -0.27167630195617676, + -3.0557479858398438 + ], + [ + 0.34471797943115234, + 0.5778037905693054, + -0.7398054599761963, + 1.936815857887268 + ], + [ + -1.277784100750523e-08, + -0.7881117463111877, + -0.6155321002006531, + 1.3739778995513916 + ], + [ + 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": [ + [ + -0.9332098960876465, + 0.22244657576084137, + -0.28219908475875854, + -3.040238618850708 + ], + [ + 0.35933107137680054, + 0.5777104496955872, + -0.7328925132751465, + 1.9266268014907837 + ], + [ + -3.8584502703997714e-08, + -0.7853456139564514, + -0.6190574765205383, + 1.3791738748550415 + ], + [ + 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": [ + [ + -0.9271574020385742, + 0.23244157433509827, + -0.29385513067245483, + -3.0230588912963867 + ], + [ + 0.37467309832572937, + 0.5751947164535522, + -0.7271669507026672, + 1.9181878566741943 + ], + [ + 3.374902846076111e-08, + -0.784297525882721, + -0.6203849911689758, + 1.3811304569244385 + ], + [ + 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": [ + [ + -0.9209155440330505, + 0.2410898655653, + -0.30625197291374207, + -3.0047872066497803 + ], + [ + 0.3897622227668762, + 0.5696380734443665, + -0.7236006259918213, + 1.9129315614700317 + ], + [ + -6.0822387126791e-09, + -0.7857404947280884, + -0.6185562610626221, + 1.3784351348876953 + ], + [ + 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": [ + [ + -0.9152355790138245, + 0.24716010689735413, + -0.3182074725627899, + -2.987166166305542 + ], + [ + 0.4029195010662079, + 0.5614266991615295, + -0.7228112816810608, + 1.9117680788040161 + ], + [ + 5.2634483438396273e-08, + -0.7897545099258423, + -0.6134231090545654, + 1.370869517326355 + ], + [ + 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": [ + [ + -0.9105864763259888, + 0.25044745206832886, + -0.32879817485809326, + -2.9715566635131836 + ], + [ + 0.4133184850215912, + 0.5517635345458984, + -0.7243788838386536, + 1.9140785932540894 + ], + [ + 1.3674190668666597e-08, + -0.7955080270767212, + -0.6059430837631226, + 1.3598445653915405 + ], + [ + 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": [ + [ + -0.9069397449493408, + 0.2515389621257782, + -0.33791759610176086, + -2.958115577697754 + ], + [ + 0.42126017808914185, + 0.5415433645248413, + -0.7275097966194153, + 1.9186934232711792 + ], + [ + -2.298404666589704e-08, + -0.8021588325500488, + -0.5971106886863708, + 1.346826434135437 + ], + [ + 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": [ + [ + -0.9041110873222351, + 0.2510368227958679, + -0.34577956795692444, + -2.9465277194976807 + ], + [ + 0.42729732394218445, + 0.5311645269393921, + -0.7316290736198425, + 1.9247647523880005 + ], + [ + -1.0583534049146692e-10, + -0.8092247247695923, + -0.58749920129776, + 1.3326603174209595 + ], + [ + 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": [ + [ + -0.9019394516944885, + 0.24935773015022278, + -0.3525990843772888, + -2.936476707458496 + ], + [ + 0.4318627119064331, + 0.5207802057266235, + -0.736398458480835, + 1.9317941665649414 + ], + [ + -3.503823009509688e-08, + -0.8164611458778381, + -0.5774003863334656, + 1.317775845527649 + ], + [ + 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": [ + [ + -0.9003115296363831, + 0.24677111208438873, + -0.3585294485092163, + -2.9277360439300537 + ], + [ + 0.4352463185787201, + 0.510448694229126, + -0.7416218519210815, + 1.93949294090271 + ], + [ + 3.182594099371272e-08, + -0.823739230632782, + -0.5669689178466797, + 1.302400827407837 + ], + [ + 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": [ + [ + -0.8991521596908569, + 0.24345417320728302, + -0.36366888880729675, + -2.9201607704162598 + ], + [ + 0.4376356899738312, + 0.5001929402351379, + -0.7471825480461121, + 1.9476888179779053 + ], + [ + -5.71117411141131e-08, + -0.830985426902771, + -0.5562941431999207, + 1.2866673469543457 + ], + [ + 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": [ + [ + -0.8984143137931824, + 0.2395268827676773, + -0.3680744171142578, + -2.913667678833008 + ], + [ + 0.43914905190467834, + 0.4900258183479309, + -0.7530092597007751, + 1.9562766551971436 + ], + [ + -1.9583582755444695e-08, + -0.8381537795066833, + -0.5454340577125549, + 1.2706608772277832 + ], + [ + 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": [ + [ + -0.8980690836906433, + 0.2350722700357437, + -0.37177032232284546, + -2.9082202911376953 + ], + [ + 0.4398546814918518, + 0.47995659708976746, + -0.75905841588974, + 1.965192437171936 + ], + [ + 1.3170589951982947e-08, + -0.8452116847038269, + -0.5344316959381104, + 1.2544447183609009 + ], + [ + 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": [ + [ + -0.8981043696403503, + 0.2301490157842636, + -0.3747539520263672, + -2.903822898864746 + ], + [ + 0.4397830069065094, + 0.4699995815753937, + -0.7653049826622009, + 1.9743989706039429 + ], + [ + -3.3109440522594014e-08, + -0.8521339297294617, + -0.5233238935470581, + 1.2380732297897339 + ], + [ + 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": [ + [ + -0.8985210061073303, + 0.22479774057865143, + -0.37699630856513977, + -2.900517702102661 + ], + [ + 0.43893080949783325, + 0.4601762592792511, + -0.7717368602752686, + 1.9838790893554688 + ], + [ + 3.748703392147945e-08, + -0.8588969707489014, + -0.5121484994888306, + 1.2216014862060547 + ], + [ + 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": [ + [ + -0.8993340730667114, + 0.21904613077640533, + -0.3784407079219818, + -2.8983888626098633 + ], + [ + 0.4372625946998596, + 0.45052045583724976, + -0.7783527374267578, + 1.9936301708221436 + ], + [ + 9.809487977463505e-08, + -0.8654769659042358, + -0.5009488463401794, + 1.2050944566726685 + ], + [ + 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": [ + [ + -0.9005729556083679, + 0.21291205286979675, + -0.37899482250213623, + -2.8975720405578613 + ], + [ + 0.4347052276134491, + 0.44108688831329346, + -0.7851585745811462, + 2.0036613941192627 + ], + [ + -9.452709548440907e-08, + -0.8718434572219849, + -0.48978468775749207, + 1.188639521598816 + ], + [ + 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": [ + [ + -0.9022852778434753, + 0.20640532672405243, + -0.3785216808319092, + -2.8982696533203125 + ], + [ + 0.43114012479782104, + 0.4319629669189453, + -0.7921657562255859, + 2.013988971710205 + ], + [ + 7.774338683930182e-08, + -0.8779551386833191, + -0.4787430763244629, + 1.1723655462265015 + ], + [ + 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": [ + [ + -0.9045395851135254, + 0.19953514635562897, + -0.3768206238746643, + -2.9007766246795654 + ], + [ + 0.42638957500457764, + 0.42329248785972595, + -0.799384355545044, + 2.0246286392211914 + ], + [ + 7.316556605019287e-08, + -0.8837472200393677, + -0.4679645895957947, + 1.1564791202545166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + } + ] +} diff --git a/dycheck_eval/target/apple__camera_2/caption.txt b/dycheck_eval/target/apple__camera_2/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..3bd3859d18b1f9f06bb8bf2736e3d53a192f4d99 --- /dev/null +++ b/dycheck_eval/target/apple__camera_2/caption.txt @@ -0,0 +1 @@ +A person seated on a chair rotates a shiny red apple in their hand, showcasing its smooth surface and vibrant color against a casual indoor backdrop. diff --git a/dycheck_eval/target/apple__camera_2/transforms.json b/dycheck_eval/target/apple__camera_2/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..88744568fbc52a6bb68e2378ed1d4184f8468cd0 --- /dev/null +++ b/dycheck_eval/target/apple__camera_2/transforms.json @@ -0,0 +1,11213 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 320, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 189, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 190, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 191, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 192, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 193, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 194, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 195, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 196, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 197, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 198, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 199, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 200, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 201, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 202, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 203, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 204, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 205, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 206, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 207, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 208, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 209, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 210, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 211, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 212, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 213, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 214, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 215, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 216, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 217, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 218, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 219, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 220, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 221, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 222, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 223, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 224, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 225, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 226, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 227, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 228, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 229, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 230, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 231, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 232, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 233, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 234, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 235, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 236, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 237, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 238, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 239, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 240, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 241, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 242, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 243, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 244, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 245, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 246, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 247, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 248, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 249, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 250, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 251, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 252, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 253, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 254, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 255, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 256, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 257, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 258, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 259, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 260, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 261, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 262, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 263, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 264, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 265, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 266, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 267, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 268, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 269, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 270, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 271, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 272, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 273, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 274, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 275, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 276, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 277, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 278, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 279, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 280, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 281, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 282, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 283, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 284, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 285, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 286, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 287, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 288, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 289, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 290, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 291, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 292, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 293, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 294, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 295, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 296, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 297, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 298, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 299, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 300, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 301, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 302, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 303, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 304, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 305, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 306, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 307, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 308, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 309, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 310, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 311, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 312, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 313, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 314, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 315, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 316, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 317, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 318, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + }, + { + "frame_index": 319, + "c2w": [ + [ + 0.4933946766572903, + 0.6695499234795281, + -0.5552158076053002, + 0.16396197993068873 + ], + [ + 0.6053699250372182, + -0.7226867169834708, + -0.3335433449434805, + 0.08874943530764552 + ], + [ + -0.624571010299614, + -0.17154244099991953, + -0.7618951660360556, + -0.021733479775334297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 845.0677788628471, + "fy": 845.8509742093373, + "cx": 422.8694688585069, + "cy": 230.1127988516566 + } + } + ] +} diff --git a/dycheck_eval/target/block__camera_1/extras/frame_mapping.json b/dycheck_eval/target/block__camera_1/extras/frame_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..56ff53bd557b70c43ecd84428a16d4655e2b85ca --- /dev/null +++ b/dycheck_eval/target/block__camera_1/extras/frame_mapping.json @@ -0,0 +1,1169 @@ +{ + "original_scene": "block", + "source_frame_names": [ + "0_00000", + "0_00001", + "0_00002", + "0_00003", + "0_00004", + "0_00005", + "0_00006", + "0_00007", + "0_00008", + "0_00009", + "0_00010", + "0_00011", + "0_00012", + "0_00013", + "0_00014", + "0_00015", + "0_00016", + "0_00017", + "0_00018", + "0_00019", + "0_00020", + "0_00021", + "0_00022", + "0_00023", + "0_00024", + "0_00025", + "0_00026", + "0_00027", + "0_00028", + "0_00029", + "0_00030", + "0_00031", + "0_00032", + "0_00033", + "0_00034", + "0_00035", + "0_00036", + "0_00037", + "0_00038", + "0_00039", + "0_00040", + "0_00041", + "0_00042", + "0_00043", + "0_00044", + "0_00045", + "0_00046", + "0_00047", + "0_00048", + "0_00049", + "0_00050", + "0_00051", + "0_00052", + "0_00053", + "0_00054", + "0_00055", + "0_00056", + "0_00057", + "0_00058", + "0_00059", + "0_00060", + "0_00061", + "0_00062", + "0_00063", + "0_00064", + "0_00065", + "0_00066", + "0_00067", + "0_00068", + "0_00069", + "0_00070", + "0_00071", + "0_00072", + "0_00073", + "0_00074", + "0_00075", + "0_00076", + "0_00077", + "0_00078", + "0_00079", + "0_00080", + "0_00081", + "0_00082", + "0_00083", + "0_00084", + "0_00085", + "0_00086", + "0_00087", + "0_00088", + "0_00089", + "0_00090", + "0_00091", + "0_00092", + "0_00093", + "0_00094", + "0_00095", + "0_00096", + "0_00097", + "0_00098", + "0_00099", + "0_00100", + "0_00101", + "0_00102", + "0_00103", + "0_00104", + "0_00105", + "0_00106", + "0_00107", + "0_00108", + "0_00109", + "0_00110", + "0_00111", + "0_00112", + "0_00113", + "0_00114", + "0_00115", + "0_00116", + "0_00117", + "0_00118", + "0_00119", + "0_00120", + "0_00121", + "0_00122", + "0_00123", + "0_00124", + "0_00125", + "0_00126", + "0_00127", + "0_00128", + "0_00129", + "0_00130", + "0_00131", + "0_00132", + "0_00133", + "0_00134", + "0_00135", + "0_00136", + "0_00137", + "0_00138", + "0_00139", + "0_00140", + "0_00141", + "0_00142", + "0_00143", + "0_00144", + "0_00145", + "0_00146", + "0_00147", + "0_00148", + "0_00149", + "0_00150", + "0_00151", + "0_00152", + "0_00153", + "0_00154", + "0_00155", + "0_00156", + "0_00157", + "0_00158", + "0_00159", + "0_00160", + "0_00161", + "0_00162", + "0_00163", + "0_00164", + "0_00165", + "0_00166", + "0_00167", + "0_00168", + "0_00169", + "0_00170", + "0_00171", + "0_00172", + "0_00173", + "0_00174", + "0_00175", + "0_00176", + "0_00177", + "0_00178", + "0_00179", + "0_00180", + "0_00181", + "0_00182", + "0_00183", + "0_00184", + "0_00185", + "0_00186", + "0_00187", + "0_00188", + "0_00189", + "0_00190", + "0_00191", + "0_00192", + "0_00193", + "0_00194", + "0_00195", + "0_00196", + "0_00197", + "0_00198", + "0_00199", + "0_00261", + "0_00262", + "0_00263", + "0_00264", + "0_00265", + "0_00266", + "0_00267", + "0_00268", + "0_00269", + "0_00270", + "0_00271", + "0_00272", + "0_00273", + "0_00274", + "0_00275", + "0_00276", + "0_00277", + "0_00278", + "0_00279", + "0_00280", + "0_00281", + "0_00282", + "0_00283", + "0_00284", + "0_00285", + "0_00286", + "0_00287", + "0_00288", + "0_00289", + "0_00290", + "0_00291", + "0_00292", + "0_00293", + "0_00294", + "0_00295", + "0_00296", + "0_00297", + "0_00298", + "0_00299", + "0_00300", + "0_00301", + "0_00302", + "0_00303", + "0_00304", + "0_00305", + "0_00306", + "0_00307", + "0_00308", + "0_00309", + "0_00310", + "0_00311", + "0_00312", + "0_00313", + "0_00314", + "0_00315", + "0_00316", + "0_00317", + "0_00318", + "0_00319", + "0_00320", + "0_00321", + "0_00322", + "0_00323", + "0_00324", + "0_00325", + "0_00326", + "0_00327", + "0_00328", + "0_00329", + "0_00330", + "0_00331", + "0_00332", + "0_00333", + "0_00334", + "0_00335", + "0_00336", + "0_00337", + "0_00338", + "0_00339", + "0_00340", + "0_00341", + "0_00342", + "0_00343", + "0_00344", + "0_00345", + "0_00346", + "0_00347", + "0_00348", + "0_00349", + "0_00350", + "0_00351", + "0_00352", + "0_00353", + "0_00354", + "0_00355", + "0_00356", + "0_00357", + "0_00358", + "0_00359", + "0_00360", + "0_00361", + "0_00362", + "0_00363", + "0_00364", + "0_00365", + "0_00366", + "0_00367", + "0_00368", + "0_00369", + "0_00370", + "0_00371", + "0_00372", + "0_00373", + "0_00374", + "0_00375", + "0_00376", + "0_00377", + "0_00378", + "0_00379", + "0_00380", + "0_00381", + "0_00382", + "0_00383", + "0_00384", + "0_00385", + "0_00386", + "0_00387", + "0_00388", + "0_00389", + "0_00390", + "0_00391", + "0_00392", + "0_00393", + "0_00394", + "0_00395", + "0_00396", + "0_00397", + "0_00398", + "0_00399", + "0_00400", + "0_00401", + "0_00402", + "0_00403", + "0_00404", + "0_00405", + "0_00406", + "0_00407", + "0_00408", + "0_00409", + "0_00410", + "0_00411", + "0_00412", + "0_00413", + "0_00414", + "0_00415", + "0_00416", + "0_00417", + "0_00418", + "0_00419", + "0_00420", + "0_00421", + "0_00422", + "0_00423", + "0_00424", + "0_00425", + "0_00426", + "0_00427", + "0_00428", + "0_00429", + "0_00430", + "0_00431", + "0_00432", + "0_00433", + "0_00434", + "0_00435", + "0_00436", + "0_00437", + "0_00438", + "0_00439", + "0_00440", + "0_00441", + "0_00442", + "0_00443", + "0_00444", + "0_00445", + "0_00446" + ], + "target_frame_names": [ + "1_00000", + "1_00001", + "1_00002", + "1_00003", + "1_00004", + "1_00005", + "1_00006", + "1_00007", + "1_00008", + "1_00009", + "1_00010", + "1_00011", + "1_00012", + "1_00013", + "1_00014", + "1_00015", + "1_00016", + "1_00017", + "1_00018", + "1_00019", + "1_00020", + "1_00021", + "1_00022", + "1_00023", + "1_00024", + "1_00025", + "1_00026", + "1_00027", + "1_00028", + "1_00029", + "1_00030", + "1_00031", + "1_00032", + "1_00033", + "1_00034", + "1_00035", + "1_00036", + "1_00037", + "1_00038", + "1_00039", + "1_00040", + "1_00041", + "1_00042", + "1_00043", + "1_00044", + "1_00045", + "1_00046", + "1_00047", + "1_00048", + "1_00049", + "1_00050", + "1_00051", + "1_00052", + "1_00053", + "1_00054", + "1_00055", + "1_00056", + "1_00057", + "1_00058", + "1_00059", + "1_00060", + "1_00061", + "1_00062", + "1_00063", + "1_00064", + "1_00065", + "1_00066", + "1_00067", + "1_00068", + "1_00069", + "1_00070", + "1_00071", + "1_00072", + "1_00073", + "1_00074", + "1_00075", + "1_00076", + "1_00077", + "1_00078", + "1_00079", + "1_00080", + "1_00081", + "1_00082", + "1_00083", + "1_00084", + "1_00085", + "1_00086", + "1_00087", + "1_00088", + "1_00089", + "1_00090", + "1_00091", + "1_00092", + "1_00093", + "1_00094", + "1_00095", + "1_00096", + "1_00097", + "1_00098", + "1_00099", + "1_00100", + "1_00101", + "1_00102", + "1_00103", + "1_00104", + "1_00105", + "1_00106", + "1_00107", + "1_00108", + "1_00109", + "1_00110", + "1_00111", + "1_00112", + "1_00113", + "1_00114", + "1_00115", + "1_00116", + "1_00117", + "1_00118", + "1_00119", + "1_00120", + "1_00121", + "1_00122", + "1_00123", + "1_00124", + "1_00125", + "1_00126", + "1_00127", + "1_00128", + "1_00129", + "1_00130", + "1_00131", + "1_00132", + "1_00133", + "1_00134", + "1_00135", + "1_00136", + "1_00137", + "1_00138", + "1_00139", + "1_00140", + "1_00141", + "1_00142", + "1_00143", + "1_00144", + "1_00145", + "1_00146", + "1_00147", + "1_00148", + "1_00149", + "1_00150", + "1_00151", + "1_00152", + "1_00153", + "1_00154", + "1_00155", + "1_00156", + "1_00157", + "1_00158", + "1_00159", + "1_00160", + "1_00161", + "1_00162", + "1_00163", + "1_00164", + "1_00165", + "1_00166", + "1_00167", + "1_00168", + "1_00169", + "1_00170", + "1_00171", + "1_00172", + "1_00173", + "1_00174", + "1_00175", + "1_00176", + "1_00177", + "1_00178", + "1_00179", + "1_00180", + "1_00181", + "1_00182", + "1_00183", + "1_00184", + "1_00185", + "1_00186", + "1_00187", + "1_00188", + "1_00189", + "1_00190", + "1_00191", + "1_00192", + "1_00193", + "1_00194", + "1_00195", + "1_00196", + "1_00197", + "1_00198", + "1_00199", + "1_00261", + "1_00262", + "1_00263", + "1_00264", + "1_00265", + "1_00266", + "1_00267", + "1_00268", + "1_00269", + "1_00270", + "1_00271", + "1_00272", + "1_00273", + "1_00274", + "1_00275", + "1_00276", + "1_00277", + "1_00278", + "1_00279", + "1_00280", + "1_00281", + "1_00282", + "1_00283", + "1_00284", + "1_00285", + "1_00286", + "1_00287", + "1_00288", + "1_00289", + "1_00290", + "1_00291", + "1_00292", + "1_00293", + "1_00294", + "1_00295", + "1_00296", + "1_00297", + "1_00298", + "1_00299", + "1_00300", + "1_00301", + "1_00302", + "1_00303", + "1_00304", + "1_00305", + "1_00306", + "1_00307", + "1_00308", + "1_00309", + "1_00310", + "1_00311", + "1_00312", + "1_00313", + "1_00314", + "1_00315", + "1_00316", + "1_00317", + "1_00318", + "1_00319", + "1_00320", + "1_00321", + "1_00322", + "1_00323", + "1_00324", + "1_00325", + "1_00326", + "1_00327", + "1_00328", + "1_00329", + "1_00330", + "1_00331", + "1_00332", + "1_00333", + "1_00334", + "1_00335", + "1_00336", + "1_00337", + "1_00338", + "1_00339", + "1_00340", + "1_00341", + "1_00342", + "1_00343", + "1_00344", + "1_00345", + "1_00346", + "1_00347", + "1_00348", + "1_00349", + "1_00350", + "1_00351", + "1_00352", + "1_00353", + "1_00354", + "1_00355", + "1_00356", + "1_00357", + "1_00358", + "1_00359", + "1_00360", + "1_00361", + "1_00362", + "1_00363", + "1_00364", + "1_00365", + "1_00366", + "1_00367", + "1_00368", + "1_00369", + "1_00370", + "1_00371", + "1_00372", + "1_00373", + "1_00374", + "1_00375", + "1_00376", + "1_00377", + "1_00378", + "1_00379", + "1_00380", + "1_00381", + "1_00382", + "1_00383", + "1_00384", + "1_00385", + "1_00386", + "1_00387", + "1_00388", + "1_00389", + "1_00390", + "1_00391", + "1_00392", + "1_00393", + "1_00394", + "1_00395", + "1_00396", + "1_00397", + "1_00398", + "1_00399", + "1_00400", + "1_00401", + "1_00402", + "1_00403", + "1_00404", + "1_00405", + "1_00406", + "1_00407", + "1_00408", + "1_00409", + "1_00410", + "1_00411", + "1_00412", + "1_00413", + "1_00414", + "1_00415", + "1_00416", + "1_00417", + "1_00418", + "1_00419", + "1_00420", + "1_00421", + "1_00422", + "1_00423", + "1_00424", + "1_00425", + "1_00426", + "1_00427", + "1_00428", + "1_00429", + "1_00430", + "1_00431", + "1_00432", + "1_00433", + "1_00434", + "1_00435", + "1_00436", + "1_00437", + "1_00438", + "1_00439", + "1_00440", + "1_00441", + "1_00442", + "1_00443", + "1_00444", + "1_00445", + "1_00446" + ], + "original_time_ids": [ + 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, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 140, + 141, + 142, + 143, + 144, + 145, + 146, + 147, + 148, + 149, + 150, + 151, + 152, + 153, + 154, + 155, + 156, + 157, + 158, + 159, + 160, + 161, + 162, + 163, + 164, + 165, + 166, + 167, + 168, + 169, + 170, + 171, + 172, + 173, + 174, + 175, + 176, + 177, + 178, + 179, + 180, + 181, + 182, + 183, + 184, + 185, + 186, + 187, + 188, + 189, + 190, + 191, + 192, + 193, + 194, + 195, + 196, + 197, + 198, + 199, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276, + 277, + 278, + 279, + 280, + 281, + 282, + 283, + 284, + 285, + 286, + 287, + 288, + 289, + 290, + 291, + 292, + 293, + 294, + 295, + 296, + 297, + 298, + 299, + 300, + 301, + 302, + 303, + 304, + 305, + 306, + 307, + 308, + 309, + 310, + 311, + 312, + 313, + 314, + 315, + 316, + 317, + 318, + 319, + 320, + 321, + 322, + 323, + 324, + 325, + 326, + 327, + 328, + 329, + 330, + 331, + 332, + 333, + 334, + 335, + 336, + 337, + 338, + 339, + 340, + 341, + 342, + 343, + 344, + 345, + 346, + 347, + 348, + 349, + 350, + 351, + 352, + 353, + 354, + 355, + 356, + 357, + 358, + 359, + 360, + 361, + 362, + 363, + 364, + 365, + 366, + 367, + 368, + 369, + 370, + 371, + 372, + 373, + 374, + 375, + 376, + 377, + 378, + 379, + 380, + 381, + 382, + 383, + 384, + 385, + 386, + 387, + 388, + 389, + 390, + 391, + 392, + 393, + 394, + 395, + 396, + 397, + 398, + 399, + 400, + 401, + 402, + 403, + 404, + 405, + 406, + 407, + 408, + 409, + 410, + 411, + 412, + 413, + 414, + 415, + 416, + 417, + 418, + 419, + 420, + 421, + 422, + 423, + 424, + 425, + 426, + 427, + 428, + 429, + 430, + 431, + 432, + 433, + 434, + 435, + 436, + 437, + 438, + 439, + 440, + 441, + 442, + 443, + 444, + 445, + 446 + ], + "source_camera_id": 0, + "target_camera_id": 1 +} diff --git a/dycheck_eval/target/paper-windmill__camera_1/extras/frame_mapping.json b/dycheck_eval/target/paper-windmill__camera_1/extras/frame_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..1eed60051758213a0c23d955c5489bf7946c7db2 --- /dev/null +++ b/dycheck_eval/target/paper-windmill__camera_1/extras/frame_mapping.json @@ -0,0 +1,668 @@ +{ + "original_scene": "paper-windmill", + "source_frame_names": [ + "0_00000", + "0_00001", + "0_00002", + "0_00003", + "0_00004", + "0_00005", + "0_00006", + "0_00007", + "0_00008", + "0_00009", + "0_00010", + "0_00011", + "0_00012", + "0_00013", + "0_00014", + "0_00015", + "0_00016", + "0_00017", + "0_00018", + "0_00019", + "0_00020", + "0_00021", + "0_00022", + "0_00023", + "0_00024", + "0_00025", + "0_00026", + "0_00027", + "0_00028", + "0_00029", + "0_00030", + "0_00031", + "0_00032", + "0_00033", + "0_00034", + "0_00035", + "0_00036", + "0_00037", + "0_00038", + "0_00039", + "0_00040", + "0_00041", + "0_00042", + "0_00043", + "0_00044", + "0_00045", + "0_00046", + "0_00047", + "0_00048", + "0_00049", + "0_00050", + "0_00051", + "0_00052", + "0_00053", + "0_00054", + "0_00055", + "0_00056", + "0_00057", + "0_00058", + "0_00059", + "0_00060", + "0_00061", + "0_00062", + "0_00063", + "0_00064", + "0_00065", + "0_00066", + "0_00067", + "0_00068", + "0_00069", + "0_00070", + "0_00071", + "0_00072", + "0_00073", + "0_00074", + "0_00075", + "0_00076", + "0_00077", + "0_00078", + "0_00079", + "0_00080", + "0_00081", + "0_00082", + "0_00083", + "0_00084", + "0_00085", + "0_00086", + "0_00087", + "0_00088", + "0_00089", + "0_00090", + "0_00091", + "0_00092", + "0_00093", + "0_00094", + "0_00095", + "0_00096", + "0_00097", + "0_00098", + "0_00099", + "0_00100", + "0_00101", + "0_00102", + "0_00103", + "0_00104", + "0_00105", + "0_00106", + "0_00107", + "0_00108", + "0_00109", + "0_00110", + "0_00111", + "0_00112", + "0_00113", + "0_00114", + "0_00115", + "0_00116", + "0_00117", + "0_00118", + "0_00119", + "0_00120", + "0_00121", + "0_00122", + "0_00123", + "0_00124", + "0_00125", + "0_00126", + "0_00127", + "0_00128", + "0_00129", + "0_00130", + "0_00131", + "0_00132", + "0_00133", + "0_00134", + "0_00135", + "0_00136", + "0_00137", + "0_00138", + "0_00139", + "0_00198", + "0_00199", + "0_00200", + "0_00201", + "0_00202", + "0_00203", + "0_00204", + "0_00205", + "0_00206", + "0_00207", + "0_00208", + "0_00209", + "0_00210", + "0_00211", + "0_00212", + "0_00213", + "0_00214", + "0_00215", + "0_00216", + "0_00217", + "0_00218", + "0_00219", + "0_00220", + "0_00221", + "0_00222", + "0_00223", + "0_00224", + "0_00225", + "0_00226", + "0_00227", + "0_00228", + "0_00229", + "0_00230", + "0_00231", + "0_00232", + "0_00233", + "0_00234", + "0_00235", + "0_00236", + "0_00237", + "0_00238", + "0_00239", + "0_00240", + "0_00241", + "0_00242", + "0_00243", + "0_00244", + "0_00245", + "0_00246", + "0_00247", + "0_00248", + "0_00249", + "0_00250", + "0_00251", + "0_00252", + "0_00253", + "0_00254", + "0_00255", + "0_00256", + "0_00257", + "0_00258", + "0_00259", + "0_00260", + "0_00261", + "0_00262", + "0_00263", + "0_00264", + "0_00265", + "0_00266", + "0_00267", + "0_00268", + "0_00269", + "0_00270", + "0_00271", + "0_00272", + "0_00273", + "0_00274", + "0_00275", + "0_00276" + ], + "target_frame_names": [ + "1_00000", + "1_00001", + "1_00002", + "1_00003", + "1_00004", + "1_00005", + "1_00006", + "1_00007", + "1_00008", + "1_00009", + "1_00010", + "1_00011", + "1_00012", + "1_00013", + "1_00014", + "1_00015", + "1_00016", + "1_00017", + "1_00018", + "1_00019", + "1_00020", + "1_00021", + "1_00022", + "1_00023", + "1_00024", + "1_00025", + "1_00026", + "1_00027", + "1_00028", + "1_00029", + "1_00030", + "1_00031", + "1_00032", + "1_00033", + "1_00034", + "1_00035", + "1_00036", + "1_00037", + "1_00038", + "1_00039", + "1_00040", + "1_00041", + "1_00042", + "1_00043", + "1_00044", + "1_00045", + "1_00046", + "1_00047", + "1_00048", + "1_00049", + "1_00050", + "1_00051", + "1_00052", + "1_00053", + "1_00054", + "1_00055", + "1_00056", + "1_00057", + "1_00058", + "1_00059", + "1_00060", + "1_00061", + "1_00062", + "1_00063", + "1_00064", + "1_00065", + "1_00066", + "1_00067", + "1_00068", + "1_00069", + "1_00070", + "1_00071", + "1_00072", + "1_00073", + "1_00074", + "1_00075", + "1_00076", + "1_00077", + "1_00078", + "1_00079", + "1_00080", + "1_00081", + "1_00082", + "1_00083", + "1_00084", + "1_00085", + "1_00086", + "1_00087", + "1_00088", + "1_00089", + "1_00090", + "1_00091", + "1_00092", + "1_00093", + "1_00094", + "1_00095", + "1_00096", + "1_00097", + "1_00098", + "1_00099", + "1_00100", + "1_00101", + "1_00102", + "1_00103", + "1_00104", + "1_00105", + "1_00106", + "1_00107", + "1_00108", + "1_00109", + "1_00110", + "1_00111", + "1_00112", + "1_00113", + "1_00114", + "1_00115", + "1_00116", + "1_00117", + "1_00118", + "1_00119", + "1_00120", + "1_00121", + "1_00122", + "1_00123", + "1_00124", + "1_00125", + "1_00126", + "1_00127", + "1_00128", + "1_00129", + "1_00130", + "1_00131", + "1_00132", + "1_00133", + "1_00134", + "1_00135", + "1_00136", + "1_00137", + "1_00138", + "1_00139", + "1_00198", + "1_00199", + "1_00200", + "1_00201", + "1_00202", + "1_00203", + "1_00204", + "1_00205", + "1_00206", + "1_00207", + "1_00208", + "1_00209", + "1_00210", + "1_00211", + "1_00212", + "1_00213", + "1_00214", + "1_00215", + "1_00216", + "1_00217", + "1_00218", + "1_00219", + "1_00220", + "1_00221", + "1_00222", + "1_00223", + "1_00224", + "1_00225", + "1_00226", + "1_00227", + "1_00228", + "1_00229", + "1_00230", + "1_00231", + "1_00232", + "1_00233", + "1_00234", + "1_00235", + "1_00236", + "1_00237", + "1_00238", + "1_00239", + "1_00240", + "1_00241", + "1_00242", + "1_00243", + "1_00244", + "1_00245", + "1_00246", + "1_00247", + "1_00248", + "1_00249", + "1_00250", + "1_00251", + "1_00252", + "1_00253", + "1_00254", + "1_00255", + "1_00256", + "1_00257", + "1_00258", + "1_00259", + "1_00260", + "1_00261", + "1_00262", + "1_00263", + "1_00264", + "1_00265", + "1_00266", + "1_00267", + "1_00268", + "1_00269", + "1_00270", + "1_00271", + "1_00272", + "1_00273", + "1_00274", + "1_00275", + "1_00276" + ], + "original_time_ids": [ + 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, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89, + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99, + 100, + 101, + 102, + 103, + 104, + 105, + 106, + 107, + 108, + 109, + 110, + 111, + 112, + 113, + 114, + 115, + 116, + 117, + 118, + 119, + 120, + 121, + 122, + 123, + 124, + 125, + 126, + 127, + 128, + 129, + 130, + 131, + 132, + 133, + 134, + 135, + 136, + 137, + 138, + 139, + 198, + 199, + 200, + 201, + 202, + 203, + 204, + 205, + 206, + 207, + 208, + 209, + 210, + 211, + 212, + 213, + 214, + 215, + 216, + 217, + 218, + 219, + 220, + 221, + 222, + 223, + 224, + 225, + 226, + 227, + 228, + 229, + 230, + 231, + 232, + 233, + 234, + 235, + 236, + 237, + 238, + 239, + 240, + 241, + 242, + 243, + 244, + 245, + 246, + 247, + 248, + 249, + 250, + 251, + 252, + 253, + 254, + 255, + 256, + 257, + 258, + 259, + 260, + 261, + 262, + 263, + 264, + 265, + 266, + 267, + 268, + 269, + 270, + 271, + 272, + 273, + 274, + 275, + 276 + ], + "source_camera_id": 0, + "target_camera_id": 1 +} diff --git a/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/boom_down/transforms.json b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..fe5b834803e719a0f6c4123f7eb6b28bbdacb884 --- /dev/null +++ b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/boom_down/transforms.json @@ -0,0 +1,6628 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 189, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.70307084772503e-05, + 7.986521086422727e-05, + -0.00025786555488593876 + ], + [ + -1.7034815755323507e-05, + 1.0, + 5.142964801052585e-05, + -0.00014517392264679074 + ], + [ + -7.986433774931356e-05, + -5.1431008614599705e-05, + 1.0, + -0.0002484802098479122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999983906745911, + -0.001730418181978166, + -0.00040596676990389824, + -0.00010161125574860365 + ], + [ + 0.0017306868685409427, + 0.9999982714653015, + 0.0006625395617447793, + 0.0008416580672851426 + ], + [ + 0.0004048196133226156, + -0.0006632410804741085, + 0.9999997019767761, + 8.285985104714897e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999954700469971, + -0.0025760482531040907, + -0.001560411648824811, + -0.00015240027476349805 + ], + [ + 0.0025778410490602255, + 0.9999960064888, + 0.0011480755638331175, + 0.0022111433553212182 + ], + [ + 0.0015574479475617409, + -0.0011520928237587214, + 0.999998152256012, + 0.0004525576558390117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999921917915344, + -0.003408124204725027, + -0.001985446782782674, + -5.7578805051966907e-05 + ], + [ + 0.0034109405241906643, + 0.9999932050704956, + 0.0014168414054438472, + 0.0033529344123807993 + ], + [ + 0.0019806043710559607, + -0.001423602574504912, + 0.9999970197677612, + 0.0012932701725537512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999985933303833, + -0.0044803437776863575, + -0.002829919336363673, + -1.0084823249473358e-05 + ], + [ + 0.004484949167817831, + 0.9999886155128479, + 0.0016230028122663498, + 0.004534647859474446 + ], + [ + 0.0028226154390722513, + -0.0016356720589101315, + 0.999994695186615, + 0.0019882535225057858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999833703041077, + -0.004437757655978203, + -0.003691204125061631, + -8.712113559979232e-05 + ], + [ + 0.004446507431566715, + 0.9999873042106628, + 0.0023656210396438837, + 0.005384679031657413 + ], + [ + 0.0036806592252105474, + -0.0023819946218281984, + 0.9999904036521912, + 0.0023210803015861026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999836087226868, + -0.003654320491477847, + -0.004406733904033899, + -8.952944855914114e-05 + ], + [ + 0.0036697436589747667, + 0.9999871253967285, + 0.003496936522424221, + 0.0061620147799716345 + ], + [ + 0.004393898416310549, + -0.0035130507312715054, + 0.9999842047691345, + 0.0027119392553899197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999801516532898, + -0.004266171250492334, + -0.004637598991394043, + -0.00011604111802645345 + ], + [ + 0.004284416791051626, + 0.9999830722808838, + 0.003931541461497545, + 0.006783117726445198 + ], + [ + 0.0046207476407289505, + -0.003951332997530699, + 0.9999815225601196, + 0.003100913874755435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999744892120361, + -0.004603484179824591, + -0.005465208552777767, + -6.008708528787928e-05 + ], + [ + 0.004624332766979933, + 0.9999820590019226, + 0.003808358684182167, + 0.00721581039970067 + ], + [ + 0.005447578616440296, + -0.0038335341960191727, + 0.9999778270721436, + 0.003229362326376933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999691247940063, + -0.0047874776646494865, + -0.006228642538189888, + -0.00018093851828412648 + ], + [ + 0.004811088554561138, + 0.9999812841415405, + 0.003781228559091687, + 0.007789806889845653 + ], + [ + 0.006210423074662685, + -0.003811078378930688, + 0.999973475933075, + 0.003388472452160328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999691843986511, + -0.003218867816030979, + -0.007156191393733025, + -0.00023083253410654736 + ], + [ + 0.0032461187802255154, + 0.9999874830245972, + 0.003799683880060911, + 0.008442156427995638 + ], + [ + 0.007143870927393436, + -0.003822796978056431, + 0.9999671578407288, + 0.0030073071879513085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999719262123108, + -0.0005690651014447212, + -0.007473058067262173, + -0.0004413777621750264 + ], + [ + 0.0005949765909463167, + 0.9999938011169434, + 0.0034655549097806215, + 0.008991972314431631 + ], + [ + 0.007471039891242981, + -0.0034699037205427885, + 0.9999660849571228, + 0.003143839509241243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999681711196899, + 0.0005087140598334372, + -0.007958967238664627, + -0.0005066237096585571 + ], + [ + -0.00048684320063330233, + 0.9999961256980896, + 0.0027496491093188524, + 0.009593220813041354 + ], + [ + 0.007960334420204163, + -0.002745686797425151, + 0.9999645352363586, + 0.003335849815444585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999691843986511, + 0.0012250833678990602, + -0.007752944715321064, + -0.0006757723639392234 + ], + [ + -0.0012099472805857658, + 0.9999973773956299, + 0.001956680091097951, + 0.010147634439883715 + ], + [ + 0.007755321450531483, + -0.0019472392741590738, + 0.9999680519104004, + 0.0036222018463725344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999690651893616, + 0.00140003755223006, + -0.007739445194602013, + -0.0009123647423272833 + ], + [ + -0.001384782255627215, + 0.999997079372406, + 0.001976113300770521, + 0.010768444882705808 + ], + [ + 0.00774218887090683, + -0.001965334638953209, + 0.9999681115150452, + 0.0037910039843793244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999571442604065, + 0.0020004191901534796, + -0.00904176291078329, + -0.0011954813783225464 + ], + [ + -0.0019705204758793116, + 0.9999925494194031, + 0.00331442360766232, + 0.011214388014273125 + ], + [ + 0.009048325009644032, + -0.0032964644487947226, + 0.9999536275863647, + 0.004013225338991454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999316930770874, + 0.002833987819030881, + -0.011340461671352386, + -0.0014432411383282632 + ], + [ + -0.00277863466180861, + 0.9999841451644897, + 0.004893816541880369, + 0.01199256712967094 + ], + [ + 0.011354150250554085, + -0.0048619708977639675, + 0.9999237060546875, + 0.004148941673338413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.999908983707428, + 0.005353976972401142, + -0.012385702691972256, + -0.002392748156265217 + ], + [ + -0.0052774446085095406, + 0.9999668598175049, + 0.006203539203852415, + 0.013032585649969095 + ], + [ + 0.012418505735695362, + -0.006137609947472811, + 0.9999040365219116, + 0.004600214482374252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998924136161804, + 0.0073814382776618, + -0.012674353085458279, + -0.0030165729796553546 + ], + [ + -0.007286222651600838, + 0.9999449849128723, + 0.007542256265878677, + 0.014078315107667065 + ], + [ + 0.01272932905703783, + -0.007449097000062466, + 0.9998912215232849, + 0.0053240908379171125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998738765716553, + 0.007767716888338327, + -0.013851862400770187, + -0.0032916369246061335 + ], + [ + -0.007641080301254988, + 0.9999287724494934, + 0.009171844460070133, + 0.015189654806113624 + ], + [ + 0.01392211951315403, + -0.009064844809472561, + 0.999862015247345, + 0.006104717508176381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998527765274048, + 0.007954070344567299, + -0.015202123671770096, + -0.0036981493343618958 + ], + [ + -0.007796012330800295, + 0.9999152421951294, + 0.010428222827613354, + 0.016396082184733228 + ], + [ + 0.015283782035112381, + -0.01030817162245512, + 0.9998300671577454, + 0.007125480536450731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9998342990875244, + 0.009692437946796417, + -0.015407459810376167, + -0.004463825030054183 + ], + [ + -0.009504146873950958, + 0.9998798370361328, + 0.012247343547642231, + 0.017328072715788446 + ], + [ + 0.01552431471645832, + -0.012098879553377628, + 0.99980628490448, + 0.007922987407568763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998238682746887, + 0.011016195639967918, + -0.015195545740425587, + -0.005120319591716249 + ], + [ + -0.0108066126704216, + 0.9998462796211243, + 0.013806217350065708, + 0.018265236999363978 + ], + [ + 0.015345302410423756, + -0.013639573939144611, + 0.9997892379760742, + 0.007870280073876393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998133778572083, + 0.012318622320890427, + -0.014881972223520279, + -0.0058654389106371305 + ], + [ + -0.012114301323890686, + 0.9998321533203125, + 0.013742388226091862, + 0.018937093017503938 + ], + [ + 0.015048762783408165, + -0.013559537939727306, + 0.9997948408126831, + 0.008187194498989019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998157024383545, + 0.013560467399656773, + -0.013588461093604565, + -0.006016082158114048 + ], + [ + -0.0133983688428998, + 0.9998388290405273, + 0.011949938721954823, + 0.01937743808004133 + ], + [ + 0.013748317025601864, + -0.011765672825276852, + 0.999836266040802, + 0.008026273822055218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998309016227722, + 0.013635587878525257, + -0.012340419925749302, + -0.007043342113475058 + ], + [ + -0.013505076058208942, + 0.9998526573181152, + 0.010598269291222095, + 0.019336673312206218 + ], + [ + 0.012483115307986736, + -0.010429819114506245, + 0.9998676776885986, + 0.0072666346268886895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998378753662109, + 0.013255040161311626, + -0.012188911437988281, + -0.007907734883632115 + ], + [ + -0.01313346903771162, + 0.9998637437820435, + 0.01000048778951168, + 0.01952520489415273 + ], + [ + 0.012319806963205338, + -0.009838784113526344, + 0.9998757243156433, + 0.00720025485857053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.999825119972229, + 0.013566026464104652, + -0.012873520143330097, + -0.008790680727465673 + ], + [ + -0.013443198055028915, + 0.9998637437820435, + 0.009580161422491074, + 0.01956463192014935 + ], + [ + 0.013001731596887112, + -0.009405424818396568, + 0.9998712539672852, + 0.00653975708311067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997996687889099, + 0.01423492282629013, + -0.014070836827158928, + -0.010199774563946622 + ], + [ + -0.014115283265709877, + 0.9998636841773987, + 0.00856577605009079, + 0.019523432531810186 + ], + [ + 0.014190852642059326, + -0.008365446701645851, + 0.9998643398284912, + 0.005657927242127505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9997743964195251, + 0.014402052387595177, + -0.015612587332725525, + -0.01188508258003028 + ], + [ + -0.014292960986495018, + 0.9998728036880493, + 0.007076598703861237, + 0.019398292076793756 + ], + [ + 0.015712518244981766, + -0.006851851940155029, + 0.9998530745506287, + 0.004860755066050494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997538328170776, + 0.013902876526117325, + -0.017291201278567314, + -0.013108290395045534 + ], + [ + -0.013818316161632538, + 0.999891996383667, + 0.00500032864511013, + 0.019426188188941873 + ], + [ + 0.017358852550387383, + -0.004760162904858589, + 0.9998379945755005, + 0.004413899985399652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.999718964099884, + 0.013820775784552097, + -0.019261721521615982, + -0.01420433705603268 + ], + [ + -0.013750468380749226, + 0.9998983144760132, + 0.0037778301630169153, + 0.019562717234874342 + ], + [ + 0.019311975687742233, + -0.0035119105596095324, + 0.9998073577880859, + 0.003967016478232603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9996983408927917, + 0.012609568424522877, + -0.021076595410704613, + -0.014948546672438053 + ], + [ + -0.01255072932690382, + 0.9999169707298279, + 0.0029216380789875984, + 0.019465954134121853 + ], + [ + 0.021111687645316124, + -0.0026562302373349667, + 0.9997736215591431, + 0.004131609595757216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9996532201766968, + 0.013317718170583248, + -0.022717848420143127, + -0.015689562103076978 + ], + [ + -0.013274197466671467, + 0.9999097585678101, + 0.0020654085092246532, + 0.019567494991017467 + ], + [ + 0.022743303328752518, + -0.0017631310038268566, + 0.9997397661209106, + 0.0033572639519487447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9995982050895691, + 0.015250423923134804, + -0.023892180994153023, + -0.01640283135459461 + ], + [ + -0.015223570168018341, + 0.999883234500885, + 0.0013054411392658949, + 0.019681291819173604 + ], + [ + 0.023909298703074455, + -0.0009411924402229488, + 0.999713659286499, + 0.0028348564946196696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9995750784873962, + 0.015975704416632652, + -0.024380911141633987, + -0.017399917985808026 + ], + [ + -0.015971070155501366, + 0.9998723864555359, + 0.0003847255138680339, + 0.01968649963778939 + ], + [ + 0.024383947253227234, + 4.827263182960451e-06, + 0.9997026920318604, + 0.002159213411048652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9995578527450562, + 0.01589984819293022, + -0.025126244872808456, + -0.01747792866477307 + ], + [ + -0.015923917293548584, + 0.9998729228973389, + -0.0007580532692372799, + 0.019775127763414082 + ], + [ + 0.025110997259616852, + 0.0011578262783586979, + 0.9996839761734009, + 0.0014179527823951967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9995314478874207, + 0.016693752259016037, + -0.025655461475253105, + -0.017377113061461676 + ], + [ + -0.01673806831240654, + 0.9998587369918823, + -0.0015136129222810268, + 0.020123958101179056 + ], + [ + 0.025626571848988533, + 0.0019423265475779772, + 0.9996696710586548, + 0.0012632129170208615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9995166063308716, + 0.017616456374526024, + -0.025615720078349113, + -0.017460628319531678 + ], + [ + -0.017661383375525475, + 0.9998428821563721, + -0.0015287165297195315, + 0.020516819489669016 + ], + [ + 0.025584762915968895, + 0.0019803866744041443, + 0.999670684337616, + 0.0010356307361631635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995246529579163, + 0.01798195205628872, + -0.025041785091161728, + -0.017305519656733947 + ], + [ + -0.018030637875199318, + 0.9998359680175781, + -0.0017197388224303722, + 0.020906476858579753 + ], + [ + 0.025006752461194992, + 0.0021704407408833504, + 0.9996849298477173, + 0.0010614450634556247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995442032814026, + 0.017639361321926117, + -0.024498704820871353, + -0.016923780295443027 + ], + [ + -0.017691824585199356, + 0.9998416304588318, + -0.0019263860303908587, + 0.021456833486073714 + ], + [ + 0.024460844695568085, + 0.002358934609219432, + 0.9996979832649231, + 0.001233464300117277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995365738868713, + 0.018252335488796234, + -0.02436213567852974, + -0.016580447883523523 + ], + [ + -0.018305957317352295, + 0.9998304843902588, + -0.001979874214157462, + 0.022146461438263786 + ], + [ + 0.024321869015693665, + 0.0024249290581792593, + 0.9997012615203857, + 0.0014854501797867186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995365738868713, + 0.018038203939795494, + -0.024520032107830048, + -0.016616147275062953 + ], + [ + -0.018096482381224632, + 0.9998339414596558, + -0.0021568951196968555, + 0.022576732543963404 + ], + [ + 0.024477053433656693, + 0.002599621657282114, + 0.9996970295906067, + 0.001184916549778365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995267987251282, + 0.01854475773870945, + -0.024541061371564865, + -0.0166912800701771 + ], + [ + -0.01862001232802868, + 0.9998226165771484, + -0.002841564593836665, + 0.023267467402818397 + ], + [ + 0.02448401227593422, + 0.003297175047919154, + 0.9996947646141052, + 0.0013519323283578567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995371699333191, + 0.01801762357354164, + -0.024511829018592834, + -0.016507043332812634 + ], + [ + -0.01810343936085701, + 0.9998307228088379, + -0.0032836459577083588, + 0.02371574943610269 + ], + [ + 0.024448517709970474, + 0.0037258747033774853, + 0.9996941685676575, + 0.0013264800258416761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995324611663818, + 0.01801055297255516, + -0.024708840996026993, + -0.016440924227316963 + ], + [ + -0.01809627190232277, + 0.999830961227417, + -0.0032500100787729025, + 0.024330931124921414 + ], + [ + 0.024646129459142685, + 0.003695628372952342, + 0.9996894001960754, + 0.0014626179652120126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995324611663818, + 0.017184823751449585, + -0.025288261473178864, + -0.016411164149324944 + ], + [ + -0.017275430262088776, + 0.9998450875282288, + -0.003368775825947523, + 0.02479097453971453 + ], + [ + 0.025226451456546783, + 0.0038040662184357643, + 0.9996744990348816, + 0.0011997723238582306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995046257972717, + 0.01790575310587883, + -0.025882914662361145, + -0.01682346696034074 + ], + [ + -0.018007420003414154, + 0.9998310208320618, + -0.0037002661265432835, + 0.02561132950941101 + ], + [ + 0.025812283158302307, + 0.004164517391473055, + 0.9996581077575684, + 0.0011365426820702852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9994738698005676, + 0.018341433256864548, + -0.02675078809261322, + -0.016857023711534257 + ], + [ + -0.018445264548063278, + 0.999823272228241, + -0.0036398363299667835, + 0.026256601728419673 + ], + [ + 0.026679299771785736, + 0.004131346475332975, + 0.9996355175971985, + 0.001107664254216596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9994402527809143, + 0.019432660192251205, + -0.027232006192207336, + -0.017326106307433642 + ], + [ + -0.01953115314245224, + 0.9998036026954651, + -0.00335554126650095, + 0.026890133084491532 + ], + [ + 0.027161452919244766, + 0.0038855355232954025, + 0.9996235370635986, + 0.000725774247040774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9994131922721863, + 0.01994175836443901, + -0.027849968522787094, + -0.017627520427266334 + ], + [ + -0.020039599388837814, + 0.9997939467430115, + -0.0032384300138801336, + 0.027555457047593008 + ], + [ + 0.027779649943113327, + 0.003794631687924266, + 0.9996068477630615, + 0.000449109998992347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9993741512298584, + 0.020517462864518166, + -0.028815660625696182, + -0.01761551688900812 + ], + [ + -0.02060120739042759, + 0.9997843503952026, + -0.002612375421449542, + 0.028090714729400945 + ], + [ + 0.028755847364664078, + 0.0032043776009231806, + 0.9995813369750977, + 0.00043380534254073937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999338686466217, + 0.020970650017261505, + -0.029706403613090515, + -0.018352223179758865 + ], + [ + -0.021032344549894333, + 0.9997772574424744, + -0.001765869790688157, + 0.029018180938734813 + ], + [ + 0.029662754386663437, + 0.0023894973564893007, + 0.9995570778846741, + 0.0006678527664452633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9993161559104919, + 0.02105782739818096, + -0.030393105000257492, + -0.019116699264602775 + ], + [ + -0.02110186405479908, + 0.9997767210006714, + -0.001128814765252173, + 0.02995971598949759 + ], + [ + 0.03036254644393921, + 0.0017693940317258239, + 0.9995374083518982, + 0.0014225963799733708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9993393421173096, + 0.018865184858441353, + -0.031064877286553383, + -0.019362698322994278 + ], + [ + -0.018890084698796272, + 0.9998214244842529, + -0.000508180761244148, + 0.03062495175858048 + ], + [ + 0.03104974515736103, + 0.0010946630500257015, + 0.9995172619819641, + 0.0023907498203891704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9993405342102051, + 0.016400901600718498, + -0.03239701688289642, + -0.01977396016801767 + ], + [ + -0.0163868498057127, + 0.9998654723167419, + 0.0006992440903559327, + 0.03132026165010447 + ], + [ + 0.03240412473678589, + -0.00016789801884442568, + 0.999474823474884, + 0.0030698677307574394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9993026852607727, + 0.015418087132275105, + -0.03400539606809616, + -0.020138791762292385 + ], + [ + -0.015359100885689259, + 0.9998800754547119, + 0.0019951534923166037, + 0.03207639941965487 + ], + [ + 0.034032076597213745, + -0.0014714698772877455, + 0.999419629573822, + 0.003522662029779972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9992468357086182, + 0.01525090355426073, + -0.03568129241466522, + -0.020892215684115728 + ], + [ + -0.01516162883490324, + 0.9998812079429626, + 0.0027712665032595396, + 0.03263092624281157 + ], + [ + 0.03571932017803192, + -0.002228192752227187, + 0.9993593692779541, + 0.004197338896313127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9991818070411682, + 0.015977278351783752, + -0.037154216319322586, + -0.022723860515558972 + ], + [ + -0.015869561582803726, + 0.9998689889907837, + 0.003192313015460968, + 0.03333229168139874 + ], + [ + 0.03720035031437874, + -0.002600079867988825, + 0.999304473400116, + 0.0038647754608276993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9990988373756409, + 0.01632731221616268, + -0.03917895630002022, + -0.02408294474725869 + ], + [ + -0.01621362753212452, + 0.9998633861541748, + 0.003217708319425583, + 0.03406809113047858 + ], + [ + 0.039226140826940536, + -0.002579575404524803, + 0.9992270469665527, + 0.003993935872146741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9989938735961914, + 0.01599922589957714, + -0.041895996779203415, + -0.02572816873880777 + ], + [ + -0.015891114249825478, + 0.9998694658279419, + 0.0029122738633304834, + 0.034534294990466 + ], + [ + 0.041937123984098434, + -0.0022435698192566633, + 0.9991177320480347, + 0.003285536123935054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9988641738891602, + 0.016002535820007324, + -0.04488028585910797, + -0.027263823643009714 + ], + [ + -0.015895988792181015, + 0.9998699426651001, + 0.002729937434196472, + 0.03485888472877126 + ], + [ + 0.044918134808540344, + -0.002013420220464468, + 0.9989886283874512, + 0.002454681979105907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9987172484397888, + 0.01611827127635479, + -0.048000164330005646, + -0.028962878310220673 + ], + [ + -0.016003893688321114, + 0.9998680949211121, + 0.0027662692591547966, + 0.0359493312693419 + ], + [ + 0.04803842306137085, + -0.001994531601667404, + 0.9988434910774231, + 0.002384645045001773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9985724687576294, + 0.01600140891969204, + -0.05096046254038811, + -0.03051450748214538 + ], + [ + -0.015859263017773628, + 0.9998691082000732, + 0.003192516742274165, + 0.03674325176534501 + ], + [ + 0.05100487545132637, + -0.0023797641042619944, + 0.9986955523490906, + 0.0027676277012475075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9984353184700012, + 0.014752130024135113, + -0.053938060998916626, + -0.03212767343254799 + ], + [ + -0.014578600414097309, + 0.999887228012085, + 0.0036092691589146852, + 0.03764955071990002 + ], + [ + 0.053985223174095154, + -0.0028172803577035666, + 0.9985377788543701, + 0.0030988908333188674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9982711672782898, + 0.014955292455852032, + -0.05684223026037216, + -0.033784626926136936 + ], + [ + -0.014740119688212872, + 0.9998825192451477, + 0.004202841781079769, + 0.03866977436824682 + ], + [ + 0.05689840763807297, + -0.003357714507728815, + 0.998374342918396, + 0.0029895841428871327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9981175661087036, + 0.015210211277008057, + -0.059413786977529526, + -0.03471215457675305 + ], + [ + -0.01493551954627037, + 0.9998756051063538, + 0.005064725875854492, + 0.039733579945056996 + ], + [ + 0.05948343500494957, + -0.004167815670371056, + 0.9982205629348755, + 0.002779550980182087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9979761838912964, + 0.015245531685650349, + -0.061734121292829514, + -0.036094704120261396 + ], + [ + -0.014883616007864475, + 0.9998692870140076, + 0.0063181426376104355, + 0.04085838706727992 + ], + [ + 0.061822373420000076, + -0.005386529490351677, + 0.998072624206543, + 0.0028819537533328254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.997819721698761, + 0.016447965055704117, + -0.06391577422618866, + -0.03727601342537302 + ], + [ + -0.015953414142131805, + 0.9998387694358826, + 0.00824022851884365, + 0.041601747686558575 + ], + [ + 0.06404100358486176, + -0.007202587556093931, + 0.9979212880134583, + 0.0026788448171809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9976567029953003, + 0.01864643581211567, + -0.0658290684223175, + -0.03815995705551765 + ], + [ + -0.018001070246100426, + 0.9997840523719788, + 0.010383296757936478, + 0.04297447651822834 + ], + [ + 0.06600846350193024, + -0.00917397253215313, + 0.9977768659591675, + 0.0037320512337015665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9975234270095825, + 0.01987476646900177, + -0.06746812164783478, + -0.039138555368210405 + ], + [ + -0.019082650542259216, + 0.9997414350509644, + 0.012364918366074562, + 0.044166914098202545 + ], + [ + 0.06769642233848572, + -0.011046824976801872, + 0.9976447820663452, + 0.003673200693694835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9973803758621216, + 0.020991452038288116, + -0.06922278553247452, + -0.03962016289934833 + ], + [ + -0.020076699554920197, + 0.9997020363807678, + 0.013884032145142555, + 0.04496066723454824 + ], + [ + 0.0694935992360115, + -0.012457896023988724, + 0.9975045919418335, + 0.003942372513181986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9972617030143738, + 0.02140127122402191, + -0.07078865170478821, + -0.039985571373650365 + ], + [ + -0.020388271659612656, + 0.9996795654296875, + 0.015002011321485043, + 0.045543170890751036 + ], + [ + 0.07108703255653381, + -0.013517673127353191, + 0.9973785281181335, + 0.004067825504202158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9971329569816589, + 0.021468905732035637, + -0.07255981117486954, + -0.04065569987262976 + ], + [ + -0.02034691907465458, + 0.9996622800827026, + 0.016166970133781433, + 0.046248650138682505 + ], + [ + 0.07288239151239395, + -0.014644250273704529, + 0.9972330331802368, + 0.004194149127269679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9969947934150696, + 0.021300848573446274, + -0.07448261231184006, + -0.04098447637751382 + ], + [ + -0.020108971744775772, + 0.9996580481529236, + 0.01671566069126129, + 0.046401413139748444 + ], + [ + 0.07481319457292557, + -0.015167657285928726, + 0.9970822334289551, + 0.004085969173924086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968408346176147, + 0.02150876633822918, + -0.07645732909440994, + -0.04183721767758277 + ], + [ + -0.020290235057473183, + 0.99965500831604, + 0.01667875237762928, + 0.04638488472815841 + ], + [ + 0.07678968459367752, + -0.015074724331498146, + 0.9969333410263062, + 0.003834655017968505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9966968297958374, + 0.020740225911140442, + -0.07851944863796234, + -0.043281392784828836 + ], + [ + -0.019514836370944977, + 0.999675989151001, + 0.016341574490070343, + 0.04660798206013885 + ], + [ + 0.07883293926715851, + -0.014755302108824253, + 0.9967786073684692, + 0.0019163624234893855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9964646100997925, + 0.021365229040384293, + -0.08125123381614685, + -0.04458692843252991 + ], + [ + -0.02003639191389084, + 0.9996523857116699, + 0.017135081812739372, + 0.04671661682189145 + ], + [ + 0.08158908784389496, + -0.015446522273123264, + 0.9965463280677795, + 0.0011395147184227058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9962015748023987, + 0.021428167819976807, + -0.08439909666776657, + -0.045958656342105664 + ], + [ + -0.019952598959207535, + 0.9996336698532104, + 0.01828816905617714, + 0.04649074312220229 + ], + [ + 0.08476006239652634, + -0.016534723341464996, + 0.9962642192840576, + -0.00034790992355370463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.995901346206665, + 0.02021753415465355, + -0.08815771341323853, + -0.04765379132227378 + ], + [ + -0.018617045134305954, + 0.9996472597122192, + 0.01893952116370201, + 0.04600826700792668 + ], + [ + 0.08850952982902527, + -0.01722065731883049, + 0.9959264397621155, + -0.002014750587516167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9955576062202454, + 0.019310014322400093, + -0.09215281903743744, + -0.04907785673090752 + ], + [ + -0.017644884064793587, + 0.9996666312217712, + 0.018849989399313927, + 0.046493721610688155 + ], + [ + 0.09248608350753784, + -0.017140226438641548, + 0.9955664277076721, + -0.00400301535673281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9951457977294922, + 0.01778341643512249, + -0.09679146111011505, + -0.05005288365931111 + ], + [ + -0.016074446961283684, + 0.9997013211250305, + 0.018407471477985382, + 0.04664286821981535 + ], + [ + 0.09708990156650543, + -0.016762249171733856, + 0.9951344728469849, + -0.005335690338719399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9946653842926025, + 0.018040938302874565, + -0.10156428813934326, + -0.050536156780621476 + ], + [ + -0.01631988026201725, + 0.9997092485427856, + 0.017751043662428856, + 0.047310444384694415 + ], + [ + 0.10185500979423523, + -0.015998831018805504, + 0.994670569896698, + -0.0060828481543254345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9942737221717834, + 0.01868222840130329, + -0.10521741211414337, + -0.051343613487489996 + ], + [ + -0.016965394839644432, + 0.9997082948684692, + 0.017188536003232002, + 0.04795075426611336 + ], + [ + 0.10550783574581146, + -0.015305055305361748, + 0.9943006634712219, + -0.007223441639043232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9938351511955261, + 0.015522749163210392, + -0.10977594554424286, + -0.05266281707767159 + ], + [ + -0.013698100112378597, + 0.9997555017471313, + 0.017356278374791145, + 0.04867298299882641 + ], + [ + 0.1100185215473175, + -0.015745555981993675, + 0.9938048124313354, + -0.008239170114331423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.992800235748291, + 0.010595408268272877, + -0.11931250989437103, + -0.05337966832659267 + ], + [ + -0.008326037786900997, + 0.9997751116752625, + 0.019502848386764526, + 0.04939751622286883 + ], + [ + 0.11949232220649719, + -0.018369030207395554, + 0.99266517162323, + -0.008496703421498867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9917758107185364, + 0.008002113550901413, + -0.12773703038692474, + -0.054850764917407896 + ], + [ + -0.0051416452042758465, + 0.9997289180755615, + 0.022707471624016762, + 0.050230398363968795 + ], + [ + 0.12788410484790802, + -0.021863942965865135, + 0.9915481209754944, + -0.010362165653087358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9909586310386658, + 0.007420916575938463, + -0.13396230340003967, + -0.055968520429946406 + ], + [ + -0.004162895958870649, + 0.9996891021728516, + 0.024584166705608368, + 0.05105982309682889 + ], + [ + 0.13410308957099915, + -0.02380422130227089, + 0.9906814694404602, + -0.01133034631728809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9901939034461975, + 0.007001000456511974, + -0.13952429592609406, + -0.05587516345797067 + ], + [ + -0.0034028112422674894, + 0.9996558427810669, + 0.026010872796177864, + 0.051597346702313175 + ], + [ + 0.1396583765745163, + -0.025281032547354698, + 0.9898769855499268, + -0.012148531300431871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9893355369567871, + 0.004721043631434441, + -0.14557796716690063, + -0.056893954767865386 + ], + [ + -0.0006705971900373697, + 0.9996116161346436, + 0.02785974182188511, + 0.0523657014276436 + ], + [ + 0.14565294981002808, + -0.027465006336569786, + 0.9889544248580933, + -0.012774088030601753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9882736802101135, + 0.0036410270258784294, + -0.1526494324207306, + -0.05800660511855274 + ], + [ + 0.000824214774183929, + 0.9995738863945007, + 0.029178135097026825, + 0.05264389729919903 + ], + [ + 0.15269061923027039, + -0.028961800038814545, + 0.9878495931625366, + -0.013910470451129243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9875432848930359, + 0.005049929954111576, + -0.15726663172245026, + -0.05826244185668753 + ], + [ + -0.0005070595070719719, + 0.9995818138122559, + 0.028913158923387527, + 0.05314580930713961 + ], + [ + 0.15734685957431793, + -0.028473250567913055, + 0.9871328473091125, + -0.015293811844225893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9869704842567444, + 0.004237707704305649, + -0.16084548830986023, + -0.05841636512666307 + ], + [ + 0.0002838477957993746, + 0.9996057152748108, + 0.02807779796421528, + 0.05404007578902739 + ], + [ + 0.1609010398387909, + -0.027757612988352776, + 0.9865801334381104, + -0.015599662973050108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9861845374107361, + 0.0027345791459083557, + -0.16562770307064056, + -0.05932651294910527 + ], + [ + 0.002054598182439804, + 0.9995849132537842, + 0.028737084940075874, + 0.05455181580433186 + ], + [ + 0.1656375378370285, + -0.02868036739528179, + 0.9857695698738098, + -0.01583932155366749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9851840138435364, + 0.003419869113713503, + -0.17146648466587067, + -0.0602642755722627 + ], + [ + 0.001914912718348205, + 0.9995194673538208, + 0.030937638133764267, + 0.055527889449149374 + ], + [ + 0.1714899092912674, + -0.030807610601186752, + 0.9847040772438049, + -0.016313706524670124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9842056035995483, + 0.0051437858492136, + -0.17695431411266327, + -0.06162260405897619 + ], + [ + 0.0008219273295253515, + 0.999434232711792, + 0.03362348675727844, + 0.05725998984293101 + ], + [ + 0.1770271509885788, + -0.033237867057323456, + 0.9836445450782776, + -0.01781539418833687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9830437898635864, + 0.005200646817684174, + -0.1832973212003708, + -0.06284494308081079 + ], + [ + 0.0015924032777547836, + 0.9993179440498352, + 0.03689362481236458, + 0.059314483812356246 + ], + [ + 0.1833641678094864, + -0.036559928208589554, + 0.9823649525642395, + -0.019103772771802353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9816493988037109, + 0.002948856446892023, + -0.19067193567752838, + -0.06474515036853189 + ], + [ + 0.004921555984765291, + 0.999155580997467, + 0.040790531784296036, + 0.059724543953037015 + ], + [ + 0.1906312257051468, + -0.04098040238022804, + 0.9808059930801392, + -0.023617151334009906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9803077578544617, + 0.002633781172335148, + -0.19745822250843048, + -0.06508944828677526 + ], + [ + 0.00602172315120697, + 0.9990473985671997, + 0.0432213693857193, + 0.060924977622926244 + ], + [ + 0.19738395512104034, + -0.04355928301811218, + 0.9793580174446106, + -0.023960008163084377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9797625541687012, + 0.0037080009933561087, + -0.200128972530365, + -0.06675541707094104 + ], + [ + 0.0049722869880497456, + 0.9990689754486084, + 0.04285341501235962, + 0.061457043343243443 + ], + [ + 0.2001015543937683, + -0.04298126697540283, + 0.978831946849823, + -0.026680684319518984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.979458212852478, + 0.0022264376748353243, + -0.20163494348526, + -0.0678229102879723 + ], + [ + 0.0062621114775538445, + 0.9991208910942078, + 0.04145093262195587, + 0.06187299494334358 + ], + [ + 0.2015499770641327, + -0.041862115263938904, + 0.9785832166671753, + -0.028045212651820892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.979054868221283, + 0.0007292600348591805, + -0.20359519124031067, + -0.06793036739034776 + ], + [ + 0.007543471641838551, + 0.9991770386695862, + 0.039854247123003006, + 0.06278047943289611 + ], + [ + 0.20345669984817505, + -0.040555309504270554, + 0.9782436490058899, + -0.0286381484088587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9790850281715393, + 0.0012281888630241156, + -0.2034478634595871, + -0.06874084694068285 + ], + [ + 0.006544755771756172, + 0.9992741346359253, + 0.037528879940509796, + 0.06346766015792146 + ], + [ + 0.20334626734256744, + -0.03807547688484192, + 0.9783662557601929, + -0.029279789701104165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9792938828468323, + 0.001052061328664422, + -0.20244115591049194, + -0.0694772657246002 + ], + [ + 0.006395846605300903, + 0.9993265271186829, + 0.036132801324129105, + 0.06423536221635469 + ], + [ + 0.20234283804893494, + -0.03667941316962242, + 0.978627622127533, + -0.028855113758447955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9793046712875366, + 0.001028877915814519, + -0.20238909125328064, + -0.06953787637101684 + ], + [ + 0.006391878239810467, + 0.9993310570716858, + 0.036008793860673904, + 0.06475791678308174 + ], + [ + 0.20229074358940125, + -0.03655722364783287, + 0.9786429405212402, + -0.029213444944074813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9792531728744507, + 0.0031139508355408907, + -0.20261675119400024, + -0.06974926734519032 + ], + [ + 0.004307030700147152, + 0.9993361830711365, + 0.03617449104785919, + 0.06545981792534919 + ], + [ + 0.20259490609169006, + -0.03629665821790695, + 0.9785897135734558, + -0.030144392433477208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9793257117271423, + 0.0024299314245581627, + -0.20227521657943726, + -0.07009808169578777 + ], + [ + 0.004930862225592136, + 0.999343991279602, + 0.03587813302874565, + 0.06579826599819229 + ], + [ + 0.20222970843315125, + -0.036133769899606705, + 0.9786713123321533, + -0.030865771676156114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9790617227554321, + -0.001322183758020401, + -0.2035592943429947, + -0.06989957500605824 + ], + [ + 0.008544478565454483, + 0.9993645548820496, + 0.03460529446601868, + 0.0661883712052665 + ], + [ + 0.2033841758966446, + -0.03562002629041672, + 0.9784508347511292, + -0.03170444028887977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9786058068275452, + -0.00401013158261776, + -0.2057052105665207, + -0.07046717881284495 + ], + [ + 0.010894503444433212, + 0.9994173645973206, + 0.03234546259045601, + 0.06574752668830308 + ], + [ + 0.20545564591884613, + -0.03389451280236244, + 0.9780793190002441, + -0.03388793079301398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9782882928848267, + -0.003884189296513796, + -0.2072121649980545, + -0.07150676755279184 + ], + [ + 0.01032799668610096, + 0.999495804309845, + 0.030024921521544456, + 0.0661279856524569 + ], + [ + 0.2069910615682602, + -0.031513117253780365, + 0.9778351783752441, + -0.03573365070005047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9779941439628601, + -0.004561256151646376, + -0.20858241617679596, + -0.07237591070588678 + ], + [ + 0.010526822879910469, + 0.999566376209259, + 0.02749941125512123, + 0.06635622301713584 + ], + [ + 0.2083665281534195, + -0.029089972376823425, + 0.9776180982589722, + -0.03707120084065072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.977571427822113, + -0.0032731418032199144, + -0.21057870984077454, + -0.07344783991513318 + ], + [ + 0.008788680657744408, + 0.9996422529220581, + 0.02526177652180195, + 0.06736240057235068 + ], + [ + 0.21042069792747498, + -0.026545898988842964, + 0.9772504568099976, + -0.03853726386132234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9770908355712891, + -0.0010907617397606373, + -0.212819904088974, + -0.07474056389975421 + ], + [ + 0.006319228559732437, + 0.9996946454048157, + 0.02388889342546463, + 0.06799530352049686 + ], + [ + 0.2127288579940796, + -0.024686478078365326, + 0.9767993688583374, + -0.03899973137898648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.976499080657959, + -0.001058371039107442, + -0.21551905572414398, + -0.07585331977387157 + ], + [ + 0.006047251634299755, + 0.999728798866272, + 0.022490132600069046, + 0.06809571694107132 + ], + [ + 0.21543680131435394, + -0.023264892399311066, + 0.9762406349182129, + -0.04026650896177013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9756944179534912, + 0.0003015741240233183, + -0.2191353738307953, + -0.07760201817938187 + ], + [ + 0.004513390362262726, + 0.9997592568397522, + 0.021471621468663216, + 0.06915019061812694 + ], + [ + 0.2190890908241272, + -0.021938784047961235, + 0.9754582047462463, + -0.04287215277671497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9748259782791138, + 0.0035560098476707935, + -0.22293870151042938, + -0.07852528771469766 + ], + [ + 0.0012934101978316903, + 0.9997658133506775, + 0.02160247042775154, + 0.07007807419892956 + ], + [ + 0.22296331822872162, + -0.02134700119495392, + 0.9745931029319763, + -0.04337029226441333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9739163517951965, + 0.005951606668531895, + -0.22682920098304749, + -0.08042712996892155 + ], + [ + -0.000933903967961669, + 0.9997526407241821, + 0.022221963852643967, + 0.07099094243046453 + ], + [ + 0.22690534591674805, + -0.021430496126413345, + 0.9736810326576233, + -0.045028370388961854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9729066491127014, + 0.009472512640058994, + -0.2310040444135666, + -0.0818736623036378 + ], + [ + -0.004419095814228058, + 0.9997397065162659, + 0.022383498027920723, + 0.07242139959509702 + ], + [ + 0.23115594685077667, + -0.020756224170327187, + 0.9726952910423279, + -0.047087385577763964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.971948504447937, + 0.013183149509131908, + -0.2348240315914154, + -0.08379523559037516 + ], + [ + -0.00820642989128828, + 0.9997208118438721, + 0.022158045321702957, + 0.0741845983140012 + ], + [ + 0.23505058884620667, + -0.01960941031575203, + 0.971785306930542, + -0.049058438373848476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9709583520889282, + 0.015145344659686089, + -0.23876874148845673, + -0.0852490048607851 + ], + [ + -0.010046670213341713, + 0.9996950626373291, + 0.022556675598025322, + 0.07546119732742615 + ], + [ + 0.23903755843639374, + -0.019502760842442513, + 0.9708144664764404, + -0.049993459427570726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9698956608772278, + 0.015994666144251823, + -0.24299491941928864, + -0.0879105871265873 + ], + [ + -0.010790622793138027, + 0.9996833801269531, + 0.02273225411772728, + 0.076977083538758 + ], + [ + 0.2432815581560135, + -0.019425850361585617, + 0.9697611331939697, + -0.049660265366447735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9690180420875549, + 0.01662393845617771, + -0.24642981588840485, + -0.08936012101438927 + ], + [ + -0.011535863392055035, + 0.9996896982192993, + 0.022076552733778954, + 0.0779511408404784 + ], + [ + 0.2467203587293625, + -0.01854979805648327, + 0.9689091444015503, + -0.052036282316127676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.968046247959137, + 0.0147621501237154, + -0.25033697485923767, + -0.09167292367548067 + ], + [ + -0.009444596245884895, + 0.9997038245201111, + 0.022429659962654114, + 0.07879187119926544 + ], + [ + 0.2505939304828644, + -0.019348617643117905, + 0.9678989052772522, + -0.05219952403468654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9659982919692993, + 0.009729450568556786, + -0.258365273475647, + -0.09369538801999644 + ], + [ + -0.0034722930286079645, + 0.9996897578239441, + 0.024663541465997696, + 0.08023506349071545 + ], + [ + 0.2585250735282898, + -0.022927820682525635, + 0.9657323956489563, + -0.05367629824483648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9634121656417847, + 0.007362061180174351, + -0.26792314648628235, + -0.09618470210859432 + ], + [ + -0.00012202351354062557, + 0.9996346235275269, + 0.02702944166958332, + 0.08145555929934725 + ], + [ + 0.2680242359638214, + -0.026007799431681633, + 0.9630610942840576, + -0.056063243528788394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9617865085601807, + 0.010575821623206139, + -0.2735961079597473, + -0.09966885170185978 + ], + [ + -0.0032040525693446398, + 0.9996200203895569, + 0.0273768100887537, + 0.08332750094222262 + ], + [ + 0.2737817168235779, + -0.02545403130352497, + 0.9614549875259399, + -0.05663139429042473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9607183933258057, + 0.01172216609120369, + -0.2772773802280426, + -0.10163371203506881 + ], + [ + -0.004510398954153061, + 0.9996351003646851, + 0.026632776483893394, + 0.08534589810891355 + ], + [ + 0.2774883806705475, + -0.024335967376828194, + 0.9604207277297974, + -0.057531638584159155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9593759179115295, + 0.010826630517840385, + -0.2819230854511261, + -0.10492374537849522 + ], + [ + -0.003919264301657677, + 0.9996784329414368, + 0.025053292512893677, + 0.08676724534561026 + ], + [ + 0.28210368752479553, + -0.02293059602379799, + 0.9591098427772522, + -0.05851213224826658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9578583240509033, + 0.011121241375803947, + -0.28702571988105774, + -0.10727271852975195 + ], + [ + -0.004460188094526529, + 0.9997056126594543, + 0.023850612342357635, + 0.08893347800253554 + ], + [ + 0.2872064411640167, + -0.02156531810760498, + 0.9576259255409241, + -0.059511149674654006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9564486742019653, + 0.011620528995990753, + -0.291669100522995, + -0.11050010722606106 + ], + [ + -0.004909014329314232, + 0.9997063279151917, + 0.02373201586306095, + 0.0910252730500825 + ], + [ + 0.2918592393398285, + -0.021266648545861244, + 0.9562248587608337, + -0.058467833449112924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9547799229621887, + 0.009156806394457817, + -0.29717251658439636, + -0.11288614243150075 + ], + [ + -0.002306347945705056, + 0.9997236728668213, + 0.023394562304019928, + 0.09301742919264956 + ], + [ + 0.29730460047721863, + -0.02165127545595169, + 0.9545371532440186, + -0.059447681689833075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9526330232620239, + 0.006843728944659233, + -0.3040452301502228, + -0.11557908856626996 + ], + [ + -0.00031358329579234123, + 0.9997683167457581, + 0.02152118645608425, + 0.0949852520164023 + ], + [ + 0.30412206053733826, + -0.020406449213624, + 0.9524145126342773, + -0.06043685889366935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9509252905845642, + 0.004739408381283283, + -0.30938422679901123, + -0.11771170625938697 + ], + [ + 0.0010439675534144044, + 0.9998278617858887, + 0.018524950370192528, + 0.09647857939943355 + ], + [ + 0.3094187378883362, + -0.017938831821084023, + 0.9507566690444946, + -0.06178875584947936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9496654868125916, + 0.00048149481881409883, + -0.31326547265052795, + -0.12013670887836463 + ], + [ + 0.004029027186334133, + 0.9998973608016968, + 0.013750871643424034, + 0.09771399388604975 + ], + [ + 0.3132399618625641, + -0.01432088389992714, + 0.9495660066604614, + -0.06222691400610703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9484317302703857, + -0.0023280244786292315, + -0.3169729709625244, + -0.12206044225988197 + ], + [ + 0.0053720781579613686, + 0.9999474883079529, + 0.008729914203286171, + 0.09795216570033673 + ], + [ + 0.31693601608276367, + -0.009982530027627945, + 0.9483944177627563, + -0.06679618879756395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9474590420722961, + 0.001022196956910193, + -0.31987544894218445, + -0.12284100123593197 + ], + [ + 0.0014400262152776122, + 0.9999711513519287, + 0.007460820488631725, + 0.10094034564780428 + ], + [ + 0.3198738396167755, + -0.0075294505804777145, + 0.9474302530288696, + -0.06746749324783524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9468938708305359, + 0.006354016717523336, + -0.32148343324661255, + -0.12345052895116362 + ], + [ + -0.0036288038827478886, + 0.9999522566795349, + 0.009075494483113289, + 0.10273732617497444 + ], + [ + 0.3215257525444031, + -0.007426930125802755, + 0.9468716979026794, + -0.06948307003389964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9462685585021973, + 0.01105639711022377, + -0.3231927752494812, + -0.12389698649776426 + ], + [ + -0.00822395458817482, + 0.9999148845672607, + 0.010128280147910118, + 0.1042354738141628 + ], + [ + 0.32327723503112793, + -0.006926150992512703, + 0.9462789297103882, + -0.07140415177006829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9456188082695007, + 0.01706394925713539, + -0.3248290717601776, + -0.12432093450284384 + ], + [ + -0.014178196899592876, + 0.9998362064361572, + 0.011248948983848095, + 0.10639762621610724 + ], + [ + 0.3249678313732147, + -0.006031728349626064, + 0.9457058310508728, + -0.0731843151657426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9449120759963989, + 0.02129501663148403, + -0.3266308903694153, + -0.12444066963198179 + ], + [ + -0.017825854942202568, + 0.9997484683990479, + 0.013611064292490482, + 0.10773818714821592 + ], + [ + 0.32683855295181274, + -0.007038784213364124, + 0.9450539946556091, + -0.07383982606499674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9439265727996826, + 0.02543644607067108, + -0.3291741907596588, + -0.12542265891394716 + ], + [ + -0.020930655300617218, + 0.9996325373649597, + 0.017225217074155807, + 0.10858226512023743 + ], + [ + 0.32949140667915344, + -0.009369507431983948, + 0.9441120624542236, + -0.07518361239357198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9429200887680054, + 0.029489342123270035, + -0.3317108452320099, + -0.12650011898949742 + ], + [ + -0.02408462017774582, + 0.9995018839836121, + 0.0203936118632555, + 0.11053401157259943 + ], + [ + 0.3321470320224762, + -0.011240417137742043, + 0.9431606531143188, + -0.07498258161358536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9419385194778442, + 0.03317748010158539, + -0.33414238691329956, + -0.12802401132723118 + ], + [ + -0.026964200660586357, + 0.9993667602539062, + 0.02321721240878105, + 0.11233035400509836 + ], + [ + 0.3347010612487793, + -0.012859304435551167, + 0.942236602306366, + -0.07637536565654297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9409804940223694, + 0.03659965842962265, + -0.33647605776786804, + -0.12924230023822253 + ], + [ + -0.02966058999300003, + 0.9992285370826721, + 0.02574145421385765, + 0.11279620575778028 + ], + [ + 0.33715859055519104, + -0.014242127537727356, + 0.9413401484489441, + -0.0767835342107301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9402972459793091, + 0.04018979147076607, + -0.3379731774330139, + -0.13009621630957785 + ], + [ + -0.03299902006983757, + 0.9990906715393066, + 0.026997288689017296, + 0.11328621184889306 + ], + [ + 0.3387508988380432, + -0.014232693240046501, + 0.9407684206962585, + -0.07844460979104043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9401021599769592, + 0.042634475976228714, + -0.33821627497673035, + -0.13048610240815484 + ], + [ + -0.0356464646756649, + 0.9990037679672241, + 0.026848753914237022, + 0.11397210762221764 + ], + [ + 0.33902397751808167, + -0.013184359297156334, + 0.9406853318214417, + -0.07956238209388833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.940833330154419, + 0.04542934149503708, + -0.3358106017112732, + -0.13041516188135807 + ], + [ + -0.0389767661690712, + 0.9989035129547119, + 0.025933915749192238, + 0.11466460778041089 + ], + [ + 0.336620569229126, + -0.011310679838061333, + 0.9415724277496338, + -0.07931890722086772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9421517252922058, + 0.04520620405673981, + -0.33212435245513916, + -0.13008954503593292 + ], + [ + -0.03930090367794037, + 0.9989275336265564, + 0.024479711428284645, + 0.11499883126705251 + ], + [ + 0.33287477493286133, + -0.010010814294219017, + 0.9429178833961487, + -0.0798344115399696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9432317614555359, + 0.04440782219171524, + -0.3291530907154083, + -0.12937733199685178 + ], + [ + -0.03902044892311096, + 0.998974621295929, + 0.02295880950987339, + 0.11458105020066525 + ], + [ + 0.3298351466655731, + -0.008811777457594872, + 0.9439974427223206, + -0.07970132614941673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9445778131484985, + 0.04399440810084343, + -0.32532641291618347, + -0.1286044333387721 + ], + [ + -0.039092857390642166, + 0.9990022778511047, + 0.02159145660698414, + 0.11469024516483571 + ], + [ + 0.3259517252445221, + -0.00767687289044261, + 0.945355236530304, + -0.07880844545644768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9459065198898315, + 0.043043866753578186, + -0.32157135009765625, + -0.1274629771867965 + ], + [ + -0.038197748363018036, + 0.999041736125946, + 0.02136731892824173, + 0.11483072386460101 + ], + [ + 0.32218295335769653, + -0.007928185164928436, + 0.9466442465782166, + -0.07778105761935102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.946900486946106, + 0.04237799346446991, + -0.318721741437912, + -0.12651299297651078 + ], + [ + -0.03732558339834213, + 0.9990621209144592, + 0.02194589003920555, + 0.11613329582391901 + ], + [ + 0.3193528354167938, + -0.008884098380804062, + 0.9475942254066467, + -0.07734840984872364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9476555585861206, + 0.04237755388021469, + -0.316469669342041, + -0.12601059513523225 + ], + [ + -0.03708402067422867, + 0.9990535378456116, + 0.022733822464942932, + 0.11638135776874868 + ], + [ + 0.3171335458755493, + -0.00980786606669426, + 0.9483301639556885, + -0.07572508224464478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9482450485229492, + 0.043363362550735474, + -0.3145647644996643, + -0.12555316329953517 + ], + [ + -0.03810804337263107, + 0.9990125298500061, + 0.022840384393930435, + 0.1174795391236214 + ], + [ + 0.3152446150779724, + -0.009670834988355637, + 0.9489611983299255, + -0.07447946744356701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9487085938453674, + 0.04289216548204422, + -0.3132288157939911, + -0.12495932765305043 + ], + [ + -0.03762959688901901, + 0.9990309476852417, + 0.022830193862318993, + 0.11786600002583038 + ], + [ + 0.3139044940471649, + -0.009872527793049812, + 0.9494032263755798, + -0.0753492625410411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9486668705940247, + 0.042706429958343506, + -0.31338050961494446, + -0.12515252971268714 + ], + [ + -0.03717979043722153, + 0.9990300536155701, + 0.023593585938215256, + 0.11870189431182882 + ], + [ + 0.31408414244651794, + -0.010731031186878681, + 0.9493345022201538, + -0.07459779601653126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9484272003173828, + 0.04303843528032303, + -0.3140598237514496, + -0.12529729054646288 + ], + [ + -0.037115953862667084, + 0.9990028142929077, + 0.024816084653139114, + 0.11961377676814161 + ], + [ + 0.31481465697288513, + -0.011879620142281055, + 0.9490787982940674, + -0.07478220680570032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9476891160011292, + 0.04241885989904404, + -0.316363662481308, + -0.125882637663249 + ], + [ + -0.036227427423000336, + 0.999019980430603, + 0.02542942948639393, + 0.12086643264331717 + ], + [ + 0.3171323239803314, + -0.01263815350830555, + 0.9482970833778381, + -0.0747371920216036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.946599006652832, + 0.04385809600353241, + -0.3194162845611572, + -0.12574747691446161 + ], + [ + -0.03752867132425308, + 0.9989586472511292, + 0.025946781039237976, + 0.12124166328539239 + ], + [ + 0.3202216625213623, + -0.012573927640914917, + 0.9472591876983643, + -0.07716292076288385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9456616044044495, + 0.04404160752892494, + -0.32215598225593567, + -0.12681423430628283 + ], + [ + -0.03759711608290672, + 0.998949408531189, + 0.026202183216810226, + 0.12223465574231553 + ], + [ + 0.32297149300575256, + -0.012666262686252594, + 0.9463239312171936, + -0.07887215707451105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9445345401763916, + 0.043603960424661636, + -0.32550451159477234, + -0.12753994255623918 + ], + [ + -0.03697037324309349, + 0.9989638924598694, + 0.026540305465459824, + 0.12380870526775402 + ], + [ + 0.3263244926929474, + -0.013034213334321976, + 0.9451679587364197, + -0.07880467937347736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.943446695804596, + 0.04398715868592262, + -0.3285931944847107, + -0.12747800185127145 + ], + [ + -0.037202756851911545, + 0.998945415019989, + 0.026908494532108307, + 0.12450921299292686 + ], + [ + 0.3294302821159363, + -0.013162157498300076, + 0.9440881609916687, + -0.08097967638168484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.942510724067688, + 0.045499544590711594, + -0.3310639262199402, + -0.12822589147043356 + ], + [ + -0.03866543993353844, + 0.9988818764686584, + 0.027203448116779327, + 0.1258862796616047 + ], + [ + 0.331931471824646, + -0.012838810682296753, + 0.9432161450386047, + -0.0824702245440889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9418907761573792, + 0.047076717019081116, + -0.33260422945022583, + -0.1290804744163092 + ], + [ + -0.03998539596796036, + 0.9988040328025818, + 0.02813715487718582, + 0.12680896492080485 + ], + [ + 0.3335310220718384, + -0.013202816247940063, + 0.9426466822624207, + -0.0838088443780199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9413175582885742, + 0.04793456941843033, + -0.3341011703014374, + -0.1298833120217983 + ], + [ + -0.040360331535339355, + 0.9987472295761108, + 0.029579754918813705, + 0.1286908135927738 + ], + [ + 0.3351005017757416, + -0.014359508641064167, + 0.9420729875564575, + -0.08307112175773115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.940504252910614, + 0.05043986812233925, + -0.3360172212123871, + -0.13086982886802326 + ], + [ + -0.04190725460648537, + 0.9985894560813904, + 0.03260180354118347, + 0.1309184249728284 + ], + [ + 0.33718767762184143, + -0.016580577939748764, + 0.9412914514541626, + -0.08275475367864078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9392154216766357, + 0.05161328241229057, + -0.3394266664981842, + -0.1320706738079799 + ], + [ + -0.04184092953801155, + 0.9984736442565918, + 0.03605154529213905, + 0.13193853018765755 + ], + [ + 0.34076932072639465, + -0.019658245146274567, + 0.93994140625, + -0.08285724082367217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9379907250404358, + 0.05381506308913231, + -0.3424578309059143, + -0.13297133279092452 + ], + [ + -0.04371437057852745, + 0.9983530640602112, + 0.03715132921934128, + 0.1340931808536357 + ], + [ + 0.3438931107521057, + -0.019877273589372635, + 0.9387984275817871, + -0.08384175177544673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.93757563829422, + 0.05644472315907478, + -0.3431704044342041, + -0.1332893985858623 + ], + [ + -0.046489302068948746, + 0.9982268214225769, + 0.03717511147260666, + 0.1346079316703563 + ], + [ + 0.344660222530365, + -0.018900729715824127, + 0.9385372400283813, + -0.08443909084543269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9375719428062439, + 0.05527335777878761, + -0.34337109327316284, + -0.13380953233411655 + ], + [ + -0.045251499861478806, + 0.9982850551605225, + 0.037137746810913086, + 0.13567184422244416 + ], + [ + 0.34483498334884644, + -0.019281255081295967, + 0.9384652972221375, + -0.08395473998376822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9373091459274292, + 0.05376797914505005, + -0.3443261981010437, + -0.13451170667688897 + ], + [ + -0.043412744998931885, + 0.998344898223877, + 0.03771954029798508, + 0.13645281610970802 + ], + [ + 0.34578442573547363, + -0.020406726747751236, + 0.938092052936554, + -0.08412714684976542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9369847774505615, + 0.0538339763879776, + -0.3451977074146271, + -0.1339160005225146 + ], + [ + -0.043349042534828186, + 0.9983360171318054, + 0.038027506321668625, + 0.1375814958138669 + ], + [ + 0.3466704785823822, + -0.02066720649600029, + 0.937759280204773, + -0.08443478019511763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9366363883018494, + 0.05397547036409378, + -0.34611982107162476, + -0.13398601503131238 + ], + [ + -0.04322931170463562, + 0.9983153939247131, + 0.038698721677064896, + 0.13862930352383473 + ], + [ + 0.3476255536079407, + -0.021284110844135284, + 0.9373918771743774, + -0.08434478280709146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.936212956905365, + 0.055054228752851486, + -0.3470941185951233, + -0.13482901051521617 + ], + [ + -0.04373856261372566, + 0.9982275366783142, + 0.0403580442070961, + 0.1399864120686308 + ], + [ + 0.34870076179504395, + -0.022602327167987823, + 0.9369615316390991, + -0.0835807530684991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9357717633247375, + 0.057277075946331024, + -0.347923219203949, + -0.13500936461731475 + ], + [ + -0.04540993273258209, + 0.9980777502059937, + 0.04217494651675224, + 0.1412580188918621 + ], + [ + 0.3496701121330261, + -0.023666951805353165, + 0.9365739226341248, + -0.08391341179847084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9356824159622192, + 0.06073314696550369, + -0.3475772440433502, + -0.13484153161419832 + ], + [ + -0.04849981516599655, + 0.9978625178337097, + 0.043797191232442856, + 0.14225124932349997 + ], + [ + 0.34949424862861633, + -0.024122830480337143, + 0.9366279244422913, + -0.08452140330832372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9359133839607239, + 0.06155308336019516, + -0.34681031107902527, + -0.1350213108544654 + ], + [ + -0.048944003880023956, + 0.9977868795394897, + 0.04500879347324371, + 0.14378311036432045 + ], + [ + 0.3488132059574127, + -0.025150051340460777, + 0.9368547201156616, + -0.08386985214149699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9361147880554199, + 0.06179303303360939, + -0.34622353315353394, + -0.13417949555838043 + ], + [ + -0.04881434515118599, + 0.9977438449859619, + 0.046090997755527496, + 0.14418529348170503 + ], + [ + 0.34829050302505493, + -0.026245787739753723, + 0.9370191693305969, + -0.08478436432778835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9365555047988892, + 0.060237444937229156, + -0.3453046679496765, + -0.13393959151779083 + ], + [ + -0.04717152565717697, + 0.9978212714195251, + 0.04612579569220543, + 0.1444660593696097 + ], + [ + 0.34733080863952637, + -0.026910822838544846, + 0.9373564720153809, + -0.084822302054059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9367132782936096, + 0.05812540277838707, + -0.3452386260032654, + -0.134164731670171 + ], + [ + -0.04517810419201851, + 0.9979450702667236, + 0.04543823003768921, + 0.14544933796563048 + ], + [ + 0.34717029333114624, + -0.026965370401740074, + 0.9374143481254578, + -0.08498109855015386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9366358518600464, + 0.05790408328175545, + -0.34548577666282654, + -0.13526415709960968 + ], + [ + -0.04491614177823067, + 0.9979546070098877, + 0.04548835754394531, + 0.14573816162474612 + ], + [ + 0.3474130928516388, + -0.027088137343525887, + 0.9373208284378052, + -0.0848318019961106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9361896514892578, + 0.058413323014974594, + -0.34660762548446655, + -0.13611232880304786 + ], + [ + -0.045407120138406754, + 0.9979302287101746, + 0.04553490877151489, + 0.1461517498055671 + ], + [ + 0.34855008125305176, + -0.026890859007835388, + 0.9369043111801147, + -0.08354129178568404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9352812767028809, + 0.06240272521972656, + -0.34836021065711975, + -0.1371241605662285 + ], + [ + -0.04912756383419037, + 0.9976944327354431, + 0.04682154208421707, + 0.14637216291529068 + ], + [ + 0.350478857755661, + -0.026677221059799194, + 0.9361906051635742, + -0.08374452064646051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9342477321624756, + 0.06437743455171585, + -0.3507658541202545, + -0.13762826472917136 + ], + [ + -0.050586968660354614, + 0.9975486993789673, + 0.04834810271859169, + 0.14743817581775343 + ], + [ + 0.35301855206489563, + -0.027424927800893784, + 0.9352142810821533, + -0.08417155214961856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9332128763198853, + 0.06440714001655579, + -0.353504478931427, + -0.1384289467588384 + ], + [ + -0.05020686984062195, + 0.9975260496139526, + 0.0492047481238842, + 0.14833029248612994 + ], + [ + 0.3557990789413452, + -0.0281701497733593, + 0.9341378211975098, + -0.0859582708078496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9323003888130188, + 0.06345342099666595, + -0.3560754060745239, + -0.14025916813060324 + ], + [ + -0.04899861663579941, + 0.9975726008415222, + 0.049478188157081604, + 0.1484523301428937 + ], + [ + 0.35835063457489014, + -0.028681330382823944, + 0.9331464171409607, + -0.08584974268253179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9313066601753235, + 0.0612824410200119, + -0.35904374718666077, + -0.14043083192503197 + ], + [ + -0.047125622630119324, + 0.9977322220802307, + 0.04805837571620941, + 0.1486819735708389 + ], + [ + 0.36117467284202576, + -0.02783692628145218, + 0.9320825934410095, + -0.08638433523159078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9304318428039551, + 0.059514906257390976, + -0.3615999221801758, + -0.14123485507443548 + ], + [ + -0.04609706625342369, + 0.997894287109375, + 0.04562889784574509, + 0.14917771014127326 + ], + [ + 0.36355412006378174, + -0.025785885751247406, + 0.9312161207199097, + -0.08728402393691717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9296534061431885, + 0.058263108134269714, + -0.3637993335723877, + -0.14222071915864945 + ], + [ + -0.04530349373817444, + 0.9980010390281677, + 0.04406300559639931, + 0.14997010454535487 + ], + [ + 0.365639328956604, + -0.024481941014528275, + 0.9304345846176147, + -0.08774577863514424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/boom_up/transforms.json b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d0f7ea8419046a18a6b8483f671368467e65fcd3 --- /dev/null +++ b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/boom_up/transforms.json @@ -0,0 +1,6628 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 189, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.70307084772503e-05, + 7.986521086422727e-05, + -0.00025786555488593876 + ], + [ + -1.7034815755323507e-05, + 1.0, + 5.142964801052585e-05, + -0.00014517392264679074 + ], + [ + -7.986433774931356e-05, + -5.1431008614599705e-05, + 1.0, + -0.0002484802098479122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999983906745911, + -0.001730418181978166, + -0.00040596676990389824, + -9.97703853422439e-05 + ], + [ + 0.0017306868685409427, + 0.9999982714653015, + 0.0006625395617447793, + -0.0002221698810821993 + ], + [ + 0.0004048196133226156, + -0.0006632410804741085, + 0.9999997019767761, + 8.356542666467461e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999954700469971, + -0.0025760482531040907, + -0.001560411648824811, + -0.00014691932103348936 + ], + [ + 0.0025778410490602255, + 0.9999960064888, + 0.0011480755638331175, + 8.349227768547347e-05 + ], + [ + 0.0015574479475617409, + -0.0011520928237587214, + 0.999998152256012, + 0.0004550089171661579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999921917915344, + -0.003408124204725027, + -0.001985446782782674, + -4.670181290922746e-05 + ], + [ + 0.0034109405241906643, + 0.9999932050704956, + 0.0014168414054438472, + 0.00016146673662389846 + ], + [ + 0.0019806043710559607, + -0.001423602574504912, + 0.9999970197677612, + 0.0012978135850255754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999985933303833, + -0.0044803437776863575, + -0.002829919336363673, + 8.980469421532418e-06 + ], + [ + 0.004484949167817831, + 0.9999886155128479, + 0.0016230028122663498, + 0.000279377155164455 + ], + [ + 0.0028226154390722513, + -0.0016356720589101315, + 0.999994695186615, + 0.0019952138291394455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999833703041077, + -0.004437757655978203, + -0.003691204125061631, + -6.351604168501465e-05 + ], + [ + 0.004446507431566715, + 0.9999873042106628, + 0.0023656210396438837, + 6.559762628154499e-05 + ], + [ + 0.0036806592252105474, + -0.0023819946218281984, + 0.9999904036521912, + 0.0023337504857447633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999836087226868, + -0.003654320491477847, + -0.004406733904033899, + -6.620399861353787e-05 + ], + [ + 0.0036697436589747667, + 0.9999871253967285, + 0.003496936522424221, + -0.00022088176511386596 + ], + [ + 0.004393898416310549, + -0.0035130507312715054, + 0.9999842047691345, + 0.002734362983461866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999801516532898, + -0.004266171250492334, + -0.004637598991394043, + -8.42717576504467e-05 + ], + [ + 0.004284416791051626, + 0.9999830722808838, + 0.003931541461497545, + -0.0006635647267103197 + ], + [ + 0.0046207476407289505, + -0.003951332997530699, + 0.9999815225601196, + 0.003130338694949813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999744892120361, + -0.004603484179824591, + -0.005465208552777767, + -2.090849652341468e-05 + ], + [ + 0.004624332766979933, + 0.9999820590019226, + 0.003808358684182167, + -0.0012946752088263316 + ], + [ + 0.005447578616440296, + -0.0038335341960191727, + 0.9999778270721436, + 0.0032619881493217767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999691247940063, + -0.0047874776646494865, + -0.006228642538189888, + -0.00013510096617578034 + ], + [ + 0.004811088554561138, + 0.9999812841415405, + 0.003781228559091687, + -0.0017844820008712245 + ], + [ + 0.006210423074662685, + -0.003811078378930688, + 0.999973475933075, + 0.0034249615004692383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999691843986511, + -0.003218867816030979, + -0.007156191393733025, + -0.00019658925946791994 + ], + [ + 0.0032461187802255154, + 0.9999874830245972, + 0.003799683880060911, + -0.0021960082850319912 + ], + [ + 0.007143870927393436, + -0.003822796978056431, + 0.9999671578407288, + 0.003047975240909356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999719262123108, + -0.0005690651014447212, + -0.007473058067262173, + -0.0004347184897113116 + ], + [ + 0.0005949765909463167, + 0.9999938011169434, + 0.0034655549097806215, + -0.002710082805021964 + ], + [ + 0.007471039891242981, + -0.0034699037205427885, + 0.9999660849571228, + 0.0031844447655454675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999681711196899, + 0.0005087140598334372, + -0.007958967238664627, + -0.000513117931698984 + ], + [ + -0.00048684320063330233, + 0.9999961256980896, + 0.0027496491093188524, + -0.003172687174593831 + ], + [ + 0.007960334420204163, + -0.002745686797425151, + 0.9999645352363586, + 0.0033709011362627783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999691843986511, + 0.0012250833678990602, + -0.007752944715321064, + -0.0006927150062612318 + ], + [ + -0.0012099472805857658, + 0.9999973773956299, + 0.001956680091097951, + -0.003682116524098402 + ], + [ + 0.007755321450531483, + -0.0019472392741590738, + 0.9999680519104004, + 0.0036491317512279257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999690651893616, + 0.00140003755223006, + -0.007739445194602013, + -0.0009332163654456034 + ], + [ + -0.001384782255627215, + 0.999997079372406, + 0.001976113300770521, + -0.004125128639861942 + ], + [ + 0.00774218887090683, + -0.001965334638953209, + 0.9999681115150452, + 0.0038202749258105426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999571442604065, + 0.0020004191901534796, + -0.00904176291078329, + -0.0012274029611441446 + ], + [ + -0.0019705204758793116, + 0.9999925494194031, + 0.00331442360766232, + -0.004742939901993948 + ], + [ + 0.009048325009644032, + -0.0032964644487947226, + 0.9999536275863647, + 0.004065828495089242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999316930770874, + 0.002833987819030881, + -0.011340461671352386, + -0.0014914792288649589 + ], + [ + -0.00277863466180861, + 0.9999841451644897, + 0.004893816541880369, + -0.0050284395965331415 + ], + [ + 0.011354150250554085, + -0.0048619708977639675, + 0.9999237060546875, + 0.004231698624789715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.999908983707428, + 0.005353976972401142, + -0.012385702691972256, + -0.00248957539938311 + ], + [ + -0.0052774446085095406, + 0.9999668598175049, + 0.006203539203852415, + -0.005051921389283651 + ], + [ + 0.012418505735695362, + -0.006137609947472811, + 0.9999040365219116, + 0.004711213811211526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998924136161804, + 0.0073814382776618, + -0.012674353085458279, + -0.0031579196700786656 + ], + [ + -0.007286222651600838, + 0.9999449849128723, + 0.007542256265878677, + -0.005069567582153893 + ], + [ + 0.01272932905703783, + -0.007449097000062466, + 0.9998912215232849, + 0.005466733120897032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998738765716553, + 0.007767716888338327, + -0.013851862400770187, + -0.0034486439680938234 + ], + [ + -0.007641080301254988, + 0.9999287724494934, + 0.009171844460070133, + -0.0050216714455250736 + ], + [ + 0.01392211951315403, + -0.009064844809472561, + 0.999862015247345, + 0.006287943094750827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998527765274048, + 0.007954070344567299, + -0.015202123671770096, + -0.003867384873608008 + ], + [ + -0.007796012330800295, + 0.9999152421951294, + 0.010428222827613354, + -0.0048787102023971855 + ], + [ + 0.015283782035112381, + -0.01030817162245512, + 0.9998300671577454, + 0.007344803336928499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9998342990875244, + 0.009692437946796417, + -0.015407459810376167, + -0.0046803582182272955 + ], + [ + -0.009504146873950958, + 0.9998798370361328, + 0.012247343547642231, + -0.005009668324380479 + ], + [ + 0.01552431471645832, + -0.012098879553377628, + 0.99980628490448, + 0.008193281525250604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998238682746887, + 0.011016195639967918, + -0.015195545740425587, + -0.0053781454471197535 + ], + [ + -0.0108066126704216, + 0.9998462796211243, + 0.013806217350065708, + -0.0051354206087899975 + ], + [ + 0.015345302410423756, + -0.013639573939144611, + 0.9997892379760742, + 0.008189504144792545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998133778572083, + 0.012318622320890427, + -0.014881972223520279, + -0.006166852009978066 + ], + [ + -0.012114301323890686, + 0.9998321533203125, + 0.013742388226091862, + -0.005526885202035625 + ], + [ + 0.015048762783408165, + -0.013559537939727306, + 0.9997948408126831, + 0.008518970427301494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998157024383545, + 0.013560467399656773, + -0.013588461093604565, + -0.006362306857679753 + ], + [ + -0.0133983688428998, + 0.9998388290405273, + 0.011949938721954823, + -0.006150361810355109 + ], + [ + 0.013748317025601864, + -0.011765672825276852, + 0.999836266040802, + 0.00832667397929633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998309016227722, + 0.013635587878525257, + -0.012340419925749302, + -0.007405990727265623 + ], + [ + -0.013505076058208942, + 0.9998526573181152, + 0.010598269291222095, + -0.0072551526802968475 + ], + [ + 0.012483115307986736, + -0.010429819114506245, + 0.9998676776885986, + 0.007544023433125558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998378753662109, + 0.013255040161311626, + -0.012188911437988281, + -0.008274363654051372 + ], + [ + -0.01313346903771162, + 0.9998637437820435, + 0.01000048778951168, + -0.008130600784925071 + ], + [ + 0.012319806963205338, + -0.009838784113526344, + 0.9998757243156433, + 0.007472391440434024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.999825119972229, + 0.013566026464104652, + -0.012873520143330097, + -0.009180343189732508 + ], + [ + -0.013443198055028915, + 0.9998637437820435, + 0.009580161422491074, + -0.00915485859273913 + ], + [ + 0.013001731596887112, + -0.009405424818396568, + 0.9998712539672852, + 0.006809912902362486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997996687889099, + 0.01423492282629013, + -0.014070836827158928, + -0.01062379354175101 + ], + [ + -0.014115283265709877, + 0.9998636841773987, + 0.00856577605009079, + -0.010259741039431476 + ], + [ + 0.014190852642059326, + -0.008365446701645851, + 0.9998643398284912, + 0.005907110760899934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9997743964195251, + 0.014402052387595177, + -0.015612587332725525, + -0.01232940121751992 + ], + [ + -0.014292960986495018, + 0.9998728036880493, + 0.007076598703861237, + -0.011448847611454574 + ], + [ + 0.015712518244981766, + -0.006851851940155029, + 0.9998530745506287, + 0.005072141987608469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997538328170776, + 0.013902876526117325, + -0.017291201278567314, + -0.01355199922034715 + ], + [ + -0.013818316161632538, + 0.999891996383667, + 0.00500032864511013, + -0.012485258504153884 + ], + [ + 0.017358852550387383, + -0.004760162904858589, + 0.9998379945755005, + 0.004565820078107905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.999718964099884, + 0.013820775784552097, + -0.019261721521615982, + -0.014660128597863652 + ], + [ + -0.013750468380749226, + 0.9998983144760132, + 0.0037778301630169153, + -0.013412652710611199 + ], + [ + 0.019311975687742233, + -0.0035119105596095324, + 0.9998073577880859, + 0.00408283480519845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9996983408927917, + 0.012609568424522877, + -0.021076595410704613, + -0.015377808576251598 + ], + [ + -0.01255072932690382, + 0.9999169707298279, + 0.0029216380789875984, + -0.014573772529021221 + ], + [ + 0.021111687645316124, + -0.0026562302373349667, + 0.9997736215591431, + 0.004222034454900533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9996532201766968, + 0.013317718170583248, + -0.022717848420143127, + -0.016157099017576174 + ], + [ + -0.013274197466671467, + 0.9999097585678101, + 0.0020654085092246532, + -0.015535719937426931 + ], + [ + 0.022743303328752518, + -0.0017631310038268566, + 0.9997397661209106, + 0.0034191611042107516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9995982050895691, + 0.015250423923134804, + -0.023892180994153023, + -0.016954442432665445 + ], + [ + -0.015223570168018341, + 0.999883234500885, + 0.0013054411392658949, + -0.01648469751383713 + ], + [ + 0.023909298703074455, + -0.0009411924402229488, + 0.999713659286499, + 0.0028688996254362443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9995750784873962, + 0.015975704416632652, + -0.024380911141633987, + -0.017994758043874133 + ], + [ + -0.015971070155501366, + 0.9998723864555359, + 0.0003847255138680339, + -0.01754279134725716 + ], + [ + 0.024383947253227234, + 4.827263182960451e-06, + 0.9997026920318604, + 0.0021590336725258816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9995578527450562, + 0.01589984819293022, + -0.025126244872808456, + -0.018086859021098054 + ], + [ + -0.015923917293548584, + 0.9998729228973389, + -0.0007580532692372799, + -0.018517877794356343 + ], + [ + 0.025110997259616852, + 0.0011578262783586979, + 0.9996839761734009, + 0.0013736104993942253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9995314478874207, + 0.016693752259016037, + -0.025655461475253105, + -0.01803420756527401 + ], + [ + -0.01673806831240654, + 0.9998587369918823, + -0.0015136129222810268, + -0.019232183674033336 + ], + [ + 0.025626571848988533, + 0.0019423265475779772, + 0.9996696710586548, + 0.0011867596380204517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9995166063308716, + 0.017616456374526024, + -0.025615720078349113, + -0.018172782938927413 + ], + [ + -0.017661383375525475, + 0.9998428821563721, + -0.0015287165297195315, + -0.019902360852822622 + ], + [ + 0.025584762915968895, + 0.0019803866744041443, + 0.999670684337616, + 0.0009555725514532086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995246529579163, + 0.01798195205628872, + -0.025041785091161728, + -0.018051579369707627 + ], + [ + -0.018030637875199318, + 0.9998359680175781, + -0.0017197388224303722, + -0.02057607926129849 + ], + [ + 0.025006752461194992, + 0.0021704407408833504, + 0.9996849298477173, + 0.0009713948625040815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995442032814026, + 0.017639361321926117, + -0.024498704820871353, + -0.01767439141552499 + ], + [ + -0.017691824585199356, + 0.9998416304588318, + -0.0019263860303908587, + -0.021089618873876583 + ], + [ + 0.024460844695568085, + 0.002358934609219432, + 0.9996979832649231, + 0.00113308410398028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995365738868713, + 0.018252335488796234, + -0.02436213567852974, + -0.017376560388885916 + ], + [ + -0.018305957317352295, + 0.9998304843902588, + -0.001979874214157462, + -0.02146316607237516 + ], + [ + 0.024321869015693665, + 0.0024249290581792593, + 0.9997012615203857, + 0.0013796819974618785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995365738868713, + 0.018038203939795494, + -0.024520032107830048, + -0.01742210957875594 + ], + [ + -0.018096482381224632, + 0.9998339414596558, + -0.0021568951196968555, + -0.022096698882957386 + ], + [ + 0.024477053433656693, + 0.002599621657282114, + 0.9996970295906067, + 0.0010687632416870366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995267987251282, + 0.01854475773870945, + -0.024541061371564865, + -0.017539604094394663 + ], + [ + -0.01862001232802868, + 0.9998226165771484, + -0.002841564593836665, + -0.022469099100178823 + ], + [ + 0.02448401227593422, + 0.003297175047919154, + 0.9996947646141052, + 0.0012011041080807038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995371699333191, + 0.01801762357354164, + -0.024511829018592834, + -0.017350421457531604 + ], + [ + -0.01810343936085701, + 0.9998307228088379, + -0.0032836459577083588, + -0.023084837588991852 + ], + [ + 0.024448517709970474, + 0.0037258747033774853, + 0.9996941685676575, + 0.0011520773801516663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995324611663818, + 0.01801055297255516, + -0.024708840996026993, + -0.0173031315504712 + ], + [ + -0.01809627190232277, + 0.999830961227417, + -0.0032500100787729025, + -0.023533317018944296 + ], + [ + 0.024646129459142685, + 0.003695628372952342, + 0.9996894001960754, + 0.0012856995856557834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995324611663818, + 0.017184823751449585, + -0.025288261473178864, + -0.017252123609502266 + ], + [ + -0.017275430262088776, + 0.9998450875282288, + -0.003368775825947523, + -0.024137614849964753 + ], + [ + 0.025226451456546783, + 0.0038040662184357643, + 0.9996744990348816, + 0.0010136158918922253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995046257972717, + 0.01790575310587883, + -0.025882914662361145, + -0.01771875461563468 + ], + [ + -0.018007420003414154, + 0.9998310208320618, + -0.0037002661265432835, + -0.024380221532192083 + ], + [ + 0.025812283158302307, + 0.004164517391473055, + 0.9996581077575684, + 0.0009283168124966324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9994738698005676, + 0.018341433256864548, + -0.02675078809261322, + -0.0177936075374167 + ], + [ + -0.018445264548063278, + 0.999823272228241, + -0.0036398363299667835, + -0.024798203661958586 + ], + [ + 0.026679299771785736, + 0.004131346475332975, + 0.9996355175971985, + 0.0008967018810081038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9994402527809143, + 0.019432660192251205, + -0.027232006192207336, + -0.018339085402561628 + ], + [ + -0.01953115314245224, + 0.9998036026954651, + -0.00335554126650095, + -0.02522728875814442 + ], + [ + 0.027161452919244766, + 0.0038855355232954025, + 0.9996235370635986, + 0.0005232303740179285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9994131922721863, + 0.01994175836443901, + -0.027849968522787094, + -0.018688252255162026 + ], + [ + -0.020039599388837814, + 0.9997939467430115, + -0.0032384300138801336, + -0.025625072034482072 + ], + [ + 0.027779649943113327, + 0.003794631687924266, + 0.9996068477630615, + 0.00024726788793254565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9993741512298584, + 0.020517462864518166, + -0.028815660625696182, + -0.018728698384849 + ], + [ + -0.02060120739042759, + 0.9997843503952026, + -0.002612375421449542, + -0.0261529042814026 + ], + [ + 0.028755847364664078, + 0.0032043776009231806, + 0.9995813369750977, + 0.0002599508131289498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999338686466217, + 0.020970650017261505, + -0.029706403613090515, + -0.01951230169135205 + ], + [ + -0.021032344549894333, + 0.9997772574424744, + -0.001765869790688157, + -0.02628864606872122 + ], + [ + 0.029662754386663437, + 0.0023894973564893007, + 0.9995570778846741, + 0.0005356678062990466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9993161559104919, + 0.02105782739818096, + -0.030393105000257492, + -0.020304002298755532 + ], + [ + -0.02110186405479908, + 0.9997767210006714, + -0.001128814765252173, + -0.026410673598838138 + ], + [ + 0.03036254644393921, + 0.0017693940317258239, + 0.9995374083518982, + 0.0013228326739292552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9993393421173096, + 0.018865184858441353, + -0.031064877286553383, + -0.02044644298507495 + ], + [ + -0.018890084698796272, + 0.9998214244842529, + -0.000508180761244148, + -0.026811598158600007 + ], + [ + 0.03104974515736103, + 0.0010946630500257015, + 0.9995172619819641, + 0.002327864921770673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9993405342102051, + 0.016400901600718498, + -0.03239701688289642, + -0.020733587389336304 + ], + [ + -0.0163868498057127, + 0.9998654723167419, + 0.0006992440903559327, + -0.027182505347151706 + ], + [ + 0.03240412473678589, + -0.00016789801884442568, + 0.999474823474884, + 0.0030796915510089753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9993026852607727, + 0.015418087132275105, + -0.03400539606809616, + -0.021057316102087498 + ], + [ + -0.015359100885689259, + 0.9998800754547119, + 0.0019951534923166037, + -0.027490924224455624 + ], + [ + 0.034032076597213745, + -0.0014714698772877455, + 0.999419629573822, + 0.003610324065022646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9992468357086182, + 0.01525090355426073, + -0.03568129241466522, + -0.021817004516661326 + ], + [ + -0.01516162883490324, + 0.9998812079429626, + 0.0027712665032595396, + -0.02800016828138936 + ], + [ + 0.03571932017803192, + -0.002228192752227187, + 0.9993593692779541, + 0.00433245271213967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9991818070411682, + 0.015977278351783752, + -0.037154216319322586, + -0.02370969258407329 + ], + [ + -0.015869561582803726, + 0.9998689889907837, + 0.003192313015460968, + -0.02836175232016026 + ], + [ + 0.03720035031437874, + -0.002600079867988825, + 0.999304473400116, + 0.004025205920767435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9990988373756409, + 0.01632731221616268, + -0.03917895630002022, + -0.025107744131039115 + ], + [ + -0.01621362753212452, + 0.9998633861541748, + 0.003217708319425583, + -0.028689291617496213 + ], + [ + 0.039226140826940536, + -0.002579575404524803, + 0.9992270469665527, + 0.004155845392217979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9989938735961914, + 0.01599922589957714, + -0.041895996779203415, + -0.02674939592388716 + ], + [ + -0.015891114249825478, + 0.9998694658279419, + 0.0029122738633304834, + -0.02928716027514732 + ], + [ + 0.041937123984098434, + -0.0022435698192566633, + 0.9991177320480347, + 0.003428742708142926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9988641738891602, + 0.016002535820007324, + -0.04488028585910797, + -0.028302286073882528 + ], + [ + -0.015895988792181015, + 0.9998699426651001, + 0.002729937434196472, + -0.030026292401623536 + ], + [ + 0.044918134808540344, + -0.002013420220464468, + 0.9989886283874512, + 0.0025853400997956225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9987172484397888, + 0.01611827127635479, + -0.048000164330005646, + -0.03002599833057599 + ], + [ + -0.016003893688321114, + 0.9998680949211121, + 0.0027662692591547966, + -0.029999415416944217 + ], + [ + 0.04803842306137085, + -0.001994531601667404, + 0.9988434910774231, + 0.0025161992570266445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9985724687576294, + 0.01600140891969204, + -0.05096046254038811, + -0.03158694233527368 + ], + [ + -0.015859263017773628, + 0.9998691082000732, + 0.003192516742274165, + -0.03026925229487267 + ], + [ + 0.05100487545132637, + -0.0023797641042619944, + 0.9986955523490906, + 0.0029271225295118748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9984353184700012, + 0.014752130024135113, + -0.053938060998916626, + -0.03313207377461677 + ], + [ + -0.014578600414097309, + 0.999887228012085, + 0.0036092691589146852, + -0.030427877570284492 + ], + [ + 0.053985223174095154, + -0.0028172803577035666, + 0.9985377788543701, + 0.0032907056661837914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9982711672782898, + 0.014955292455852032, + -0.05684223026037216, + -0.03481876948957351 + ], + [ + -0.014740119688212872, + 0.9998825192451477, + 0.004202841781079769, + -0.030471038132747437 + ], + [ + 0.05689840763807297, + -0.003357714507728815, + 0.998374342918396, + 0.0032217665290598697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9981175661087036, + 0.015210211277008057, + -0.059413786977529526, + -0.03578010558130893 + ], + [ + -0.01493551954627037, + 0.9998756051063538, + 0.005064725875854492, + -0.030470451902835927 + ], + [ + 0.05948343500494957, + -0.004167815670371056, + 0.9982205629348755, + 0.0030721848463996296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9979761838912964, + 0.015245531685650349, + -0.061734121292829514, + -0.03718135371913222 + ], + [ + -0.014883616007864475, + 0.9998692870140076, + 0.0063181426376104355, + -0.030408891900739775 + ], + [ + 0.061822373420000076, + -0.005386529490351677, + 0.998072624206543, + 0.0032658872382834237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.997819721698761, + 0.016447965055704117, + -0.06391577422618866, + -0.03846586621663672 + ], + [ + -0.015953414142131805, + 0.9998387694358826, + 0.00824022851884365, + -0.0307270143577393 + ], + [ + 0.06404100358486176, + -0.007202587556093931, + 0.9979212880134583, + 0.0031998830659196098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9976567029953003, + 0.01864643581211567, + -0.0658290684223175, + -0.039528684790662315 + ], + [ + -0.018001070246100426, + 0.9997840523719788, + 0.010383296757936478, + -0.030413927326097774 + ], + [ + 0.06600846350193024, + -0.00917397253215313, + 0.9977768659591675, + 0.004405459855742594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9975234270095825, + 0.01987476646900177, + -0.06746812164783478, + -0.04061859116909352 + ], + [ + -0.019082650542259216, + 0.9997414350509644, + 0.012364918366074562, + -0.030281916171550113 + ], + [ + 0.06769642233848572, + -0.011046824976801872, + 0.9976447820663452, + 0.004495836596222634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9973803758621216, + 0.020991452038288116, + -0.06922278553247452, + -0.04120568746819775 + ], + [ + -0.020076699554920197, + 0.9997020363807678, + 0.013884032145142555, + -0.030548741896339562 + ], + [ + 0.0694935992360115, + -0.012457896023988724, + 0.9975045919418335, + 0.0048833412554194315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9972617030143738, + 0.02140127122402191, + -0.07078865170478821, + -0.0416248176801712 + ], + [ + -0.020388271659612656, + 0.9996795654296875, + 0.015002011321485043, + -0.03102802986556545 + ], + [ + 0.07108703255653381, + -0.013517673127353191, + 0.9973785281181335, + 0.005103221743744104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9971329569816589, + 0.021468905732035637, + -0.07255981117486954, + -0.04232296595607508 + ], + [ + -0.02034691907465458, + 0.9996622800827026, + 0.016166970133781433, + -0.03138469714433589 + ], + [ + 0.07288239151239395, + -0.014644250273704529, + 0.9972330331802368, + 0.005331415371929712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9969947934150696, + 0.021300848573446274, + -0.07448261231184006, + -0.04266135169074256 + ], + [ + -0.020108971744775772, + 0.9996580481529236, + 0.01671566069126129, + -0.03229507150207745 + ], + [ + 0.07481319457292557, + -0.015167657285928726, + 0.9970822334289551, + 0.00528001879005039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968408346176147, + 0.02150876633822918, + -0.07645732909440994, + -0.04355334265137765 + ], + [ + -0.020290235057473183, + 0.99965500831604, + 0.01667875237762928, + -0.03337482338216394 + ], + [ + 0.07678968459367752, + -0.015074724331498146, + 0.9969333410263062, + 0.005037425576332719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9966968297958374, + 0.020740225911140442, + -0.07851944863796234, + -0.04495826211381466 + ], + [ + -0.019514836370944977, + 0.999675989151001, + 0.016341574490070343, + -0.03421688514781442 + ], + [ + 0.07883293926715851, + -0.014755302108824253, + 0.9967786073684692, + 0.0031093442961177293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9964646100997925, + 0.021365229040384293, + -0.08125123381614685, + -0.04633705889647628 + ], + [ + -0.02003639191389084, + 0.9996523857116699, + 0.017135081812739372, + -0.035169802007681515 + ], + [ + 0.08158908784389496, + -0.015446522273123264, + 0.9965463280677795, + 0.0024048149471785477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9962015748023987, + 0.021428167819976807, + -0.08439909666776657, + -0.04773673835269948 + ], + [ + -0.019952598959207535, + 0.9996336698532104, + 0.01828816905617714, + -0.03645758267412795 + ], + [ + 0.08476006239652634, + -0.016534723341464996, + 0.9962642192840576, + 0.0010241203111636037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.995901346206665, + 0.02021753415465355, + -0.08815771341323853, + -0.049352924511867 + ], + [ + -0.018617045134305954, + 0.9996472597122192, + 0.01893952116370201, + -0.03800464098916409 + ], + [ + 0.08850952982902527, + -0.01722065731883049, + 0.9959264397621155, + -0.000567482578805945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9955576062202454, + 0.019310014322400093, + -0.09215281903743744, + -0.05072126220515434 + ], + [ + -0.017644884064793587, + 0.9996666312217712, + 0.018849989399313927, + -0.038584289557122176 + ], + [ + 0.09248608350753784, + -0.017140226438641548, + 0.9955664277076721, + -0.0025442726811037417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9951457977294922, + 0.01778341643512249, + -0.09679146111011505, + -0.051585284437231246 + ], + [ + -0.016074446961283684, + 0.9997013211250305, + 0.018407471477985382, + -0.039501607323937274 + ], + [ + 0.09708990156650543, + -0.016762249171733856, + 0.9951344728469849, + -0.003891283761155098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9946653842926025, + 0.018040938302874565, + -0.10156428813934326, + -0.05210994076023393 + ], + [ + -0.01631988026201725, + 0.9997092485427856, + 0.017751043662428856, + -0.03989823474350603 + ], + [ + 0.10185500979423523, + -0.015998831018805504, + 0.994670569896698, + -0.004687205448429635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9942737221717834, + 0.01868222840130329, + -0.10521741211414337, + -0.05299321450590295 + ], + [ + -0.016965394839644432, + 0.9997082948684692, + 0.017188536003232002, + -0.04032136113184722 + ], + [ + 0.10550783574581146, + -0.015305055305361748, + 0.9943006634712219, + -0.005872037819527248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9938351511955261, + 0.015522749163210392, + -0.10977594554424286, + -0.05404995636459678 + ], + [ + -0.013698100112378597, + 0.9997555017471313, + 0.017356278374791145, + -0.040666870348789595 + ], + [ + 0.1100185215473175, + -0.015745555981993675, + 0.9938048124313354, + -0.0068321204308341155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.992800235748291, + 0.010595408268272877, + -0.11931250989437103, + -0.054337763755106704 + ], + [ + -0.008326037786900997, + 0.9997751116752625, + 0.019502848386764526, + -0.04100768004563895 + ], + [ + 0.11949232220649719, + -0.018369030207395554, + 0.99266517162323, + -0.006835674094234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9917758107185364, + 0.008002113550901413, + -0.12773703038692474, + -0.05558287317844782 + ], + [ + -0.0051416452042758465, + 0.9997289180755615, + 0.022707471624016762, + -0.04123416222592301 + ], + [ + 0.12788410484790802, + -0.021863942965865135, + 0.9915481209754944, + -0.008361847466848631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9909586310386658, + 0.007420916575938463, + -0.13396230340003967, + -0.05665534994282581 + ], + [ + -0.004162895958870649, + 0.9996891021728516, + 0.024584166705608368, + -0.04146459380640311 + ], + [ + 0.13410308957099915, + -0.02380422130227089, + 0.9906814694404602, + -0.009127189664843868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9901939034461975, + 0.007001000456511974, + -0.13952429592609406, + -0.05653057626666541 + ], + [ + -0.0034028112422674894, + 0.9996558427810669, + 0.026010872796177864, + -0.041987455600595226 + ], + [ + 0.1396583765745163, + -0.025281032547354698, + 0.9898769855499268, + -0.009781796338551856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9893355369567871, + 0.004721043631434441, + -0.14557796716690063, + -0.05734094719679907 + ], + [ + -0.0006705971900373697, + 0.9996116161346436, + 0.02785974182188511, + -0.042278377121274774 + ], + [ + 0.14565294981002808, + -0.027465006336569786, + 0.9889544248580933, + -0.010173677856181847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9882736802101135, + 0.0036410270258784294, + -0.1526494324207306, + -0.058355214089115565 + ], + [ + 0.000824214774183929, + 0.9995738863945007, + 0.029178135097026825, + -0.04305998544069998 + ], + [ + 0.15269061923027039, + -0.028961800038814545, + 0.9878495931625366, + -0.011137532149540618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9875432848930359, + 0.005049929954111576, + -0.15726663172245026, + -0.0587513180543728 + ], + [ + -0.0005070595070719719, + 0.9995818138122559, + 0.028913158923387527, + -0.04362221734915325 + ], + [ + 0.15734685957431793, + -0.028473250567913055, + 0.9871328473091125, + -0.012537358863715162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9869704842567444, + 0.004237707704305649, + -0.16084548830986023, + -0.05883111949772277 + ], + [ + 0.0002838477957993746, + 0.9996057152748108, + 0.02807779796421528, + -0.04379367506765622 + ], + [ + 0.1609010398387909, + -0.027757612988352776, + 0.9865801334381104, + -0.012882960425253878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9861845374107361, + 0.0027345791459083557, + -0.16562770307064056, + -0.059597061736945144 + ], + [ + 0.002054598182439804, + 0.9995849132537842, + 0.028737084940075874, + -0.044343287315457426 + ], + [ + 0.1656375378370285, + -0.02868036739528179, + 0.9857695698738098, + -0.01300179584328323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9851840138435364, + 0.003419869113713503, + -0.17146648466587067, + -0.06060626248363406 + ], + [ + 0.001914912718348205, + 0.9995194673538208, + 0.030937638133764267, + -0.044424057286232714 + ], + [ + 0.1714899092912674, + -0.030807610601186752, + 0.9847040772438049, + -0.013232945464551449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9842056035995483, + 0.0051437858492136, + -0.17695431411266327, + -0.06214245475650309 + ], + [ + 0.0008219273295253515, + 0.999434232711792, + 0.03362348675727844, + -0.0437466613353884 + ], + [ + 0.1770271509885788, + -0.033237867057323456, + 0.9836445450782776, + -0.014456248049564819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9830437898635864, + 0.005200646817684174, + -0.1832973212003708, + -0.06337607296857428 + ], + [ + 0.0015924032777547836, + 0.9993179440498352, + 0.03689362481236458, + -0.04274351898422266 + ], + [ + 0.1833641678094864, + -0.036559928208589554, + 0.9823649525642395, + -0.015369992869648528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9816493988037109, + 0.002948856446892023, + -0.19067193567752838, + -0.06504944725720053 + ], + [ + 0.004921555984765291, + 0.999155580997467, + 0.040790531784296036, + -0.04337980855414843 + ], + [ + 0.1906312257051468, + -0.04098040238022804, + 0.9808059930801392, + -0.01938832257775233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9803077578544617, + 0.002633781172335148, + -0.19745822250843048, + -0.06536403398346552 + ], + [ + 0.00602172315120697, + 0.9990473985671997, + 0.0432213693857193, + -0.043231027759611615 + ], + [ + 0.19738395512104034, + -0.04355928301811218, + 0.9793580174446106, + -0.019418721210132252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9797625541687012, + 0.0037080009933561087, + -0.200128972530365, + -0.0671459405798158 + ], + [ + 0.0049722869880497456, + 0.9990689754486084, + 0.04285341501235962, + -0.04376405087953552 + ], + [ + 0.2001015543937683, + -0.04298126697540283, + 0.978831946849823, + -0.022153933861471235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.979458212852478, + 0.0022264376748353243, + -0.20163494348526, + -0.0680597653597633 + ], + [ + 0.0062621114775538445, + 0.9991208910942078, + 0.04145093262195587, + -0.044416461556040225 + ], + [ + 0.2015499770641327, + -0.041862115263938904, + 0.9785832166671753, + -0.023591796134380585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.979054868221283, + 0.0007292600348591805, + -0.20359519124031067, + -0.06800872405366774 + ], + [ + 0.007543471641838551, + 0.9991770386695862, + 0.039854247123003006, + -0.04457790450926158 + ], + [ + 0.20345669984817505, + -0.040555309504270554, + 0.9782436490058899, + -0.024280609834463673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9790850281715393, + 0.0012281888630241156, + -0.2034478634595871, + -0.06887411849815993 + ], + [ + 0.006544755771756172, + 0.9992741346359253, + 0.037528879940509796, + -0.044964214025976806 + ], + [ + 0.20334626734256744, + -0.03807547688484192, + 0.9783662557601929, + -0.025148195400834083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9792938828468323, + 0.001052061328664422, + -0.20244115591049194, + -0.0695925447850815 + ], + [ + 0.006395846605300903, + 0.9993265271186829, + 0.036132801324129105, + -0.04526531043601163 + ], + [ + 0.20234283804893494, + -0.03667941316962242, + 0.978627622127533, + -0.024835986570712735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9793046712875366, + 0.001028877915814519, + -0.20238909125328064, + -0.06965170967234101 + ], + [ + 0.006391878239810467, + 0.9993310570716858, + 0.036008793860673904, + -0.045806370382296284 + ], + [ + 0.20229074358940125, + -0.03655722364783287, + 0.9786429405212402, + -0.025168815944740113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9792531728744507, + 0.0031139508355408907, + -0.20261675119400024, + -0.07009710227894755 + ], + [ + 0.004307030700147152, + 0.9993361830711365, + 0.03617449104785919, + -0.04616815997089477 + ], + [ + 0.20259490609169006, + -0.03629665821790695, + 0.9785897135734558, + -0.026089978483604625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9793257117271423, + 0.0024299314245581627, + -0.20227521657943726, + -0.07037209523940816 + ], + [ + 0.004930862225592136, + 0.999343991279602, + 0.03587813302874565, + -0.04689371599716709 + ], + [ + 0.20222970843315125, + -0.036133769899606705, + 0.9786713123321533, + -0.026791112517264296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9790617227554321, + -0.001322183758020401, + -0.2035592943429947, + -0.06974907111019847 + ], + [ + 0.008544478565454483, + 0.9993645548820496, + 0.03460529446601868, + -0.047569083446200866 + ], + [ + 0.2033841758966446, + -0.03562002629041672, + 0.9784508347511292, + -0.02764982027497063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9786058068275452, + -0.00401013158261776, + -0.2057052105665207, + -0.07000644029058675 + ], + [ + 0.010894503444433212, + 0.9994173645973206, + 0.03234546259045601, + -0.04907914924415502 + ], + [ + 0.20545564591884613, + -0.03389451280236244, + 0.9780793190002441, + -0.029993667619976593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9782882928848267, + -0.003884189296513796, + -0.2072121649980545, + -0.07105636687904715 + ], + [ + 0.01032799668610096, + 0.999495804309845, + 0.030024921521544456, + -0.049770995911131516 + ], + [ + 0.2069910615682602, + -0.031513117253780365, + 0.9778351783752441, + -0.03207947008232487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9779941439628601, + -0.004561256151646376, + -0.20858241617679596, + -0.07184214668814093 + ], + [ + 0.010526822879910469, + 0.999566376209259, + 0.02749941125512123, + -0.050614310369054054 + ], + [ + 0.2083665281534195, + -0.029089972376823425, + 0.9776180982589722, + -0.033667055136979894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.977571427822113, + -0.0032731418032199144, + -0.21057870984077454, + -0.07306133061709338 + ], + [ + 0.008788680657744408, + 0.9996422529220581, + 0.02526177652180195, + -0.05068046120887106 + ], + [ + 0.21042069792747498, + -0.026545898988842964, + 0.9772504568099976, + -0.03540258855519301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9770908355712891, + -0.0010907617397606373, + -0.212819904088974, + -0.07461060079884656 + ], + [ + 0.006319228559732437, + 0.9996946454048157, + 0.02388889342546463, + -0.05111724997454502 + ], + [ + 0.2127288579940796, + -0.024686478078365326, + 0.9767993688583374, + -0.03605836377815998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.976499080657959, + -0.001058371039107442, + -0.21551905572414398, + -0.07572609006385121 + ], + [ + 0.006047251634299755, + 0.999728798866272, + 0.022490132600069046, + -0.05208444717795925 + ], + [ + 0.21543680131435394, + -0.023264892399311066, + 0.9762406349182129, + -0.037469771896746565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9756944179534912, + 0.0003015741240233183, + -0.2191353738307953, + -0.07763859206250809 + ], + [ + 0.004513390362262726, + 0.9997592568397522, + 0.021471621468663216, + -0.052097208615630226 + ], + [ + 0.2190890908241272, + -0.021938784047961235, + 0.9754582047462463, + -0.040211491732600524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9748259782791138, + 0.0035560098476707935, + -0.22293870151042938, + -0.07896033147265738 + ], + [ + 0.0012934101978316903, + 0.9997658133506775, + 0.02160247042775154, + -0.05223370083865333 + ], + [ + 0.22296331822872162, + -0.02134700119495392, + 0.9745931029319763, + -0.040758691054392365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9739163517951965, + 0.005951606668531895, + -0.22682920098304749, + -0.08116158355780421 + ], + [ + -0.000933903967961669, + 0.9997526407241821, + 0.022221963852643967, + -0.052382787701455845 + ], + [ + 0.22690534591674805, + -0.021430496126413345, + 0.9736810326576233, + -0.04238375597336191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9729066491127014, + 0.009472512640058994, + -0.2310040444135666, + -0.08305268781309194 + ], + [ + -0.004419095814228058, + 0.9997397065162659, + 0.022383498027920723, + -0.052014287279799905 + ], + [ + 0.23115594685077667, + -0.020756224170327187, + 0.9726952910423279, + -0.04450389810124452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.971948504447937, + 0.013183149509131908, + -0.2348240315914154, + -0.08545014159258535 + ], + [ + -0.00820642989128828, + 0.9997208118438721, + 0.022158045321702957, + -0.05131226955576146 + ], + [ + 0.23505058884620667, + -0.01960941031575203, + 0.971785306930542, + -0.04659683154697748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9709583520889282, + 0.015145344659686089, + -0.23876874148845673, + -0.0871663410464262 + ], + [ + -0.010046670213341713, + 0.9996950626373291, + 0.022556675598025322, + -0.0510959435809166 + ], + [ + 0.23903755843639374, + -0.019502760842442513, + 0.9708144664764404, + -0.047524492895389174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9698956608772278, + 0.015994666144251823, + -0.24299491941928864, + -0.08995245940032158 + ], + [ + -0.010790622793138027, + 0.9996833801269531, + 0.02273225411772728, + -0.050642071371065814 + ], + [ + 0.2432815581560135, + -0.019425850361585617, + 0.9697611331939697, + -0.04718036957560701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9690180420875549, + 0.01662393845617771, + -0.24642981588840485, + -0.09150001096459938 + ], + [ + -0.011535863392055035, + 0.9996896982192993, + 0.022076552733778954, + -0.05073232031328247 + ], + [ + 0.2467203587293625, + -0.01854979805648327, + 0.9689091444015503, + -0.04964848916204844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.968046247959137, + 0.0147621501237154, + -0.25033697485923767, + -0.09358886230855863 + ], + [ + -0.009444596245884895, + 0.9997038245201111, + 0.022429659962654114, + -0.05095692304696174 + ], + [ + 0.2505939304828644, + -0.019348617643117905, + 0.9678989052772522, + -0.04968832046823933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9659982919692993, + 0.009729450568556786, + -0.258365273475647, + -0.09496849697737142 + ], + [ + -0.0034722930286079645, + 0.9996897578239441, + 0.024663541465997696, + -0.050575404820290035 + ], + [ + 0.2585250735282898, + -0.022927820682525635, + 0.9657323956489563, + -0.050676168517229406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9634121656417847, + 0.007362061180174351, + -0.26792314648628235, + -0.09715586762597904 + ], + [ + -0.00012202351354062557, + 0.9996346235275269, + 0.02702944166958332, + -0.050411135719177574 + ], + [ + 0.2680242359638214, + -0.026007799431681633, + 0.9630610942840576, + -0.052632427433545285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9617865085601807, + 0.010575821623206139, + -0.2735961079597473, + -0.10107521096026485 + ], + [ + -0.0032040525693446398, + 0.9996200203895569, + 0.0273768100887537, + -0.049600693258516335 + ], + [ + 0.2737817168235779, + -0.02545403130352497, + 0.9614549875259399, + -0.05324654970219002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9607183933258057, + 0.01172216609120369, + -0.2772773802280426, + -0.10320498110686845 + ], + [ + -0.004510398954153061, + 0.9996351003646851, + 0.026632776483893394, + -0.048647743003799565 + ], + [ + 0.2774883806705475, + -0.024335967376828194, + 0.9604207277297974, + -0.054269583382584315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9593759179115295, + 0.010826630517840385, + -0.2819230854511261, + -0.10638649226760769 + ], + [ + -0.003919264301657677, + 0.9996784329414368, + 0.025053292512893677, + -0.04829569187094557 + ], + [ + 0.28210368752479553, + -0.02293059602379799, + 0.9591098427772522, + -0.055414062359944935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9578583240509033, + 0.011121241375803947, + -0.28702571988105774, + -0.10878710033411676 + ], + [ + -0.004460188094526529, + 0.9997056126594543, + 0.023850612342357635, + -0.047196647976624206 + ], + [ + 0.2872064411640167, + -0.02156531810760498, + 0.9576259255409241, + -0.05657459571957588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9564486742019653, + 0.011620528995990753, + -0.291669100522995, + -0.11209483939678745 + ], + [ + -0.004909014329314232, + 0.9997063279151917, + 0.02373201586306095, + -0.04616846769572573 + ], + [ + 0.2918592393398285, + -0.021266648545861244, + 0.9562248587608337, + -0.055549325297606436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9547799229621887, + 0.009156806394457817, + -0.29717251658439636, + -0.11415250927328746 + ], + [ + -0.002306347945705056, + 0.9997236728668213, + 0.023394562304019928, + -0.045242227693187434 + ], + [ + 0.29730460047721863, + -0.02165127545595169, + 0.9545371532440186, + -0.056453356360818475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9526330232620239, + 0.006843728944659233, + -0.3040452301502228, + -0.11653284228089801 + ], + [ + -0.00031358329579234123, + 0.9997683167457581, + 0.02152118645608425, + -0.04434416233859163 + ], + [ + 0.30412206053733826, + -0.020406449213624, + 0.9524145126342773, + -0.05759298139687707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9509252905845642, + 0.004739408381283283, + -0.30938422679901123, + -0.11837724020229058 + ], + [ + 0.0010439675534144044, + 0.9998278617858887, + 0.018524950370192528, + -0.04392277991518062 + ], + [ + 0.3094187378883362, + -0.017938831821084023, + 0.9507566690444946, + -0.059269685849071815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9496654868125916, + 0.00048149481881409883, + -0.31326547265052795, + -0.12020483527294153 + ], + [ + 0.004029027186334133, + 0.9998973608016968, + 0.013750871643424034, + -0.04376084546142435 + ], + [ + 0.3132399618625641, + -0.01432088389992714, + 0.9495660066604614, + -0.06020066128409606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9484317302703857, + -0.0023280244786292315, + -0.3169729709625244, + -0.121728574940588 + ], + [ + 0.0053720781579613686, + 0.9999474883079529, + 0.008729914203286171, + -0.044593540079733165 + ], + [ + 0.31693601608276367, + -0.009982530027627945, + 0.9483944177627563, + -0.0653731472829872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9474590420722961, + 0.001022196956910193, + -0.31987544894218445, + -0.12298780611804142 + ], + [ + 0.0014400262152776122, + 0.9999711513519287, + 0.007460820488631725, + -0.04267253247188761 + ], + [ + 0.3198738396167755, + -0.0075294505804777145, + 0.9474302530288696, + -0.0663861359836177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9468938708305359, + 0.006354016717523336, + -0.32148343324661255, + -0.1243698334975287 + ], + [ + -0.0036288038827478886, + 0.9999522566795349, + 0.009075494483113289, + -0.041936617344617844 + ], + [ + 0.3215257525444031, + -0.007426930125802755, + 0.9468716979026794, + -0.06840853546250691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9462685585021973, + 0.01105639711022377, + -0.3231927752494812, + -0.12550839756595644 + ], + [ + -0.00822395458817482, + 0.9999148845672607, + 0.010128280147910118, + -0.041496801915320944 + ], + [ + 0.32327723503112793, + -0.006926150992512703, + 0.9462789297103882, + -0.07039470210413826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9456188082695007, + 0.01706394925713539, + -0.3248290717601776, + -0.12682606747889139 + ], + [ + -0.014178196899592876, + 0.9998362064361572, + 0.011248948983848095, + -0.04038683813303076 + ], + [ + 0.3249678313732147, + -0.006031728349626064, + 0.9457058310508728, + -0.0722988061101592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9449120759963989, + 0.02129501663148403, + -0.3266308903694153, + -0.12758961358067997 + ], + [ + -0.017825854942202568, + 0.9997484683990479, + 0.013611064292490482, + -0.04009695871079222 + ], + [ + 0.32683855295181274, + -0.007038784213364124, + 0.9450539946556091, + -0.0727989845696163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9439265727996826, + 0.02543644607067108, + -0.3291741907596588, + -0.12921106577553648 + ], + [ + -0.020930655300617218, + 0.9996325373649597, + 0.017225217074155807, + -0.04029917661496933 + ], + [ + 0.32949140667915344, + -0.009369507431983948, + 0.9441120624542236, + -0.07378815383987224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9429200887680054, + 0.029489342123270035, + -0.3317108452320099, + -0.13092352030798793 + ], + [ + -0.02408462017774582, + 0.9995018839836121, + 0.0203936118632555, + -0.039391271024942415 + ], + [ + 0.3321470320224762, + -0.011240417137742043, + 0.9431606531143188, + -0.07329651904292404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9419385194778442, + 0.03317748010158539, + -0.33414238691329956, + -0.13303592853406643 + ], + [ + -0.026964200660586357, + 0.9993667602539062, + 0.02321721240878105, + -0.0386378161609173 + ], + [ + 0.3347010612487793, + -0.012859304435551167, + 0.942236602306366, + -0.07443278988010864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9409804940223694, + 0.03659965842962265, + -0.33647605776786804, + -0.13481012061634595 + ], + [ + -0.02966058999300003, + 0.9992285370826721, + 0.02574145421385765, + -0.03921409296862623 + ], + [ + 0.33715859055519104, + -0.014242127537727356, + 0.9413401484489441, + -0.07461691268105457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9402972459793091, + 0.04018979147076607, + -0.3379731774330139, + -0.13625295032212076 + ], + [ + -0.03299902006983757, + 0.9990906715393066, + 0.026997288689017296, + -0.039765976131596464 + ], + [ + 0.3387508988380432, + -0.014232693240046501, + 0.9407684206962585, + -0.07626428231596946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9401021599769592, + 0.042634475976228714, + -0.33821627497673035, + -0.13706269710661567 + ], + [ + -0.0356464646756649, + 0.9990037679672241, + 0.026848753914237022, + -0.040129537436556326 + ], + [ + 0.33902397751808167, + -0.013184359297156334, + 0.9406853318214417, + -0.07752862454273124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.940833330154419, + 0.04542934149503708, + -0.3358106017112732, + -0.13747120853909786 + ], + [ + -0.0389767661690712, + 0.9989035129547119, + 0.025933915749192238, + -0.040484235721065645 + ], + [ + 0.336620569229126, + -0.011310679838061333, + 0.9415724277496338, + -0.07756214205453053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9421517252922058, + 0.04520620405673981, + -0.33212435245513916, + -0.13715902588310394 + ], + [ + -0.03930090367794037, + 0.9989275336265564, + 0.024479711428284645, + -0.041216431970291956 + ], + [ + 0.33287477493286133, + -0.010010814294219017, + 0.9429178833961487, + -0.07826889058119281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9432317614555359, + 0.04440782219171524, + -0.3291530907154083, + -0.13636920187384524 + ], + [ + -0.03902044892311096, + 0.998974621295929, + 0.02295880950987339, + -0.04270431570550229 + ], + [ + 0.3298351466655731, + -0.008811777457594872, + 0.9439974427223206, + -0.07831393991141243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9445778131484985, + 0.04399440810084343, + -0.32532641291618347, + -0.13557801504837388 + ], + [ + -0.039092857390642166, + 0.9990022778511047, + 0.02159145660698414, + -0.043662243558371325 + ], + [ + 0.3259517252445221, + -0.00767687289044261, + 0.945355236530304, + -0.07759157943445198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9459065198898315, + 0.043043866753578186, + -0.32157135009765625, + -0.13433167932832496 + ], + [ + -0.038197748363018036, + 0.999041736125946, + 0.02136731892824173, + -0.044590829772518034 + ], + [ + 0.32218295335769653, + -0.007928185164928436, + 0.9466442465782166, + -0.07651592168877734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.946900486946106, + 0.04237799346446991, + -0.318721741437912, + -0.1333205217138884 + ], + [ + -0.03732558339834213, + 0.9990621209144592, + 0.02194589003920555, + -0.04435434274851008 + ], + [ + 0.3193528354167938, + -0.008884098380804062, + 0.9475942254066467, + -0.07592128340670086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9476555585861206, + 0.04237755388021469, + -0.316469669342041, + -0.1328631357626712 + ], + [ + -0.03708402067422867, + 0.9990535378456116, + 0.022733822464942932, + -0.04516772494671194 + ], + [ + 0.3171335458755493, + -0.00980786606669426, + 0.9483301639556885, + -0.07413912943386017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9482450485229492, + 0.043363362550735474, + -0.3145647644996643, + -0.13261124252321874 + ], + [ + -0.03810804337263107, + 0.9990125298500061, + 0.022840384393930435, + -0.045125691798773224 + ], + [ + 0.3152446150779724, + -0.009670834988355637, + 0.9489611983299255, + -0.0729053847273772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9487085938453674, + 0.04289216548204422, + -0.3132288157939911, + -0.13198634199798107 + ], + [ + -0.03762959688901901, + 0.9990309476852417, + 0.022830193862318993, + -0.04580502757366668 + ], + [ + 0.3139044940471649, + -0.009872527793049812, + 0.9494032263755798, + -0.07373184841324357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9486668705940247, + 0.042706429958343506, + -0.31338050961494446, + -0.13219454741858422 + ], + [ + -0.03717979043722153, + 0.9990300536155701, + 0.023593585938215256, + -0.04603178474180242 + ], + [ + 0.31408414244651794, + -0.010731031186878681, + 0.9493345022201538, + -0.07282831746975872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9484272003173828, + 0.04303843528032303, + -0.3140598237514496, + -0.13243983938021864 + ], + [ + -0.037115953862667084, + 0.9990028142929077, + 0.024816084653139114, + -0.046178179646426065 + ], + [ + 0.31481465697288513, + -0.011879620142281055, + 0.9490787982940674, + -0.0728106953778324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9476891160011292, + 0.04241885989904404, + -0.316363662481308, + -0.13296748979532338 + ], + [ + -0.036227427423000336, + 0.999019980430603, + 0.02542942948639393, + -0.045991159832858036 + ], + [ + 0.3171323239803314, + -0.01263815350830555, + 0.9482970833778381, + -0.07262635148883341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.946599006652832, + 0.04385809600353241, + -0.3194162845611572, + -0.13311936964697027 + ], + [ + -0.03752867132425308, + 0.9989586472511292, + 0.025946781039237976, + -0.04666840721001016 + ], + [ + 0.3202216625213623, + -0.012573927640914917, + 0.9472591876983643, + -0.0750494307977088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9456616044044495, + 0.04404160752892494, + -0.32215598225593567, + -0.1342638253670265 + ], + [ + -0.03759711608290672, + 0.998949408531189, + 0.026202183216810226, + -0.04673657399859833 + ], + [ + 0.32297149300575256, + -0.012666262686252594, + 0.9463239312171936, + -0.07672967221587897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9445345401763916, + 0.043603960424661636, + -0.32550451159477234, + -0.1349618932668199 + ], + [ + -0.03697037324309349, + 0.9989638924598694, + 0.026540305465459824, + -0.046227701959457815 + ], + [ + 0.3263244926929474, + -0.013034213334321976, + 0.9451679587364197, + -0.076586089869763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.943446695804596, + 0.04398715868592262, + -0.3285931944847107, + -0.13501197264747733 + ], + [ + -0.037202756851911545, + 0.998945415019989, + 0.026908494532108307, + -0.046586757026454234 + ], + [ + 0.3294302821159363, + -0.013162157498300076, + 0.9440881609916687, + -0.07872530685272068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.942510724067688, + 0.045499544590711594, + -0.3310639262199402, + -0.1360673023467051 + ], + [ + -0.03866543993353844, + 0.9988818764686584, + 0.027203448116779327, + -0.04626144798512154 + ], + [ + 0.331931471824646, + -0.012838810682296753, + 0.9432161450386047, + -0.08025757844777817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9418907761573792, + 0.047076717019081116, + -0.33260422945022583, + -0.13724377747387329 + ], + [ + -0.03998539596796036, + 0.9988040328025818, + 0.02813715487718582, + -0.04638790459708965 + ], + [ + 0.3335310220718384, + -0.013202816247940063, + 0.9426466822624207, + -0.0815194198584303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9413175582885742, + 0.04793456941843033, + -0.3341011703014374, + -0.1382463645586308 + ], + [ + -0.040360331535339355, + 0.9987472295761108, + 0.029579754918813705, + -0.04555870305667532 + ], + [ + 0.3351005017757416, + -0.014359508641064167, + 0.9420729875564575, + -0.08056584578205614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.940504252910614, + 0.05043986812233925, + -0.3360172212123871, + -0.13972363550651898 + ], + [ + -0.04190725460648537, + 0.9985894560813904, + 0.03260180354118347, + -0.04436589444571354 + ], + [ + 0.33718767762184143, + -0.016580577939748764, + 0.9412914514541626, + -0.07984433308283383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9392154216766357, + 0.05161328241229057, + -0.3394266664981842, + -0.14118535985100142 + ], + [ + -0.04184092953801155, + 0.9984736442565918, + 0.03605154529213905, + -0.04438766656403846 + ], + [ + 0.34076932072639465, + -0.019658245146274567, + 0.93994140625, + -0.07938567838294709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9379907250404358, + 0.05381506308913231, + -0.3424578309059143, + -0.1425320939993129 + ], + [ + -0.04371437057852745, + 0.9983530640602112, + 0.03715132921934128, + -0.043273799676210326 + ], + [ + 0.3438931107521057, + -0.019877273589372635, + 0.9387984275817871, + -0.08031036380797307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.93757563829422, + 0.05644472315907478, + -0.3431704044342041, + -0.1433773916611012 + ], + [ + -0.046489302068948746, + 0.9982268214225769, + 0.03717511147260666, + -0.04379856407325319 + ], + [ + 0.344660222530365, + -0.018900729715824127, + 0.9385372400283813, + -0.08106108808771093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9375719428062439, + 0.05527335777878761, + -0.34337109327316284, + -0.1437469764454092 + ], + [ + -0.045251499861478806, + 0.9982850551605225, + 0.037137746810913086, + -0.04380706463088381 + ], + [ + 0.34483498334884644, + -0.019281255081295967, + 0.9384652972221375, + -0.0804882164638331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9373091459274292, + 0.05376797914505005, + -0.3443261981010437, + -0.1442357029052491 + ], + [ + -0.043412744998931885, + 0.998344898223877, + 0.03771954029798508, + -0.044098920803120806 + ], + [ + 0.34578442573547363, + -0.020406726747751236, + 0.938092052936554, + -0.08043656860815084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9369847774505615, + 0.0538339763879776, + -0.3451977074146271, + -0.1437092026101148 + ], + [ + -0.043349042534828186, + 0.9983360171318054, + 0.038027506321668625, + -0.044030694536706244 + ], + [ + 0.3466704785823822, + -0.02066720649600029, + 0.937759280204773, + -0.08067510752403673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9366363883018494, + 0.05397547036409378, + -0.34611982107162476, + -0.14386237769367846 + ], + [ + -0.04322931170463562, + 0.9983153939247131, + 0.038698721677064896, + -0.044041172811325566 + ], + [ + 0.3476255536079407, + -0.021284110844135284, + 0.9373918771743774, + -0.0804502433760369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.936212956905365, + 0.055054228752851486, + -0.3470941185951233, + -0.14496133133887928 + ], + [ + -0.04373856261372566, + 0.9982275366783142, + 0.0403580442070961, + -0.04372993244769727 + ], + [ + 0.34870076179504395, + -0.022602327167987823, + 0.9369615316390991, + -0.07942096306843327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9357717633247375, + 0.057277075946331024, + -0.347923219203949, + -0.14561171697333772 + ], + [ + -0.04540993273258209, + 0.9980777502059937, + 0.04217494651675224, + -0.043492543380311194 + ], + [ + 0.3496701121330261, + -0.023666951805353165, + 0.9365739226341248, + -0.07953250795365013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9356824159622192, + 0.06073314696550369, + -0.3475772440433502, + -0.14614823450671233 + ], + [ + -0.04849981516599655, + 0.9978625178337097, + 0.043797191232442856, + -0.04352102793277579 + ], + [ + 0.34949424862861633, + -0.024122830480337143, + 0.9366279244422913, + -0.08003045082528223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9359133839607239, + 0.06155308336019516, + -0.34681031107902527, + -0.14654614348360834 + ], + [ + -0.048944003880023956, + 0.9977868795394897, + 0.04500879347324371, + -0.043036560698392554 + ], + [ + 0.3488132059574127, + -0.025150051340460777, + 0.9368547201156616, + -0.07916090635860219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9361147880554199, + 0.06179303303360939, + -0.34622353315353394, + -0.14581499220407074 + ], + [ + -0.04881434515118599, + 0.9977438449859619, + 0.046090997755527496, + -0.04368774966990693 + ], + [ + 0.34829050302505493, + -0.026245787739753723, + 0.9370191693305969, + -0.0798423383384943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9365555047988892, + 0.060237444937229156, + -0.3453046679496765, + -0.14534625662292572 + ], + [ + -0.04717152565717697, + 0.9978212714195251, + 0.04612579569220543, + -0.044483075005576966 + ], + [ + 0.34733080863952637, + -0.026910822838544846, + 0.9373564720153809, + -0.07972642283569625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9367132782936096, + 0.05812540277838707, + -0.3452386260032654, + -0.14523329241201283 + ], + [ + -0.04517810419201851, + 0.9979450702667236, + 0.04543823003768921, + -0.04458488286175627 + ], + [ + 0.34717029333114624, + -0.026965370401740074, + 0.9374143481254578, + -0.07984620354812037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9366358518600464, + 0.05790408328175545, + -0.34548577666282654, + -0.14635217304717987 + ], + [ + -0.04491614177823067, + 0.9979546070098877, + 0.04548835754394531, + -0.04535952907927493 + ], + [ + 0.3474130928516388, + -0.027088137343525887, + 0.9373208284378052, + -0.07964471186649927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9361896514892578, + 0.058413323014974594, + -0.34660762548446655, + -0.1473600005750802 + ], + [ + -0.045407120138406754, + 0.9979302287101746, + 0.04553490877151489, + -0.04600290061628565 + ], + [ + 0.34855008125305176, + -0.026890859007835388, + 0.9369043111801147, + -0.07836337106183489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9352812767028809, + 0.06240272521972656, + -0.34836021065711975, + -0.14920639034281385 + ], + [ + -0.04912756383419037, + 0.9976944327354431, + 0.04682154208421707, + -0.04679846129518875 + ], + [ + 0.350478857755661, + -0.026677221059799194, + 0.9361906051635742, + -0.07857935656892492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9342477321624756, + 0.06437743455171585, + -0.3507658541202545, + -0.1501613184770054 + ], + [ + -0.050586968660354614, + 0.9975486993789673, + 0.04834810271859169, + -0.04676545395496044 + ], + [ + 0.35301855206489563, + -0.027424927800893784, + 0.9352142810821533, + -0.07883244386497647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9332128763198853, + 0.06440714001655579, + -0.353504478931427, + -0.1510363018259089 + ], + [ + -0.05020686984062195, + 0.9975260496139526, + 0.0492047481238842, + -0.04693012573617571 + ], + [ + 0.3557990789413452, + -0.0281701497733593, + 0.9341378211975098, + -0.08044411383093672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9323003888130188, + 0.06345342099666595, + -0.3560754060745239, + -0.15274734141186197 + ], + [ + -0.04899861663579941, + 0.9975726008415222, + 0.049478188157081604, + -0.04787844768229951 + ], + [ + 0.35835063457489014, + -0.028681330382823944, + 0.9331464171409607, + -0.08020501276676326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9313066601753235, + 0.0612824410200119, + -0.35904374718666077, + -0.15255693195665138 + ], + [ + -0.047125622630119324, + 0.9977322220802307, + 0.04805837571620941, + -0.04874163633014293 + ], + [ + 0.36117467284202576, + -0.02783692628145218, + 0.9320825934410095, + -0.08087617747802683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9304318428039551, + 0.059514906257390976, + -0.3615999221801758, + -0.1530745225958526 + ], + [ + -0.04609706625342369, + 0.997894287109375, + 0.04562889784574509, + -0.04933955761346412 + ], + [ + 0.36355412006378174, + -0.025785885751247406, + 0.9312161207199097, + -0.08215427858002008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9296534061431885, + 0.058263108134269714, + -0.3637993335723877, + -0.15387334078550338 + ], + [ + -0.04530349373817444, + 0.9980010390281677, + 0.04406300559639931, + -0.04963010326027871 + ], + [ + 0.365639328956604, + -0.024481941014528275, + 0.9304345846176147, + -0.08284939043223857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/orbit_left/transforms.json b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..18f2615a75230338bf4c0152a741d610f8022f6e --- /dev/null +++ b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/orbit_left/transforms.json @@ -0,0 +1,6628 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 189, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.70307084772503e-05, + 7.986521086422727e-05, + -0.00025786555488593876 + ], + [ + -1.7034815755323507e-05, + 1.0, + 5.142964801052585e-05, + -0.00014517392264679074 + ], + [ + -7.986433774931356e-05, + -5.1431008614599705e-05, + 1.0, + -0.0002484802098479122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999979864074635, + -0.001730418181978166, + 0.000986580867686048, + -0.0014774592331023052 + ], + [ + 0.001729762571345754, + 0.9999982714653015, + 0.0006649489864556102, + 0.0003074815439814186 + ], + [ + -0.0009877298492082332, + -0.0006632410804741085, + 0.9999992961109049, + 0.00026390087571909085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999959375730918, + -0.0025760482531040907, + 0.0012246780563386931, + -0.0029036070574941612 + ], + [ + 0.0025746335502219906, + 0.9999960064888, + 0.001155250646639925, + 0.001140636171476234 + ], + [ + -0.0012276492163177013, + -0.0011520928237587214, + 0.9999986115175107, + 0.0008119855584174493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999991759970654, + -0.003408124204725027, + 0.0021921755764851853, + -0.004183278766130044 + ], + [ + 0.003404991709070097, + 0.9999932050704956, + 0.0014310787151341753, + 0.0017438834680789034 + ], + [ + -0.0021970381154905153, + -0.001423602574504912, + 0.9999965676749085, + 0.0018310969962886756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999861831340333, + -0.004480343777686358, + 0.0027402171476560776, + -0.005509314550035379 + ], + [ + 0.004475839187364396, + 0.9999886155128481, + 0.0016479595672793546, + 0.002383491490698398 + ], + [ + -0.002747569736823141, + -0.0016356720589101319, + 0.9999949041969312, + 0.0027011687039325432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999848315862774, + -0.004437757655978203, + 0.0032714629784389255, + -0.006962034433085738 + ], + [ + 0.004429928554882751, + 0.9999873042106628, + 0.002396523365381244, + 0.002696674652766279 + ], + [ + -0.003282056593729685, + -0.0023819946218281984, + 0.9999917913429689, + 0.003208298957955132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999985523135775, + -0.003654320491477847, + 0.003948485357554633, + -0.008342705826064714 + ], + [ + 0.003640397953015295, + 0.9999871253967285, + 0.0035274759117720367, + 0.002944056582097001 + ], + [ + -0.003961325377339979, + -0.0035130507312715054, + 0.9999860119183198, + 0.0037743131697164584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999778485884018, + -0.004266171250492334, + 0.005110123036954629, + -0.00974272831167935 + ], + [ + 0.004245889771075943, + 0.9999830722808838, + 0.003973117863189065, + 0.003023476114485563 + ], + [ + -0.005126986950195469, + -0.003951332997530699, + 0.9999790551682705, + 0.004339792488617602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999733205337112, + -0.0046034841798245916, + 0.005675015434509344, + -0.011061717573473047 + ], + [ + 0.00458162005091571, + 0.9999820590019228, + 0.003859638210531804, + 0.002915159139453012 + ], + [ + -0.005692681461171496, + -0.0038335341960191735, + 0.9999764617862213, + 0.004635610603428429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999686520545661, + -0.004787477664649487, + 0.006304081006293978, + -0.012558070852502077 + ], + [ + 0.0047633220034271305, + 0.9999812841415407, + 0.003841227146054596, + 0.002949219721287812 + ], + [ + -0.006322353570108668, + -0.0038110783789306888, + 0.999972774514275, + 0.004960935313541422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999718795050906, + -0.003218867816030979, + 0.006769122633259561, + -0.013993227425865111 + ], + [ + 0.0031928932570993735, + 0.9999874830245972, + 0.003844517833551678, + 0.0030852716100769565 + ], + [ + -0.006781413685109971, + -0.003822796978056431, + 0.9999696815805587, + 0.0047416882777137365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999690786781148, + -0.0005690651014447212, + 0.007844838894339007, + -0.015596189566654222 + ], + [ + 0.0005418233239597224, + 0.9999938011169434, + 0.003474261858595565, + 0.0031388439095750946 + ], + [ + -0.00784676736045203, + -0.0034699037205427885, + 0.9999632071949064, + 0.00504463722997976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999615496714142, + 0.0005087140598334373, + 0.008751433637295173, + -0.0170470199109572 + ], + [ + -0.0005327213739928828, + 0.9999961256980898, + 0.0027411301435853012, + 0.0032242899881831833 + ], + [ + -0.008750005891678408, + -0.0027456867974251513, + 0.99995793714108, + 0.005396737973199263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999456769669575, + 0.0012250833678990605, + 0.010349928200512632, + -0.018599021238818757 + ], + [ + -0.0012451691584082518, + 0.9999973773956301, + 0.0019344568146239046, + 0.00325902377460746 + ], + [ + -0.010347531354264243, + -0.0019472392741590743, + 0.9999445876883154, + 0.005852986919973287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.999929912282381, + 0.00140003755223006, + 0.011755886634181997, + -0.020215591367615228 + ], + [ + -0.0014230423682006377, + 0.999997079372406, + 0.001948742181841426, + 0.0033533623463444335 + ], + [ + -0.0117531248879023, + -0.001965334638953209, + 0.9999290122757954, + 0.006193775927925693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999278549291722, + 0.0020004191901534796, + 0.011846044517330262, + -0.02188559460225971 + ], + [ + -0.002039318075030254, + 0.9999925494194031, + 0.0032725428317661232, + 0.003285427072656701 + ], + [ + -0.011839410398180053, + -0.0032964644487947226, + 0.999924476083086, + 0.006571232882770196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999361569396955, + 0.002833987819030881, + 0.010939786817043497, + -0.023525894892610262 + ], + [ + -0.0028869741070194706, + 0.9999841451644897, + 0.004830696785639243, + 0.003557460900595753 + ], + [ + -0.010925923692922564, + -0.0048619708977639675, + 0.9999284768669755, + 0.006839928977318282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999219922473066, + 0.005353976972401142, + 0.01128675109022653, + -0.025881043990270938 + ], + [ + -0.005422810696256768, + 0.9999668598175049, + 0.006076877849865297, + 0.004132958843068142 + ], + [ + -0.011253840132427312, + -0.006137609947472811, + 0.9999178229333617, + 0.007445952905602151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998959750039192, + 0.0073814382776618, + 0.012390205982441128, + -0.027906476221195933 + ], + [ + -0.007472967443329576, + 0.9999449849128723, + 0.0073572703973568574, + 0.004709536359069441 + ], + [ + -0.012335217402888135, + -0.007449097000062466, + 0.9998961611633443, + 0.00834203825010852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998903724108419, + 0.007767716888338327, + 0.012605011007838857, + -0.02957178651940854 + ], + [ + -0.007881050353923669, + 0.9999287724494934, + 0.008966486730535314, + 0.005315446054983567 + ], + [ + -0.012534464690122517, + -0.009064844809472561, + 0.9998803739153762, + 0.00927535734406865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998883592200728, + 0.007954070344567299, + 0.012647070407121926, + -0.03136776079193111 + ], + [ + -0.008083387802474886, + 0.9999152421951294, + 0.010207079956537359, + 0.006011142325549896 + ], + [ + -0.012564811315174325, + -0.01030817162245512, + 0.9998679326303911, + 0.010438615289653728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9998573124213351, + 0.009692437946796419, + 0.013833663550719006, + -0.033536582343633756 + ], + [ + -0.00985818800162879, + 0.999879837036133, + 0.011964211679009521, + 0.006480588466604878 + ], + [ + -0.013716039490002272, + -0.012098879553377632, + 0.99983272698118, + 0.011414737014733976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998201617781193, + 0.011016195639967918, + 0.015437496043303137, + -0.03559182379335742 + ], + [ + -0.011224444157376588, + 0.9998462796211243, + 0.013468718138104558, + 0.006947262650869029 + ], + [ + -0.015286748875118359, + -0.013639573939144611, + 0.999790134972173, + 0.0115516867069606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997771682216863, + 0.01231862232089043, + 0.017142856883517285, + -0.0377363060817011 + ], + [ + -0.012548163094477866, + 0.9998321533203127, + 0.013347401757534374, + 0.007145978725607068 + ], + [ + -0.01697555825107751, + -0.01355953793972731, + 0.9997639818472329, + 0.012044371629922265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9997114272020644, + 0.013560467399656773, + 0.01982794590480974, + -0.03928294271649715 + ], + [ + -0.013790193635419737, + 0.9998388290405273, + 0.011495559255925408, + 0.007108210983910886 + ], + [ + -0.01966886637446578, + -0.011765672825276852, + 0.9997373209033428, + 0.012071401772237126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.999654596248126, + 0.01363558787852526, + 0.022467888279631042, + -0.0416921888717286 + ], + [ + -0.01386578378242704, + 0.9998526573181155, + 0.01012178005126831, + 0.0065535925178545375 + ], + [ + -0.022326559415948338, + -0.010429819114506246, + 0.9996963167876683, + 0.011506232880218478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9996238241491995, + 0.01325504016131163, + 0.0240115966189809, + -0.04393680827085146 + ], + [ + -0.013486863212810384, + 0.9998637437820437, + 0.00951852329259345, + 0.006214529220078221 + ], + [ + -0.023882156950575953, + -0.009838784113526346, + 0.9996663865003821, + 0.011607146551554818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9996024056353378, + 0.013566026464104652, + 0.02471899464801466, + -0.04621283009329981 + ], + [ + -0.013793815201977337, + 0.9998637437820435, + 0.009068060928413437, + 0.005751463141055191 + ], + [ + -0.024592607984760692, + -0.009405424818396568, + 0.999653326492308, + 0.011084551259071124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9995882553844188, + 0.01423492282629013, + 0.024913567728539653, + -0.04902298690298674 + ], + [ + -0.01443846164850589, + 0.9998636841773987, + 0.008009030293123066, + 0.005219425132167579 + ], + [ + -0.024796164109207694, + -0.008365446701645851, + 0.9996575556683611, + 0.010309685339997031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9995895860962816, + 0.014402052387595177, + 0.024764005877733437, + -0.052104510929365445 + ], + [ + -0.014567010960815401, + 0.9998728036880493, + 0.006493779688628428, + 0.004582552941521582 + ], + [ + -0.024667332911232416, + -0.006851851940155029, + 0.9996722345874123, + 0.009594488861938146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9996036923482434, + 0.013902876526117325, + 0.024477951667810773, + -0.05471490795822896 + ], + [ + -0.014015094990596649, + 0.999891996383667, + 0.004418852849608895, + 0.004068362522299903 + ], + [ + -0.024413874383367895, + -0.004760162904858589, + 0.999690606085812, + 0.009209410861879597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9996188392083883, + 0.013820775784552097, + 0.023899736329002694, + -0.05720607156116988 + ], + [ + -0.013900692595762938, + 0.9998983144760132, + 0.0031809003110261237, + 0.0036830955368897184 + ], + [ + -0.023853343667890114, + -0.0035119105596095324, + 0.999709319296374, + 0.008818268071960336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999644832598136, + 0.01260956842452288, + 0.023477740899670235, + -0.05932643508029478 + ], + [ + -0.012668419948762092, + 0.9999169707298281, + 0.002359642282974412, + 0.0030159495571296085 + ], + [ + -0.02344603701791219, + -0.002656230237334967, + 0.9997216017816526, + 0.009045307679073574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9996414921874308, + 0.013317718170583248, + 0.023228179949504796, + -0.06147445643892004 + ], + [ + -0.013355064501336266, + 0.9999097585678101, + 0.00145343828878722, + 0.002631301051465841 + ], + [ + -0.02320672765924941, + -0.0017631310038268566, + 0.9997291161115325, + 0.008334509929221657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9996088031111459, + 0.015250423923134804, + 0.023444587299596472, + -0.06361476143938602 + ], + [ + -0.015268295179199032, + 0.999883234500885, + 0.0005834616949838918, + 0.002318922038577493 + ], + [ + -0.023432953106421166, + -0.0009411924402229488, + 0.9997249380890664, + 0.007893324820468568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9995758979160753, + 0.015975704416632652, + 0.024347292795145407, + -0.06601592277726107 + ], + [ + -0.015970847966962944, + 0.9998723864555359, + -0.0003938411470669435, + 0.0018438510685724876 + ], + [ + -0.02435047761491859, + 4.827263182960451e-06, + 0.9997035078358594, + 0.007325907922257587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.999561169089574, + 0.015899848192930225, + 0.02499396755219297, + -0.06748551905660169 + ], + [ + -0.015865924855153084, + 0.9998729228973391, + -0.001555061163238497, + 0.0014128855646324155 + ], + [ + -0.02501551615538659, + 0.001157826278358698, + 0.9996863699944665, + 0.00667403292069794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9995262802417777, + 0.01669375225901604, + 0.02585600753146802, + -0.06879163186174472 + ], + [ + -0.01663790204711213, + 0.9998587369918825, + -0.0023736407436649202, + 0.0012883370150080595 + ], + [ + -0.025891977526729934, + 0.0019423265475779776, + 0.9996628321184129, + 0.006623497486509269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9994723825417696, + 0.017616456374526027, + 0.027286773033722032, + -0.07028232897068298 + ], + [ + -0.017555804271984905, + 0.9998428821563723, + -0.0024607261792572435, + 0.001220646764478914 + ], + [ + -0.02732583638859397, + 0.0019803866744041447, + 0.9996246074818126, + 0.006542212752855507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9994102952657232, + 0.01798195205628872, + 0.029252086901191448, + -0.07152122228151202 + ], + [ + -0.01791070142335895, + 0.9998359680175781, + -0.0026959559208625996, + 0.00112112900143289 + ], + [ + -0.029295768150126404, + 0.0021704407408833504, + 0.9995684341763624, + 0.006740129283967582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9993578762482046, + 0.017639361321926117, + 0.031187113236596398, + -0.07251947933523117 + ], + [ + -0.01755713728860047, + 0.9998416304588318, + -0.002908358733166248, + 0.0011438926535514904 + ], + [ + -0.031233476065909333, + 0.002358934609219432, + 0.9995093099316361, + 0.007083901919863476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9992980675942505, + 0.018252335488796234, + 0.03271464954299513, + -0.07357796196015426 + ], + [ + -0.01816315004003052, + 0.9998304843902588, + -0.0030212507065698942, + 0.0013602071531639442 + ], + [ + -0.03276424825149648, + 0.0024249290581792593, + 0.9994601891192973, + 0.007488578284069207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9992607715486493, + 0.018038203939795494, + 0.03394856338745661, + -0.07500026278935185 + ], + [ + -0.017939460892232684, + 0.9998339414596558, + -0.003211014485703809, + 0.0012699595675605103 + ], + [ + -0.03400084781202956, + 0.002599621657282114, + 0.9994184406269176, + 0.007321554529849267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.999204028443753, + 0.018544757738709453, + 0.03531847398631177, + -0.07647666486692219 + ], + [ + -0.018416590380740963, + 0.9998226165771487, + -0.003950765392286102, + 0.001479305232878946 + ], + [ + -0.03538547256446956, + 0.003297175047919155, + 0.9993682792571359, + 0.007618296456319678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9991624386313493, + 0.01801762357354164, + 0.03673969336291192, + -0.07767084384309272 + ], + [ + -0.017868396946806572, + 0.9998307228088379, + -0.0043860275898761686, + 0.0013858793495656891 + ], + [ + -0.03681249949771004, + 0.0037258747033774853, + 0.999315265853137, + 0.007730685474206134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9991179461075923, + 0.01801055297255516, + 0.03793412071523088, + -0.07899595699514801 + ], + [ + -0.017857224875511963, + 0.999830961227417, + -0.004376887252411104, + 0.0014933885862650302 + ], + [ + -0.03800653727172905, + 0.003695628372952342, + 0.9992706498673513, + 0.008000816309596873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9991012429565473, + 0.017184823751449585, + 0.03874717301097472, + -0.08034093554466698 + ], + [ + -0.017024351797233727, + 0.9998450875282288, + -0.0044677272958189625, + 0.001392612914705709 + ], + [ + -0.038817948598085635, + 0.0038040662184357643, + 0.9992390328346703, + 0.007843735794210084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9990574332825842, + 0.01790575310587883, + 0.039543232851884394, + -0.08216430372667588 + ], + [ + -0.017726855751251908, + 0.9998310208320618, + -0.004870085190313518, + 0.0017491989234272554 + ], + [ + -0.03962375132895504, + 0.004164517391473055, + 0.9992059671048346, + 0.007877883131364703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9990286789277794, + 0.018341433256864548, + 0.0400664417875325, + -0.08360473271053745 + ], + [ + -0.018160959778619746, + 0.999823272228241, + -0.004863715932940776, + 0.0019164232055555986 + ], + [ + -0.04014856734833862, + 0.004131346475332975, + 0.9991851908520301, + 0.007935794144196155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9989711873964, + 0.01943266019225121, + 0.040975209479112575, + -0.08549484010282829 + ], + [ + -0.01925691463529211, + 0.9998036026954653, + -0.004679405837730408, + 0.002119157048245418 + ], + [ + -0.04105809525805636, + 0.0038855355232954034, + 0.9991492346941996, + 0.007669932056406828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9989291562615855, + 0.01994175836443901, + 0.04174793893019107, + -0.08720473015824573 + ], + [ + -0.019765741509550922, + 0.9997939467430115, + -0.004624763258538131, + 0.0023152678127289824 + ], + [ + -0.041831559981751934, + 0.003794631687924266, + 0.9991174503707057, + 0.0074946982258444995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9988996348649909, + 0.020517462864518166, + 0.04217292864247134, + -0.0886060735981396 + ], + [ + -0.02036389945628449, + 0.9997843503952026, + -0.004067659059009009, + 0.0023912003560889695 + ], + [ + -0.042247293097364684, + 0.0032043776009231806, + 0.9991020539527125, + 0.0075675414026815995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9988690112793126, + 0.020970650017261505, + 0.04267293040718432, + -0.09075314274170505 + ], + [ + -0.020849466711196345, + 0.9997772574424744, + -0.0032829180985596215, + 0.0028537931822990702 + ], + [ + -0.04273226571713374, + 0.0023894973564893007, + 0.9990836723787614, + 0.00789885272519702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9988367854882616, + 0.02105782739818096, + 0.04337737026095106, + -0.09291735438745807 + ], + [ + -0.020961180382351036, + 0.9997767210006714, + -0.002681754339982483, + 0.003303374101339432 + ], + [ + -0.043424160373595984, + 0.0017693940317258239, + 0.9990551822683459, + 0.008758886432688308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9988490006997082, + 0.018865184858441353, + 0.0441001259122946, + -0.09450113699125974 + ], + [ + -0.018798523023399655, + 0.9998214244842529, + -0.0019258971292644175, + 0.0033060229892567378 + ], + [ + -0.04412858183623583, + 0.0010946630500257015, + 0.9990252809310594, + 0.009833556353289214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9988897383865806, + 0.016400901600718498, + 0.044162886731251204, + -0.09624512771890657 + ], + [ + -0.016392313059012696, + 0.9998654723167419, + -0.0005566519812287154, + 0.003316633598792748 + ], + [ + -0.04416607490990892, + -0.00016789801884442568, + 0.9990241778291254, + 0.010584466222354191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9989148357577401, + 0.015418087132275105, + 0.043947407593921066, + -0.09798447553994226 + ], + [ + -0.015467852771369067, + 0.9998800754547119, + 0.0007925579587222868, + 0.0034970983304001275 + ], + [ + -0.0439299185541902, + -0.0014714698772877455, + 0.9990335031773542, + 0.011086652175199902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9989298797775142, + 0.01525090355426073, + 0.043663355227788914, + -0.10013586316719654 + ], + [ + -0.015333630723940127, + 0.9998812079429626, + 0.001560344763601023, + 0.00353376820447893 + ], + [ + -0.043634370211782215, + -0.002228192752227187, + 0.9990450743253941, + 0.011786320013106071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9989221268213074, + 0.015977278351783752, + 0.04358100342067558, + -0.10339044816355834 + ], + [ + -0.01607538371283141, + 0.9998689889907837, + 0.0019015482387559966, + 0.003785987615675372 + ], + [ + -0.04354491655571881, + -0.002600079867988825, + 0.9990481153894196, + 0.011479534702032643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9989439462249201, + 0.01632731221616268, + 0.04294729051640194, + -0.10616623305248685 + ], + [ + -0.016423005590621723, + 0.9998633861541748, + 0.0018762334475684278, + 0.004040762227324364 + ], + [ + -0.0429107870658102, + -0.002579575404524803, + 0.9990755956718517, + 0.011573967526457455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9990053266397378, + 0.01599922589957714, + 0.04162200588963468, + -0.10921310527799058 + ], + [ + -0.01607872394565682, + 0.9998694658279419, + 0.001575908447659984, + 0.00396787257295758 + ], + [ + -0.04159135886587818, + -0.0022435698192566633, + 0.9991321853131124, + 0.010758198386964455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9990703625631822, + 0.016002535820007324, + 0.04002859710183889, + -0.11216238544413698 + ], + [ + -0.016070289805255013, + 0.9998699426651001, + 0.0013714239500929053, + 0.0037813999143867993 + ], + [ + -0.04000144377044416, + -0.002013420220464468, + 0.9991975795499103, + 0.009792652748488995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9991363037253176, + 0.01611827127635479, + 0.03829888621044094, + -0.11527955455114562 + ], + [ + -0.01618281989414574, + 0.9998680949211121, + 0.001375935708843281, + 0.004372058941833272 + ], + [ + -0.03827165599856773, + -0.001994531601667404, + 0.9992653752157556, + 0.009574323672726443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9991971548455199, + 0.016001408919692043, + 0.03672859719150295, + -0.11824071711295388 + ], + [ + -0.016077992837480255, + 0.9998691082000735, + 0.0017906794617007348, + 0.004648957638754761 + ], + [ + -0.036695139443260895, + -0.002379764104261995, + 0.9993236564511522, + 0.00982720294642824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9992734556006065, + 0.014752130024135116, + 0.035142005131160836, + -0.1212262891212487 + ], + [ + -0.014841984161304627, + 0.9998872280120852, + 0.002297372423224766, + 0.004937203316049719 + ], + [ + -0.035104149648371406, + -0.002817280357703567, + 0.9993797070173283, + 0.01002099257214994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9993225847653442, + 0.014955292455852035, + 0.0336263904997895, + -0.12430195751244584 + ], + [ + -0.015059681361882286, + 0.9998825192451479, + 0.002853244598383717, + 0.005467905799219545 + ], + [ + -0.03357976937109528, + -0.003357714507728816, + 0.9994304160262844, + 0.009775916302281557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9993578513233218, + 0.015210211277008057, + 0.032443163474101866, + -0.1266478137485407 + ], + [ + -0.015337318021750417, + 0.9998756051063538, + 0.0036725833161773587, + 0.006049220589835418 + ], + [ + -0.03238326234406171, + -0.004167815670371056, + 0.9994668056648822, + 0.009462007652904114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9993871115427432, + 0.015245531685650349, + 0.03151137299904489, + -0.12943972254850522 + ], + [ + -0.01540751486313311, + 0.9998692870140076, + 0.004904022593859335, + 0.006674317092651427 + ], + [ + -0.03143248962683168, + -0.005386529490351677, + 0.9994913544606957, + 0.009491555524317814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9993927796845851, + 0.016447965055704117, + 0.030716365674416237, + -0.1320699743044644 + ], + [ + -0.01666107133478356, + 0.9998387694358826, + 0.0066948854217521005, + 0.00703241025313576 + ], + [ + -0.030601300644412216, + -0.007202587556093931, + 0.9995057316541341, + 0.009243221445384853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9993703277975227, + 0.01864643581211567, + 0.03018793134143317, + -0.13443707739234334 + ], + [ + -0.018914191038667948, + 0.9997840523719788, + 0.00860841210219337, + 0.00812008695130221 + ], + [ + -0.0300208919720257, + -0.00917397253215313, + 0.9995071473193116, + 0.010276617558870684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9993541968681393, + 0.019874766469001773, + 0.029935331527568314, + -0.13686468334317053 + ], + [ + -0.020195465810969624, + 0.9997414350509646, + 0.010449015197406462, + 0.008938347068320801 + ], + [ + -0.02971992542454578, + -0.011046824976801874, + 0.9994971950007643, + 0.010218007343682448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9993423918865243, + 0.020991452038288116, + 0.02956673756542449, + -0.13879314829524492 + ], + [ + -0.02134914309461973, + 0.9997020363807678, + 0.011834454053792909, + 0.00934703531954202 + ], + [ + -0.029309507825448035, + -0.012457896023988724, + 0.9994927333557004, + 0.010456496884979526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9993389093882104, + 0.02140127122402191, + 0.02938846188715862, + -0.14057972552937925 + ], + [ + -0.021787514688288868, + 0.9996795654296875, + 0.012885890293795256, + 0.009474272098895788 + ], + [ + -0.02910327324878442, + -0.013517673127353191, + 0.9994850144124197, + 0.010554695625452741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9993486734683757, + 0.021468905732035637, + 0.02900498118801735, + -0.14266011654464766 + ], + [ + -0.02188252006284709, + 0.9996622800827026, + 0.014018678783545107, + 0.009690723204359875 + ], + [ + -0.02869422203145381, + -0.014644250273704529, + 0.9994809688435448, + 0.010632502812148037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.999367674651784, + 0.021300848573446274, + 0.028469782131921147, + -0.14439131226121907 + ], + [ + -0.021721777316571135, + 0.9996580481529236, + 0.014558449340052116, + 0.009325977372764733 + ], + [ + -0.028149948190742277, + -0.015167657285928726, + 0.9994886566233446, + 0.010434397438197941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9993798073529027, + 0.021508766338229183, + 0.027881416547030264, + -0.1466606843857439 + ], + [ + -0.021918457473478342, + 0.9996550083160403, + 0.014472582407611633, + 0.008826764968852763 + ], + [ + -0.027560515992722637, + -0.01507472433149815, + 0.9995064582423091, + 0.010059064366335649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994146477657746, + 0.020740225911140442, + 0.027207281574882978, + -0.1494847749911058 + ], + [ + -0.021131911573623957, + 0.999675989151001, + 0.014188664794257866, + 0.008462465526207948 + ], + [ + -0.026904183662331597, + -0.014755302108824253, + 0.9995290837801509, + 0.007994936035254484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9994372636033951, + 0.021365229040384293, + 0.025858041281877554, + -0.15222683004227833 + ], + [ + -0.021755131566912618, + 0.9996523857116699, + 0.014892356434178708, + 0.008136514297558363 + ], + [ + -0.02553087316833371, + -0.015446522273123264, + 0.999554669718388, + 0.007030971121637408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9994800462344317, + 0.02142816781997681, + 0.024091955842832375, + -0.15501534652011117 + ], + [ + -0.02181755060191121, + 0.9996336698532107, + 0.016017422339044712, + 0.007417680303922465 + ], + [ + -0.023739908372346887, + -0.016534723341465, + 0.999581452185668, + 0.005320712690031504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9995597715507775, + 0.02021753415465355, + 0.02171490059512534, + -0.15807893662932404 + ], + [ + -0.020583866047756253, + 0.9996472597122192, + 0.01678106939295374, + 0.006297769157762199 + ], + [ + -0.021367965978673357, + -0.01722065731883049, + 0.9996233392221953, + 0.0033427454540542146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9996311048472565, + 0.019310014322400093, + 0.019098261213659765, + -0.160882240383056 + ], + [ + -0.019631126348079692, + 0.9996666312217712, + 0.016771491058340207, + 0.006171367030117459 + ], + [ + -0.018768043370684693, + -0.017140226438641548, + 0.9996769218948766, + 0.0009756936746093845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9997164628031033, + 0.017783416435122493, + 0.015834761853274173, + -0.1632112261090397 + ], + [ + -0.018044196421155907, + 0.9997013211250307, + 0.01648119615922073, + 0.005633369723987053 + ], + [ + -0.015536943222211483, + -0.01676224917173386, + 0.9997388016026738, + -0.0008307572001516198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9997599792132368, + 0.01804093830287457, + 0.012430418285431477, + -0.1651194490938026 + ], + [ + -0.018236170616253378, + 0.9997092485427859, + 0.015775934968391983, + 0.0058122608504577586 + ], + [ + -0.012142180806901923, + -0.015998831018805507, + 0.9997982561917471, + -0.0021004202289483277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.999773945566246, + 0.01868222840130329, + 0.010148703376852534, + -0.16736277704365513 + ], + [ + -0.018834458429357846, + 0.9997082948684692, + 0.015117326736967352, + 0.006011835682372234 + ], + [ + -0.009863324479230938, + -0.015305055305361748, + 0.9998342000618377, + -0.003646034904581904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9998552852738826, + 0.015522749163210392, + 0.006962361801127223, + -0.16995731818176257 + ], + [ + -0.0156301015370854, + 0.9997555017471313, + 0.01563899842229003, + 0.005851382510924195 + ], + [ + -0.006717902720820614, + -0.015745555981993675, + 0.9998534643027313, + -0.0051281565154630854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9999431244294548, + 0.010595408268272877, + -0.0012373461183880937, + -0.17187356793162867 + ], + [ + -0.010570880965230465, + 0.9997751116752625, + 0.018383157401408366, + 0.005469683250471074 + ], + [ + 0.0014318500488121042, + -0.018369030207395554, + 0.9998302395034447, + -0.006356213625155769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9999332951147953, + 0.008002113550901413, + -0.008331445213629442, + -0.17463010721912914 + ], + [ + -0.007817752734840486, + 0.9997289180755615, + 0.021930538642246644, + 0.005460812148716675 + ], + [ + 0.008504669071252836, + -0.021863942965865135, + 0.9997248076779794, + -0.00904758460568448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9998850973644251, + 0.007420916575938465, + -0.013217383659603007, + -0.17711403658740704 + ], + [ + -0.007103518692489897, + 0.9996891021728518, + 0.023900857255733973, + 0.005683867875908239 + ], + [ + 0.0133906344360582, + -0.023804221302270896, + 0.9996269821461389, + -0.010669219885932573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9998234273331496, + 0.007001000456511974, + -0.017438742256369176, + -0.17838956655075205 + ], + [ + -0.006556807797198085, + 0.9996558427810669, + 0.025399860225600656, + 0.005632057248671518 + ], + [ + 0.017610556793319757, + -0.025281032547354698, + 0.9995252757976002, + -0.012096528942152813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9997433139501691, + 0.004721043631434441, + -0.022159770349781397, + -0.18068511153209732 + ], + [ + -0.00410947201477444, + 0.9996116161346436, + 0.02756314849093198, + 0.0055752293319139504 + ], + [ + 0.022281290889417743, + -0.027465006336569786, + 0.9993743944643898, + -0.013367477488091268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996036198934682, + 0.0036410270258784294, + -0.027916291127004247, + -0.18312075435926137 + ], + [ + -0.0028295649560844687, + 0.9995738863945007, + 0.029052305586538745, + 0.0051657902519830915 + ], + [ + 0.028010166469862992, + -0.028961800038814545, + 0.9991880075774745, + -0.015328880802908297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9995005230731009, + 0.005049929954111576, + -0.031196752511290546, + -0.1848195947825068 + ], + [ + -0.004157129920182389, + 0.9995818138122559, + 0.0286172350009483, + 0.005302194956640625 + ], + [ + 0.031328209453314014, + -0.028473250567913055, + 0.99910351603172, + -0.017346782867393162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9994321412315503, + 0.004237707704305649, + -0.03342757808978033, + -0.18631163622595537 + ], + [ + -0.003305821942690424, + 0.9996057152748108, + 0.02788395325942321, + 0.005555435225476372 + ], + [ + 0.03353254729322336, + -0.027757612988352776, + 0.9990520870244912, + -0.01816958967218914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9993159578579235, + 0.0027345791459083557, + -0.036879455296743434, + -0.18851757440459924 + ], + [ + -0.0016738708934946576, + 0.9995849132537842, + 0.028761772907391014, + 0.00532559597562196 + ], + [ + 0.03694279886433495, + -0.02868036739528179, + 0.998905735513606, + -0.019011625297598783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9991364953695933, + 0.0034198691137135038, + -0.04140724715674532, + -0.19084875127662854 + ], + [ + -0.002139641727296431, + 0.999519467353821, + 0.03092290861632277, + 0.005831195368837467 + ], + [ + 0.041493115678094515, + -0.03080761060118676, + 0.9986637222211615, + -0.0201892643874186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9989472087035954, + 0.0051437858492136, + -0.04558479640329222, + -0.19364991782202204 + ], + [ + -0.00362041779737043, + 0.999434232711792, + 0.0334381070221444, + 0.007228107859018717 + ], + [ + 0.04573100421948153, + -0.033237867057323456, + 0.9984006603075052, + -0.022351814163319095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9987037118751259, + 0.005200646817684174, + -0.050634934930745175, + -0.19622173853522173 + ], + [ + -0.003339243883295926, + 0.9993179440498352, + 0.03677668759258232, + 0.008716959257428068 + ], + [ + 0.05079166525702326, + -0.036559928208589554, + 0.9980398412906293, + -0.02437809036656267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9983846825923329, + 0.002948856446892024, + -0.056739358400581245, + -0.19933854999449294 + ], + [ + -0.0006164113977965756, + 0.9991555809974673, + 0.0410817384435653, + 0.008232276161158293 + ], + [ + 0.056812598135554004, + -0.04098040238022805, + 0.9975434772323726, + -0.029716179976216152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9980568118047096, + 0.002633781172335148, + -0.062254719949970616, + -0.20099351384656253 + ], + [ + 8.561173186931236e-05, + 0.9990473985671997, + 0.04363875103526614, + 0.008802247216952042 + ], + [ + 0.062310352103047584, + -0.04355928301811218, + 0.9971057978434672, + -0.030924254761053767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9979695369743299, + 0.0037080009933561095, + -0.0635851513207189, + -0.20407644142698614 + ], + [ + -0.0009640700453447258, + 0.9990689754486086, + 0.04313014473730325, + 0.008937740601877853 + ], + [ + 0.06368588311254024, + -0.04298126697540284, + 0.9970439912746043, + -0.034126261966317115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.997964756458306, + 0.0022264376748353243, + -0.063729004586516, + -0.20643760562110744 + ], + [ + 0.00044788067795021, + 0.9991208910942078, + 0.04191888903925718, + 0.008617443590297756 + ], + [ + 0.06376631482668324, + -0.041862115263938904, + 0.9970864367198325, + -0.03582943954674656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9979279687970187, + 0.0007292600348591805, + -0.06433666121760565, + -0.2078305764928215 + ], + [ + 0.0018820436260861932, + 0.9991770386695862, + 0.04051817974615992, + 0.008781958991931038 + ], + [ + 0.06431325756099703, + -0.040555309504270554, + 0.9971053457059399, + -0.036841762629128305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9980255932539467, + 0.0012281888630241158, + -0.0627968211460012, + -0.21005478766851485 + ], + [ + 0.001166146025930202, + 0.9992741346359255, + 0.038077431125895844, + 0.00902648652219274 + ], + [ + 0.06279799972479824, + -0.038075476884841926, + 0.9972996771697755, + -0.037681398022681965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9981748831018891, + 0.0010520613286644223, + -0.06038073643250533, + -0.212177809737963 + ], + [ + 0.0011652974998434015, + 0.9993265271186831, + 0.03667599033515502, + 0.009252634023742816 + ], + [ + 0.06037866438396991, + -0.03667941316962243, + 0.9975014104190004, + -0.037268411924390905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9982611599926011, + 0.001028877915814519, + -0.058937593386102036, + -0.21362314332871385 + ], + [ + 0.0011281931068219105, + 0.9993310570716858, + 0.03655429554849592, + 0.00923935579490231 + ], + [ + 0.05893577593293764, + -0.03655722364783287, + 0.9975921633058248, + -0.03770743759009553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9983244861472401, + 0.0031139508355408916, + -0.0577801419861482, + -0.21533331139111325 + ], + [ + -0.0010094538682224319, + 0.9993361830711367, + 0.03641600360983596, + 0.009711663038275864 + ], + [ + 0.05785519420793242, + -0.03629665821790696, + 0.9976649237039666, + -0.03877959155296428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9984254987535388, + 0.002429931424558163, + -0.05604138052260692, + -0.21703409740693422 + ], + [ + -0.0003995295828232884, + 0.9993439912796023, + 0.0362131772705543, + 0.009422006748148068 + ], + [ + 0.05609261294370855, + -0.03613376989960671, + 0.9977715226082794, + -0.039537533984615104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9984321312485538, + -0.001322183758020401, + -0.055960008655495316, + -0.21799424347377797 + ], + [ + 0.0033125737426968733, + 0.9993645548820496, + 0.03549029972026961, + 0.008722096083769622 + ], + [ + 0.05587751819777093, + -0.03562002629041672, + 0.9978020154271069, + -0.04066158778057932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9983798413833831, + -0.004010131582617761, + -0.056759590644210066, + -0.2197657137940629 + ], + [ + 0.005925234645108818, + 0.9994173645973208, + 0.033612657584483834, + 0.007347505279164659 + ], + [ + 0.05659172628737974, + -0.03389451280236245, + 0.9978219045559814, + -0.04334318039078759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9983719108179038, + -0.003884189296513796, + -0.05690688015079721, + -0.22217712326060077 + ], + [ + 0.005669307544758149, + 0.999495804309845, + 0.031241356882919864, + 0.007221841384011236 + ], + [ + 0.056756832422821625, + -0.031513117253780365, + 0.9978905739662184, + -0.04564974680429804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9983685596467771, + -0.004561256151646376, + -0.05691563117999724, + -0.22437172142679923 + ], + [ + 0.006207642796770599, + 0.999566376209259, + 0.028783620172434823, + 0.006825065482203077 + ], + [ + 0.05675964889690076, + -0.029089972376823425, + 0.9979639764817665, + -0.04743267407363739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9983365190901753, + -0.0032731418032199144, + -0.057562871569109726, + -0.22687704957365354 + ], + [ + 0.004794637513989792, + 0.9996422529220581, + 0.026313679177392062, + 0.007506164793841646 + ], + [ + 0.057456159710083055, + -0.026545898988842964, + 0.9979950476645683, + -0.049464441811496965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9982890851955384, + -0.0010907617397606373, + -0.05846122572521935, + -0.22965342540924902 + ], + [ + 0.002531767354787169, + 0.9996946454048157, + 0.02458052140912758, + 0.007949597259706715 + ], + [ + 0.05841655945084438, + -0.024686478078365326, + 0.9979870137468911, + -0.0505011786097213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9982080665941384, + -0.001058371039107442, + -0.059829538628152275, + -0.232114501980894 + ], + [ + 0.002448117895031296, + 0.999728798866272, + 0.023159923045408787, + 0.00752549835730558 + ], + [ + 0.05978880140649719, + -0.023264892399311066, + 0.9979399239695995, + -0.05238880333703575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9980675544931576, + 0.00030157412402331834, + -0.06213747627328145, + -0.23527694127583923 + ], + [ + 0.0010623014312830215, + 0.9997592568397524, + 0.021915125751973668, + 0.008261790505870083 + ], + [ + 0.06212911695157447, + -0.02193878404796124, + 0.9978269949002835, + -0.055771506583408424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9979022659456221, + 0.0035560098476707935, + -0.06464070064270976, + -0.23772418087756572 + ], + [ + -0.0021678613748346864, + 0.9997658133506775, + 0.021532301678669534, + 0.009167679344102782 + ], + [ + 0.06470213659048148, + -0.02134700119495392, + 0.9976762957386363, + -0.05705039761396517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9977192546482948, + 0.005951606668531896, + -0.06723715949327577, + -0.24109470603086877 + ], + [ + -0.004495797535981067, + 0.9997526407241824, + 0.021782462179585124, + 0.009920424353905008 + ], + [ + 0.06735016049345942, + -0.02143049612641335, + 0.9974992457362163, + -0.05947098660834115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9974927825549793, + 0.009472512640058994, + -0.07013105712774267, + -0.24407131811495336 + ], + [ + -0.007991364296189832, + 0.9997397065162659, + 0.021370247739950072, + 0.01139001417357014 + ], + [ + 0.07031523191386692, + -0.020756224170327187, + 0.9973088634627174, + -0.06240203255712097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9972691209177896, + 0.013183149509131908, + -0.07266719738153386, + -0.24753814498068386 + ], + [ + -0.011720553026664743, + 0.9997208118438721, + 0.020517141632995863, + 0.013243194683156838 + ], + [ + 0.07291739907901752, + -0.01960941031575203, + 0.9971451825058314, + -0.06522810802716623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9970434621842589, + 0.015145344659686089, + -0.07533238293625961, + -0.25042663556236533 + ], + [ + -0.013629899992152614, + 0.9996950626373291, + 0.020590410938446976, + 0.014315049698657378 + ], + [ + 0.07562125214034741, + -0.019502760842442513, + 0.9969458906519924, + -0.06698102323443031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9968024487790247, + 0.015994666144251827, + -0.07828794262337686, + -0.25444683383312827 + ], + [ + -0.014421353313961485, + 0.9996833801269533, + 0.020620802266900554, + 0.015444570847482238 + ], + [ + 0.0785929644580324, + -0.01942585036158562, + 0.9967174714683037, + -0.06751952465981342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9966213526404606, + 0.016623938456177715, + -0.08043319906040287, + -0.25725380652149593 + ], + [ + -0.01507477841909401, + 0.9996896982192995, + 0.019829306100383245, + 0.016015212999145042 + ], + [ + 0.08073788953682409, + -0.018549798056483272, + 0.9965627219144962, + -0.0706922742924157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9964351930817339, + 0.0147621501237154, + -0.08306049095451608, + -0.2607565174159405 + ], + [ + -0.013100919138107042, + 0.9997038245201111, + 0.020509899122737114, + 0.015999724333668728 + ], + [ + 0.08333865920134095, + -0.019348617643117905, + 0.9963334164396358, + -0.07163079148704281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9959003071771395, + 0.009729450568556786, + -0.08993271257016955, + -0.2636678343125952 + ], + [ + -0.007625317438824836, + 0.9996897578239441, + 0.02371079143509683, + 0.015967635183898952 + ], + [ + 0.09013549555682351, + -0.022927820682525635, + 0.9956655392697921, + -0.07442397566155531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9951191381928675, + 0.0073620611801743525, + -0.09840586431706454, + -0.2671562204879132 + ], + [ + -0.00476439004695182, + 0.9996346235275271, + 0.026606506613754664, + 0.01615051444754056 + ], + [ + 0.09856577129369984, + -0.02600779943168164, + 0.9947906569308315, + -0.07845809589955055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.994636623830292, + 0.01057582162320614, + -0.10288879858654408, + -0.27208162378271694 + ], + [ + -0.007897051605824703, + 0.9996200203895571, + 0.026408185462802096, + 0.01803502086916128 + ], + [ + 0.10312901904451313, + -0.025454031303524978, + 0.9943422584484116, + -0.08027084583580646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9943698332505724, + 0.01172216609120369, + -0.10531482128301384, + -0.27540140542160657 + ], + [ + -0.009090227286458363, + 0.9996351003646851, + 0.025436514105654846, + 0.019739679905404862 + ], + [ + 0.10557454326045787, + -0.024335967376828194, + 0.9941135707128951, + -0.08210173124929657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9940113241752631, + 0.010826630517840385, + -0.10873943806279714, + -0.2798822677841418 + ], + [ + -0.00826584196763795, + 0.9996784329414368, + 0.023972983856184814, + 0.020497704458700264 + ], + [ + 0.1089640346130099, + -0.02293059602379799, + 0.9937811731906314, + -0.08420927984437276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.993572953745745, + 0.011121241375803947, + -0.11264598710917688, + -0.28347987778127093 + ], + [ + -0.008618330952665107, + 0.9997056126594543, + 0.02268191699425587, + 0.022207697757921502 + ], + [ + 0.11286505025785477, + -0.02156531810760498, + 0.9933762799385253, + -0.08643721122470026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9931715423053002, + 0.011620528995990755, + -0.11608280724337172, + -0.2879763647080065 + ], + [ + -0.00907032198455717, + 0.9997063279151919, + 0.02247301176314488, + 0.02385508451199526 + ], + [ + 0.11630987647297247, + -0.021266648545861248, + 0.9929853013690797, + -0.08648381523247647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.992681607754481, + 0.009156806394457817, + -0.1204135853247681, + -0.2913988347168869 + ], + [ + -0.006480716463689288, + 0.9997236728668213, + 0.02259701529761386, + 0.024851590270298037 + ], + [ + 0.12058722007396633, + -0.02165127545595169, + 0.9924665862098061, + -0.08866857032054004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9919838572357665, + 0.006843728944659233, + -0.12617926125198334, + -0.29507977064513696 + ], + [ + -0.004212622817631544, + 0.9997683167457581, + 0.021107193322592997, + 0.025888080023575878 + ], + [ + 0.12629445764944416, + -0.020406449213624, + 0.9917829104944778, + -0.09124917297425703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9914555221883605, + 0.004739408381283283, + -0.13035894901219938, + -0.2982522687519045 + ], + [ + -0.002359669430770477, + 0.9998278617858887, + 0.01840368481169371, + 0.026531384461765842 + ], + [ + 0.1304236998846648, + -0.017938831821084023, + 0.9912960494208521, + -0.09401173307299548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9911125734419667, + 0.00048149481881409894, + -0.13302503509940344, + -0.3016066672209692 + ], + [ + 0.0014278698702506036, + 0.999897360801697, + 0.014257654738973493, + 0.0265703303956075 + ], + [ + 0.13301828008223676, + -0.014320883899927143, + 0.9910100967582116, + -0.09567832578650856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.990772334951597, + -0.0023280244786292315, + -0.135516757631842, + -0.3045570268853405 + ], + [ + 0.0036592414169800747, + 0.9999474883079529, + 0.00957499754486866, + 0.025900308424737638 + ], + [ + 0.13548736651627133, + -0.009982530027627945, + 0.9907288142819188, + -0.10151863081214155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9905469784043052, + 0.001022196956910193, + -0.13717005072033095, + -0.30683031527838334 + ], + [ + 2.031030477612703e-05, + 0.9999711513519287, + 0.007598493624120087, + 0.02904882433401323 + ], + [ + 0.1371738501008212, + -0.0075294505804777145, + 0.9905183958281866, + -0.10319480783272679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9904846819508848, + 0.006354016717523336, + -0.13747616262144946, + -0.30912225130069304 + ], + [ + -0.005272442876593226, + 0.9999522566795349, + 0.008230076782480661, + 0.03130348377826616 + ], + [ + 0.13752189944620236, + -0.007426930125802755, + 0.9904708723688225, + -0.10580550479343254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9903853293384264, + 0.01105639711022377, + -0.1378936336982406, + -0.3112011210417665 + ], + [ + -0.00999531188833774, + 0.9999148845672607, + 0.008385059813606944, + 0.03317192718631676 + ], + [ + 0.13797459447349583, + -0.006926150992512703, + 0.990411527993835, + -0.10837521774696762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9902511216340558, + 0.017063949257135395, + -0.1382446111647903, + -0.31335071700291106 + ], + [ + -0.01606565181524638, + 0.9998362064361574, + 0.008333963781785522, + 0.035980384846807115 + ], + [ + 0.13836419586442242, + -0.006031728349626066, + 0.9903630443498102, + -0.11082641822995615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9900957342242418, + 0.02129501663148403, + -0.13876961835467078, + -0.31506321463245573 + ], + [ + -0.02011115081253085, + 0.9997484683990479, + 0.009927929723280526, + 0.03757469111630981 + ], + [ + 0.13894610361417886, + -0.007038784213364124, + 0.9902749480829034, + -0.11205464488891612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9898138831555865, + 0.02543644607067108, + -0.1400767625699921, + -0.3175995846247484 + ], + [ + -0.02387108883924702, + 0.9996325373649597, + 0.01284412520157838, + 0.03861274752917483 + ], + [ + 0.14035203529080276, + -0.009369507431983948, + 0.990057311339452, + -0.11403499905211947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9895157192727221, + 0.029489342123270035, + -0.141382530600443, + -0.32022315710760874 + ], + [ + -0.027600437259910186, + 0.9995018839836121, + 0.015303078023625122, + 0.04076771067579073 + ], + [ + 0.14176340440825078, + -0.011240417137742043, + 0.9898367570639874, + -0.11451096862587515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9892268916686034, + 0.033177480101585395, + -0.1425814364070706, + -0.32327023616853057 + ], + [ + -0.03099989895758016, + 0.9993667602539065, + 0.017467493635855244, + 0.04271506547197835 + ], + [ + 0.14307066352610281, + -0.01285930443555117, + 0.9896289205379484, + -0.11658489004112493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9889470405851145, + 0.03659965842962265, + -0.14368082161350465, + -0.3259956826016646 + ], + [ + -0.03416664529833599, + 0.9992285370826721, + 0.019365263045842625, + 0.04329743801006506 + ], + [ + 0.14427871902632033, + -0.014242127537727356, + 0.9894346069868221, + -0.11767808392689465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9887748126967592, + 0.04018979147076607, + -0.14390673798307643, + -0.32840410916005747 + ], + [ + -0.03771525751482914, + 0.9990906715393066, + 0.019883366734982495, + 0.044006600115224656 + ], + [ + 0.1445750237770408, + -0.014232693240046501, + 0.9893914570799481, + -0.11995644589919668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9888318820418142, + 0.042634475976228714, + -0.14280696380122132, + -0.3303271316732038 + ], + [ + -0.04030677828020468, + 0.9990037679672241, + 0.01915436387069809, + 0.044742672288296904 + ], + [ + 0.14348130118743793, + -0.013184359297156334, + 0.9895651909024268, + -0.12150004627054636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9892601590981899, + 0.04542934149503708, + -0.1389260701674287, + -0.3319347581976193 + ], + [ + -0.043410401287959484, + 0.9989035129547119, + 0.01752978457092329, + 0.04561068867909102 + ], + [ + 0.13957012038601976, + -0.011310679838061333, + 0.9901475777993461, + -0.1211847519061936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9899941957325546, + 0.045206204056739814, + -0.13367105663036424, + -0.3331405615013706 + ], + [ + -0.043456532144429696, + 0.9989275336265566, + 0.015979584334236782, + 0.04549691454346089 + ], + [ + 0.13425006783846166, + -0.010010814294219019, + 0.9908969017512593, + -0.12129474677350527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9906285154498423, + 0.04440782219171524, + -0.12916291001545513, + -0.333887153016843 + ], + [ + -0.0428929833067676, + 0.998974621295929, + 0.014487731061733608, + 0.04450468423370732 + ], + [ + 0.12967384149309205, + -0.008811777457594872, + 0.991517569523912, + -0.1208898104696444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9913362888252689, + 0.043994408100843437, + -0.12376139338038442, + -0.3346360832002576 + ], + [ + -0.04270229136603788, + 0.999002277851105, + 0.01307504529500269, + 0.04411612512465636 + ], + [ + 0.12421314085187592, + -0.0076768728904426115, + 0.9922258543622312, + -0.11953191161383203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.992028821079803, + 0.043043866753578186, + -0.11843181886950022, + -0.33497384443667333 + ], + [ + -0.04179832661859362, + 0.999041736125946, + 0.012981917811749248, + 0.04358886605663762 + ], + [ + 0.11887714783781925, + -0.007928185164928436, + 0.9928773382124664, + -0.11794447143809778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9925700592111957, + 0.04237799346446992, + -0.11405594329745232, + -0.33548242241476384 + ], + [ + -0.04108417429917273, + 0.9990621209144595, + 0.013671572250282366, + 0.04424938264566211 + ], + [ + 0.11452833325320527, + -0.008884098380804064, + 0.9933802446168395, + -0.11708847405364659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9929930061639682, + 0.0423775538802147, + -0.11031318616592799, + -0.33645985420164926 + ], + [ + -0.04103253846246638, + 0.9990535378456118, + 0.014435444591711791, + 0.04399324422675237 + ], + [ + 0.11082051803351153, + -0.009807866066694261, + 0.9937920298385404, + -0.11516895948433034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9933190249526479, + 0.043363362550735474, + -0.10694380664695043, + -0.33753852790527517 + ], + [ + -0.04207600139041921, + 0.9990125298500061, + 0.014265911675959312, + 0.04483717503024131 + ], + [ + 0.1074568535416796, + -0.009670834988355637, + 0.9941627371302694, + -0.11377862265089131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.993635606438249, + 0.04289216548204423, + -0.10415646258323932, + -0.3383526075633777 + ], + [ + -0.04162617118995759, + 0.9990309476852419, + 0.014299167314409677, + 0.04464562002497998 + ], + [ + 0.10466883646931006, + -0.009872527793049814, + 0.9944581199364446, + -0.11459229465585105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9937714196874875, + 0.042706429958343506, + -0.1029297847151046, + -0.3399115252726368 + ], + [ + -0.04137017218392678, + 0.9990300536155701, + 0.015083201512010288, + 0.04493159371899398 + ], + [ + 0.10347410149421891, + -0.010731031186878681, + 0.9945742586463395, + -0.11406513764298717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9938261684789951, + 0.04303843528032303, + -0.1022608138194716, + -0.3414371118079325 + ], + [ + -0.0415922889943316, + 0.9990028142929077, + 0.016233101516943724, + 0.04539065450400538 + ], + [ + 0.10285746486358219, + -0.011879620142281055, + 0.9946251432263831, + -0.11457298661259721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9937467795374666, + 0.04241885989904404, + -0.10328584455046166, + -0.34326225588057657 + ], + [ + -0.04088050867047637, + 0.999019980430603, + 0.01696662584414895, + 0.0459914932683332 + ], + [ + 0.10390434466735875, + -0.01263815350830555, + 0.9945069916372267, + -0.11524288333648429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9934920579211582, + 0.04385809600353242, + -0.10511885219390753, + -0.34448293455822987 + ], + [ + -0.04228688299374572, + 0.9989586472511294, + 0.017130561705187446, + 0.04619282750617966 + ], + [ + 0.10576072865992457, + -0.01257392764091492, + 0.994312098940887, + -0.1186337169879222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9933246268505397, + 0.04404160752892495, + -0.10661394205412628, + -0.34682337421225906 + ], + [ + -0.04243356006204157, + 0.9989494085311892, + 0.01730579450761988, + 0.04673395108829352 + ], + [ + 0.10726409014028815, + -0.012666262686252597, + 0.9941498795730476, + -0.12122649345349547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9931128462059087, + 0.04360396042466164, + -0.10874538774393289, + -0.34874438601925245 + ], + [ + -0.04192108238391471, + 0.9989638924598696, + 0.01771494182024304, + 0.04770367244447364 + ], + [ + 0.1094051336691448, + -0.01303421333432198, + 0.9939117976360461, + -0.12216617303043863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9928893961866763, + 0.04398715868592262, + -0.11061556050725478, + -0.3499468002008771 + ], + [ + -0.042254136583382514, + 0.998945415019989, + 0.017963856405566424, + 0.04799235746203065 + ], + [ + 0.111289082624556, + -0.013162157498300076, + 0.9937009140522117, + -0.1253211242496223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9926828797034422, + 0.045499544590711594, + -0.11185029535249763, + -0.35207060629171383 + ], + [ + -0.04377070875957532, + 0.9988818764686584, + 0.017865298468842054, + 0.049234514433534285 + ], + [ + 0.11253806704038223, + -0.012838810682296753, + 0.9935644829179315, + -0.1276983795824697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9925802607014603, + 0.04707671701908113, + -0.11210813406863036, + -0.3543500788570807 + ], + [ + -0.045291765487302356, + 0.998804032802582, + 0.01841703978223782, + 0.05001457466076675 + ], + [ + 0.11284104344485843, + -0.013202816247940067, + 0.9935253440043239, + -0.12966039082448588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9925159848384988, + 0.04793456941843033, + -0.1123136562454386, + -0.356524847831126 + ], + [ + -0.04600917046123802, + 0.9987472295761108, + 0.01967420890832298, + 0.05155777984661421 + ], + [ + 0.1131160121613624, + -0.014359508641064167, + 0.9934780460415891, + -0.1294744702277769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9923158830412845, + 0.05043986812233925, + -0.11298234799402158, + -0.358985759315333 + ], + [ + -0.048231075533441484, + 0.9985894560813904, + 0.02220042647514173, + 0.053770682272332254 + ], + [ + 0.11394275536358658, + -0.016580577939748764, + 0.9933489694064462, + -0.12974359982562017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9919988434888686, + 0.05161328241229057, + -0.11521442948709826, + -0.3614807754227253 + ], + [ + -0.048987753521807204, + 0.9984736442565918, + 0.025506416985587515, + 0.054422085554608854 + ], + [ + 0.11635503948425341, + -0.019658245146274567, + 0.9930131328024691, + -0.13071825391380276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9916651732253269, + 0.05381506308913231, + -0.11706472749145418, + -0.36376918595870167 + ], + [ + -0.051099696038350795, + 0.9983530640602112, + 0.026076589551336335, + 0.05658448892275139 + ], + [ + 0.1182752229642276, + -0.019877273589372635, + 0.9927819150677344, + -0.13272440925705256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.991588639809043, + 0.0564447231590748, + -0.116473058704584, + -0.3656299596828264 + ], + [ + -0.053840811287751554, + 0.9982268214225771, + 0.02538525476995295, + 0.05728892156345304 + ], + [ + 0.11769937350654762, + -0.01890072971582413, + 0.9928694160819632, + -0.1338870989692843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9917930747713345, + 0.05527335777878761, + -0.1152881280475312, + -0.367433062092574 + ], + [ + -0.05266371475420371, + 0.9982850551605225, + 0.02556254342182656, + 0.05759823328154956 + ], + [ + 0.1165033583411836, + -0.019281255081295967, + 0.9930031456781292, + -0.13370573849928888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9919211895592586, + 0.05376797914505005, + -0.11489699491836851, + -0.3693494233887272 + ], + [ + -0.05104823732951984, + 0.998344898223877, + 0.026485989016508775, + 0.05749940644921477 + ], + [ + 0.11613093750077652, + -0.020406726747751236, + 0.9930242566116503, + -0.1343044649787858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9919705855169828, + 0.053833976387977614, + -0.1144390136600597, + -0.37009176792712706 + ], + [ + -0.05109580962330207, + 0.9983360171318056, + 0.02672917815179067, + 0.058159010395762344 + ], + [ + 0.11568753452246021, + -0.020667206496000293, + 0.9930706332818561, + -0.13510247037490455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9920092998767217, + 0.05397547036409378, + -0.11403597409538295, + -0.3715021229384876 + ], + [ + -0.051175904759843266, + 0.9983153939247131, + 0.027338456831118508, + 0.05873681927216687 + ], + [ + 0.11531949303136074, + -0.021284110844135284, + 0.993100433712885, + -0.1354899426179346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.991988390906744, + 0.055054228752851486, + -0.11370162772388634, + -0.37375499626807906 + ], + [ + -0.052104363240913734, + 0.9982275366783142, + 0.028757067357358265, + 0.05981083780647852 + ], + [ + 0.11508327204865426, + -0.022602327167987823, + 0.9930986726113905, + -0.13517153902286808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.991916392985911, + 0.057277075946331024, + -0.11323086515145767, + -0.37544261831803294 + ], + [ + -0.05420285100068093, + 0.9980777502059937, + 0.030047280207475106, + 0.06109053322091755 + ], + [ + 0.11473425767655303, + -0.023666951805353165, + 0.9931142683461984, + -0.1359483032074133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9919029226234959, + 0.06073314696550369, + -0.1115352689001695, + -0.3769457949847144 + ], + [ + -0.05763465915400618, + 0.9978625178337097, + 0.03080052102138095, + 0.06243894083593655 + ], + [ + 0.11316748828250331, + -0.024122830480337143, + 0.9932830504269088, + -0.13676882808973886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9920952544574835, + 0.061553083360195174, + -0.10935383043352909, + -0.3786172858344118 + ], + [ + -0.058402395153627155, + 0.99778687953949, + 0.031787847458494174, + 0.06366808808790309 + ], + [ + 0.11106846224937184, + -0.025150051340460784, + 0.9934944468626099, + -0.136147417931676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9922987203936547, + 0.06179303303360939, + -0.10735399773867448, + -0.37921238269044844 + ], + [ + -0.05858491507299083, + 0.9977438449859619, + 0.03278762102577141, + 0.0636222468570476 + ], + [ + 0.10913783463682132, + -0.026245787739753723, + 0.9936800950211458, + -0.13712315388261498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9926490633000222, + 0.06023744493722917, + -0.10497316041030298, + -0.38028791522148475 + ], + [ + -0.0570464453446058, + 0.9978212714195254, + 0.03314279611936335, + 0.0630390698047991 + ], + [ + 0.10674086261325641, + -0.026910822838544853, + 0.9939226501634255, + -0.1371477678316041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.992930886346992, + 0.05812540277838707, + -0.10348782321781079, + -0.3817326786768168 + ], + [ + -0.05499111321102951, + 0.9979450702667236, + 0.032888771870572764, + 0.06303956310225414 + ], + [ + 0.10518684063824908, + -0.026965370401740074, + 0.9940868177375931, + -0.13755390073142487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9930603325695744, + 0.05790408328175545, + -0.10236364951835944, + -0.3841828514992264 + ], + [ + -0.05479551700920318, + 0.9979546070098877, + 0.03292570090342877, + 0.06280380351673306 + ], + [ + 0.10406083224687701, + -0.027088137343525887, + 0.994201959211589, + -0.13774977075600633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9930495936705963, + 0.058413323014974594, + -0.10217834462459122, + -0.38638855029184105 + ], + [ + -0.05532838884457393, + 0.9979302287101746, + 0.03277199816852056, + 0.06288286250863569 + ], + [ + 0.10388119444060508, + -0.026890859007835388, + 0.994226103505127, + -0.13706922381773523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9927510051656199, + 0.062402725219726576, + -0.10271973842789622, + -0.3889995423439641 + ], + [ + -0.05929817424594581, + 0.9976944327354433, + 0.03300758795374195, + 0.06364068550317259 + ], + [ + 0.10454269992036025, + -0.0266772210597992, + 0.9941625132862404, + -0.13809568393461974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9924993514510232, + 0.06437743455171585, + -0.10392567939031441, + -0.3908991998519922 + ], + [ + -0.06114118064154701, + 0.9975486993789673, + 0.034034342427743614, + 0.06468462444751055 + ], + [ + 0.10586197057350358, + -0.027424927800893784, + 0.9940025617815573, + -0.13942078808252267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9923361028252636, + 0.06440714001655579, + -0.10545495807870285, + -0.39291597265966727 + ], + [ + -0.06103792995405915, + 0.9975260496139526, + 0.03487417560389649, + 0.0650590374442699 + ], + [ + 0.10744023206378762, + -0.0281701497733593, + 0.9938123817407488, + -0.14217671912032778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9922546423893623, + 0.06345342099666595, + -0.10679154671040986, + -0.3958892295057146 + ], + [ + -0.05998772303124427, + 0.9975726008415222, + 0.035361400156898974, + 0.06442537291237102 + ], + [ + 0.10877613723234045, + -0.028681330382823944, + 0.9936524367665232, + -0.14300651893940683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9922020868789886, + 0.0612824410200119, + -0.10853352695703945, + -0.397073496973779 + ], + [ + -0.057862737478931496, + 0.9977322220802307, + 0.03438510427788489, + 0.06365755056184794 + ], + [ + 0.11039463303122803, + -0.02783692628145218, + 0.9934979266692826, + -0.14469261162785105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9921650877959344, + 0.059514906257390976, + -0.10984696801987265, + -0.3989429273165194 + ], + [ + -0.056291158775955266, + 0.997894287109375, + 0.03222175165086729, + 0.06333291019283732 + ], + [ + 0.1115333497911931, + -0.025785885751247406, + 0.9934260785727057, + -0.14675173654164342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9921344306154448, + 0.058263108134269714, + -0.110791165030035, + -0.40105519851442906 + ], + [ + -0.05516415965563486, + 0.9980010390281677, + 0.030836188100359502, + 0.06339681813857787 + ], + [ + 0.11236628022509657, + -0.024481941014528275, + 0.9933652169271702, + -0.14822821684324694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/pan_left/transforms.json b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..91cd25b34385a14aea9290e69d9025d83b32bc0a --- /dev/null +++ b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/pan_left/transforms.json @@ -0,0 +1,6628 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 189, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.70307084772503e-05, + 7.986521086422727e-05, + -0.00025786555488593876 + ], + [ + -1.7034815755323507e-05, + 1.0, + 5.142964801052585e-05, + -0.00014517392264679074 + ], + [ + -7.986433774931356e-05, + -5.1431008614599705e-05, + 1.0, + -0.0002484802098479122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999968557498309, + -0.001730418181978166, + -0.0017985136202451108, + -0.00010069082054542378 + ], + [ + 0.0017316078095967944, + 0.9999982714653015, + 0.0006601288522405374, + 0.00030974409310147166 + ], + [ + 0.001797368290829291, + -0.0006632410804741085, + 0.9999981686482168, + 8.321263885591179e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999872457797674, + -0.0025760482531040907, + -0.004345489250224262, + -0.0001496597978984937 + ], + [ + 0.0025810285521621758, + 0.9999960064888, + 0.0011408915756610171, + 0.001147317816503346 + ], + [ + 0.004342533030665897, + -0.0011520928237587214, + 0.9999899362325729, + 0.0004537832865025848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999751710161768, + -0.003408124204725027, + -0.0061630344905789156, + -5.214030898059718e-05 + ], + [ + 0.003416829809078647, + 0.9999932050704956, + 0.001402579367999457, + 0.001757200574502349 + ], + [ + 0.006158212290644135, + -0.001423602574504912, + 0.9999800191801146, + 0.0012955418787896633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999546568651565, + -0.004480343777686358, + -0.008399968016349043, + -5.521769139704702e-07 + ], + [ + 0.004493919993551952, + 0.9999886155128481, + 0.0015979957002721767, + 0.0024070125073194504 + ], + [ + 0.008392713037551612, + -0.0016356720589101319, + 0.9999634592959673, + 0.0019917336758226156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999334301409544, + -0.004437757655978203, + -0.010653692280140865, + -7.531858864240348e-05 + ], + [ + 0.004462870742961326, + 0.9999873042106628, + 0.0023346040293385204, + 0.0027251383289694786 + ], + [ + 0.010643196606942903, + -0.0023819946218281984, + 0.9999405367394554, + 0.002327415393665433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999118848284314, + -0.003654320491477847, + -0.012761645528772389, + -7.78667235863395e-05 + ], + [ + 0.0036988331778341553, + 0.9999871253967285, + 0.0034661530097506075, + 0.0029705665074288845 + ], + [ + 0.01274881546916446, + -0.0035130507312715054, + 0.9999125880971718, + 0.002723151119425893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998874367858049, + -0.004266171250492334, + -0.01438488035592893, + -0.00010015643783845007 + ], + [ + 0.004322536706522048, + 0.9999830722808838, + 0.003889591485450482, + 0.0030597764998674393 + ], + [ + 0.014368043169051865, + -0.003951332997530699, + 0.9998889718893327, + 0.003115626284852624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998515538394136, + -0.0046034841798245916, + -0.016604754268240957, + -4.049779090564698e-05 + ], + [ + 0.0046664715699738695, + 0.9999820590019228, + 0.003756606513034821, + 0.002960567595437169 + ], + [ + 0.0165871626102305, + -0.0038335341960191735, + 0.9998550878928658, + 0.0032456752378493547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998125296180698, + -0.004787477664649487, + -0.01876038773256789, + -0.0001580197422299534 + ], + [ + 0.004858099414713072, + 0.9999812841415407, + 0.003720636044103788, + 0.003002662444487214 + ], + [ + 0.01874222423110969, + -0.0038110783789306888, + 0.9998171087530525, + 0.003406716976314783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9997725788693989, + -0.003218867816030979, + -0.021080117717863823, + -0.00021371089678723365 + ], + [ + 0.003298714827688812, + 0.9999874830245972, + 0.003754113105556824, + 0.003123074071481824 + ], + [ + 0.02106777022617552, + -0.003822796978056431, + 0.9997707240710689, + 0.003027641214430332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997401422878147, + -0.0005690651014447212, + -0.02278920156512177, + -0.000438048125943169 + ], + [ + 0.0006479902537882725, + 0.9999938011169434, + 0.0034560348099337895, + 0.003140944754704833 + ], + [ + 0.02278709415273729, + -0.0034699037205427885, + 0.9997343326312279, + 0.0031641421373933554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9996955638275012, + 0.0005087140598334373, + -0.0246671456714891, + -0.0005098708206787705 + ], + [ + -0.00044082908233303005, + 0.9999961256980898, + 0.0027574002695564996, + 0.0032102668192237616 + ], + [ + 0.024668451907182875, + -0.0027456867974251513, + 0.9996919056064482, + 0.0033533754758536816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996649868698599, + 0.0012250833678990605, + -0.025853276874418237, + -0.0006842436851002276 + ], + [ + -0.001174328884818568, + 0.9999973773956301, + 0.001978262134040066, + 0.0032327589578926563 + ], + [ + 0.02585563271969877, + -0.0019472392741590743, + 0.9996638115431341, + 0.00363566679880023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9996281596090724, + 0.00140003755223006, + -0.027231835490557292, + -0.0009227905538864434 + ], + [ + -0.00134599582852308, + 0.999997079372406, + 0.0020027333578338954, + 0.003321658121421933 + ], + [ + 0.027234560054097506, + -0.001965334638953209, + 0.9996271526294883, + 0.0038056394550949335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995501492066258, + 0.0020004191901534796, + -0.029925625389862154, + -0.0012114421697333455 + ], + [ + -0.0019008631325694186, + 0.9999925494194031, + 0.003354858290319774, + 0.0032357240561395884 + ], + [ + 0.02993211260536946, + -0.0032964644487947226, + 0.9995464962389643, + 0.004039526917040348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994308496574736, + 0.002833987819030881, + -0.03361508060186983, + -0.001467360183596611 + ], + [ + -0.002668915864935973, + 0.9999841451644897, + 0.004954506941692508, + 0.003482063766568899 + ], + [ + 0.03362858784095725, + -0.0048619708977639675, + 0.9994225596502594, + 0.004190320149064064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9993356248979641, + 0.005353976972401142, + -0.03605121551058782, + -0.0024411617778241634 + ], + [ + -0.005129121034073741, + 0.9999668598175049, + 0.006326724086558746, + 0.003990332130342722 + ], + [ + 0.03608389225736728, + -0.006137609947472811, + 0.9993299026132855, + 0.004655714146792889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9992606534330796, + 0.0073814382776618, + -0.03773094928332101, + -0.00308724632486701 + ], + [ + -0.0070949001710826414, + 0.9999449849128723, + 0.00772250358829692, + 0.004504373762756586 + ], + [ + 0.03778587810737202, + -0.007449097000062466, + 0.9992580838368154, + 0.005395411979407072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9991574603469668, + 0.007767716888338327, + -0.04029903938556155, + -0.0033701404463499784 + ], + [ + -0.007395761426104373, + 0.9999287724494934, + 0.009370781818935537, + 0.005083991680294275 + ], + [ + 0.04036895811202489, + -0.009064844809472561, + 0.9991437444968417, + 0.006196330301463604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9990416800350989, + 0.007954070344567299, + -0.04303952655803053, + -0.003782767103984952 + ], + [ + -0.007502590053749336, + 0.9999152421951294, + 0.01064127727717533, + 0.005758685991168022 + ], + [ + 0.04312052085625525, + -0.01030817162245512, + 0.9990167054994844, + 0.007235141936689615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.998956303255078, + 0.009692437946796419, + -0.044635407879827185, + -0.0045720916241407394 + ], + [ + -0.009141978520342682, + 0.999879837036133, + 0.01252000241650131, + 0.006159202195703983 + ], + [ + 0.04475139370581744, + -0.012098879553377632, + 0.9989248842847499, + 0.008058134466409683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9988892429419063, + 0.011016195639967918, + -0.045814326548111385, + -0.005249232519418001 + ], + [ + -0.010378639208506932, + 0.9998462796211243, + 0.014130759466688785, + 0.006564908195286989 + ], + [ + 0.04596295217371818, + -0.013639573939144611, + 0.9988500416510595, + 0.008029892109334469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9988240322862316, + 0.01231862232089043, + -0.04689153619764923, + -0.006016145460307598 + ], + [ + -0.01166801334950292, + 0.9998321533203127, + 0.014123278486189729, + 0.006705103907734156 + ], + [ + 0.04705764760012992, + -0.01355953793972731, + 0.9988001635859457, + 0.008353082463145256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9988033109720396, + 0.013560467399656773, + -0.046989691512969486, + -0.0061891945078969 + ], + [ + -0.012991579780145257, + 0.9998388290405273, + 0.012390971629577089, + 0.006613538134843111 + ], + [ + 0.0471501453079194, + -0.011765672825276852, + 0.9988185215087333, + 0.008176473900675774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9987955372538277, + 0.01363558787852526, + -0.047133773088809026, + -0.00722466642037034 + ], + [ + -0.013128001874404466, + 0.9998526573181155, + 0.011061914757079924, + 0.006040760315954685 + ], + [ + 0.047277662060681985, + -0.010429819114506246, + 0.9988273242779555, + 0.007405329030007124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9987413862488201, + 0.01325504016131163, + -0.04837344284467695, + -0.008091049268841743 + ], + [ + -0.012762860130776215, + 0.9998637437820437, + 0.01046934411866116, + 0.005697302054613829 + ], + [ + 0.04850562265502473, + -0.009838784113526346, + 0.9987744721858842, + 0.007336323149502277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9986345746452051, + 0.013566026464104652, + -0.05044783812566522, + -0.00898551195859909 + ], + [ + -0.013073578855435806, + 0.9998637437820435, + 0.010078720292696948, + 0.0052048866637051105 + ], + [ + 0.050577693141756405, + -0.009405424818396568, + 0.9986758565676289, + 0.006674834992736578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9984912501989, + 0.01423492282629013, + -0.05303385178985512, + -0.010411784052848816 + ], + [ + -0.013770647725256815, + 0.9998636841773987, + 0.009109500658017298, + 0.004631845746189356 + ], + [ + 0.053156297359900115, + -0.008365446701645851, + 0.9985511936853109, + 0.0057825190015137196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9983289329866338, + 0.014402052387595177, + -0.05596372200825395, + -0.0121072418987751 + ], + [ + -0.013995604314906537, + 0.9998728036880493, + 0.007647878322615279, + 0.003974722232669592 + ], + [ + 0.05606674791475928, + -0.006851851940155029, + 0.9984035124618736, + 0.004966448526829481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9981593808810101, + 0.013902876526117325, + -0.059030180698791256, + -0.013330144807696342 + ], + [ + -0.013597424067349716, + 0.999891996383667, + 0.005573078757258204, + 0.0034704648423939943 + ], + [ + 0.05910128790503275, + -0.004760162904858589, + 0.9982406437961696, + 0.0044898600317537785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9979563353237549, + 0.013820775784552097, + -0.06238728944346707, + -0.014432232826948166 + ], + [ + -0.013574623229924955, + 0.9998983144760132, + 0.004367720869763363, + 0.0030750322621315718 + ], + [ + 0.062441311477159235, + -0.0035119105596095324, + 0.998042477910219, + 0.004024925641715527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9977670406680836, + 0.01260956842452288, + -0.06558908609183395, + -0.015163177624344826 + ], + [ + -0.012408120393717732, + 0.9999169707298281, + 0.003477833233034636, + 0.002446090802550316 + ], + [ + 0.06562749700691539, + -0.002656230237334967, + 0.9978406833544751, + 0.004176822025328875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9975542682653966, + 0.013317718170583248, + -0.06861591004984895, + -0.015923330560326576 + ], + [ + -0.0131653031309151, + 0.9999097585678101, + 0.00267301780115319, + 0.002015887526795268 + ], + [ + 0.06864531383101041, + -0.0017631310038268566, + 0.9976395534955692, + 0.003388212528079748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9973472165559927, + 0.015250423923134804, + -0.0711753999564434, + -0.016678636893630028 + ], + [ + -0.015144724705250672, + 0.999883234500885, + 0.002024494710004414, + 0.0015982971526682377 + ], + [ + 0.07119796281534313, + -0.0009411924402229488, + 0.9974617312054735, + 0.002851878060027957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9972002242153165, + 0.015975704416632652, + -0.07305120934045552, + -0.01769733801484108 + ], + [ + -0.01593336034888347, + 0.9998723864555359, + 0.001162378434760142, + 0.0010718541452661157 + ], + [ + 0.07306045917251643, + 4.827263182960451e-06, + 0.997327538296671, + 0.0021591235417872667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9970429765366222, + 0.015899848192930225, + -0.07518332331513929, + -0.017782393842935562 + ], + [ + -0.01594189816939074, + 0.9998729228973391, + 4.0859363104492704e-05, + 0.0006286249845288694 + ], + [ + 0.07517441500418265, + 0.001157826278358698, + 0.9971697055817593, + 0.001395781640894711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.996883688014953, + 0.01669375225901604, + -0.07709883649665603, + -0.017705660313367844 + ], + [ + -0.0167938088799204, + 0.9998587369918825, + -0.0006495677131683389, + 0.00044588721357285976 + ], + [ + 0.07707710391740094, + 0.0019423265475779776, + 0.9970232156128347, + 0.0012249862775206566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9967626387223082, + 0.017616456374526027, + -0.07844650083755464, + -0.017816705629229546 + ], + [ + -0.017717518647198473, + 0.9998428821563723, + -0.0005924271699540596, + 0.0003072293184231967 + ], + [ + 0.07842373653362539, + 0.0019803866744041447, + 0.9969181384474899, + 0.000995601643808186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9966916211640463, + 0.01798195205628872, + -0.07926181408837564, + -0.017678549513220787 + ], + [ + -0.018097405741009213, + 0.9998359680175781, + -0.0007384505733176635, + 0.00016519879864063114 + ], + [ + 0.07923553338128757, + 0.0021704407408833504, + 0.9968535634099293, + 0.0010164199629798532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9966300337928086, + 0.017639361321926117, + -0.08010853009199093, + -0.01729908585548401 + ], + [ + -0.017771633427788418, + 0.9998416304588318, + -0.0009384378508259009, + 0.00018360730609856546 + ], + [ + 0.08007929010941232, + 0.002358934609219432, + 0.9967856830646936, + 0.0011832742020487785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9965176885254493, + 0.018252335488796234, + -0.08135952708945565, + -0.01697850413620472 + ], + [ + -0.01838910727532964, + 0.9998304843902588, + -0.0009320455058784586, + 0.0003416476829443127 + ], + [ + 0.08132872369738946, + 0.0024249290581792593, + 0.9966844055665871, + 0.0014325660886242986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9963941954971497, + 0.018038203939795494, + -0.08290477484235817, + -0.017019128426909447 + ], + [ + -0.018191618143435683, + 0.9998339414596558, + -0.0010953996780935147, + 0.00024001683050300926 + ], + [ + 0.08287124889557315, + 0.002599621657282114, + 0.9965568891054662, + 0.0011268398957327008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9962667642795847, + 0.018544757738709453, + -0.08431262927244305, + -0.01711544208228588 + ], + [ + -0.01875669082404602, + 0.9998226165771487, + -0.0017221782044939894, + 0.0003991841513197869 + ], + [ + 0.08426573415187519, + 0.003297175047919155, + 0.9964378431702727, + 0.0012765182182192802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9961605305493715, + 0.01801762357354164, + -0.08567135586495936, + -0.01692873239517212 + ], + [ + -0.018270537616575516, + 0.9998307228088379, + -0.002168940448491034, + 0.00031545592355541885 + ], + [ + 0.08561777699667499, + 0.0037258747033774853, + 0.9963211113634712, + 0.0012392787029966712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9960232259201864, + 0.01801055297255516, + -0.08725480603517995, + -0.01687202788889408 + ], + [ + -0.018264280463496384, + 0.999830961227417, + -0.002110374712146244, + 0.000398807052988559 + ], + [ + 0.08720204569741996, + 0.003695628372952342, + 0.9961837841422089, + 0.001374158775433898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9958636628118525, + 0.017184823751449585, + -0.0892199651682363, + -0.016831643879413605 + ], + [ + -0.017455646045657396, + 0.9998450875282288, + -0.002256005858703927, + 0.00032667984487488866 + ], + [ + 0.08916737426271519, + 0.0038040662184357643, + 0.9960093660407133, + 0.001106694107875228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9956717860575538, + 0.01790575310587883, + -0.0911982275624051, + -0.01727111078798771 + ], + [ + -0.01821087371857237, + 0.9998310208320618, + -0.0025146019551440003, + 0.000615553988609463 + ], + [ + 0.091137785486302, + 0.004164517391473055, + 0.9958295589225796, + 0.0010324297472834587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9954551677448529, + 0.018341433256864548, + -0.09344854245928472, + -0.01732531562447548 + ], + [ + -0.018647188288379062, + 0.999823272228241, + -0.0023997003343594458, + 0.0007291990332305431 + ], + [ + 0.09338801066263074, + 0.004131346475332975, + 0.9956212294555636, + 0.00100218306761235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9952577216281997, + 0.01943266019225121, + -0.09531247861364012, + -0.017832595854997635 + ], + [ + -0.019714489723186325, + 0.9998036026954653, + -0.002016059329358568, + 0.0008314221631735563 + ], + [ + 0.0952545862158227, + 0.0038855355232954034, + 0.9954453898537462, + 0.0006245023105293512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9950540419323534, + 0.01994175836443901, + -0.09731291419173786, + -0.01815788634121418 + ], + [ + -0.020216344767530713, + 0.9997939467430115, + -0.001836403240097911, + 0.0009651925065554678 + ], + [ + 0.09725623884990055, + 0.003794631687924266, + 0.9952521203446579, + 0.00034818894346244633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.994810095598048, + 0.020517462864518166, + -0.09965896918941909, + -0.01817210763692856 + ], + [ + -0.020734649653713157, + 0.9997843503952026, + -0.0011439208992648053, + 0.0009689052239991724 + ], + [ + 0.09961400868440261, + 0.0032043776009231806, + 0.9950210034267655, + 0.0003468780778348446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9945705345054059, + 0.020970650017261505, + -0.10193003765955982, + -0.018932262435555458 + ], + [ + -0.021104985702316222, + 0.9997772574424744, + -0.00023956604133898495, + 0.0013647674350067973 + ], + [ + 0.1019023032950525, + 0.0023894973564893007, + 0.9947915115893959, + 0.000601760286372155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9943545222350179, + 0.02105782739818096, + -0.10399809808861185, + -0.019710350781679153 + ], + [ + -0.021127653828942487, + 0.9997767210006714, + 0.00043027089820787446, + 0.0017745211953297257 + ], + [ + 0.1039839374716304, + 0.0017693940317258239, + 0.9945774256785068, + 0.001372714526951313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9941813881622099, + 0.018865184858441353, + -0.10605430088472297, + -0.019904570654034615 + ], + [ + -0.018874879059530704, + 0.9998214244842529, + 0.0009124078593946861, + 0.0019066767999902368 + ], + [ + 0.10605257807751903, + 0.0010946630500257015, + 0.9943599420518564, + 0.0023593073710799217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9939319977646485, + 0.016400901600718498, + -0.10876697034496983, + -0.020253773778676987 + ], + [ + -0.016285307193505565, + 0.9998654723167419, + 0.0019510403547953672, + 0.002068878151476383 + ], + [ + 0.10878433255664574, + -0.00016789801884442568, + 0.9940653494867995, + 0.0030747796408832073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9936165379207452, + 0.015418087132275105, + -0.11175150693181402, + -0.02059805393218994 + ], + [ + -0.015156992771043078, + 0.9998800754547119, + 0.0031856220135527092, + 0.0022927375975996256 + ], + [ + 0.11178721677978477, + -0.0014714698772877455, + 0.9937310483121797, + 0.003566493047401309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.993271396092328, + 0.01525090355426073, + -0.1148012500230938, + -0.021354610100388527 + ], + [ + -0.014894152071828516, + 0.9998812079429626, + 0.003964737194405717, + 0.0023153789807111025 + ], + [ + 0.11484808106773431, + -0.002228192752227187, + 0.9933805600436674, + 0.0042648958042263985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9929269142567115, + 0.015977278351783752, + -0.11764719400394628, + -0.02321677654981613 + ], + [ + -0.015560271378448481, + 0.9998689889907837, + 0.004462264206444801, + 0.00248526968061924 + ], + [ + 0.11770307433971929, + -0.002600079867988825, + 0.9930454586331756, + 0.003944990690797567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9925132657452651, + 0.01632731221616268, + -0.12104088062214725, + -0.024595344439148903 + ], + [ + -0.015894863546191032, + 0.9998633861541748, + 0.004537474785311129, + 0.0026893997564911842 + ], + [ + 0.12109842789297932, + -0.002579575404524803, + 0.9926371705087017, + 0.00407489063218236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9920123975531159, + 0.01599922589957714, + -0.12512168928593007, + -0.026238782331347466 + ], + [ + -0.015592631569947987, + 0.9998694658279419, + 0.004228320219650529, + 0.00262356735765934 + ], + [ + 0.12517300972569537, + -0.0022435698192566633, + 0.9921323916177099, + 0.00335713941603899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9914547682004388, + 0.016002535820007324, + -0.12946551877115361, + -0.02778305485844612 + ], + [ + -0.015607055319633087, + 0.9998699426651001, + 0.004068764225865667, + 0.002416296163573861 + ], + [ + 0.12951379039440994, + -0.002013420220464468, + 0.9915755627181381, + 0.0025200110394507647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9908581117289186, + 0.01611827127635479, + -0.1339416310482013, + -0.02949443832039833 + ], + [ + -0.015705744276579465, + 0.9998680949211121, + 0.004135995106370483, + 0.00297495792619884 + ], + [ + 0.1339906332853802, + -0.001994531601667404, + 0.9909805850518668, + 0.002450422151014209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9902670319135303, + 0.016001408919692043, + -0.13825754810571636, + -0.031050724908709526 + ], + [ + -0.015518548013988945, + 0.9998691082000735, + 0.004569798043036797, + 0.003236999735236168 + ], + [ + 0.13831257456718954, + -0.002379764104261995, + 0.9903857507649514, + 0.002847375115379691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9896719133933344, + 0.014752130024135116, + -0.14258998363486922, + -0.03262987360358238 + ], + [ + -0.01419949628678832, + 0.9998872280120852, + 0.004892516642475094, + 0.003610836574807763 + ], + [ + 0.1426460781438096, + -0.002817280357703567, + 0.9897697694467973, + 0.0031947982497513294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9890463967684502, + 0.014955292455852035, + -0.14684545481382263, + -0.034301698207855225 + ], + [ + -0.01429987316882329, + 0.9998825192451479, + 0.005518028163682963, + 0.004099368117749691 + ], + [ + 0.14691072848780887, + -0.003357714507728816, + 0.9891440720363587, + 0.003105675335973501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.98845198055515, + 0.015210211277008057, + -0.15076921434555185, + -0.03524613007903099 + ], + [ + -0.014407647507747087, + 0.9998756051063538, + 0.006414116120486401, + 0.004631564021110535 + ], + [ + 0.1508480213580968, + -0.004167815670371056, + 0.988548150450121, + 0.0029258679132908583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9878841260694943, + 0.015245531685650349, + -0.1544426068348499, + -0.03663802891969681 + ], + [ + -0.014230248523929716, + 0.9998692870140076, + 0.007677302834065277, + 0.005224747583270073 + ], + [ + 0.15453946003512714, + -0.005386529490351677, + 0.9879719248733075, + 0.0030739204958081245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9873060584937704, + 0.016447965055704117, + -0.15797521978912216, + -0.03787093982100487 + ], + [ + -0.015102812112210408, + 0.9998387694358826, + 0.009711738008019262, + 0.0054373666644096375 + ], + [ + 0.15810949140377584, + -0.007202587556093931, + 0.9873953291051336, + 0.002939363941550255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.986739288219535, + 0.01864643581211567, + -0.1612387681818744, + -0.03884432092308998 + ], + [ + -0.016921882238882135, + 0.9997840523719788, + 0.012062391266321184, + 0.006280274596065283 + ], + [ + 0.16142886397891773, + -0.00917397253215313, + 0.986841686073131, + 0.00406875554472208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9862216356922743, + 0.019874766469001773, + -0.1642309963559994, + -0.03987857326865196 + ], + [ + -0.01778865437304866, + 0.9997414350509646, + 0.014163422379986095, + 0.006942498963326216 + ], + [ + 0.16447002402529667, + -0.011046824976801874, + 0.9863201954632962, + 0.0040845186449587345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9856764242050458, + 0.020991452038288116, + -0.16733617348946622, + -0.04041292518377304 + ], + [ + -0.01860815639313667, + 0.9997020363807678, + 0.015797997634967902, + 0.007205962669104338 + ], + [ + 0.16761792597752057, + -0.012457896023988724, + 0.9857733016118938, + 0.004412856884300709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.985167631285154, + 0.02140127122402191, + -0.17025473789974116, + -0.04080519452691078 + ], + [ + -0.01878424129033567, + 0.9996795654296875, + 0.01696744659937312, + 0.0072575705125927925 + ], + [ + 0.17056331391723514, + -0.013517673127353191, + 0.9852540030339175, + 0.004585523623973131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9846217672444492, + 0.021468905732035637, + -0.17337541799556655, + -0.04148933291435242 + ], + [ + -0.018601234607026028, + 0.9996622800827026, + 0.018148336293762588, + 0.007431976497173309 + ], + [ + 0.17370648884765189, + -0.014644250273704529, + 0.9846885909721113, + 0.004762782249599695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9840441564201022, + 0.021300848573446274, + -0.1766447730588208, + -0.04182291403412819 + ], + [ + -0.018282817223647135, + 0.9996580481529236, + 0.018695524901544747, + 0.007053170818835497 + ], + [ + 0.17698259628105953, + -0.015167657285928726, + 0.9840971267692509, + 0.004682993981987238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9834382286972246, + 0.021508766338229183, + -0.17996283802568575, + -0.04269528016448021 + ], + [ + -0.018440888402523253, + 0.9996550083160403, + 0.018703156270733334, + 0.006505030672997236 + ], + [ + 0.1803030264390878, + -0.01507472433149815, + 0.9834955824846269, + 0.004436040297150612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9828256341588071, + 0.020740225911140442, + -0.1833675194242993, + -0.04411982744932175 + ], + [ + -0.01767938348946746, + 0.999675989151001, + 0.018311616390467012, + 0.006195548456162214 + ], + [ + 0.18368789470301494, + -0.014755302108824253, + 0.9828738381707485, + 0.0025128533598035574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9820460885094332, + 0.021365229040384293, + -0.18742721846439533, + -0.0454619936645031 + ], + [ + -0.01808750470072843, + 0.9996523857116699, + 0.019180985463667626, + 0.005773407407104969 + ], + [ + 0.18777187765373995, + -0.015446522273123264, + 0.9820911796788332, + 0.0017721648328006268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9811814040211487, + 0.02142816781997681, + -0.19189538181051127, + -0.04684769734740257 + ], + [ + -0.017852476619989965, + 0.9996336698532107, + 0.020343362828868696, + 0.00501658022403717 + ], + [ + 0.19226101128603915, + -0.016534723341465, + 0.9812045486759658, + 0.0003381051938049495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9802021578720134, + 0.02021753415465355, + -0.1969644727191865, + -0.04850335791707039 + ], + [ + -0.01642513824331362, + 0.9996472597122192, + 0.020868988119483362, + 0.004001813009381294 + ], + [ + 0.19731691736231033, + -0.01722065731883049, + 0.9801884739224559, + -0.001291116583161056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.979141164876863, + 0.019310014322400093, + -0.20226138683177222, + -0.04989955946803093 + ], + [ + -0.015439880163005442, + 0.9996666312217712, + 0.020694785202226312, + 0.0039547160267829895 + ], + [ + 0.20259356610956514, + -0.017140226438641548, + 0.9791128814351225, + -0.003273644018918276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9779272509744953, + 0.017783416435122493, + -0.20818750559042942, + -0.05081908404827118 + ], + [ + -0.013900398087472426, + 0.9997013211250307, + 0.020099795629154062, + 0.0035706304479390383 + ], + [ + 0.20848277482032535, + -0.01676224917173386, + 0.9778824063443713, + -0.004613487049937248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9766152854578829, + 0.01804093830287457, + -0.21423612100955436, + -0.051323048770427704 + ], + [ + -0.014191023676010286, + 0.9997092485427859, + 0.01949494523970128, + 0.0037061048205941916 + ], + [ + 0.21452554019497053, + -0.015998831018805507, + 0.9765873121451364, + -0.005385026801377535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9755056606398, + 0.01868222840130329, + -0.21917948004554977, + -0.05216841399669647 + ], + [ + -0.014869940762430393, + 0.9997082948684692, + 0.01903037713029481, + 0.003814696567133069 + ], + [ + 0.2194710729254194, + -0.015305055305361748, + 0.9754989292316227, + -0.00654773972928524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9742319070203863, + 0.015522749163210392, + -0.22501390471566052, + -0.053356386721134186 + ], + [ + -0.011578881721438136, + 0.9997555017471313, + 0.018836343694914236, + 0.004003056325018406 + ], + [ + 0.22525128226615887, + -0.015745555981993675, + 0.9741734651141915, + -0.007535645272582769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9717637674238968, + 0.010595408268272877, + -0.2357179743703717, + -0.053858716040849686 + ], + [ + -0.005964677241895376, + 0.9997751116752625, + 0.020349609967418105, + 0.004194918088614941 + ], + [ + 0.23588057871036627, + -0.018369030207395554, + 0.9716084142324729, + -0.007666188757866621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9694109840862036, + 0.008002113550901413, + -0.24531276279781805, + -0.055216819047927856 + ], + [ + -0.0023918828090894423, + 0.9997289180755615, + 0.023159116554604616, + 0.004498118069022894 + ], + [ + 0.24543158099770776, + -0.021863942965865135, + 0.9691673537278017, + -0.009362006559967995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9675048845049496, + 0.007420916575938465, + -0.25274335920323415, + -0.05631193518638611 + ], + [ + -0.0011612458986033688, + 0.9996891021728518, + 0.024907076571458592, + 0.004797614645212889 + ], + [ + 0.2528496168680558, + -0.023804221302270896, + 0.9672127396673776, + -0.010228767991065979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9657131096493402, + 0.007001000456511974, + -0.2595172160514431, + -0.05620286986231804 + ], + [ + -0.00019777814991175702, + 0.9996558427810669, + 0.026231765319415033, + 0.0048049455508589745 + ], + [ + 0.2596115518234967, + -0.025281032547354698, + 0.9653821786363344, + -0.010965163819491863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9637506459753838, + 0.004721043631434441, + -0.26676289395650954, + -0.05711745098233223 + ], + [ + 0.002778565074716816, + 0.9996116161346436, + 0.027728946808325487, + 0.005043662153184414 + ], + [ + 0.2667901884158096, + -0.027465006336569786, + 0.9633631877956629, + -0.0114738829433918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9614407580611378, + 0.0036410270258784294, + -0.2749879723792251, + -0.05818090960383415 + ], + [ + 0.0044650651029637, + 0.9995738863945007, + 0.028846249173170288, + 0.004791955929249525 + ], + [ + 0.2749758245607468, + -0.028961800038814545, + 0.961014848906847, + -0.01252400130033493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9597488166296562, + 0.005049929954111576, + -0.2808144262117376, + -0.05850687995553017 + ], + [ + 0.003151142618543889, + 0.9995818138122559, + 0.028745402562329377, + 0.004761795978993177 + ], + [ + 0.28084213835951716, + -0.028473250567913055, + 0.9593315306900685, + -0.013915585353970528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9583314812770078, + 0.004237707704305649, + -0.2856269943423517, + -0.05862374231219292 + ], + [ + 0.0038688650101472363, + 0.9996057152748108, + 0.027811421963354017, + 0.005123200360685587 + ], + [ + 0.28563221765656754, + -0.027757612988352776, + 0.9579372320525782, + -0.014241311699151993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9565358361142035, + 0.0027345791459083557, + -0.29160190685553694, + -0.05946178734302521 + ], + [ + 0.005748655468364849, + 0.9995849132537842, + 0.028231088977410335, + 0.005104264244437218 + ], + [ + 0.2915580681014499, + -0.02868036739528179, + 0.956123073539625, + -0.014420558698475361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9543747606960052, + 0.0034198691137135038, + -0.2985918830828722, + -0.06043526902794838 + ], + [ + 0.005936702476467797, + 0.999519467353821, + 0.03042301608520329, + 0.00555191608145833 + ], + [ + 0.29855246301048144, + -0.03080761060118676, + 0.9538958724932591, + -0.014773325994610786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9522642888535838, + 0.0051437858492136, + -0.3052314263210991, + -0.06188252940773964 + ], + [ + 0.0052499086777930805, + 0.999434232711792, + 0.033221271576005816, + 0.006756664253771305 + ], + [ + 0.30522961937929294, + -0.033237867057323456, + 0.9516985251133662, + -0.016135821118950844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9498414281331917, + 0.005200646817684174, + -0.31268876243078164, + -0.06311050802469254 + ], + [ + 0.006495633964589225, + 0.9993179440498352, + 0.036352194423343996, + 0.008285482414066792 + ], + [ + 0.31266453244341147, + -0.036559928208589554, + 0.9491597379866832, + -0.01723688282072544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9470302663127318, + 0.002948856446892024, + -0.3211308205612463, + -0.06489729881286621 + ], + [ + 0.010369861658453314, + 0.9991555809974673, + 0.03975619657036353, + 0.008172367699444294 + ], + [ + 0.3209769025424207, + -0.04098040238022805, + 0.9462000255284495, + -0.02150273695588112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9443297387462385, + 0.002633781172335148, + -0.3289899607363297, + -0.06522674113512039 + ], + [ + 0.011845859753825263, + 0.9990473985671997, + 0.04200028009405745, + 0.008846974931657314 + ], + [ + 0.32878717482132913, + -0.04355928301811218, + 0.9433989324486602, + -0.021689364686608315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9429636266184839, + 0.0037080009933561095, + -0.33287515237961757, + -0.06695067882537842 + ], + [ + 0.010814290053186577, + 0.9990689754486086, + 0.04176350017369962, + 0.008846496231853962 + ], + [ + 0.33272010460033785, + -0.04298126697540284, + 0.942045616856932, + -0.02441730909049511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.941988735167299, + 0.0022264376748353243, + -0.33563710160884547, + -0.0679413378238678 + ], + [ + 0.011955103815334212, + 0.9991208910942078, + 0.04018045978024416, + 0.008728266693651676 + ], + [ + 0.3354315035303877, + -0.041862115263938904, + 0.9411340030179399, + -0.02581850439310074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.940846272822541, + 0.0007292600348591805, + -0.3388328906701727, + -0.06796954572200775 + ], + [ + 0.013055922555681132, + 0.9991770386695862, + 0.03840322726507074, + 0.009101287461817265 + ], + [ + 0.33858204662884955, + -0.040555309504270554, + 0.9400624783673097, + -0.026459379121661186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9404242313861443, + 0.0012281888630241158, + -0.34000116258288704, + -0.06880748271942139 + ], + [ + 0.01179154438198626, + 0.9992741346359255, + 0.0362244411797999, + 0.009251723065972328 + ], + [ + 0.339798838067267, + -0.038075476884841926, + 0.9397270797952507, + -0.027213992550969124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.940300461219916, + 0.0010520613286644223, + -0.34034390433385914, + -0.06953490525484085 + ], + [ + 0.011495039879573551, + 0.9993265271186831, + 0.03484752851343319, + 0.009485025890171528 + ], + [ + 0.3401513598797563, + -0.03667941316962243, + 0.9396550959116009, + -0.026845550164580345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9398437932193117, + 0.001028877915814519, + -0.3416030266421169, + -0.06959479302167892 + ], + [ + 0.011521732131068425, + 0.9993310570716858, + 0.034709350778039265, + 0.009475773200392723 + ], + [ + 0.34141020794160004, + -0.03655722364783287, + 0.9392031834950765, + -0.027191130444407463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9392830645099811, + 0.0031139508355408916, + -0.34312920186691925, + -0.06992318481206894 + ], + [ + 0.00953159649352647, + 0.9993361830711367, + 0.03516095823933485, + 0.009645828977227211 + ], + [ + 0.3430109256491822, + -0.03629665821790696, + 0.9386298676109611, + -0.028117185458540916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9389263105565204, + 0.002429931424558163, + -0.34410971540607954, + -0.07023508846759796 + ], + [ + 0.010154011406201716, + 0.9993439912796023, + 0.03476276577430034, + 0.0094522750005126 + ], + [ + 0.34396845646112606, + -0.03613376989960671, + 0.9382857206174713, + -0.028828442096710205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.937994522462223, + -0.001322183758020401, + -0.34664754305940015, + -0.06982432305812836 + ], + [ + 0.013587030900859989, + 0.9993645548820496, + 0.032953408174792025, + 0.009309643879532814 + ], + [ + 0.3463836773894287, + -0.03562002629041672, + 0.937416400042433, + -0.0296771302819252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9367385989773662, + -0.004010131582617761, + -0.35000679421509606, + -0.07023680955171585 + ], + [ + 0.015617816057033204, + 0.9994173645973208, + 0.030348030860338077, + 0.008334188722074032 + ], + [ + 0.3496811634910595, + -0.03389451280236245, + 0.9362554462300611, + -0.031940799206495285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9357085654823359, + -0.003884189296513796, + -0.3527525277041662, + -0.0712815672159195 + ], + [ + 0.014749189635636003, + 0.999495804309845, + 0.028118051728650468, + 0.00817849487066269 + ], + [ + 0.3524654529295846, + -0.031513117253780365, + 0.9352940928544582, + -0.03390656039118767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9347166523282724, + -0.004561256151646376, + -0.3553645309031631, + -0.07210902869701385 + ], + [ + 0.014599481421560409, + 0.999566376209259, + 0.025571209622245235, + 0.00787095632404089 + ], + [ + 0.3550937928955423, + -0.029089972376823425, + 0.9343779504810977, + -0.03536912798881531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9334958612166245, + -0.0032731418032199144, + -0.3585732374617524, + -0.07325458526611328 + ], + [ + 0.012573155152201157, + 0.9996422529220581, + 0.023607499449538324, + 0.008340969681739807 + ], + [ + 0.35836769333426116, + -0.026545898988842964, + 0.9332030442652421, + -0.036969926208257675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9321727325354012, + -0.0010907617397606373, + -0.3620121672697248, + -0.07467558234930038 + ], + [ + 0.00995328419617306, + 0.9996946454048157, + 0.02261733875577666, + 0.008439026772975922 + ], + [ + 0.36187695158896466, + -0.024686478078365326, + 0.9318989462029613, + -0.03752904757857323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9306602824108954, + -0.001058371039107442, + -0.3658829821800108, + -0.07578970491886139 + ], + [ + 0.00949695456526267, + 0.999728798866272, + 0.021264599001217164, + 0.008005634881556034 + ], + [ + 0.36576124313235575, + -0.023264892399311066, + 0.9304179198878048, + -0.03886814042925835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9287836406931653, + 0.00030157412402331834, + -0.3706222579261989, + -0.07762030512094498 + ], + [ + 0.007850972493261364, + 0.9997592568397524, + 0.02048812953799782, + 0.00852649100124836 + ], + [ + 0.3705392152012464, + -0.02193878404796124, + 0.9285577143737256, + -0.041541822254657745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9268028256209028, + 0.0035560098476707935, + -0.3755314567118156, + -0.07874280959367752 + ], + [ + 0.0047215819862256375, + 0.9997658133506775, + 0.02111980828675025, + 0.008922186680138111 + ], + [ + 0.3755186242318324, + -0.02134700119495392, + 0.9265690046689302, + -0.04206449165940285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9247554710536977, + 0.005951606668531896, + -0.3805152631221601, + -0.08079435676336288 + ], + [ + 0.0026523057706670525, + 0.9997526407241824, + 0.02208286956417748, + 0.009304077364504337 + ], + [ + 0.3805525693945258, + -0.02143049612641335, + 0.9245109687234866, + -0.04370606318116188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9225511624622378, + 0.009472512640058994, + -0.38575843356005035, + -0.08246317505836487 + ], + [ + -0.0007297788559283788, + 0.9997397065162659, + 0.02280387718355584, + 0.010203556157648563 + ], + [ + 0.38587404021242755, + -0.020756224170327187, + 0.9223179636494867, + -0.04579564183950424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9204429594036722, + 0.013183149509131908, + -0.3906545527645078, + -0.08462268859148026 + ], + [ + -0.004471220165860055, + 0.9997208118438721, + 0.023201996773288255, + 0.011436164379119873 + ], + [ + 0.3908513619759451, + -0.01960941031575203, + 0.9202448994287256, + -0.04782763496041298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9182707692355937, + 0.015145344659686089, + -0.3956632757417597, + -0.08620767295360565 + ], + [ + -0.006188180151652484, + 0.9996950626373291, + 0.023904928839486073, + 0.012182626873254776 + ], + [ + 0.39590467534366436, + -0.019502760842442513, + 0.9180845117439875, + -0.04875897616147995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9159680725510447, + 0.015994666144251827, + -0.4009321811967521, + -0.08893152326345444 + ], + [ + -0.00685927100271893, + 0.9996833801269533, + 0.024210396916365874, + 0.013167506083846092 + ], + [ + 0.40119245122594793, + -0.01942585036158562, + 0.9157877423681678, + -0.048420317471027374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9139676366676885, + 0.016623938456177715, + -0.4054463949452158, + -0.09043006598949432 + ], + [ + -0.007670199096022135, + 0.9996896982192995, + 0.023698488783778174, + 0.013609410263597965 + ], + [ + 0.40571456062703504, + -0.018549798056483272, + 0.9138115565102587, + -0.05084238573908806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9117837399866289, + 0.0147621501237154, + -0.4104053492163975, + -0.09263089299201965 + ], + [ + -0.005516329169584034, + 0.9997038245201111, + 0.023703589533673342, + 0.013917474076151848 + ], + [ + 0.4106336935323728, + -0.019348617643117905, + 0.9115950737952214, + -0.050943922251462936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9078249561523926, + 0.009729450568556786, + -0.41923640539993184, + -0.09433194249868393 + ], + [ + 0.0007823529996557451, + 0.9996897578239441, + 0.024894477707022435, + 0.014829829335212708 + ], + [ + 0.4193485457416384, + -0.022927820682525635, + 0.9075357132548851, + -0.052176233381032944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9030503742382527, + 0.0073620611801743525, + -0.4294715763794566, + -0.09667028486728668 + ], + [ + 0.004523972371669253, + 0.9996346235275271, + 0.02664843861631742, + 0.015522211790084839 + ], + [ + 0.4295108416482376, + -0.02600779943168164, + 0.902687154718743, + -0.05434783548116684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8998678416322862, + 0.01057582162320614, + -0.43603438618434126, + -0.10037203133106232 + ], + [ + 0.0015857841403584313, + 0.9996200203895571, + 0.027518011777070635, + 0.016863403841853142 + ], + [ + 0.43615977370509385, + -0.025454031303524978, + 0.8995091846706695, + -0.05493897199630737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8975654425473905, + 0.01172216609120369, + -0.44072537163788444, + -0.10241934657096863 + ], + [ + 0.00020793363145334956, + 0.9996351003646851, + 0.027011205925903434, + 0.01834907755255699 + ], + [ + 0.4408811711942814, + -0.024335967376828194, + 0.8972355145370446, + -0.055900610983371735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8948119702427584, + 0.010826630517840385, + -0.4463119042655549, + -0.10565511882305145 + ], + [ + 0.0005495781217961785, + 0.9996784329414368, + 0.025352042566446308, + 0.019235776737332344 + ], + [ + 0.44644287782857744, + -0.02293059602379799, + 0.8945182713971978, + -0.05696309730410576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.8917913243155293, + 0.011121241375803947, + -0.4523102549162459, + -0.10802990943193436 + ], + [ + -0.00016071193469160115, + 0.9997056126594543, + 0.02426353557538609, + 0.020868415012955666 + ], + [ + 0.45244690768360796, + -0.02156531810760498, + 0.8915305652874456, + -0.058042872697114944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.8889439761253357, + 0.011620528995990755, + -0.4578684722636724, + -0.11129747331142426 + ], + [ + -0.0005897175958308971, + 0.9997063279151919, + 0.02422724152203789, + 0.022428402677178383 + ], + [ + 0.45801556134227045, + -0.021266648545861248, + 0.8886897893351341, + -0.05700857937335968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.8856731696405925, + 0.009156806394457817, + -0.46421895963389176, + -0.1135193258523941 + ], + [ + 0.0019433989332682299, + 0.9997236728668213, + 0.0234275049211285, + 0.023887600749731064 + ], + [ + 0.46430517577297986, + -0.02165127545595169, + 0.885410586190687, + -0.057950519025325775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.881667781267725, + 0.006843728944659233, + -0.47182104919226814, + -0.11605596542358398 + ], + [ + 0.0035958629094386078, + 0.9997683167457581, + 0.02122097007437379, + 0.025320544838905334 + ], + [ + 0.4718569638493168, + -0.020406449213624, + 0.8814389583225654, + -0.05901492014527321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.878355050482392, + 0.004739408381283283, + -0.47798526479111736, + -0.11804447323083878 + ], + [ + 0.004412429608911813, + 0.9998278617858887, + 0.018022045372739375, + 0.026277899742126465 + ], + [ + 0.4779883732976516, + -0.017938831821084023, + 0.8781829616209019, + -0.06052922084927559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.875735582811351, + 0.00048149481881409894, + -0.4827908265450151, + -0.12017077207565308 + ], + [ + 0.006492373708935811, + 0.999897360801697, + 0.012773747087118245, + 0.0269765742123127 + ], + [ + 0.48274743256957725, + -0.014320883899927143, + 0.8756425018580573, + -0.06121378764510155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.8731622670812854, + -0.0023280244786292315, + -0.48742411373459676, + -0.12189450860023499 + ], + [ + 0.006898400260185901, + 0.9999474883079529, + 0.007581734602467321, + 0.02667931281030178 + ], + [ + 0.4873808781371405, + -0.009982530027627945, + 0.8731324581987782, + -0.06608466804027557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.8709846670189864, + 0.001022196956910193, + -0.4913091176218316, + -0.1229144036769867 + ], + [ + 0.002808998668955595, + 0.9999711513519287, + 0.007060243929361039, + 0.029133906587958336 + ], + [ + 0.4913021562997233, + -0.0075294505804777145, + 0.8709566859728266, + -0.06692681461572647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.8694418705585816, + 0.006354016717523336, + -0.4939943665549833, + -0.12391018122434616 + ], + [ + -0.0018553978490546425, + 0.9999522566795349, + 0.009596369967554882, + 0.0304003544151783 + ], + [ + 0.49403175497590884, + -0.007426930125802755, + 0.8694121271950209, + -0.06894580274820328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.8678150162869662, + 0.01105639711022377, + -0.4967643830732437, + -0.12470269203186035 + ], + [ + -0.006154178783044955, + 0.9999148845672607, + 0.011503980673194438, + 0.03136933594942093 + ], + [ + 0.49684927711165344, + -0.006926150992512703, + 0.8678091837131225, + -0.07089942693710327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.8661720980868254, + 0.017063949257135395, + -0.4994544552904464, + -0.12557350099086761 + ], + [ + -0.011768750068474854, + 0.9998362064361574, + 0.013749786994372506, + 0.03300539404153824 + ], + [ + 0.4996072811703722, + -0.006031728349626066, + 0.8662310170575636, + -0.0727415606379509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.8644356150868773, + 0.02129501663148403, + -0.5022923822602864, + -0.12601514160633087 + ], + [ + -0.014874757038977227, + 0.9997484683990479, + 0.01678582076117086, + 0.03382061421871185 + ], + [ + 0.5025234658941369, + -0.007038784213364124, + 0.8645349378341534, + -0.07331940531730652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.8622757769159168, + 0.02543644607067108, + -0.5057998687659805, + -0.12731686234474182 + ], + [ + -0.017197201192906405, + 0.9996325373649597, + 0.020953680003659096, + 0.03414154425263405 + ], + [ + 0.5061470092089009, + -0.009369507431983948, + 0.8623963002099789, + -0.0744858831167221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.8600885680476124, + 0.029489342123270035, + -0.5092916981068959, + -0.12871181964874268 + ], + [ + -0.019643244648961288, + 0.9995018839836121, + 0.024700430635850267, + 0.035571370273828506 + ], + [ + 0.5097664354662794, + -0.011240417137742043, + 0.8602394141960551, + -0.0741395503282547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.8579383883337942, + 0.033177480101585395, + -0.512680242482039, + -0.1305299699306488 + ], + [ + -0.02187758108311625, + 0.9993667602539065, + 0.028062047595471304, + 0.03684626892209053 + ], + [ + 0.5132865898766159, + -0.01285930443555117, + 0.8581209074365563, + -0.0754040777683258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.8558228813443763, + 0.03659965842962265, + -0.5159725025124859, + -0.13202621042728424 + ], + [ + -0.023982237312262043, + 0.9992285370826721, + 0.031100246900552565, + 0.036791056394577026 + ], + [ + 0.5167126944275393, + -0.014242127537727356, + 0.8560404089086422, + -0.07570022344589233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.8541357721254222, + 0.04018979147076607, + -0.518494804444702, + -0.1331745833158493 + ], + [ + -0.026960294429520013, + 0.9990906715393066, + 0.0330292513751262, + 0.0367601178586483 + ], + [ + 0.5193507930389696, + -0.014232693240046501, + 0.8544425941002171, + -0.07735444605350494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.853173038452043, + 0.042634475976228714, + -0.5198827620829417, + -0.13377439975738525 + ], + [ + -0.02953771961180579, + 0.9990037679672241, + 0.03345219201719115, + 0.03692128509283066 + ], + [ + 0.5207910102058372, + -0.013184359297156334, + 0.8535823771171592, + -0.07854550331830978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.8536500994368063, + 0.04542934149503708, + -0.5188618535628459, + -0.13394318521022797 + ], + [ + -0.03293753401075227, + 0.9989035129547119, + 0.033269733097444465, + 0.03709018602967262 + ], + [ + 0.5198043728246174, + -0.011310679838061333, + 0.8542104297647544, + -0.07844052463769913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.8549669333434504, + 0.045206204056739814, + -0.5167088172792503, + -0.13362428545951843 + ], + [ + -0.03350415017122581, + 0.9989275336265566, + 0.0319576160377896, + 0.03689119964838028 + ], + [ + 0.5175993149247857, + -0.010010814294219019, + 0.8555645503433794, + -0.07905165106058121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.8559117844412992, + 0.04440782219171524, + -0.515211539273462, + -0.1328732669353485 + ], + [ + -0.03349633520513332, + 0.998974621295929, + 0.030458133496606626, + 0.03593836724758148 + ], + [ + 0.5160358509992732, + -0.008811777457594872, + 0.8565216846791663, + -0.07900763303041458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.8572989895208271, + 0.043994408100843437, + -0.5129356320240194, + -0.132091224193573 + ], + [ + -0.03380642427148745, + 0.999002277851105, + 0.029181641066817157, + 0.03551400080323219 + ], + [ + 0.5137076846609576, + -0.0076768728904426115, + 0.8579309209635854, + -0.07820001244544983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.85866237042511, + 0.043043866753578186, + -0.5107310556346197, + -0.13089732825756073 + ], + [ + -0.032936581053881364, + 0.999041736125946, + 0.028823808330384584, + 0.03511994704604149 + ], + [ + 0.511482344664223, + -0.007928185164928436, + 0.8592572351227052, + -0.07714848965406418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.8595171887350825, + 0.04237799346446992, + -0.5093469180361541, + -0.12991675734519958 + ], + [ + -0.03192269177307949, + 0.9990621209144595, + 0.029253427416295323, + 0.03588947653770447 + ], + [ + 0.5101089145092352, + -0.008884098380804064, + 0.8600639190496127, + -0.07663484662771225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.8600184235554122, + 0.0423775538802147, + -0.5085001676281894, + -0.12943686544895172 + ], + [ + -0.03148021529779206, + 0.9990535378456118, + 0.030017450225474217, + 0.03560681641101837 + ], + [ + 0.5092909559408417, + -0.009807866066694261, + 0.8605384988393523, + -0.07493210583925247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.8602884342912615, + 0.043363362550735474, + -0.507960109592977, + -0.12908220291137695 + ], + [ + -0.032416719201930747, + 0.9990125298500061, + 0.03038194274788902, + 0.03617692366242409 + ], + [ + 0.5087760188632034, + -0.009670834988355637, + 0.8608446351700965, + -0.0736924260854721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.8603174742997306, + 0.04289216548204423, + -0.5079509134692967, + -0.12847283482551575 + ], + [ + -0.031909061369236484, + 0.9990309476852419, + 0.030315278596038622, + 0.03603048622608185 + ], + [ + 0.5087589405864273, + -0.009872527793049814, + 0.8608524019881361, + -0.07454055547714233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8595360495212782, + 0.042706429958343506, + -0.5092876934921334, + -0.12867353856563568 + ], + [ + -0.031263947818359, + 0.9990300536155701, + 0.031009025802023898, + 0.0363350547850132 + ], + [ + 0.5101179877833089, + -0.010731031186878681, + 0.8600374899862563, + -0.07371305674314499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.858445555887883, + 0.04303843528032303, + -0.5110958371704899, + -0.12886856496334076 + ], + [ + -0.030894910697661267, + 0.9990028142929077, + 0.032232539174426415, + 0.03671779856085777 + ], + [ + 0.5119733701567508, + -0.011879620142281055, + 0.8589191474560366, + -0.07379645109176636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8565127967908484, + 0.04241885989904404, + -0.5143796812269195, + -0.1294250637292862 + ], + [ + -0.02984958982214524, + 0.999019980430603, + 0.03268156007815295, + 0.03743763640522957 + ], + [ + 0.5152619088017407, + -0.01263815350830555, + 0.8569395746457663, + -0.0736817717552185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.8540655969157683, + 0.04385809600353242, + -0.5183130312889067, + -0.12943342328071594 + ], + [ + -0.030961011303287034, + 0.9989586472511294, + 0.03351197393081626, + 0.037286628037691116 + ], + [ + 0.5192430793706191, + -0.01257392764091492, + 0.8545340872970647, + -0.07610617578029633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8518268072739786, + 0.04404160752892495, + -0.5219688087975226, + -0.13053902983665466 + ], + [ + -0.03092499899990751, + 0.9989494085311892, + 0.033819254573904715, + 0.0377490408718586 + ], + [ + 0.5229098650307072, + -0.012666262686252597, + 0.8522938701775911, + -0.07780091464519501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.849259988418001, + 0.04360396042466164, + -0.5261712237732468, + -0.13125091791152954 + ], + [ + -0.0301919092026735, + 0.9989638924598696, + 0.034053559735086135, + 0.0387905016541481 + ], + [ + 0.5271109015174971, + -0.01303421333432198, + 0.8496965589283574, + -0.07769538462162018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.8467791299897613, + 0.04398715868592262, + -0.5301228728323837, + -0.1312449872493744 + ], + [ + -0.03028916784685711, + 0.998945415019989, + 0.034506209680460004, + 0.03896122798323631 + ], + [ + 0.5310816249873496, + -0.013162157498300076, + 0.8472184335225553, + -0.07985249161720276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8445751665964918, + 0.045499544590711594, + -0.5335003057124408, + -0.13214659690856934 + ], + [ + -0.03160073139235502, + 0.9988818764686584, + 0.035163014804828696, + 0.03981241583824158 + ], + [ + 0.534503660822455, + -0.012838810682296753, + 0.8450686568655568, + -0.08136390149593353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8428807442206302, + 0.04707671701908113, + -0.5360371803155127, + -0.13316212594509125 + ], + [ + -0.03262770981000889, + 0.998804032802582, + 0.03641378760649834, + 0.040210530161857605 + ], + [ + 0.5371103101953004, + -0.013202816247940067, + 0.8434086939002601, + -0.0826641321182251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.8412362298876044, + 0.04793456941843033, + -0.5385387108311187, + -0.13406483829021454 + ], + [ + -0.03261556854242906, + 0.9987472295761108, + 0.03794921542474501, + 0.04156605526804924 + ], + [ + 0.5396831222819723, + -0.014359508641064167, + 0.841745797552851, + -0.08181848376989365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.8392571529968987, + 0.05043986812233925, + -0.5413901124307559, + -0.13529673218727112 + ], + [ + -0.03338067402971598, + 0.9985894560813904, + 0.04128954085616062, + 0.043276265263557434 + ], + [ + 0.5427090954975236, + -0.016580577939748764, + 0.8397570864154437, + -0.0812995433807373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8364667396300965, + 0.05161328241229057, + -0.5455817663172832, + -0.13662801682949066 + ], + [ + -0.03246821266046421, + 0.9984736442565918, + 0.04467876978152905, + 0.04377543181180954 + ], + [ + 0.5470550370014412, + -0.019658245146274567, + 0.8368657978570446, + -0.08112145960330963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.8338158722725685, + 0.05381506308913231, + -0.5494133756626259, + -0.1377517133951187 + ], + [ + -0.03397551075917127, + 0.9983530640602112, + 0.0462258815653541, + 0.04540969058871269 + ], + [ + 0.5509961659700445, + -0.019877273589372635, + 0.8342710496829594, + -0.0820760577917099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.8324810103624316, + 0.0564447231590748, + -0.5511709094176636, + -0.13833339512348175 + ], + [ + -0.03660493143216798, + 0.9982268214225771, + 0.04693956875286537, + 0.04540468379855156 + ], + [ + 0.5528430615366489, + -0.01890072971582413, + 0.8330710469255054, + -0.08275008946657181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.8316622812756477, + 0.05527335777878761, + -0.552523941143248, + -0.13877825438976288 + ], + [ + -0.03534456069034523, + 0.9982850551605225, + 0.04666553875732503, + 0.04593238979578018 + ], + [ + 0.5541557864469941, + -0.019281255081295967, + 0.8321896683922165, + -0.08222147822380066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.8304125914102778, + 0.05376797914505005, + -0.5545483691845042, + -0.13937370479106903 + ], + [ + -0.033355624597903547, + 0.998344898223877, + 0.046849039011673844, + 0.04617694765329361 + ], + [ + 0.556149539744981, + -0.020406726747751236, + 0.8308316666481699, + -0.08228185772895813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.8291187615182617, + 0.053833976387977614, + -0.556474626265041, + -0.1388126015663147 + ], + [ + -0.03315580413199032, + 0.9983360171318056, + 0.04717969243320674, + 0.04677540063858032 + ], + [ + 0.5580885295836577, + -0.020667206496000293, + 0.829524008982177, + -0.08255494385957718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.8277858380940076, + 0.05397547036409378, + -0.5584418149465419, + -0.13892419636249542 + ], + [ + -0.03281452337262064, + 0.9983153939247131, + 0.04784946714147622, + 0.04729406535625458 + ], + [ + 0.5600837906666494, + -0.021284110844135284, + 0.8281625470559553, + -0.08239751309156418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.8263637192350712, + 0.055054228752851486, + -0.5604391415424091, + -0.13989517092704773 + ], + [ + -0.03284650935342624, + 0.9982275366783142, + 0.04962802046255729, + 0.048128239810466766 + ], + [ + 0.5621779870925917, + -0.022602327167987823, + 0.8267073508058653, + -0.08150085806846619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.8249552392959504, + 0.057277075946331024, + -0.5622883714387922, + -0.14031054079532623 + ], + [ + -0.03396396684871048, + 0.9980777502059937, + 0.05183856730628498, + 0.04888273775577545 + ], + [ + 0.564176703618231, + -0.023666951805353165, + 0.8253148168861755, + -0.08172295987606049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.8241681984402276, + 0.06073314696550369, + -0.5630793059573898, + -0.14049488306045532 + ], + [ + -0.03649889748584754, + 0.9978625178337097, + 0.05420568709374128, + 0.04936511069536209 + ], + [ + 0.5651678112641785, + -0.024122830480337143, + 0.824623213219476, + -0.08227592706680298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.8237934397342614, + 0.061553083360195174, + -0.5635384838663086, + -0.14078372716903687 + ], + [ + -0.036560306328524285, + 0.99778687953949, + 0.055539634558478816, + 0.050373274832963943 + ], + [ + 0.5657099319245741, + -0.025150051340460784, + 0.8242206574547724, + -0.08151537925004959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.8233463726101132, + 0.06179303303360939, + -0.5641652081040878, + -0.13999724388122559 + ], + [ + -0.036093138700790665, + 0.9977438449859619, + 0.05660835367120866, + 0.05024877190589905 + ], + [ + 0.566390370692435, + -0.026245787739753723, + 0.8237190942167929, + -0.08231335133314133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.823212630608273, + 0.06023744493722917, + -0.5645285573679563, + -0.13964292407035828 + ], + [ + -0.03441312757464525, + 0.9978212714195254, + 0.056289239749671295, + 0.04999149218201637 + ], + [ + 0.566689283588428, + -0.026910822838544853, + 0.823492017038018, + -0.08227436244487762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.8225948878577732, + 0.05812540277838707, + -0.5656492951347516, + -0.13969901204109192 + ], + [ + -0.03257251430553104, + 0.9979450702667236, + 0.05517902825493412, + 0.0504322275519371 + ], + [ + 0.5676942107856427, + -0.026965370401740074, + 0.822797761107538, + -0.08241365104913712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.821670084998934, + 0.05790408328175545, + -0.5670144727286561, + -0.14080816507339478 + ], + [ + -0.03222943357634661, + 0.9979546070098877, + 0.05520791678406085, + 0.050189316272735596 + ], + [ + 0.5690514619359704, + -0.027088137343525887, + 0.821855599346144, + -0.08223825693130493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.8201678116766102, + 0.058413323014974594, + -0.5691332623289195, + -0.14173616468906403 + ], + [ + -0.032616377934975876, + 0.9979302287101746, + 0.05542027035748479, + 0.05007442459464073 + ], + [ + 0.5711925718180346, + -0.026890859007835388, + 0.820375458768297, + -0.08095233142375946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.8180556714869185, + 0.062402725219726576, + -0.5717436674490859, + -0.14316527545452118 + ], + [ + -0.03581815365942568, + 0.9976944327354433, + 0.05764403004523827, + 0.049786850810050964 + ], + [ + 0.5740226380780834, + -0.0266772210597992, + 0.8184047225573239, + -0.08116193860769272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.8156520990322011, + 0.06437743455171585, + -0.5749497045931969, + -0.14389479160308838 + ], + [ + -0.036765292780710335, + 0.9975486993789673, + 0.059539009745542805, + 0.050336360931396484 + ], + [ + 0.5773733052415623, + -0.027424927800893784, + 0.8160195561605359, + -0.08150199800729752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.813155529426219, + 0.06440714001655579, + -0.5784719302761187, + -0.14473262429237366 + ], + [ + -0.03609755293410243, + 0.9975260496139526, + 0.06032249737285181, + 0.05070008337497711 + ], + [ + 0.5809260304385584, + -0.0281701497733593, + 0.8134687460044422, + -0.08320119231939316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.810811791347327, + 0.06345342099666595, + -0.5818573268458359, + -0.1465032547712326 + ], + [ + -0.03477546919269569, + 0.9975726008415222, + 0.06032928209383468, + 0.05028694123029709 + ], + [ + 0.5842730220980156, + -0.028681330382823944, + 0.8110502134712068, + -0.08302737772464752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.808279884505373, + 0.0612824410200119, + -0.5856006625548977, + -0.14649388194084167 + ], + [ + -0.0332445610770774, + 0.9977322220802307, + 0.058525472604236455, + 0.04997016862034798 + ], + [ + 0.5878592448593178, + -0.02783692628145218, + 0.8084841455042241, + -0.08363025635480881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.8059601519052254, + 0.059514906257390976, + -0.5889704163752022, + -0.14715468883514404 + ], + [ + -0.03279467695454277, + 0.997894287109375, + 0.055959315571557484, + 0.04991907626390457 + ], + [ + 0.5910606600118138, + -0.025785885751247406, + 0.8062148335836964, + -0.08471915125846863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.8038180383671673, + 0.058263108134269714, + -0.5920151787386069, + -0.14804702997207642 + ], + [ + -0.032355469590020676, + 0.9980010390281677, + 0.05428700207860417, + 0.05017000064253807 + ], + [ + 0.5939946616672798, + -0.024481941014528275, + 0.8040963729822208, + -0.0852975845336914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/pan_right/transforms.json b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..6e3b9d593b00fdd5eb931e05c06d9cf3e1236293 --- /dev/null +++ b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/pan_right/transforms.json @@ -0,0 +1,6628 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 189, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.70307084772503e-05, + 7.986521086422727e-05, + -0.00025786555488593876 + ], + [ + -1.7034815755323507e-05, + 1.0, + 5.142964801052585e-05, + -0.00014517392264679074 + ], + [ + -7.986433774931356e-05, + -5.1431008614599705e-05, + 1.0, + -0.0002484802098479122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999979864074635, + -0.001730418181978166, + 0.000986580867686048, + -0.00010069082054542378 + ], + [ + 0.001729762571345754, + 0.9999982714653015, + 0.0006649489864556102, + 0.00030974409310147166 + ], + [ + -0.0009877298492082332, + -0.0006632410804741085, + 0.9999992961109049, + 8.321263885591179e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999959375730918, + -0.0025760482531040907, + 0.0012246780563386931, + -0.0001496597978984937 + ], + [ + 0.0025746335502219906, + 0.9999960064888, + 0.001155250646639925, + 0.001147317816503346 + ], + [ + -0.0012276492163177013, + -0.0011520928237587214, + 0.9999986115175107, + 0.0004537832865025848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999991759970654, + -0.003408124204725027, + 0.0021921755764851853, + -5.214030898059718e-05 + ], + [ + 0.003404991709070097, + 0.9999932050704956, + 0.0014310787151341753, + 0.001757200574502349 + ], + [ + -0.0021970381154905153, + -0.001423602574504912, + 0.9999965676749085, + 0.0012955418787896633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999861831340333, + -0.004480343777686358, + 0.0027402171476560776, + -5.521769139704702e-07 + ], + [ + 0.004475839187364396, + 0.9999886155128481, + 0.0016479595672793546, + 0.0024070125073194504 + ], + [ + -0.002747569736823141, + -0.0016356720589101319, + 0.9999949041969312, + 0.0019917336758226156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999848315862774, + -0.004437757655978203, + 0.0032714629784389255, + -7.531858864240348e-05 + ], + [ + 0.004429928554882751, + 0.9999873042106628, + 0.002396523365381244, + 0.0027251383289694786 + ], + [ + -0.003282056593729685, + -0.0023819946218281984, + 0.9999917913429689, + 0.002327415393665433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999985523135775, + -0.003654320491477847, + 0.003948485357554633, + -7.78667235863395e-05 + ], + [ + 0.003640397953015295, + 0.9999871253967285, + 0.0035274759117720367, + 0.0029705665074288845 + ], + [ + -0.003961325377339979, + -0.0035130507312715054, + 0.9999860119183198, + 0.002723151119425893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999778485884018, + -0.004266171250492334, + 0.005110123036954629, + -0.00010015643783845007 + ], + [ + 0.004245889771075943, + 0.9999830722808838, + 0.003973117863189065, + 0.0030597764998674393 + ], + [ + -0.005126986950195469, + -0.003951332997530699, + 0.9999790551682705, + 0.003115626284852624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999733205337112, + -0.0046034841798245916, + 0.005675015434509344, + -4.049779090564698e-05 + ], + [ + 0.00458162005091571, + 0.9999820590019228, + 0.003859638210531804, + 0.002960567595437169 + ], + [ + -0.005692681461171496, + -0.0038335341960191735, + 0.9999764617862213, + 0.0032456752378493547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999686520545661, + -0.004787477664649487, + 0.006304081006293978, + -0.0001580197422299534 + ], + [ + 0.0047633220034271305, + 0.9999812841415407, + 0.003841227146054596, + 0.003002662444487214 + ], + [ + -0.006322353570108668, + -0.0038110783789306888, + 0.999972774514275, + 0.003406716976314783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999718795050906, + -0.003218867816030979, + 0.006769122633259561, + -0.00021371089678723365 + ], + [ + 0.0031928932570993735, + 0.9999874830245972, + 0.003844517833551678, + 0.003123074071481824 + ], + [ + -0.006781413685109971, + -0.003822796978056431, + 0.9999696815805587, + 0.003027641214430332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999690786781148, + -0.0005690651014447212, + 0.007844838894339007, + -0.000438048125943169 + ], + [ + 0.0005418233239597224, + 0.9999938011169434, + 0.003474261858595565, + 0.003140944754704833 + ], + [ + -0.00784676736045203, + -0.0034699037205427885, + 0.9999632071949064, + 0.0031641421373933554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999615496714142, + 0.0005087140598334373, + 0.008751433637295173, + -0.0005098708206787705 + ], + [ + -0.0005327213739928828, + 0.9999961256980898, + 0.0027411301435853012, + 0.0032102668192237616 + ], + [ + -0.008750005891678408, + -0.0027456867974251513, + 0.99995793714108, + 0.0033533754758536816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999456769669575, + 0.0012250833678990605, + 0.010349928200512632, + -0.0006842436851002276 + ], + [ + -0.0012451691584082518, + 0.9999973773956301, + 0.0019344568146239046, + 0.0032327589578926563 + ], + [ + -0.010347531354264243, + -0.0019472392741590743, + 0.9999445876883154, + 0.00363566679880023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.999929912282381, + 0.00140003755223006, + 0.011755886634181997, + -0.0009227905538864434 + ], + [ + -0.0014230423682006377, + 0.999997079372406, + 0.001948742181841426, + 0.003321658121421933 + ], + [ + -0.0117531248879023, + -0.001965334638953209, + 0.9999290122757954, + 0.0038056394550949335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999278549291722, + 0.0020004191901534796, + 0.011846044517330262, + -0.0012114421697333455 + ], + [ + -0.002039318075030254, + 0.9999925494194031, + 0.0032725428317661232, + 0.0032357240561395884 + ], + [ + -0.011839410398180053, + -0.0032964644487947226, + 0.999924476083086, + 0.004039526917040348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999361569396955, + 0.002833987819030881, + 0.010939786817043497, + -0.001467360183596611 + ], + [ + -0.0028869741070194706, + 0.9999841451644897, + 0.004830696785639243, + 0.003482063766568899 + ], + [ + -0.010925923692922564, + -0.0048619708977639675, + 0.9999284768669755, + 0.004190320149064064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999219922473066, + 0.005353976972401142, + 0.01128675109022653, + -0.0024411617778241634 + ], + [ + -0.005422810696256768, + 0.9999668598175049, + 0.006076877849865297, + 0.003990332130342722 + ], + [ + -0.011253840132427312, + -0.006137609947472811, + 0.9999178229333617, + 0.004655714146792889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998959750039192, + 0.0073814382776618, + 0.012390205982441128, + -0.00308724632486701 + ], + [ + -0.007472967443329576, + 0.9999449849128723, + 0.0073572703973568574, + 0.004504373762756586 + ], + [ + -0.012335217402888135, + -0.007449097000062466, + 0.9998961611633443, + 0.005395411979407072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998903724108419, + 0.007767716888338327, + 0.012605011007838857, + -0.0033701404463499784 + ], + [ + -0.007881050353923669, + 0.9999287724494934, + 0.008966486730535314, + 0.005083991680294275 + ], + [ + -0.012534464690122517, + -0.009064844809472561, + 0.9998803739153762, + 0.006196330301463604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998883592200728, + 0.007954070344567299, + 0.012647070407121926, + -0.003782767103984952 + ], + [ + -0.008083387802474886, + 0.9999152421951294, + 0.010207079956537359, + 0.005758685991168022 + ], + [ + -0.012564811315174325, + -0.01030817162245512, + 0.9998679326303911, + 0.007235141936689615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9998573124213351, + 0.009692437946796419, + 0.013833663550719006, + -0.0045720916241407394 + ], + [ + -0.00985818800162879, + 0.999879837036133, + 0.011964211679009521, + 0.006159202195703983 + ], + [ + -0.013716039490002272, + -0.012098879553377632, + 0.99983272698118, + 0.008058134466409683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998201617781193, + 0.011016195639967918, + 0.015437496043303137, + -0.005249232519418001 + ], + [ + -0.011224444157376588, + 0.9998462796211243, + 0.013468718138104558, + 0.006564908195286989 + ], + [ + -0.015286748875118359, + -0.013639573939144611, + 0.999790134972173, + 0.008029892109334469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997771682216863, + 0.01231862232089043, + 0.017142856883517285, + -0.006016145460307598 + ], + [ + -0.012548163094477866, + 0.9998321533203127, + 0.013347401757534374, + 0.006705103907734156 + ], + [ + -0.01697555825107751, + -0.01355953793972731, + 0.9997639818472329, + 0.008353082463145256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9997114272020644, + 0.013560467399656773, + 0.01982794590480974, + -0.0061891945078969 + ], + [ + -0.013790193635419737, + 0.9998388290405273, + 0.011495559255925408, + 0.006613538134843111 + ], + [ + -0.01966886637446578, + -0.011765672825276852, + 0.9997373209033428, + 0.008176473900675774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.999654596248126, + 0.01363558787852526, + 0.022467888279631042, + -0.00722466642037034 + ], + [ + -0.01386578378242704, + 0.9998526573181155, + 0.01012178005126831, + 0.006040760315954685 + ], + [ + -0.022326559415948338, + -0.010429819114506246, + 0.9996963167876683, + 0.007405329030007124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9996238241491995, + 0.01325504016131163, + 0.0240115966189809, + -0.008091049268841743 + ], + [ + -0.013486863212810384, + 0.9998637437820437, + 0.00951852329259345, + 0.005697302054613829 + ], + [ + -0.023882156950575953, + -0.009838784113526346, + 0.9996663865003821, + 0.007336323149502277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9996024056353378, + 0.013566026464104652, + 0.02471899464801466, + -0.00898551195859909 + ], + [ + -0.013793815201977337, + 0.9998637437820435, + 0.009068060928413437, + 0.0052048866637051105 + ], + [ + -0.024592607984760692, + -0.009405424818396568, + 0.999653326492308, + 0.006674834992736578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9995882553844188, + 0.01423492282629013, + 0.024913567728539653, + -0.010411784052848816 + ], + [ + -0.01443846164850589, + 0.9998636841773987, + 0.008009030293123066, + 0.004631845746189356 + ], + [ + -0.024796164109207694, + -0.008365446701645851, + 0.9996575556683611, + 0.0057825190015137196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9995895860962816, + 0.014402052387595177, + 0.024764005877733437, + -0.0121072418987751 + ], + [ + -0.014567010960815401, + 0.9998728036880493, + 0.006493779688628428, + 0.003974722232669592 + ], + [ + -0.024667332911232416, + -0.006851851940155029, + 0.9996722345874123, + 0.004966448526829481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9996036923482434, + 0.013902876526117325, + 0.024477951667810773, + -0.013330144807696342 + ], + [ + -0.014015094990596649, + 0.999891996383667, + 0.004418852849608895, + 0.0034704648423939943 + ], + [ + -0.024413874383367895, + -0.004760162904858589, + 0.999690606085812, + 0.0044898600317537785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9996188392083883, + 0.013820775784552097, + 0.023899736329002694, + -0.014432232826948166 + ], + [ + -0.013900692595762938, + 0.9998983144760132, + 0.0031809003110261237, + 0.0030750322621315718 + ], + [ + -0.023853343667890114, + -0.0035119105596095324, + 0.999709319296374, + 0.004024925641715527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999644832598136, + 0.01260956842452288, + 0.023477740899670235, + -0.015163177624344826 + ], + [ + -0.012668419948762092, + 0.9999169707298281, + 0.002359642282974412, + 0.002446090802550316 + ], + [ + -0.02344603701791219, + -0.002656230237334967, + 0.9997216017816526, + 0.004176822025328875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9996414921874308, + 0.013317718170583248, + 0.023228179949504796, + -0.015923330560326576 + ], + [ + -0.013355064501336266, + 0.9999097585678101, + 0.00145343828878722, + 0.002015887526795268 + ], + [ + -0.02320672765924941, + -0.0017631310038268566, + 0.9997291161115325, + 0.003388212528079748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9996088031111459, + 0.015250423923134804, + 0.023444587299596472, + -0.016678636893630028 + ], + [ + -0.015268295179199032, + 0.999883234500885, + 0.0005834616949838918, + 0.0015982971526682377 + ], + [ + -0.023432953106421166, + -0.0009411924402229488, + 0.9997249380890664, + 0.002851878060027957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9995758979160753, + 0.015975704416632652, + 0.024347292795145407, + -0.01769733801484108 + ], + [ + -0.015970847966962944, + 0.9998723864555359, + -0.0003938411470669435, + 0.0010718541452661157 + ], + [ + -0.02435047761491859, + 4.827263182960451e-06, + 0.9997035078358594, + 0.0021591235417872667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.999561169089574, + 0.015899848192930225, + 0.02499396755219297, + -0.017782393842935562 + ], + [ + -0.015865924855153084, + 0.9998729228973391, + -0.001555061163238497, + 0.0006286249845288694 + ], + [ + -0.02501551615538659, + 0.001157826278358698, + 0.9996863699944665, + 0.001395781640894711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9995262802417777, + 0.01669375225901604, + 0.02585600753146802, + -0.017705660313367844 + ], + [ + -0.01663790204711213, + 0.9998587369918825, + -0.0023736407436649202, + 0.00044588721357285976 + ], + [ + -0.025891977526729934, + 0.0019423265475779776, + 0.9996628321184129, + 0.0012249862775206566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9994723825417696, + 0.017616456374526027, + 0.027286773033722032, + -0.017816705629229546 + ], + [ + -0.017555804271984905, + 0.9998428821563723, + -0.0024607261792572435, + 0.0003072293184231967 + ], + [ + -0.02732583638859397, + 0.0019803866744041447, + 0.9996246074818126, + 0.000995601643808186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9994102952657232, + 0.01798195205628872, + 0.029252086901191448, + -0.017678549513220787 + ], + [ + -0.01791070142335895, + 0.9998359680175781, + -0.0026959559208625996, + 0.00016519879864063114 + ], + [ + -0.029295768150126404, + 0.0021704407408833504, + 0.9995684341763624, + 0.0010164199629798532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9993578762482046, + 0.017639361321926117, + 0.031187113236596398, + -0.01729908585548401 + ], + [ + -0.01755713728860047, + 0.9998416304588318, + -0.002908358733166248, + 0.00018360730609856546 + ], + [ + -0.031233476065909333, + 0.002358934609219432, + 0.9995093099316361, + 0.0011832742020487785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9992980675942505, + 0.018252335488796234, + 0.03271464954299513, + -0.01697850413620472 + ], + [ + -0.01816315004003052, + 0.9998304843902588, + -0.0030212507065698942, + 0.0003416476829443127 + ], + [ + -0.03276424825149648, + 0.0024249290581792593, + 0.9994601891192973, + 0.0014325660886242986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9992607715486493, + 0.018038203939795494, + 0.03394856338745661, + -0.017019128426909447 + ], + [ + -0.017939460892232684, + 0.9998339414596558, + -0.003211014485703809, + 0.00024001683050300926 + ], + [ + -0.03400084781202956, + 0.002599621657282114, + 0.9994184406269176, + 0.0011268398957327008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.999204028443753, + 0.018544757738709453, + 0.03531847398631177, + -0.01711544208228588 + ], + [ + -0.018416590380740963, + 0.9998226165771487, + -0.003950765392286102, + 0.0003991841513197869 + ], + [ + -0.03538547256446956, + 0.003297175047919155, + 0.9993682792571359, + 0.0012765182182192802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9991624386313493, + 0.01801762357354164, + 0.03673969336291192, + -0.01692873239517212 + ], + [ + -0.017868396946806572, + 0.9998307228088379, + -0.0043860275898761686, + 0.00031545592355541885 + ], + [ + -0.03681249949771004, + 0.0037258747033774853, + 0.999315265853137, + 0.0012392787029966712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9991179461075923, + 0.01801055297255516, + 0.03793412071523088, + -0.01687202788889408 + ], + [ + -0.017857224875511963, + 0.999830961227417, + -0.004376887252411104, + 0.000398807052988559 + ], + [ + -0.03800653727172905, + 0.003695628372952342, + 0.9992706498673513, + 0.001374158775433898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9991012429565473, + 0.017184823751449585, + 0.03874717301097472, + -0.016831643879413605 + ], + [ + -0.017024351797233727, + 0.9998450875282288, + -0.0044677272958189625, + 0.00032667984487488866 + ], + [ + -0.038817948598085635, + 0.0038040662184357643, + 0.9992390328346703, + 0.001106694107875228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9990574332825842, + 0.01790575310587883, + 0.039543232851884394, + -0.01727111078798771 + ], + [ + -0.017726855751251908, + 0.9998310208320618, + -0.004870085190313518, + 0.000615553988609463 + ], + [ + -0.03962375132895504, + 0.004164517391473055, + 0.9992059671048346, + 0.0010324297472834587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9990286789277794, + 0.018341433256864548, + 0.0400664417875325, + -0.01732531562447548 + ], + [ + -0.018160959778619746, + 0.999823272228241, + -0.004863715932940776, + 0.0007291990332305431 + ], + [ + -0.04014856734833862, + 0.004131346475332975, + 0.9991851908520301, + 0.00100218306761235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9989711873964, + 0.01943266019225121, + 0.040975209479112575, + -0.017832595854997635 + ], + [ + -0.01925691463529211, + 0.9998036026954653, + -0.004679405837730408, + 0.0008314221631735563 + ], + [ + -0.04105809525805636, + 0.0038855355232954034, + 0.9991492346941996, + 0.0006245023105293512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9989291562615855, + 0.01994175836443901, + 0.04174793893019107, + -0.01815788634121418 + ], + [ + -0.019765741509550922, + 0.9997939467430115, + -0.004624763258538131, + 0.0009651925065554678 + ], + [ + -0.041831559981751934, + 0.003794631687924266, + 0.9991174503707057, + 0.00034818894346244633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9988996348649909, + 0.020517462864518166, + 0.04217292864247134, + -0.01817210763692856 + ], + [ + -0.02036389945628449, + 0.9997843503952026, + -0.004067659059009009, + 0.0009689052239991724 + ], + [ + -0.042247293097364684, + 0.0032043776009231806, + 0.9991020539527125, + 0.0003468780778348446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9988690112793126, + 0.020970650017261505, + 0.04267293040718432, + -0.018932262435555458 + ], + [ + -0.020849466711196345, + 0.9997772574424744, + -0.0032829180985596215, + 0.0013647674350067973 + ], + [ + -0.04273226571713374, + 0.0023894973564893007, + 0.9990836723787614, + 0.000601760286372155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9988367854882616, + 0.02105782739818096, + 0.04337737026095106, + -0.019710350781679153 + ], + [ + -0.020961180382351036, + 0.9997767210006714, + -0.002681754339982483, + 0.0017745211953297257 + ], + [ + -0.043424160373595984, + 0.0017693940317258239, + 0.9990551822683459, + 0.001372714526951313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9988490006997082, + 0.018865184858441353, + 0.0441001259122946, + -0.019904570654034615 + ], + [ + -0.018798523023399655, + 0.9998214244842529, + -0.0019258971292644175, + 0.0019066767999902368 + ], + [ + -0.04412858183623583, + 0.0010946630500257015, + 0.9990252809310594, + 0.0023593073710799217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9988897383865806, + 0.016400901600718498, + 0.044162886731251204, + -0.020253773778676987 + ], + [ + -0.016392313059012696, + 0.9998654723167419, + -0.0005566519812287154, + 0.002068878151476383 + ], + [ + -0.04416607490990892, + -0.00016789801884442568, + 0.9990241778291254, + 0.0030747796408832073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9989148357577401, + 0.015418087132275105, + 0.043947407593921066, + -0.02059805393218994 + ], + [ + -0.015467852771369067, + 0.9998800754547119, + 0.0007925579587222868, + 0.0022927375975996256 + ], + [ + -0.0439299185541902, + -0.0014714698772877455, + 0.9990335031773542, + 0.003566493047401309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9989298797775142, + 0.01525090355426073, + 0.043663355227788914, + -0.021354610100388527 + ], + [ + -0.015333630723940127, + 0.9998812079429626, + 0.001560344763601023, + 0.0023153789807111025 + ], + [ + -0.043634370211782215, + -0.002228192752227187, + 0.9990450743253941, + 0.0042648958042263985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9989221268213074, + 0.015977278351783752, + 0.04358100342067558, + -0.02321677654981613 + ], + [ + -0.01607538371283141, + 0.9998689889907837, + 0.0019015482387559966, + 0.00248526968061924 + ], + [ + -0.04354491655571881, + -0.002600079867988825, + 0.9990481153894196, + 0.003944990690797567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9989439462249201, + 0.01632731221616268, + 0.04294729051640194, + -0.024595344439148903 + ], + [ + -0.016423005590621723, + 0.9998633861541748, + 0.0018762334475684278, + 0.0026893997564911842 + ], + [ + -0.0429107870658102, + -0.002579575404524803, + 0.9990755956718517, + 0.00407489063218236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9990053266397378, + 0.01599922589957714, + 0.04162200588963468, + -0.026238782331347466 + ], + [ + -0.01607872394565682, + 0.9998694658279419, + 0.001575908447659984, + 0.00262356735765934 + ], + [ + -0.04159135886587818, + -0.0022435698192566633, + 0.9991321853131124, + 0.00335713941603899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9990703625631822, + 0.016002535820007324, + 0.04002859710183889, + -0.02778305485844612 + ], + [ + -0.016070289805255013, + 0.9998699426651001, + 0.0013714239500929053, + 0.002416296163573861 + ], + [ + -0.04000144377044416, + -0.002013420220464468, + 0.9991975795499103, + 0.0025200110394507647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9991363037253176, + 0.01611827127635479, + 0.03829888621044094, + -0.02949443832039833 + ], + [ + -0.01618281989414574, + 0.9998680949211121, + 0.001375935708843281, + 0.00297495792619884 + ], + [ + -0.03827165599856773, + -0.001994531601667404, + 0.9992653752157556, + 0.002450422151014209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9991971548455199, + 0.016001408919692043, + 0.03672859719150295, + -0.031050724908709526 + ], + [ + -0.016077992837480255, + 0.9998691082000735, + 0.0017906794617007348, + 0.003236999735236168 + ], + [ + -0.036695139443260895, + -0.002379764104261995, + 0.9993236564511522, + 0.002847375115379691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9992734556006065, + 0.014752130024135116, + 0.035142005131160836, + -0.03262987360358238 + ], + [ + -0.014841984161304627, + 0.9998872280120852, + 0.002297372423224766, + 0.003610836574807763 + ], + [ + -0.035104149648371406, + -0.002817280357703567, + 0.9993797070173283, + 0.0031947982497513294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9993225847653442, + 0.014955292455852035, + 0.0336263904997895, + -0.034301698207855225 + ], + [ + -0.015059681361882286, + 0.9998825192451479, + 0.002853244598383717, + 0.004099368117749691 + ], + [ + -0.03357976937109528, + -0.003357714507728816, + 0.9994304160262844, + 0.003105675335973501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9993578513233218, + 0.015210211277008057, + 0.032443163474101866, + -0.03524613007903099 + ], + [ + -0.015337318021750417, + 0.9998756051063538, + 0.0036725833161773587, + 0.004631564021110535 + ], + [ + -0.03238326234406171, + -0.004167815670371056, + 0.9994668056648822, + 0.0029258679132908583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9993871115427432, + 0.015245531685650349, + 0.03151137299904489, + -0.03663802891969681 + ], + [ + -0.01540751486313311, + 0.9998692870140076, + 0.004904022593859335, + 0.005224747583270073 + ], + [ + -0.03143248962683168, + -0.005386529490351677, + 0.9994913544606957, + 0.0030739204958081245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9993927796845851, + 0.016447965055704117, + 0.030716365674416237, + -0.03787093982100487 + ], + [ + -0.01666107133478356, + 0.9998387694358826, + 0.0066948854217521005, + 0.0054373666644096375 + ], + [ + -0.030601300644412216, + -0.007202587556093931, + 0.9995057316541341, + 0.002939363941550255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9993703277975227, + 0.01864643581211567, + 0.03018793134143317, + -0.03884432092308998 + ], + [ + -0.018914191038667948, + 0.9997840523719788, + 0.00860841210219337, + 0.006280274596065283 + ], + [ + -0.0300208919720257, + -0.00917397253215313, + 0.9995071473193116, + 0.00406875554472208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9993541968681393, + 0.019874766469001773, + 0.029935331527568314, + -0.03987857326865196 + ], + [ + -0.020195465810969624, + 0.9997414350509646, + 0.010449015197406462, + 0.006942498963326216 + ], + [ + -0.02971992542454578, + -0.011046824976801874, + 0.9994971950007643, + 0.0040845186449587345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9993423918865243, + 0.020991452038288116, + 0.02956673756542449, + -0.04041292518377304 + ], + [ + -0.02134914309461973, + 0.9997020363807678, + 0.011834454053792909, + 0.007205962669104338 + ], + [ + -0.029309507825448035, + -0.012457896023988724, + 0.9994927333557004, + 0.004412856884300709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9993389093882104, + 0.02140127122402191, + 0.02938846188715862, + -0.04080519452691078 + ], + [ + -0.021787514688288868, + 0.9996795654296875, + 0.012885890293795256, + 0.0072575705125927925 + ], + [ + -0.02910327324878442, + -0.013517673127353191, + 0.9994850144124197, + 0.004585523623973131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9993486734683757, + 0.021468905732035637, + 0.02900498118801735, + -0.04148933291435242 + ], + [ + -0.02188252006284709, + 0.9996622800827026, + 0.014018678783545107, + 0.007431976497173309 + ], + [ + -0.02869422203145381, + -0.014644250273704529, + 0.9994809688435448, + 0.004762782249599695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.999367674651784, + 0.021300848573446274, + 0.028469782131921147, + -0.04182291403412819 + ], + [ + -0.021721777316571135, + 0.9996580481529236, + 0.014558449340052116, + 0.007053170818835497 + ], + [ + -0.028149948190742277, + -0.015167657285928726, + 0.9994886566233446, + 0.004682993981987238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9993798073529027, + 0.021508766338229183, + 0.027881416547030264, + -0.04269528016448021 + ], + [ + -0.021918457473478342, + 0.9996550083160403, + 0.014472582407611633, + 0.006505030672997236 + ], + [ + -0.027560515992722637, + -0.01507472433149815, + 0.9995064582423091, + 0.004436040297150612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994146477657746, + 0.020740225911140442, + 0.027207281574882978, + -0.04411982744932175 + ], + [ + -0.021131911573623957, + 0.999675989151001, + 0.014188664794257866, + 0.006195548456162214 + ], + [ + -0.026904183662331597, + -0.014755302108824253, + 0.9995290837801509, + 0.0025128533598035574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9994372636033951, + 0.021365229040384293, + 0.025858041281877554, + -0.0454619936645031 + ], + [ + -0.021755131566912618, + 0.9996523857116699, + 0.014892356434178708, + 0.005773407407104969 + ], + [ + -0.02553087316833371, + -0.015446522273123264, + 0.999554669718388, + 0.0017721648328006268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9994800462344317, + 0.02142816781997681, + 0.024091955842832375, + -0.04684769734740257 + ], + [ + -0.02181755060191121, + 0.9996336698532107, + 0.016017422339044712, + 0.00501658022403717 + ], + [ + -0.023739908372346887, + -0.016534723341465, + 0.999581452185668, + 0.0003381051938049495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9995597715507775, + 0.02021753415465355, + 0.02171490059512534, + -0.04850335791707039 + ], + [ + -0.020583866047756253, + 0.9996472597122192, + 0.01678106939295374, + 0.004001813009381294 + ], + [ + -0.021367965978673357, + -0.01722065731883049, + 0.9996233392221953, + -0.001291116583161056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9996311048472565, + 0.019310014322400093, + 0.019098261213659765, + -0.04989955946803093 + ], + [ + -0.019631126348079692, + 0.9996666312217712, + 0.016771491058340207, + 0.0039547160267829895 + ], + [ + -0.018768043370684693, + -0.017140226438641548, + 0.9996769218948766, + -0.003273644018918276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9997164628031033, + 0.017783416435122493, + 0.015834761853274173, + -0.05081908404827118 + ], + [ + -0.018044196421155907, + 0.9997013211250307, + 0.01648119615922073, + 0.0035706304479390383 + ], + [ + -0.015536943222211483, + -0.01676224917173386, + 0.9997388016026738, + -0.004613487049937248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9997599792132368, + 0.01804093830287457, + 0.012430418285431477, + -0.051323048770427704 + ], + [ + -0.018236170616253378, + 0.9997092485427859, + 0.015775934968391983, + 0.0037061048205941916 + ], + [ + -0.012142180806901923, + -0.015998831018805507, + 0.9997982561917471, + -0.005385026801377535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.999773945566246, + 0.01868222840130329, + 0.010148703376852534, + -0.05216841399669647 + ], + [ + -0.018834458429357846, + 0.9997082948684692, + 0.015117326736967352, + 0.003814696567133069 + ], + [ + -0.009863324479230938, + -0.015305055305361748, + 0.9998342000618377, + -0.00654773972928524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9998552852738826, + 0.015522749163210392, + 0.006962361801127223, + -0.053356386721134186 + ], + [ + -0.0156301015370854, + 0.9997555017471313, + 0.01563899842229003, + 0.004003056325018406 + ], + [ + -0.006717902720820614, + -0.015745555981993675, + 0.9998534643027313, + -0.007535645272582769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9999431244294548, + 0.010595408268272877, + -0.0012373461183880937, + -0.053858716040849686 + ], + [ + -0.010570880965230465, + 0.9997751116752625, + 0.018383157401408366, + 0.004194918088614941 + ], + [ + 0.0014318500488121042, + -0.018369030207395554, + 0.9998302395034447, + -0.007666188757866621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9999332951147953, + 0.008002113550901413, + -0.008331445213629442, + -0.055216819047927856 + ], + [ + -0.007817752734840486, + 0.9997289180755615, + 0.021930538642246644, + 0.004498118069022894 + ], + [ + 0.008504669071252836, + -0.021863942965865135, + 0.9997248076779794, + -0.009362006559967995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9998850973644251, + 0.007420916575938465, + -0.013217383659603007, + -0.05631193518638611 + ], + [ + -0.007103518692489897, + 0.9996891021728518, + 0.023900857255733973, + 0.004797614645212889 + ], + [ + 0.0133906344360582, + -0.023804221302270896, + 0.9996269821461389, + -0.010228767991065979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9998234273331496, + 0.007001000456511974, + -0.017438742256369176, + -0.05620286986231804 + ], + [ + -0.006556807797198085, + 0.9996558427810669, + 0.025399860225600656, + 0.0048049455508589745 + ], + [ + 0.017610556793319757, + -0.025281032547354698, + 0.9995252757976002, + -0.010965163819491863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9997433139501691, + 0.004721043631434441, + -0.022159770349781397, + -0.05711745098233223 + ], + [ + -0.00410947201477444, + 0.9996116161346436, + 0.02756314849093198, + 0.005043662153184414 + ], + [ + 0.022281290889417743, + -0.027465006336569786, + 0.9993743944643898, + -0.0114738829433918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9996036198934682, + 0.0036410270258784294, + -0.027916291127004247, + -0.05818090960383415 + ], + [ + -0.0028295649560844687, + 0.9995738863945007, + 0.029052305586538745, + 0.004791955929249525 + ], + [ + 0.028010166469862992, + -0.028961800038814545, + 0.9991880075774745, + -0.01252400130033493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9995005230731009, + 0.005049929954111576, + -0.031196752511290546, + -0.05850687995553017 + ], + [ + -0.004157129920182389, + 0.9995818138122559, + 0.0286172350009483, + 0.004761795978993177 + ], + [ + 0.031328209453314014, + -0.028473250567913055, + 0.99910351603172, + -0.013915585353970528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9994321412315503, + 0.004237707704305649, + -0.03342757808978033, + -0.05862374231219292 + ], + [ + -0.003305821942690424, + 0.9996057152748108, + 0.02788395325942321, + 0.005123200360685587 + ], + [ + 0.03353254729322336, + -0.027757612988352776, + 0.9990520870244912, + -0.014241311699151993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9993159578579235, + 0.0027345791459083557, + -0.036879455296743434, + -0.05946178734302521 + ], + [ + -0.0016738708934946576, + 0.9995849132537842, + 0.028761772907391014, + 0.005104264244437218 + ], + [ + 0.03694279886433495, + -0.02868036739528179, + 0.998905735513606, + -0.014420558698475361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9991364953695933, + 0.0034198691137135038, + -0.04140724715674532, + -0.06043526902794838 + ], + [ + -0.002139641727296431, + 0.999519467353821, + 0.03092290861632277, + 0.00555191608145833 + ], + [ + 0.041493115678094515, + -0.03080761060118676, + 0.9986637222211615, + -0.014773325994610786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9989472087035954, + 0.0051437858492136, + -0.04558479640329222, + -0.06188252940773964 + ], + [ + -0.00362041779737043, + 0.999434232711792, + 0.0334381070221444, + 0.006756664253771305 + ], + [ + 0.04573100421948153, + -0.033237867057323456, + 0.9984006603075052, + -0.016135821118950844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9987037118751259, + 0.005200646817684174, + -0.050634934930745175, + -0.06311050802469254 + ], + [ + -0.003339243883295926, + 0.9993179440498352, + 0.03677668759258232, + 0.008285482414066792 + ], + [ + 0.05079166525702326, + -0.036559928208589554, + 0.9980398412906293, + -0.01723688282072544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9983846825923329, + 0.002948856446892024, + -0.056739358400581245, + -0.06489729881286621 + ], + [ + -0.0006164113977965756, + 0.9991555809974673, + 0.0410817384435653, + 0.008172367699444294 + ], + [ + 0.056812598135554004, + -0.04098040238022805, + 0.9975434772323726, + -0.02150273695588112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9980568118047096, + 0.002633781172335148, + -0.062254719949970616, + -0.06522674113512039 + ], + [ + 8.561173186931236e-05, + 0.9990473985671997, + 0.04363875103526614, + 0.008846974931657314 + ], + [ + 0.062310352103047584, + -0.04355928301811218, + 0.9971057978434672, + -0.021689364686608315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9979695369743299, + 0.0037080009933561095, + -0.0635851513207189, + -0.06695067882537842 + ], + [ + -0.0009640700453447258, + 0.9990689754486086, + 0.04313014473730325, + 0.008846496231853962 + ], + [ + 0.06368588311254024, + -0.04298126697540284, + 0.9970439912746043, + -0.02441730909049511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.997964756458306, + 0.0022264376748353243, + -0.063729004586516, + -0.0679413378238678 + ], + [ + 0.00044788067795021, + 0.9991208910942078, + 0.04191888903925718, + 0.008728266693651676 + ], + [ + 0.06376631482668324, + -0.041862115263938904, + 0.9970864367198325, + -0.02581850439310074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9979279687970187, + 0.0007292600348591805, + -0.06433666121760565, + -0.06796954572200775 + ], + [ + 0.0018820436260861932, + 0.9991770386695862, + 0.04051817974615992, + 0.009101287461817265 + ], + [ + 0.06431325756099703, + -0.040555309504270554, + 0.9971053457059399, + -0.026459379121661186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9980255932539467, + 0.0012281888630241158, + -0.0627968211460012, + -0.06880748271942139 + ], + [ + 0.001166146025930202, + 0.9992741346359255, + 0.038077431125895844, + 0.009251723065972328 + ], + [ + 0.06279799972479824, + -0.038075476884841926, + 0.9972996771697755, + -0.027213992550969124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9981748831018891, + 0.0010520613286644223, + -0.06038073643250533, + -0.06953490525484085 + ], + [ + 0.0011652974998434015, + 0.9993265271186831, + 0.03667599033515502, + 0.009485025890171528 + ], + [ + 0.06037866438396991, + -0.03667941316962243, + 0.9975014104190004, + -0.026845550164580345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9982611599926011, + 0.001028877915814519, + -0.058937593386102036, + -0.06959479302167892 + ], + [ + 0.0011281931068219105, + 0.9993310570716858, + 0.03655429554849592, + 0.009475773200392723 + ], + [ + 0.05893577593293764, + -0.03655722364783287, + 0.9975921633058248, + -0.027191130444407463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9983244861472401, + 0.0031139508355408916, + -0.0577801419861482, + -0.06992318481206894 + ], + [ + -0.0010094538682224319, + 0.9993361830711367, + 0.03641600360983596, + 0.009645828977227211 + ], + [ + 0.05785519420793242, + -0.03629665821790696, + 0.9976649237039666, + -0.028117185458540916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9984254987535388, + 0.002429931424558163, + -0.05604138052260692, + -0.07023508846759796 + ], + [ + -0.0003995295828232884, + 0.9993439912796023, + 0.0362131772705543, + 0.0094522750005126 + ], + [ + 0.05609261294370855, + -0.03613376989960671, + 0.9977715226082794, + -0.028828442096710205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9984321312485538, + -0.001322183758020401, + -0.055960008655495316, + -0.06982432305812836 + ], + [ + 0.0033125737426968733, + 0.9993645548820496, + 0.03549029972026961, + 0.009309643879532814 + ], + [ + 0.05587751819777093, + -0.03562002629041672, + 0.9978020154271069, + -0.0296771302819252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9983798413833831, + -0.004010131582617761, + -0.056759590644210066, + -0.07023680955171585 + ], + [ + 0.005925234645108818, + 0.9994173645973208, + 0.033612657584483834, + 0.008334188722074032 + ], + [ + 0.05659172628737974, + -0.03389451280236245, + 0.9978219045559814, + -0.031940799206495285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9983719108179038, + -0.003884189296513796, + -0.05690688015079721, + -0.0712815672159195 + ], + [ + 0.005669307544758149, + 0.999495804309845, + 0.031241356882919864, + 0.00817849487066269 + ], + [ + 0.056756832422821625, + -0.031513117253780365, + 0.9978905739662184, + -0.03390656039118767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9983685596467771, + -0.004561256151646376, + -0.05691563117999724, + -0.07210902869701385 + ], + [ + 0.006207642796770599, + 0.999566376209259, + 0.028783620172434823, + 0.00787095632404089 + ], + [ + 0.05675964889690076, + -0.029089972376823425, + 0.9979639764817665, + -0.03536912798881531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9983365190901753, + -0.0032731418032199144, + -0.057562871569109726, + -0.07325458526611328 + ], + [ + 0.004794637513989792, + 0.9996422529220581, + 0.026313679177392062, + 0.008340969681739807 + ], + [ + 0.057456159710083055, + -0.026545898988842964, + 0.9979950476645683, + -0.036969926208257675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9982890851955384, + -0.0010907617397606373, + -0.05846122572521935, + -0.07467558234930038 + ], + [ + 0.002531767354787169, + 0.9996946454048157, + 0.02458052140912758, + 0.008439026772975922 + ], + [ + 0.05841655945084438, + -0.024686478078365326, + 0.9979870137468911, + -0.03752904757857323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9982080665941384, + -0.001058371039107442, + -0.059829538628152275, + -0.07578970491886139 + ], + [ + 0.002448117895031296, + 0.999728798866272, + 0.023159923045408787, + 0.008005634881556034 + ], + [ + 0.05978880140649719, + -0.023264892399311066, + 0.9979399239695995, + -0.03886814042925835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9980675544931576, + 0.00030157412402331834, + -0.06213747627328145, + -0.07762030512094498 + ], + [ + 0.0010623014312830215, + 0.9997592568397524, + 0.021915125751973668, + 0.00852649100124836 + ], + [ + 0.06212911695157447, + -0.02193878404796124, + 0.9978269949002835, + -0.041541822254657745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9979022659456221, + 0.0035560098476707935, + -0.06464070064270976, + -0.07874280959367752 + ], + [ + -0.0021678613748346864, + 0.9997658133506775, + 0.021532301678669534, + 0.008922186680138111 + ], + [ + 0.06470213659048148, + -0.02134700119495392, + 0.9976762957386363, + -0.04206449165940285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9977192546482948, + 0.005951606668531896, + -0.06723715949327577, + -0.08079435676336288 + ], + [ + -0.004495797535981067, + 0.9997526407241824, + 0.021782462179585124, + 0.009304077364504337 + ], + [ + 0.06735016049345942, + -0.02143049612641335, + 0.9974992457362163, + -0.04370606318116188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9974927825549793, + 0.009472512640058994, + -0.07013105712774267, + -0.08246317505836487 + ], + [ + -0.007991364296189832, + 0.9997397065162659, + 0.021370247739950072, + 0.010203556157648563 + ], + [ + 0.07031523191386692, + -0.020756224170327187, + 0.9973088634627174, + -0.04579564183950424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9972691209177896, + 0.013183149509131908, + -0.07266719738153386, + -0.08462268859148026 + ], + [ + -0.011720553026664743, + 0.9997208118438721, + 0.020517141632995863, + 0.011436164379119873 + ], + [ + 0.07291739907901752, + -0.01960941031575203, + 0.9971451825058314, + -0.04782763496041298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9970434621842589, + 0.015145344659686089, + -0.07533238293625961, + -0.08620767295360565 + ], + [ + -0.013629899992152614, + 0.9996950626373291, + 0.020590410938446976, + 0.012182626873254776 + ], + [ + 0.07562125214034741, + -0.019502760842442513, + 0.9969458906519924, + -0.04875897616147995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9968024487790247, + 0.015994666144251827, + -0.07828794262337686, + -0.08893152326345444 + ], + [ + -0.014421353313961485, + 0.9996833801269533, + 0.020620802266900554, + 0.013167506083846092 + ], + [ + 0.0785929644580324, + -0.01942585036158562, + 0.9967174714683037, + -0.048420317471027374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9966213526404606, + 0.016623938456177715, + -0.08043319906040287, + -0.09043006598949432 + ], + [ + -0.01507477841909401, + 0.9996896982192995, + 0.019829306100383245, + 0.013609410263597965 + ], + [ + 0.08073788953682409, + -0.018549798056483272, + 0.9965627219144962, + -0.05084238573908806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9964351930817339, + 0.0147621501237154, + -0.08306049095451608, + -0.09263089299201965 + ], + [ + -0.013100919138107042, + 0.9997038245201111, + 0.020509899122737114, + 0.013917474076151848 + ], + [ + 0.08333865920134095, + -0.019348617643117905, + 0.9963334164396358, + -0.050943922251462936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9959003071771395, + 0.009729450568556786, + -0.08993271257016955, + -0.09433194249868393 + ], + [ + -0.007625317438824836, + 0.9996897578239441, + 0.02371079143509683, + 0.014829829335212708 + ], + [ + 0.09013549555682351, + -0.022927820682525635, + 0.9956655392697921, + -0.052176233381032944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9951191381928675, + 0.0073620611801743525, + -0.09840586431706454, + -0.09667028486728668 + ], + [ + -0.00476439004695182, + 0.9996346235275271, + 0.026606506613754664, + 0.015522211790084839 + ], + [ + 0.09856577129369984, + -0.02600779943168164, + 0.9947906569308315, + -0.05434783548116684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.994636623830292, + 0.01057582162320614, + -0.10288879858654408, + -0.10037203133106232 + ], + [ + -0.007897051605824703, + 0.9996200203895571, + 0.026408185462802096, + 0.016863403841853142 + ], + [ + 0.10312901904451313, + -0.025454031303524978, + 0.9943422584484116, + -0.05493897199630737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9943698332505724, + 0.01172216609120369, + -0.10531482128301384, + -0.10241934657096863 + ], + [ + -0.009090227286458363, + 0.9996351003646851, + 0.025436514105654846, + 0.01834907755255699 + ], + [ + 0.10557454326045787, + -0.024335967376828194, + 0.9941135707128951, + -0.055900610983371735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9940113241752631, + 0.010826630517840385, + -0.10873943806279714, + -0.10565511882305145 + ], + [ + -0.00826584196763795, + 0.9996784329414368, + 0.023972983856184814, + 0.019235776737332344 + ], + [ + 0.1089640346130099, + -0.02293059602379799, + 0.9937811731906314, + -0.05696309730410576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.993572953745745, + 0.011121241375803947, + -0.11264598710917688, + -0.10802990943193436 + ], + [ + -0.008618330952665107, + 0.9997056126594543, + 0.02268191699425587, + 0.020868415012955666 + ], + [ + 0.11286505025785477, + -0.02156531810760498, + 0.9933762799385253, + -0.058042872697114944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9931715423053002, + 0.011620528995990755, + -0.11608280724337172, + -0.11129747331142426 + ], + [ + -0.00907032198455717, + 0.9997063279151919, + 0.02247301176314488, + 0.022428402677178383 + ], + [ + 0.11630987647297247, + -0.021266648545861248, + 0.9929853013690797, + -0.05700857937335968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.992681607754481, + 0.009156806394457817, + -0.1204135853247681, + -0.1135193258523941 + ], + [ + -0.006480716463689288, + 0.9997236728668213, + 0.02259701529761386, + 0.023887600749731064 + ], + [ + 0.12058722007396633, + -0.02165127545595169, + 0.9924665862098061, + -0.057950519025325775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9919838572357665, + 0.006843728944659233, + -0.12617926125198334, + -0.11605596542358398 + ], + [ + -0.004212622817631544, + 0.9997683167457581, + 0.021107193322592997, + 0.025320544838905334 + ], + [ + 0.12629445764944416, + -0.020406449213624, + 0.9917829104944778, + -0.05901492014527321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9914555221883605, + 0.004739408381283283, + -0.13035894901219938, + -0.11804447323083878 + ], + [ + -0.002359669430770477, + 0.9998278617858887, + 0.01840368481169371, + 0.026277899742126465 + ], + [ + 0.1304236998846648, + -0.017938831821084023, + 0.9912960494208521, + -0.06052922084927559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9911125734419667, + 0.00048149481881409894, + -0.13302503509940344, + -0.12017077207565308 + ], + [ + 0.0014278698702506036, + 0.999897360801697, + 0.014257654738973493, + 0.0269765742123127 + ], + [ + 0.13301828008223676, + -0.014320883899927143, + 0.9910100967582116, + -0.06121378764510155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.990772334951597, + -0.0023280244786292315, + -0.135516757631842, + -0.12189450860023499 + ], + [ + 0.0036592414169800747, + 0.9999474883079529, + 0.00957499754486866, + 0.02667931281030178 + ], + [ + 0.13548736651627133, + -0.009982530027627945, + 0.9907288142819188, + -0.06608466804027557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9905469784043052, + 0.001022196956910193, + -0.13717005072033095, + -0.1229144036769867 + ], + [ + 2.031030477612703e-05, + 0.9999711513519287, + 0.007598493624120087, + 0.029133906587958336 + ], + [ + 0.1371738501008212, + -0.0075294505804777145, + 0.9905183958281866, + -0.06692681461572647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9904846819508848, + 0.006354016717523336, + -0.13747616262144946, + -0.12391018122434616 + ], + [ + -0.005272442876593226, + 0.9999522566795349, + 0.008230076782480661, + 0.0304003544151783 + ], + [ + 0.13752189944620236, + -0.007426930125802755, + 0.9904708723688225, + -0.06894580274820328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9903853293384264, + 0.01105639711022377, + -0.1378936336982406, + -0.12470269203186035 + ], + [ + -0.00999531188833774, + 0.9999148845672607, + 0.008385059813606944, + 0.03136933594942093 + ], + [ + 0.13797459447349583, + -0.006926150992512703, + 0.990411527993835, + -0.07089942693710327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9902511216340558, + 0.017063949257135395, + -0.1382446111647903, + -0.12557350099086761 + ], + [ + -0.01606565181524638, + 0.9998362064361574, + 0.008333963781785522, + 0.03300539404153824 + ], + [ + 0.13836419586442242, + -0.006031728349626066, + 0.9903630443498102, + -0.0727415606379509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9900957342242418, + 0.02129501663148403, + -0.13876961835467078, + -0.12601514160633087 + ], + [ + -0.02011115081253085, + 0.9997484683990479, + 0.009927929723280526, + 0.03382061421871185 + ], + [ + 0.13894610361417886, + -0.007038784213364124, + 0.9902749480829034, + -0.07331940531730652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9898138831555865, + 0.02543644607067108, + -0.1400767625699921, + -0.12731686234474182 + ], + [ + -0.02387108883924702, + 0.9996325373649597, + 0.01284412520157838, + 0.03414154425263405 + ], + [ + 0.14035203529080276, + -0.009369507431983948, + 0.990057311339452, + -0.0744858831167221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9895157192727221, + 0.029489342123270035, + -0.141382530600443, + -0.12871181964874268 + ], + [ + -0.027600437259910186, + 0.9995018839836121, + 0.015303078023625122, + 0.035571370273828506 + ], + [ + 0.14176340440825078, + -0.011240417137742043, + 0.9898367570639874, + -0.0741395503282547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9892268916686034, + 0.033177480101585395, + -0.1425814364070706, + -0.1305299699306488 + ], + [ + -0.03099989895758016, + 0.9993667602539065, + 0.017467493635855244, + 0.03684626892209053 + ], + [ + 0.14307066352610281, + -0.01285930443555117, + 0.9896289205379484, + -0.0754040777683258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9889470405851145, + 0.03659965842962265, + -0.14368082161350465, + -0.13202621042728424 + ], + [ + -0.03416664529833599, + 0.9992285370826721, + 0.019365263045842625, + 0.036791056394577026 + ], + [ + 0.14427871902632033, + -0.014242127537727356, + 0.9894346069868221, + -0.07570022344589233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9887748126967592, + 0.04018979147076607, + -0.14390673798307643, + -0.1331745833158493 + ], + [ + -0.03771525751482914, + 0.9990906715393066, + 0.019883366734982495, + 0.0367601178586483 + ], + [ + 0.1445750237770408, + -0.014232693240046501, + 0.9893914570799481, + -0.07735444605350494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9888318820418142, + 0.042634475976228714, + -0.14280696380122132, + -0.13377439975738525 + ], + [ + -0.04030677828020468, + 0.9990037679672241, + 0.01915436387069809, + 0.03692128509283066 + ], + [ + 0.14348130118743793, + -0.013184359297156334, + 0.9895651909024268, + -0.07854550331830978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9892601590981899, + 0.04542934149503708, + -0.1389260701674287, + -0.13394318521022797 + ], + [ + -0.043410401287959484, + 0.9989035129547119, + 0.01752978457092329, + 0.03709018602967262 + ], + [ + 0.13957012038601976, + -0.011310679838061333, + 0.9901475777993461, + -0.07844052463769913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9899941957325546, + 0.045206204056739814, + -0.13367105663036424, + -0.13362428545951843 + ], + [ + -0.043456532144429696, + 0.9989275336265566, + 0.015979584334236782, + 0.03689119964838028 + ], + [ + 0.13425006783846166, + -0.010010814294219019, + 0.9908969017512593, + -0.07905165106058121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9906285154498423, + 0.04440782219171524, + -0.12916291001545513, + -0.1328732669353485 + ], + [ + -0.0428929833067676, + 0.998974621295929, + 0.014487731061733608, + 0.03593836724758148 + ], + [ + 0.12967384149309205, + -0.008811777457594872, + 0.991517569523912, + -0.07900763303041458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9913362888252689, + 0.043994408100843437, + -0.12376139338038442, + -0.132091224193573 + ], + [ + -0.04270229136603788, + 0.999002277851105, + 0.01307504529500269, + 0.03551400080323219 + ], + [ + 0.12421314085187592, + -0.0076768728904426115, + 0.9922258543622312, + -0.07820001244544983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.992028821079803, + 0.043043866753578186, + -0.11843181886950022, + -0.13089732825756073 + ], + [ + -0.04179832661859362, + 0.999041736125946, + 0.012981917811749248, + 0.03511994704604149 + ], + [ + 0.11887714783781925, + -0.007928185164928436, + 0.9928773382124664, + -0.07714848965406418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9925700592111957, + 0.04237799346446992, + -0.11405594329745232, + -0.12991675734519958 + ], + [ + -0.04108417429917273, + 0.9990621209144595, + 0.013671572250282366, + 0.03588947653770447 + ], + [ + 0.11452833325320527, + -0.008884098380804064, + 0.9933802446168395, + -0.07663484662771225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9929930061639682, + 0.0423775538802147, + -0.11031318616592799, + -0.12943686544895172 + ], + [ + -0.04103253846246638, + 0.9990535378456118, + 0.014435444591711791, + 0.03560681641101837 + ], + [ + 0.11082051803351153, + -0.009807866066694261, + 0.9937920298385404, + -0.07493210583925247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9933190249526479, + 0.043363362550735474, + -0.10694380664695043, + -0.12908220291137695 + ], + [ + -0.04207600139041921, + 0.9990125298500061, + 0.014265911675959312, + 0.03617692366242409 + ], + [ + 0.1074568535416796, + -0.009670834988355637, + 0.9941627371302694, + -0.0736924260854721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.993635606438249, + 0.04289216548204423, + -0.10415646258323932, + -0.12847283482551575 + ], + [ + -0.04162617118995759, + 0.9990309476852419, + 0.014299167314409677, + 0.03603048622608185 + ], + [ + 0.10466883646931006, + -0.009872527793049814, + 0.9944581199364446, + -0.07454055547714233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9937714196874875, + 0.042706429958343506, + -0.1029297847151046, + -0.12867353856563568 + ], + [ + -0.04137017218392678, + 0.9990300536155701, + 0.015083201512010288, + 0.0363350547850132 + ], + [ + 0.10347410149421891, + -0.010731031186878681, + 0.9945742586463395, + -0.07371305674314499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9938261684789951, + 0.04303843528032303, + -0.1022608138194716, + -0.12886856496334076 + ], + [ + -0.0415922889943316, + 0.9990028142929077, + 0.016233101516943724, + 0.03671779856085777 + ], + [ + 0.10285746486358219, + -0.011879620142281055, + 0.9946251432263831, + -0.07379645109176636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9937467795374666, + 0.04241885989904404, + -0.10328584455046166, + -0.1294250637292862 + ], + [ + -0.04088050867047637, + 0.999019980430603, + 0.01696662584414895, + 0.03743763640522957 + ], + [ + 0.10390434466735875, + -0.01263815350830555, + 0.9945069916372267, + -0.0736817717552185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9934920579211582, + 0.04385809600353242, + -0.10511885219390753, + -0.12943342328071594 + ], + [ + -0.04228688299374572, + 0.9989586472511294, + 0.017130561705187446, + 0.037286628037691116 + ], + [ + 0.10576072865992457, + -0.01257392764091492, + 0.994312098940887, + -0.07610617578029633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9933246268505397, + 0.04404160752892495, + -0.10661394205412628, + -0.13053902983665466 + ], + [ + -0.04243356006204157, + 0.9989494085311892, + 0.01730579450761988, + 0.0377490408718586 + ], + [ + 0.10726409014028815, + -0.012666262686252597, + 0.9941498795730476, + -0.07780091464519501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9931128462059087, + 0.04360396042466164, + -0.10874538774393289, + -0.13125091791152954 + ], + [ + -0.04192108238391471, + 0.9989638924598696, + 0.01771494182024304, + 0.0387905016541481 + ], + [ + 0.1094051336691448, + -0.01303421333432198, + 0.9939117976360461, + -0.07769538462162018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9928893961866763, + 0.04398715868592262, + -0.11061556050725478, + -0.1312449872493744 + ], + [ + -0.042254136583382514, + 0.998945415019989, + 0.017963856405566424, + 0.03896122798323631 + ], + [ + 0.111289082624556, + -0.013162157498300076, + 0.9937009140522117, + -0.07985249161720276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9926828797034422, + 0.045499544590711594, + -0.11185029535249763, + -0.13214659690856934 + ], + [ + -0.04377070875957532, + 0.9988818764686584, + 0.017865298468842054, + 0.03981241583824158 + ], + [ + 0.11253806704038223, + -0.012838810682296753, + 0.9935644829179315, + -0.08136390149593353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9925802607014603, + 0.04707671701908113, + -0.11210813406863036, + -0.13316212594509125 + ], + [ + -0.045291765487302356, + 0.998804032802582, + 0.01841703978223782, + 0.040210530161857605 + ], + [ + 0.11284104344485843, + -0.013202816247940067, + 0.9935253440043239, + -0.0826641321182251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9925159848384988, + 0.04793456941843033, + -0.1123136562454386, + -0.13406483829021454 + ], + [ + -0.04600917046123802, + 0.9987472295761108, + 0.01967420890832298, + 0.04156605526804924 + ], + [ + 0.1131160121613624, + -0.014359508641064167, + 0.9934780460415891, + -0.08181848376989365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9923158830412845, + 0.05043986812233925, + -0.11298234799402158, + -0.13529673218727112 + ], + [ + -0.048231075533441484, + 0.9985894560813904, + 0.02220042647514173, + 0.043276265263557434 + ], + [ + 0.11394275536358658, + -0.016580577939748764, + 0.9933489694064462, + -0.0812995433807373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9919988434888686, + 0.05161328241229057, + -0.11521442948709826, + -0.13662801682949066 + ], + [ + -0.048987753521807204, + 0.9984736442565918, + 0.025506416985587515, + 0.04377543181180954 + ], + [ + 0.11635503948425341, + -0.019658245146274567, + 0.9930131328024691, + -0.08112145960330963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9916651732253269, + 0.05381506308913231, + -0.11706472749145418, + -0.1377517133951187 + ], + [ + -0.051099696038350795, + 0.9983530640602112, + 0.026076589551336335, + 0.04540969058871269 + ], + [ + 0.1182752229642276, + -0.019877273589372635, + 0.9927819150677344, + -0.0820760577917099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.991588639809043, + 0.0564447231590748, + -0.116473058704584, + -0.13833339512348175 + ], + [ + -0.053840811287751554, + 0.9982268214225771, + 0.02538525476995295, + 0.04540468379855156 + ], + [ + 0.11769937350654762, + -0.01890072971582413, + 0.9928694160819632, + -0.08275008946657181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9917930747713345, + 0.05527335777878761, + -0.1152881280475312, + -0.13877825438976288 + ], + [ + -0.05266371475420371, + 0.9982850551605225, + 0.02556254342182656, + 0.04593238979578018 + ], + [ + 0.1165033583411836, + -0.019281255081295967, + 0.9930031456781292, + -0.08222147822380066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9919211895592586, + 0.05376797914505005, + -0.11489699491836851, + -0.13937370479106903 + ], + [ + -0.05104823732951984, + 0.998344898223877, + 0.026485989016508775, + 0.04617694765329361 + ], + [ + 0.11613093750077652, + -0.020406726747751236, + 0.9930242566116503, + -0.08228185772895813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9919705855169828, + 0.053833976387977614, + -0.1144390136600597, + -0.1388126015663147 + ], + [ + -0.05109580962330207, + 0.9983360171318056, + 0.02672917815179067, + 0.04677540063858032 + ], + [ + 0.11568753452246021, + -0.020667206496000293, + 0.9930706332818561, + -0.08255494385957718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9920092998767217, + 0.05397547036409378, + -0.11403597409538295, + -0.13892419636249542 + ], + [ + -0.051175904759843266, + 0.9983153939247131, + 0.027338456831118508, + 0.04729406535625458 + ], + [ + 0.11531949303136074, + -0.021284110844135284, + 0.993100433712885, + -0.08239751309156418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.991988390906744, + 0.055054228752851486, + -0.11370162772388634, + -0.13989517092704773 + ], + [ + -0.052104363240913734, + 0.9982275366783142, + 0.028757067357358265, + 0.048128239810466766 + ], + [ + 0.11508327204865426, + -0.022602327167987823, + 0.9930986726113905, + -0.08150085806846619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.991916392985911, + 0.057277075946331024, + -0.11323086515145767, + -0.14031054079532623 + ], + [ + -0.05420285100068093, + 0.9980777502059937, + 0.030047280207475106, + 0.04888273775577545 + ], + [ + 0.11473425767655303, + -0.023666951805353165, + 0.9931142683461984, + -0.08172295987606049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9919029226234959, + 0.06073314696550369, + -0.1115352689001695, + -0.14049488306045532 + ], + [ + -0.05763465915400618, + 0.9978625178337097, + 0.03080052102138095, + 0.04936511069536209 + ], + [ + 0.11316748828250331, + -0.024122830480337143, + 0.9932830504269088, + -0.08227592706680298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9920952544574835, + 0.061553083360195174, + -0.10935383043352909, + -0.14078372716903687 + ], + [ + -0.058402395153627155, + 0.99778687953949, + 0.031787847458494174, + 0.050373274832963943 + ], + [ + 0.11106846224937184, + -0.025150051340460784, + 0.9934944468626099, + -0.08151537925004959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9922987203936547, + 0.06179303303360939, + -0.10735399773867448, + -0.13999724388122559 + ], + [ + -0.05858491507299083, + 0.9977438449859619, + 0.03278762102577141, + 0.05024877190589905 + ], + [ + 0.10913783463682132, + -0.026245787739753723, + 0.9936800950211458, + -0.08231335133314133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9926490633000222, + 0.06023744493722917, + -0.10497316041030298, + -0.13964292407035828 + ], + [ + -0.0570464453446058, + 0.9978212714195254, + 0.03314279611936335, + 0.04999149218201637 + ], + [ + 0.10674086261325641, + -0.026910822838544853, + 0.9939226501634255, + -0.08227436244487762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.992930886346992, + 0.05812540277838707, + -0.10348782321781079, + -0.13969901204109192 + ], + [ + -0.05499111321102951, + 0.9979450702667236, + 0.032888771870572764, + 0.0504322275519371 + ], + [ + 0.10518684063824908, + -0.026965370401740074, + 0.9940868177375931, + -0.08241365104913712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9930603325695744, + 0.05790408328175545, + -0.10236364951835944, + -0.14080816507339478 + ], + [ + -0.05479551700920318, + 0.9979546070098877, + 0.03292570090342877, + 0.050189316272735596 + ], + [ + 0.10406083224687701, + -0.027088137343525887, + 0.994201959211589, + -0.08223825693130493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9930495936705963, + 0.058413323014974594, + -0.10217834462459122, + -0.14173616468906403 + ], + [ + -0.05532838884457393, + 0.9979302287101746, + 0.03277199816852056, + 0.05007442459464073 + ], + [ + 0.10388119444060508, + -0.026890859007835388, + 0.994226103505127, + -0.08095233142375946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9927510051656199, + 0.062402725219726576, + -0.10271973842789622, + -0.14316527545452118 + ], + [ + -0.05929817424594581, + 0.9976944327354433, + 0.03300758795374195, + 0.049786850810050964 + ], + [ + 0.10454269992036025, + -0.0266772210597992, + 0.9941625132862404, + -0.08116193860769272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9924993514510232, + 0.06437743455171585, + -0.10392567939031441, + -0.14389479160308838 + ], + [ + -0.06114118064154701, + 0.9975486993789673, + 0.034034342427743614, + 0.050336360931396484 + ], + [ + 0.10586197057350358, + -0.027424927800893784, + 0.9940025617815573, + -0.08150199800729752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9923361028252636, + 0.06440714001655579, + -0.10545495807870285, + -0.14473262429237366 + ], + [ + -0.06103792995405915, + 0.9975260496139526, + 0.03487417560389649, + 0.05070008337497711 + ], + [ + 0.10744023206378762, + -0.0281701497733593, + 0.9938123817407488, + -0.08320119231939316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9922546423893623, + 0.06345342099666595, + -0.10679154671040986, + -0.1465032547712326 + ], + [ + -0.05998772303124427, + 0.9975726008415222, + 0.035361400156898974, + 0.05028694123029709 + ], + [ + 0.10877613723234045, + -0.028681330382823944, + 0.9936524367665232, + -0.08302737772464752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9922020868789886, + 0.0612824410200119, + -0.10853352695703945, + -0.14649388194084167 + ], + [ + -0.057862737478931496, + 0.9977322220802307, + 0.03438510427788489, + 0.04997016862034798 + ], + [ + 0.11039463303122803, + -0.02783692628145218, + 0.9934979266692826, + -0.08363025635480881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9921650877959344, + 0.059514906257390976, + -0.10984696801987265, + -0.14715468883514404 + ], + [ + -0.056291158775955266, + 0.997894287109375, + 0.03222175165086729, + 0.04991907626390457 + ], + [ + 0.1115333497911931, + -0.025785885751247406, + 0.9934260785727057, + -0.08471915125846863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9921344306154448, + 0.058263108134269714, + -0.110791165030035, + -0.14804702997207642 + ], + [ + -0.05516415965563486, + 0.9980010390281677, + 0.030836188100359502, + 0.05017000064253807 + ], + [ + 0.11236628022509657, + -0.024481941014528275, + 0.9933652169271702, + -0.0852975845336914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/pull_out/transforms.json b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a7b19fb168e8e0f600515c62486a2a7e7de79694 --- /dev/null +++ b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/pull_out/transforms.json @@ -0,0 +1,6628 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 189, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.70307084772503e-05, + 7.986521086422727e-05, + -0.00025786555488593876 + ], + [ + -1.7034815755323507e-05, + 1.0, + 5.142964801052585e-05, + -0.00014517392264679074 + ], + [ + -7.986433774931356e-05, + -5.1431008614599705e-05, + 1.0, + -0.0002484802098479122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999983906745911, + -0.001730418181978166, + -0.00040596676990389824, + -0.0001004748807741983 + ], + [ + 0.0017306868685409427, + 0.9999982714653015, + 0.0006625395617447793, + 0.0003093916784409691 + ], + [ + 0.0004048196133226156, + -0.0006632410804741085, + 0.9999997019767761, + -0.0004487020962381181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999954700469971, + -0.0025760482531040907, + -0.001560411648824811, + -0.0001479997855061269 + ], + [ + 0.0025778410490602255, + 0.9999960064888, + 0.0011480755638331175, + 0.0011460964595205448 + ], + [ + 0.0015574479475617409, + -0.0011520928237587214, + 0.999998152256012, + -0.0006100445350463641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999921917915344, + -0.003408124204725027, + -0.001985446782782674, + -4.8972042837858875e-05 + ], + [ + 0.0034109405241906643, + 0.9999932050704956, + 0.0014168414054438472, + 0.0017549396573660024 + ], + [ + 0.0019806043710559607, + -0.001423602574504912, + 0.9999970197677612, + -0.0003001980463716578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999985933303833, + -0.0044803437776863575, + -0.002829919336363673, + 5.468928057016069e-06 + ], + [ + 0.004484949167817831, + 0.9999886155128479, + 0.0016230028122663498, + 0.0024035593098465434 + ], + [ + 0.0028226154390722513, + -0.0016356720589101315, + 0.999994695186615, + -0.00013591461180848018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999833703041077, + -0.004437757655978203, + -0.003691204125061631, + -6.550155639489914e-05 + ], + [ + 0.004446507431566715, + 0.9999873042106628, + 0.0023656210396438837, + 0.0027188467836512767 + ], + [ + 0.0036806592252105474, + -0.0023819946218281984, + 0.9999904036521912, + -0.0003321335522180548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999836087226868, + -0.003654320491477847, + -0.004406733904033899, + -6.380267921176323e-05 + ], + [ + 0.0036697436589747667, + 0.9999871253967285, + 0.003496936522424221, + 0.00295940607171902 + ], + [ + 0.004393898416310549, + -0.0035130507312715054, + 0.9999842047691345, + -0.0004682878319649617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999801516532898, + -0.004266171250492334, + -0.004637598991394043, + -8.28887820194297e-05 + ], + [ + 0.004284416791051626, + 0.9999830722808838, + 0.003931541461497545, + 0.0030451377816597355 + ], + [ + 0.0046207476407289505, + -0.003951332997530699, + 0.9999815225601196, + -0.0006077091714882473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999744892120361, + -0.004603484179824591, + -0.005465208552777767, + -1.724158429808201e-05 + ], + [ + 0.004624332766979933, + 0.9999820590019226, + 0.003808358684182167, + 0.0029443618138023514 + ], + [ + 0.005447578616440296, + -0.0038335341960191727, + 0.9999778270721436, + -0.0010095495582023196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999691247940063, + -0.0047874776646494865, + -0.006228642538189888, + -0.00012820177263223585 + ], + [ + 0.004811088554561138, + 0.9999812841415405, + 0.003781228559091687, + 0.002984560818406456 + ], + [ + 0.006210423074662685, + -0.003811078378930688, + 0.999973475933075, + -0.0013803900893222774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999691843986511, + -0.003218867816030979, + -0.007156191393733025, + -0.00017564604894822818 + ], + [ + 0.0032461187802255154, + 0.9999874830245972, + 0.003799683880060911, + 0.0031028629870134146 + ], + [ + 0.007143870927393436, + -0.003822796978056431, + 0.9999671578407288, + -0.0022913330294033318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999719262123108, + -0.0005690651014447212, + -0.007473058067262173, + -0.0003943227861879116 + ], + [ + 0.0005949765909463167, + 0.9999938011169434, + 0.0034655549097806215, + 0.003120667571722074 + ], + [ + 0.007471039891242981, + -0.0034699037205427885, + 0.9999660849571228, + -0.0026867232533132153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999681711196899, + 0.0005087140598334372, + -0.007958967238664627, + -0.0004590689021341027 + ], + [ + -0.00048684320063330233, + 0.9999961256980896, + 0.0027496491093188524, + 0.003192715867462152 + ], + [ + 0.007960334420204163, + -0.002745686797425151, + 0.9999645352363586, + -0.0030293768767188202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999691843986511, + 0.0012250833678990602, + -0.007752944715321064, + -0.0006306328971751351 + ], + [ + -0.0012099472805857658, + 0.9999973773956299, + 0.001956680091097951, + 0.0032192287232201706 + ], + [ + 0.007755321450531483, + -0.0019472392741590738, + 0.9999680519104004, + -0.0032790059005801987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999690651893616, + 0.00140003755223006, + -0.007739445194602013, + -0.0008651563875436625 + ], + [ + -0.001384782255627215, + 0.999997079372406, + 0.001976113300770521, + 0.0033069423840757697 + ], + [ + 0.00774218887090683, + -0.001965334638953209, + 0.9999681115150452, + -0.003640931588102212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999571442604065, + 0.0020004191901534796, + -0.00904176291078329, + -0.0011393004443813512 + ], + [ + -0.0019705204758793116, + 0.9999925494194031, + 0.00331442360766232, + 0.0032092791869295168 + ], + [ + 0.009048325009644032, + -0.0032964644487947226, + 0.9999536275863647, + -0.003938826494552988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999316930770874, + 0.002833987819030881, + -0.011340461671352386, + -0.001370845616180846 + ], + [ + -0.00277863466180861, + 0.9999841451644897, + 0.004893816541880369, + 0.003440414264084811 + ], + [ + 0.011354150250554085, + -0.0048619708977639675, + 0.9999237060546875, + -0.004319668838635405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.999908983707428, + 0.005353976972401142, + -0.012385702691972256, + -0.002329163402418031 + ], + [ + -0.0052774446085095406, + 0.9999668598175049, + 0.006203539203852415, + 0.003934236297116397 + ], + [ + 0.012418505735695362, + -0.006137609947472811, + 0.9999040365219116, + -0.004385971289841417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998924136161804, + 0.0073814382776618, + -0.012674353085458279, + -0.00296589613575092 + ], + [ + -0.007286222651600838, + 0.9999449849128723, + 0.007542256265878677, + 0.004432160670849237 + ], + [ + 0.01272932905703783, + -0.007449097000062466, + 0.9998912215232849, + -0.004178014609645656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998738765716553, + 0.007767716888338327, + -0.013851862400770187, + -0.0032301482199592157 + ], + [ + -0.007641080301254988, + 0.9999287724494934, + 0.009171844460070133, + 0.004991297507559524 + ], + [ + 0.01392211951315403, + -0.009064844809472561, + 0.999862015247345, + -0.003908658150504245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998527765274048, + 0.007954070344567299, + -0.015202123671770096, + -0.003621042384072504 + ], + [ + -0.007796012330800295, + 0.9999152421951294, + 0.010428222827613354, + 0.005647747450448731 + ], + [ + 0.015283782035112381, + -0.01030817162245512, + 0.9998300671577454, + -0.003401348139456613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9998342990875244, + 0.009692437946796417, + -0.015407459810376167, + -0.004399987019875899 + ], + [ + -0.009504146873950958, + 0.9998798370361328, + 0.012247343547642231, + 0.006022396762459043 + ], + [ + 0.01552431471645832, + -0.012098879553377628, + 0.99980628490448, + -0.0031099144607148275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998238682746887, + 0.011016195639967918, + -0.015195545740425587, + -0.005071412303306638 + ], + [ + -0.0108066126704216, + 0.9998462796211243, + 0.013806217350065708, + 0.006403346077360688 + ], + [ + 0.015345302410423756, + -0.013639573939144611, + 0.9997892379760742, + -0.003669769186130231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998133778572083, + 0.012318622320890427, + -0.014881972223520279, + -0.005834078778849637 + ], + [ + -0.012114301323890686, + 0.9998321533203125, + 0.013742388226091862, + 0.00653697894539367 + ], + [ + 0.015048762783408165, + -0.013559537939727306, + 0.9997948408126831, + -0.003878450163818421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998157024383545, + 0.013560467399656773, + -0.013588461093604565, + -0.006015724791808332 + ], + [ + -0.0133983688428998, + 0.9998388290405273, + 0.011949938721954823, + 0.006460985725626666 + ], + [ + 0.013748317025601864, + -0.011765672825276852, + 0.999836266040802, + -0.004587393325377017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998309016227722, + 0.013635587878525257, + -0.012340419925749302, + -0.0070605650915704825 + ], + [ + -0.013505076058208942, + 0.9998526573181152, + 0.010598269291222095, + 0.0058998258838905615 + ], + [ + 0.012483115307986736, + -0.010429819114506245, + 0.9998676776885986, + -0.005890783705213603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998378753662109, + 0.013255040161311626, + -0.012188911437988281, + -0.007922479217039778 + ], + [ + -0.01313346903771162, + 0.9998637437820435, + 0.01000048778951168, + 0.005558997436248242 + ], + [ + 0.012319806963205338, + -0.009838784113526344, + 0.9998757243156433, + -0.006491745378267258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.999825119972229, + 0.013566026464104652, + -0.012873520143330097, + -0.008800626296966159 + ], + [ + -0.013443198055028915, + 0.9998637437820435, + 0.009580161422491074, + 0.005067299239020398 + ], + [ + 0.013001731596887112, + -0.009405424818396568, + 0.9998712539672852, + -0.007685018122751028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997996687889099, + 0.01423492282629013, + -0.014070836827158928, + -0.010202218397976236 + ], + [ + -0.014115283265709877, + 0.9998636841773987, + 0.00856577605009079, + 0.00450427035820928 + ], + [ + 0.014190852642059326, + -0.008365446701645851, + 0.9998643398284912, + -0.009109077549123384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9997743964195251, + 0.014402052387595177, + -0.015612587332725525, + -0.01186640943460008 + ], + [ + -0.014292960986495018, + 0.9998728036880493, + 0.007076598703861237, + 0.0038655619335142854 + ], + [ + 0.015712518244981766, + -0.006851851940155029, + 0.9998530745506287, + -0.01045681698485575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997538328170776, + 0.013902876526117325, + -0.017291201278567314, + -0.013054221383038354 + ], + [ + -0.013818316161632538, + 0.999891996383667, + 0.00500032864511013, + 0.0033906723640145776 + ], + [ + 0.017358852550387383, + -0.004760162904858589, + 0.9998379945755005, + -0.01146500158381272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.999718964099884, + 0.013820775784552097, + -0.019261721521615982, + -0.014114619333772583 + ], + [ + -0.013750468380749226, + 0.9998983144760132, + 0.0037778301630169153, + 0.003012738254124378 + ], + [ + 0.019311975687742233, + -0.0035119105596095324, + 0.9998073577880859, + -0.012461259513300783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9996983408927917, + 0.012609568424522877, + -0.021076595410704613, + -0.01480442706416262 + ], + [ + -0.01255072932690382, + 0.9999169707298279, + 0.0029216380789875984, + 0.002396360792695208 + ], + [ + 0.021111687645316124, + -0.0026562302373349667, + 0.9997736215591431, + -0.012840601320358667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9996532201766968, + 0.013317718170583248, + -0.022717848420143127, + -0.01552455981678151 + ], + [ + -0.013274197466671467, + 0.9999097585678101, + 0.0020654085092246532, + 0.0019796330157290905 + ], + [ + 0.022743303328752518, + -0.0017631310038268566, + 0.9997397661209106, + -0.014160411026170279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9995982050895691, + 0.015250423923134804, + -0.023892180994153023, + -0.016246544258629387 + ], + [ + -0.015223570168018341, + 0.999883234500885, + 0.0013054411392658949, + 0.001574688110787897 + ], + [ + 0.023909298703074455, + -0.0009411924402229488, + 0.999713659286499, + -0.015228049820685322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9995750784873962, + 0.015975704416632652, + -0.024380911141633987, + -0.01724343807337449 + ], + [ + -0.015971070155501366, + 0.9998723864555359, + 0.0003847255138680339, + 0.0010646917021887852 + ], + [ + 0.024383947253227234, + 4.827263182960451e-06, + 0.9997026920318604, + -0.01645236274603992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9995578527450562, + 0.01589984819293022, + -0.025126244872808456, + -0.017301252983669017 + ], + [ + -0.015923917293548584, + 0.9998729228973389, + -0.0007580532692372799, + 0.0006431408981951151 + ], + [ + 0.025110997259616852, + 0.0011578262783586979, + 0.9996839761734009, + -0.017747103009234242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9995314478874207, + 0.016693752259016037, + -0.025655461475253105, + -0.017200738997099563 + ], + [ + -0.01673806831240654, + 0.9998587369918823, + -0.0015136129222810268, + 0.00047567640406456085 + ], + [ + 0.025626571848988533, + 0.0019423265475779772, + 0.9996696710586548, + -0.018449363631612443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9995166063308716, + 0.017616456374526024, + -0.025615720078349113, + -0.017298941074454403 + ], + [ + -0.017661383375525475, + 0.9998428821563721, + -0.0015287165297195315, + 0.00033812890785369786 + ], + [ + 0.025584762915968895, + 0.0019803866744041443, + 0.999670684337616, + -0.019210507933228736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995246529579163, + 0.01798195205628872, + -0.025041785091161728, + -0.01715906567356371 + ], + [ + -0.018030637875199318, + 0.9998359680175781, + -0.0017197388224303722, + 0.00020087423165913356 + ], + [ + 0.025006752461194992, + 0.0021704407408833504, + 0.9996849298477173, + -0.019721724858329178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995442032814026, + 0.017639361321926117, + -0.024498704820871353, + -0.016777836816742064 + ], + [ + -0.017691824585199356, + 0.9998416304588318, + -0.0019263860303908587, + 0.00022459424291539225 + ], + [ + 0.024460844695568085, + 0.002358934609219432, + 0.9996979832649231, + -0.020086895654651715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995365738868713, + 0.018252335488796234, + -0.02436213567852974, + -0.01644720224108785 + ], + [ + -0.018305957317352295, + 0.9998304843902588, + -0.001979874214157462, + 0.0003848257908062573 + ], + [ + 0.024321869015693665, + 0.0024249290581792593, + 0.9997012615203857, + -0.020369429508362836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995365738868713, + 0.018038203939795494, + -0.024520032107830048, + -0.016471340475564308 + ], + [ + -0.018096482381224632, + 0.9998339414596558, + -0.0021568951196968555, + 0.00028820278530474754 + ], + [ + 0.024477053433656693, + 0.002599621657282114, + 0.9996970295906067, + -0.021206817148312768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995267987251282, + 0.01854475773870945, + -0.024541061371564865, + -0.01655413057219158 + ], + [ + -0.01862001232802868, + 0.9998226165771484, + -0.002841564593836665, + 0.00046417738405115744 + ], + [ + 0.02448401227593422, + 0.003297175047919154, + 0.9996947646141052, + -0.021588840759656534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995371699333191, + 0.01801762357354164, + -0.024511829018592834, + -0.016355051290481648 + ], + [ + -0.01810343936085701, + 0.9998307228088379, + -0.0032836459577083588, + 0.0003923072119273166 + ], + [ + 0.024448517709970474, + 0.0037258747033774853, + 0.9996941685676575, + -0.022157818859225104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995324611663818, + 0.01801055297255516, + -0.024708840996026993, + -0.01628059286505301 + ], + [ + -0.01809627190232277, + 0.999830961227417, + -0.0032500100787729025, + 0.0004765998474272721 + ], + [ + 0.024646129459142685, + 0.003695628372952342, + 0.9996894001960754, + -0.02255457686755727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995324611663818, + 0.017184823751449585, + -0.025288261473178864, + -0.016212888545495397 + ], + [ + -0.017275430262088776, + 0.9998450875282288, + -0.003368775825947523, + 0.00040910733848849827 + ], + [ + 0.025226451456546783, + 0.0038040662184357643, + 0.9996744990348816, + -0.023353426613191026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995046257972717, + 0.01790575310587883, + -0.025882914662361145, + -0.01662403792142868 + ], + [ + -0.018007420003414154, + 0.9998310208320618, + -0.0037002661265432835, + 0.000708060641773045 + ], + [ + 0.025812283158302307, + 0.004164517391473055, + 0.9996581077575684, + -0.02395902294665575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9994738698005676, + 0.018341433256864548, + -0.02675078809261322, + -0.016642316779557693 + ], + [ + -0.018445264548063278, + 0.999823272228241, + -0.0036398363299667835, + 0.0008221310246339504 + ], + [ + 0.026679299771785736, + 0.004131346475332975, + 0.9996355175971985, + -0.024520425892316122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9994402527809143, + 0.019432660192251205, + -0.027232006192207336, + -0.01712282548083904 + ], + [ + -0.01953115314245224, + 0.9998036026954651, + -0.00335554126650095, + 0.0009188804195876768 + ], + [ + 0.027161452919244766, + 0.0038855355232954025, + 0.9996235370635986, + -0.025429515410809126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9994131922721863, + 0.01994175836443901, + -0.027849968522787094, + -0.017417195689012396 + ], + [ + -0.020039599388837814, + 0.9997939467430115, + -0.0032384300138801336, + 0.0010513209643714288 + ], + [ + 0.027779649943113327, + 0.003794631687924266, + 0.9996068477630615, + -0.026237099560874298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9993741512298584, + 0.020517462864518166, + -0.028815660625696182, + -0.017390406205061267 + ], + [ + -0.02060120739042759, + 0.9997843503952026, + -0.002612375421449542, + 0.0010397728551129633 + ], + [ + 0.028755847364664078, + 0.0032043776009231806, + 0.9995813369750977, + -0.02676942414861727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999338686466217, + 0.020970650017261505, + -0.029706403613090515, + -0.01811059595264019 + ], + [ + -0.021032344549894333, + 0.9997772574424744, + -0.001765869790688157, + 0.0014136106419832782 + ], + [ + 0.029662754386663437, + 0.0023894973564893007, + 0.9995570778846741, + -0.027045563144480533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9993161559104919, + 0.02105782739818096, + -0.030393105000257492, + -0.0188535238853953 + ], + [ + -0.02110186405479908, + 0.9997767210006714, + -0.001128814765252173, + 0.0018063441647756646 + ], + [ + 0.03036254644393921, + 0.0017693940317258239, + 0.9995374083518982, + -0.02680573368722454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9993393421173096, + 0.018865184858441353, + -0.031064877286553383, + -0.01901228162559106 + ], + [ + -0.018890084698796272, + 0.9998214244842529, + -0.000508180761244148, + 0.0019212734814302282 + ], + [ + 0.03104974515736103, + 0.0010946630500257015, + 0.9995172619819641, + -0.02635023100499777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9993405342102051, + 0.016400901600718498, + -0.03239701688289642, + -0.01930598871029438 + ], + [ + -0.0163868498057127, + 0.9998654723167419, + 0.0006992440903559327, + 0.0020484215424500128 + ], + [ + 0.03240412473678589, + -0.00016789801884442568, + 0.999474823474884, + -0.026165175301201167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9993026852607727, + 0.015418087132275105, + -0.03400539606809616, + -0.019585127240799843 + ], + [ + -0.015359100885689259, + 0.9998800754547119, + 0.0019951534923166037, + 0.0022333074935731736 + ], + [ + 0.034032076597213745, + -0.0014714698772877455, + 0.999419629573822, + -0.026203453365435943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9992468357086182, + 0.01525090355426073, + -0.03568129241466522, + -0.020272783681433253 + ], + [ + -0.01516162883490324, + 0.9998812079429626, + 0.0027712665032595396, + 0.0022313565388569568 + ], + [ + 0.03571932017803192, + -0.002228192752227187, + 0.9993593692779541, + -0.02603482975366902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9991818070411682, + 0.015977278351783752, + -0.037154216319322586, + -0.022070529450602987 + ], + [ + -0.015869561582803726, + 0.9998689889907837, + 0.003192313015460968, + 0.002386783428014593 + ], + [ + 0.03720035031437874, + -0.002600079867988825, + 0.999304473400116, + -0.02688461540346133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9990988373756409, + 0.01632731221616268, + -0.03917895630002022, + -0.023365792087180183 + ], + [ + -0.01621362753212452, + 0.9998633861541748, + 0.003217708319425583, + 0.0025884184847645305 + ], + [ + 0.039226140826940536, + -0.002579575404524803, + 0.9992270469665527, + -0.027283830522619026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9989938735961914, + 0.01599922589957714, + -0.041895996779203415, + -0.024901676051160122 + ], + [ + -0.015891114249825478, + 0.9998694658279419, + 0.0029122738633304834, + 0.002530622447127516 + ], + [ + 0.041937123984098434, + -0.0022435698192566633, + 0.9991177320480347, + -0.02852959671315361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9988641738891602, + 0.016002535820007324, + -0.04488028585910797, + -0.026326832817272938 + ], + [ + -0.015895988792181015, + 0.9998699426651001, + 0.002729937434196472, + 0.002327718406400465 + ], + [ + 0.044918134808540344, + -0.002013420220464468, + 0.9989886283874512, + -0.02989398169014206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9987172484397888, + 0.01611827127635479, + -0.048000164330005646, + -0.027911454177600274 + ], + [ + -0.016003893688321114, + 0.9998680949211121, + 0.0027662692591547966, + 0.0028837298974394797 + ], + [ + 0.04803842306137085, + -0.001994531601667404, + 0.9988434910774231, + -0.030490161065368893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9985724687576294, + 0.01600140891969204, + -0.05096046254038811, + -0.029343007281026307 + ], + [ + -0.015859263017773628, + 0.9998691082000732, + 0.003192516742274165, + 0.003130016461425917 + ], + [ + 0.05100487545132637, + -0.0023797641042619944, + 0.9986955523490906, + -0.030619550309084517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9984353184700012, + 0.014752130024135113, + -0.053938060998916626, + -0.030793684292980964 + ], + [ + -0.014578600414097309, + 0.999887228012085, + 0.0036092691589146852, + 0.0034879678374830077 + ], + [ + 0.053985223174095154, + -0.0028172803577035666, + 0.9985377788543701, + -0.030797977200610206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9982711672782898, + 0.014955292455852032, + -0.05684223026037216, + -0.03233640833183172 + ], + [ + -0.014740119688212872, + 0.9998825192451477, + 0.004202841781079769, + 0.003954057098722997 + ], + [ + 0.05689840763807297, + -0.003357714507728815, + 0.998374342918396, + -0.031412586520247636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9981175661087036, + 0.015210211277008057, + -0.059413786977529526, + -0.03316032691918155 + ], + [ + -0.01493551954627037, + 0.9998756051063538, + 0.005064725875854492, + 0.004453759814830536 + ], + [ + 0.05948343500494957, + -0.004167815670371056, + 0.9982205629348755, + -0.03211804546633775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9979761838912964, + 0.015245531685650349, + -0.061734121292829514, + -0.03443792991617575 + ], + [ + -0.014883616007864475, + 0.9998692870140076, + 0.0063181426376104355, + 0.004999579733950978 + ], + [ + 0.061822373420000076, + -0.005386529490351677, + 0.998072624206543, + -0.03249568898389314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.997819721698761, + 0.016447965055704117, + -0.06391577422618866, + -0.03555909266814272 + ], + [ + -0.015953414142131805, + 0.9998387694358826, + 0.00824022851884365, + 0.005139315845642953 + ], + [ + 0.06404100358486176, + -0.007202587556093931, + 0.9979212880134583, + -0.033155661369574825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9976567029953003, + 0.01864643581211567, + -0.0658290684223175, + -0.03642825405014322 + ], + [ + -0.018001070246100426, + 0.9997840523719788, + 0.010383296757936478, + 0.005899185512928252 + ], + [ + 0.06600846350193024, + -0.00917397253215313, + 0.9977768659591675, + -0.03255177836548141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9975234270095825, + 0.01987476646900177, + -0.06746812164783478, + -0.03736646235623258 + ], + [ + -0.019082650542259216, + 0.9997414350509644, + 0.012364918366074562, + 0.006482103066717057 + ], + [ + 0.06769642233848572, + -0.011046824976801872, + 0.9976447820663452, + -0.03306182962346901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9973803758621216, + 0.020991452038288116, + -0.06922278553247452, + -0.037798660411004055 + ], + [ + -0.020076699554920197, + 0.9997020363807678, + 0.013884032145142555, + 0.006681618901920762 + ], + [ + 0.0694935992360115, + -0.012457896023988724, + 0.9975045919418335, + -0.03325885908797067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9972617030143738, + 0.02140127122402191, + -0.07078865170478821, + -0.038094139780769955 + ], + [ + -0.020388271659612656, + 0.9996795654296875, + 0.015002011321485043, + 0.00668302539815294 + ], + [ + 0.07108703255653381, + -0.013517673127353191, + 0.9973785281181335, + -0.033611951920976664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9971329569816589, + 0.021468905732035637, + -0.07255981117486954, + -0.038671850884689926 + ], + [ + -0.02034691907465458, + 0.9996622800827026, + 0.016166970133781433, + 0.006804216486659456 + ], + [ + 0.07288239151239395, + -0.014644250273704529, + 0.9972330331802368, + -0.0339595642515478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9969947934150696, + 0.021300848573446274, + -0.07448261231184006, + -0.03889115163461959 + ], + [ + -0.020108971744775772, + 0.9996580481529236, + 0.01671566069126129, + 0.006395213961839042 + ], + [ + 0.07481319457292557, + -0.015167657285928726, + 0.9970822334289551, + -0.034563859887024824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9968408346176147, + 0.02150876633822918, + -0.07645732909440994, + -0.03964512075911811 + ], + [ + -0.020290235057473183, + 0.99965500831604, + 0.01667875237762928, + 0.005839654913251387 + ], + [ + 0.07678968459367752, + -0.015074724331498146, + 0.9969333410263062, + -0.035335236605494584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9966968297958374, + 0.020740225911140442, + -0.07851944863796234, + -0.04094563697246795 + ], + [ + -0.019514836370944977, + 0.999675989151001, + 0.016341574490070343, + 0.005534931615074264 + ], + [ + 0.07883293926715851, + -0.014755302108824253, + 0.9967786073684692, + -0.03778245204445371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9964646100997925, + 0.021365229040384293, + -0.08125123381614685, + -0.042134150577352404 + ], + [ + -0.02003639191389084, + 0.9996523857116699, + 0.017135081812739372, + 0.005071598205200218 + ], + [ + 0.08158908784389496, + -0.015446522273123264, + 0.9965463280677795, + -0.03904382839125205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9962015748023987, + 0.021428167819976807, + -0.08439909666776657, + -0.043346032698420765 + ], + [ + -0.019952598959207535, + 0.9996336698532104, + 0.01828816905617714, + 0.004257815763195778 + ], + [ + 0.08476006239652634, + -0.016534723341464996, + 0.9962642192840576, + -0.04099626135095915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.995901346206665, + 0.02021753415465355, + -0.08815771341323853, + -0.0447988582576843 + ], + [ + -0.018617045134305954, + 0.9996472597122192, + 0.01893952116370201, + 0.003205950151970412 + ], + [ + 0.08850952982902527, + -0.01722065731883049, + 0.9959264397621155, + -0.04314121697742016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9955576062202454, + 0.019310014322400093, + -0.09215281903743744, + -0.045978162913246357 + ], + [ + -0.017644884064793587, + 0.9996666312217712, + 0.018849989399313927, + 0.003152588818301546 + ], + [ + 0.09248608350753784, + -0.017140226438641548, + 0.9955664277076721, + -0.045638172857542625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9951457977294922, + 0.01778341643512249, + -0.09679146111011505, + -0.046648813649377924 + ], + [ + -0.016074446961283684, + 0.9997013211250305, + 0.018407471477985382, + 0.0027775425810683914 + ], + [ + 0.09708990156650543, + -0.016762249171733856, + 0.9951344728469849, + -0.047488961677919043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9946653842926025, + 0.018040938302874565, + -0.10156428813934326, + -0.046893117053711665 + ], + [ + -0.01631988026201725, + 0.9997092485427856, + 0.017751043662428856, + 0.002931857171488252 + ], + [ + 0.10185500979423523, + -0.015998831018805504, + 0.994670569896698, + -0.048769594211765424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9942737221717834, + 0.01868222840130329, + -0.10521741211414337, + -0.047523177185274185 + ], + [ + -0.016965394839644432, + 0.9997082948684692, + 0.017188536003232002, + 0.0030558409882669754 + ], + [ + 0.10550783574581146, + -0.015305055305361748, + 0.9943006634712219, + -0.05044505625487642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9938351511955261, + 0.015522749163210392, + -0.10977594554424286, + -0.04845150404788078 + ], + [ + -0.013698100112378597, + 0.9997555017471313, + 0.017356278374791145, + 0.0032275630359319928 + ], + [ + 0.1100185215473175, + -0.015745555981993675, + 0.9938048124313354, + -0.05193969008334457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.992800235748291, + 0.010595408268272877, + -0.11931250989437103, + -0.04846426745519993 + ], + [ + -0.008326037786900997, + 0.9997751116752625, + 0.019502848386764526, + 0.003313140369000587 + ], + [ + 0.11949232220649719, + -0.018369030207395554, + 0.99266517162323, + -0.05254732683657649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9917758107185364, + 0.008002113550901413, + -0.12773703038692474, + -0.04937352936001534 + ], + [ + -0.0051416452042758465, + 0.9997289180755615, + 0.022707471624016762, + 0.003459372026647659 + ], + [ + 0.12788410484790802, + -0.021863942965865135, + 0.9915481209754944, + -0.054720058902464015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9909586310386658, + 0.007420916575938463, + -0.13396230340003967, + -0.05011261582691619 + ], + [ + -0.004162895958870649, + 0.9996891021728516, + 0.024584166705608368, + 0.003659943100857608 + ], + [ + 0.13410308957099915, + -0.02380422130227089, + 0.9906814694404602, + -0.05607413386410855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9901939034461975, + 0.007001000456511974, + -0.13952429592609406, + -0.04967194537216044 + ], + [ + -0.0034028112422674894, + 0.9996558427810669, + 0.026010872796177864, + 0.00358741533486767 + ], + [ + 0.1396583765745163, + -0.025281032547354698, + 0.9898769855499268, + -0.05729983122821184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9893355369567871, + 0.004721043631434441, + -0.14557796716690063, + -0.05022572806858002 + ], + [ + -0.0006705971900373697, + 0.9996116161346436, + 0.02785974182188511, + 0.0037247701201270867 + ], + [ + 0.14565294981002808, + -0.027465006336569786, + 0.9889544248580933, + -0.05829140624784409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9882736802101135, + 0.0036410270258784294, + -0.1526494324207306, + -0.05087322400922471 + ], + [ + 0.000824214774183929, + 0.9995738863945007, + 0.029178135097026825, + 0.003395130312902496 + ], + [ + 0.15269061923027039, + -0.028961800038814545, + 0.9878495931625366, + -0.05981467331343509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9875432848930359, + 0.005049929954111576, + -0.15726663172245026, + -0.050894505760454116 + ], + [ + -0.0005070595070719719, + 0.9995818138122559, + 0.028913158923387527, + 0.003362276052382398 + ], + [ + 0.15734685957431793, + -0.028473250567913055, + 0.9871328473091125, + -0.061697015729039274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9869704842567444, + 0.004237707704305649, + -0.16084548830986023, + -0.05075258011830614 + ], + [ + 0.0002838477957993746, + 0.9996057152748108, + 0.02807779796421528, + 0.0037491804603090946 + ], + [ + 0.1609010398387909, + -0.027757612988352776, + 0.9865801334381104, + -0.06252076503761271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9861845374107361, + 0.0027345791459083557, + -0.16562770307064056, + -0.05126850203155203 + ], + [ + 0.002054598182439804, + 0.9995849132537842, + 0.028737084940075874, + 0.0036826956809121875 + ], + [ + 0.1656375378370285, + -0.02868036739528179, + 0.9857695698738098, + -0.06318469167627552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9851840138435364, + 0.003419869113713503, + -0.17146648466587067, + -0.05186194479465485 + ], + [ + 0.001914912718348205, + 0.9995194673538208, + 0.030937638133764267, + 0.004005034174770117 + ], + [ + 0.1714899092912674, + -0.030807610601186752, + 0.9847040772438049, + -0.06400852985680103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9842056035995483, + 0.0051437858492136, + -0.17695431411266327, + -0.05294068906694016 + ], + [ + 0.0008219273295253515, + 0.999434232711792, + 0.03362348675727844, + 0.005057605082525852 + ], + [ + 0.1770271509885788, + -0.033237867057323456, + 0.9836445450782776, + -0.065841263556417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9830437898635864, + 0.005200646817684174, + -0.1832973212003708, + -0.05375064481446083 + ], + [ + 0.0015924032777547836, + 0.9993179440498352, + 0.03689362481236458, + 0.006401552636414133 + ], + [ + 0.1833641678094864, + -0.036559928208589554, + 0.9823649525642395, + -0.06740019954741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9816493988037109, + 0.002948856446892023, + -0.19067193567752838, + -0.0550594383018448 + ], + [ + 0.004921555984765291, + 0.999155580997467, + 0.040790531784296036, + 0.006067749836105615 + ], + [ + 0.1906312257051468, + -0.04098040238022804, + 0.9808059930801392, + -0.07210815255629256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9803077578544617, + 0.002633781172335148, + -0.19745822250843048, + -0.05493370613202135 + ], + [ + 0.00602172315120697, + 0.9990473985671997, + 0.0432213693857193, + 0.006593946101976202 + ], + [ + 0.19738395512104034, + -0.04355928301811218, + 0.9793580174446106, + -0.07274100602148695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9797625541687012, + 0.0037080009933561087, + -0.200128972530365, + -0.05641197229319431 + ], + [ + 0.0049722869880497456, + 0.9990689754486084, + 0.04285341501235962, + 0.006589853632798855 + ], + [ + 0.2001015543937683, + -0.04298126697540283, + 0.978831946849823, + -0.07596218288737408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.979458212852478, + 0.0022264376748353243, + -0.20163494348526, + -0.057216074872524184 + ], + [ + 0.0062621114775538445, + 0.9991208910942078, + 0.04145093262195587, + 0.006523429852058279 + ], + [ + 0.2015499770641327, + -0.041862115263938904, + 0.9785832166671753, + -0.07787080315199305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.979054868221283, + 0.0007292600348591805, + -0.20359519124031067, + -0.05703171895856553 + ], + [ + 0.007543471641838551, + 0.9991770386695862, + 0.039854247123003006, + 0.006960181632336783 + ], + [ + 0.20345669984817505, + -0.040555309504270554, + 0.9782436490058899, + -0.07901395813740315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9790850281715393, + 0.0012281888630241156, + -0.2034478634595871, + -0.0577693539572523 + ], + [ + 0.006544755771756172, + 0.9992741346359253, + 0.037528879940509796, + 0.007215581707497861 + ], + [ + 0.20334626734256744, + -0.03807547688484192, + 0.9783662557601929, + -0.0802955660017881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9792938828468323, + 0.001052061328664422, + -0.20244115591049194, + -0.058443714266127725 + ], + [ + 0.006395846605300903, + 0.9993265271186829, + 0.036132801324129105, + 0.0075054096474133905 + ], + [ + 0.20234283804893494, + -0.03667941316962242, + 0.978627622127533, + -0.0804618507385888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9793046712875366, + 0.001028877915814519, + -0.20238909125328064, + -0.05839880073958255 + ], + [ + 0.006391878239810467, + 0.9993310570716858, + 0.036008793860673904, + 0.007483797369802252 + ], + [ + 0.20229074358940125, + -0.03655722364783287, + 0.9786429405212402, + -0.08132882502643352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9792531728744507, + 0.0031139508355408907, + -0.20261675119400024, + -0.058606823708148716 + ], + [ + 0.004307030700147152, + 0.9993361830711365, + 0.03617449104785919, + 0.007625445168703161 + ], + [ + 0.20259490609169006, + -0.03629665821790695, + 0.9785897135734558, + -0.0827724620145052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9793257117271423, + 0.0024299314245581627, + -0.20227521657943726, + -0.058830209234927565 + ], + [ + 0.004930862225592136, + 0.999343991279602, + 0.03587813302874565, + 0.007429358989317366 + ], + [ + 0.20222970843315125, + -0.036133769899606705, + 0.9786713123321533, + -0.08400884587714012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9790617227554321, + -0.001322183758020401, + -0.2035592943429947, + -0.05823876747584089 + ], + [ + 0.008544478565454483, + 0.9993645548820496, + 0.03460529446601868, + 0.007340087226413666 + ], + [ + 0.2033841758966446, + -0.03562002629041672, + 0.9784508347511292, + -0.08536555545127139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9786058068275452, + -0.00401013158261776, + -0.2057052105665207, + -0.05841970171066041 + ], + [ + 0.010894503444433212, + 0.9994173645973206, + 0.03234546259045601, + 0.006476045126452091 + ], + [ + 0.20545564591884613, + -0.03389451280236244, + 0.9780793190002441, + -0.08812833455331781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9782882928848267, + -0.003884189296513796, + -0.2072121649980545, + -0.05926767041550038 + ], + [ + 0.01032799668610096, + 0.999495804309845, + 0.030024921521544456, + 0.006437688250530591 + ], + [ + 0.2069910615682602, + -0.031513117253780365, + 0.9778351783752441, + -0.09060019573315661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9779941439628601, + -0.004561256151646376, + -0.20858241617679596, + -0.05990473838879707 + ], + [ + 0.010526822879910469, + 0.999566376209259, + 0.02749941125512123, + 0.006261948218688052 + ], + [ + 0.2083665281534195, + -0.029089972376823425, + 0.9776180982589722, + -0.09257018692949985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.977571427822113, + -0.0032731418032199144, + -0.21057870984077454, + -0.06082148058934415 + ], + [ + 0.008788680657744408, + 0.9996422529220581, + 0.02526177652180195, + 0.006849449897739799 + ], + [ + 0.21042069792747498, + -0.026545898988842964, + 0.9772504568099976, + -0.09466928828586924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9770908355712891, + -0.0010907617397606373, + -0.212819904088974, + -0.0619969497652764 + ], + [ + 0.006319228559732437, + 0.9996946454048157, + 0.02388889342546463, + 0.007015858654012072 + ], + [ + 0.2127288579940796, + -0.024686478078365326, + 0.9767993688583374, + -0.09572135040417631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.976499080657959, + -0.001058371039107442, + -0.21551905572414398, + -0.06283563401629316 + ], + [ + 0.006047251634299755, + 0.999728798866272, + 0.022490132600069046, + 0.0066538343582540115 + ], + [ + 0.21543680131435394, + -0.023264892399311066, + 0.9762406349182129, + -0.09754643391104455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9756944179534912, + 0.0003015741240233183, + -0.2191353738307953, + -0.06433230904822654 + ], + [ + 0.004513390362262726, + 0.9997592568397522, + 0.021471621468663216, + 0.00722448842282942 + ], + [ + 0.2190890908241272, + -0.021938784047961235, + 0.9754582047462463, + -0.10069194743607907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9748259782791138, + 0.0035560098476707935, + -0.22293870151042938, + -0.06510560178851828 + ], + [ + 0.0012934101978316903, + 0.9997658133506775, + 0.02160247042775154, + 0.0076007589678022455 + ], + [ + 0.22296331822872162, + -0.02134700119495392, + 0.9745931029319763, + -0.1016805591259865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9739163517951965, + 0.005951606668531895, + -0.22682920098304749, + -0.06679851244738762 + ], + [ + -0.000933903967961669, + 0.9997526407241821, + 0.022221963852643967, + 0.00793293491402205 + ], + [ + 0.22690534591674805, + -0.021430496126413345, + 0.9736810326576233, + -0.10378425455790885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9729066491127014, + 0.009472512640058994, + -0.2310040444135666, + -0.06808685952837162 + ], + [ + -0.004419095814228058, + 0.9997397065162659, + 0.022383498027920723, + 0.008810540588889667 + ], + [ + 0.23115594685077667, + -0.020756224170327187, + 0.9726952910423279, + -0.10633040197352146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.971948504447937, + 0.013183149509131908, + -0.2348240315914154, + -0.06988373341712546 + ], + [ + -0.00820642989128828, + 0.9997208118438721, + 0.022158045321702957, + 0.010045393449353412 + ], + [ + 0.23505058884620667, + -0.01960941031575203, + 0.971785306930542, + -0.10882267018264913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9709583520889282, + 0.015145344659686089, + -0.23876874148845673, + -0.07109411963598525 + ], + [ + -0.010046670213341713, + 0.9996950626373291, + 0.022556675598025322, + 0.010754837300826577 + ], + [ + 0.23903755843639374, + -0.019502760842442513, + 0.9708144664764404, + -0.110209466326744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9698956608772278, + 0.015994666144251823, + -0.24299491941928864, + -0.07342120925796793 + ], + [ + -0.010790622793138027, + 0.9996833801269531, + 0.02273225411772728, + 0.011716511140161373 + ], + [ + 0.2432815581560135, + -0.019425850361585617, + 0.9697611331939697, + -0.11031996427064247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9690180420875549, + 0.01662393845617771, + -0.24642981588840485, + -0.07456942358391082 + ], + [ + -0.011535863392055035, + 0.9996896982192993, + 0.022076552733778954, + 0.012188525752540915 + ], + [ + 0.2467203587293625, + -0.01854979805648327, + 0.9689091444015503, + -0.11320302747982613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.968046247959137, + 0.0147621501237154, + -0.25033697485923767, + -0.07638562121923934 + ], + [ + -0.009444596245884895, + 0.9997038245201111, + 0.022429659962654114, + 0.012461932312617911 + ], + [ + 0.2505939304828644, + -0.019348617643117905, + 0.9678989052772522, + -0.11375438312583781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9659982919692993, + 0.009729450568556786, + -0.258365273475647, + -0.07742825705320278 + ], + [ + -0.0034722930286079645, + 0.9996897578239441, + 0.024663541465997696, + 0.013216204015894774 + ], + [ + 0.2585250735282898, + -0.022927820682525635, + 0.9657323956489563, + -0.11535978905381042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9634121656417847, + 0.007362061180174351, + -0.26792314648628235, + -0.0789987581841489 + ], + [ + -0.00012202351354062557, + 0.9996346235275269, + 0.02702944166958332, + 0.013739418828899556 + ], + [ + 0.2680242359638214, + -0.026007799431681633, + 0.9630610942840576, + -0.11786888638075362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9617865085601807, + 0.010575821623206139, + -0.2735961079597473, + -0.08218080074863231 + ], + [ + -0.0032040525693446398, + 0.9996200203895569, + 0.0273768100887537, + 0.01504313721361154 + ], + [ + 0.2737817168235779, + -0.02545403130352497, + 0.9614549875259399, + -0.11886550042223423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9607183933258057, + 0.01172216609120369, + -0.2772773802280426, + -0.08383586257696152 + ], + [ + -0.004510398954153061, + 0.9996351003646851, + 0.026632776483893394, + 0.01656411487331733 + ], + [ + 0.2774883806705475, + -0.024335967376828194, + 0.9604207277297974, + -0.12026923422483687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9593759179115295, + 0.010826630517840385, + -0.2819230854511261, + -0.08661031464629984 + ], + [ + -0.003919264301657677, + 0.9996784329414368, + 0.025053292512893677, + 0.017543346870769846 + ], + [ + 0.28210368752479553, + -0.02293059602379799, + 0.9591098427772522, + -0.12175402817256907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9578583240509033, + 0.011121241375803947, + -0.28702571988105774, + -0.08848773275918148 + ], + [ + -0.004460188094526529, + 0.9997056126594543, + 0.023850612342357635, + 0.01924454353432706 + ], + [ + 0.2872064411640167, + -0.02156531810760498, + 0.9576259255409241, + -0.12324293571266723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9564486742019653, + 0.011620528995990753, + -0.291669100522995, + -0.09128400843511236 + ], + [ + -0.004909014329314232, + 0.9997063279151917, + 0.02373201586306095, + 0.02079998243976622 + ], + [ + 0.2918592393398285, + -0.021266648545861244, + 0.9562248587608337, + -0.12262188085216157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9547799229621887, + 0.009156806394457817, + -0.29717251658439636, + -0.09297016247155818 + ], + [ + -0.002306347945705056, + 0.9997236728668213, + 0.023394562304019928, + 0.022269891654240325 + ], + [ + 0.29730460047721863, + -0.02165127545595169, + 0.9545371532440186, + -0.12395574770709301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9526330232620239, + 0.006843728944659233, + -0.3040452301502228, + -0.09486983502481847 + ], + [ + -0.00031358329579234123, + 0.9997683167457581, + 0.02152118645608425, + 0.023820930250742018 + ], + [ + 0.30412206053733826, + -0.020406449213624, + 0.9524145126342773, + -0.12537997395117234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9509252905845642, + 0.004739408381283283, + -0.30938422679901123, + -0.09632175092367415 + ], + [ + 0.0010439675534144044, + 0.9998278617858887, + 0.018524950370192528, + 0.02497721173741082 + ], + [ + 0.3094187378883362, + -0.017938831821084023, + 0.9507566690444946, + -0.12728447633537843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9496654868125916, + 0.00048149481881409883, + -0.31326547265052795, + -0.09800890619133382 + ], + [ + 0.004029027186334133, + 0.9998973608016968, + 0.013750871643424034, + 0.026003773186474722 + ], + [ + 0.3132399618625641, + -0.01432088389992714, + 0.9495660066604614, + -0.12839053173331505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9484317302703857, + -0.0023280244786292315, + -0.3169729709625244, + -0.09930175428694867 + ], + [ + 0.0053720781579613686, + 0.9999474883079529, + 0.008729914203286171, + 0.026057074244748405 + ], + [ + 0.31693601608276367, + -0.009982530027627945, + 0.9483944177627563, + -0.13368299356166352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9474590420722961, + 0.001022196956910193, + -0.31987544894218445, + -0.09994462409869154 + ], + [ + 0.0014400262152776122, + 0.9999711513519287, + 0.007460820488631725, + 0.028598156180529993 + ], + [ + 0.3198738396167755, + -0.0075294505804777145, + 0.9474302530288696, + -0.13496037001939531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9468938708305359, + 0.006354016717523336, + -0.32148343324661255, + -0.10065393286182525 + ], + [ + -0.0036288038827478886, + 0.9999522566795349, + 0.009075494483113289, + 0.02974382928235734 + ], + [ + 0.3215257525444031, + -0.007426930125802755, + 0.9468716979026794, + -0.13744290429860986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9462685585021973, + 0.01105639711022377, + -0.3231927752494812, + -0.10115087809080774 + ], + [ + -0.00822395458817482, + 0.9999148845672607, + 0.010128280147910118, + 0.030631264470557265 + ], + [ + 0.32327723503112793, + -0.006926150992512703, + 0.9462789297103882, + -0.13985698724046666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9456188082695007, + 0.01706394925713539, + -0.3248290717601776, + -0.10172966487230138 + ], + [ + -0.014178196899592876, + 0.9998362064361572, + 0.011248948983848095, + 0.032179673318255775 + ], + [ + 0.3249678313732147, + -0.006031728349626064, + 0.9457058310508728, + -0.1421603929172171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9449120759963989, + 0.02129501663148403, + -0.3266308903694153, + -0.10186530449923048 + ], + [ + -0.017825854942202568, + 0.9997484683990479, + 0.013611064292490482, + 0.03281426425240538 + ], + [ + 0.32683855295181274, + -0.007038784213364124, + 0.9450539946556091, + -0.14319307832641803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9439265727996826, + 0.02543644607067108, + -0.3291741907596588, + -0.1028038906924268 + ], + [ + -0.020930655300617218, + 0.9996325373649597, + 0.017225217074155807, + 0.032858815321579894 + ], + [ + 0.32949140667915344, + -0.009369507431983948, + 0.9441120624542236, + -0.14479210053352598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9429200887680054, + 0.029489342123270035, + -0.3317108452320099, + -0.10383350625634193 + ], + [ + -0.02408462017774582, + 0.9995018839836121, + 0.0203936118632555, + 0.03404184938408435 + ], + [ + 0.3321470320224762, + -0.011240417137742043, + 0.9431606531143188, + -0.1448765993118286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9419385194778442, + 0.03317748010158539, + -0.33414238691329956, + -0.10529155559996341 + ], + [ + -0.026964200660586357, + 0.9993667602539062, + 0.02321721240878105, + 0.03509262841036345 + ], + [ + 0.3347010612487793, + -0.012859304435551167, + 0.942236602306366, + -0.14657301262338113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9409804940223694, + 0.03659965842962265, + -0.33647605776786804, + -0.1064325528417496 + ], + [ + -0.02966058999300003, + 0.9992285370826721, + 0.02574145421385765, + 0.03483306280277828 + ], + [ + 0.33715859055519104, + -0.014242127537727356, + 0.9413401484489441, + -0.14730216026940246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9402972459793091, + 0.04018979147076607, + -0.3379731774330139, + -0.1072872761082142 + ], + [ + -0.03299902006983757, + 0.9990906715393066, + 0.026997288689017296, + 0.0346922404271491 + ], + [ + 0.3387508988380432, + -0.014232693240046501, + 0.9407684206962585, + -0.14941330380896306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9401021599769592, + 0.042634475976228714, + -0.33821627497673035, + -0.1076885700384353 + ], + [ + -0.0356464646756649, + 0.9990037679672241, + 0.026848753914237022, + 0.03485050354093472 + ], + [ + 0.33902397751808167, + -0.013184359297156334, + 0.9406853318214417, + -0.1510983613577295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.940833330154419, + 0.04542934149503708, + -0.3358106017112732, + -0.10786427677945888 + ], + [ + -0.0389767661690712, + 0.9989035129547119, + 0.025933915749192238, + 0.035076169168299184 + ], + [ + 0.336620569229126, + -0.011310679838061333, + 0.9415724277496338, + -0.1515626387076175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9421517252922058, + 0.04520620405673981, + -0.33212435245513916, + -0.10765498768776022 + ], + [ + -0.03930090367794037, + 0.9989275336265564, + 0.024479711428284645, + 0.034977094552658024 + ], + [ + 0.33287477493286133, + -0.010010814294219017, + 0.9429178833961487, + -0.15277980470910985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9432317614555359, + 0.04440782219171524, + -0.3291530907154083, + -0.10696121511307169 + ], + [ + -0.03902044892311096, + 0.998974621295929, + 0.02295880950987339, + 0.03413097160531485 + ], + [ + 0.3298351466655731, + -0.008811777457594872, + 0.9439974427223206, + -0.1533223253298313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9445778131484985, + 0.04399440810084343, + -0.32532641291618347, + -0.1063073755103223 + ], + [ + -0.039092857390642166, + 0.9990022778511047, + 0.02159145660698414, + 0.03380276301895526 + ], + [ + 0.3259517252445221, + -0.00767687289044261, + 0.945355236530304, + -0.1531244434257771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9459065198898315, + 0.043043866753578186, + -0.32157135009765625, + -0.10524003968593922 + ], + [ + -0.038197748363018036, + 0.999041736125946, + 0.02136731892824173, + 0.03341510776985199 + ], + [ + 0.32218295335769653, + -0.007928185164928436, + 0.9466442465782166, + -0.1526786157108368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.946900486946106, + 0.04237799346446991, + -0.318721741437912, + -0.10431729832545239 + ], + [ + -0.03732558339834213, + 0.9990621209144592, + 0.02194589003920555, + 0.0341268013271087 + ], + [ + 0.3193528354167938, + -0.008884098380804062, + 0.9475942254066467, + -0.15274480834920356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9476555585861206, + 0.04237755388021469, + -0.316469669342041, + -0.10384995601278671 + ], + [ + -0.03708402067422867, + 0.9990535378456116, + 0.022733822464942932, + 0.03376876267981022 + ], + [ + 0.3171335458755493, + -0.00980786606669426, + 0.9483301639556885, + -0.15160560845694643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9482450485229492, + 0.043363362550735474, + -0.3145647644996643, + -0.1034819853749681 + ], + [ + -0.03810804337263107, + 0.9990125298500061, + 0.022840384393930435, + 0.03431810514525847 + ], + [ + 0.3152446150779724, + -0.009670834988355637, + 0.9489611983299255, + -0.15092171509849264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9487085938453674, + 0.04289216548204422, + -0.3132288157939911, + -0.10281472970196541 + ], + [ + -0.03762959688901901, + 0.9990309476852417, + 0.022830193862318993, + 0.034160353324594016 + ], + [ + 0.3139044940471649, + -0.009872527793049812, + 0.9494032263755798, + -0.15231081976535474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9486668705940247, + 0.042706429958343506, + -0.31338050961494446, + -0.10283631569844612 + ], + [ + -0.03717979043722153, + 0.9990300536155701, + 0.023593585938215256, + 0.03438983892308588 + ], + [ + 0.31408414244651794, + -0.010731031186878681, + 0.9493345022201538, + -0.15198265666023214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9484272003173828, + 0.04303843528032303, + -0.3140598237514496, + -0.10280828171588005 + ], + [ + -0.037115953862667084, + 0.9990028142929077, + 0.024816084653139114, + 0.034658591536448353 + ], + [ + 0.31481465697288513, + -0.011879620142281055, + 0.9490787982940674, + -0.1525497981842528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9476891160011292, + 0.04241885989904404, + -0.316363662481308, + -0.10300533234121952 + ], + [ + -0.036227427423000336, + 0.999019980430603, + 0.02542942948639393, + 0.035314008517270075 + ], + [ + 0.3171323239803314, + -0.01263815350830555, + 0.9482970833778381, + -0.15287466648411246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.946599006652832, + 0.04385809600353241, + -0.3194162845611572, + -0.10258886319525698 + ], + [ + -0.03752867132425308, + 0.9989586472511292, + 0.025946781039237976, + 0.03510599431205303 + ], + [ + 0.3202216625213623, + -0.012573927640914917, + 0.9472591876983643, + -0.1557162564485631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9456616044044495, + 0.04404160752892494, + -0.32215598225593567, + -0.10329285899692393 + ], + [ + -0.03759711608290672, + 0.998949408531189, + 0.026202183216810226, + 0.03553300516362837 + ], + [ + 0.32297149300575256, + -0.012666262686252594, + 0.9463239312171936, + -0.15783575776409595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9445345401763916, + 0.043603960424661636, + -0.32550451159477234, + -0.10354840628644253 + ], + [ + -0.03697037324309349, + 0.9989638924598694, + 0.026540305465459824, + 0.036531752252832374 + ], + [ + 0.3263244926929474, + -0.013034213334321976, + 0.9451679587364197, + -0.15813521089706017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.943446695804596, + 0.04398715868592262, + -0.3285931944847107, + -0.10310482538126885 + ], + [ + -0.037202756851911545, + 0.998945415019989, + 0.026908494532108307, + 0.03665683031319938 + ], + [ + 0.3294302821159363, + -0.013162157498300076, + 0.9440881609916687, + -0.16070259476595739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.942510724067688, + 0.045499544590711594, + -0.3310639262199402, + -0.10361874794706386 + ], + [ + -0.03866543993353844, + 0.9988818764686584, + 0.027203448116779327, + 0.037468288926051016 + ], + [ + 0.331931471824646, + -0.012838810682296753, + 0.9432161450386047, + -0.1626410373981963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9418907761573792, + 0.047076717019081116, + -0.33260422945022583, + -0.10432463158318336 + ], + [ + -0.03998539596796036, + 0.9988040328025818, + 0.02813715487718582, + 0.037770978967718624 + ], + [ + 0.3335310220718384, + -0.013202816247940063, + 0.9426466822624207, + -0.16439360510161583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9413175582885742, + 0.04793456941843033, + -0.3341011703014374, + -0.10491984258306787 + ], + [ + -0.040360331535339355, + 0.9987472295761108, + 0.029579754918813705, + 0.03898569366874847 + ], + [ + 0.3351005017757416, + -0.014359508641064167, + 0.9420729875564575, + -0.1639993188546059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.940504252910614, + 0.05043986812233925, + -0.3360172212123871, + -0.10580585904894992 + ], + [ + -0.04190725460648537, + 0.9985894560813904, + 0.03260180354118347, + 0.04041493676127272 + ], + [ + 0.33718767762184143, + -0.016580577939748764, + 0.9412914514541626, + -0.16391288885410796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9392154216766357, + 0.05161328241229057, + -0.3394266664981842, + -0.1066573643620978 + ], + [ + -0.04184092953801155, + 0.9984736442565918, + 0.03605154529213905, + 0.04059215706792918 + ], + [ + 0.34076932072639465, + -0.019658245146274567, + 0.93994140625, + -0.1641162858998522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9379907250404358, + 0.05381506308913231, + -0.3424578309059143, + -0.10733125713911462 + ], + [ + -0.04371437057852745, + 0.9983530640602112, + 0.03715132921934128, + 0.042109545918696735 + ], + [ + 0.3438931107521057, + -0.019877273589372635, + 0.9387984275817871, + -0.16546932236945378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.93757563829422, + 0.05644472315907478, + -0.3431704044342041, + -0.10766710366340393 + ], + [ + -0.046489302068948746, + 0.9982268214225769, + 0.03717511147260666, + 0.04208265256057395 + ], + [ + 0.344660222530365, + -0.018900729715824127, + 0.9385372400283813, + -0.16661937474570376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9375719428062439, + 0.05527335777878761, + -0.34337109327316284, + -0.10791138483488813 + ], + [ + -0.045251499861478806, + 0.9982850551605225, + 0.037137746810913086, + 0.04259394340692683 + ], + [ + 0.34483498334884644, + -0.019281255081295967, + 0.9384652972221375, + -0.166583518240046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9373091459274292, + 0.05376797914505005, + -0.3443261981010437, + -0.10823782517554911 + ], + [ + -0.043412744998931885, + 0.998344898223877, + 0.03771954029798508, + 0.042766138158263044 + ], + [ + 0.34578442573547363, + -0.020406726747751236, + 0.938092052936554, + -0.16710933060088057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9369847774505615, + 0.0538339763879776, + -0.3451977074146271, + -0.10741429945572893 + ], + [ + -0.043349042534828186, + 0.9983360171318054, + 0.038027506321668625, + 0.04331651575506685 + ], + [ + 0.3466704785823822, + -0.02066720649600029, + 0.937759280204773, + -0.16785113370799004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9366363883018494, + 0.05397547036409378, + -0.34611982107162476, + -0.10725791486019784 + ], + [ + -0.04322931170463562, + 0.9983153939247131, + 0.038698721677064896, + 0.04375354401133162 + ], + [ + 0.3476255536079407, + -0.021284110844135284, + 0.9373918771743774, + -0.16815889759900723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.936212956905365, + 0.055054228752851486, + -0.3470941185951233, + -0.10795512703504967 + ], + [ + -0.04373856261372566, + 0.9982275366783142, + 0.0403580442070961, + 0.04441444106162228 + ], + [ + 0.34870076179504395, + -0.022602327167987823, + 0.9369615316390991, + -0.16772125433100032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9357717633247375, + 0.057277075946331024, + -0.347923219203949, + -0.10810913646474798 + ], + [ + -0.04540993273258209, + 0.9980777502059937, + 0.04217494651675224, + 0.04497931185475689 + ], + [ + 0.3496701121330261, + -0.023666951805353165, + 0.9365739226341248, + -0.16840586548155928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9356824159622192, + 0.06073314696550369, + -0.3475772440433502, + -0.10814061832237751 + ], + [ + -0.04849981516599655, + 0.9978625178337097, + 0.043797191232442856, + 0.045288244490214485 + ], + [ + 0.34949424862861633, + -0.024122830480337143, + 0.9366279244422913, + -0.16946203705478224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9359133839607239, + 0.06155308336019516, + -0.34681031107902527, + -0.10831637889780896 + ], + [ + -0.048944003880023956, + 0.9977868795394897, + 0.04500879347324371, + 0.046159685656745386 + ], + [ + 0.3488132059574127, + -0.025150051340460777, + 0.9368547201156616, + -0.16922092751619666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9361147880554199, + 0.06179303303360939, + -0.34622353315353394, + -0.10740066655772798 + ], + [ + -0.04881434515118599, + 0.9977438449859619, + 0.046090997755527496, + 0.04590935350019247 + ], + [ + 0.34829050302505493, + -0.026245787739753723, + 0.9370191693305969, + -0.1705327092967135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9365555047988892, + 0.060237444937229156, + -0.3453046679496765, + -0.10694918423256976 + ], + [ + -0.04717152565717697, + 0.9978212714195251, + 0.04612579569220543, + 0.04562426258988203 + ], + [ + 0.34733080863952637, + -0.026910822838544846, + 0.9373564720153809, + -0.17102407096548283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9367132782936096, + 0.05812540277838707, + -0.3452386260032654, + -0.10682788754397249 + ], + [ + -0.04517810419201851, + 0.9979450702667236, + 0.04543823003768921, + 0.04610592798983797 + ], + [ + 0.34717029333114624, + -0.026965370401740074, + 0.9374143481254578, + -0.1716674639823589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9366358518600464, + 0.05790408328175545, + -0.34548577666282654, + -0.10772973964823053 + ], + [ + -0.04491614177823067, + 0.9979546070098877, + 0.04548835754394531, + 0.04583404799725147 + ], + [ + 0.3474130928516388, + -0.027088137343525887, + 0.9373208284378052, + -0.17198174050513734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9361896514892578, + 0.058413323014974594, + -0.34660762548446655, + -0.10836596244827229 + ], + [ + -0.045407120138406754, + 0.9979302287101746, + 0.04553490877151489, + 0.04569047859057467 + ], + [ + 0.34855008125305176, + -0.026890859007835388, + 0.9369043111801147, + -0.17115428904269603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9352812767028809, + 0.06240272521972656, + -0.34836021065711975, + -0.10944104229516172 + ], + [ + -0.04912756383419037, + 0.9976944327354431, + 0.04682154208421707, + 0.04525412705508952 + ], + [ + 0.350478857755661, + -0.026677221059799194, + 0.9361906051635742, + -0.17179315676714513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9342477321624756, + 0.06437743455171585, + -0.3507658541202545, + -0.10975109410095722 + ], + [ + -0.050586968660354614, + 0.9975486993789673, + 0.04834810271859169, + 0.04563013603910804 + ], + [ + 0.35301855206489563, + -0.027424927800893784, + 0.9352142810821533, + -0.1725361540913582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9332128763198853, + 0.06440714001655579, + -0.353504478931427, + -0.11013431358844676 + ], + [ + -0.05020686984062195, + 0.9975260496139526, + 0.0492047481238842, + 0.04588429951604377 + ], + [ + 0.3557990789413452, + -0.0281701497733593, + 0.9341378211975098, + -0.1746274471600005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9323003888130188, + 0.06345342099666595, + -0.3560754060745239, + -0.1114639195990055 + ], + [ + -0.04899861663579941, + 0.9975726008415222, + 0.049478188157081604, + 0.04541807697015874 + ], + [ + 0.35835063457489014, + -0.028681330382823944, + 0.9331464171409607, + -0.17485295600713568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9313066601753235, + 0.0612824410200119, + -0.35904374718666077, + -0.1109714686553529 + ], + [ + -0.047125622630119324, + 0.9977322220802307, + 0.04805837571620941, + 0.045215456980340026 + ], + [ + 0.36117467284202576, + -0.02783692628145218, + 0.9320825934410095, + -0.17584693847184485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9304318428039551, + 0.059514906257390976, + -0.3615999221801758, + -0.11118703700126485 + ], + [ + -0.04609706625342369, + 0.997894287109375, + 0.04562889784574509, + 0.045380457169673545 + ], + [ + 0.36355412006378174, + -0.025785885751247406, + 0.9312161207199097, + -0.17734543560667243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9296534061431885, + 0.058263108134269714, + -0.3637993335723877, + -0.11166709661483765 + ], + [ + -0.04530349373817444, + 0.9980010390281677, + 0.04406300559639931, + 0.04576370008289814 + ], + [ + 0.365639328956604, + -0.024481941014528275, + 0.9304345846176147, + -0.1783410429954529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/tilt_down/transforms.json b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b18b1505aca326910c060153ecdd068eb3af1360 --- /dev/null +++ b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/tilt_down/transforms.json @@ -0,0 +1,6628 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 189, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.70307084772503e-05, + 7.986521086422727e-05, + -0.00025786555488593876 + ], + [ + -1.7034815755323507e-05, + 1.0, + 5.142964801052585e-05, + -0.00014517392264679074 + ], + [ + -7.986433774931356e-05, + -5.1431008614599705e-05, + 1.0, + -0.0002484802098479122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999983906745911, + -0.0017298511753526464, + -0.00040837606922773304, + -0.00010069082054542378 + ], + [ + 0.0017306868685409427, + 0.9999963792503477, + 0.0020550859973088183, + 0.00030974409310147166 + ], + [ + 0.0004048196133226156, + -0.002055789507415974, + 0.9999978087835357, + 8.321263885591179e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999954700469971, + -0.0025716923655268674, + -0.0015675801393229085, + -0.0001496597978984937 + ], + [ + 0.0025778410490602255, + 0.9999889306151819, + 0.003933156258474013, + 0.001147317816503346 + ], + [ + 0.0015574479475617409, + -0.003937179478987381, + 0.9999910651856161, + 0.0004537832865025848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999921917915344, + -0.0033997999869464, + -0.0019996673650519805, + -5.214030898059718e-05 + ], + [ + 0.0034109405241906643, + 0.9999785597135301, + 0.0055944383082112085, + 0.001757200574502349 + ], + [ + 0.0019806043710559607, + -0.005601215354694769, + 0.9999823461317928, + 0.0012955418787896633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999859333038332, + -0.004464511137334157, + -0.002854831715039813, + -5.521769139704702e-07 + ], + [ + 0.004484949167817832, + 0.9999640617639055, + 0.007193085156141025, + 0.0024070125073194504 + ], + [ + 0.0028226154390722518, + -0.007205788071062281, + 0.999970070773486, + 0.0019917336758226156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999833703041077, + -0.00441194936276522, + -0.003722013396867443, + -7.531858864240348e-05 + ], + [ + 0.004446507431566715, + 0.9999465935807745, + 0.009328168717235052, + 0.0027251383289694786 + ], + [ + 0.0036806592252105474, + -0.009344563482987421, + 0.9999495789429399, + 0.002327415393665433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999836087226868, + -0.0036173737826065214, + -0.004437112672933574, + -7.78667235863395e-05 + ], + [ + 0.0036697436589747667, + 0.9999230029209849, + 0.011851909286448211, + 0.0029705665074288845 + ], + [ + 0.004393898416310549, + -0.011867998530389326, + 0.99991994775786, + 0.002723151119425893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999801516532898, + -0.004220762663785247, + -0.004678963996388821, + -0.00010015643783845007 + ], + [ + 0.004284416791051626, + 0.9998972397082155, + 0.013678884840149052, + 0.0030597764998674393 + ], + [ + 0.0046207476407289505, + -0.013698660329682515, + 0.9998954971392182, + 0.003115626284852624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999744892120364, + -0.004542315169870659, + -0.00551615300882902, + -4.049779090564698e-05 + ], + [ + 0.004624332766979934, + 0.999877580747187, + 0.01494809154189744, + 0.002960567595437169 + ], + [ + 0.005447578616440297, + -0.014973218347089961, + 0.9998730686205568, + 0.0032456752378493547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999691247940066, + -0.004709040455224136, + -0.006288153007770148, + -0.0001580197422299534 + ], + [ + 0.004811088554561139, + 0.9998553605232579, + 0.016313318353008234, + 0.003002662444487214 + ], + [ + 0.006210423074662687, + -0.0163430679712305, + 0.9998471788315324, + 0.003406716976314783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999691843986511, + -0.0031189054025581473, + -0.007200320435280104, + -0.00021371089678723365 + ], + [ + 0.0032461187802255154, + 0.9998376152536943, + 0.017724190454384076, + 0.003123074071481824 + ], + [ + 0.007143870927393436, + -0.017747018282188155, + 0.9998169701894903, + 0.003027641214430332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999719262123108, + -0.0004545301441330207, + -0.0074808979617709635, + -0.000438048125943169 + ], + [ + 0.0005949765909463167, + 0.9998233993563407, + 0.018782503631758467, + 0.003140944754704833 + ], + [ + 0.007471039891242981, + -0.018786427391423274, + 0.9997956198354604, + 0.0031641421373933554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999681711196902, + 0.0006416359557361253, + -0.007949355495957875, + -0.0005098708206787705 + ], + [ + -0.00048684320063330244, + 0.9998105612790422, + 0.019459021976978463, + 0.0032102668192237616 + ], + [ + 0.007960334420204164, + -0.01945453234732113, + 0.9997790414374587, + 0.0033533754758536816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999691843986513, + 0.0013652276773135814, + -0.007729497681364857, + -0.0006842436851002276 + ], + [ + -0.001209947280585766, + 0.9997981001589579, + 0.020058472365949938, + 0.0032327589578926563 + ], + [ + 0.007755321450531484, + -0.020048502241323554, + 0.9997689503781121, + 0.00363566679880023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999690651893616, + 0.0015506478325768482, + -0.007710681446359151, + -0.0009227905538864434 + ], + [ + -0.001384782255627215, + 0.9997685215352536, + 0.021470144953693517, + 0.003321658121421933 + ], + [ + 0.00774218887090683, + -0.021458803627344567, + 0.9997397693070392, + 0.0038056394550949335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999571442604065, + 0.002188835656896607, + -0.00899800822061464, + -0.0012114421697333455 + ], + [ + -0.0019705204758793116, + 0.9997051720319752, + 0.0242002750126382, + 0.0032357240561395884 + ], + [ + 0.009048325009644032, + -0.024181506821768298, + 0.9996666337978982, + 0.004039526917040348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999316930770874, + 0.0030859380452846656, + -0.011274508603859089, + -0.001467360183596611 + ], + [ + -0.00277863466180861, + 0.999626913245984, + 0.027171204150844515, + 0.003482063766568899 + ], + [ + 0.011354150250554085, + -0.02713801989079266, + 0.9995671986252643, + 0.004190320149064064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.999908983707428, + 0.005645660459310906, + -0.012255497483705174, + -0.0024411617778241634 + ], + [ + -0.0052774446085095406, + 0.9995398236346978, + 0.02987215426199382, + 0.003990332130342722 + ], + [ + 0.012418505735695362, + -0.02980475638014939, + 0.9994785785627422, + 0.004655714146792889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998924136161804, + 0.007696780308298182, + -0.012485368639635352, + -0.00308724632486701 + ], + [ + -0.007286222651600838, + 0.9994418353646785, + 0.032601782234526734, + 0.004504373762756586 + ], + [ + 0.01272932905703783, + -0.03250730474655849, + 0.9993904237401705, + 0.005395411979407072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998738765716553, + 0.008131454185680205, + -0.013641516427928062, + -0.0033701404463499784 + ], + [ + -0.007641080301254988, + 0.9993361485790375, + 0.03562211176174723, + 0.005083991680294275 + ], + [ + 0.01392211951315403, + -0.03551338347555327, + 0.9992722454566724, + 0.006196330301463604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998527765274048, + 0.008374325237256355, + -0.014974727910675669, + -0.003782767103984952 + ], + [ + -0.007796012330800295, + 0.9992370621958875, + 0.038269216605760104, + 0.005758685991168022 + ], + [ + 0.015283782035112381, + -0.03814684005495039, + 0.9991552633042982, + 0.007235141936689615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9998342990875246, + 0.010138798410833866, + -0.015117471281445475, + -0.0045720916241407394 + ], + [ + -0.00950414687395096, + 0.9990942215758711, + 0.0414779742644445, + 0.006159202195703983 + ], + [ + 0.015524314716458324, + -0.04132742312897735, + 0.9990250418875716, + 0.008058134466409683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998238682746887, + 0.011476485724087038, + -0.014850974787947113, + -0.005249232519418001 + ], + [ + -0.0108066126704216, + 0.9989542007155214, + 0.04442633658692434, + 0.006564908195286989 + ], + [ + 0.015345302410423756, + -0.04425802411307516, + 0.9989022903425676, + 0.008029892109334469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998133778572085, + 0.012788872395929988, + -0.014479858286150076, + -0.006016145460307598 + ], + [ + -0.01211430132389069, + 0.9988792912151417, + 0.045753137912344206, + 0.006705103907734156 + ], + [ + 0.015048762783408168, + -0.045569186540134046, + 0.9988478532904138, + 0.008353082463145256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998157024383545, + 0.014006952857838581, + -0.01312775009770702, + -0.0061891945078969 + ], + [ + -0.0133983688428998, + 0.9988811758468541, + 0.04535285692652073, + 0.006613538134843111 + ], + [ + 0.013748317025601864, + -0.04516860828802585, + 0.9988847715191016, + 0.008176473900675774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998309016227724, + 0.014056855063896619, + -0.01185833236376091, + -0.00722466642037034 + ], + [ + -0.013505076058208946, + 0.9988779183097205, + 0.04539343533271299, + 0.006040760315954685 + ], + [ + 0.01248311530798674, + -0.04522561003602456, + 0.9988987927763364, + 0.007405329030007124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998378753662112, + 0.013687572070735189, + -0.011701112021066024, + -0.008091049268841743 + ], + [ + -0.013133469037711624, + 0.9988464551202755, + 0.046187389832419365, + 0.005697302054613829 + ], + [ + 0.012319806963205341, + -0.04602622580921855, + 0.9988642812145823, + 0.007336323149502277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.999825119972229, + 0.014040354123449375, + -0.012354474937999255, + -0.00898551195859909 + ], + [ + -0.013443198055028915, + 0.9987969684793051, + 0.04715825886602466, + 0.0052048866637051105 + ], + [ + 0.013001731596887112, + -0.046983928065413356, + 0.9988110417039201, + 0.006674834992736578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997996687889099, + 0.014772605905988064, + -0.013505243116409804, + -0.010411784052848816 + ], + [ + -0.014115283265709877, + 0.9987698125624586, + 0.047535470651848585, + 0.004631845746189356 + ], + [ + 0.014190852642059326, + -0.04733531912565898, + 0.998778276857509, + 0.0057825190015137196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9997743964195251, + 0.015020636649294693, + -0.01501840440415967, + -0.0121072418987751 + ], + [ + -0.014292960986495018, + 0.9987718832535328, + 0.04743866594253491, + 0.003974722232669592 + ], + [ + 0.015712518244981766, + -0.04721330589562658, + 0.9987612438965385, + 0.004966448526829481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997538328170776, + 0.01461290184722763, + -0.016695469953244307, + -0.013330144807696342 + ], + [ + -0.013818316161632538, + 0.998810744170363, + 0.046755802297899295, + 0.0034704648423939943 + ], + [ + 0.017358852550387383, + -0.04651359075462917, + 0.9987668198447275, + 0.0044898600317537785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.999718964099884, + 0.01463915175786825, + -0.018647332116773406, + -0.014432232826948166 + ], + [ + -0.013750468380749226, + 0.9988037358695381, + 0.04692556345710568, + 0.0030750322621315718 + ], + [ + 0.019311975687742233, + -0.046655966300494414, + 0.9987243398513624, + 0.004024925641715527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999698340892792, + 0.013535946824094161, + -0.020493956024510117, + -0.015163177624344826 + ], + [ + -0.012550729326903824, + 0.9987941996579718, + 0.047461890524631616, + 0.002446090802550316 + ], + [ + 0.021111687645316127, + -0.04719036040011683, + 0.9986628158742398, + 0.004176822025328875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9996532201766968, + 0.014347270535984226, + -0.022082076040965026, + -0.015923330560326576 + ], + [ + -0.013274197466671467, + 0.9987592671031854, + 0.04799705789893762, + 0.002015887526795268 + ], + [ + 0.022743303328752518, + -0.04768729040089289, + 0.9986033401349359, + 0.003388212528079748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9995982050895691, + 0.016364126881377353, + -0.02314361885926383, + -0.016678636893630028 + ], + [ + -0.015223570168018341, + 0.9987009345909764, + 0.04862746199042483, + 0.0015982971526682377 + ], + [ + 0.023909298703074455, + -0.048255595658008174, + 0.9985487889406821, + 0.002851878060027957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9995750784873962, + 0.017144569766146686, + -0.02357362270075597, + -0.01769733801484108 + ], + [ + -0.015971070155501366, + 0.9986662721650352, + 0.04909800454194795, + 0.0010718541452661157 + ], + [ + 0.024383947253227234, + -0.048700646863015895, + 0.9985157582503017, + 0.0021591235417872667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9995578527450564, + 0.017138968926993042, + -0.02429792374023194, + -0.017782393842935562 + ], + [ + -0.015923917293548587, + 0.9986547337887085, + 0.0493473329515492, + 0.0006286249845288694 + ], + [ + 0.02511099725961686, + -0.04893859391958641, + 0.9984860573912516, + 0.001395781640894711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9995314478874209, + 0.017992894334733035, + -0.024761660312925936, + -0.017705660313367844 + ], + [ + -0.016738068312406543, + 0.9986097923085842, + 0.04998267368286262, + 0.00044588721357285976 + ], + [ + 0.02562657184898854, + -0.049544791808016714, + 0.9984430566995982, + 0.0012249862775206566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9995166063308718, + 0.01894666925589622, + -0.0246480906853978, + -0.017816705629229546 + ], + [ + -0.017661383375525478, + 0.9985241869332704, + 0.05135731770878128, + 0.0003072293184231967 + ], + [ + 0.025584762915968902, + -0.05089717187719471, + 0.9983761199820042, + 0.000995601643808186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995246529579163, + 0.01931477659626879, + -0.024028753720133373, + -0.017678549513220787 + ], + [ + -0.018030637875199318, + 0.9984551664318199, + 0.052556646286381827, + 0.00016519879864063114 + ], + [ + 0.025006752461194992, + -0.05209841011308603, + 0.9983288162931759, + 0.0010164199629798532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995442032814026, + 0.01897592469078923, + -0.023478668784135612, + -0.01729908585548401 + ], + [ + -0.017691824585199356, + 0.9983981689713078, + 0.05374098209423641, + 0.00018360730609856546 + ], + [ + 0.024460844695568085, + -0.053301107080295625, + 0.9982788259301406, + 0.0011832742020487785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995365738868713, + 0.01961278373766449, + -0.023280896023870422, + -0.01697850413620472 + ], + [ + -0.018305957317352295, + 0.9983142882681358, + 0.05507721178172428, + 0.0003416476829443127 + ], + [ + 0.024321869015693665, + -0.05462550821923857, + 0.9982106723623916, + 0.0014325660886242986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995365738868713, + 0.01944064875145767, + -0.023423704917564122, + -0.017019128426909447 + ], + [ + -0.018096482381224632, + 0.9982504212575969, + 0.05629084428517887, + 0.00024001683050300926 + ], + [ + 0.024477053433656693, + -0.05584087174479512, + 0.9981396225217316, + 0.0011268398957327008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995267987251284, + 0.019980152970230605, + -0.02338728757501653, + -0.01711544208228588 + ], + [ + -0.018620012328028682, + 0.9982007342556607, + 0.056996782716015534, + 0.0003991841513197869 + ], + [ + 0.024484012275934226, + -0.05653433767374514, + 0.9981003769280619, + 0.0012765182182192802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995371699333191, + 0.01948476657331228, + -0.023362542512708365, + -0.01692873239517212 + ], + [ + -0.01810343936085701, + 0.9981555569329795, + 0.05794601597204516, + 0.00031545592355541885 + ], + [ + 0.024448517709970474, + -0.05749625534840323, + 0.9980463383187158, + 0.0012392787029966712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995324611663818, + 0.019522562081940666, + -0.023532454430019244, + -0.01687202788889408 + ], + [ + -0.01809627190232277, + 0.998072027975136, + 0.059369525583857385, + 0.000398807052988559 + ], + [ + 0.024646129459142685, + -0.058915916864511066, + 0.9979586510840387, + 0.001374158775433898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995324611663818, + 0.018768368314134243, + -0.024136335399750512, + -0.016831643879413605 + ], + [ + -0.017275430262088776, + 0.9980100851838482, + 0.06064171481929718, + 0.00032667984487488866 + ], + [ + 0.025226451456546783, + -0.060196397226963405, + 0.9978677110225229, + 0.001106694107875228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995046257972717, + 0.0195602391265237, + -0.024656405070913528, + -0.01727111078798771 + ], + [ + -0.018007420003414154, + 0.9979323148516952, + 0.06169973389105644, + 0.000615553988609463 + ], + [ + 0.025812283158302307, + -0.061225167567564784, + 0.9977901354828428, + 0.0010324297472834587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9994738698005676, + 0.020087230201639907, + -0.025465977701989762, + -0.01732531562447548 + ], + [ + -0.018445264548063278, + 0.9978336597608388, + 0.06314912149813973, + 0.0007291990332305431 + ], + [ + 0.026679299771785736, + -0.06264616832828093, + 0.997679153665798, + 0.00100218306761235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9994402527809145, + 0.021244171316167182, + -0.025843676760268906, + -0.017832595854997635 + ], + [ + -0.019531153142452243, + 0.9977057464189002, + 0.06482088538988004, + 0.0008314221631735563 + ], + [ + 0.027161452919244773, + -0.0642798472466897, + 0.9975622358909668, + 0.0006245023105293512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9994131922721863, + 0.02183099634902972, + -0.026395114544069634, + -0.01815788634121418 + ], + [ + -0.020039599388837814, + 0.9975967326229832, + 0.0663263328766994, + 0.0009651925065554678 + ], + [ + 0.027779649943113327, + -0.06575846217747397, + 0.9974487826332263, + 0.00034818894346244633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9993741512298584, + 0.022510510771094394, + -0.027287093735255546, + -0.01817210763692856 + ], + [ + -0.02060120739042759, + 0.9974494054394014, + 0.06833926681699423, + 0.0009689052239991724 + ], + [ + 0.028755847364664078, + -0.06773435108906449, + 0.9972889124758564, + 0.0003468780778348446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999338686466217, + 0.023064931740646676, + -0.028111341155654897, + -0.018932262435555458 + ], + [ + -0.021032344549894333, + 0.9972849540246199, + 0.07057197227954762, + 0.0013647674350067973 + ], + [ + 0.029662754386663437, + -0.06993404917782944, + 0.9971104705159595, + 0.000601760286372155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9993161559104919, + 0.023241631959446892, + -0.02875759847674827, + -0.019710350781679153 + ], + [ + -0.02110186405479908, + 0.9971382018494221, + 0.07259595367601049, + 0.0017745211953297257 + ], + [ + 0.03036254644393921, + -0.07193947182500783, + 0.9969467758328965, + 0.001372714526951313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9993393421173096, + 0.021145677837174685, + -0.029559805638369893, + -0.019904570654034615 + ], + [ + -0.018890084698796272, + 0.9970340924441049, + 0.07460668609157581, + 0.0019066767999902368 + ], + [ + 0.03104974515736103, + -0.07399901044073934, + 0.9967748500744322, + 0.0023593073710799217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9993405342102051, + 0.018831691037996836, + -0.031047120460302856, + -0.020253773778676987 + ], + [ + -0.0163868498057127, + 0.996880764341147, + 0.07720228856769636, + 0.002068878151476383 + ], + [ + 0.03240412473678589, + -0.0766426095423864, + 0.9965319168759366, + 0.0030747796408832073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9993026852607727, + 0.018020378670146633, + -0.0327009223899119, + -0.02059805393218994 + ], + [ + -0.015359100885689259, + 0.9966858922762936, + 0.07988352812806207, + 0.0022927375975996256 + ], + [ + 0.034032076597213745, + -0.07932556557420994, + 0.9962676426781145, + 0.003566493047401309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9992468357086182, + 0.018032126872206504, + -0.034359672409190065, + -0.021354610100388527 + ], + [ + -0.01516162883490324, + 0.9965132734783545, + 0.08204514426195256, + 0.0023153789807111025 + ], + [ + 0.03571932017803192, + -0.08146240277299532, + 0.9960361392745857, + 0.0042648958042263985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9991818070411682, + 0.01892279944523043, + -0.03574404670695501, + -0.02321677654981613 + ], + [ + -0.015869561582803726, + 0.9963519061400439, + 0.08385144685061599, + 0.00248526968061924 + ], + [ + 0.03720035031437874, + -0.08321559917553113, + 0.9958370122799515, + 0.003944990690797567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9990988373756409, + 0.019487576002995024, + -0.037706844504551716, + -0.024595344439148903 + ], + [ + -0.01621362753212452, + 0.9962265047109924, + 0.08526368470715157, + 0.0026893997564911842 + ], + [ + 0.039226140826940536, + -0.08457548127635345, + 0.9956446823870644, + 0.00407489063218236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9989938735961914, + 0.019439876801062024, + -0.040414613266345295, + -0.026238782331347466 + ], + [ + -0.015891114249825478, + 0.9961383536180908, + 0.08634703518447152, + 0.00262356735765934 + ], + [ + 0.041937123984098434, + -0.08561792737373171, + 0.9954450495183391, + 0.00335713941603899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9988641738891602, + 0.019752632594601915, + -0.043360750881973144, + -0.02778305485844612 + ], + [ + -0.015895988792181015, + 0.9960330904104812, + 0.08755248489250046, + 0.002416296163573861 + ], + [ + 0.044918134808540344, + -0.08676377750562933, + 0.9952157456659229, + 0.0025200110394507647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9987172484397888, + 0.02019732963581367, + -0.046431479841030195, + -0.02949443832039833 + ], + [ + -0.016003893688321114, + 0.9959052297051295, + 0.08897546253187644, + 0.00297495792619884 + ], + [ + 0.04803842306137085, + -0.08811824697497447, + 0.9949509899357364, + 0.002450422151014209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9985724687576296, + 0.020404931119631688, + -0.04936246160544049, + -0.031050724908709526 + ], + [ + -0.01585926301777363, + 0.9957440237093629, + 0.0907869205505256, + 0.003236999735236168 + ], + [ + 0.051004875451326384, + -0.08987446885688899, + 0.9946461930790965, + 0.002847375115379691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9984353184700014, + 0.019494352225777414, + -0.05241097209429689, + -0.03262987360358238 + ], + [ + -0.014578600414097313, + 0.9955975876993942, + 0.09259016650109218, + 0.003610836574807763 + ], + [ + 0.05398522317409517, + -0.09168121290769135, + 0.994323985463394, + 0.0031947982497513294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.99827116727829, + 0.020032163167076452, + -0.055257690435457585, + -0.034301698207855225 + ], + [ + -0.014740119688212875, + 0.9954093421587832, + 0.09456721268007641, + 0.004099368117749691 + ], + [ + 0.05689840763807298, + -0.09358921778022866, + 0.9939837328446275, + 0.003105675335973501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9981175661087036, + 0.020598950516982795, + -0.057767048113101425, + -0.03524613007903099 + ], + [ + -0.01493551954627037, + 0.9951906997089983, + 0.09681088961325104, + 0.004631564021110535 + ], + [ + 0.05948343500494957, + -0.09576586685880066, + 0.9936249602834384, + 0.0029258679132908583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9979761838912964, + 0.020930716003689457, + -0.06004525872830305, + -0.03663802891969681 + ], + [ + -0.014883616007864475, + 0.994931854958212, + 0.09944402460530466, + 0.005224747583270073 + ], + [ + 0.061822373420000076, + -0.0983490763255397, + 0.9932298007391838, + 0.0030739204958081245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.997819721698761, + 0.0224176376095625, + -0.062074240014784836, + -0.03787093982100487 + ], + [ + -0.015953414142131805, + 0.9945802917389895, + 0.10274000933175548, + 0.0054373666644096375 + ], + [ + 0.06404100358486176, + -0.10152571548080329, + 0.9927695117367644, + 0.002939363941550255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9976567029953003, + 0.02487594511350655, + -0.0637365136523431, + -0.03884432092308998 + ], + [ + -0.018001070246100426, + 0.994176190152501, + 0.10625284543369659, + 0.006280274596065283 + ], + [ + 0.06600846350193024, + -0.10485653368854495, + 0.9922942826390476, + 0.00406875554472208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9975234270095827, + 0.026346696220342986, + -0.0652135367784738, + -0.03987857326865196 + ], + [ + -0.01908265054225922, + 0.9937919891247298, + 0.10960524857630914, + 0.006942498963326216 + ], + [ + 0.06769642233848573, + -0.10808935746649659, + 0.9918335718903418, + 0.0040845186449587345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9973803758621216, + 0.027721918635083893, + -0.066812650918374, + -0.04041292518377304 + ], + [ + -0.020076699554920197, + 0.9934492367775819, + 0.11249685257153355, + 0.007205962669104338 + ], + [ + 0.0694935992360115, + -0.1108607715333014, + 0.9914032980848054, + 0.004412856884300709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9972617030143738, + 0.02837942913412198, + -0.06829096296148789, + -0.04080519452691078 + ], + [ + -0.020388271659612656, + 0.993157353100879, + 0.11499028595074681, + 0.0072575705125927925 + ], + [ + 0.07108703255653381, + -0.11328307845634425, + 0.9910164478823377, + 0.004585523623973131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9971329569816589, + 0.0287215248057025, + -0.0700065291519239, + -0.04148933291435242 + ], + [ + -0.02034691907465458, + 0.9928608430033184, + 0.11753038574851242, + 0.007431976497173309 + ], + [ + 0.07288239151239395, + -0.11576900421703223, + 0.9905986645430787, + 0.004762782249599695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9969947934150696, + 0.02884961052263109, + -0.0718963535892972, + -0.04182291403412819 + ], + [ + -0.020108971744775772, + 0.9926355621404458, + 0.11945822417640056, + 0.007053170818835497 + ], + [ + 0.07481319457292557, + -0.11765346783072798, + 0.990232649206549, + 0.004682993981987238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.996840834617615, + 0.02936235373189372, + -0.07379839012449116, + -0.04269528016448021 + ], + [ + -0.020290235057473186, + 0.9924690726683383, + 0.12080337838432037, + 0.006505030672997236 + ], + [ + 0.07678968459367753, + -0.11892435290746689, + 0.98992945811764, + 0.004436040297150612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9966968297958374, + 0.02891868761165379, + -0.07588919746626874, + -0.04411982744932175 + ], + [ + -0.019514836370944977, + 0.9923563673704368, + 0.1218522485684923, + 0.006195548456162214 + ], + [ + 0.07883293926715851, + -0.11996878285843544, + 0.9896427649345056, + 0.0025128533598035574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9964646100997925, + 0.02993811097857547, + -0.0784980606106211, + -0.0454619936645031 + ], + [ + -0.02003639191389084, + 0.9920773300791578, + 0.12402045972650079, + 0.005773407407104969 + ], + [ + 0.08158908784389496, + -0.12200918462072294, + 0.9891698225804784, + 0.0017721648328006268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9962015748023989, + 0.030451207704769844, + -0.08157878304913027, + -0.04684769734740257 + ], + [ + -0.019952598959207538, + 0.9917600570460431, + 0.12654611918053574, + 0.00501658022403717 + ], + [ + 0.08476006239652635, + -0.12443774016554307, + 0.9886005464919311, + 0.0003381051938049495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.995901346206665, + 0.029774122795447673, + -0.08540510952692984, + -0.04850335791707039 + ], + [ + -0.018617045134305954, + 0.9915248696738332, + 0.12857597804546364, + 0.004001813009381294 + ], + [ + 0.08850952982902527, + -0.12645899738623329, + 0.9880152561756341, + -0.001291116583161056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9955576062202454, + 0.0294352813395594, + -0.08943479704309154, + -0.04989955946803093 + ], + [ + -0.017644884064793587, + 0.9913740648847925, + 0.1298697776714909, + 0.0039547160267829895 + ], + [ + 0.09248608350753784, + -0.127714778747086, + 0.9874893592492865, + -0.003273644018918276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9951457977294924, + 0.0285650125032937, + -0.09417471478386637, + -0.05081908404827118 + ], + [ + -0.016074446961283687, + 0.9912765317308659, + 0.13081438798912876, + 0.0035706304479390383 + ], + [ + 0.09708990156650546, + -0.12866558764861485, + 0.9869238869339311, + -0.004613487049937248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9946653842926028, + 0.02949579368517648, + -0.09884724697724856, + -0.051323048770427704 + ], + [ + -0.016319880262017254, + 0.9911760749819337, + 0.131543413200718, + 0.0037061048205941916 + ], + [ + 0.10185500979423526, + -0.1292284992350005, + 0.9863698597372387, + -0.005385026801377535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9942737221717834, + 0.030691720691767354, + -0.10236087021423024, + -0.05216841399669647 + ], + [ + -0.016965394839644432, + 0.9910558568151026, + 0.13236468286986458, + 0.003814696567133069 + ], + [ + 0.10550783574581146, + -0.12987013675770379, + 0.9859015172296611, + -0.00654773972928524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9938351511955261, + 0.028228360732410394, + -0.10721414837640336, + -0.053356386721134186 + ], + [ + -0.013698100112378597, + 0.9908978789880011, + 0.13391675432806166, + 0.004003056325018406 + ], + [ + 0.1100185215473175, + -0.13162254832661505, + 0.9851758383744863, + -0.007535645272582769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.992800235748291, + 0.024610948921700466, + -0.11722644277994289, + -0.053858716040849686 + ], + [ + -0.008326037786900997, + 0.9904764156148737, + 0.13743036466222808, + 0.004194918088614941 + ], + [ + 0.11949232220649719, + -0.13546486335185448, + 0.9835501182052698, + -0.007666188757866621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9917758107185364, + 0.023205953306635302, + -0.1258660656590247, + -0.055216819047927856 + ], + [ + -0.0051416452042758465, + 0.9898553472467493, + 0.14198566980898364, + 0.004498118069022894 + ], + [ + 0.12788410484790802, + -0.14017079674289842, + 0.9818339248327639, + -0.009362006559967995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.990958631038666, + 0.02355662833615021, + -0.13208351144826447, + -0.05631193518638611 + ], + [ + -0.00416289595887065, + 0.9893903320820154, + 0.14522208178651977, + 0.004797614645212889 + ], + [ + 0.13410308957099917, + -0.1433592296578561, + 0.98054298534864, + -0.010228767991065979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9901939034461975, + 0.02400365758786425, + -0.13762219146441795, + -0.05620286986231804 + ], + [ + -0.0034028112422674894, + 0.9889797362865974, + 0.14801165739372146, + 0.0048049455508589745 + ], + [ + 0.1396583765745163, + -0.1460919432367441, + 0.9793634265426612, + -0.010965163819491863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9893355369567871, + 0.022681165527650687, + -0.1438777172036185, + -0.05711745098233223 + ], + [ + -0.0006705971900373697, + 0.9885002193976152, + 0.1512179373505762, + 0.005043662153184414 + ], + [ + 0.14565294981002808, + -0.14950878868969514, + 0.9779735697471634, + -0.0114738829433918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9882736802101135, + 0.022693899669538033, + -0.15099699736737587, + -0.05818090960383415 + ], + [ + 0.000824214774183929, + 0.9880864473466117, + 0.15389766242376213, + 0.004791955929249525 + ], + [ + 0.15269061923027039, + -0.15221746818380674, + 0.9764811554518547, + -0.01252400130033493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9875432848930359, + 0.024885290316527697, + -0.15536736327726092, + -0.05850687995553017 + ], + [ + -0.0005070595070719719, + 0.9879125315667057, + 0.15501162290806217, + 0.004761795978993177 + ], + [ + 0.15734685957431793, + -0.15300190228406316, + 0.975618984097766, + -0.013915585353970528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9869704842567444, + 0.024753307735294876, + -0.15898585796348777, + -0.05862374231219292 + ], + [ + 0.0002838477957993746, + 0.987826147318303, + 0.1555617286573525, + 0.005123200360685587 + ], + [ + 0.1609010398387909, + -0.15357996187902312, + 0.9749482243087623, + -0.014241311699151993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9861845374107361, + 0.024101739733874063, + -0.16388752267748177, + -0.05946178734302521 + ], + [ + 0.002054598182439804, + 0.9875027904017376, + 0.15758825401726526, + 0.005104264244437218 + ], + [ + 0.1656375378370285, + -0.15574782298792691, + 0.9738104661573758, + -0.014420558698475361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9851840138435366, + 0.02577147899615623, + -0.1695531826265048, + -0.06043526902794838 + ], + [ + 0.0019149127183482055, + 0.9869302676491518, + 0.16113643247427145, + 0.00555191608145833 + ], + [ + 0.17148990929126742, + -0.15907372088794539, + 0.9722585972540393, + -0.014773325994610786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9842056035995483, + 0.02844030007245593, + -0.17472961153660913, + -0.06188252940773964 + ], + [ + 0.0008219273295253515, + 0.9862661489614808, + 0.16516176249548556, + 0.006756664253771305 + ], + [ + 0.1770271509885788, + -0.16269674667156234, + 0.970665295295583, + -0.016135821118950844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9830437898635864, + 0.0295853858558176, + -0.18096867030045996, + -0.06311050802469254 + ], + [ + 0.0015924032777547836, + 0.9854840789329672, + 0.16976048722074993, + 0.008285482414066792 + ], + [ + 0.1833641678094864, + -0.16717015540928215, + 0.9687268281190494, + -0.01723688282072544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9816493988037112, + 0.028599203213067036, + -0.1885379759754984, + -0.06489729881286621 + ], + [ + 0.004921555984765292, + 0.9845610548782874, + 0.17497220275971262, + 0.008172367699444294 + ], + [ + 0.19063122570514685, + -0.17268926075960217, + 0.9663530455581262, + -0.02150273695588112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9803077578544617, + 0.029472829929827825, + -0.19526402314655927, + -0.06522674113512039 + ], + [ + 0.00602172315120697, + 0.9838785588066362, + 0.17873660194834926, + 0.008846974931657314 + ], + [ + 0.19738395512104034, + -0.1763926987796554, + 0.9643262691057005, + -0.021689364686608315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9797625541687014, + 0.0311757747136453, + -0.1977205755313047, + -0.06695067882537842 + ], + [ + 0.004972286988049746, + 0.9837006439924321, + 0.17974503022623026, + 0.008846496231853962 + ], + [ + 0.20010155439376837, + -0.17709057210494178, + 0.9636380538128256, + -0.02441730909049511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.979458212852478, + 0.0301928956954766, + -0.19937401161772814, + -0.0679413378238678 + ], + [ + 0.0062621114775538445, + 0.9836954715062922, + 0.17973300802614753, + 0.008728266693651676 + ], + [ + 0.2015499770641327, + -0.1772894710248254, + 0.9632995339461058, + -0.02581850439310074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.979054868221283, + 0.02926290689165767, + -0.20148254514132805, + -0.06796954572200775 + ], + [ + 0.007543471641838551, + 0.9837236539801397, + 0.17952963047426887, + 0.009101287461817265 + ], + [ + 0.20345669984817505, + -0.17728923773011857, + 0.9628986946374055, + -0.026459379121661186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9790850281715395, + 0.030016501019823734, + -0.20122512581852442, + -0.06880748271942139 + ], + [ + 0.006544755771756174, + 0.9838980002593097, + 0.17861113646046287, + 0.009251723065972328 + ], + [ + 0.2033462673425675, + -0.1761924476298589, + 0.96312330142533, + -0.027213992550969124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9792938828468325, + 0.029978468821818982, + -0.20021193732271464, + -0.06953490525484085 + ], + [ + 0.006395846605300905, + 0.9838997332549725, + 0.17860683647445022, + 0.009485025890171528 + ], + [ + 0.202342838048935, + -0.17618910594894, + 0.963335248543502, + -0.026845550164580345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9793046712875366, + 0.03022679013286742, + -0.20012182291383918, + -0.06959479302167892 + ], + [ + 0.006391878239810467, + 0.9836724396292569, + 0.1798547368771248, + 0.009475773200392723 + ], + [ + 0.20229074358940125, + -0.17741172752503523, + 0.9631217548002331, + -0.027191130444407463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9792531728744509, + 0.032601433362324996, + -0.2000009777399587, + -0.06992318481206894 + ], + [ + 0.004307030700147153, + 0.9834019589121924, + 0.18138905095242794, + 0.009645828977227211 + ], + [ + 0.20259490609169012, + -0.1784872101959671, + 0.9628590710514321, + -0.028117185458540916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9793257117271426, + 0.03215310091217428, + -0.19971816620106908, + -0.07023508846759796 + ], + [ + 0.004930862225592137, + 0.9831997222824381, + 0.1824663241258801, + 0.0094522750005126 + ], + [ + 0.2022297084331513, + -0.17967875019500978, + 0.9627142533677667, + -0.028828442096710205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9790617227554321, + 0.028911270960580295, + -0.20150005681079056, + -0.06982432305812836 + ], + [ + 0.008544478565454483, + 0.9831539668937986, + 0.18257961918205523, + 0.009309643879532814 + ], + [ + 0.2033841758966446, + -0.18047842173284936, + 0.9623213400870476, + -0.0296771302819252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9786058068275454, + 0.02685575633113866, + -0.20398402673103852, + -0.07023680955171585 + ], + [ + 0.010894503444433214, + 0.9832895645873198, + 0.18172212243566666, + 0.008334188722074032 + ], + [ + 0.20545564591884619, + -0.18005662722392596, + 0.9619602919283287, + -0.031940799206495285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9782882928848267, + 0.027492142572576, + -0.2054170157178837, + -0.0712815672159195 + ], + [ + 0.01032799668610096, + 0.9834639711547347, + 0.18080922594247806, + 0.00817849487066269 + ], + [ + 0.2069910615682602, + -0.17900509947941198, + 0.9618273685997722, + -0.03390656039118767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9779941439628601, + 0.027318106209854556, + -0.20683604731510935, + -0.07210902869701385 + ], + [ + 0.010526822879910469, + 0.9836663251424071, + 0.17969340235056055, + 0.00787095632404089 + ], + [ + 0.2083665281534195, + -0.17791642380552933, + 0.961732352932262, + -0.03536912798881531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.977571427822113, + 0.029186211643227288, + -0.2085719816883031, + -0.07325458526611328 + ], + [ + 0.008788680657744408, + 0.9838346138087868, + 0.1788637577930216, + 0.008340969681739807 + ], + [ + 0.21042069792747498, + -0.17668516845553198, + 0.961512085902364, + -0.036969926208257675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9770908355712891, + 0.03198065425423283, + -0.21040612892946878, + -0.07467558234930038 + ], + [ + 0.006319228559732437, + 0.9838495952774885, + 0.1788855420442792, + 0.008439026772975922 + ], + [ + 0.2127288579940796, + -0.17611702972341137, + 0.9611083295047249, + -0.03752904757857323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.976499080657959, + 0.03272859750851639, + -0.21302211724280798, + -0.07578970491886139 + ], + [ + 0.006047251634299755, + 0.9838524650218377, + 0.17887930125484341, + 0.008005634881556034 + ], + [ + 0.21543680131435394, + -0.17596366932186813, + 0.9605330913418085, + -0.03886814042925835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9756944179534914, + 0.03493973889537254, + -0.21633219283508845, + -0.07762030512094498 + ], + [ + 0.004513390362262727, + 0.9837934988428323, + 0.1792483020835778, + 0.00852649100124836 + ], + [ + 0.21908909082412725, + -0.17586796503677457, + 0.9597241678347467, + -0.041541822254657745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9748259782791138, + 0.039060228915704105, + -0.21951903870563452, + -0.07874280959367752 + ], + [ + 0.0012934101978316903, + 0.9835285403201064, + 0.18074832958875386, + 0.008922186680138111 + ], + [ + 0.22296331822872162, + -0.17648209843939208, + 0.9587186655495052, + -0.04206449165940285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9739163517951968, + 0.042356017114365846, + -0.22291898944404048, + -0.08079435676336288 + ], + [ + -0.0009339039679616692, + 0.9831632488362354, + 0.18272707640145397, + 0.009304077364504337 + ], + [ + 0.2269053459167481, + -0.1777527063666587, + 0.9575583506506372, + -0.04370606318116188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9729066491127014, + 0.04681787358799198, + -0.22640822366654423, + -0.08246317505836487 + ], + [ + -0.004419095814228058, + 0.9828688739439245, + 0.18425329956719058, + 0.010203556157648563 + ], + [ + 0.23115594685077667, + -0.1782607435336924, + 0.9564465784206365, + -0.04579564183950424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.971948504447937, + 0.05141864892998677, + -0.22950434371933132, + -0.08462268859148026 + ], + [ + -0.00820642989128828, + 0.9826295790610918, + 0.1853963078393714, + 0.011436164379119873 + ], + [ + 0.23505058884620667, + -0.1783122465928644, + 0.9554872863905751, + -0.04782763496041298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9709583520889282, + 0.05432421384220016, + -0.23299951323397455, + -0.08620767295360565 + ], + [ + -0.010046670213341713, + 0.9822792998343214, + 0.18715341031486302, + 0.012182626873254776 + ], + [ + 0.23903755843639374, + -0.17937730255833773, + 0.9542981029674679, + -0.04875897616147995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.969895660877228, + 0.05618905262133807, + -0.23694967941351844, + -0.08893152326345444 + ], + [ + -0.010790622793138029, + 0.9819770033957738, + 0.18869229099563115, + 0.013167506083846092 + ], + [ + 0.24328155815601354, + -0.18045499658397876, + 0.9530215177653648, + -0.048420317471027374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9690180420875552, + 0.05771536284068456, + -0.24015192354165318, + -0.09043006598949432 + ], + [ + -0.011535863392055036, + 0.9818294791938077, + 0.18941420404082068, + 0.013609410263597965 + ], + [ + 0.24672035872936254, + -0.1807754253521518, + 0.9520762945802345, + -0.05084238573908806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.968046247959137, + 0.05687534874703875, + -0.24423700940449714, + -0.09263089299201965 + ], + [ + -0.009444596245884895, + 0.9815189798809109, + 0.19113167853527951, + 0.013917474076151848 + ], + [ + 0.2505939304828644, + -0.18271757636627048, + 0.9506928773943976, + -0.050943922251462936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9659982919692993, + 0.05362475294287169, + -0.2529261999444261, + -0.09433194249868393 + ], + [ + -0.0034722930286079645, + 0.9808572478503084, + 0.1946971019693405, + 0.014829829335212708 + ], + [ + 0.2585250735282898, + -0.1871988380546961, + 0.9476926400463886, + -0.052176233381032944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9634121656417849, + 0.05328695807050545, + -0.26267377575144946, + -0.09667028486728668 + ], + [ + -0.0001220235135406256, + 0.9801243496543689, + 0.19838404796401993, + 0.015522211790084839 + ], + [ + 0.26802423596382147, + -0.19109355893388458, + 0.9442702625249126, + -0.05434783548116684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9617865085601809, + 0.05780039356564917, + -0.2676299549702605, + -0.10037203133106232 + ], + [ + -0.0032040525693446406, + 0.9797725961719035, + 0.2000883172122303, + 0.016863403841853142 + ], + [ + 0.27378171682357794, + -0.19158475371442316, + 0.9425173117202092, + -0.05493897199630737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9607183933258057, + 0.059944380705166236, + -0.2709738474205036, + -0.10241934657096863 + ], + [ + -0.004510398954153061, + 0.9796377420087036, + 0.2007225276256851, + 0.01834907755255699 + ], + [ + 0.2774883806705475, + -0.1916156298082384, + 0.9414263985965085, + -0.055900610983371735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9593759179115295, + 0.06025743454613347, + -0.2756209056304895, + -0.10565511882305145 + ], + [ + -0.003919264301657677, + 0.979677816709778, + 0.2005393033815212, + 0.019235776737332344 + ], + [ + 0.28210368752479553, + -0.19131234798419558, + 0.9401154653844315, + -0.05696309730410576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9578583240509033, + 0.06183585256212632, + -0.2805062801808425, + -0.10802990943193436 + ], + [ + -0.004460188094526529, + 0.979637595031092, + 0.20072455279217483, + 0.020868415012955666 + ], + [ + 0.2872064411640167, + -0.19101456867309355, + 0.9386298049645695, + -0.058042872697114944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9564486742019656, + 0.06354731765678805, + -0.28489934944233714, + -0.11129747331142426 + ], + [ + -0.004909014329314233, + 0.9793790201976161, + 0.20197199173984265, + 0.022428402677178383 + ], + [ + 0.29185923933982855, + -0.19177727378825643, + 0.9370377410280197, + -0.05700857937335968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9547799229621887, + 0.06251138951741528, + -0.29066764164084535, + -0.1135193258523941 + ], + [ + -0.002306347945705056, + 0.97917463270154, + 0.20300681345592342, + 0.023887600749731064 + ], + [ + 0.29730460047721863, + -0.1931564390294661, + 0.9350403973698252, + -0.057950519025325775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9526330232620239, + 0.061888207754288896, + -0.2977586075060331, + -0.11605596542358398 + ], + [ + -0.00031358329579234123, + 0.979274745819988, + 0.20253597417328645, + 0.025320544838905334 + ], + [ + 0.30412206053733826, + -0.1928490945832293, + 0.9329089204013032, + -0.05901492014527321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9509252905845642, + 0.06120980058812779, + -0.3033058227198882, + -0.11804447323083878 + ], + [ + 0.0010439675534144044, + 0.9795979584398231, + 0.20096459093604252, + 0.026277899742126465 + ], + [ + 0.3094187378883362, + -0.19141895744449375, + 0.9314605886190521, + -0.06052922084927559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9496654868125918, + 0.05816175549335519, + -0.3078192625391569, + -0.12017077207565308 + ], + [ + 0.004029027186334134, + 0.9802646225466107, + 0.19764890182518982, + 0.0269765742123127 + ], + [ + 0.31323996186256414, + -0.18894054092583876, + 0.9306890784335133, + -0.06121378764510155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9484317302703857, + 0.0565174231132048, + -0.3119023323148216, + -0.12189450860023499 + ], + [ + 0.0053720781579613686, + 0.980969184843859, + 0.19408928142005932, + 0.02667931281030178 + ], + [ + 0.31693601608276367, + -0.185755992754154, + 0.9300786707076067, + -0.06608466804027557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9474590420722961, + 0.06078534262773885, + -0.3140485469544656, + -0.1229144036769867 + ], + [ + 0.0014400262152776122, + 0.9809583803644657, + 0.19421283008902882, + 0.029133906587958336 + ], + [ + 0.3198738396167755, + -0.1844609427789043, + 0.929330370519284, + -0.06692681461572647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9468938708305359, + 0.06676181170788599, + -0.31453907845919005, + -0.12391018122434616 + ], + [ + -0.0036288038827478886, + 0.9803644482452106, + 0.1971609212178493, + 0.0304003544151783 + ], + [ + 0.3215257525444031, + -0.18554906334337215, + 0.9285433305304571, + -0.06894580274820328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9462685585021973, + 0.07214095467467688, + -0.3152324484394759, + -0.12470269203186035 + ], + [ + -0.00822395458817482, + 0.979852613695392, + 0.19955253411626117, + 0.03136933594942093 + ], + [ + 0.32327723503112793, + -0.18623782943236472, + 0.9277969903323303, + -0.07089942693710327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.945618808269501, + 0.07878934338866955, + -0.31559046815962466, + -0.12557350099086761 + ], + [ + -0.01417819689959288, + 0.9792825091042683, + 0.2020018463191267, + 0.03300539404153824 + ], + [ + 0.3249678313732148, + -0.1865422373691608, + 0.927145023341987, + -0.0727415606379509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9449120759963989, + 0.08372738797119246, + -0.3164347338399715, + -0.12601514160633087 + ], + [ + -0.017825854942202568, + 0.9784597907750492, + 0.2056664750849379, + 0.03382061421871185 + ], + [ + 0.32683855295181274, + -0.188696014804307, + 0.9260509766177558, + -0.07331940531730652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9439265727996826, + 0.08872363121626799, + -0.3180106569201449, + -0.12731686234474182 + ], + [ + -0.020930655300617218, + 0.9773585571168076, + 0.21055205696575724, + 0.03414154425263405 + ], + [ + 0.32949140667915344, + -0.19208949846438847, + 0.9244117041236474, + -0.0744858831167221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9429200887680054, + 0.09363628829583309, + -0.3195840291027969, + -0.12871181964874268 + ], + [ + -0.02408462017774582, + 0.9763181392409497, + 0.21499489873182745, + 0.035571370273828506 + ], + [ + 0.3321470320224762, + -0.19502595120330393, + 0.9228451890310235, + -0.0741395503282547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9419385194778445, + 0.09817519081807842, + -0.3211129269055393, + -0.1305299699306488 + ], + [ + -0.026964200660586364, + 0.9753305979859311, + 0.219096291809855, + 0.03684626892209053 + ], + [ + 0.33470106124877935, + -0.19771667392821435, + 0.9213486274408702, + -0.0754040777683258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9409804940223694, + 0.1024384604023154, + -0.322586475659743, + -0.13202621042728424 + ], + [ + -0.02966058999300003, + 0.9743897098477294, + 0.22290129010007698, + 0.036791056394577026 + ], + [ + 0.33715859055519104, + -0.20017766418263364, + 0.919920113945263, + -0.07570022344589233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9402972459793091, + 0.10670397686042526, + -0.3231955280086669, + -0.1331745833158493 + ], + [ + -0.03299902006983757, + 0.9736931164251529, + 0.2254611686736643, + 0.0367601178586483 + ], + [ + 0.3387508988380432, + -0.20133537896574305, + 0.9190820725663832, + -0.07735444605350494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9401021599769592, + 0.10959770926101335, + -0.32279450014775857, + -0.13377439975738525 + ], + [ + -0.0356464646756649, + 0.9733228572293156, + 0.226653920315578, + 0.03692128509283066 + ], + [ + 0.33902397751808167, + -0.20157135216915403, + 0.9189296549893203, + -0.07854550331830978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.940833330154419, + 0.11229867009423991, + -0.31972111907946454, + -0.13394318521022797 + ], + [ + -0.0389767661690712, + 0.9730928157135313, + 0.2270928624727381, + 0.03709018602967262 + ], + [ + 0.336620569229126, + -0.2011948417064548, + 0.9198952135148074, + -0.07844052463769913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.942151725292206, + 0.1117759761220082, + -0.31600050243779265, + -0.13362428545951843 + ], + [ + -0.039300903677940376, + 0.973094761297206, + 0.22702876303407266, + 0.03689119964838028 + ], + [ + 0.3328747749328614, + -0.20147642231262466, + 0.9211957460188424, + -0.07905165106058121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9432317614555359, + 0.11082638506123806, + -0.31309954355376346, + -0.1328732669353485 + ], + [ + -0.03902044892311096, + 0.9731349997257704, + 0.22690454653043046, + 0.03593836724758148 + ], + [ + 0.3298351466655731, + -0.2018062985854422, + 0.9222163721922783, + -0.07900763303041458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9445778131484988, + 0.11006942521198339, + -0.3092854741473616, + -0.132091224193573 + ], + [ + -0.03909285739064217, + 0.9731268243373481, + 0.22692713787737137, + 0.03551400080323219 + ], + [ + 0.32595172524452215, + -0.2022594841622831, + 0.9234969186083137, + -0.07820001244544983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9459065198898315, + 0.108791458738422, + -0.30565556787713755, + -0.13089732825756073 + ], + [ + -0.038197748363018036, + 0.9728949528232254, + 0.22807096178781713, + 0.03511994704604149 + ], + [ + 0.32218295335769653, + -0.20405845067810746, + 0.9244232441941835, + -0.07714848965406418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9469004869461062, + 0.10797099164663441, + -0.3028559191399969, + -0.12991675734519958 + ], + [ + -0.03732558339834214, + 0.9724755806845139, + 0.22999562714979677, + 0.03588947653770447 + ], + [ + 0.3193528354167939, + -0.2064787037967812, + 0.9248677138415331, + -0.07663484662771225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9476555585861208, + 0.10791905994221312, + -0.30050355270365825, + -0.12943686544895172 + ], + [ + -0.037084020674228675, + 0.971980428803485, + 0.2321181685881007, + 0.03560681641101837 + ], + [ + 0.31713354587554937, + -0.20882419237237043, + 0.9251047242258752, + -0.07493210583925247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9482450485229492, + 0.10889814373424904, + -0.29828269572281696, + -0.12908220291137695 + ], + [ + -0.03810804337263107, + 0.9715936368825581, + 0.23356695555214055, + 0.03617692366242409 + ], + [ + 0.3152446150779724, + -0.21011174478881922, + 0.9254587703873891, + -0.0736924260854721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9487085938453677, + 0.10856870136234913, + -0.2969256910203934, + -0.12847283482551575 + ], + [ + -0.03762959688901902, + 0.9712876058966982, + 0.23491368375665933, + 0.03603048622608185 + ], + [ + 0.313904494047165, + -0.21169143000608426, + 0.9255542617909359, + -0.07454055547714233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9486668705940247, + 0.1088331428894256, + -0.2969621692659169, + -0.12867353856563568 + ], + [ + -0.03717979043722153, + 0.9707951638144656, + 0.23701150866360385, + 0.0363350547850132 + ], + [ + 0.31408414244651794, + -0.21380396843046082, + 0.9250075757631975, + -0.07371305674314499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9484272003173828, + 0.10971718864565046, + -0.2974021155302444, + -0.12886856496334076 + ], + [ + -0.037115953862667084, + 0.9701740841643977, + 0.23955105392887277, + 0.03671779856085777 + ], + [ + 0.31481465697288513, + -0.21615836039448677, + 0.9242116932703258, + -0.07379645109176636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9476891160011292, + 0.11002608873443248, + -0.29963241882600833, + -0.1294250637292862 + ], + [ + -0.036227427423000336, + 0.9697232842340695, + 0.24150430471909998, + 0.03743763640522957 + ], + [ + 0.3171323239803314, + -0.21801608981982207, + 0.9229821590077942, + -0.0736817717552185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9465990066528323, + 0.11251401543295918, + -0.3021438262799045, + -0.12943342328071594 + ], + [ + -0.03752867132425309, + 0.9692132697196347, + 0.243345951606923, + 0.037286628037691116 + ], + [ + 0.32022166252136236, + -0.21901197645542597, + 0.9216788087530124, + -0.07610617578029633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9456616044044497, + 0.1137153551396927, + -0.3046193659347222, + -0.13053902983665466 + ], + [ + -0.03759711608290673, + 0.9688083564546891, + 0.24494253136951066, + 0.0377490408718586 + ], + [ + 0.3229714930057526, + -0.22017993601928978, + 0.9204402277059291, + -0.07780091464519501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9445345401763918, + 0.11445253500829998, + -0.3078231792172913, + -0.13125091791152954 + ], + [ + -0.0369703732430935, + 0.9684057338438855, + 0.24662437209460722, + 0.0387905016541481 + ], + [ + 0.32632449269294744, + -0.22156490214394553, + 0.9189240202961064, + -0.07769538462162018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.943446695804596, + 0.11594138822567912, + -0.3105896844507715, + -0.1312449872493744 + ], + [ + -0.037202756851911545, + 0.9679614848844307, + 0.248327551930451, + 0.03896122798323631 + ], + [ + 0.3294302821159363, + -0.22272900831104964, + 0.9175333710396683, + -0.07985249161720276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.942510724067688, + 0.11840051610207471, + -0.3124977593341855, + -0.13214659690856934 + ], + [ + -0.03866543993353844, + 0.9674868328256702, + 0.24994851277001912, + 0.03981241583824158 + ], + [ + 0.331931471824646, + -0.22349629282727854, + 0.916444727418782, + -0.08136390149593353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9418907761573794, + 0.12071891871823134, + -0.31347844167817057, + -0.13316212594509125 + ], + [ + -0.039985395967960365, + 0.9668518593882868, + 0.25218778206863346, + 0.040210530161857605 + ], + [ + 0.33353102207183843, + -0.22499878651891667, + 0.9154958372391658, + -0.0826641321182251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9413175582885742, + 0.12232981864301741, + -0.3145738870486342, + -0.13406483829021454 + ], + [ + -0.040360331535339355, + 0.9661178077028162, + 0.25492620917928016, + 0.04156605526804924 + ], + [ + 0.3351005017757416, + -0.22727021691584512, + 0.9143609560097079, + -0.08181848376989365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.940504252910614, + 0.12564360459542886, + -0.31569833365376, + -0.13529673218727112 + ], + [ + -0.04190725460648537, + 0.9649199620533385, + 0.25917802032975096, + 0.043276265263557434 + ], + [ + 0.33718767762184143, + -0.2305279877976649, + 0.9127767300865309, + -0.0812995433807373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9392154216766357, + 0.12800644851178192, + -0.31857297749627317, + -0.13662801682949066 + ], + [ + -0.04184092953801155, + 0.9636550065410765, + 0.26385291463485516, + 0.04377543181180954 + ], + [ + 0.34076932072639465, + -0.23448534505130728, + 0.9104355642996532, + -0.08112145960330963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9379907250404358, + 0.13129104121401122, + -0.32083654633007735, + -0.1377517133951187 + ], + [ + -0.04371437057852745, + 0.9629158476556604, + 0.26623698487392194, + 0.04540969058871269 + ], + [ + 0.3438931107521057, + -0.23570265965301596, + 0.90894546033735, + -0.0820760577917099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9375756382942202, + 0.1344609082001147, + -0.3207369598565781, + -0.13833339512348175 + ], + [ + -0.04648930206894875, + 0.9624158490136546, + 0.267571503504668, + 0.04540468379855156 + ], + [ + 0.34466022253036505, + -0.2359576925975998, + 0.908588661500846, + -0.08275008946657181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9375719428062439, + 0.13381513886723836, + -0.32101769481710923, + -0.13877825438976288 + ], + [ + -0.045251499861478806, + 0.9621076503051498, + 0.26888869968695694, + 0.04593238979578018 + ], + [ + 0.34483498334884644, + -0.23757597940107922, + 0.908100509249589, + -0.08222147822380066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9373091459274292, + 0.13302264893335145, + -0.32211255975328884, + -0.13937370479106903 + ], + [ + -0.043412744998931885, + 0.9616540034822431, + 0.27080782321880725, + 0.04617694765329361 + ], + [ + 0.34578442573547363, + -0.23984686894752116, + 0.9071420030708238, + -0.08228185772895813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9369847774505617, + 0.13374078587353386, + -0.32275835606841446, + -0.1388126015663147 + ], + [ + -0.04334904253482819, + 0.961194683657829, + 0.2724438922926468, + 0.04677540063858032 + ], + [ + 0.34667047858238226, + -0.24128451089378786, + 0.9064222999448259, + -0.08255494385957718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9366363883018494, + 0.1345463254496278, + -0.3234340245671156, + -0.13892419636249542 + ], + [ + -0.04322931170463562, + 0.9606350898566793, + 0.274429300444657, + 0.04729406535625458 + ], + [ + 0.3476255536079407, + -0.24305864714396447, + 0.905582154647205, + -0.08239751309156418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.936212956905365, + 0.1362766530547962, + -0.32393513100477306, + -0.13989517092704773 + ], + [ + -0.04373856261372566, + 0.9597707883307358, + 0.2773572075538598, + 0.048128239810466766 + ], + [ + 0.34870076179504395, + -0.24549695189410728, + 0.9045103778153115, + -0.08150085806846619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9357717633247375, + 0.13908446368230373, + -0.32401657650868243, + -0.14031054079532623 + ], + [ + -0.04540993273258209, + 0.9588022663105505, + 0.280421353836866, + 0.04888273775577545 + ], + [ + 0.3496701121330261, + -0.24769681116605902, + 0.9035359023880535, + -0.08172295987606049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9356824159622192, + 0.14280601072592874, + -0.32265290796403806, + -0.14049488306045532 + ], + [ + -0.04849981516599655, + 0.9578105296793588, + 0.28327863966883904, + 0.04936511069536209 + ], + [ + 0.34949424862861633, + -0.24941022832884951, + 0.9031325029033164, + -0.08227592706680298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9359133839607241, + 0.14386452513968045, + -0.3215107655245959, + -0.14078372716903687 + ], + [ + -0.04894400388002397, + 0.9570477574123063, + 0.28576920495943026, + 0.050373274832963943 + ], + [ + 0.3488132059574128, + -0.25171919663446823, + 0.9027550818085273, + -0.08151537925004959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9361147880554199, + 0.1444016331628247, + -0.3206825255306531, + -0.13999724388122559 + ], + [ + -0.04881434515118599, + 0.9563430973412957, + 0.2881406608743864, + 0.05024877190589905 + ], + [ + 0.34829050302505493, + -0.2540788280822695, + 0.9022958019338351, + -0.08231335133314133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9365555047988894, + 0.1431145784621343, + -0.3199720002000296, + -0.13964292407035828 + ], + [ + -0.047171525657176985, + 0.9560074424915135, + 0.28952486702587876, + 0.04999149218201637 + ], + [ + 0.3473308086395264, + -0.2560625373906236, + 0.9021049412125204, + -0.08227436244487762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9367132782936096, + 0.14149695780940805, + -0.3202294212958186, + -0.13969901204109192 + ], + [ + -0.04517810419201851, + 0.9558929282483088, + 0.2902200987931181, + 0.0504322275519371 + ], + [ + 0.34717029333114624, + -0.25738565422039245, + 0.9017901176404188, + -0.08241365104913712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9366358518600464, + 0.1417896566948522, + -0.32032639290475723, + -0.14080816507339478 + ], + [ + -0.04491614177823067, + 0.9554846605325327, + 0.2916018720984766, + 0.050189316272735596 + ], + [ + 0.3474130928516388, + -0.2587369255489355, + 0.9013097724786744, + -0.08223825693130493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9361896514892578, + 0.1430085179871189, + -0.32108803486389814, + -0.14173616468906403 + ], + [ + -0.045407120138406754, + 0.9550424465794519, + 0.29297114964089266, + 0.05007442459464073 + ], + [ + 0.34855008125305176, + -0.2596968725023687, + 0.9005944375902801, + -0.08095233142375946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9352812767028811, + 0.14775691178197778, + -0.3215848744959477, + -0.14316527545452118 + ], + [ + -0.04912756383419038, + 0.9540826705719402, + 0.29548721736947725, + 0.049786850810050964 + ], + [ + 0.35047885775566107, + -0.26056497553035196, + 0.8995945847140701, + -0.08116193860769272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9342477321624756, + 0.15072195868362354, + -0.323208956662318, + -0.14389479160308838 + ], + [ + -0.050586968660354614, + 0.9531444115117075, + 0.2982560602454833, + 0.050336360931396484 + ], + [ + 0.35301855206489563, + -0.26229489310651416, + 0.8980975822565915, + -0.08150199800729752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9332128763198853, + 0.15189469510830675, + -0.32564044267818837, + -0.14473262429237366 + ], + [ + -0.05020686984062195, + 0.9524891370799079, + 0.3004060096621325, + 0.05070008337497711 + ], + [ + 0.3557990789413452, + -0.26399336421292213, + 0.8965012716005638, + -0.08320119231939316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9323003888130188, + 0.15208079792807855, + -0.32815767909478544, + -0.1465032547712326 + ], + [ + -0.04899861663579941, + 0.9520452308275584, + 0.3020083831808771, + 0.05028694123029709 + ], + [ + 0.35835063457489014, + -0.26548325017759433, + 0.8950438527863768, + -0.08302737772464752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9313066601753235, + 0.1511993386746537, + -0.3313709552081434, + -0.14649388194084167 + ], + [ + -0.047125622630119324, + 0.9521416963486711, + 0.3020022922560528, + 0.04997016862034798 + ], + [ + 0.36117467284202576, + -0.2656406735075263, + 0.8938612241500272, + -0.08363025635480881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9304318428039551, + 0.1506108474723069, + -0.3340851693972792, + -0.14715468883514404 + ], + [ + -0.04609706625342369, + 0.9525023477178667, + 0.3010220625736553, + 0.04991907626390457 + ], + [ + 0.36355412006378174, + -0.264680177666997, + 0.8931812688042561, + -0.08471915125846863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9296534061431885, + 0.1504360369909026, + -0.33632356987230433, + -0.14804702997207642 + ], + [ + -0.04530349373817444, + 0.9525906332278244, + 0.3008632710220757, + 0.05017000064253807 + ], + [ + 0.365639328956604, + -0.26446192982471, + 0.892394402359059, + -0.0852975845336914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/tilt_up/transforms.json b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5b512ebb034b5c63841707951c31c2da6a9217f9 --- /dev/null +++ b/dynpose_eval/camera_controls/028abe00-2229-4b6b-806a-7db9d570b0f7/tilt_up/transforms.json @@ -0,0 +1,6628 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 189, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 1.70307084772503e-05, + 7.986521086422727e-05, + -0.00025786555488593876 + ], + [ + -1.7034815755323507e-05, + 1.0, + 5.142964801052585e-05, + -0.00014517392264679074 + ], + [ + -7.986433774931356e-05, + -5.1431008614599705e-05, + 1.0, + -0.0002484802098479122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999983906745911, + -0.0017309818329853848, + -0.00040355668333132963, + -0.00010069082054542378 + ], + [ + 0.0017306868685409427, + 0.9999982244885988, + -0.0007300081586126709, + 0.00030974409310147166 + ], + [ + 0.0004048196133226156, + 0.0007293086326215499, + 0.9999996559755858, + 8.321263885591179e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999954700469971, + -0.0025803841588513464, + -0.00155323105456266, + -0.0001496597978984937 + ], + [ + 0.0025778410490602255, + 0.9999953256171221, + -0.0016370140361730708, + 0.001147317816503346 + ], + [ + 0.0015574479475617409, + 0.0016330027679962176, + 0.9999974825644675, + 0.0004537832865025848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999921917915344, + -0.00341638894142354, + -0.0019711915490417493, + -5.214030898059718e-05 + ], + [ + 0.0034109405241906643, + 0.9999903978135386, + -0.002760780225077576, + 0.001757200574502349 + ], + [ + 0.0019806043710559607, + 0.002754035051439882, + 0.9999942407232303, + 0.0012955418787896633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999859333038332, + -0.004496037406210893, + -0.0028049191536531526, + -5.521769139704702e-07 + ], + [ + 0.004484949167817832, + 0.9999821425700931, + -0.003947129888589493, + 0.0024070125073194504 + ], + [ + 0.0028226154390722518, + 0.003934494703312472, + 0.9999882927194125, + 0.0019917336758226156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999833703041077, + -0.004463350808088217, + -0.0036602159048344965, + -7.531858864240348e-05 + ], + [ + 0.004446507431566715, + 0.999979535768853, + -0.004597041322515287, + 0.0027251383289694786 + ], + [ + 0.0036806592252105474, + 0.004580689717685168, + 0.9999827491394843, + 0.002327415393665433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999836087226868, + -0.003691012089950059, + -0.004376047498284181, + -7.78667235863395e-05 + ], + [ + 0.0036697436589747667, + 0.9999814381458039, + -0.004858280364925567, + 0.0029705665074288845 + ], + [ + 0.004393898416310549, + 0.004842142316115111, + 0.9999786522576316, + 0.002723151119425893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999801516532898, + -0.004311174466382111, + -0.004595793322585481, + -0.00010015643783845007 + ], + [ + 0.004284416791051626, + 0.9999738866436616, + -0.005816175491509505, + 0.0030597764998674393 + ], + [ + 0.0046207476407289505, + 0.005796369789564819, + 0.9999725299183848, + 0.003115626284852624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999744892120364, + -0.0046640818641683675, + -0.005413585824902593, + -4.049779090564698e-05 + ], + [ + 0.004624332766979934, + 0.9999624322662451, + -0.007331846818330816, + 0.002960567595437169 + ], + [ + 0.005447578616440297, + 0.007306625724312036, + 0.9999584810585304, + 0.0032456752378493547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999691247940066, + -0.004865162891720528, + -0.006168153718503766, + -0.0001580197422299534 + ], + [ + 0.004811088554561139, + 0.9999501379345439, + -0.008751455162849848, + 0.003002662444487214 + ], + [ + 0.006210423074662687, + 0.008721509829987855, + 0.9999427044357951, + 0.003406716976314783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999691843986511, + -0.003318206038249797, + -0.007110674649324159, + -0.00021371089678723365 + ], + [ + 0.0032461187802255154, + 0.9999434368242837, + -0.010125559515275575, + 0.003123074071481824 + ], + [ + 0.007143870927393436, + 0.010102165629097335, + 0.9999234354621372, + 0.003027641214430332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999719262123108, + -0.0006834665344330455, + -0.007463464709011802, + -0.000438048125943169 + ], + [ + 0.0005949765909463167, + 0.9999295662861692, + -0.011852206963229113, + 0.003140944754704833 + ], + [ + 0.007471039891242981, + 0.011847434121766044, + 0.9999019199906739, + 0.0031641421373933554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999681711196902, + 0.00037565011182320564, + -0.007966356538236052, + -0.0005098708206787705 + ], + [ + -0.00048684320063330244, + 0.9999024535707022, + -0.013960491563836663, + 0.0032102668192237616 + ], + [ + 0.007960334420204164, + 0.013963925451540156, + 0.9998708013100694, + 0.0033533754758536816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999691843986513, + 0.0010845375802160768, + -0.00777385099254075, + -0.0006842436851002276 + ], + [ + -0.001209947280585766, + 0.9998689404325475, + -0.01614575341728597, + 0.0032327589578926563 + ], + [ + 0.007755321450531484, + 0.016154661832639458, + 0.9998394488533374, + 0.00363566679880023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999690651893616, + 0.0012488951592682478, + -0.007765267410016146, + -0.0009227905538864434 + ], + [ + -0.001384782255627215, + 0.9998455680749312, + -0.017518669414018195, + 0.003321658121421933 + ], + [ + 0.00774218887090683, + 0.01752888131465524, + 0.9998163955982446, + 0.0038056394550949335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999571442604065, + 0.0018111299343501837, + -0.00908157265191725, + -0.0012114421697333455 + ], + [ + -0.0019705204758793116, + 0.999843626974436, + -0.017572873890552305, + 0.0032357240561395884 + ], + [ + 0.009048325009644032, + 0.01759001618178121, + 0.999804338524152, + 0.004039526917040348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999316930770874, + 0.0025806307630627176, + -0.011400785180967243, + -0.001467360183596611 + ], + [ + -0.00277863466180861, + 0.9998449714880674, + -0.017386000423512765, + 0.003482063766568899 + ], + [ + 0.011354150250554085, + 0.017416491643087156, + 0.9997838378919706, + 0.004190320149064064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.999908983707428, + 0.005059293109968484, + -0.012508966936656117, + -0.0024411617778241634 + ], + [ + -0.0052774446085095406, + 0.9998335132968809, + -0.017468552325569778, + 0.003990332130342722 + ], + [ + 0.012418505735695362, + 0.017532976009645204, + 0.999769146983905, + 0.004655714146792889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998924136161804, + 0.007061458737458467, + -0.012855374661244536, + -0.00308724632486701 + ], + [ + -0.007286222651600838, + 0.9998199026369253, + -0.017522008248872956, + 0.004504373762756586 + ], + [ + 0.01272932905703783, + 0.017613790763701665, + 0.9997638212599892, + 0.005395411979407072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9998738765716553, + 0.00739854212180524, + -0.014052511949794632, + -0.0033701404463499784 + ], + [ + -0.007641080301254988, + 0.9998214375068568, + -0.017284843212276385, + 0.005083991680294275 + ], + [ + 0.01392211951315403, + 0.017390039326594137, + 0.9997518729555456, + 0.006196330301463604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998527765274048, + 0.007527646052282305, + -0.015417728240232936, + -0.003782767103984952 + ], + [ + -0.007796012330800295, + 0.999817859944613, + -0.017420859372047414, + 0.005758685991168022 + ], + [ + 0.015283782035112381, + 0.017538492116479183, + 0.9997293748255773, + 0.007235141936689615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9998342990875246, + 0.009237789244576715, + -0.015684273047662706, + -0.0045720916241407394 + ], + [ + -0.00950414687395096, + 0.9998104310571572, + -0.016993760168933673, + 0.006159202195703983 + ], + [ + 0.015524314716458324, + 0.017140010066842366, + 0.9997325693783584, + 0.008058134466409683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998238682746887, + 0.01054556688787402, + -0.015525855716861131, + -0.005249232519418001 + ], + [ + -0.0108066126704216, + 0.999800005664391, + -0.016826858982130998, + 0.006564908195286989 + ], + [ + 0.015345302410423756, + 0.016991676935761382, + 0.9997378862806648, + 0.008029892109334469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998133778572085, + 0.011835736460475444, + -0.015268821027981869, + -0.006016145460307598 + ], + [ + -0.01211430132389069, + 0.9997594409601166, + -0.018282457668620102, + 0.006705103907734156 + ], + [ + 0.015048762783408168, + 0.01846401931107338, + 0.9997162921427648, + 0.008353082463145256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9998157024383545, + 0.013098836627813627, + -0.014033995510452724, + -0.0061891945078969 + ], + [ + -0.0133983688428998, + 0.9996797897021286, + -0.02146632604101824, + 0.006613538134843111 + ], + [ + 0.013748317025601864, + 0.021650403394359332, + 0.9996710708929745, + 0.008176473900675774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9998309016227724, + 0.013197796069598386, + -0.012807552445417071, + -0.00722466642037034 + ], + [ + -0.013505076058208946, + 0.999615700217743, + -0.024209740524364757, + 0.006040760315954685 + ], + [ + 0.01248311530798674, + 0.024378611440605765, + 0.9996248482892874, + 0.007405329030007124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9998378753662112, + 0.012805134170355935, + -0.012660734204630021, + -0.008091049268841743 + ], + [ + -0.013133469037711624, + 0.9995704582023096, + -0.02619952242116476, + 0.005697302054613829 + ], + [ + 0.012319806963205341, + 0.026361553796382126, + 0.999576577471684, + 0.007336323149502277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.999825119972229, + 0.01307252313331665, + -0.013374368539651307, + -0.00898551195859909 + ], + [ + -0.013443198055028915, + 0.9995172048258466, + -0.028011477644914278, + 0.0052048866637051105 + ], + [ + 0.013001731596887112, + 0.02818637306110374, + 0.9995181413560167, + 0.006674834992736578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9997996687889099, + 0.01367560072046924, + -0.014615040944905662, + -0.010411784052848816 + ], + [ + -0.014115283265709877, + 0.9994376264857076, + -0.03041693970070822, + 0.004631845746189356 + ], + [ + 0.014190852642059326, + 0.030617142343448832, + 0.999430472496163, + 0.0057825190015137196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9997743964195251, + 0.01375998353964694, + -0.016181311726360836, + -0.0121072418987751 + ], + [ + -0.014292960986495018, + 0.9993432898994417, + -0.03329700793129121, + 0.003974722232669592 + ], + [ + 0.015712518244981766, + 0.033520774930365115, + 0.9993145031527475, + 0.004966448526829481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9997538328170776, + 0.013168590379994322, + -0.01785675907773617, + -0.013330144807696342 + ], + [ + -0.013818316161632538, + 0.9992284150936098, + -0.0367638706910322, + 0.0034704648423939943 + ], + [ + 0.017358852550387383, + 0.03700157153377148, + 0.9991644300372541, + 0.0044898600317537785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.999718964099884, + 0.012976647873234774, + -0.019840220997690963, + -0.014432232826948166 + ], + [ + -0.013750468380749226, + 0.9991298052353761, + -0.0393769422763162, + 0.0030750322621315718 + ], + [ + 0.019311975687742233, + 0.03963868884455494, + 0.9990274573552306, + 0.004024925641715527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.999698340892792, + 0.011658154894041858, + -0.0216173891676536, + -0.015163177624344826 + ], + [ + -0.012550729326903824, + 0.999054499213016, + -0.041624415008622566, + 0.002446090802550316 + ], + [ + 0.021111687645316127, + 0.04188317362471076, + 0.9988994692618878, + 0.004176822025328875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9996532201766968, + 0.012260046613950049, + -0.023305654059379125, + -0.015923330560326576 + ], + [ + -0.013274197466671467, + 0.9989490284736066, + -0.043870601808997205, + 0.002015887526795268 + ], + [ + 0.022743303328752518, + 0.044164751089366926, + 0.9987653294721658, + 0.003388212528079748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9995982050895691, + 0.014102540326224237, + -0.024587193797583094, + -0.016678636893630028 + ], + [ + -0.015223570168018341, + 0.9988245050649248, + -0.04601950558543653, + 0.0015982971526682377 + ], + [ + 0.023909298703074455, + 0.04637532026375613, + 0.9986378803538578, + 0.002851878060027957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9995750784873962, + 0.014768896065387971, + -0.025130293844554143, + -0.01769733801484108 + ], + [ + -0.015971070155501366, + 0.9987037597831148, + -0.04832946725425475, + 0.0010718541452661157 + ], + [ + 0.024383947253227234, + 0.048710289924419115, + 0.9985152878822287, + 0.0021591235417872667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9995578527450564, + 0.014620776374041187, + -0.025891432022714368, + -0.017782393842935562 + ], + [ + -0.015923917293548587, + 0.9985787604744708, + -0.05086153475168321, + 0.0006286249845288694 + ], + [ + 0.02511099725961686, + 0.05125133723998284, + 0.9983700181849742, + 0.001395781640894711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9995314478874209, + 0.015350302107908241, + -0.02648116865226207, + -0.017705660313367844 + ], + [ + -0.016738068312406543, + 0.9984538854757758, + -0.053005882139695884, + 0.00044588721357285976 + ], + [ + 0.02562657184898854, + 0.05342428963611417, + 0.9982429910316493, + 0.0012249862775206566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9995166063308718, + 0.016236925436434888, + -0.02651163711843481, + -0.017816705629229546 + ], + [ + -0.017661383375525478, + 0.9983624725580569, + -0.054410471057992585, + 0.0003072293184231967 + ], + [ + 0.025584762915968902, + 0.054852401045024646, + 0.9981666259472982, + 0.000995601643808186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995246529579163, + 0.016596102494591827, + -0.025980973467050826, + -0.017678549513220787 + ], + [ + -0.018030637875199318, + 0.9982684621141696, + -0.055991052780562094, + 0.00016519879864063114 + ], + [ + 0.025006752461194992, + 0.05643289141832795, + 0.9980931812931157, + 0.0010164199629798532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995442032814026, + 0.016248082235393167, + -0.025442748071258917, + -0.01729908585548401 + ], + [ + -0.017691824585199356, + 0.99818367283212, + -0.057587778678228556, + 0.00018360730609856546 + ], + [ + 0.024460844695568085, + 0.05801165909502603, + 0.9980161670661891, + 0.0011832742020487785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9995365738868713, + 0.016832404668863276, + -0.0253639815225901, + -0.01697850413620472 + ], + [ + -0.018305957317352295, + 0.9980883310328367, + -0.05903050799417264, + 0.0003416476829443127 + ], + [ + 0.024321869015693665, + 0.05946746372964737, + 0.9979339223234929, + 0.0014325660886242986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9995365738868713, + 0.01657407269995795, + -0.025532506537337435, + -0.017019128426909447 + ], + [ + -0.018096482381224632, + 0.9979982640063938, + -0.06059725844897619, + 0.00024001683050300926 + ], + [ + 0.024477053433656693, + 0.06103122496280759, + 0.9978357072106523, + 0.0011268398957327008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9995267987251284, + 0.01704288880606237, + -0.025606867711114756, + -0.01711544208228588 + ], + [ + -0.018620012328028682, + 0.9978606338123557, + -0.06266972631279563, + 0.0003991841513197869 + ], + [ + 0.024484012275934226, + 0.06311686904259961, + 0.9977057454993469, + 0.0012765182182192802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9995371699333191, + 0.0164828584913344, + -0.02556911998933907, + -0.01692873239517212 + ], + [ + -0.01810343936085701, + 0.9977534162632106, + -0.06450098401041236, + 0.00031545592355541885 + ], + [ + 0.024448517709970474, + 0.06493402114598179, + 0.9975900388978924, + 0.0012392787029966712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9995324611663818, + 0.0164278418945347, + -0.025788230889929816, + -0.01687202788889408 + ], + [ + -0.01809627190232277, + 0.9976649723871515, + -0.06585678754841473, + 0.000398807052988559 + ], + [ + 0.024646129459142685, + 0.06629266610463794, + 0.9974957829255214, + 0.001374158775433898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9995324611663818, + 0.01553078816943935, + -0.026336456757511076, + -0.016831643879413605 + ], + [ + -0.017275430262088776, + 0.9975787909354245, + -0.06736544797382006, + 0.00032667984487488866 + ], + [ + 0.025226451456546783, + 0.06778892563383743, + 0.9973806878528607, + 0.001106694107875228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9995046257972717, + 0.01617459190149336, + -0.026998589639607187, + -0.01727111078798771 + ], + [ + -0.018007420003414154, + 0.9974482968843748, + -0.06908442103651395, + 0.000615553988609463 + ], + [ + 0.025812283158302307, + 0.06953636924769226, + 0.9972453905445714, + 0.0010324297472834587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9994738698005676, + 0.016513719018713364, + -0.027916122969762452, + -0.01732531562447548 + ], + [ + -0.018445264548063278, + 0.9973474312510795, + -0.07041253776543996, + 0.0007291990332305431 + ], + [ + 0.026679299771785736, + 0.07089040968268842, + 0.9971272666417957, + 0.00100218306761235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9994402527809145, + 0.017530705547966798, + -0.028493592374258633, + -0.017832595854997635 + ], + [ + -0.019531153142452243, + 0.9972481713310061, + -0.071516350556969, + 0.0008314221631735563 + ], + [ + 0.027161452919244773, + 0.07203283422718935, + 0.9970323886569789, + 0.0006245023105293512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9994131922721863, + 0.017955882019797524, + -0.02916986071747716, + -0.01815788634121418 + ], + [ + -0.020039599388837814, + 0.9971461293650034, + -0.07278749937533543, + 0.0009651925065554678 + ], + [ + 0.027779649943113327, + 0.0733293366541785, + 0.9969207880821372, + 0.00034818894346244633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9993741512298584, + 0.018420971504151562, + -0.03019894681169221, + -0.01817210763692856 + ], + [ + -0.02060120739042759, + 0.9970786552419728, + -0.07355084677526805, + 0.0009689052239991724 + ], + [ + 0.028755847364664078, + 0.0741269506927028, + 0.9968341449036217, + 0.0003468780778348446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999338686466217, + 0.018766454966739902, + -0.031145766096720606, + -0.018932262435555458 + ], + [ + -0.021032344549894333, + 0.9970294350334999, + -0.07409445641944623, + 0.0013647674350067973 + ], + [ + 0.029662754386663437, + 0.0747005198343568, + 0.9967647134521979, + 0.000601760286372155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9993161559104919, + 0.018759368706203153, + -0.03186312935091253, + -0.019710350781679153 + ], + [ + -0.02110186405479908, + 0.9969717284028308, + -0.0748474371177851, + 0.0017745211953297257 + ], + [ + 0.03036254644393921, + 0.07546862602021855, + 0.9966858321139561, + 0.001372714526951313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9993393421173096, + 0.016478065299676332, + -0.032394369334058475, + -0.019904570654034615 + ], + [ + -0.018890084698796272, + 0.9969577364079739, + -0.07562017536144555, + 0.0019066767999902368 + ], + [ + 0.03104974515736103, + 0.07618214947301552, + 0.9966103729084835, + 0.0023593073710799217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9993405342102051, + 0.013873950416064724, + -0.033556963153415775, + -0.020253773778676987 + ], + [ + -0.0163868498057127, + 0.9969877702066541, + -0.07580790019412971, + 0.002068878151476383 + ], + [ + 0.03240412473678589, + 0.07630779792416825, + 0.9965576104399884, + 0.0030747796408832073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9993026852607727, + 0.012722080833151808, + -0.035103176947981055, + -0.02059805393218994 + ], + [ + -0.015359100885689259, + 0.9969967522766197, + -0.07590534815578706, + 0.0022927375975996256 + ], + [ + 0.034032076597213745, + 0.07639156975976504, + 0.9964969088114195, + 0.003566493047401309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9992468357086182, + 0.012373643187020214, + -0.03677822238611482, + -0.021354610100388527 + ], + [ + -0.01516162883490324, + 0.9969527521304661, + -0.07652006230394581, + 0.0023153789807111025 + ], + [ + 0.03571932017803192, + 0.07702004850652121, + 0.9963894950944759, + 0.0042648958042263985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9991818070411682, + 0.012927586880634527, + -0.0383221438763157, + -0.02321677654981613 + ], + [ + -0.015869561582803726, + 0.9968670184744268, + -0.0774876344054152, + 0.00248526968061924 + ], + [ + 0.03720035031437874, + 0.07803239171990697, + 0.9962565617426437, + 0.003944990690797567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9990988373756409, + 0.013056895523340108, + -0.0403867456011936, + -0.024595344439148903 + ], + [ + -0.01621362753212452, + 0.9967546467554231, + -0.078849976474272, + 0.0026893997564911842 + ], + [ + 0.039226140826940536, + 0.07943373368243609, + 0.996068083793489, + 0.00407489063218236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9989938735961914, + 0.012446947714440076, + -0.04308507012995009, + -0.026238782331347466 + ], + [ + -0.015891114249825478, + 0.9966244459937996, + -0.08054280651716102, + 0.00262356735765934 + ], + [ + 0.041937123984098434, + 0.08114644121784183, + 0.9958195274124833, + 0.00335713941603899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9988641738891602, + 0.012137038231858473, + -0.04607617078734159, + -0.02778305485844612 + ], + [ + -0.015895988792181015, + 0.9964963248961031, + -0.0821122967165419, + 0.002416296163573861 + ], + [ + 0.044918134808540344, + 0.08275145665922476, + 0.9955573966021255, + 0.0025200110394507647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9987172484397888, + 0.011919137639414558, + -0.04921126499673019, + -0.02949443832039833 + ], + [ + -0.016003893688321114, + 0.9963823053226958, + -0.08346353171666268, + 0.00297495792619884 + ], + [ + 0.04803842306137085, + 0.08414404230897343, + 0.9952949703318861, + 0.002450422151014209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9985724687576296, + 0.011474808187642209, + -0.05216648930877292, + -0.031050724908709526 + ], + [ + -0.01585926301777363, + 0.9963034685328542, + -0.08442644304578807, + 0.003236999735236168 + ], + [ + 0.051004875451326384, + 0.08513324515356145, + 0.9950632141370069, + 0.002847375115379691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9984353184700014, + 0.009892810018505298, + -0.05503700640941149, + -0.03262987360358238 + ], + [ + -0.014578600414097313, + 0.9962400755739106, + -0.08540027743539232, + 0.003610836574807763 + ], + [ + 0.05398522317409517, + 0.08606901488448965, + 0.9948254910007316, + 0.0031947982497513294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.99827116727829, + 0.00975597517018237, + -0.05796137387857555, + -0.034301698207855225 + ], + [ + -0.014740119688212875, + 0.9961691503518423, + -0.08619593991800974, + 0.004099368117749691 + ], + [ + 0.05689840763807298, + 0.08690128007867547, + 0.9945907552180155, + 0.003105675335973501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9981175661087036, + 0.00969307974881113, + -0.06055900275834856, + -0.03524613007903099 + ], + [ + -0.01493551954627037, + 0.9961203702230017, + -0.08672419017658728, + 0.004631564021110535 + ], + [ + 0.05948343500494957, + 0.08746541684335783, + 0.9943899958315648, + 0.0029258679132908583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9979761838912964, + 0.00942773053044048, + -0.06288597510750195, + -0.03663802891969681 + ], + [ + -0.014883616007864475, + 0.9961091212974154, + -0.08686269917738004, + 0.005224747583270073 + ], + [ + 0.061822373420000076, + 0.0876228733364191, + 0.9942334785948195, + 0.0030739204958081245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.997819721698761, + 0.010330916418747938, + -0.06518461409992109, + -0.03787093982100487 + ], + [ + -0.015953414142131805, + 0.9961385509615627, + -0.08633338590198411, + 0.0054373666644096375 + ], + [ + 0.06404100358486176, + 0.08718507656738476, + 0.9941315490225033, + 0.002939363941550255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9976567029953003, + 0.01224490553551898, + -0.06731432318809813, + -0.03884432092308998 + ], + [ + -0.018001070246100426, + 0.9961684989522868, + -0.08558204206518202, + 0.006280274596065283 + ], + [ + 0.06600846350193024, + 0.08659322226239848, + 0.994054550753395, + 0.00406875554472208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9975234270095827, + 0.013214135044477913, + -0.06908212804995725, + -0.03987857326865196 + ], + [ + -0.01908265054225922, + 0.9961988005626508, + -0.08499281099891658, + 0.006942498963326216 + ], + [ + 0.06769642233848573, + 0.08610059198334585, + 0.9939838185737186, + 0.0040845186449587345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9973803758621216, + 0.014055950953605421, + -0.07095678500566774, + -0.04041292518377304 + ], + [ + -0.020076699554920197, + 0.996190223479065, + -0.08486440088277275, + 0.007205962669104338 + ], + [ + 0.0694935992360115, + 0.08606666226966721, + 0.9938627368827888, + 0.004412856884300709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9972617030143738, + 0.014208151031065614, + -0.07257531305109466, + -0.04080519452691078 + ], + [ + -0.020388271659612656, + 0.9961606264988323, + -0.08513694905757843, + 0.0072575705125927925 + ], + [ + 0.07108703255653381, + 0.08638350870967532, + 0.9937225695639995, + 0.004585523623973131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9971329569816589, + 0.013994618581775859, + -0.07436390765562531, + -0.04148933291435242 + ], + [ + -0.02034691907465458, + 0.9961421284591395, + -0.08536337067120474, + 0.007431976497173309 + ], + [ + 0.07288239151239395, + 0.08663170666207348, + 0.9935708952725772, + 0.004762782249599695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9969947934150696, + 0.013526092290949386, + -0.07627863733760243, + -0.04182291403412819 + ], + [ + -0.020108971744775772, + 0.9960745222333699, + -0.08620424993480369, + 0.007053170818835497 + ], + [ + 0.07481319457292557, + 0.08747907664107384, + 0.9933531341860464, + 0.004682993981987238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.996840834617615, + 0.013420775076215662, + -0.07828303135416433, + -0.04269528016448021 + ], + [ + -0.020290235057473186, + 0.9959466417392933, + -0.0876276397059754, + 0.006505030672997236 + ], + [ + 0.07678968459367753, + 0.08893918952434354, + 0.993072582609296, + 0.004436040297150612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9966968297958374, + 0.012329674004686373, + -0.08027104038314757, + -0.04411982744932175 + ], + [ + -0.019514836370944977, + 0.9958088954545932, + -0.08935196738376744, + 0.006195548456162214 + ], + [ + 0.07883293926715851, + 0.09062329550691109, + 0.9927601570163938, + 0.0025128533598035574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9964646100997925, + 0.012546935884613506, + -0.08307111657189667, + -0.0454619936645031 + ], + [ + -0.02003639191389084, + 0.9957449569453419, + -0.08994711782865446, + 0.005773407407104969 + ], + [ + 0.08158908784389496, + 0.09129356620135072, + 0.992476026816743, + 0.0017721648328006268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9962015748023989, + 0.012152565491486928, + -0.08622464291854864, + -0.04684769734740257 + ], + [ + -0.019952598959207538, + 0.9957251310279643, + -0.09018533401262233, + 0.00501658022403717 + ], + [ + 0.08476006239652635, + 0.09156317949284297, + 0.9921854543697027, + 0.0003381051938049495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.995901346206665, + 0.01041650911668359, + -0.08984446259713132, + -0.04850335791707039 + ], + [ + -0.018617045134305954, + 0.9956835974782758, + -0.09092592053302653, + 0.004001813009381294 + ], + [ + 0.08850952982902527, + 0.09222588595475041, + 0.991796556969017, + -0.001291116583161056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9955576062202454, + 0.008945341369165843, + -0.0937283285750209, + -0.04989955946803093 + ], + [ + -0.017644884064793587, + 0.9955653110698667, + -0.09240350141092439, + 0.0039547160267829895 + ], + [ + 0.09248608350753784, + 0.09364683073316385, + 0.9913004440807125, + -0.003273644018918276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9951457977294924, + 0.006775800674685666, + -0.09817802895328889, + -0.05081908404827118 + ], + [ + -0.016074446961283687, + 0.9954203300645493, + -0.09423339620075395, + 0.0035706304479390383 + ], + [ + 0.09708990156650546, + 0.09535413039392199, + 0.990697321013114, + -0.004613487049937248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9946653842926028, + 0.006351099929822553, + -0.10295845574687433, + -0.051323048770427704 + ], + [ + -0.016319880262017254, + 0.9952212219221769, + -0.09627253299262473, + 0.0037061048205941916 + ], + [ + 0.10185500979423526, + 0.09743922176687195, + 0.9900157085996448, + -0.005385026801377535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9942737221717834, + 0.00642343576532144, + -0.10666990645446699, + -0.05216841399669647 + ], + [ + -0.016965394839644432, + 0.99502037448203, + -0.09821697900260241, + 0.003814696567133069 + ], + [ + 0.10550783574581146, + 0.09946426064694655, + 0.9894316120637993, + -0.00654773972928524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9938351511955261, + 0.0026049824789140873, + -0.11083739453812994, + -0.053356386721134186 + ], + [ + -0.013698100112378597, + 0.9949490988036483, + -0.0994414122108574, + 0.004003056325018406 + ], + [ + 0.1100185215473175, + 0.10034663666036442, + 0.9888510910424364, + -0.007535645272582769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.992800235748291, + -0.0035684080838574235, + -0.1197288777088169, + -0.053858716040849686 + ], + [ + -0.008326037786900997, + 0.9950826193382086, + -0.09869759729340159, + 0.004194918088614941 + ], + [ + 0.11949232220649719, + 0.09898386530969969, + 0.9878885355306479, + -0.007666188757866621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9917758107185364, + -0.007316357721956504, + -0.1277781423524228, + -0.055216819047927856 + ], + [ + -0.0051416452042758465, + 0.9952812171725003, + -0.09689601461213239, + 0.004498118069022894 + ], + [ + 0.12788410484790802, + 0.0967561151835565, + 0.9870582365730173, + -0.009362006559967995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.990958631038666, + -0.008823584523325245, + -0.13387723141457272, + -0.05631193518638611 + ], + [ + -0.00416289595887065, + 0.9953326048759019, + -0.0964141479593272, + 0.004797614645212889 + ], + [ + 0.13410308957099917, + 0.09609975277414148, + 0.9862967364648765, + -0.010228767991065979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9901939034461975, + -0.010106660095945165, + -0.13933376684339435, + -0.05620286986231804 + ], + [ + -0.0034028112422674894, + 0.9953387659338838, + -0.09638003184870576, + 0.0048049455508589745 + ], + [ + 0.1396583765745163, + 0.09590905179343284, + 0.9855440278912734, + -0.010965163819491863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9893355369567871, + -0.013311502447134645, + -0.1450449471026724, + -0.05711745098233223 + ], + [ + -0.0006705971900373697, + 0.9953882564871065, + -0.09592584205131874, + 0.005043662153184414 + ], + [ + 0.14565294981002808, + 0.0950001088366967, + 0.9847640125128891, + -0.0114738829433918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9882736802101135, + -0.015468962162792312, + -0.15190726613885353, + -0.05818090960383415 + ], + [ + 0.000824214774183929, + 0.9953810774056598, + -0.09599910766405309, + 0.004791955929249525 + ], + [ + 0.15269061923027039, + 0.09474818990707708, + 0.9837217010324668, + -0.01252400130033493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9875432848930359, + -0.014866416126916922, + -0.15664381544576722, + -0.05850687995553017 + ], + [ + -0.0005070595070719719, + 0.995220804105432, + -0.09764898534478449, + 0.004761795978993177 + ], + [ + 0.15734685957431793, + 0.09651202662213997, + 0.9828160626240224, + -0.013915585353970528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9869704842567444, + -0.016347352219247577, + -0.1600687144686443, + -0.05862374231219292 + ], + [ + 0.0002838477957993746, + 0.9950008342711407, + -0.09986635343457526, + 0.005123200360685587 + ], + [ + 0.1609010398387909, + 0.09851970848432107, + 0.9820410947683071, + -0.014241311699151993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9861845374107361, + -0.018678382009845933, + -0.1645938394747986, + -0.05946178734302521 + ], + [ + 0.002054598182439804, + 0.9949253167635971, + -0.1005953921324639, + 0.005104264244437218 + ], + [ + 0.1656375378370285, + 0.09886744624918803, + 0.9812183428958552, + -0.014420558698475361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9851840138435366, + -0.01899025567743171, + -0.17044594761311274, + -0.06043526902794838 + ], + [ + 0.0019149127183482055, + 0.995006611852916, + -0.0997905077727454, + 0.00555191608145833 + ], + [ + 0.17148990929126742, + 0.09798562644444152, + 0.9803009974603812, + -0.014773325994610786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9842056035995483, + -0.018242619777555705, + -0.17608661118778224, + -0.06188252940773964 + ], + [ + 0.0008219273295253515, + 0.9951364754366443, + -0.09850238389733533, + 0.006756664253771305 + ], + [ + 0.1770271509885788, + 0.09680186848824907, + 0.9794338901252884, + -0.016135821118950844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9830437898635864, + -0.01927689788611644, + -0.18235502706106688, + -0.06311050802469254 + ], + [ + 0.0015924032777547836, + 0.9953189567808524, + -0.09663160520482361, + 0.008285482414066792 + ], + [ + 0.1833641678094864, + 0.09470271177710608, + 0.978472751158263, + -0.01723688282072544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9816493988037112, + -0.022755213066534153, + -0.18933220298632916, + -0.06489729881286621 + ], + [ + 0.004921555984765292, + 0.9955473279345374, + -0.09413426774578379, + 0.008172367699444294 + ], + [ + 0.19063122570514685, + 0.0914750436472645, + 0.9773904572026959, + -0.02150273695588112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9803077578544617, + -0.02425424312864329, + -0.19598065753974103, + -0.06522674113512039 + ], + [ + 0.00602172315120697, + 0.9956388068285921, + -0.09309757081902567, + 0.008846974931657314 + ], + [ + 0.19738395512104034, + 0.09008412393862614, + 0.9761784611864269, + -0.021689364686608315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9797625541687014, + -0.023830135642200698, + -0.1987397281690318, + -0.06695067882537842 + ], + [ + 0.004972286988049746, + 0.9954790040909633, + -0.09485138531522738, + 0.008846496231853962 + ], + [ + 0.20010155439376837, + 0.09194364938285583, + 0.9754515543187106, + -0.02441730909049511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.979458212852478, + -0.02578312559553042, + -0.1999920945776333, + -0.0679413378238678 + ], + [ + 0.0062621114775538445, + 0.9952026946436763, + -0.0976336592066462, + 0.008728266693651676 + ], + [ + 0.2015499770641327, + 0.09437571767887903, + 0.9749209057916666, + -0.02581850439310074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.979054868221283, + -0.02781878908282001, + -0.20168700674645032, + -0.06796954572200775 + ], + [ + 0.007543471641838551, + 0.9948975329097347, + -0.1006082234630382, + 0.009101287461817265 + ], + [ + 0.20345669984817505, + 0.09697955133773396, + 0.9742691294358442, + -0.026459379121661186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9790850281715395, + -0.02758486084797863, + -0.2015728579103638, + -0.06880748271942139 + ], + [ + 0.006544755771756174, + 0.9945233986153658, + -0.10430926415476713, + 0.009251723065972328 + ], + [ + 0.2033462673425675, + 0.1008083907126099, + 0.9739034555396964, + -0.027213992550969124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9792938828468325, + -0.027895953060154213, + -0.20051270344364983, + -0.06953490525484085 + ], + [ + 0.006395846605300905, + 0.9942294756347027, + -0.10708331762586201, + 0.009485025890171528 + ], + [ + 0.202342838048935, + 0.10358358954684643, + 0.9738212577870993, + -0.026845550164580345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9793046712875366, + -0.02819057664042204, + -0.20041879711437974, + -0.06959479302167892 + ], + [ + 0.006391878239810467, + 0.9940659786535033, + -0.1085910905505896, + 0.009475773200392723 + ], + [ + 0.20229074358940125, + 0.10506270448362716, + 0.9736735920006682, + -0.027191130444407463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9792531728744509, + -0.026439988274933938, + -0.20090836611310872, + -0.06992318481206894 + ], + [ + 0.004307030700147153, + 0.9939430092739413, + -0.10981208910325711, + 0.009645828977227211 + ], + [ + 0.20259490609169012, + 0.10666852124528267, + 0.9734357202634958, + -0.028117185458540916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9793257117271426, + -0.027346087284844174, + -0.20043292972761736, + -0.07023508846759796 + ], + [ + 0.004930862225592137, + 0.9937532632714631, + -0.11149038108102545, + 0.0094522750005126 + ], + [ + 0.2022297084331513, + 0.1081970933224077, + 0.973342989857984, + -0.028828442096710205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9790617227554321, + -0.0315263378257505, + -0.2011074949041049, + -0.06982432305812836 + ], + [ + 0.008544478565454483, + 0.9934284240519619, + -0.11413591128699359, + 0.009309643879532814 + ], + [ + 0.2033841758966446, + 0.11002773745880842, + 0.9728970753824923, + -0.0296771302819252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9786058068275454, + -0.03478548607487825, + -0.20278235812826761, + -0.07023680955171585 + ], + [ + 0.010894503444433214, + 0.9929821459992442, + -0.11776143399084475, + 0.008334188722074032 + ], + [ + 0.20545564591884619, + 0.11303280997975378, + 0.9721170588577139, + -0.031940799206495285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9782882928848267, + -0.03517120276299179, + -0.20424239213707973, + -0.0712815672159195 + ], + [ + 0.01032799668610096, + 0.9925438532456127, + -0.12144981733090772, + 0.00817849487066269 + ], + [ + 0.2069910615682602, + 0.116703521027351, + 0.9713572982209043, + -0.03390656039118767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9779941439628601, + -0.03633380110865006, + -0.205444114768051, + -0.07210902869701385 + ], + [ + 0.010526822879910469, + 0.992058163767197, + -0.12533857255588052, + 0.00787095632404089 + ], + [ + 0.2083665281534195, + 0.12041772019311225, + 0.9706095740306022, + -0.03536912798881531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.977571427822113, + -0.035654446230323496, + -0.20756412734255905, + -0.07325458526611328 + ], + [ + 0.008788680657744408, + 0.9916131314469983, + -0.1289425791660912, + 0.008340969681739807 + ], + [ + 0.21042069792747498, + 0.12422636516864612, + 0.9696860060274465, + -0.036969926208257675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9770908355712891, + -0.03413569840590429, + -0.21006726406547538, + -0.07467558234930038 + ], + [ + 0.006319228559732437, + 0.9912711121188743, + -0.13168768187937496, + 0.008439026772975922 + ], + [ + 0.2127288579940796, + 0.12734336241470892, + 0.9687776304451275, + -0.03752904757857323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.976499080657959, + -0.034819186674726756, + -0.21269040356535512, + -0.07578970491886139 + ], + [ + 0.006047251634299755, + 0.9909013016920691, + -0.13445477920821747, + 0.008005634881556034 + ], + [ + 0.21543680131435394, + 0.1300087724039904, + 0.9678247525155957, + -0.03886814042925835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9756944179534914, + -0.03434417490461975, + -0.21642754136439193, + -0.07762030512094498 + ], + [ + 0.004513390362262727, + 0.9905821699048107, + -0.13684504679360635, + 0.00852649100124836 + ], + [ + 0.21908909082412725, + 0.13254213321289735, + 0.9666605414392624, + -0.041541822254657745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9748259782791138, + -0.03203921140901533, + -0.22065311864889084, + -0.07874280959367752 + ], + [ + 0.0012934101978316903, + 0.9904179836811666, + -0.13809621962333407, + 0.008922186680138111 + ], + [ + 0.22296331822872162, + 0.13433438920195884, + 0.9655266348580612, + -0.04206449165940285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9739163517951968, + -0.030607766480231214, + -0.2248334331713954, + -0.08079435676336288 + ], + [ + -0.0009339039679616692, + 0.9903113521428835, + -0.13886174465769135, + 0.009304077364504337 + ], + [ + 0.2269053459167481, + 0.13544970253440772, + 0.9644518638090658, + -0.04370606318116188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9729066491127014, + -0.02812374650474961, + -0.22948126702124882, + -0.08246317505836487 + ], + [ + -0.004419095814228058, + 0.9901304593841861, + -0.14007917464368466, + 0.010203556157648563 + ], + [ + 0.23115594685077667, + 0.13729806476486822, + 0.9631802486915675, + -0.04579564183950424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.971948504447937, + -0.02540751258413067, + -0.2338174064267103, + -0.08462268859148026 + ], + [ + -0.00820642989128828, + 0.9898789119218966, + -0.14167716943308728, + 0.011436164379119873 + ], + [ + 0.23505058884620667, + 0.13962171630406317, + 0.9619027955439817, + -0.04782763496041298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9709583520889282, + -0.024448479106464936, + -0.23799614544404477, + -0.08620767295360565 + ], + [ + -0.010046670213341713, + 0.9897210196748215, + -0.14265807053692994, + 0.012182626873254776 + ], + [ + 0.23903755843639374, + 0.1409061206449792, + 0.9607322994285119, + -0.04875897616147995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.969895660877228, + -0.024645323606641855, + -0.24227044440661055, + -0.08893152326345444 + ], + [ + -0.010790622793138029, + 0.9895390857070163, + -0.1438610918123647, + 0.013167506083846092 + ], + [ + 0.24328155815601354, + 0.14214449018393674, + 0.9594836960711067, + -0.048420317471027374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9690180420875552, + -0.024938353132087556, + -0.2457276704639655, + -0.09043006598949432 + ], + [ + -0.011535863392055036, + 0.9892340585168796, + -0.14588640915665926, + 0.013609410263597965 + ], + [ + 0.24672035872936254, + 0.14420124573805915, + 0.9582979838445205, + -0.05084238573908806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.968046247959137, + -0.02777610434806631, + -0.24922883076641641, + -0.09263089299201965 + ], + [ + -0.009444596245884895, + 0.9891035698494338, + -0.14691818987886907, + 0.013917474076151848 + ], + [ + 0.2505939304828644, + 0.14457745796476135, + 0.9572356128404598, + -0.050943922251462936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9659982919692993, + -0.034450598081875214, + -0.2562429180256753, + -0.09433194249868393 + ], + [ + -0.0034722930286079645, + 0.9892649182887889, + -0.14609183282722124, + 0.014829829335212708 + ], + [ + 0.2585250735282898, + 0.14201421213011878, + 0.9555086124782884, + -0.052176233381032944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9634121656417849, + -0.038781805884109254, + -0.26520366494507164, + -0.09667028486728668 + ], + [ + -0.0001220235135406256, + 0.98941271207299, + -0.14512910273394786, + 0.015522211790084839 + ], + [ + 0.26802423596382147, + 0.13985151142065316, + 0.9532075491246617, + -0.05434783548116684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9617865085601809, + -0.036968388632356804, + -0.2712932298006248, + -0.10037203133106232 + ], + [ + -0.0032040525693446406, + 0.9892554319180866, + -0.14616211997235756, + 0.016863403841853142 + ], + [ + 0.27378171682357794, + 0.14144600094615753, + 0.9513341313988718, + -0.05493897199630737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9607183933258057, + -0.036860009998015676, + -0.27506634550039466, + -0.10241934657096863 + ], + [ + -0.004510398954153061, + 0.9889359029266153, + -0.1482748075941268, + 0.01834907755255699 + ], + [ + 0.2774883806705475, + 0.1436909981255851, + 0.9499226866534313, + -0.055900610983371735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9593759179115295, + -0.038941919386371295, + -0.2794304366978625, + -0.10565511882305145 + ], + [ + -0.003919264301657677, + 0.9884932367992122, + -0.15121427695889006, + 0.019235776737332344 + ], + [ + 0.28210368752479553, + 0.14616649523137198, + 0.9481839792033977, + -0.05696309730410576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9578583240509033, + -0.03994577686808923, + -0.28444996184458027, + -0.10802990943193436 + ], + [ + -0.004460188094526529, + 0.9880952140490655, + -0.15377910022253288, + 0.020868415012955666 + ], + [ + 0.2872064411640167, + 0.14856728875265962, + 0.9462770402614012, + -0.058042872697114944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9564486742019656, + -0.040680248523176574, + -0.289051930064707, + -0.11129747331142426 + ], + [ + -0.004909014329314233, + 0.9878596245863424, + -0.15527173845465986, + 0.022428402677178383 + ], + [ + 0.29185923933982855, + 0.14992841108104155, + 0.9446373496761941, + -0.05700857937335968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9547799229621887, + -0.044497048596473285, + -0.2939649033178145, + -0.1135193258523941 + ], + [ + -0.002306347945705056, + 0.9875987480984976, + -0.15698229323718105, + 0.023887600749731064 + ], + [ + 0.29730460047721863, + 0.15056151666954745, + 0.9428367750306679, + -0.057950519025325775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9526330232620239, + -0.0484278682137525, + -0.30024170293821834, + -0.11605596542358398 + ], + [ + -0.00031358329579234123, + 0.9870832315470581, + -0.16020781077631968, + 0.025320544838905334 + ], + [ + 0.30412206053733826, + 0.15271341161664334, + 0.94031294841574, + -0.05901492014527321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9509252905845642, + -0.05189067111784077, + -0.30503839108342856, + -0.11804447323083878 + ], + [ + 0.0010439675534144044, + 0.9863700574795053, + -0.16453886075160945, + 0.026277899742126465 + ], + [ + 0.3094187378883362, + 0.15614571596849308, + 0.938018422422702, + -0.06052922084927559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9496654868125918, + -0.05721523513726057, + -0.3079965991052616, + -0.12017077207565308 + ], + [ + 0.004029027186334134, + 0.9853291263852959, + -0.17061749999909806, + 0.0269765742123127 + ], + [ + 0.31323996186256414, + 0.16078861156150173, + 0.9359635201827555, + -0.06121378764510155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9484317302703857, + -0.06109264475710689, + -0.31103853905161716, + -0.12189450860023499 + ], + [ + 0.0053720781579613686, + 0.9842083436870649, + -0.17693254927272334, + 0.02667931281030178 + ], + [ + 0.31693601608276367, + 0.16613751886671516, + 0.9337826017730904, + -0.06608466804027557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9474590420722961, + -0.058776968757580025, + -0.31443062138769695, + -0.1229144036769867 + ], + [ + 0.0014400262152776122, + 0.9837470687286451, + -0.1795540925355477, + 0.029133906587958336 + ], + [ + 0.3198738396167755, + 0.1696673634199978, + 0.9321447112817292, + -0.06692681461572647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9468938708305359, + -0.05428099968441716, + -0.3169314507172427, + -0.12391018122434616 + ], + [ + -0.0036288038827478886, + 0.9837814932727492, + -0.17933447446781378, + 0.0304003544151783 + ], + [ + 0.3215257525444031, + 0.17096079218633434, + 0.9313396690333863, + -0.06894580274820328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9462685585021973, + -0.0504293583767833, + -0.3194255683320084, + -0.12470269203186035 + ], + [ + -0.00822395458817482, + 0.9836937468006848, + -0.17966349362945977, + 0.03136933594942093 + ], + [ + 0.32327723503112793, + 0.1726368532057929, + 0.9304237213746274, + -0.07089942693710327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.945618808269501, + -0.04528968015856083, + -0.3221085982956121, + -0.12557350099086761 + ], + [ + -0.01417819689959288, + 0.9835794108510398, + -0.17991809554296867, + 0.03300539404153824 + ], + [ + 0.3249678313732148, + 0.17470084793678894, + 0.9294490380653868, + -0.0727415606379509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9449120759963989, + -0.041932731166172105, + -0.32462726677498566, + -0.12601514160633087 + ], + [ + -0.017825854942202568, + 0.9836961845486027, + -0.1789527246004865, + 0.03382061421871185 + ], + [ + 0.32683855295181274, + 0.17488134747565098, + 0.9287589092993009, + -0.07331940531730652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9439265727996826, + -0.038814475023401705, + -0.32786597441582765, + -0.12731686234474182 + ], + [ + -0.020930655300617218, + 0.9840324447631482, + -0.1767542517605198, + 0.03414154425263405 + ], + [ + 0.32949140667915344, + 0.17370547545370962, + 0.9280419074257836, + -0.0744858831167221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9429200887680054, + -0.0357908629292767, + -0.33109019960454195, + -0.12871181964874268 + ], + [ + -0.02408462017774582, + 0.9842753318518986, + -0.17499139007235207, + 0.035571370273828506 + ], + [ + 0.3321470320224762, + 0.1729770798547247, + 0.927230982229019, + -0.0741395503282547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9419385194778445, + -0.033113312516730914, + -0.33414875198357036, + -0.1305299699306488 + ], + [ + -0.026964200660586364, + 0.9844529158603951, + -0.17356675057852847, + 0.03684626892209053 + ], + [ + 0.33470106124877935, + 0.1724992524222987, + 0.9264012005336345, + -0.0754040777683258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9409804940223694, + -0.030685698838422718, + -0.3370668484662476, + -0.13202621042728424 + ], + [ + -0.02966058999300003, + 0.9845741178338034, + -0.17243578015368177, + 0.036791056394577026 + ], + [ + 0.33715859055519104, + 0.1722563112185853, + 0.9255549019502013, + -0.07570022344589233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.9402972459793091, + -0.02793506371091168, + -0.3392060144191115, + -0.1331745833158493 + ], + [ + -0.03299902006983757, + 0.9844480795104621, + -0.17254855056355559, + 0.0367601178586483 + ], + [ + 0.3387508988380432, + 0.17344039029618571, + 0.924751978613782, + -0.07735444605350494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9401021599769592, + -0.026061134328757923, + -0.33989522573640446, + -0.13377439975738525 + ], + [ + -0.0356464646756649, + 0.9840919158977144, + -0.17404736442768873, + 0.03692128509283066 + ], + [ + 0.33902397751808167, + 0.17573835684924527, + 0.9242179130302657, + -0.07854550331830978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.940833330154419, + -0.0233113895671437, + -0.33806680465081, + -0.13394318521022797 + ], + [ + -0.0389767661690712, + 0.9835656829907385, + -0.17629334480437034, + 0.03709018602967262 + ], + [ + 0.336620569229126, + 0.17903941073214294, + 0.924462794049293, + -0.07844052463769913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.942151725292206, + -0.023251286267095987, + -0.33437937147182195, + -0.13362428545951843 + ], + [ + -0.039300903677940376, + 0.9830471432704099, + -0.1790915626620463, + 0.03689119964838028 + ], + [ + 0.3328747749328614, + 0.18187282477369934, + 0.9252657060757963, + -0.07905165106058121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9432317614555359, + -0.023890345947305096, + -0.3312749057351536, + -0.1328732669353485 + ], + [ + -0.03902044892311096, + 0.9825316478274048, + -0.18195868197209025, + 0.03593836724758148 + ], + [ + 0.3298351466655731, + 0.18455571092073889, + 0.9258228820108001, + -0.07900763303041458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9445778131484988, + -0.023967874092458537, + -0.3274115512570422, + -0.132091224193573 + ], + [ + -0.03909285739064217, + 0.9820226914318986, + -0.18467045151555153, + 0.03551400080323219 + ], + [ + 0.32595172524452215, + 0.18723505964679865, + 0.926659856717503, + -0.07820001244544983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9459065198898315, + -0.024574991916270987, + -0.3235073066269824, + -0.13089732825756073 + ], + [ + -0.038197748363018036, + 0.9817566983879376, + -0.18626523564568329, + 0.03511994704604149 + ], + [ + 0.32218295335769653, + 0.18854674614829633, + 0.927711329140988, + -0.07714848965406418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9469004869461062, + -0.025081878829478727, + -0.3205469421936096, + -0.12991675734519958 + ], + [ + -0.03732558339834214, + 0.9816370632106072, + -0.18707062748321907, + 0.03588947653770447 + ], + [ + 0.3193528354167939, + 0.18910187745924878, + 0.9285764498249189, + -0.07663484662771225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.9476555585861208, + -0.025055522666342804, + -0.31830980109045914, + -0.12943686544895172 + ], + [ + -0.037084020674228675, + 0.9815327519681594, + -0.1876652737709147, + 0.03560681641101837 + ], + [ + 0.31713354587554937, + 0.1896462455349598, + 0.9292258044520175, + -0.07493210583925247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9482450485229492, + -0.0241324469271373, + -0.31662122051711045, + -0.12908220291137695 + ], + [ + -0.03810804337263107, + 0.9812529190710465, + -0.18891910112829222, + 0.03617692366242409 + ], + [ + 0.3152446150779724, + 0.1912074205327046, + 0.9295486019129767, + -0.0736924260854721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.9487085938453677, + -0.024749430776169215, + -0.31518168503214256, + -0.12847283482551575 + ], + [ + -0.03762959688901902, + 0.9810047157174193, + -0.19029923784621106, + 0.03603048622608185 + ], + [ + 0.313904494047165, + 0.19239867411103298, + 0.9297562601336448, + -0.07454055547714233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9486668705940247, + -0.025402227276783835, + -0.31525530894132114, + -0.12867353856563568 + ], + [ + -0.03717979043722153, + 0.9809013881800335, + -0.19091928134956967, + 0.0363350547850132 + ], + [ + 0.31408414244651794, + 0.19283991785862908, + 0.9296041728693983, + -0.07371305674314499 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9484272003173828, + -0.025663423945461557, + -0.3159545354597171, + -0.12886856496334076 + ], + [ + -0.037115953862667084, + 0.980871462461068, + -0.1910854132375026, + 0.03671779856085777 + ], + [ + 0.31481465697288513, + 0.19295754489868183, + 0.9293325974120938, + -0.07379645109176636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9476891160011292, + -0.027207894012185756, + -0.3180331069513728, + -0.1294250637292862 + ], + [ + -0.036227427423000336, + 0.9807542030824006, + -0.19185611879679806, + 0.03743763640522957 + ], + [ + 0.3171323239803314, + 0.19334147431455992, + 0.9284644072751987, + -0.0736817717552185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9465990066528323, + -0.026912445572430846, + -0.32128805720290976, + -0.12943342328071594 + ], + [ + -0.03752867132425309, + 0.9805391414100935, + -0.1927034159709193, + 0.037286628037691116 + ], + [ + 0.32022166252136236, + 0.19447037425526856, + 0.9271673774849393, + -0.07610617578029633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9456616044044497, + -0.0277824644368684, + -0.3239633849169266, + -0.13053902983665466 + ], + [ + -0.03759711608290673, + 0.9803169175168233, + -0.19381748228798606, + 0.0377490408718586 + ], + [ + 0.3229714930057526, + 0.1954658388711293, + 0.9260035220447096, + -0.07780091464519501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9445345401763918, + -0.029400322779607812, + -0.32709343229988835, + -0.13125091791152954 + ], + [ + -0.0369703732430935, + 0.9801349070251267, + -0.19485587053927803, + 0.0387905016541481 + ], + [ + 0.32632449269294744, + 0.19614086570440678, + 0.924684336268297, + -0.07769538462162018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.943446695804596, + -0.03016887797123581, + -0.33014874888886697, + -0.1312449872493744 + ], + [ + -0.037202756851911545, + 0.979926453620956, + -0.19585748584442456, + 0.03896122798323631 + ], + [ + 0.3294302821159363, + 0.19706353405174395, + 0.9233859765350989, + -0.07985249161720276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.942510724067688, + -0.029707197004875726, + -0.33285284173075297, + -0.13214659690856934 + ], + [ + -0.03866543993353844, + 0.9796568101928905, + -0.19692019949634837, + 0.03981241583824158 + ], + [ + 0.331931471824646, + 0.19846930095479431, + 0.9221884123647063, + -0.08136390149593353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9418907761573794, + -0.028980597762598787, + -0.3346668727059725, + -0.13316212594509125 + ], + [ + -0.039985395967960365, + 0.9795159150655802, + -0.19735695467989728, + 0.040210530161857605 + ], + [ + 0.33353102207183843, + 0.19927048023152535, + 0.9214382006654182, + -0.0826641321182251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9413175582885742, + -0.028949936307876983, + -0.3362784800279231, + -0.13406483829021454 + ], + [ + -0.040360331535339355, + 0.9795114096216252, + -0.19730278484621216, + 0.04156605526804924 + ], + [ + 0.3351005017757416, + 0.19929689320476476, + 0.9208628875847321, + -0.08181848376989365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.940504252910614, + -0.02741512544895687, + -0.33867412677101744, + -0.13529673218727112 + ], + [ + -0.04190725460648537, + 0.9797703635570639, + -0.1956880529984486, + 0.043276265263557434 + ], + [ + 0.33718767762184143, + 0.19823835233627204, + 0.9203293257353589, + -0.0812995433807373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9392154216766357, + -0.02752565534699015, + -0.3422232183081083, + -0.13662801682949066 + ], + [ + -0.04184092953801155, + 0.9801745474024195, + -0.19366772786773861, + 0.04377543181180954 + ], + [ + 0.34076932072639465, + 0.19621465246588052, + 0.9194433663598603, + -0.08112145960330963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9379907250404358, + -0.026558259738747165, + -0.3456415568240027, + -0.1377517133951187 + ], + [ + -0.04371437057852745, + 0.9800400329348399, + -0.19393451375723153, + 0.04540969058871269 + ], + [ + 0.3438931107521057, + 0.19701828335280103, + 0.9181075044133438, + -0.0820760577917099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9375756382942202, + -0.024646721246496597, + -0.34690700826566956, + -0.13833339512348175 + ], + [ + -0.04648930206894875, + 0.9796517288692382, + -0.1952466799818497, + 0.04540468379855156 + ], + [ + 0.34466022253036505, + 0.19918599543250137, + 0.9173518015066225, + -0.08275008946657181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9375719428062439, + -0.026315654628448502, + -0.34679437437367, + -0.13877825438976288 + ], + [ + -0.045251499861478806, + 0.9794268043690082, + -0.19666061750780534, + 0.04593238979578018 + ], + [ + 0.34483498334884644, + 0.20007644870473137, + 0.9170923048207568, + -0.08222147822380066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9373091459274292, + -0.02848594921562935, + -0.3473328043495839, + -0.13937370479106903 + ], + [ + -0.043412744998931885, + 0.9793466162138594, + -0.1974727951906246, + 0.04617694765329361 + ], + [ + 0.34578442573547363, + 0.20017173329668336, + 0.9167139201889962, + -0.08228185772895813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9369847774505617, + -0.0291110381251873, + -0.3481552838566862, + -0.1388126015663147 + ], + [ + -0.04334904253482819, + 0.9791346891491407, + -0.1985350217076494, + 0.04677540063858032 + ], + [ + 0.34667047858238226, + 0.20111648416740963, + 0.9161723423192072, + -0.08255494385957718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9366363883018494, + -0.029677136333086277, + -0.3490437644748093, + -0.13892419636249542 + ], + [ + -0.04322931170463562, + 0.9789964712439019, + -0.1992413764720623, + 0.04729406535625458 + ], + [ + 0.3476255536079407, + 0.2017056504913242, + 0.9156808261216353, + -0.08239751309156418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.936212956905365, + -0.029348018616876435, + -0.3502056382615224, + -0.13989517092704773 + ], + [ + -0.04373856261372566, + 0.9790286422182233, + -0.1989721197339442, + 0.048128239810466766 + ], + [ + 0.34870076179504395, + 0.20159776314983022, + 0.9152956456019443, + -0.08150085806846619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9357717633247375, + -0.02787669000765691, + -0.3515026600815674, + -0.14031054079532623 + ], + [ + -0.04540993273258209, + 0.979041150462521, + -0.1985355063231059, + 0.04888273775577545 + ], + [ + 0.3496701121330261, + 0.20174563477561894, + 0.9148931828443204, + -0.08172295987606049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9356824159622192, + -0.024928713457339623, + -0.35196166689352115, + -0.14049488306045532 + ], + [ + -0.04849981516599655, + 0.9789462913475174, + -0.1982724315537168, + 0.04936511069536209 + ], + [ + 0.34949424862861633, + 0.20259009465282568, + 0.9147737607430685, + -0.08227592706680298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9359133839607241, + -0.02443728958354159, + -0.3513815487752417, + -0.14078372716903687 + ], + [ + -0.04894400388002397, + 0.9788898462374093, + -0.19844172294245724, + 0.050373274832963943 + ], + [ + 0.3488132059574128, + 0.202922273040734, + 0.914960022508855, + -0.08151537925004959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9361147880554199, + -0.0245507146207169, + -0.35083668031210913, + -0.13999724388122559 + ], + [ + -0.04881434515118599, + 0.9788348737134959, + -0.19874468617740634, + 0.05024877190589905 + ], + [ + 0.34829050302505493, + 0.20317370797334422, + 0.9151033873041037, + -0.08231335133314133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 178, + "c2w": [ + [ + 0.9365555047988894, + -0.02632185422961497, + -0.3495297175782297, + -0.13964292407035828 + ], + [ + -0.047171525657176985, + 0.978640760261474, + -0.20009283115684412, + 0.04999149218201637 + ], + [ + 0.3473308086395264, + 0.20388588358454796, + 0.9153097259889231, + -0.08227436244487762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 179, + "c2w": [ + [ + 0.9367132782936096, + -0.028839040679810635, + -0.3489076970567438, + -0.13969901204109192 + ], + [ + -0.04517810419201851, + 0.9783115271538074, + -0.20215229866761122, + 0.0504322275519371 + ], + [ + 0.34717029333114624, + 0.20512171592700124, + 0.9150944612047122, + -0.08241365104913712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 180, + "c2w": [ + [ + 0.9366358518600464, + -0.02960059087578825, + -0.3490517293422583, + -0.14080816507339478 + ], + [ + -0.04491614177823067, + 0.9780507439653892, + -0.203468254410987, + 0.050189316272735596 + ], + [ + 0.3474130928516388, + 0.20625370414015792, + 0.9147477860790587, + -0.08223825693130493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 181, + "c2w": [ + [ + 0.9361896514892578, + -0.029873264006867205, + -0.3502235720896125, + -0.14173616468906403 + ], + [ + -0.045407120138406754, + 0.9777544574890499, + -0.2047788811148873, + 0.05007442459464073 + ], + [ + 0.34855008125305176, + 0.20761450487506078, + 0.9140071246831438, + -0.08095233142375946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 182, + "c2w": [ + [ + 0.9352812767028811, + -0.026938421896723626, + -0.3528785313810345, + -0.14316527545452118 + ], + [ + -0.04912756383419038, + 0.9775626911584604, + -0.204835599370497, + 0.049786850810050964 + ], + [ + 0.35047885775566107, + 0.20891496262737122, + 0.9129726511294942, + -0.08116193860769272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 183, + "c2w": [ + [ + 0.9342477321624756, + -0.026125293735198528, + -0.35566642732119336, + -0.14389479160308838 + ], + [ + -0.050586968660354614, + 0.9775202993725441, + -0.20468270807219685, + 0.050336360931396484 + ], + [ + 0.35301855206489563, + 0.20921644156154448, + 0.9119245356855017, + -0.08150199800729752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 184, + "c2w": [ + [ + 0.9332128763198853, + -0.02728587829073791, + -0.35828644567663315, + -0.14473262429237366 + ], + [ + -0.05020686984062195, + 0.9774295140998647, + -0.2052093366853842, + 0.05070008337497711 + ], + [ + 0.3557990789413452, + 0.2094924341618486, + 0.9107798561446272, + -0.08320119231939316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 185, + "c2w": [ + [ + 0.9323003888130188, + -0.029362053113956912, + -0.36049119446146033, + -0.1465032547712326 + ], + [ + -0.04899861663579941, + 0.9772574846661071, + -0.20631770093014343, + 0.05028694123029709 + ], + [ + 0.35835063457489014, + 0.2100136346880808, + 0.9096587974513531, + -0.08302737772464752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 186, + "c2w": [ + [ + 0.9313066601753235, + -0.03272286369896184, + -0.36276323430379376, + -0.14649388194084167 + ], + [ + -0.047125622630119324, + 0.9767598727505251, + -0.20909171537393145, + 0.04997016862034798 + ], + [ + 0.36117467284202576, + 0.21182393832056348, + 0.9081208480234795, + -0.08363025635480881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 187, + "c2w": [ + [ + 0.9304318428039551, + -0.035594088418402024, + -0.3647322149977956, + -0.14715468883514404 + ], + [ + -0.04609706625342369, + 0.9759988295392792, + -0.21284099535123055, + 0.04991907626390457 + ], + [ + 0.36355412006378174, + 0.21484713255362375, + 0.9064596433521459, + -0.08471915125846863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 188, + "c2w": [ + [ + 0.9296534061431885, + -0.037880355257374994, + -0.36648277389633754, + -0.14804702997207642 + ], + [ + -0.04530349373817444, + 0.9753993232934386, + -0.21574008084311205, + 0.05017000064253807 + ], + [ + 0.365639328956604, + 0.21716645161747314, + 0.9050671875503319, + -0.0852975845336914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 982.3167317708333, + "fy": 982.6878255208333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/boom_down/transforms.json b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..800ec8f87c92bc74eff6d9371c89994069f91e47 --- /dev/null +++ b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/boom_down/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, + -9.838233381742612e-05, + -4.791899846168235e-05, + 9.177199535770342e-05 + ], + [ + 9.838460391620174e-05, + 1.0, + 4.736682240036316e-05, + -7.394507701974362e-05 + ], + [ + 4.791433457285166e-05, + -4.737153722089715e-05, + 1.0, + 0.00041252130176872015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999916553497314, + -0.002241932787001133, + 0.0034179030917584896, + 0.006125638707141791 + ], + [ + 0.002261039800941944, + 0.9999817609786987, + -0.005596743896603584, + 0.003272718990162488 + ], + [ + -0.0034052934497594833, + 0.005604425445199013, + 0.9999784827232361, + -0.02797320489106434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999696016311646, + -0.004094271920621395, + 0.006635073106735945, + 0.011838586925573292 + ], + [ + 0.004166510887444019, + 0.999931812286377, + -0.010910453274846077, + 0.00963902183409248 + ], + [ + -0.006589950527995825, + 0.0109377671033144, + 0.9999184608459473, + -0.05916748400186263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998933672904968, + -0.008079848252236843, + 0.012164631858468056, + 0.015297380872514275 + ], + [ + 0.00826678704470396, + 0.9998472929000854, + -0.01539639849215746, + 0.012577237330731891 + ], + [ + -0.012038374319672585, + 0.015495319850742817, + 0.9998074769973755, + -0.09241923855484596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999704897403717, + -0.011359781958162785, + 0.021471405401825905, + 0.021035553760353536 + ], + [ + 0.011775110848248005, + 0.9997440576553345, + -0.019316894933581352, + 0.019713725681815827 + ], + [ + -0.021246476098895073, + 0.01956402324140072, + 0.999582827091217, + -0.11580277237272452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993982911109924, + -0.012502751313149929, + 0.032354116439819336, + 0.028839200058774578 + ], + [ + 0.01325767021626234, + 0.9996423721313477, + -0.02322465367615223, + 0.025024539273646142 + ], + [ + -0.0320521742105484, + 0.0236396174877882, + 0.9992066025733948, + -0.1321489758981717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9989550709724426, + -0.012247668579220772, + 0.04403151571750641, + 0.03267460780306941 + ], + [ + 0.01340743713080883, + 0.9995683431625366, + -0.026141393929719925, + 0.03092467153356189 + ], + [ + -0.04369233548641205, + 0.02670442685484886, + 0.9986880421638489, + -0.15457901615826858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.998424768447876, + -0.012767252512276173, + 0.054634883999824524, + 0.03671959822273089 + ], + [ + 0.01434337254613638, + 0.9994893670082092, + -0.02855401113629341, + 0.03753631777233547 + ], + [ + -0.05424242466688156, + 0.029292680323123932, + 0.9980980157852173, + -0.1739704891625378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.997841477394104, + -0.014021948911249638, + 0.06415385007858276, + 0.03854071222955272 + ], + [ + 0.016056180000305176, + 0.9993809461593628, + -0.03130373731255531, + 0.04336283361864468 + ], + [ + -0.06367519497871399, + 0.03226623311638832, + 0.9974489212036133, + -0.19934959328836865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9970006942749023, + -0.015377753414213657, + 0.07584922760725021, + 0.04241375906525978 + ], + [ + 0.018015382811427116, + 0.9992521405220032, + -0.03421388939023018, + 0.04886975575770651 + ], + [ + -0.07526636868715286, + 0.03547772392630577, + 0.996532142162323, + -0.22567704003304243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9955771565437317, + -0.017929838970303535, + 0.09222082048654556, + 0.04853880610908308 + ], + [ + 0.021302005276083946, + 0.9991350173950195, + -0.03571276366710663, + 0.05424590905507405 + ], + [ + -0.09150072187185287, + 0.03751929849386215, + 0.9950979351997375, + -0.2473321533983662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9932959675788879, + -0.01911703497171402, + 0.11400706321001053, + 0.051089136048205315 + ], + [ + 0.02326909825205803, + 0.9991093277931213, + -0.035200417041778564, + 0.05952150696326816 + ], + [ + -0.11323259025812149, + 0.0376172736287117, + 0.9928561449050903, + -0.27447147859585663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99052494764328, + -0.0200913418084383, + 0.13585540652275085, + 0.049770567264585265 + ], + [ + 0.02498818375170231, + 0.9990944862365723, + -0.034435659646987915, + 0.0715992084926083 + ], + [ + -0.1350405216217041, + 0.0375041589140892, + 0.9901300668716431, + -0.3002765758406548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9877152442932129, + -0.0217317845672369, + 0.15474584698677063, + 0.027165026420224753 + ], + [ + 0.026615483686327934, + 0.9992086887359619, + -0.029557714238762856, + 0.07975832585777555 + ], + [ + -0.1539810597896576, + 0.033313240855932236, + 0.9875120520591736, + -0.30543431854023345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848666787147522, + -0.024674711748957634, + 0.17154835164546967, + 0.016440340524746314 + ], + [ + 0.02814839966595173, + 0.9994444251060486, + -0.017845792695879936, + 0.07295378338959482 + ], + [ + -0.17101271450519562, + 0.022404538467526436, + 0.9850140810012817, + -0.3472721869539883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9817764759063721, + -0.025655964389443398, + 0.18829971551895142, + 0.01783631837350272 + ], + [ + 0.028448646888136864, + 0.9995214939117432, + -0.012142995372414589, + 0.07348744216419402 + ], + [ + -0.18789806962013245, + 0.017278578132390976, + 0.9820365309715271, + -0.3694350106109466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9791658520698547, + -0.027267541736364365, + 0.20122313499450684, + 0.01594117289734265 + ], + [ + 0.02937253937125206, + 0.9995405077934265, + -0.0074821109883487225, + 0.06724530059903387 + ], + [ + -0.20092666149139404, + 0.01323666051030159, + 0.979516863822937, + -0.39214792899669165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9768103957176208, + -0.030081553384661674, + 0.21198241412639618, + 0.010261388263472962 + ], + [ + 0.03170735016465187, + 0.9994880557060242, + -0.004273544996976852, + 0.07073695988409102 + ], + [ + -0.21174533665180206, + 0.010895843617618084, + 0.9772641658782959, + -0.420666374258017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9745444059371948, + -0.03212690353393555, + 0.22188082337379456, + 0.017620448023080826 + ], + [ + 0.03283137083053589, + 0.999460756778717, + 0.0005135596729815006, + 0.07513011374643871 + ], + [ + -0.22177767753601074, + 0.006784164812415838, + 0.9750736355781555, + -0.44451531819067897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9717581868171692, + -0.03481781482696533, + 0.23339608311653137, + 0.01818546536304648 + ], + [ + 0.03442387282848358, + 0.999390721321106, + 0.005762395914644003, + 0.07882117472943806 + ], + [ + -0.23345452547073364, + 0.0024347403086721897, + 0.9723646640777588, + -0.47216019246705054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.968708872795105, + -0.03825049847364426, + 0.24523460865020752, + 0.015166555368711077 + ], + [ + 0.036977045238018036, + 0.999268114566803, + 0.009796775877475739, + 0.0791056818432278 + ], + [ + -0.2454298436641693, + -0.0004221727140247822, + 0.969414234161377, + -0.4984103099531716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9659450054168701, + -0.04183477163314819, + 0.2553430497646332, + 0.015330737084150314 + ], + [ + 0.03982748091220856, + 0.9991216063499451, + 0.01302901841700077, + 0.08588463962078094 + ], + [ + -0.25566384196281433, + -0.0024156454019248486, + 0.9667627215385437, + -0.5236496009475862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9631688594818115, + -0.04527626186609268, + 0.26505815982818604, + 0.011864543321823316 + ], + [ + 0.0426354855298996, + 0.998967170715332, + 0.015710992738604546, + 0.09434930772062332 + ], + [ + -0.2654957175254822, + -0.003831456881016493, + 0.964104413986206, + -0.5420598012092154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9605509042739868, + -0.04850868508219719, + 0.2738409638404846, + 0.02377439046958609 + ], + [ + 0.04514709487557411, + 0.9988077878952026, + 0.018568333238363266, + 0.09443605109339669 + ], + [ + -0.27441519498825073, + -0.005472706630825996, + 0.9615957140922546, + -0.572134734428532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9578958749771118, + -0.05179406329989433, + 0.28240546584129333, + 0.033611681454238436 + ], + [ + 0.04798213019967079, + 0.9986398220062256, + 0.020402325317263603, + 0.10171490027790978 + ], + [ + -0.28307804465293884, + -0.005992887541651726, + 0.9590781331062317, + -0.6035034729966096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9550745487213135, + -0.054358188062906265, + 0.29133784770965576, + 0.030789758403977706 + ], + [ + 0.0502486489713192, + 0.9985036849975586, + 0.021575093269348145, + 0.10646871773023453 + ], + [ + -0.29207468032836914, + -0.005966491531580687, + 0.9563769102096558, + -0.6238755663202721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9522327184677124, + -0.056409720331430435, + 0.30011799931526184, + 0.02867292023249089 + ], + [ + 0.05232951417565346, + 0.9983957409858704, + 0.0216226689517498, + 0.11441186855709742 + ], + [ + -0.30085626244544983, + -0.004884785041213036, + 0.9536569714546204, + -0.6440978703251671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9497489929199219, + -0.05798198655247688, + 0.3075954020023346, + 0.042335840660546506 + ], + [ + 0.05400319769978523, + 0.9983105659484863, + 0.021439027041196823, + 0.121406452357769 + ], + [ + -0.3083188235759735, + -0.003750559873878956, + 0.9512757062911987, + -0.6792166453852717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9467777609825134, + -0.058775532990694046, + 0.31647634506225586, + 0.03611088651749823 + ], + [ + 0.05494852736592293, + 0.9982680678367615, + 0.02101166546344757, + 0.12515213704771466 + ], + [ + -0.31716322898864746, + -0.00250347051769495, + 0.9483676552772522, + -0.7006376601134737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9442948698997498, + -0.06002625823020935, + 0.3235799968242645, + 0.04572287644185717 + ], + [ + 0.056110285222530365, + 0.9981946349143982, + 0.02142663672566414, + 0.12953921528089615 + ], + [ + -0.3242819607257843, + -0.0020768968388438225, + 0.9459581971168518, + -0.7471817122498853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9421865940093994, + -0.06084030121564865, + 0.32951921224594116, + 0.03923389368823597 + ], + [ + 0.05699622631072998, + 0.998146653175354, + 0.021323390305042267, + 0.1344497093842143 + ], + [ + -0.3302057981491089, + -0.0013092616572976112, + 0.9439080357551575, + -0.7629033919822957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9405912160873413, + -0.061177417635917664, + 0.33398422598838806, + 0.032849148069582286 + ], + [ + 0.057651638984680176, + 0.9981269240379333, + 0.020468633621931076, + 0.14244555651195465 + ], + [ + -0.33461084961891174, + 2.1168962121009827e-06, + 0.9423564076423645, + -0.7854764536740111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9408734440803528, + -0.06329496204853058, + 0.33279258012771606, + 0.04883029458541719 + ], + [ + 0.05974291265010834, + 0.9979948401451111, + 0.020906493067741394, + 0.1442238778348953 + ], + [ + -0.33344852924346924, + 0.00021163001656532288, + 0.9427682757377625, + -0.8285009757866935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9403935074806213, + -0.06485264748334885, + 0.33384761214256287, + 0.07309417630590144 + ], + [ + 0.06145622581243515, + 0.9978943467140198, + 0.020737171173095703, + 0.14601657809246155 + ], + [ + -0.33448949456214905, + 0.001015910878777504, + 0.9423989653587341, + -0.8633780244250028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9380123615264893, + -0.06486009806394577, + 0.3404790163040161, + 0.06445539784100321 + ], + [ + 0.062333036214113235, + 0.9978863596916199, + 0.01836780458688736, + 0.15510720866067068 + ], + [ + -0.34095072746276855, + 0.00399386091157794, + 0.9400727152824402, + -0.8623021784526784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.935484766960144, + -0.06381519138813019, + 0.34755709767341614, + 0.05491513551937209 + ], + [ + 0.061931487172842026, + 0.9979434013366699, + 0.01653825119137764, + 0.16470258434613547 + ], + [ + -0.3478976786136627, + 0.006053442135453224, + 0.937512993812561, + -0.8804627592261467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9313384294509888, + -0.0634487196803093, + 0.3585847020149231, + 0.015458970091172627 + ], + [ + 0.062046777456998825, + 0.9979540109634399, + 0.015428297221660614, + 0.15632404599870953 + ], + [ + -0.35882991552352905, + 0.007880054414272308, + 0.9333696961402893, + -0.8375661196453231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.929852306842804, + -0.06192407011985779, + 0.36268460750579834, + 0.043689968295040585 + ], + [ + 0.06134369224309921, + 0.9980303645133972, + 0.013128557242453098, + 0.1603404677103436 + ], + [ + -0.36278319358825684, + 0.010040792636573315, + 0.9318194389343262, + -0.9187740242559581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9275209307670593, + -0.060161735862493515, + 0.3688976466655731, + 0.045425967464134805 + ], + [ + 0.06062023714184761, + 0.9981071352958679, + 0.010358748026192188, + 0.1613261717179465 + ], + [ + -0.3688226044178009, + 0.012754705734550953, + 0.929412305355072, + -0.9277920949450206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9265342354774475, + -0.05769183859229088, + 0.37176060676574707, + 0.09184176798555113 + ], + [ + 0.059049341827631, + 0.9982250332832336, + 0.007742076180875301, + 0.16386269330978392 + ], + [ + -0.3715474009513855, + 0.014778916724026203, + 0.9282963871955872, + -1.0180648199127367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9224653244018555, + -0.05553293228149414, + 0.3820652663707733, + 0.05500441287008543 + ], + [ + 0.058368004858493805, + 0.9982864260673523, + 0.004175487440079451, + 0.1769621738838771 + ], + [ + -0.3816424310207367, + 0.018448643386363983, + 0.9241259098052979, + -0.9954892437136362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9189937114715576, + -0.05347760394215584, + 0.39062854647636414, + 0.043580929127832256 + ], + [ + 0.05754448100924492, + 0.9983420968055725, + 0.001295161433517933, + 0.1859022790950442 + ], + [ + -0.3900502026081085, + 0.021288271993398666, + 0.9205474853515625, + -1.0173685666380656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9160626530647278, + -0.052571382373571396, + 0.3975744843482971, + 0.0474296481659015 + ], + [ + 0.05757199600338936, + 0.9983411431312561, + -0.0006423536688089371, + 0.18391676743825278 + ], + [ + -0.39688122272491455, + 0.023477591574192047, + 0.9175696969032288, + -1.0598454701403777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.913345456123352, + -0.051446933299303055, + 0.4039224088191986, + 0.049113087997668316 + ], + [ + 0.057252805680036545, + 0.9983570575714111, + -0.0023003993555903435, + 0.18241584944346595 + ], + [ + -0.40314045548439026, + 0.02522674947977066, + 0.9147903919219971, + -1.103508250634112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9099667072296143, + -0.05065470561385155, + 0.4115758240222931, + 0.028270151477957528 + ], + [ + 0.05769206956028938, + 0.9983234405517578, + -0.004684637300670147, + 0.1923463813842289 + ], + [ + -0.41064849495887756, + 0.028007522225379944, + 0.9113634824752808, + -1.1119143488388212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9072164297103882, + -0.050020668655633926, + 0.41767966747283936, + 0.022065728237586364 + ], + [ + 0.0577256940305233, + 0.9983155131340027, + -0.0058257440105080605, + 0.19377666498933518 + ], + [ + -0.41668468713760376, + 0.02939605712890625, + 0.908575713634491, + -1.1412784031459264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9064701795578003, + -0.04998716711997986, + 0.41930073499679565, + -0.0008751245836416881 + ], + [ + 0.058385156095027924, + 0.9982680678367615, + -0.00721154548227787, + 0.19897103162985 + ], + [ + -0.4182140827178955, + 0.031017987057566643, + 0.9078187942504883, + -1.1544305941622173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9097920656204224, + -0.05076143145561218, + 0.41194865107536316, + -0.00437932720496541 + ], + [ + 0.059169284999370575, + 0.9982184767723083, + -0.0076726749539375305, + 0.19869569719783844 + ], + [ + -0.41082528233528137, + 0.03135524317622185, + 0.9111747741699219, + -1.2053836204082011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9138450026512146, + -0.05140462517738342, + 0.40279635787010193, + -0.04339695902807372 + ], + [ + 0.059789106249809265, + 0.9981768727302551, + -0.008259939029812813, + 0.21012053305194492 + ], + [ + -0.40163740515708923, + 0.03163113445043564, + 0.9152523875236511, + -1.1819734292370931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9209753274917603, + -0.05365537479519844, + 0.38590869307518005, + -0.04532926850434807 + ], + [ + 0.061059240251779556, + 0.9981099963188171, + -0.006944888271391392, + 0.20967468089527555 + ], + [ + -0.38480666279792786, + 0.029959362000226974, + 0.9225108623504639, + -1.2174653467825718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.925698459148407, + -0.05491144210100174, + 0.3742554187774658, + -0.039047053822922326 + ], + [ + 0.061262525618076324, + 0.9981087446212769, + -0.00508485920727253, + 0.20433496908536034 + ], + [ + -0.37326836585998535, + 0.02763487584888935, + 0.9273117184638977, + -1.2760960897726437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9264135360717773, + -0.05562080070376396, + 0.37237659096717834, + -0.025263039794351374 + ], + [ + 0.061973270028829575, + 0.9980647563934326, + -0.005101587623357773, + 0.21218828019641695 + ], + [ + -0.37137219309806824, + 0.02780357003211975, + 0.928067684173584, + -1.3156483896431468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9252727031707764, + -0.05760994926095009, + 0.3749019503593445, + -0.03347625079609099 + ], + [ + 0.06371057033538818, + 0.9979608654975891, + -0.003886832855641842, + 0.2197542285162305 + ], + [ + -0.3739135265350342, + 0.027481596916913986, + 0.9270563125610352, + -1.3270181377847043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.92606121301651, + -0.06108393520116806, + 0.37239688634872437, + -0.06105543312927087 + ], + [ + 0.06626682728528976, + 0.9978013038635254, + -0.0011211447417736053, + 0.2184268774967345 + ], + [ + -0.3715096116065979, + 0.02571580745279789, + 0.9280729293823242, + -1.3536352003481062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9354329705238342, + -0.04911627992987633, + 0.3500753343105316, + -0.07341140577835696 + ], + [ + 0.05287927761673927, + 0.99860018491745, + -0.0011925799772143364, + 0.2258717145238604 + ], + [ + -0.3495267331600189, + 0.01962731033563614, + 0.9367207884788513, + -1.3762000502220222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9408570528030396, + -0.053557172417640686, + 0.334543913602829, + -0.06552520364759461 + ], + [ + 0.05691435933113098, + 0.9983790516853333, + -0.00023292377591133118, + 0.2200639820288098 + ], + [ + -0.3339891731739044, + 0.0192594975233078, + 0.9423801302909851, + -1.4257235242615616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9427377581596375, + -0.06241566687822342, + 0.3276427686214447, + -0.04770567235019472 + ], + [ + 0.06643692404031754, + 0.9977900385856628, + -0.0010830946266651154, + 0.22828584478961098 + ], + [ + -0.32685109972953796, + 0.022788649424910545, + 0.9448010921478271, + -1.4650747508638435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.942598819732666, + -0.06560719013214111, + 0.3274190127849579, + -0.04357728915555137 + ], + [ + 0.07057535648345947, + 0.997501015663147, + -0.003301599994301796, + 0.24645421760422842 + ], + [ + -0.32638415694236755, + 0.026219794526696205, + 0.9448735117912292, + -1.4824699152127974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9421377182006836, + -0.06680790334939957, + 0.3285015821456909, + -0.04893554516491436 + ], + [ + 0.07247097045183182, + 0.9973579049110413, + -0.005011371336877346, + 0.2538940368190644 + ], + [ + -0.3272988796234131, + 0.028528228402137756, + 0.9444901347160339, + -1.4988315159129717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9416967034339905, + -0.06573233753442764, + 0.32997965812683105, + -0.03919315329265027 + ], + [ + 0.07180822640657425, + 0.9973989129066467, + -0.006243442185223103, + 0.2633390059073766 + ], + [ + -0.32871097326278687, + 0.0295746847987175, + 0.9439674019813538, + -1.5326014836806627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.941001296043396, + -0.06520580500364304, + 0.3320613503456116, + -0.031310852173538434 + ], + [ + 0.0714835450053215, + 0.9974191784858704, + -0.006711370311677456, + 0.26815512421585264 + ], + [ + -0.3307667374610901, + 0.03005232661962509, + 0.9432339072227478, + -1.570710107329346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400871396064758, + -0.06533044576644897, + 0.33461642265319824, + -0.0236543952650021 + ], + [ + 0.07220950722694397, + 0.9973562359809875, + -0.008145156316459179, + 0.2735725613340499 + ], + [ + -0.3331996202468872, + 0.03181964159011841, + 0.9423192143440247, + -1.5966331436047478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9394663572311401, + -0.06353916972875595, + 0.3366982340812683, + -0.008850711063733176 + ], + [ + 0.07088176161050797, + 0.9974390268325806, + -0.009547378867864609, + 0.2757553219322174 + ], + [ + -0.3352293372154236, + 0.032835204154253006, + 0.9415642023086548, + -1.6327827598663076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9382351040840149, + -0.061381515115499496, + 0.34051021933555603, + -0.02409688662737608 + ], + [ + 0.06896502524614334, + 0.9975669384002686, + -0.010200089775025845, + 0.2821857511997223 + ], + [ + -0.3390556275844574, + 0.03305337578058243, + 0.9401854872703552, + -1.6590105783194304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9374127388000488, + -0.0614573210477829, + 0.3427541255950928, + -0.02426395496087415 + ], + [ + 0.06917043030261993, + 0.9975515604019165, + -0.010311754420399666, + 0.2804039448026627 + ], + [ + -0.3412811756134033, + 0.03337481617927551, + 0.9393685460090637, + -1.695473955926441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9370938539505005, + -0.0627216324210167, + 0.3433963656425476, + -0.013169141249760749 + ], + [ + 0.07151175290346146, + 0.9973552823066711, + -0.012980547733604908, + 0.2900484693901879 + ], + [ + -0.3416740298271179, + 0.036720868200063705, + 0.9391008615493774, + -1.7169105057708092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9359426498413086, + -0.06103440374135971, + 0.3468228876590729, + -0.02189451434782573 + ], + [ + 0.07068385928869247, + 0.9973825216293335, + -0.015227923169732094, + 0.2995169487737474 + ], + [ + -0.34498563408851624, + 0.038767240941524506, + 0.937807023525238, + -1.7256378587867534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9349378943443298, + -0.06056318059563637, + 0.34960445761680603, + -0.01821538896137287 + ], + [ + 0.06995159387588501, + 0.997448205947876, + -0.014278296381235123, + 0.2958870406188662 + ], + [ + -0.3478476107120514, + 0.03780470788478851, + 0.9367885589599609, + -1.7827200648685297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9348143935203552, + -0.061501018702983856, + 0.3497709333896637, + -0.009503084492115748 + ], + [ + 0.07092873007059097, + 0.9973803758621216, + -0.014195832423865795, + 0.2938900082830399 + ], + [ + -0.34798160195350647, + 0.03807927295565605, + 0.9367277026176453, + -1.8050013551281558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9342742562294006, + -0.06225062534213066, + 0.3510790765285492, + -0.013124225616809867 + ], + [ + 0.07277660816907883, + 0.9972058534622192, + -0.016852673143148422, + 0.3067588613146827 + ], + [ + -0.34904900193214417, + 0.041295357048511505, + 0.9361941814422607, + -1.8166090128145047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9337188005447388, + -0.06021620333194733, + 0.35290685296058655, + 0.0003885883424017164 + ], + [ + 0.07049886882305145, + 0.9973779320716858, + -0.01634370908141136, + 0.31150007910198635 + ], + [ + -0.35099735856056213, + 0.04013996198773384, + 0.9355157017707825, + -1.863237788900733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9323063492774963, + -0.05917394906282425, + 0.35679593682289124, + -0.011872874738441574 + ], + [ + 0.06932971626520157, + 0.9974697828292847, + -0.015729743987321854, + 0.31741763845322624 + ], + [ + -0.35496237874031067, + 0.039401497691869736, + 0.9340499043464661, + -1.8796596826039373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.931443989276886, + -0.05932425707578659, + 0.3590163290500641, + -0.011928125470876693 + ], + [ + 0.06973522156476974, + 0.9974355101585388, + -0.016106050461530685, + 0.3241837910243443 + ], + [ + -0.3571401536464691, + 0.040037963539361954, + 0.9331923127174377, + -1.9041636992778097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9305073618888855, + -0.06047224998474121, + 0.36124664545059204, + -0.010272403463484748 + ], + [ + 0.07151481509208679, + 0.9972901344299316, + -0.017264343798160553, + 0.32850279107926383 + ], + [ + -0.35922372341156006, + 0.04189908504486084, + 0.9323104619979858, + -1.9306843001691123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9290190935134888, + -0.06319940090179443, + 0.36459484696388245, + -0.007039445615003978 + ], + [ + 0.07507100701332092, + 0.9970071911811829, + -0.018464714288711548, + 0.33081869237006656 + ], + [ + -0.3623367249965668, + 0.04452457278966904, + 0.9309831857681274, + -1.9634038607397724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9274462461471558, + -0.06522997468709946, + 0.3682234585285187, + -0.00755190538863341 + ], + [ + 0.07810129970312119, + 0.9967418909072876, + -0.020143501460552216, + 0.3383763801483881 + ], + [ + -0.3657098114490509, + 0.04744074493646622, + 0.9295190572738647, + -1.995109772309661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9257420897483826, + -0.06675709038972855, + 0.37221649289131165, + -0.01308579399945244 + ], + [ + 0.08076367527246475, + 0.9964872002601624, + -0.022147737443447113, + 0.3454257101293594 + ], + [ + -0.36943045258522034, + 0.050564661622047424, + 0.92788165807724, + -2.0110849519097616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9244701862335205, + -0.06788799166679382, + 0.3751614987850189, + -0.00762503229909473 + ], + [ + 0.08289383351802826, + 0.996269702911377, + -0.02398465946316719, + 0.3535690446694692 + ], + [ + -0.3721337616443634, + 0.05327167734503746, + 0.9266490936279297, + -2.058383579117556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9235008955001831, + -0.07112137973308563, + 0.376945436000824, + 0.0044230641353698 + ], + [ + 0.08691717684268951, + 0.9959008097648621, + -0.025038782507181168, + 0.3637294581958226 + ], + [ + -0.3736194968223572, + 0.055886369198560715, + 0.9258970022201538, + -2.1029551625429166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9223323464393616, + -0.0708150863647461, + 0.37985295057296753, + -0.0012918102835852005 + ], + [ + 0.08768205344676971, + 0.9957753419876099, + -0.027263395488262177, + 0.3642291351916298 + ], + [ + -0.37631756067276, + 0.058452196419239044, + 0.9246450662612915, + -2.1350079687400942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9218298196792603, + -0.0679236575961113, + 0.38159680366516113, + -0.0024788539324487957 + ], + [ + 0.0863780602812767, + 0.9957668781280518, + -0.03141992911696434, + 0.37077524406569345 + ], + [ + -0.3778473138809204, + 0.06192541494965553, + 0.923794686794281, + -2.1865985277626248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9254414439201355, + -0.06346864998340607, + 0.3735370337963104, + -0.04235075744135039 + ], + [ + 0.08223865926265717, + 0.9960149526596069, + -0.03451152518391609, + 0.36634414196014403 + ], + [ + -0.369858056306839, + 0.06265757977962494, + 0.9269730448722839, + -2.18683490678668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9371210336685181, + -0.06100258231163025, + 0.34363195300102234, + -0.08808380091001117 + ], + [ + 0.07836025953292847, + 0.9962441921234131, + -0.036840520799160004, + 0.3652124276236882 + ], + [ + -0.3400939404964447, + 0.06145111471414566, + 0.9383814930915833, + -2.18845633063761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.949031412601471, + -0.06003505736589432, + 0.30941107869148254, + -0.06772353906361829 + ], + [ + 0.07576001435518265, + 0.9963611960411072, + -0.039048485457897186, + 0.39052518213552145 + ], + [ + -0.3059408962726593, + 0.06049922853708267, + 0.9501262903213501, + -2.247382302327998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9526041150093079, + -0.05983032286167145, + 0.29827117919921875, + -0.07440017660458882 + ], + [ + 0.07483595609664917, + 0.9964277148246765, + -0.03913368657231331, + 0.39586299856503804 + ], + [ + -0.294864296913147, + 0.05960031971335411, + 0.9536786079406738, + -2.3001188141604265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9542319178581238, + -0.06183915585279465, + 0.29260438680648804, + -0.035730541728082155 + ], + [ + 0.07550535351037979, + 0.9965085387229919, + -0.03563300147652626, + 0.3849635240104463 + ], + [ + -0.2893792390823364, + 0.056095343083143234, + 0.9555694460868835, + -2.312680452899446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9551575183868408, + -0.060409583151340485, + 0.28987038135528564, + -0.033137816563248636 + ], + [ + 0.07233431190252304, + 0.9969111680984497, + -0.03059186041355133, + 0.3823574788040585 + ], + [ + -0.28712695837020874, + 0.0501876175403595, + 0.9565768837928772, + -2.3535061823470254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9556084275245667, + -0.05920679494738579, + 0.2886296510696411, + -0.042965284832531495 + ], + [ + 0.06949914991855621, + 0.9972552061080933, + -0.025533385574817657, + 0.38169852949324107 + ], + [ + -0.28632569313049316, + 0.04445943236351013, + 0.9571002721786499, + -2.403931200575261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9573544263839722, + -0.060839325189590454, + 0.2824377417564392, + -0.04079907741101961 + ], + [ + 0.06980516016483307, + 0.9973227977752686, + -0.021781189367175102, + 0.3819849836447882 + ], + [ + -0.2803564667701721, + 0.040567927062511444, + 0.9590383172035217, + -2.442513993571675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9594680666923523, + -0.05843625217676163, + 0.27569228410720825, + -0.025752106439026576 + ], + [ + 0.06662849336862564, + 0.9975685477256775, + -0.020434901118278503, + 0.39023851813778043 + ], + [ + -0.27382779121398926, + 0.03797559067606926, + 0.9610286951065063, + -2.469946667448514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9609877467155457, + -0.056226253509521484, + 0.27081575989723206, + -0.002093065530061722 + ], + [ + 0.06412791460752487, + 0.997732937335968, + -0.02041001431643963, + 0.3995028904506138 + ], + [ + -0.26905420422554016, + 0.03698062151670456, + 0.9624148011207581, + -2.4855305813252926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9624417424201965, + -0.04681570082902908, + 0.2674214243888855, + 0.012725421289602915 + ], + [ + 0.05417246371507645, + 0.998327374458313, + -0.020194513723254204, + 0.40929497016800775 + ], + [ + -0.2660287022590637, + 0.033922918140888214, + 0.9633680582046509, + -2.511711359810498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9636372923851013, + -0.033648256212472916, + 0.26508674025535583, + 0.025885531767493204 + ], + [ + 0.040293436497449875, + 0.9989942908287048, + -0.01966843381524086, + 0.4168145403975532 + ], + [ + -0.26415833830833435, + 0.029634490609169006, + 0.9640239477157593, + -2.5391942058763806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9640087485313416, + -0.027478035539388657, + 0.26444679498672485, + 0.03731830463345562 + ], + [ + 0.03386874869465828, + 0.9992333650588989, + -0.019636468961834908, + 0.42368769560541425 + ], + [ + -0.26370447874069214, + 0.02788621000945568, + 0.9642003178596497, + -2.5693633553483304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9635701775550842, + -0.029953619465231895, + 0.26577305793762207, + 0.04366634304502181 + ], + [ + 0.03640526533126831, + 0.9991491436958313, + -0.019380800426006317, + 0.4299558469227382 + ], + [ + -0.2649664282798767, + 0.02835030108690262, + 0.9638407826423645, + -2.6059689409321263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9629307389259338, + -0.032618649303913116, + 0.2677692770957947, + 0.055798103086768636 + ], + [ + 0.03899028152227402, + 0.9990681409835815, + -0.018511049449443817, + 0.43561301061085295 + ], + [ + -0.2669159173965454, + 0.02826525643467903, + 0.9633052349090576, + -2.634761923377121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9619884490966797, + -0.034979451447725296, + 0.27084067463874817, + 0.06263095282372974 + ], + [ + 0.04112568125128746, + 0.9990085363388062, + -0.017049362882971764, + 0.43860085152444384 + ], + [ + -0.2699757516384125, + 0.027539798989892006, + 0.9624732136726379, + -2.6697676696947643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9614325761795044, + -0.037853289395570755, + 0.27242353558540344, + 0.0756189360593756 + ], + [ + 0.044110361486673355, + 0.9988840818405151, + -0.01687844842672348, + 0.442693801531716 + ], + [ + -0.27148064970970154, + 0.02824418991804123, + 0.9620293974876404, + -2.6920905344602133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9615046381950378, + -0.034319907426834106, + 0.27263715863227844, + 0.08889438294702107 + ], + [ + 0.04053870588541031, + 0.9990297555923462, + -0.01720801368355751, + 0.4438904232449002 + ], + [ + -0.2717820703983307, + 0.02759794145822525, + 0.9619629979133606, + -2.719026779880126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.961287796497345, + -0.026705622673034668, + 0.27424919605255127, + 0.09684180532182966 + ], + [ + 0.03225232660770416, + 0.9993559122085571, + -0.01573512889444828, + 0.447405891759055 + ], + [ + -0.2736523151397705, + 0.023971160873770714, + 0.9615299105644226, + -2.7533078777869897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.961094081401825, + -0.02373455837368965, + 0.27519962191581726, + 0.10555960776077376 + ], + [ + 0.02877836674451828, + 0.9994834661483765, + -0.014303874224424362, + 0.44409089097900994 + ], + [ + -0.27471795678138733, + 0.02166716381907463, + 0.9612807035446167, + -2.7810402886853334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9614242911338806, + -0.018258247524499893, + 0.27446305751800537, + 0.11523006542748403 + ], + [ + 0.023049838840961456, + 0.9996328353881836, + -0.014242833480238914, + 0.44785169079190207 + ], + [ + -0.27410227060317993, + 0.020019734278321266, + 0.9614921808242798, + -2.807824173804727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9613152146339417, + -0.009037544019520283, + 0.27530229091644287, + 0.11989090497206364 + ], + [ + 0.012941903434693813, + 0.999839723110199, + -0.012368777766823769, + 0.4477373600006104 + ], + [ + -0.27514636516571045, + 0.01545323058962822, + 0.9612781405448914, + -2.844316489018855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9605717062950134, + -0.00632533710449934, + 0.27796050906181335, + 0.12473885623575558 + ], + [ + 0.009694869630038738, + 0.9998952150344849, + -0.010749523527920246, + 0.45261494053734674 + ], + [ + -0.27786341309547424, + 0.013020479120314121, + 0.9605323672294617, + -2.871622967283197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.959878146648407, + -0.007949160411953926, + 0.28030475974082947, + 0.13048595865331 + ], + [ + 0.01123676635324955, + 0.999885618686676, + -0.010123535990715027, + 0.4588952773147159 + ], + [ + -0.28019222617149353, + 0.012867080047726631, + 0.959857702255249, + -2.893251290716349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9590999484062195, + -0.015886932611465454, + 0.28262144327163696, + 0.1309308980902036 + ], + [ + 0.019482698291540146, + 0.9997609853744507, + -0.009916863404214382, + 0.4646296898523966 + ], + [ + -0.2823963761329651, + 0.015017491765320301, + 0.9591802358627319, + -2.9264621749365083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9581760168075562, + -0.016893241554498672, + 0.2856804132461548, + 0.13724163762988553 + ], + [ + 0.02070866897702217, + 0.9997320771217346, + -0.010339649394154549, + 0.4691841264565786 + ], + [ + -0.2854291796684265, + 0.01582326553761959, + 0.9582691788673401, + -2.9539953935507035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9570173621177673, + -0.0185684971511364, + 0.28943559527397156, + 0.14486201828611747 + ], + [ + 0.022635184228420258, + 0.9996864199638367, + -0.010709090158343315, + 0.4757660071528147 + ], + [ + -0.28914597630500793, + 0.01680021360516548, + 0.9571375846862793, + -2.9819090486075432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9557433128356934, + -0.01905619539320469, + 0.29358407855033875, + 0.1463289137929678 + ], + [ + 0.023282485082745552, + 0.9996694326400757, + -0.010907205753028393, + 0.47935955013547626 + ], + [ + -0.2932792007923126, + 0.017259854823350906, + 0.955871045589447, + -3.0100328633827824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9544944763183594, + -0.020030740648508072, + 0.29755517840385437, + 0.1536307863861559 + ], + [ + 0.024548087269067764, + 0.9996330738067627, + -0.011452073231339455, + 0.4882506307155367 + ], + [ + -0.29721662402153015, + 0.018235351890325546, + 0.9546359181404114, + -3.0425766645117647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9528345465660095, + -0.020064590498805046, + 0.30282631516456604, + 0.15843785369384383 + ], + [ + 0.024819081649184227, + 0.9996216297149658, + -0.01185987051576376, + 0.4961619911685823 + ], + [ + -0.3024737536907196, + 0.01881636492908001, + 0.9529719352722168, + -3.0680012757786446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9512482285499573, + -0.021730531007051468, + 0.3076598048210144, + 0.163953613090728 + ], + [ + 0.02669128030538559, + 0.9995725750923157, + -0.011924821883440018, + 0.5029110674347197 + ], + [ + -0.3072691559791565, + 0.01955530047416687, + 0.9514216780662537, + -3.097562635299705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9498369693756104, + -0.023642640560865402, + 0.31185051798820496, + 0.16580012672477298 + ], + [ + 0.028688952326774597, + 0.999521017074585, + -0.011603347025811672, + 0.5101771222220527 + ], + [ + -0.3114268481731415, + 0.019967950880527496, + 0.9500603079795837, + -3.125230409701665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9485756158828735, + -0.03154425695538521, + 0.3149751126766205, + 0.17220883218955899 + ], + [ + 0.03671595826745033, + 0.9992706179618835, + -0.01049802079796791, + 0.5142256554630068 + ], + [ + -0.31441423296928406, + 0.021522779017686844, + 0.9490419030189514, + -3.1594841673585865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9471825957298279, + -0.03916244953870773, + 0.31829458475112915, + 0.17538713255808466 + ], + [ + 0.04455256462097168, + 0.9989602565765381, + -0.00966930203139782, + 0.5133539333229973 + ], + [ + -0.3175849914550781, + 0.02333943359553814, + 0.9479425549507141, + -3.189149866882889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9464491605758667, + -0.037353575229644775, + 0.3206847608089447, + 0.17870482471254137 + ], + [ + 0.04248126596212387, + 0.9990566968917847, + -0.009005779400467873, + 0.5190614703155699 + ], + [ + -0.3200458586215973, + 0.02214660681784153, + 0.9471431970596313, + -3.2229087306999618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9459692239761353, + -0.03929330036044121, + 0.32186681032180786, + 0.18219493524659247 + ], + [ + 0.0435807965695858, + 0.999031126499176, + -0.0061232247389853, + 0.5201335310935974 + ], + [ + -0.32131439447402954, + 0.01981959491968155, + 0.9467651844024658, + -3.2606312791269922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9453795552253723, + -0.042825013399124146, + 0.3231463134288788, + 0.18876371277230125 + ], + [ + 0.046565450727939606, + 0.9989078044891357, + -0.0038489713333547115, + 0.5210849242550986 + ], + [ + -0.32262852787971497, + 0.018686188384890556, + 0.9463412165641785, + -3.2886186289601027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9456824660301208, + -0.043216463178396225, + 0.3222065269947052, + 0.2022026366362023 + ], + [ + 0.046214643865823746, + 0.9989301562309265, + -0.0016577821224927902, + 0.5239057633611891 + ], + [ + -0.3217901885509491, + 0.01645839400589466, + 0.9466679692268372, + -3.3206885205522654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9456599950790405, + -0.04351062700152397, + 0.32223281264305115, + 0.21107746753841639 + ], + [ + 0.045356836169958115, + 0.9989692568778992, + 0.0017801900394260883, + 0.5310811171929042 + ], + [ + -0.3219781219959259, + 0.012932004407048225, + 0.9466587901115417, + -3.3580527929692634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9454672336578369, + -0.043852828443050385, + 0.32275164127349854, + 0.21163674479439146 + ], + [ + 0.04473123699426651, + 0.9989880323410034, + 0.00469875056296587, + 0.5311205770288194 + ], + [ + -0.3226310610771179, + 0.009994563646614552, + 0.9464720487594604, + -3.391735934341947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.948436439037323, + -0.0460655577480793, + 0.31360211968421936, + 0.2152444238079682 + ], + [ + 0.046526554971933365, + 0.9988989233970642, + 0.006018324755132198, + 0.535487493967253 + ], + [ + -0.31353405117988586, + 0.008882827125489712, + 0.9495354294776917, + -3.426518945361207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9511978626251221, + -0.047523919492959976, + 0.3049001395702362, + 0.23255439194303656 + ], + [ + 0.04775164648890495, + 0.9988366961479187, + 0.006714877672493458, + 0.5393895718786451 + ], + [ + -0.3048645555973053, + 0.00817230436950922, + 0.9523606300354004, + -3.459576631400971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9526217579841614, + -0.04775090515613556, + 0.3003857731819153, + 0.24477048044403393 + ], + [ + 0.04785420000553131, + 0.9988296627998352, + 0.007017871830612421, + 0.5455505906116395 + ], + [ + -0.3003693222999573, + 0.007689341437071562, + 0.9537919759750366, + -3.493703996080772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9539773464202881, + -0.04774659126996994, + 0.2960532009601593, + 0.25370666552630683 + ], + [ + 0.04776716232299805, + 0.9988327622413635, + 0.007167873904109001, + 0.5524918665015508 + ], + [ + -0.2960498631000519, + 0.007303630001842976, + 0.9551445841789246, + -3.5200608397434863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9572524428367615, + -0.0505884625017643, + 0.2847955822944641, + 0.2602319861540482 + ], + [ + 0.0504840649664402, + 0.9986950755119324, + 0.007712373975664377, + 0.5611397281052575 + ], + [ + -0.28481411933898926, + 0.0069949510507285595, + 0.9585572481155396, + -3.550525996628927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9606821537017822, + -0.05435311794281006, + 0.27227848768234253, + 0.27853948473930357 + ], + [ + 0.05416678637266159, + 0.9984982013702393, + 0.00820639356970787, + 0.5697489082813263 + ], + [ + -0.2723156213760376, + 0.006864713504910469, + 0.9621834754943848, + -3.57648819219321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/boom_up/transforms.json b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..a42be5225058f7f99a3ed0822056b59d0096399d --- /dev/null +++ b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/boom_up/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, + -9.838233381742612e-05, + -4.791899846168235e-05, + 9.177199535770342e-05 + ], + [ + 9.838460391620174e-05, + 1.0, + 4.736682240036316e-05, + -7.394507701974362e-05 + ], + [ + 4.791433457285166e-05, + -4.737153722089715e-05, + 1.0, + 0.00041252130176872015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999916553497314, + -0.002241932787001133, + 0.0034179030917584896, + 0.006129197330613221 + ], + [ + 0.002261039800941944, + 0.9999817609786987, + -0.005596743896603584, + 0.001685446353688363 + ], + [ + -0.0034052934497594833, + 0.005604425445199013, + 0.9999784827232361, + -0.027982100804469414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999696016311646, + -0.004094271920621395, + 0.006635073106735945, + 0.011851584614210186 + ], + [ + 0.004166510887444019, + 0.999931812286377, + -0.010910453274846077, + 0.006464635128421443 + ], + [ + -0.006589950527995825, + 0.0109377671033144, + 0.9999184608459473, + -0.05920220707203187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998933672904968, + -0.008079848252236843, + 0.012164631858468056, + 0.015335856340382072 + ], + [ + 0.00826678704470396, + 0.9998472929000854, + -0.01539639849215746, + 0.00781605974549339 + ], + [ + -0.012038374319672585, + 0.015495319850742817, + 0.9998074769973755, + -0.09249302579223045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999704897403717, + -0.011359781958162785, + 0.021471405401825905, + 0.0211076793600879 + ], + [ + 0.011775110848248005, + 0.9997440576553345, + -0.019316894933581352, + 0.01336614436336926 + ], + [ + -0.021246476098895073, + 0.01956402324140072, + 0.999582827091217, + -0.11592698839330484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993982911109924, + -0.012502751313149929, + 0.032354116439819336, + 0.02893842824379958 + ], + [ + 0.01325767021626234, + 0.9996423721313477, + -0.02322465367615223, + 0.017090869653556082 + ], + [ + -0.0320521742105484, + 0.0236396174877882, + 0.9992066025733948, + -0.13233659190997954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9989550709724426, + -0.012247668579220772, + 0.04403151571750641, + 0.032791252265728654 + ], + [ + 0.01340743713080883, + 0.9995683431625366, + -0.026141393929719925, + 0.021404973027252014 + ], + [ + -0.04369233548641205, + 0.02670442685484886, + 0.9986880421638489, + -0.15483334403307664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.998424768447876, + -0.012767252512276173, + 0.054634883999824524, + 0.0368614565839784 + ], + [ + 0.01434337254613638, + 0.9994893670082092, + -0.02855401113629341, + 0.02643088036113315 + ], + [ + -0.05424242466688156, + 0.029292680323123932, + 0.9980980157852173, + -0.17429596338835027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.997841477394104, + -0.014021948911249638, + 0.06415385007858276, + 0.03871876872366383 + ], + [ + 0.016056180000305176, + 0.9993809461593628, + -0.03130373731255531, + 0.030672281921382934 + ], + [ + -0.06367519497871399, + 0.03226623311638832, + 0.9974489212036133, + -0.19975932323270373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9970006942749023, + -0.015377753414213657, + 0.07584922760725021, + 0.042633441256891405 + ], + [ + 0.018015382811427116, + 0.9992521405220032, + -0.03421388939023018, + 0.03459472517882074 + ], + [ + -0.07526636868715286, + 0.03547772392630577, + 0.996532142162323, + -0.2261838646605611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9955771565437317, + -0.017929838970303535, + 0.09222082048654556, + 0.04882340672765932 + ], + [ + 0.021302005276083946, + 0.9991350173950195, + -0.03571276366710663, + 0.038386623064676925 + ], + [ + -0.09150072187185287, + 0.03751929849386215, + 0.9950979351997375, + -0.2479276978189037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9932959675788879, + -0.01911703497171402, + 0.11400706321001053, + 0.05142292554771143 + ], + [ + 0.02326909825205803, + 0.9991093277931213, + -0.035200417041778564, + 0.04207674092243588 + ], + [ + -0.11323259025812149, + 0.0376172736287117, + 0.9928561449050903, + -0.2751282881354056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99052494764328, + -0.0200913418084383, + 0.13585540652275085, + 0.050153259489507905 + ], + [ + 0.02498818375170231, + 0.9990944862365723, + -0.034435659646987915, + 0.052568837326197396 + ], + [ + -0.1350405216217041, + 0.0375041589140892, + 0.9901300668716431, + -0.3009909407723518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9877152442932129, + -0.0217317845672369, + 0.15474584698677063, + 0.02761346007002488 + ], + [ + 0.026615483686327934, + 0.9992086887359619, + -0.029557714238762856, + 0.059139733867985864 + ], + [ + -0.1539810597896576, + 0.033313240855932236, + 0.9875120520591736, + -0.30612173462138764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848666787147522, + -0.024674711748957634, + 0.17154835164546967, + 0.016988667452500925 + ], + [ + 0.02814839966595173, + 0.9994444251060486, + -0.017845792695879936, + 0.05074390727612707 + ], + [ + -0.17101271450519562, + 0.022404538467526436, + 0.9850140810012817, + -0.34777006558660006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9817764759063721, + -0.025655964389443398, + 0.18829971551895142, + 0.01844717466848947 + ], + [ + 0.028448646888136864, + 0.9995214939117432, + -0.012142995372414589, + 0.04968931135677156 + ], + [ + -0.18789806962013245, + 0.017278578132390976, + 0.9820365309715271, + -0.3698464053283845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9791658520698547, + -0.027267541736364365, + 0.20122313499450684, + 0.016633681893821747 + ], + [ + 0.02937253937125206, + 0.9995405077934265, + -0.0074821109883487225, + 0.04186014484555002 + ], + [ + -0.20092666149139404, + 0.01323666051030159, + 0.979516863822937, + -0.3924840981525088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9768103957176208, + -0.030081553384661674, + 0.21198241412639618, + 0.011073112719884468 + ], + [ + 0.03170735016465187, + 0.9994880557060242, + -0.004273544996976852, + 0.043766647269801486 + ], + [ + -0.21174533665180206, + 0.010895843617618084, + 0.9772641658782959, + -0.42096038908579403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9745444059371948, + -0.03212690353393555, + 0.22188082337379456, + 0.01853835955262184 + ], + [ + 0.03283137083053589, + 0.999460756778717, + 0.0005135596729815006, + 0.04657409212418965 + ], + [ + -0.22177767753601074, + 0.006784164812415838, + 0.9750736355781555, + -0.4447091514710337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9717581868171692, + -0.03481781482696533, + 0.23339608311653137, + 0.01923552644512956 + ], + [ + 0.03442387282848358, + 0.999390721321106, + 0.005762395914644003, + 0.048680819641976125 + ], + [ + -0.23345452547073364, + 0.0024347403086721897, + 0.9723646640777588, + -0.47223362114302636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.968708872795105, + -0.03825049847364426, + 0.24523460865020752, + 0.016380856907556928 + ], + [ + 0.036977045238018036, + 0.999268114566803, + 0.009796775877475739, + 0.047382884555392794 + ], + [ + -0.2454298436641693, + -0.0004221727140247822, + 0.969414234161377, + -0.49839690764478983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9659450054168701, + -0.04183477163314819, + 0.2553430497646332, + 0.01672522947192192 + ], + [ + 0.03982748091220856, + 0.9991216063499451, + 0.01302901841700077, + 0.052580586075782774 + ], + [ + -0.25566384196281433, + -0.0024156454019248486, + 0.9667627215385437, + -0.5235690794341887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9631688594818115, + -0.04527626186609268, + 0.26505815982818604, + 0.013445619133020205 + ], + [ + 0.0426354855298996, + 0.998967170715332, + 0.015710992738604546, + 0.05946473985437363 + ], + [ + -0.2654957175254822, + -0.003831456881016493, + 0.964104413986206, + -0.5419260043022592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9605509042739868, + -0.04850868508219719, + 0.2738409638404846, + 0.025545342464650435 + ], + [ + 0.04514709487557411, + 0.9988077878952026, + 0.018568333238363266, + 0.057971639789286114 + ], + [ + -0.27441519498825073, + -0.005472706630825996, + 0.9615957140922546, + -0.5719349372023274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9578958749771118, + -0.05179406329989433, + 0.28240546584129333, + 0.03558478862756775 + ], + [ + 0.04798213019967079, + 0.9986398220062256, + 0.020402325317263603, + 0.06367147848719643 + ], + [ + -0.28307804465293884, + -0.005992887541651726, + 0.9590781331062317, + -0.6032751725188323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9550745487213135, + -0.054358188062906265, + 0.29133784770965576, + 0.032946829358854936 + ], + [ + 0.0502486489713192, + 0.9985036849975586, + 0.021575093269348145, + 0.06684555562715683 + ], + [ + -0.29207468032836914, + -0.005966491531580687, + 0.9563769102096558, + -0.6236388007833046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9522327184677124, + -0.056409720331430435, + 0.30011799931526184, + 0.03100094043664516 + ], + [ + 0.05232951417565346, + 0.9983957409858704, + 0.0216226689517498, + 0.07320823480212499 + ], + [ + -0.30085626244544983, + -0.004884785041213036, + 0.9536569714546204, + -0.6438962760218788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9497489929199219, + -0.05798198655247688, + 0.3075954020023346, + 0.044820782941366946 + ], + [ + 0.05400319769978523, + 0.9983105659484863, + 0.021439027041196823, + 0.0786217138171196 + ], + [ + -0.3083188235759735, + -0.003750559873878956, + 0.9512757062911987, + -0.6790559071049627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9467777609825134, + -0.058775532990694046, + 0.31647634506225586, + 0.03872313242819574 + ], + [ + 0.05494852736592293, + 0.9982680678367615, + 0.02101166546344757, + 0.08078466736608081 + ], + [ + -0.31716322898864746, + -0.00250347051769495, + 0.9483676552772522, + -0.7005263947571317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9442948698997498, + -0.06002625823020935, + 0.3235799968242645, + 0.04848598991594617 + ], + [ + 0.056110285222530365, + 0.9981946349143982, + 0.02142663672566414, + 0.08359057335626512 + ], + [ + -0.3242819607257843, + -0.0020768968388438225, + 0.9459581971168518, + -0.7470861090620654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9421865940093994, + -0.06084030121564865, + 0.32951921224594116, + 0.042131050888981135 + ], + [ + 0.05699622631072998, + 0.998146653175354, + 0.021323390305042267, + 0.08691891637586412 + ], + [ + -0.3302057981491089, + -0.0013092616572976112, + 0.9439080357551575, + -0.762841046189091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9405912160873413, + -0.061177417635917664, + 0.33398422598838806, + 0.03585946544531792 + ], + [ + 0.057651638984680176, + 0.9981269240379333, + 0.020468633621931076, + 0.09333137453548492 + ], + [ + -0.33461084961891174, + 2.1168962121009827e-06, + 0.9423564076423645, + -0.7854765578387453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9408734440803528, + -0.06329496204853058, + 0.33279258012771606, + 0.05204527678470763 + ], + [ + 0.05974291265010834, + 0.9979948401451111, + 0.020906493067741394, + 0.09353207643069919 + ], + [ + -0.33344852924346924, + 0.00021163001656532288, + 0.9427682757377625, + -0.8285117252478524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9403935074806213, + -0.06485264748334885, + 0.33384761214256287, + 0.07649121974550542 + ], + [ + 0.06145622581243515, + 0.9978943467140198, + 0.020737171173095703, + 0.09374592183601288 + ], + [ + -0.33448949456214905, + 0.001015910878777504, + 0.9423989653587341, + -0.8634312388043673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9380123615264893, + -0.06486009806394577, + 0.3404790163040161, + 0.06795578408572409 + ], + [ + 0.062333036214113235, + 0.9978863596916199, + 0.01836780458688736, + 0.10125302416937691 + ], + [ + -0.34095072746276855, + 0.00399386091157794, + 0.9400727152824402, + -0.8625177201526683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.935484766960144, + -0.06381519138813019, + 0.34755709767341614, + 0.05846042392982377 + ], + [ + 0.061931487172842026, + 0.9979434013366699, + 0.01653825119137764, + 0.10926128427187601 + ], + [ + -0.3478976786136627, + 0.006053442135453224, + 0.937512993812561, + -0.8807990615670052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9313384294509888, + -0.0634487196803093, + 0.3585847020149231, + 0.01908461121576173 + ], + [ + 0.062046777456998825, + 0.9979540109634399, + 0.015428297221660614, + 0.0992981025150844 + ], + [ + -0.35882991552352905, + 0.007880054414272308, + 0.9333696961402893, + -0.8380164084689957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.929852306842804, + -0.06192407011985779, + 0.36268460750579834, + 0.04732677876239731 + ], + [ + 0.06134369224309921, + 0.9980303645133972, + 0.013128557242453098, + 0.10172598598495362 + ], + [ + -0.36278319358825684, + 0.010040792636573315, + 0.9318194389343262, + -0.9193637216012807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9275209307670593, + -0.060161735862493515, + 0.3688976466655731, + 0.04905477057965029 + ], + [ + 0.06062023714184761, + 0.9981071352958679, + 0.010358748026192188, + 0.10112288419216398 + ], + [ + -0.3688226044178009, + 0.012754705734550953, + 0.929412305355072, + -0.9285614264020253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9265342354774475, + -0.05769183859229088, + 0.37176060676574707, + 0.09541316751745485 + ], + [ + 0.059049341827631, + 0.9982250332832336, + 0.007742076180875301, + 0.10206781029701233 + ], + [ + -0.3715474009513855, + 0.014778916724026203, + 0.9282963871955872, + -1.0189797052337477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9224653244018555, + -0.05553293228149414, + 0.3820652663707733, + 0.058530313332402516 + ], + [ + 0.058368004858493805, + 0.9982864260673523, + 0.004175487440079451, + 0.11357890873674362 + ], + [ + -0.3816424310207367, + 0.018448643386363983, + 0.9241259098052979, + -0.9966605861508657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9189937114715576, + -0.05347760394215584, + 0.39062854647636414, + 0.047061217638353504 + ], + [ + 0.05754448100924492, + 0.9983420968055725, + 0.001295161433517933, + 0.12093080930293554 + ], + [ + -0.3900502026081085, + 0.021288271993398666, + 0.9205474853515625, + -1.018753993863033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9160626530647278, + -0.052571382373571396, + 0.3975744843482971, + 0.050934406990806265 + ], + [ + 0.05757199600338936, + 0.9983411431312561, + -0.0006423536688089371, + 0.11736069122950235 + ], + [ + -0.39688122272491455, + 0.023477591574192047, + 0.9175696969032288, + -1.0614106429119905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.913345456123352, + -0.051446933299303055, + 0.4039224088191986, + 0.052624545349842976 + ], + [ + 0.057252805680036545, + 0.9983570575714111, + -0.0023003993555903435, + 0.11427401852986169 + ], + [ + -0.40314045548439026, + 0.02522674947977066, + 0.9147903919219971, + -1.1052300763922551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9099667072296143, + -0.05065470561385155, + 0.4115758240222931, + 0.03180794044146462 + ], + [ + 0.05769206956028938, + 0.9983234405517578, + -0.004684637300670147, + 0.12262220458378867 + ], + [ + -0.41064849495887756, + 0.028007522225379944, + 0.9113634824752808, + -1.1138704297561495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9072164297103882, + -0.050020668655633926, + 0.41767966747283936, + 0.025638633141560212 + ], + [ + 0.0577256940305233, + 0.9983155131340027, + -0.0058257440105080605, + 0.12246841405119216 + ], + [ + -0.41668468713760376, + 0.02939605712890625, + 0.908575713634491, + -1.1433781215122767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9064701795578003, + -0.04998716711997986, + 0.41930073499679565, + 0.002774732063213984 + ], + [ + 0.058385156095027924, + 0.9982680678367615, + -0.00721154548227787, + 0.1260816171528801 + ], + [ + -0.4182140827178955, + 0.031017987057566643, + 0.9078187942504883, + -1.1566953995664204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9097920656204224, + -0.05076143145561218, + 0.41194865107536316, + -0.0005923632709752946 + ], + [ + 0.059169284999370575, + 0.9982184767723083, + -0.0076726749539375305, + 0.12422542988307891 + ], + [ + -0.41082528233528137, + 0.03135524317622185, + 0.9111747741699219, + -1.2077228210896016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9138450026512146, + -0.05140462517738342, + 0.40279635787010193, + -0.03948041615741593 + ], + [ + 0.059789106249809265, + 0.9981768727302551, + -0.008259939029812813, + 0.13406896179630642 + ], + [ + -0.40163740515708923, + 0.03163113445043564, + 0.9152523875236511, + -1.184383420433317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9209753274917603, + -0.05365537479519844, + 0.38590869307518005, + -0.04115607268694374 + ], + [ + 0.061059240251779556, + 0.9981099963188171, + -0.006944888271391392, + 0.13204390340381197 + ], + [ + -0.38480666279792786, + 0.029959362000226974, + 0.9225108623504639, + -1.2197955193825893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.925698459148407, + -0.05491144210100174, + 0.3742554187774658, + -0.03468900286252537 + ], + [ + 0.061262525618076324, + 0.9981087446212769, + -0.00508485920727253, + 0.12511998935351296 + ], + [ + -0.37326836585998535, + 0.02763487584888935, + 0.9273117184638977, + -1.2782893338876347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9264135360717773, + -0.05562080070376396, + 0.37237659096717834, + -0.020760403546903814 + ], + [ + 0.061973270028829575, + 0.9980647563934326, + -0.005101587623357773, + 0.1313925618217105 + ], + [ + -0.37137219309806824, + 0.02780357003211975, + 0.928067684173584, + -1.3178991548362233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9252727031707764, + -0.05760994926095009, + 0.3749019503593445, + -0.02872114387296495 + ], + [ + 0.06371057033538818, + 0.9979608654975891, + -0.003886832855641842, + 0.13738285549103268 + ], + [ + -0.3739135265350342, + 0.027481596916913986, + 0.9270563125610352, + -1.32928646006991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.92606121301651, + -0.06108393520116806, + 0.37239688634872437, + -0.05591662588218848 + ], + [ + 0.06626682728528976, + 0.9978013038635254, + -0.0011211447417736053, + 0.13448486304472362 + ], + [ + -0.3715096116065979, + 0.02571580745279789, + 0.9280729293823242, + -1.3557985936735002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9354329705238342, + -0.04911627992987633, + 0.3500753343105316, + -0.0692014389272247 + ], + [ + 0.05287927761673927, + 0.99860018491745, + -0.0011925799772143364, + 0.14027741295950752 + ], + [ + -0.3495267331600189, + 0.01962731033563614, + 0.9367207884788513, + -1.3778823911079339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9408570528030396, + -0.053557172417640686, + 0.334543913602829, + -0.06084957748414978 + ], + [ + 0.05691435933113098, + 0.9983790516853333, + -0.00023292377591133118, + 0.13290390608802674 + ], + [ + -0.3339891731739044, + 0.0192594975233078, + 0.9423801302909851, + -1.4274049089659775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9427377581596375, + -0.06241566687822342, + 0.3276427686214447, + -0.042157613072130416 + ], + [ + 0.06643692404031754, + 0.9977900385856628, + -0.0010830946266651154, + 0.13959339691532982 + ], + [ + -0.32685109972953796, + 0.022788649424910545, + 0.9448010921478271, + -1.4671004085905022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.942598819732666, + -0.06560719013214111, + 0.3274190127849579, + -0.03764140052454812 + ], + [ + 0.07057535648345947, + 0.997501015663147, + -0.003301599994301796, + 0.1562041257108961 + ], + [ + -0.32638415694236755, + 0.026219794526696205, + 0.9448735117912292, + -1.4848421823366411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9421377182006836, + -0.06680790334939957, + 0.3285015821456909, + -0.04278497628512837 + ], + [ + 0.07247097045183182, + 0.9973579049110413, + -0.005011371336877346, + 0.16207378525582572 + ], + [ + -0.3272988796234131, + 0.028528228402137756, + 0.9444901347160339, + -1.5014579242420576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9416967034339905, + -0.06573233753442764, + 0.32997965812683105, + -0.03303726771402927 + ], + [ + 0.07180822640657425, + 0.9973989129066467, + -0.006243442185223103, + 0.16993180612723033 + ], + [ + -0.32871097326278687, + 0.0295746847987175, + 0.9439674019813538, + -1.5353711763840345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.941001296043396, + -0.06520580500364304, + 0.3320613503456116, + -0.025100775506524814 + ], + [ + 0.0714835450053215, + 0.9974191784858704, + -0.006711370311677456, + 0.17316282150291262 + ], + [ + -0.3307667374610901, + 0.03005232661962509, + 0.9432339072227478, + -1.573572233674072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400871396064758, + -0.06533044576644897, + 0.33461642265319824, + -0.017328748928885612 + ], + [ + 0.07220950722694397, + 0.9973562359809875, + -0.008145156316459179, + 0.17700314800890665 + ], + [ + -0.3331996202468872, + 0.03181964159011841, + 0.9423192143440247, + -1.599714093028553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9394663572311401, + -0.06353916972875595, + 0.3366982340812683, + -0.002597649915823861 + ], + [ + 0.07088176161050797, + 0.9974390268325806, + -0.009547378867864609, + 0.17759465579948727 + ], + [ + -0.3352293372154236, + 0.032835204154253006, + 0.9415642023086548, + -1.6360141609100596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9382351040840149, + -0.061381515115499496, + 0.34051021933555603, + -0.01795873511582613 + ], + [ + 0.06896502524614334, + 0.9975669384002686, + -0.010200089775025845, + 0.18242905735969545 + ], + [ + -0.3390556275844574, + 0.03305337578058243, + 0.9401854872703552, + -1.6623159158974885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9374127388000488, + -0.0614573210477829, + 0.3427541255950928, + -0.01802067155284541 + ], + [ + 0.06917043030261993, + 0.9975515604019165, + -0.010311754420399666, + 0.1790653735872299 + ], + [ + -0.3412811756134033, + 0.03337481617927551, + 0.9393685460090637, + -1.698864413443066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9370938539505005, + -0.0627216324210167, + 0.3433963656425476, + -0.006697861714259026 + ], + [ + 0.07151175290346146, + 0.9973552823066711, + -0.012980547733604908, + 0.18714673391410283 + ], + [ + -0.3416740298271179, + 0.036720868200063705, + 0.9391008615493774, + -1.7206991667755775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9359426498413086, + -0.06103440374135971, + 0.3468228876590729, + -0.015500433955873763 + ], + [ + 0.07068385928869247, + 0.9973825216293335, + -0.015227923169732094, + 0.19502925603162674 + ], + [ + -0.34498563408851624, + 0.038767240941524506, + 0.937807023525238, + -1.729699188790151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9349378943443298, + -0.06056318059563637, + 0.34960445761680603, + -0.011774542771043285 + ], + [ + 0.06995159387588501, + 0.997448205947876, + -0.014278296381235123, + 0.18980921554186986 + ], + [ + -0.3478476107120514, + 0.03780470788478851, + 0.9367885589599609, + -1.7867405655483404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9348143935203552, + -0.061501018702983856, + 0.3497709333896637, + -0.002864879298777807 + ], + [ + 0.07092873007059097, + 0.9973803758621216, + -0.014195832423865795, + 0.18623625342808073 + ], + [ + -0.34798160195350647, + 0.03807927295565605, + 0.9367277026176453, + -1.8091114988757504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9342742562294006, + -0.06225062534213066, + 0.3510790765285492, + -0.006306299984100319 + ], + [ + 0.07277660816907883, + 0.9972058534622192, + -0.016852673143148422, + 0.19754107736405874 + ], + [ + -0.34904900193214417, + 0.041295357048511505, + 0.9361941814422607, + -1.8211318376341037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9337188005447388, + -0.06021620333194733, + 0.35290685296058655, + 0.007079277601506975 + ], + [ + 0.07049886882305145, + 0.9973779320716858, + -0.01634370908141136, + 0.20068030887179905 + ], + [ + -0.35099735856056213, + 0.04013996198773384, + 0.9355157017707825, + -1.8676977846771479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9323063492774963, + -0.05917394906282425, + 0.35679593682289124, + -0.005204064605964554 + ], + [ + 0.06932971626520157, + 0.9974697828292847, + -0.015729743987321854, + 0.20500437721373543 + ], + [ + -0.35496237874031067, + 0.039401497691869736, + 0.9340499043464661, + -1.8841001688517511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.931443989276886, + -0.05932425707578659, + 0.3590163290500641, + -0.005148210376501084 + ], + [ + 0.06973522156476974, + 0.9974355101585388, + -0.016106050461530685, + 0.21019116129193988 + ], + [ + -0.3571401536464691, + 0.040037963539361954, + 0.9331923127174377, + -1.908739466539451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9305073618888855, + -0.06047224998474121, + 0.36124664545059204, + -0.003265301481125847 + ], + [ + 0.07151481509208679, + 0.9972901344299316, + -0.017264343798160553, + 0.21294377550246224 + ], + [ + -0.35922372341156006, + 0.04189908504486084, + 0.9323104619979858, + -1.93553927351558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9290190935134888, + -0.06319940090179443, + 0.36459484696388245, + 0.0003839760782226678 + ], + [ + 0.07507100701332092, + 0.9970071911811829, + -0.018464714288711548, + 0.21370991118370541 + ], + [ + -0.3623367249965668, + 0.04452457278966904, + 0.9309831857681274, + -1.9686337311944317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9274462461471558, + -0.06522997468709946, + 0.3682234585285187, + 0.00021356778840223977 + ], + [ + 0.07810129970312119, + 0.9967418909072876, + -0.020143501460552216, + 0.21971663123085386 + ], + [ + -0.3657098114490509, + 0.04744074493646622, + 0.9295190572738647, + -2.0007574800401926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9257420897483826, + -0.06675709038972855, + 0.37221649289131165, + -0.005032557698469314 + ], + [ + 0.08076367527246475, + 0.9964872002601624, + -0.022147737443447113, + 0.22521455581226046 + ], + [ + -0.36943045258522034, + 0.050564661622047424, + 0.92788165807724, + -2.017184815851469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9244701862335205, + -0.06788799166679382, + 0.3751614987850189, + 0.0006723889046245154 + ], + [ + 0.08289383351802826, + 0.996269702911377, + -0.02398465946316719, + 0.23180274764696757 + ], + [ + -0.3721337616443634, + 0.05327167734503746, + 0.9266490936279297, + -2.0648945619041723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9235008955001831, + -0.07112137973308563, + 0.376945436000824, + 0.013228568292799451 + ], + [ + 0.08691717684268951, + 0.9959008097648621, + -0.025038782507181168, + 0.24042745317731584 + ], + [ + -0.3736194968223572, + 0.055886369198560715, + 0.9258970022201538, + -2.1098744273008334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9223323464393616, + -0.0708150863647461, + 0.37985295057296753, + 0.007588176736755977 + ], + [ + 0.08768205344676971, + 0.9957753419876099, + -0.027263395488262177, + 0.2393620684979454 + ], + [ + -0.37631756067276, + 0.058452196419239044, + 0.9246450662612915, + -2.1423376886085386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9218298196792603, + -0.0679236575961113, + 0.38159680366516113, + 0.0061463724289621624 + ], + [ + 0.0863780602812767, + 0.9957668781280518, + -0.03141992911696434, + 0.24432865636689322 + ], + [ + -0.3778473138809204, + 0.06192541494965553, + 0.923794686794281, + -2.194462072518137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9254414439201355, + -0.06346864998340607, + 0.3735370337963104, + -0.0341905024434839 + ], + [ + 0.08223865926265717, + 0.9960149526596069, + -0.03451152518391609, + 0.2382850766181946 + ], + [ + -0.369858056306839, + 0.06265757977962494, + 0.9269730448722839, + -2.194890881329775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9371210336685181, + -0.06100258231163025, + 0.34363195300102234, + -0.08014378225992597 + ], + [ + 0.07836025953292847, + 0.9962441921234131, + -0.036840520799160004, + 0.2355425486488948 + ], + [ + -0.3400939404964447, + 0.06145111471414566, + 0.9383814930915833, + -2.196454729695642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.949031412601471, + -0.06003505736589432, + 0.30941107869148254, + -0.059814158490016346 + ], + [ + 0.07576001435518265, + 0.9963611960411072, + -0.039048485457897186, + 0.2592585483713755 + ], + [ + -0.3059408962726593, + 0.06049922853708267, + 0.9501262903213501, + -2.255352835611455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9526041150093079, + -0.05983032286167145, + 0.29827117919921875, + -0.06642280022303264 + ], + [ + 0.07483595609664917, + 0.9964277148246765, + -0.03913368657231331, + 0.26300596992174785 + ], + [ + -0.294864296913147, + 0.05960031971335411, + 0.9536786079406738, + -2.3080655234555403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9542319178581238, + -0.06183915585279465, + 0.29260438680648804, + -0.027387163557467006 + ], + [ + 0.07550535351037979, + 0.9965085387229919, + -0.03563300147652626, + 0.2505139592621062 + ], + [ + -0.2893792390823364, + 0.056095343083143234, + 0.9555694460868835, + -2.320248872204314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9551575183868408, + -0.060409583151340485, + 0.28987038135528564, + -0.024891429021954535 + ], + [ + 0.07233431190252304, + 0.9969111680984497, + -0.03059186041355133, + 0.2462711923652225 + ], + [ + -0.28712695837020874, + 0.0501876175403595, + 0.9565768837928772, + -2.360357190455709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9556084275245667, + -0.05920679494738579, + 0.2886296510696411, + -0.03478910838741632 + ], + [ + 0.06949914991855621, + 0.9972552061080933, + -0.025533385574817657, + 0.24398233436402822 + ], + [ + -0.28632569313049316, + 0.04445943236351013, + 0.9571002721786499, + -2.410070836473079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9573544263839722, + -0.060839325189590454, + 0.2824377417564392, + -0.03230088595596571 + ], + [ + 0.06980516016483307, + 0.9973227977752686, + -0.021781189367175102, + 0.24267640236824278 + ], + [ + -0.2803564667701721, + 0.040567927062511444, + 0.9590383172035217, + -2.4481806246534226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9594680666923523, + -0.05843625217676163, + 0.27569228410720825, + -0.017496826369611043 + ], + [ + 0.06662849336862564, + 0.9975685477256775, + -0.020434901118278503, + 0.24931216774478793 + ], + [ + -0.27382779121398926, + 0.03797559067606926, + 0.9610286951065063, + -2.475311473115451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9609877467155457, + -0.056226253509521484, + 0.27081575989723206, + 0.005939256399869919 + ], + [ + 0.06412791460752487, + 0.997732937335968, + -0.02041001431643963, + 0.2569696136883327 + ], + [ + -0.26905420422554016, + 0.03698062151670456, + 0.9624148011207581, + -2.4908135272562504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9624417424201965, + -0.04681570082902908, + 0.2674214243888855, + 0.01948768918712934 + ], + [ + 0.05417246371507645, + 0.998327374458313, + -0.020194513723254204, + 0.26509212719069586 + ], + [ + -0.2660287022590637, + 0.033922918140888214, + 0.9633680582046509, + -2.516611336875293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9636372923851013, + -0.033648256212472916, + 0.26508674025535583, + 0.030799245373124166 + ], + [ + 0.040293436497449875, + 0.9989942908287048, + -0.01966843381524086, + 0.27092965983209155 + ], + [ + -0.26415833830833435, + 0.029634490609169006, + 0.9640239477157593, + -2.543521782282799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9640087485313416, + -0.027478035539388657, + 0.26444679498672485, + 0.04137458607022251 + ], + [ + 0.03386874869465828, + 0.9992333650588989, + -0.019636468961834908, + 0.27618181790624347 + ], + [ + -0.26370447874069214, + 0.02788621000945568, + 0.9642003178596497, + -2.5734798911116306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9635701775550842, + -0.029953619465231895, + 0.26577305793762207, + 0.04813561325094529 + ], + [ + 0.03640526533126831, + 0.9991491436958313, + -0.019380800426006317, + 0.28087645087923324 + ], + [ + -0.2649664282798767, + 0.02835030108690262, + 0.9638407826423645, + -2.610198985856204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9629307389259338, + -0.032618649303913116, + 0.2677692770957947, + 0.06071678829926347 + ], + [ + 0.03899028152227402, + 0.9990681409835815, + -0.018511049449443817, + 0.2849598782403128 + ], + [ + -0.2669159173965454, + 0.02826525643467903, + 0.9633052349090576, + -2.6390241445855254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9619884490966797, + -0.034979451447725296, + 0.27084067463874817, + 0.06796115494909741 + ], + [ + 0.04112568125128746, + 0.9990085363388062, + -0.017049362882971764, + 0.2863709793204353 + ], + [ + -0.2699757516384125, + 0.027539798989892006, + 0.9624732136726379, + -2.673964210493224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9614325761795044, + -0.037853289395570755, + 0.27242353558540344, + 0.08144714093456666 + ], + [ + 0.044110361486673355, + 0.9988840818405151, + -0.01687844842672348, + 0.2888973635340494 + ], + [ + -0.27148064970970154, + 0.02824418991804123, + 0.9620293974876404, + -2.696439243066642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9615046381950378, + -0.034319907426834106, + 0.27263715863227844, + 0.09423303521341747 + ], + [ + 0.04053870588541031, + 0.9990297555923462, + -0.01720801368355751, + 0.28848579459720186 + ], + [ + -0.2717820703983307, + 0.02759794145822525, + 0.9619629979133606, + -2.7233197929958504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.961287796497345, + -0.026705622673034668, + 0.27424919605255127, + 0.10103840317044939 + ], + [ + 0.03225232660770416, + 0.9993559122085571, + -0.01573512889444828, + 0.29036424841199604 + ], + [ + -0.2736523151397705, + 0.023971160873770714, + 0.9615299105644226, + -2.757074774495725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.961094081401825, + -0.02373455837368965, + 0.27519962191581726, + 0.10932699797881974 + ], + [ + 0.02877836674451828, + 0.9994834661483765, + -0.014303874224424362, + 0.28544272174910895 + ], + [ + -0.27471795678138733, + 0.02166716381907463, + 0.9612807035446167, + -2.784479521037567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9614242911338806, + -0.018258247524499893, + 0.27446305751800537, + 0.1181571813004594 + ], + [ + 0.023049838840961456, + 0.9996328353881836, + -0.014242833480238914, + 0.28759309337252664 + ], + [ + -0.27410227060317993, + 0.020019734278321266, + 0.9614921808242798, + -2.8110336867604584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9613152146339417, + -0.009037544019520283, + 0.27530229091644287, + 0.12135412638474788 + ], + [ + 0.012941903434693813, + 0.999839723110199, + -0.012368777766823769, + 0.2858585476875305 + ], + [ + -0.27514636516571045, + 0.01545323058962822, + 0.9612781405448914, + -2.8468184406381276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9605717062950134, + -0.00632533710449934, + 0.27796050906181335, + 0.12577299865125308 + ], + [ + 0.009694869630038738, + 0.9998952150344849, + -0.010749523527920246, + 0.28914000855551825 + ], + [ + -0.27786341309547424, + 0.013020479120314121, + 0.9605323672294617, + -2.8737517122822327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.959878146648407, + -0.007949160411953926, + 0.28030475974082947, + 0.13179820100702935 + ], + [ + 0.01123676635324955, + 0.999885618686676, + -0.010123535990715027, + 0.2938347942299313 + ], + [ + -0.28019222617149353, + 0.012867080047726631, + 0.959857702255249, + -2.8953753801210533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9590999484062195, + -0.015886932611465454, + 0.28262144327163696, + 0.1335787201921145 + ], + [ + 0.019482698291540146, + 0.9997609853744507, + -0.009916863404214382, + 0.2980028589566549 + ], + [ + -0.2823963761329651, + 0.015017491765320301, + 0.9591802358627319, + -2.928965090230728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9581760168075562, + -0.016893241554498672, + 0.2856804132461548, + 0.14008399255810275 + ], + [ + 0.02070866897702217, + 0.9997320771217346, + -0.010339649394154549, + 0.3009752372900645 + ], + [ + -0.2854291796684265, + 0.01582326553761959, + 0.9582691788673401, + -2.956657720768144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9570173621177673, + -0.0185684971511364, + 0.28943559527397156, + 0.1480157154213105 + ], + [ + 0.022635184228420258, + 0.9996864199638367, + -0.010709090158343315, + 0.30597799614308374 + ], + [ + -0.28914597630500793, + 0.01680021360516548, + 0.9571375846862793, + -2.9847624182198493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9557433128356934, + -0.01905619539320469, + 0.29358407855033875, + 0.1495956901460886 + ], + [ + 0.023282485082745552, + 0.9996694326400757, + -0.010907205753028393, + 0.30798764739717754 + ], + [ + -0.2932792007923126, + 0.017259854823350906, + 0.955871045589447, + -3.0129916956382137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9544944763183594, + -0.020030740648508072, + 0.29755517840385437, + 0.15709642246661204 + ], + [ + 0.024548087269067764, + 0.9996330738067627, + -0.011452073231339455, + 0.315298241755319 + ], + [ + -0.29721662402153015, + 0.018235351890325546, + 0.9546359181404114, + -3.0457316698388213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9528345465660095, + -0.020064590498805046, + 0.30282631516456604, + 0.1619411948920479 + ], + [ + 0.024819081649184227, + 0.9996216297149658, + -0.01185987051576376, + 0.3216248812183501 + ], + [ + -0.3024737536907196, + 0.01881636492908001, + 0.9529719352722168, + -3.071286672829754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9512482285499573, + -0.021730531007051468, + 0.3076598048210144, + 0.16778232569673232 + ], + [ + 0.02669128030538559, + 0.9995725750923157, + -0.011924821883440018, + 0.326795899442264 + ], + [ + -0.3072691559791565, + 0.01955530047416687, + 0.9514216780662537, + -3.1010080930022967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9498369693756104, + -0.023642640560865402, + 0.31185051798820496, + 0.1700032628244824 + ], + [ + 0.028688952326774597, + 0.999521017074585, + -0.011603347025811672, + 0.3324844969643487 + ], + [ + -0.3114268481731415, + 0.019967950880527496, + 0.9500603079795837, + -3.1287802676359813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9485756158828735, + -0.03154425695538521, + 0.3149751126766205, + 0.17786677034187412 + ], + [ + 0.03671595826745033, + 0.9992706179618835, + -0.01049802079796791, + 0.33499140176508163 + ], + [ + -0.31441423296928406, + 0.021522779017686844, + 0.9490419030189514, + -3.1633446023252514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9471825957298279, + -0.03916244953870773, + 0.31829458475112915, + 0.1824736710460413 + ], + [ + 0.04455256462097168, + 0.9989602565765381, + -0.00966930203139782, + 0.33258969641867137 + ], + [ + -0.3175849914550781, + 0.02333943359553814, + 0.9479425549507141, + -3.1933731929620817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9464491605758667, + -0.037353575229644775, + 0.3206847608089447, + 0.18552333447668287 + ], + [ + 0.04248126596212387, + 0.9990566968917847, + -0.009005779400467873, + 0.3366939780257997 + ], + [ + -0.3200458586215973, + 0.02214660681784153, + 0.9471431970596313, + -3.2269513652778214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9459692239761353, + -0.03929330036044121, + 0.32186681032180786, + 0.18942989213835626 + ], + [ + 0.0435807965695858, + 0.999031126499176, + -0.0061232247389853, + 0.3361849427223206 + ], + [ + -0.32131439447402954, + 0.01981959491968155, + 0.9467651844024658, + -3.264280601366172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9453795552253723, + -0.042825013399124146, + 0.3231463134288788, + 0.19671692954642434 + ], + [ + 0.046565450727939606, + 0.9989078044891357, + -0.0038489713333547115, + 0.3355734748499734 + ], + [ + -0.32262852787971497, + 0.018686188384890556, + 0.9463412165641785, + -3.2920889210887254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9456824660301208, + -0.043216463178396225, + 0.3222065269947052, + 0.2102971487870765 + ], + [ + 0.046214643865823746, + 0.9989301562309265, + -0.0016577821224927902, + 0.336804559495714 + ], + [ + -0.3217901885509491, + 0.01645839400589466, + 0.9466679692268372, + -3.323771203874004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9456599950790405, + -0.04351062700152397, + 0.32223281264305115, + 0.21929614152759314 + ], + [ + 0.045356836169958115, + 0.9989692568778992, + 0.0017801900394260883, + 0.3423869242270787 + ], + [ + -0.3219781219959259, + 0.012932004407048225, + 0.9466587901115417, + -3.3604955049128167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9454672336578369, + -0.043852828443050385, + 0.32275164127349854, + 0.2199896644978296 + ], + [ + 0.04473123699426651, + 0.9989880323410034, + 0.00469875056296587, + 0.3408371422971998 + ], + [ + -0.3226310610771179, + 0.009994563646614552, + 0.9464720487594604, + -3.3936396607508263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.948436439037323, + -0.0460655577480793, + 0.31360211968421936, + 0.2240919356929168 + ], + [ + 0.046526554971933365, + 0.9988989233970642, + 0.006018324755132198, + 0.3436354785211503 + ], + [ + -0.31353405117988586, + 0.008882827125489712, + 0.9495354294776917, + -3.4282250121583244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9511978626251221, + -0.047523919492959976, + 0.3049001395702362, + 0.24175743667024469 + ], + [ + 0.04775164648890495, + 0.9988366961479187, + 0.006714877672493458, + 0.3459640529420641 + ], + [ + -0.3048645555973053, + 0.00817230436950922, + 0.9523606300354004, + -3.461159204628082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9526217579841614, + -0.04775090515613556, + 0.3003857731819153, + 0.2540932762126128 + ], + [ + 0.04785420000553131, + 0.9988296627998352, + 0.007017871830612421, + 0.3505409897792907 + ], + [ + -0.3003693222999573, + 0.007689341437071562, + 0.9537919759750366, + -3.4952052484565814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9539773464202881, + -0.04774659126996994, + 0.2960532009601593, + 0.26310440730007867 + ], + [ + 0.04776716232299805, + 0.9988327622413635, + 0.007167873904109001, + 0.35589621171118724 + ], + [ + -0.2960498631000519, + 0.007303630001842976, + 0.9551445841789246, + -3.5214983796168653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9572524428367615, + -0.0505884625017643, + 0.2847955822944641, + 0.2702693795075729 + ], + [ + 0.0504840649664402, + 0.9986950755119324, + 0.007712373975664377, + 0.36298594328146133 + ], + [ + -0.28481411933898926, + 0.0069949510507285595, + 0.9585572481155396, + -3.551913883742167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9606821537017822, + -0.05435311794281006, + 0.27227848768234253, + 0.2894101083278656 + ], + [ + 0.05416678637266159, + 0.9984982013702393, + 0.00820639356970787, + 0.37004926800727844 + ], + [ + -0.2723156213760376, + 0.006864713504910469, + 0.9621834754943848, + -3.577861134894192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/move_left/transforms.json b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e913b5c0f8b3e842f787536ab77ea12fa3ef17ce --- /dev/null +++ b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/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, + -9.838233381742612e-05, + -4.791899846168235e-05, + 9.177199535770342e-05 + ], + [ + 9.838460391620174e-05, + 1.0, + 4.736682240036316e-05, + -7.394507701974362e-05 + ], + [ + 4.791433457285166e-05, + -4.737153722089715e-05, + 1.0, + 0.00041252130176872015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999916553497314, + -0.002241932787001133, + 0.0034179030917584896, + 0.005333773847965021 + ], + [ + 0.002261039800941944, + 0.9999817609786987, + -0.005596743896603584, + 0.002477288195892932 + ], + [ + -0.0034052934497594833, + 0.005604425445199013, + 0.9999784827232361, + -0.02797495023391786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999696016311646, + -0.004094271920621395, + 0.006635073106735945, + 0.010257832433969256 + ], + [ + 0.004166510887444019, + 0.999931812286377, + -0.010910453274846077, + 0.008045214971911813 + ], + [ + -0.006589950527995825, + 0.0109377671033144, + 0.9999184608459473, + -0.05917438529801392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998933672904968, + -0.008079848252236843, + 0.012164631858468056, + 0.01293592011289937 + ], + [ + 0.00826678704470396, + 0.9998472929000854, + -0.01539639849215746, + 0.010176965711815726 + ], + [ + -0.012038374319672585, + 0.015495319850742817, + 0.9998074769973755, + -0.09242746937753898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999704897403717, + -0.011359781958162785, + 0.021471405401825905, + 0.017897950219256536 + ], + [ + 0.011775110848248005, + 0.9997440576553345, + -0.019316894933581352, + 0.016502553718312392 + ], + [ + -0.021246476098895073, + 0.01956402324140072, + 0.999582827091217, + -0.115797431252542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993982911109924, + -0.012502751313149929, + 0.032354116439819336, + 0.02492294791671965 + ], + [ + 0.01325767021626234, + 0.9996423721313477, + -0.02322465367615223, + 0.021005094661155625 + ], + [ + -0.0320521742105484, + 0.0236396174877882, + 0.9992066025733948, + -0.13211559273657345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9989550709724426, + -0.012247668579220772, + 0.04403151571750641, + 0.02797600112500645 + ], + [ + 0.01340743713080883, + 0.9995683431625366, + -0.026141393929719925, + 0.026100977341688814 + ], + [ + -0.04369233548641205, + 0.02670442685484886, + 0.9986880421638489, + -0.15449812135526111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.998424768447876, + -0.012767252512276173, + 0.054634883999824524, + 0.031243723134199777 + ], + [ + 0.01434337254613638, + 0.9994893670082092, + -0.02855401113629341, + 0.031903913663700226 + ], + [ + -0.05424242466688156, + 0.029292680323123932, + 0.9980980157852173, + -0.17383187947173914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.997841477394104, + -0.014021948911249638, + 0.06415385007858276, + 0.03229423903283619 + ], + [ + 0.016056180000305176, + 0.9993809461593628, + -0.03130373731255531, + 0.036915613770011874 + ], + [ + -0.06367519497871399, + 0.03226623311638832, + 0.9974489212036133, + -0.19915017130829038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9970006942749023, + -0.015377753414213657, + 0.07584922760725021, + 0.03540216663054058 + ], + [ + 0.018015382811427116, + 0.9992521405220032, + -0.03421388939023018, + 0.04160355916246772 + ], + [ + -0.07526636868715286, + 0.03547772392630577, + 0.996532142162323, + -0.2253928354276078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9955771565437317, + -0.017929838970303535, + 0.09222082048654556, + 0.04077970041405587 + ], + [ + 0.021302005276083946, + 0.9991350173950195, + -0.03571276366710663, + 0.04614720252593831 + ], + [ + -0.09150072187185287, + 0.03751929849386215, + 0.9950979351997375, + -0.2469037294033028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9932959675788879, + -0.01911703497171402, + 0.11400706321001053, + 0.04258439933496808 + ], + [ + 0.02326909825205803, + 0.9991093277931213, + -0.035200417041778564, + 0.0505959810216039 + ], + [ + -0.11323259025812149, + 0.0376172736287117, + 0.9928561449050903, + -0.2738113448792507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99052494764328, + -0.0200913418084383, + 0.13585540652275085, + 0.04052834244711058 + ], + [ + 0.02498818375170231, + 0.9990944862365723, + -0.034435659646987915, + 0.06184604020700568 + ], + [ + -0.1350405216217041, + 0.0375041589140892, + 0.9901300668716431, + -0.2993476581005823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9877152442932129, + -0.0217317845672369, + 0.15474584698677063, + 0.017198530407178968 + ], + [ + 0.026615483686327934, + 0.9992086887359619, + -0.029557714238762856, + 0.069174425666117 + ], + [ + -0.1539810597896576, + 0.033313240855932236, + 0.9875120520591736, + -0.30418933310679025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848666787147522, + -0.024674711748957634, + 0.17154835164546967, + 0.005771540891793039 + ], + [ + 0.02814839966595173, + 0.9994444251060486, + -0.017845792695879936, + 0.061536085336572593 + ], + [ + -0.17101271450519562, + 0.022404538467526436, + 0.9850140810012817, + -0.34562098499801425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9817764759063721, + -0.025655964389443398, + 0.18829971551895142, + 0.0064539313316345215 + ], + [ + 0.028448646888136864, + 0.9995214939117432, + -0.012142995372414589, + 0.06124970239276687 + ], + [ + -0.18789806962013245, + 0.017278578132390976, + 0.9820365309715271, + -0.36740382618847345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9791658520698547, + -0.027267541736364365, + 0.20122313499450684, + 0.0038535753058062654 + ], + [ + 0.02937253937125206, + 0.9995405077934265, + -0.0074821109883487225, + 0.05417973809535541 + ], + [ + -0.20092666149139404, + 0.01323666051030159, + 0.979516863822937, + -0.38976456390486824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9768103957176208, + -0.030081553384661674, + 0.21198241412639618, + -0.0025119373870510914 + ], + [ + 0.03170735016465187, + 0.9994880557060242, + -0.004273544996976852, + 0.05682400599535969 + ], + [ + -0.21174533665180206, + 0.010895843617618084, + 0.9772641658782959, + -0.41795650014565106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9745444059371948, + -0.03212690353393555, + 0.22188082337379456, + 0.004157340845891408 + ], + [ + 0.03283137083053589, + 0.999460756778717, + 0.0005135596729815006, + 0.060383083352020805 + ], + [ + -0.22177767753601074, + 0.006784164812415838, + 0.9750736355781555, + -0.4414439822946276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9717581868171692, + -0.03481781482696533, + 0.23339608311653137, + 0.004056999436210072 + ], + [ + 0.03442387282848358, + 0.999390721321106, + 0.005762395914644003, + 0.06323190703988076 + ], + [ + -0.23345452547073364, + 0.0024347403086721897, + 0.9723646640777588, + -0.4686765607860353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.968708872795105, + -0.03825049847364426, + 0.24523460865020752, + 0.00039737482392598715 + ], + [ + 0.036977045238018036, + 0.999268114566803, + 0.009796775877475739, + 0.06265734597331002 + ], + [ + -0.2454298436641693, + -0.0004221727140247822, + 0.969414234161377, + -0.49450789699478753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9659450054168701, + -0.04183477163314819, + 0.2553430497646332, + -7.11001455783837e-05 + ], + [ + 0.03982748091220856, + 0.9991216063499451, + 0.01302901841700077, + 0.06856882149974505 + ], + [ + -0.25566384196281433, + -0.0024156454019248486, + 0.9667627215385437, + -0.5193482761581739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9631688594818115, + -0.04527626186609268, + 0.26505815982818604, + -0.004162152827022567 + ], + [ + 0.0426354855298996, + 0.998967170715332, + 0.015710992738604546, + 0.07616259467507165 + ], + [ + -0.2654957175254822, + -0.003831456881016493, + 0.964104413986206, + -0.5373572632433876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9605509042739868, + -0.04850868508219719, + 0.2738409638404846, + 0.007126000754180406 + ], + [ + 0.04514709487557411, + 0.9988077878952026, + 0.018568333238363266, + 0.07537973180472378 + ], + [ + -0.27441519498825073, + -0.005472706630825996, + 0.9615957140922546, + -0.5670256695577076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9578958749771118, + -0.05179406329989433, + 0.28240546584129333, + 0.01635259932705334 + ], + [ + 0.04798213019967079, + 0.9986398220062256, + 0.020402325317263603, + 0.08177924404541652 + ], + [ + -0.28307804465293884, + -0.005992887541651726, + 0.9590781331062317, + -0.5979973600024269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9550745487213135, + -0.054358188062906265, + 0.29133784770965576, + 0.01291840204170772 + ], + [ + 0.0502486489713192, + 0.9985036849975586, + 0.021575093269348145, + 0.08566013967529648 + ], + [ + -0.29207468032836914, + -0.005966491531580687, + 0.9563769102096558, + -0.6179620510055905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9522327184677124, + -0.056409720331430435, + 0.30011799931526184, + 0.010187683763012052 + ], + [ + 0.05232951417565346, + 0.9983957409858704, + 0.0216226689517498, + 0.09273023630773264 + ], + [ + -0.30085626244544983, + -0.004884785041213036, + 0.9536569714546204, + -0.6377889280754422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9497489929199219, + -0.05798198655247688, + 0.3075954020023346, + 0.0232265476669584 + ], + [ + 0.05400319769978523, + 0.9983105659484863, + 0.021439027041196823, + 0.0988568717081632 + ], + [ + -0.3083188235759735, + -0.003750559873878956, + 0.9512757062911987, + -0.6725294443113463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9467777609825134, + -0.058775532990694046, + 0.31647634506225586, + 0.016377503673235573 + ], + [ + 0.05494852736592293, + 0.9982680678367615, + 0.02101166546344757, + 0.10174732382098833 + ], + [ + -0.31716322898864746, + -0.00250347051769495, + 0.9483676552772522, + -0.6935339556799994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9442948698997498, + -0.06002625823020935, + 0.3235799968242645, + 0.0253706623637487 + ], + [ + 0.056110285222530365, + 0.9981946349143982, + 0.02142663672566414, + 0.10527346711901445 + ], + [ + -0.3242819607257843, + -0.0020768968388438225, + 0.9459581971168518, + -0.7396702782265724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9421865940093994, + -0.06084030121564865, + 0.32951921224594116, + 0.018249458145527614 + ], + [ + 0.05699622631072998, + 0.998146653175354, + 0.021323390305042267, + 0.10932725987264089 + ], + [ + -0.3302057981491089, + -0.0013092616572976112, + 0.9439080357551575, + -0.7550101762726193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9405912160873413, + -0.061177417635917664, + 0.33398422598838806, + 0.011212776837840912 + ], + [ + 0.057651638984680176, + 0.9981269240379333, + 0.020468633621931076, + 0.11647005218362051 + ], + [ + -0.33461084961891174, + 2.1168962121009827e-06, + 0.9423564076423645, + -0.7772440165990875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9408734440803528, + -0.06329496204853058, + 0.33279258012771606, + 0.026542587105243924 + ], + [ + 0.05974291265010834, + 0.9979948401451111, + 0.020906493067741394, + 0.11736069681152465 + ], + [ + -0.33344852924346924, + 0.00021163001656532288, + 0.9427682757377625, + -0.8200378164412483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9403935074806213, + -0.06485264748334885, + 0.33384761214256287, + 0.05016334425835382 + ], + [ + 0.06145622581243515, + 0.9978943467140198, + 0.020737171173095703, + 0.1182716821453401 + ], + [ + -0.33448949456214905, + 0.001015910878777504, + 0.9423989653587341, + -0.8546441924713907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9380123615264893, + -0.06486009806394577, + 0.3404790163040161, + 0.040894146287252034 + ], + [ + 0.062333036214113235, + 0.9978863596916199, + 0.01836780458688736, + 0.126498113850516 + ], + [ + -0.34095072746276855, + 0.00399386091157794, + 0.9400727152824402, + -0.8532096915774875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.935484766960144, + -0.06381519138813019, + 0.34755709767341614, + 0.030702091753482815 + ], + [ + 0.061931487172842026, + 0.9979434013366699, + 0.01653825119137764, + 0.13526161522087124 + ], + [ + -0.3478976786136627, + 0.006053442135453224, + 0.937512993812561, + -0.8709670859906409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9313384294509888, + -0.0634487196803093, + 0.3585847020149231, + -0.009337878759418213 + ], + [ + 0.062046777456998825, + 0.9979540109634399, + 0.015428297221660614, + 0.126038309186697 + ], + [ + -0.35882991552352905, + 0.007880054414272308, + 0.9333696961402893, + -0.8275389807564871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.929852306842804, + -0.06192407011985779, + 0.36268460750579834, + 0.018203186740477884 + ], + [ + 0.06134369224309921, + 0.9980303645133972, + 0.013128557242453098, + 0.12923186445638302 + ], + [ + -0.36278319358825684, + 0.010040792636573315, + 0.9318194389343262, + -0.9084157156565833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9275209307670593, + -0.060161735862493515, + 0.3688976466655731, + 0.01926751555431457 + ], + [ + 0.06062023714184761, + 0.9981071352958679, + 0.010358748026192188, + 0.12939629858093601 + ], + [ + -0.3688226044178009, + 0.012754705734550953, + 0.929412305355072, + -0.9170535392704464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9265342354774475, + -0.05769183859229088, + 0.37176060676574707, + 0.06494902712958199 + ], + [ + 0.059049341827631, + 0.9982250332832336, + 0.007742076180875301, + 0.13113753408016193 + ], + [ + -0.3715474009513855, + 0.014778916724026203, + 0.9282963871955872, + -1.0070219858771279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9224653244018555, + -0.05553293228149414, + 0.3820652663707733, + 0.027482749628169198 + ], + [ + 0.058368004858493805, + 0.9982864260673523, + 0.004175487440079451, + 0.1434175887751201 + ], + [ + -0.3816424310207367, + 0.018448643386363983, + 0.9241259098052979, + -0.9839592822014339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9189937114715576, + -0.05347760394215584, + 0.39062854647636414, + 0.015417309755843787 + ], + [ + 0.05754448100924492, + 0.9983420968055725, + 0.001295161433517933, + 0.15154406505503826 + ], + [ + -0.3900502026081085, + 0.021288271993398666, + 0.9205474853515625, + -1.0053691704831427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9160626530647278, + -0.052571382373571396, + 0.3975744843482971, + 0.018646605809529624 + ], + [ + 0.05757199600338936, + 0.9983411431312561, + -0.0006423536688089371, + 0.14871966280043125 + ], + [ + -0.39688122272491455, + 0.023477591574192047, + 0.9175696969032288, + -1.0473986824353536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.913345456123352, + -0.051446933299303055, + 0.4039224088191986, + 0.01969909079018093 + ], + [ + 0.057252805680036545, + 0.9983570575714111, + -0.0023003993555903435, + 0.14639106839599592 + ], + [ + -0.40314045548439026, + 0.02522674947977066, + 0.9147903919219971, + -1.0906111955879227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9099667072296143, + -0.05065470561385155, + 0.4115758240222931, + -0.0017375692133865667 + ], + [ + 0.05769206956028938, + 0.9983234405517578, + -0.004684637300670147, + 0.15546964928507806 + ], + [ + -0.41064849495887756, + 0.028007522225379944, + 0.9113634824752808, + -1.0985522831243182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9072164297103882, + -0.050020668655633926, + 0.41767966747283936, + -0.008548406085797718 + ], + [ + 0.0577256940305233, + 0.9983155131340027, + -0.0058257440105080605, + 0.15606090759060212 + ], + [ + -0.41668468713760376, + 0.02939605712890625, + 0.908575713634491, + -1.1274466663599014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9064701795578003, + -0.04998716711997986, + 0.41930073499679565, + -0.032143552021847835 + ], + [ + 0.058385156095027924, + 0.9982680678367615, + -0.00721154548227787, + 0.1603948028196418 + ], + [ + -0.4182140827178955, + 0.031017987057566643, + 0.9078187942504883, + -1.140294863685729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9097920656204224, + -0.05076143145561218, + 0.41194865107536316, + -0.036422533400001976 + ], + [ + 0.059169284999370575, + 0.9982184767723083, + -0.0076726749539375305, + 0.15925345529048215 + ], + [ + -0.41082528233528137, + 0.03135524317622185, + 0.9111747741699219, + -1.1912287856141726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9138450026512146, + -0.05140462517738342, + 0.40279635787010193, + -0.07625183055088633 + ], + [ + 0.059789106249809265, + 0.9981768727302551, + -0.008259939029812813, + 0.1698170671860377 + ], + [ + -0.40163740515708923, + 0.03163113445043564, + 0.9152523875236511, + -1.1678779522577922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9209753274917603, + -0.05365537479519844, + 0.38590869307518005, + -0.07905837777588103 + ], + [ + 0.061059240251779556, + 0.9981099963188171, + -0.006944888271391392, + 0.16848476613975233 + ], + [ + -0.38480666279792786, + 0.029959362000226974, + 0.9225108623504639, + -1.2036657295293278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.925698459148407, + -0.05491144210100174, + 0.3742554187774658, + -0.07360209418194635 + ], + [ + 0.061262525618076324, + 0.9981087446212769, + -0.00508485920727253, + 0.16229642661554472 + ], + [ + -0.37326836585998535, + 0.02763487584888935, + 0.9273117184638977, + -1.2623804750896634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9264135360717773, + -0.05562080070376396, + 0.37237659096717834, + -0.06050941241639001 + ], + [ + 0.061973270028829575, + 0.9980647563934326, + -0.005101587623357773, + 0.16928197912694443 + ], + [ + -0.37137219309806824, + 0.02780357003211975, + 0.928067684173584, + -1.301742040614287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9252727031707764, + -0.05760994926095009, + 0.3749019503593445, + -0.06928455492570287 + ], + [ + 0.06371057033538818, + 0.9979608654975891, + -0.003886832855641842, + 0.17593921687867906 + ], + [ + -0.3739135265350342, + 0.027481596916913986, + 0.9270563125610352, + -1.3127209470385597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.92606121301651, + -0.06108393520116806, + 0.37239688634872437, + -0.09743939798975748 + ], + [ + 0.06626682728528976, + 0.9978013038635254, + -0.0011211447417736053, + 0.1736684561071415 + ], + [ + -0.3715096116065979, + 0.02571580745279789, + 0.9280729293823242, + -1.339089905411478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9354329705238342, + -0.04911627992987633, + 0.3500753343105316, + -0.1113964068038123 + ], + [ + 0.05287927761673927, + 0.99860018491745, + -0.0011925799772143364, + 0.18080830898668085 + ], + [ + -0.3495267331600189, + 0.01962731033563614, + 0.9367207884788513, + -1.3620615035295487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9408570528030396, + -0.053557172417640686, + 0.334543913602829, + -0.10425654763267155 + ], + [ + 0.05691435933113098, + 0.9983790516853333, + -0.00023292377591133118, + 0.17399958710348795 + ], + [ + -0.3339891731739044, + 0.0192594975233078, + 0.9423801302909851, + -1.4119853241339562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9427377581596375, + -0.06241566687822342, + 0.3276427686214447, + -0.08683109862936868 + ], + [ + 0.06643692404031754, + 0.9977900385856628, + -0.0010830946266651154, + 0.18098686867290073 + ], + [ + -0.32685109972953796, + 0.022788649424910545, + 0.9448010921478271, + -1.4515608641836377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.942598819732666, + -0.06560719013214111, + 0.3274190127849579, + -0.08325072001843226 + ], + [ + 0.07057535648345947, + 0.997501015663147, + -0.003301599994301796, + 0.19813647695950098 + ], + [ + -0.32638415694236755, + 0.026219794526696205, + 0.9448735117912292, + -1.468891051198755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9421377182006836, + -0.06680790334939957, + 0.3285015821456909, + -0.08922850489616393 + ], + [ + 0.07247097045183182, + 0.9973579049110413, + -0.005011371336877346, + 0.20464794573093217 + ], + [ + -0.3272988796234131, + 0.028528228402137756, + 0.9444901347160339, + -1.4850785811742147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9416967034339905, + -0.06573233753442764, + 0.32997965812683105, + -0.0802105323308044 + ], + [ + 0.07180822640657425, + 0.9973989129066467, + -0.006243442185223103, + 0.21327295732048768 + ], + [ + -0.32871097326278687, + 0.0295746847987175, + 0.9439674019813538, + -1.5185943082684563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.941001296043396, + -0.06520580500364304, + 0.3320613503456116, + -0.07301539936590762 + ], + [ + 0.0714835450053215, + 0.9974191784858704, + -0.006711370311677456, + 0.21725499452579589 + ], + [ + -0.3307667374610901, + 0.03005232661962509, + 0.9432339072227478, + -1.5563903734797524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400871396064758, + -0.06533044576644897, + 0.33461642265319824, + -0.06600372726836848 + ], + [ + 0.07220950722694397, + 0.9973562359809875, + -0.008145156316459179, + 0.22179199757557067 + ], + [ + -0.3331996202468872, + 0.03181964159011841, + 0.9423192143440247, + -1.5820425255904123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9394663572311401, + -0.06353916972875595, + 0.3366982340812683, + -0.05195189013131081 + ], + [ + 0.07088176161050797, + 0.9974390268325806, + -0.009547378867864609, + 0.2231871561516845 + ], + [ + -0.3352293372154236, + 0.032835204154253006, + 0.9415642023086548, + -1.6179030485569486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9382351040840149, + -0.061381515115499496, + 0.34051021933555603, + -0.06793956607580184 + ], + [ + 0.06896502524614334, + 0.9975669384002686, + -0.010200089775025845, + 0.2288591530174017 + ], + [ + -0.3390556275844574, + 0.03305337578058243, + 0.9401854872703552, + -1.6437104657292365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9374127388000488, + -0.0614573210477829, + 0.3427541255950928, + -0.06875692856098925 + ], + [ + 0.06917043030261993, + 0.9975515604019165, + -0.010311754420399666, + 0.22622124051290846 + ], + [ + -0.3412811756134033, + 0.03337481617927551, + 0.9393685460090637, + -1.6798342678281997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9370938539505005, + -0.0627216324210167, + 0.3433963656425476, + -0.0582756447413611 + ], + [ + 0.07151175290346146, + 0.9973552823066711, + -0.012980547733604908, + 0.23490850328807794 + ], + [ + -0.3416740298271179, + 0.036720868200063705, + 0.9391008615493774, + -1.7011787950519532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9359426498413086, + -0.06103440374135971, + 0.3468228876590729, + -0.06772304152448971 + ], + [ + 0.07068385928869247, + 0.9973825216293335, + -0.015227923169732094, + 0.24357061453518414 + ], + [ + -0.34498563408851624, + 0.038767240941524506, + 0.937807023525238, + -1.709597847717149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9349378943443298, + -0.06056318059563637, + 0.34960445761680603, + -0.0647099173908669 + ], + [ + 0.06995159387588501, + 0.997448205947876, + -0.014278296381235123, + 0.23912847983458685 + ], + [ + -0.3478476107120514, + 0.03780470788478851, + 0.9367885589599609, + -1.7662336565435879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9348143935203552, + -0.061501018702983856, + 0.3497709333896637, + -0.05663428249813262 + ], + [ + 0.07092873007059097, + 0.9973803758621216, + -0.014195832423865795, + 0.23623523113746492 + ], + [ + -0.34798160195350647, + 0.03807927295565605, + 0.9367277026176453, + -1.7882764675314464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9342742562294006, + -0.06225062534213066, + 0.3510790765285492, + -0.06087790064158894 + ], + [ + 0.07277660816907883, + 0.9972058534622192, + -0.016852673143148422, + 0.24816458365392116 + ], + [ + -0.34904900193214417, + 0.041295357048511505, + 0.9361941814422607, + -1.7997558370232583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9337188005447388, + -0.06021620333194733, + 0.35290685296058655, + -0.04813933372497559 + ], + [ + 0.07049886882305145, + 0.9973779320716858, + -0.01634370908141136, + 0.25217359016338986 + ], + [ + -0.35099735856056213, + 0.04013996198773384, + 0.9355157017707825, + -1.8459679335355759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9323063492774963, + -0.05917394906282425, + 0.35679593682289124, + -0.06107319252831595 + ], + [ + 0.06932971626520157, + 0.9974697828292847, + -0.015729743987321854, + 0.25730433334552105 + ], + [ + -0.35496237874031067, + 0.039401497691869736, + 0.9340499043464661, + -1.8618780774020014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.931443989276886, + -0.05932425707578659, + 0.3590163290500641, + -0.061763538739510945 + ], + [ + 0.06973522156476974, + 0.9974355101585388, + -0.016106050461530685, + 0.263202606354441 + ], + [ + -0.3571401536464691, + 0.040037963539361954, + 0.9331923127174377, + -1.8860435741288322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9305073618888855, + -0.06047224998474121, + 0.36124664545059204, + -0.06067919962935977 + ], + [ + 0.07151481509208679, + 0.9972901344299316, + -0.017264343798160553, + 0.2665799646387024 + ], + [ + -0.35922372341156006, + 0.04189908504486084, + 0.9323104619979858, + -1.9122996187399304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9290190935134888, + -0.06319940090179443, + 0.36459484696388245, + -0.05788917359378602 + ], + [ + 0.07507100701332092, + 0.9970071911811829, + -0.018464714288711548, + 0.2678553696189608 + ], + [ + -0.3623367249965668, + 0.04452457278966904, + 0.9309831857681274, + -1.9447387025942877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9274462461471558, + -0.06522997468709946, + 0.3682234585285187, + -0.05887430249935105 + ], + [ + 0.07810129970312119, + 0.9967418909072876, + -0.020143501460552216, + 0.27439761880253044 + ], + [ + -0.3657098114490509, + 0.04744074493646622, + 0.9295190572738647, + -1.9761651850172453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9257420897483826, + -0.06675709038972855, + 0.37221649289131165, + -0.06489758761156172 + ], + [ + 0.08076367527246475, + 0.9964872002601624, + -0.022147737443447113, + 0.2804486731924708 + ], + [ + -0.36943045258522034, + 0.050564661622047424, + 0.92788165807724, + -1.9918517772167448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9244701862335205, + -0.06788799166679382, + 0.3751614987850189, + -0.05997172196706136 + ], + [ + 0.08289383351802826, + 0.996269702911377, + -0.02398465946316719, + 0.2876201618876722 + ], + [ + -0.3721337616443634, + 0.05327167734503746, + 0.9266490936279297, + -2.03889756285482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9235008955001831, + -0.07112137973308563, + 0.376945436000824, + -0.048343286840688615 + ], + [ + 0.08691717684268951, + 0.9959008097648621, + -0.025038782507181168, + 0.29669786854868846 + ], + [ + -0.3736194968223572, + 0.055886369198560715, + 0.9258970022201538, + -2.0832859689281102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9223323464393616, + -0.0708150863647461, + 0.37985295057296753, + -0.05468059087556506 + ], + [ + 0.08768205344676971, + 0.9957753419876099, + -0.027263395488262177, + 0.29629807627153776 + ], + [ + -0.37631756067276, + 0.058452196419239044, + 0.9246450662612915, + -2.1150783149495958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9218298196792603, + -0.0679236575961113, + 0.38159680366516113, + -0.05669511819169634 + ], + [ + 0.0863780602812767, + 0.9957668781280518, + -0.03141992911696434, + 0.30206762892859323 + ], + [ + -0.3778473138809204, + 0.06192541494965553, + 0.923794686794281, + -2.166539994497148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9254414439201355, + -0.06346864998340607, + 0.3735370337963104, + -0.09776329419442585 + ], + [ + 0.08223865926265717, + 0.9960149526596069, + -0.03451152518391609, + 0.2970278383365699 + ], + [ + -0.369858056306839, + 0.06265757977962494, + 0.9269730448722839, + -2.1670863047242164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9371210336685181, + -0.06100258231163025, + 0.34363195300102234, + -0.145101033458634 + ], + [ + 0.07836025953292847, + 0.9962441921234131, + -0.036840520799160004, + 0.2952778521984343 + ], + [ + -0.3400939404964447, + 0.06145111471414566, + 0.9383814930915833, + -2.170322432451778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.949031412601471, + -0.06003505736589432, + 0.30941107869148254, + -0.1262844100831047 + ], + [ + 0.07576001435518265, + 0.9963611960411072, + -0.039048485457897186, + 0.31990132462528964 + ], + [ + -0.3059408962726593, + 0.06049922853708267, + 0.9501262903213501, + -2.231214319453353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9526041150093079, + -0.05983032286167145, + 0.29827117919921875, + -0.13391842941443127 + ], + [ + 0.07483595609664917, + 0.9964277148246765, + -0.03913368657231331, + 0.32444542050361636 + ], + [ + -0.294864296913147, + 0.05960031971335411, + 0.9536786079406738, + -2.2844345490137736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9542319178581238, + -0.06183915585279465, + 0.29260438680648804, + -0.09593164075225118 + ], + [ + 0.07550535351037979, + 0.9965085387229919, + -0.03563300147652626, + 0.3126451265185125 + ], + [ + -0.2893792390823364, + 0.056095343083143234, + 0.9555694460868835, + -2.2969430472169603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9551575183868408, + -0.060409583151340485, + 0.28987038135528564, + -0.09420791373011612 + ], + [ + 0.07233431190252304, + 0.9969111680984497, + -0.03059186041355133, + 0.30937723175637305 + ], + [ + -0.28712695837020874, + 0.0501876175403595, + 0.9565768837928772, + -2.3373341320999086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9556084275245667, + -0.05920679494738579, + 0.2886296510696411, + -0.10485968327238447 + ], + [ + 0.06949914991855621, + 0.9972552061080933, + -0.025533385574817657, + 0.30804168110092484 + ], + [ + -0.28632569313049316, + 0.04445943236351013, + 0.9571002721786499, + -2.38723091114135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9573544263839722, + -0.060839325189590454, + 0.2824377417564392, + -0.10341283051030976 + ], + [ + 0.06980516016483307, + 0.9973227977752686, + -0.021781189367175102, + 0.30745541197913034 + ], + [ + -0.2803564667701721, + 0.040567927062511444, + 0.9590383172035217, + -2.425766857465108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9594680666923523, + -0.05843625217676163, + 0.27569228410720825, + -0.08939641714687385 + ], + [ + 0.06662849336862564, + 0.9975685477256775, + -0.020434901118278503, + 0.315069044600167 + ], + [ + -0.27382779121398926, + 0.03797559067606926, + 0.9610286951065063, + -2.4532872659819467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9609877467155457, + -0.056226253509521484, + 0.27081575989723206, + -0.06671888647334916 + ], + [ + 0.06412791460752487, + 0.997732937335968, + -0.02041001431643963, + 0.3236556867403643 + ], + [ + -0.26905420422554016, + 0.03698062151670456, + 0.9624148011207581, + -2.4689538968460902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9624417424201965, + -0.04681570082902908, + 0.2674214243888855, + -0.053403126158648076 + ], + [ + 0.05417246371507645, + 0.998327374458313, + -0.020194513723254204, + 0.3332810929665963 + ], + [ + -0.2660287022590637, + 0.033922918140888214, + 0.9633680582046509, + -2.494948164290852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9636372923851013, + -0.033648256212472916, + 0.26508674025535583, + -0.04201842960384157 + ], + [ + 0.040293436497449875, + 0.9989942908287048, + -0.01966843381524086, + 0.34093003967215146 + ], + [ + -0.26415833830833435, + 0.029634490609169006, + 0.9640239477157593, + -2.5220702423935846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9640087485313416, + -0.027478035539388657, + 0.26444679498672485, + -0.031806581325474245 + ], + [ + 0.03386874869465828, + 0.9992333650588989, + -0.019636468961834908, + 0.3474349205426517 + ], + [ + -0.26370447874069214, + 0.02788621000945568, + 0.9642003178596497, + -2.551957721227691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9635701775550842, + -0.029953619465231895, + 0.26577305793762207, + -0.02598441605057035 + ], + [ + 0.03640526533126831, + 0.9991491436958313, + -0.019380800426006317, + 0.35270020053500223 + ], + [ + -0.2649664282798767, + 0.02835030108690262, + 0.9638407826423645, + -2.588316626681222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9629307389259338, + -0.032618649303913116, + 0.2677692770957947, + -0.01434447509901865 + ], + [ + 0.03899028152227402, + 0.9990681409835815, + -0.018511049449443817, + 0.3573467009774749 + ], + [ + -0.2669159173965454, + 0.02826525643467903, + 0.9633052349090576, + -2.6167684211617424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9619884490966797, + -0.034979451447725296, + 0.27084067463874817, + -0.00799830414000012 + ], + [ + 0.04112568125128746, + 0.9990085363388062, + -0.017049362882971764, + 0.35935253018424623 + ], + [ + -0.2699757516384125, + 0.027539798989892006, + 0.9624732136726379, + -2.651296359016782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9614325761795044, + -0.037853289395570755, + 0.27242353558540344, + 0.004517990965691818 + ], + [ + 0.044110361486673355, + 0.9988840818405151, + -0.01687844842672348, + 0.3623997848628769 + ], + [ + -0.27148064970970154, + 0.02824418991804123, + 0.9620293974876404, + -2.673365187952443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9615046381950378, + -0.034319907426834106, + 0.27263715863227844, + 0.016780014998382997 + ], + [ + 0.04053870588541031, + 0.9990297555923462, + -0.01720801368355751, + 0.3630350984632969 + ], + [ + -0.2717820703983307, + 0.02759794145822525, + 0.9619629979133606, + -2.7000346809625624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.961287796497345, + -0.026705622673034668, + 0.27424919605255127, + 0.02341034880706243 + ], + [ + 0.03225232660770416, + 0.9993559122085571, + -0.01573512889444828, + 0.3663509587092059 + ], + [ + -0.2736523151397705, + 0.023971160873770714, + 0.9615299105644226, + -2.733690072808947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.961094081401825, + -0.02373455837368965, + 0.27519962191581726, + 0.031165994822032875 + ], + [ + 0.02877836674451828, + 0.9994834661483765, + -0.014303874224424362, + 0.3624828090033834 + ], + [ + -0.27471795678138733, + 0.02166716381907463, + 0.9612807035446167, + -2.760956892418483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9614242911338806, + -0.018258247524499893, + 0.27446305751800537, + 0.03962707304292255 + ], + [ + 0.023049838840961456, + 0.9996328353881836, + -0.014242833480238914, + 0.3658747462703595 + ], + [ + -0.27410227060317993, + 0.020019734278321266, + 0.9614921808242798, + -2.7874572403374174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9613152146339417, + -0.009037544019520283, + 0.27530229091644287, + 0.04280176020803905 + ], + [ + 0.012941903434693813, + 0.999839723110199, + -0.012368777766823769, + 0.3657502759469762 + ], + [ + -0.27514636516571045, + 0.01545323058962822, + 0.9612781405448914, + -2.8232937114579335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9605717062950134, + -0.00632533710449934, + 0.27796050906181335, + 0.04673300224637228 + ], + [ + 0.009694869630038738, + 0.9998952150344849, + -0.010749523527920246, + 0.3700849574258817 + ], + [ + -0.27786341309547424, + 0.013020479120314121, + 0.9605323672294617, + -2.8499731083947513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.959878146648407, + -0.007949160411953926, + 0.28030475974082947, + 0.051914042329031324 + ], + [ + 0.01123676635324955, + 0.999885618686676, + -0.010123535990715027, + 0.3754375566447538 + ], + [ + -0.28019222617149353, + 0.012867080047726631, + 0.959857702255249, + -2.8711863580204193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9590999484062195, + -0.015886932611465454, + 0.28262144327163696, + 0.05232981344064078 + ], + [ + 0.019482698291540146, + 0.9997609853744507, + -0.009916863404214382, + 0.3796927162135641 + ], + [ + -0.2823963761329651, + 0.015017491765320301, + 0.9591802358627319, + -2.9041806012392044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9581760168075562, + -0.016893241554498672, + 0.2856804132461548, + 0.05805435653716799 + ], + [ + 0.02070866897702217, + 0.9997320771217346, + -0.010339649394154549, + 0.3833375240070006 + ], + [ + -0.2854291796684265, + 0.01582326553761959, + 0.9582691788673401, + -2.93131426109208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9570173621177673, + -0.0185684971511364, + 0.28943559527397156, + 0.065168344832602 + ], + [ + 0.022635184228420258, + 0.9996864199638367, + -0.010709090158343315, + 0.38894980743172625 + ], + [ + -0.28914597630500793, + 0.01680021360516548, + 0.9571375846862793, + -2.958781273521128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9557433128356934, + -0.01905619539320469, + 0.29358407855033875, + 0.06604144658361162 + ], + [ + 0.023282485082745552, + 0.9996694326400757, + -0.010907205753028393, + 0.39167795718780585 + ], + [ + -0.2932792007923126, + 0.017259854823350906, + 0.955871045589447, + -2.9863740622997286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9544944763183594, + -0.020030740648508072, + 0.29755517840385437, + 0.07279225687185924 + ], + [ + 0.024548087269067764, + 0.9996330738067627, + -0.011452073231339455, + 0.39965083186056405 + ], + [ + -0.29721662402153015, + 0.018235351890325546, + 0.9546359181404114, + -3.0184425703353353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9528345465660095, + -0.020064590498805046, + 0.30282631516456604, + 0.07700555594194503 + ], + [ + 0.024819081649184227, + 0.9996216297149658, + -0.01185987051576376, + 0.4067266909701247 + ], + [ + -0.3024737536907196, + 0.01881636492908001, + 0.9529719352722168, + -3.04323753548993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9512482285499573, + -0.021730531007051468, + 0.3076598048210144, + 0.08206753021194821 + ], + [ + 0.02669128030538559, + 0.9995725750923157, + -0.011924821883440018, + 0.41250210874492216 + ], + [ + -0.3072691559791565, + 0.01955530047416687, + 0.9514216780662537, + -3.0722164146956943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9498369693756104, + -0.023642640560865402, + 0.31185051798820496, + 0.0834717419412401 + ], + [ + 0.028688952326774597, + 0.999521017074585, + -0.011603347025811672, + 0.4187806804974874 + ], + [ + -0.3114268481731415, + 0.019967950880527496, + 0.9500603079795837, + -3.099322952164544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9485756158828735, + -0.03154425695538521, + 0.3149751126766205, + 0.08996713095241123 + ], + [ + 0.03671595826745033, + 0.9992706179618835, + -0.01049802079796791, + 0.4213157482297411 + ], + [ + -0.31441423296928406, + 0.021522779017686844, + 0.9490419030189514, + -3.133216917916896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9471825957298279, + -0.03916244953870773, + 0.31829458475112915, + 0.09323292885507856 + ], + [ + 0.04455256462097168, + 0.9989602565765381, + -0.00966930203139782, + 0.4189408685479845 + ], + [ + -0.3175849914550781, + 0.02333943359553814, + 0.9479425549507141, + -3.1625276497432164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9464491605758667, + -0.037353575229644775, + 0.3206847608089447, + 0.09573181493887825 + ], + [ + 0.04248126596212387, + 0.9990566968917847, + -0.009005779400467873, + 0.42400046576937983 + ], + [ + -0.3200458586215973, + 0.02214660681784153, + 0.9471431970596313, + -3.195719513273428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9459692239761353, + -0.03929330036044121, + 0.32186681032180786, + 0.09872318354863968 + ], + [ + 0.0435807965695858, + 0.999031126499176, + -0.0061232247389853, + 0.4241470365888543 + ], + [ + -0.32131439447402954, + 0.01981959491968155, + 0.9467651844024658, + -3.2328746150410366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9453795552253723, + -0.042825013399124146, + 0.3231463134288788, + 0.10495507674557822 + ], + [ + 0.046565450727939606, + 0.9989078044891357, + -0.0038489713333547115, + 0.42400526484208445 + ], + [ + -0.32262852787971497, + 0.018686188384890556, + 0.9463412165641785, + -3.260395411721298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9456824660301208, + -0.043216463178396225, + 0.3222065269947052, + 0.11768597922627888 + ], + [ + 0.046214643865823746, + 0.9989301562309265, + -0.0016577821224927902, + 0.42602712335212833 + ], + [ + -0.3217901885509491, + 0.01645839400589466, + 0.9466679692268372, + -3.2920939556663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9456599950790405, + -0.04351062700152397, + 0.32223281264305115, + 0.12587447166442872 + ], + [ + 0.045356836169958115, + 0.9989692568778992, + 0.0017801900394260883, + 0.4324503195161621 + ], + [ + -0.3219781219959259, + 0.012932004407048225, + 0.9466587901115417, + -3.328865104085869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9454672336578369, + -0.043852828443050385, + 0.32275164127349854, + 0.12576870620250702 + ], + [ + 0.04473123699426651, + 0.9989880323410034, + 0.00469875056296587, + 0.43171874185403186 + ], + [ + -0.3226310610771179, + 0.009994563646614552, + 0.9464720487594604, + -3.3619610298247564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.948436439037323, + -0.0460655577480793, + 0.31360211968421936, + 0.12858817250955673 + ], + [ + 0.046526554971933365, + 0.9988989233970642, + 0.006018324755132198, + 0.43509345993340487 + ], + [ + -0.31353405117988586, + 0.008882827125489712, + 0.9495354294776917, + -3.3972627563845545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9511978626251221, + -0.047523919492959976, + 0.3049001395702362, + 0.1450558037984939 + ], + [ + 0.04775164648890495, + 0.9988366961479187, + 0.006714877672493458, + 0.4380532402900003 + ], + [ + -0.3048645555973053, + 0.00817230436950922, + 0.9523606300354004, + -3.430849286440819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9526217579841614, + -0.04775090515613556, + 0.3003857731819153, + 0.15643784957272666 + ], + [ + 0.04785420000553131, + 0.9988296627998352, + 0.007017871830612421, + 0.4433743087663537 + ], + [ + -0.3003693222999573, + 0.007689341437071562, + 0.9537919759750366, + -3.465132855091776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9539773464202881, + -0.04774659126996994, + 0.2960532009601593, + 0.16452205152738664 + ], + [ + 0.04776716232299805, + 0.9988327622413635, + 0.007167873904109001, + 0.4494931437666454 + ], + [ + -0.2960498631000519, + 0.007303630001842976, + 0.9551445841789246, + -3.49164454378779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9572524428367615, + -0.0505884625017643, + 0.2847955822944641, + 0.17028516270811594 + ], + [ + 0.0504840649664402, + 0.9986950755119324, + 0.007712373975664377, + 0.4570544959149427 + ], + [ + -0.28481411933898926, + 0.0069949510507285595, + 0.9585572481155396, + -3.5229645712035045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9606821537017822, + -0.05435311794281006, + 0.27227848768234253, + 0.18790658116340636 + ], + [ + 0.05416678637266159, + 0.9984982013702393, + 0.00820639356970787, + 0.46448240950703623 + ], + [ + -0.2723156213760376, + 0.006864713504910469, + 0.9621834754943848, + -3.5499431014060976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/orbit_left/transforms.json b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..66886b8b2bdf8e825d2c5fbf53fa1abd6c41dd49 --- /dev/null +++ b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/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, + -9.838233381742612e-05, + -4.791899846168235e-05, + 9.177199535770342e-05 + ], + [ + 9.838460391620174e-05, + 1.0, + 4.736682240036316e-05, + -7.394507701974362e-05 + ], + [ + 4.791433457285166e-05, + -4.737153722089715e-05, + 1.0, + 0.00041252130176872015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999823951769947, + -0.002241932787001133, + 0.005495649799736667, + 0.0040742400575724995 + ], + [ + 0.0022726636748666793, + 0.9999817609786987, + -0.005592033891756607, + 0.002472924699020925 + ], + [ + -0.005483012815249536, + 0.005604425445199013, + 0.9999692487788873, + -0.02770023383723937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999933395354373, + -0.004094271920621395, + 0.01079042337432626, + 0.007740560487477415 + ], + [ + 0.00421181367088006, + 0.999931812286377, + -0.01089304499392052, + 0.008028810432852999 + ], + [ + -0.010745088667921064, + 0.0109377671033144, + 0.9998824425191235, + -0.05861695664750977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997981167566856, + -0.008079848252236843, + 0.01839700925600168, + 0.009164786541033997 + ], + [ + 0.00836259648330239, + 0.9998472929000854, + -0.015344570200212591, + 0.010133214693214529 + ], + [ + -0.01827021879191186, + 0.015495319850742817, + 0.9997130151305493, + -0.09157081374033103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9994919219077045, + -0.011359781958162785, + 0.029779207245138335, + 0.012880789686161548 + ], + [ + 0.011935246808594004, + 0.9997440576553345, + -0.019218364888343005, + 0.01642228962007691 + ], + [ + -0.02955327118469523, + 0.01956402324140072, + 0.9993717251976736, + -0.1146090406514439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9990082433244151, + -0.012502751313149929, + 0.04273479725048008, + 0.01866814464340597 + ], + [ + 0.01349822822462714, + 0.9996423721313477, + -0.0230856707231187, + 0.020890137065609264 + ], + [ + -0.04243087992470988, + 0.0236396174877882, + 0.9988197019115632, + -0.13056251198059032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9983285339252123, + -0.012247668579220772, + 0.056481382319088703, + 0.02049253669848977 + ], + [ + 0.01373228211282347, + 0.9995683431625366, + -0.025972221217662874, + 0.025957162924536703 + ], + [ + -0.056138899579714636, + 0.02670442685484886, + 0.9980657541942302, + -0.1525472335061196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9975245628230898, + -0.012767252512276176, + 0.06915009301854219, + 0.022537765922893645 + ], + [ + 0.0147571420907718, + 0.9994893670082095, + -0.02834238249127265, + 0.03172330504887083 + ], + [ + -0.06875292293798348, + 0.02929268032312394, + 0.9972035526088012, + -0.1714638741795146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9966373023216663, + -0.014021948911249638, + 0.08073052773855127, + 0.022371049117177935 + ], + [ + 0.01657427441468068, + 0.9993809461593628, + -0.031032536370115306, + 0.03668598353771777 + ], + [ + -0.08024541392214, + 0.03226623311638832, + 0.9962527562874262, + -0.19635016613545805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954080850076092, + -0.01537775341421366, + 0.0944787490112897, + 0.024276581025257666 + ], + [ + 0.018651993966129425, + 0.9992521405220034, + -0.033871040228145355, + 0.04131591659777654 + ], + [ + -0.09388723060434491, + 0.03547772392630578, + 0.9949505136173484, + -0.2221135681330511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9934462605955503, + -0.017929838970303535, + 0.11288525887657719, + 0.028480155567140387 + ], + [ + 0.022039383996696534, + 0.9991350173950195, + -0.035262479642972876, + 0.04578211942676316 + ], + [ + -0.11215535927974572, + 0.03751929849386215, + 0.9929821036286014, + -0.24305934867494847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9904310810676543, + -0.019117034971714023, + 0.1366775889654502, + 0.029151337219184788 + ], + [ + 0.024067474095040925, + 0.9991093277931216, + -0.03465944292777366, + 0.0501686396566242 + ], + [ + -0.13589326679412456, + 0.03761727362871171, + 0.990009072691954, + -0.2692878790799002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9868301053999428, + -0.0200913418084383, + 0.16050765234568257, + 0.02598690762677681 + ], + [ + 0.025838921789881623, + 0.9990944862365723, + -0.033801983717947855, + 0.061356329146914856 + ], + [ + -0.15968317607473934, + 0.0375041589140892, + 0.9864556630086272, + -0.29409195613971506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9831756100588996, + -0.0217317845672369, + 0.1813653791498393, + 0.0015577604406113409 + ], + [ + 0.027404062748858503, + 0.9992086887359619, + -0.028828107598907332, + 0.06863438911758397 + ], + [ + -0.18059538316106605, + 0.033313240855932236, + 0.9829931471363236, + -0.2981944984474155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9794605953888257, + -0.024674711748957634, + 0.20012034847928825, + -0.010958483234093215 + ], + [ + 0.028655531349094404, + 0.9994444251060486, + -0.017019554747393983, + 0.06097179838141268 + ], + [ + -0.19958922509430818, + 0.022404538467526436, + 0.9796235141724032, + -0.3388739164511413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9754319762924221, + -0.025655964389443404, + 0.21880194499572744, + -0.011344716905419789 + ], + [ + 0.028813225654355422, + 0.9995214939117434, + -0.011250594374146475, + 0.06066256555146647 + ], + [ + -0.2184085978703052, + 0.01727857813239098, + 0.9757044209728123, + -0.3598676505527019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9719365172082297, + -0.02726754173636437, + 0.23365770356193938, + -0.01502308165498984 + ], + [ + 0.02960500200515977, + 0.9995405077934267, + -0.0065016851840278556, + 0.05355499328205764 + ], + [ + -0.23337306088732487, + 0.013236660510301593, + 0.9722971892706883, + -0.38147412475764403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9687149830699542, + -0.030081553384661674, + 0.24634604656184042, + -0.0224684490359019 + ], + [ + 0.03183849169313436, + 0.9994880557060242, + -0.0031511407476102044, + 0.05612493515378837 + ], + [ + -0.24612514176740038, + 0.010895843617618084, + 0.9691768425285262, + -0.4089264426927426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9655665227276694, + -0.03212690353393555, + 0.25816504238976706, + -0.01687348861727793 + ], + [ + 0.03278920940061885, + 0.999460756778717, + 0.0017408047082439705, + 0.059640690802991614 + ], + [ + -0.2580817572096957, + 0.006784164812415838, + 0.9660992390269357, + -0.43166578980734704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9617895045486275, + -0.03481781482696533, + 0.2715670344508639, + -0.018016315197159953 + ], + [ + 0.03416962475279975, + 0.999390721321106, + 0.007116528046847761, + 0.06243710119141005 + ], + [ + -0.2716493673701867, + 0.0024347403086721897, + 0.9623932027072903, + -0.4580894068304691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9576846789197576, + -0.038250498473644264, + 0.28526645311733423, + -0.022696792081562632 + ], + [ + 0.03653813046131007, + 0.9992681145668032, + 0.011324474138793734, + 0.06177816470785628 + ], + [ + -0.28549082276363436, + -0.0004221727140247823, + 0.9583813205991919, + -0.4830775918482687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9538877324088724, + -0.04183477163314819, + 0.29723394912553464, + -0.02418941013696127 + ], + [ + 0.039221256174106094, + 0.9991216063499451, + 0.014753867996157043, + 0.06758858659132971 + ], + [ + -0.297590104276891, + -0.0024156454019248486, + 0.9546906774868329, + -0.5070906214650517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9500509103029022, + -0.04527626186609269, + 0.3087933739568012, + -0.02929417073643363 + ], + [ + 0.04187303476828008, + 0.9989671707153323, + 0.01764281379194292, + 0.07507377137285673 + ], + [ + -0.3092732248407058, + -0.0038314568810164937, + 0.9509654933217541, + -0.524259085247319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9463727314022959, + -0.04850868508219719, + 0.3194144117550386, + -0.01901785698245466 + ], + [ + 0.04420853173399028, + 0.9988077878952026, + 0.020703837733129837, + 0.07418637536539745 + ], + [ + -0.32003789850335623, + -0.005472706630825996, + 0.9473889170359702, + -0.5530891410773868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9426283843801652, + -0.05179406329989435, + 0.32980158185800834, + -0.010792043581806784 + ], + [ + 0.04690551265677202, + 0.9986398220062258, + 0.022768675395266547, + 0.08046014238383001 + ], + [ + -0.33053225530473, + -0.0059928875416517275, + 0.9437756475827479, + -0.58320917340222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9386597986054634, + -0.054358188062906265, + 0.34053328413719874, + -0.015207973235715329 + ], + [ + 0.049060673743410034, + 0.9985036849975586, + 0.02415495114601989, + 0.08422258233969582 + ], + [ + -0.3413367427812573, + -0.005966491531580687, + 0.9399221464028651, + -0.6022924528309906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9346384461180745, + -0.056409720331430435, + 0.3510967653958046, + -0.018908878726823855 + ], + [ + 0.05108564004504088, + 0.9983957409858704, + 0.024416700179291165, + 0.09116731669466435 + ], + [ + -0.3519108552321545, + -0.004884785041213036, + 0.9360207582240994, + -0.6212238787251421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9310078503090419, + -0.0579819865524769, + 0.3603643483314084, + -0.006849988543494022 + ], + [ + 0.0527161448456439, + 0.9983105659484866, + 0.024433282933088437, + 0.09717553903111303 + ], + [ + -0.36117223533062237, + -0.0037505598738789567, + 0.932491599306596, + -0.655090693994784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9267744999207904, + -0.058775532990694046, + 0.37099114810409467, + -0.01464086743042961 + ], + [ + 0.05363384346089659, + 0.9982680678367615, + 0.024171089773600548, + 0.09996711993052432 + ], + [ + -0.3717693140633501, + -0.00250347051769495, + 0.9283217656176357, + -0.6751591989250316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9230955049780268, + -0.060026258230209364, + 0.3798572157444666, + -0.006609038960330049 + ], + [ + 0.05471816604004035, + 0.9981946349143984, + 0.0247666544842428, + 0.10339047249717644 + ], + [ + -0.3806580695504937, + -0.002076896838843823, + 0.9247135420392715, + -0.7203979610593488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9198301039651382, + -0.060840301215648665, + 0.38757072775133816, + -0.014705084780618015 + ], + [ + 0.055557240507893874, + 0.9981466531753542, + 0.024832434735908526, + 0.107344995746032 + ], + [ + -0.3883632137253194, + -0.0013092616572976115, + 0.9215054331469739, + -0.7348659248614711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9171433684251252, + -0.061177417635917664, + 0.39383415385608833, + -0.022740480538118585 + ], + [ + 0.056214595663485106, + 0.9981269240379333, + 0.024137018754594033, + 0.11438893693989849 + ], + [ + -0.3945730971589086, + 2.1168962121009827e-06, + 0.9188645660301298, + -0.7562691726465474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9166838684097752, + -0.06329496204853058, + 0.3945686563336942, + -0.00852763251791306 + ], + [ + 0.05822188470517745, + 0.9979948401451111, + 0.024829603413808646, + 0.1151318864338086 + ], + [ + -0.3953490482421684, + 0.00021163001656532288, + 0.9185309322206836, + -0.7984296825994879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9153109741522399, + -0.06485264748334885, + 0.39749213532027766, + 0.014026558762041265 + ], + [ + 0.059891056788674915, + 0.9978943467140198, + 0.024898981427098753, + 0.1159004443265445 + ], + [ + -0.3982699089891992, + 0.001015910878777504, + 0.9172677425241714, + -0.8323208008068185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9116398126504438, + -0.06486009806394578, + 0.4058398734852403, + 0.003825326146077994 + ], + [ + 0.060881059523971624, + 0.9978863596916201, + 0.022721800990472957, + 0.12399565839120436 + ], + [ + -0.40645583923970513, + 0.003993860911577941, + 0.9136617313447238, + -0.8299543203173368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9077594093685322, + -0.06381519138813019, + 0.41460890012219637, + -0.007278485045398575 + ], + [ + 0.060566161322520476, + 0.9979434013366699, + 0.02099435539766406, + 0.13268595621792686 + ], + [ + -0.4150959477259094, + 0.006053442135453224, + 0.9097575295284429, + -0.8467454866244657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9019371499690476, + -0.06344871968030931, + 0.4271810344538691, + -0.048108108075460565 + ], + [ + 0.06072032398772102, + 0.9979540109634402, + 0.02002191805957738, + 0.12337302248160717 + ], + [ + -0.42757735904556154, + 0.00788005441427231, + 0.903944411996259, + -0.8021696019849247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8992510048669144, + -0.06192407011985779, + 0.4330277904573375, + -0.02153366130878015 + ], + [ + 0.06015420777306695, + 0.9980303645133972, + 0.01780109211478695, + 0.12650232104569117 + ], + [ + -0.4332771648232839, + 0.010040792636573315, + 0.901204755185343, + -0.8821727732825131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8955351747040624, + -0.060161735862493515, + 0.4409050936359828, + -0.021367786268174163 + ], + [ + 0.0596143542111325, + 0.9981071352958679, + 0.015107798773931631, + 0.1265991721437201 + ], + [ + -0.440979464245077, + 0.012754705734550953, + 0.8974265758205984, + -0.8898367901662477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8934019432193426, + -0.05769183859229088, + 0.4455385573735646, + 0.02332307447449715 + ], + [ + 0.05822889955109457, + 0.9982250332832336, + 0.012496390316224371, + 0.12831642412667998 + ], + [ + -0.445468687643754, + 0.014778916724026203, + 0.8951755704681963, + -0.9789668295636655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8875639770584018, + -0.05553293228149414, + 0.4573251896835155, + -0.014893918215150986 + ], + [ + 0.057819905360938804, + 0.9982864260673523, + 0.009006510454970827, + 0.14051991432692829 + ], + [ + -0.45704166778932764, + 0.018448643386363983, + 0.889253932368723, + -0.9547208970437208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8824242077819774, + -0.05347760394215584, + 0.4674051995505129, + -0.027744418095299414 + ], + [ + 0.05722560415434965, + 0.9983420968055725, + 0.0061866765659682405, + 0.14858457182698506 + ], + [ + -0.46696115688908263, + 0.021288271993398666, + 0.8840215559015069, + -0.9750049949160228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.877925858622047, + -0.05257138237357141, + 0.47590171433558, + -0.02533378544750499 + ], + [ + 0.05740890198824738, + 0.9983411431312563, + 0.004377820753973363, + 0.14566452376696482 + ], + [ + -0.4753424383070736, + 0.023477591574192054, + 0.8794875894354579, + -1.0159661070832005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8736623930643371, + -0.051446933299303055, + 0.48380497880093537, + -0.025107363394381993 + ], + [ + 0.057229704558878186, + 0.9983570575714111, + 0.0028171814877182445, + 0.1432612075563452 + ], + [ + -0.48315506932259933, + 0.02522674947977066, + 0.8751713357902193, + -1.0581232933423377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8685919157528394, + -0.05065470561385155, + 0.49293219723887827, + -0.04730757909712327 + ], + [ + 0.057878825357928446, + 0.9983234405517578, + 0.0006019069483883419, + 0.15221426928603676 + ], + [ + -0.49213625897007646, + 0.028007522225379944, + 0.8700675181894797, + -1.0649332242660323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8642576990294141, + -0.050020668655633926, + 0.5005562751829891, + -0.05492381948684351 + ], + [ + 0.05801746523867392, + 0.9983155131340027, + -0.00041081852542039135, + 0.1527157479415959 + ], + [ + -0.49969254849537925, + 0.02939605712890625, + 0.8657039406630771, + -1.0927550839256328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8623182458386359, + -0.04998716711997986, + 0.5038933773033555, + -0.07948609570037479 + ], + [ + 0.05880689578056706, + 0.9982680678367615, + -0.0016068133486072838, + 0.15691983059057496 + ], + [ + -0.5029403857049525, + 0.031017987057566643, + 0.8637644068870486, + -1.1047530963705303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8652922977073093, + -0.050761431455612196, + 0.4986908193631517, + -0.08508450458037575 + ], + [ + 0.05963546056900201, + 0.9982184767723086, + -0.0018671023026409599, + 0.15565062575156371 + ], + [ + -0.49770761724544993, + 0.031355243176221854, + 0.8667779470114181, + -1.1553094434769842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8691983355820715, + -0.05140462517738344, + 0.49178435132217707, + -0.126313178217393 + ], + [ + 0.06031442509236329, + 0.9981768727302553, + -0.002265820978123594, + 0.16609245790623905 + ], + [ + -0.49077128798661623, + 0.031631134450435645, + 0.8707141212688706, + -1.131697328255381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8769844252407458, + -0.053655374795198454, + 0.4775137601417445, + -0.13082683975453338 + ], + [ + 0.06144890439933655, + 0.9981099963188174, + -0.0007031652350941015, + 0.16462153942164967 + ], + [ + -0.47657350066007004, + 0.02995936200022698, + 0.8786240136468392, + -1.1676746764870922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8818965006564332, + -0.05491144210100175, + 0.46823425535085444, + -0.12688229306414633 + ], + [ + 0.061459533618478564, + 0.9981087446212771, + 0.0012955947137691134, + 0.15836669717302257 + ], + [ + -0.4674198222112029, + 0.027634875848889358, + 0.883603421199974, + -1.2263171790531624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8818314994535785, + -0.05562080070376396, + 0.46827296728383194, + -0.11492709586596085 + ], + [ + 0.062165236049694955, + 0.9980647563934326, + 0.001481830365031585, + 0.16522773495640714 + ], + [ + -0.46744915956639405, + 0.02780357003211975, + 0.8835826024964841, + -1.2650689458115383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8794501313074897, + -0.0576099492609501, + 0.4724918138544155, + -0.12465896409861373 + ], + [ + 0.06375820090259494, + 0.9979608654975893, + 0.00300600395416969, + 0.17170868978980117 + ], + [ + -0.47170148754779034, + 0.027481596916913993, + 0.8813299260948374, + -1.2751764241210994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8795255419220103, + -0.06108393520116806, + 0.4719148570691845, + -0.15396728046780592 + ], + [ + 0.06598864260828818, + 0.9978013038635254, + 0.006168339379933936, + 0.16922544242030169 + ], + [ + -0.47125404349327715, + 0.02571580745279789, + 0.8816225837962695, + -1.3009693946287828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8903551629434707, + -0.04911627992987633, + 0.4526093965612962, + -0.1699547111107267 + ], + [ + 0.052680310410448364, + 0.99860018491745, + 0.0047355193304474946, + 0.17719164932063397 + ], + [ + -0.45220843476232014, + 0.01962731033563614, + 0.8916963072098978, + -1.3245917225880284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8965725569527961, + -0.053557172417640686, + 0.43964676054423946, + -0.16450630255565735 + ], + [ + 0.05656969139362347, + 0.9983790516853333, + 0.00625847962277456, + 0.1700504906846494 + ], + [ + -0.4392693133629309, + 0.0192594975233078, + 0.8981489565224143, + -1.3748146366731395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8983262988944775, + -0.06241566687822343, + 0.43487253903222606, + -0.14841356703819847 + ], + [ + 0.06611344093871414, + 0.9977900385856631, + 0.006637084989089046, + 0.17628093338841794 + ], + [ + -0.4343257615776558, + 0.02278864942491055, + 0.9004675885050638, + -1.4141815325899147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8973092670779004, + -0.06560719013214111, + 0.4364995121539229, + -0.1459263421800838 + ], + [ + 0.07047108117955582, + 0.997501015663147, + 0.005060456765373373, + 0.19301497719026636 + ], + [ + -0.43574067486977336, + 0.026219794526696205, + 0.8996902997430309, + -1.430876663531174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8958124808528667, + -0.06680790334939957, + 0.4393822580360356, + -0.15295300951164348 + ], + [ + 0.07254782793633523, + 0.9973579049110413, + 0.0037373871389321973, + 0.19927119444194813 + ], + [ + -0.4384710842678848, + 0.028528228402137756, + 0.8982924242358938, + -1.4463364148748301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8942791643655807, + -0.06573233753442764, + 0.4426556587433893, + -0.1449773548259309 + ], + [ + 0.0720327952980681, + 0.9973989129066467, + 0.0025842506698596627, + 0.20783313199639006 + ], + [ + -0.44167415990599207, + 0.0295746847987175, + 0.8966879593359841, + -1.4790874998943908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8924086409236133, + -0.06520580500364305, + 0.4464918780376323, + -0.13879359514851888 + ], + [ + 0.07176329262886305, + 0.9974191784858706, + 0.0022292440540381217, + 0.2117399313085927 + ], + [ + -0.4454849235213183, + 0.0300523266196251, + 0.8947849022310057, + -1.5160703861464213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8902492086862557, + -0.06533044576644899, + 0.4507641587307106, + -0.1327657890661474 + ], + [ + 0.07265988276739026, + 0.9973562359809878, + 0.0010478270881850095, + 0.21610554637051885 + ], + [ + -0.4496408665030158, + 0.031819641590118415, + 0.8926424703233805, + -1.5408785665338467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8884276217983827, + -0.06353916972875596, + 0.45459773209757975, + -0.11972499338527066 + ], + [ + 0.07152094276695063, + 0.9974390268325808, + -0.0003623782305840026, + 0.21748773591444664 + ], + [ + -0.4534105082082493, + 0.03283520415425301, + 0.8906967871533854, + -1.5759183090663564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8857628703627342, + -0.06138151511549951, + 0.46006136274877646, + -0.13664306554995195 + ], + [ + 0.06970639877344074, + 0.9975669384002688, + -0.0011110844512621028, + 0.22320889347443917 + ], + [ + -0.45887379132243605, + 0.033053375780582435, + 0.8878864300730468, + -1.6007681984175635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8836924406377022, + -0.06145732104778291, + 0.4640158443812525, + -0.1384457831273368 + ], + [ + 0.06992695368663787, + 0.9975515604019167, + -0.0010496930899259191, + 0.2204627916487166 + ], + [ + -0.462815210783736, + 0.03337481617927552, + 0.8858262734455642, + -1.6360449815106455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8823239587719224, + -0.0627216324210167, + 0.4664444091479233, + -0.12901597201661053 + ], + [ + 0.07260832584164331, + 0.9973552823066711, + -0.003233642105100249, + 0.22882134111645294 + ], + [ + -0.46500799073769417, + 0.036720868200063705, + 0.8845445943372091, + -1.6566778197525127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8797440748280217, + -0.06103440374135971, + 0.4715136498566467, + -0.13939475393270262 + ], + [ + 0.07210199086715419, + 0.9973825216293335, + -0.005422224727891292, + 0.23741856494980004 + ], + [ + -0.4699485110427066, + 0.038767240941524506, + 0.881842104953866, + -1.6641598395039812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8773814679049008, + -0.06056318059563637, + 0.47595577824372726, + -0.13733231310194183 + ], + [ + 0.07125614831803437, + 0.997448205947876, + -0.004433571946572305, + 0.23296226431795852 + ], + [ + -0.4744727285403563, + 0.03780470788478851, + 0.8794580117025671, + -1.7198839490990319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8762449335742064, + -0.061501018702983856, + 0.4779251746483343, + -0.13032694771470063 + ], + [ + 0.07222099335684334, + 0.9973803758621216, + -0.004066266860896519, + 0.22989474683644356 + ], + [ + -0.4764231034248076, + 0.03807927295565605, + 0.8783911490176431, + -1.7412246078710105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8745285251574748, + -0.062250625342130675, + 0.4809623296215943, + -0.13558289500733225 + ], + [ + 0.07443780429602069, + 0.9972058534622195, + -0.006281765695467529, + 0.24152056690320947 + ], + [ + -0.4792273929787028, + 0.04129535704851151, + 0.8767188015179137, + -1.7519291593097106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8727128136229736, + -0.06021620333194734, + 0.48450633669284854, + -0.12384339977232511 + ], + [ + 0.07212324043152878, + 0.997377932071686, + -0.005953614156419387, + 0.24564388938027548 + ], + [ + -0.4828774316605092, + 0.04013996198773385, + 0.8747674890901708, + -1.7972890502847219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8697354804023709, + -0.05917394906282426, + 0.4899578181493944, + -0.13765766789123188 + ], + [ + 0.07088875622480675, + 0.9974697828292849, + -0.005368299937593519, + 0.2507977708629024 + ], + [ + -0.4884004560923408, + 0.03940149769186974, + 0.8717296075156654, + -1.812177082988265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8675319222232204, + -0.059324257075786604, + 0.493830936260891, + -0.1393051731294108 + ], + [ + 0.07135681901681803, + 0.997435510158539, + -0.005532663730788089, + 0.2565602739772109 + ], + [ + -0.4922362902739997, + 0.04003796353936196, + 0.8695403477693457, + -1.8354616226207523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8652411147819213, + -0.06047224998474121, + 0.497695592375156, + -0.1391675885978781 + ], + [ + 0.07330233672071985, + 0.9972901344299316, + -0.006260493248830776, + 0.25965876343867833 + ], + [ + -0.4959683376033481, + 0.04189908504486084, + 0.8673291699853836, + -1.8608408310601883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8622216608435861, + -0.06319940090179443, + 0.502573065451551, + -0.13724692462676635 + ], + [ + 0.07701326253173806, + 0.9970071911811829, + -0.006749752734390792, + 0.2604836331960298 + ], + [ + -0.5006423836124559, + 0.04452457278966904, + 0.8645084141840654, + -1.8923111970047017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8590586076836476, + -0.06522997468709946, + 0.5077040116719457, + -0.1390821698247486 + ], + [ + 0.08028124699356644, + 0.9967418909072876, + -0.007777856232022166, + 0.26660574558346567 + ], + [ + -0.5055425300386341, + 0.04744074493646622, + 0.8614964273562202, + -1.9227400202171665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8556909814310669, + -0.06675709038972856, + 0.5131632085502117, + -0.14592957491618896 + ], + [ + 0.08324166126812542, + 0.9964872002601626, + -0.009171659975308426, + 0.2722566720135754 + ], + [ + -0.5107482906315807, + 0.05056466162204744, + 0.8582420487895053, + -1.9373915087175109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.852898078667813, + -0.06788799166679382, + 0.5176448037119805, + -0.1418851494873465 + ], + [ + 0.08565612672764553, + 0.996269702911377, + -0.010472797090377075, + 0.2790753759816263 + ], + [ + -0.5150028483726711, + 0.05327167734503746, + 0.85553149880357, + -1.9834840051069673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8505762488058619, + -0.07112137973308563, + 0.5210199714779078, + -0.131187598241391 + ], + [ + 0.08981841419395944, + 0.9959008097648621, + -0.010685912755943088, + 0.2876243149725124 + ], + [ + -0.5181242458913287, + 0.055886369198560715, + 0.8534776229905509, + -2.0270225464939107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.847863899248117, + -0.0708150863647461, + 0.5254636330890144, + -0.1384085321564575 + ], + [ + 0.09095853823977519, + 0.9957753419876099, + -0.012568991665003474, + 0.2869845043960296 + ], + [ + -0.5223536806553513, + 0.058452196419239044, + 0.8507232436802533, + -2.0578516477451676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8459861418744787, + -0.0679236575961113, + 0.5288608368689244, + -0.14139450608557952 + ], + [ + 0.09038616669763196, + 0.9957668781280518, + -0.016694972697756074, + 0.2926777310400872 + ], + [ + -0.5254881284612453, + 0.06192541494965553, + 0.8485443080963233, + -2.108453080074174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.8497961211008572, + -0.06346864998340607, + 0.5232765371237932, + -0.1840667117517023 + ], + [ + 0.08685760601289406, + 0.9960149526596069, + -0.020248425260952326, + 0.28787547024022886 + ], + [ + -0.5199060925302466, + 0.06265757977962494, + 0.8519223337163998, + -2.109019369371209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.8652880512808909, + -0.06100258231163025, + 0.4975493334110366, + -0.23434026214109505 + ], + [ + 0.08347213748890844, + 0.9962441921234131, + -0.02302078430145272, + 0.2863617111217517 + ], + [ + -0.4942762646027334, + 0.06145111471414566, + 0.8671301454738828, + -2.114362008261643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.8818584518814463, + -0.06003505736589432, + 0.46767671373142916, + -0.2186260837171845 + ], + [ + 0.08133700524391858, + 0.9963611960411072, + -0.025468717470729613, + 0.31109892561640695 + ], + [ + -0.4644458892774997, + 0.06049922853708267, + 0.8835325775007739, + -2.177880884777099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.8863376712939888, + -0.05983032286167145, + 0.4591577383848695, + -0.22800398403677224 + ], + [ + 0.08049452312673235, + 0.9964277148246765, + -0.02554403054021836, + 0.31563287175640425 + ], + [ + -0.4559891980353938, + 0.05960031971335411, + 0.8879874391638569, + -2.231550631265812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.8879798368063422, + -0.06183915585279465, + 0.4557057051025101, + -0.19144192400745508 + ], + [ + 0.08059135945485171, + 0.9965085387229919, + -0.02181288573693142, + 0.3037364160083698 + ], + [ + -0.4527657208079836, + 0.056095343083143234, + 0.8898631986816246, + -2.2439737633566286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.8884278701551672, + -0.060409583151340485, + 0.45502378229002505, + -0.19100576745049244 + ], + [ + 0.07661994873671472, + 0.9969111680984497, + -0.017248132001956164, + 0.3008246964461147 + ], + [ + -0.4525763177504792, + 0.0501876175403595, + 0.8903122494053626, + -2.283962398146194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.8881471418256818, + -0.0592067949473858, + 0.45572930199783124, + -0.202861731639011 + ], + [ + 0.07295722480450016, + 0.9972552061080935, + -0.012622557868351671, + 0.2998196165392774 + ], + [ + -0.4537310931159847, + 0.04445943236351014, + 0.8900288920540035, + -2.333314129021716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.8900410731592031, + -0.060839325189590454, + 0.45180246101042404, + -0.2028823615976913 + ], + [ + 0.07260195307955652, + 0.9973227977752686, + -0.008725652120077466, + 0.29919419204147407 + ], + [ + -0.4500620564011133, + 0.040567927062511444, + 0.892075326254694, + -2.37184633491765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.8924182987688555, + -0.05843625217676163, + 0.44740897011695224, + -0.19039574705744336 + ], + [ + 0.06924987807313679, + 0.9975685477256775, + -0.00783554076898971, + 0.30710271388836835 + ], + [ + -0.44586321785696365, + 0.03797559067606926, + 0.8942951431275249, + -2.3994385032446175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.8938865479431577, + -0.056226253509521484, + 0.4447532625539712, + -0.16914412436062753 + ], + [ + 0.06680439745550856, + 0.997732937335968, + -0.008132072116853913, + 0.3158841235006186 + ], + [ + -0.4432877229882148, + 0.03698062151670456, + 0.8956162174032305, + -2.415007881909462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.8950265802111681, + -0.04681570082902908, + 0.4435490350463021, + -0.1572167310242754 + ], + [ + 0.05700262036237052, + 0.998327374458313, + -0.009652744754909752, + 0.3265703988417622 + ], + [ + -0.4423552375152645, + 0.033922918140888214, + 0.896198153221404, + -2.4407263234391197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.8957204021106421, + -0.033648256212472916, + 0.44334272563926114, + -0.14716956891224345 + ], + [ + 0.04329637529778341, + 0.9989942908287048, + -0.01165470718602685, + 0.33576814548186795 + ], + [ + -0.4425046959779259, + 0.029634490609169006, + 0.8962764046346309, + -2.46745313212231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.8952847369544163, + -0.027478035539388657, + 0.4446461676436398, + -0.13816030583402075 + ], + [ + 0.037009244341442, + 0.9992333650588989, + -0.012767101656463206, + 0.3429708476328824 + ], + [ + -0.44395445453954996, + 0.02788621000945568, + 0.8956152898220532, + -2.49679571405155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.8936713091404569, + -0.029953619465231895, + 0.44772133813146897, + -0.13339605117440373 + ], + [ + 0.03947436458113053, + 0.9991491436958313, + -0.01194710466634994, + 0.34789408927883614 + ], + [ + -0.4469825612573516, + 0.02835030108690262, + 0.8940933129891191, + -2.532421098285819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.891720618604608, + -0.032618649303913116, + 0.4514092733653846, + -0.1227709333642372 + ], + [ + 0.041863357147787036, + 0.9990681409835815, + -0.01050525264916392, + 0.3522022639977526 + ], + [ + -0.45064592622682, + 0.02826525643467903, + 0.8922551942902915, + -2.5600585775246016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.8892485763314639, + -0.034979451447725296, + 0.45608487886211685, + -0.1173723343796671 + ], + [ + 0.04368852680580847, + 0.9990085363388062, + -0.008562421306844672, + 0.3539334944676328 + ], + [ + -0.45533315936416624, + 0.027539798989892006, + 0.8898951103885828, + -2.593640914787564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.887437534659789, + -0.037853289395570755, + 0.4593710954739816, + -0.10588586689197335 + ], + [ + 0.046596275545034316, + 0.9988840818405151, + -0.007706693007366901, + 0.3565638609470987 + ], + [ + -0.4585667679188477, + 0.02824418991804123, + 0.8882110245643745, + -2.6149368111865288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.886508525854266, + -0.034319907426834106, + 0.46143777817312387, + -0.09476526702110882 + ], + [ + 0.04318096417913405, + 0.9990297555923462, + -0.008654868130575161, + 0.35757146825871855 + ], + [ + -0.46069304391991917, + 0.02759794145822525, + 0.8871303300125991, + -2.6409684762584225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.8850063178808162, + -0.026705622673034675, + 0.46481250686834114, + -0.08920293310596633 + ], + [ + 0.034786325474571604, + 0.9993559122085574, + -0.008815804722887993, + 0.3619050374574688 + ], + [ + -0.4642776614705237, + 0.02397116087377072, + 0.8853652418922063, + -2.673799365494973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8836530256645585, + -0.02373455837368965, + 0.46754036771395235, + -0.08253467544747498 + ], + [ + 0.031110079122055184, + 0.9994834661483765, + -0.008059664219408501, + 0.35846856660573506 + ], + [ + -0.4671075597522229, + 0.02166716381907463, + 0.8839349944468186, + -2.700333646985085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8831560812523491, + -0.018258247524499893, + 0.4687237711823572, + -0.07527276014495074 + ], + [ + 0.025511191810405513, + 0.9996328353881836, + -0.009128661925649822, + 0.3625513122716323 + ], + [ + -0.4683850421836943, + 0.020019734278321266, + 0.8832976399802206, + -2.726300367644222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8818971053520956, + -0.009037544019520284, + 0.47135526818116497, + -0.07319852207285199 + ], + [ + 0.015254114446129821, + 0.9998397231101992, + -0.009369712931695777, + 0.363745185343741 + ], + [ + -0.47119503255649664, + 0.015453230589628223, + 0.8818936597160844, + -2.761402992290485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8796247322585701, + -0.00632533710449934, + 0.4756263007145997, + -0.0702339665393368 + ], + [ + 0.011756692048040767, + 0.9998952150344849, + -0.008445291309853876, + 0.3685268690123044 + ], + [ + -0.4755230649397428, + 0.013020479120314121, + 0.8796069119457923, + -2.7871436408289734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8774545285797704, + -0.007949160411953926, + 0.47959395849134506, + -0.06603167885642108 + ], + [ + 0.01314603344953287, + 0.999885618686676, + -0.007478816990446188, + 0.3736798215882245 + ], + [ + -0.479479658551236, + 0.012867080047726631, + 0.8774586880424935, + -2.807460589222219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.8751949739855838, + -0.015886932611465454, + 0.48350940915366847, + -0.06658122473542646 + ], + [ + 0.021167282636638054, + 0.9997609853744507, + -0.005464966447994807, + 0.376832605826076 + ], + [ + -0.4833070543909408, + 0.015017491765320301, + 0.8753220717534029, + -2.8395696039269303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.872618563469775, + -0.016893241554498672, + 0.4881100494618344, + -0.06177803438578269 + ], + [ + 0.022467313333121904, + 0.9997320771217346, + -0.0055657121723319235, + 0.3802742535273563 + ], + [ + -0.4878852375330845, + 0.01582326553761959, + 0.8727643615378454, + -2.8657088250323923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8696443626678397, + -0.018568497151136402, + 0.4933293805222786, + -0.055529612457751815 + ], + [ + 0.02443938902957299, + 0.9996864199638369, + -0.005454579812894709, + 0.3855871186497865 + ], + [ + -0.49307339805872796, + 0.016800213605165485, + 0.8698254858069405, + -2.8920883771796126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8664522292109167, + -0.01905619539320469, + 0.4988962073456067, + -0.05548992948758538 + ], + [ + 0.025125826183143136, + 0.9996694326400757, + -0.0054528990071010495, + 0.38818993769753307 + ], + [ + -0.4986273967211656, + 0.017259854823350906, + 0.8666446011213095, + -2.918532200581788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8633051259688486, + -0.020030740648508072, + 0.5042846904211142, + -0.04957577514974512 + ], + [ + 0.026492732794780757, + 0.9996330738067627, + -0.0056474488868936785, + 0.39594057245908487 + ], + [ + -0.5039865417601859, + 0.018235351890325546, + 0.8635189769328466, + -2.949467984090887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.859444427850303, + -0.020064590498805046, + 0.5108353215302042, + -0.046098164689057364 + ], + [ + 0.026860751610634996, + 0.9996216297149658, + -0.005928183994388588, + 0.4029326878355318 + ], + [ + -0.5105230566960406, + 0.01881636492908001, + 0.859658123715445, + -2.972950744701654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8557319534179616, + -0.021730531007051468, + 0.5169628339846258, + -0.04178827983985567 + ], + [ + 0.02871048497135113, + 0.9995725750923157, + -0.005507619631225025, + 0.4084097218922852 + ], + [ + -0.5166221782180677, + 0.01955530047416687, + 0.85599011015535, + -3.0006662538743805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.852316312190692, + -0.023642640560865402, + 0.5224920266720008, + -0.04117372628767771 + ], + [ + 0.030591553881761387, + 0.999521017074585, + -0.004674449583496225, + 0.41437914585240665 + ], + [ + -0.5221312823582596, + 0.019967950880527496, + 0.852631335656999, + -3.02658247695023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8492752101417828, + -0.03154425695538521, + 0.52700724671664, + -0.03551610174952666 + ], + [ + 0.03815083417559167, + 0.9992706179618835, + -0.0016684974912262787, + 0.41576538121190215 + ], + [ + -0.5265702312322664, + 0.021522779017686844, + 0.8498591854886864, + -3.0594325931490816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8460453132017504, + -0.03916244953870773, + 0.5316706126397627, + -0.033058271048259896 + ], + [ + 0.0455775472937175, + 0.9989602565765381, + 0.0010552718934931564, + 0.4122408630387467 + ], + [ + -0.5311591625657545, + 0.02333943359553814, + 0.8469505642636153, + -3.0876686410300693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8436605009435526, + -0.03735357522964478, + 0.535576034300945, + -0.03148655508148859 + ], + [ + 0.04340576608040973, + 0.9990566968917849, + 0.0013044122536025112, + 0.4175625662657876 + ], + [ + -0.5351195465295847, + 0.022146606817841533, + 0.8444860320213396, + -3.1198719939058166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8417976622515846, + -0.03929330036044121, + 0.5383611354142432, + -0.02949417880074548 + ], + [ + 0.04378265933644729, + 0.999031126499176, + 0.004456282337593481, + 0.41758281356462995 + ], + [ + -0.5380146790349647, + 0.01981959491968155, + 0.8427024739703516, + -3.156193932079744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.839796931476136, + -0.042825013399124146, + 0.5412089773867985, + -0.02424016252818717 + ], + [ + 0.04612276051629964, + 0.9989078044891357, + 0.00747306792269603, + 0.41701625040039786 + ], + [ + -0.5409379000068077, + 0.018686188384890556, + 0.8408549539047898, + -3.1828733012635664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8391925749231869, + -0.043216463178396225, + 0.5421145587314471, + -0.012688535665082129 + ], + [ + 0.04523495439639536, + 0.9989301562309265, + 0.009609393839707506, + 0.4191004735631148 + ], + [ + -0.5419498806189366, + 0.01645839400589466, + 0.8402496630792776, + -3.2140235267989525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.838036152529369, + -0.04351062700152397, + 0.5438770255218681, + -0.00560069554694273 + ], + [ + 0.043541749864022136, + 0.9989692568778992, + 0.012826834477135052, + 0.4257042747727943 + ], + [ + -0.5438745289883826, + 0.012932004407048225, + 0.8390669059479918, + -3.2501051675883623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8365894659107306, + -0.043852828443050385, + 0.5460723188301514, + -0.006765301164176812 + ], + [ + 0.04218857429476027, + 0.9989880323410034, + 0.01559121608039931, + 0.4251053453751965 + ], + [ + -0.5462034128603065, + 0.009994563646614552, + 0.8375929634580457, + -3.28244654406985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8406050375860984, + -0.0460655577480793, + 0.5396861487467575, + -0.005802529195354844 + ], + [ + 0.043566694912117794, + 0.9988989233970642, + 0.017403552650221275, + 0.4281943149785076 + ], + [ + -0.5398936164229969, + 0.008882827125489712, + 0.841686411930449, + -3.318372855845739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8443373594000425, + -0.047523919492959976, + 0.533700189707586, + 0.008842691553190729 + ], + [ + 0.04454169901533808, + 0.9988366961479187, + 0.018475561517445963, + 0.43093166749095224 + ], + [ + -0.5339573443597508, + 0.00817230436950922, + 0.8454718926760662, + -3.3525473634554275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8457454783957995, + -0.04775090515613557, + 0.5314455873257315, + 0.01873731818747243 + ], + [ + 0.04452584264742946, + 0.9988296627998354, + 0.018887146945387186, + 0.43618854122414813 + ], + [ + -0.5317254938341577, + 0.0076893414370715635, + 0.8468818467886308, + -3.38683843273014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8470542267422508, + -0.047746591269969954, + 0.5293575466921565, + 0.02534484221525643 + ], + [ + 0.04436411757056513, + 0.9988327622413637, + 0.01910249420578176, + 0.44226758924180987 + ], + [ + -0.5296517345389908, + 0.007303630001842977, + 0.8481837880010021, + -3.413343347271594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8520088550413067, + -0.0505884625017643, + 0.5210774164580462, + 0.02908898736071297 + ], + [ + 0.0468102791296658, + 0.9986950755119324, + 0.020418601707243196, + 0.4493610056170328 + ], + [ + -0.5214304208163156, + 0.0069949510507285595, + 0.8532651385923371, + -3.445686840400632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8574768449316533, + -0.05435311794281006, + 0.5116436608634329, + 0.04460962335249416 + ], + [ + 0.05019712693698933, + 0.9984982013702393, + 0.02194616341491788, + 0.45615931829909234 + ], + [ + -0.5120680999299515, + 0.006864713504910469, + 0.8589173995175554, + -3.473908587566872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/orbit_right/transforms.json b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..79e447fbecb2990c15ef23cabbf74dbaa40d2794 --- /dev/null +++ b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/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, + -9.838233381742612e-05, + -4.791899846168235e-05, + 9.177199535770342e-05 + ], + [ + 9.838460391620174e-05, + 1.0, + 4.736682240036316e-05, + -7.394507701974362e-05 + ], + [ + 4.791433457285166e-05, + -4.737153722089715e-05, + 1.0, + 0.00041252130176872015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999965984197431, + -0.002241932787001133, + 0.001340141628218431, + 0.008182444586907523 + ], + [ + 0.0022494061657946686, + 0.9999817609786987, + -0.005601429739530612, + 0.0024822135904847124 + ], + [ + -0.0013275593831451233, + 0.005604425445199013, + 0.999983399621728, + -0.02771422359595303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999885398965296, + -0.004094271920621395, + 0.0024796082611444224, + 0.01595678834226237 + ], + [ + 0.004121136154463216, + 0.999931812286377, + -0.010927673148212531, + 0.008063044476322763 + ], + [ + -0.0024346985892702688, + 0.0109377671033144, + 0.999937212044471, + -0.05867110282855513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999497678305065, + -0.008079848252236843, + 0.00593178181466258, + 0.021488188756580207 + ], + [ + 0.008170656407229781, + 0.9998472929000854, + -0.015447628570327184, + 0.010235100499356251 + ], + [ + -0.005806062106789158, + 0.015495319850742817, + 0.9998630922075934, + -0.09171918329014077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998488194363548, + -0.011359781958162785, + 0.013162120445936582, + 0.029308895523008756 + ], + [ + 0.011614161535693963, + 0.9997440576553345, + -0.019414090686569782, + 0.016615789489646423 + ], + [ + -0.012938213437250337, + 0.01956402324140072, + 0.9997248839532518, + -0.11495818304228259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996804763016606, + -0.012502751313149929, + 0.021969943729063718, + 0.039196978880107404 + ], + [ + 0.013015681340206496, + 0.9996423721313477, + -0.02336113004951989, + 0.02116246544224872 + ], + [ + -0.02167000918417313, + 0.0236396174877882, + 0.9994856613277887, + -0.1312209019109581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9994263553793071, + -0.012247668579220772, + 0.03157480595623346, + 0.04511621265748105 + ], + [ + 0.013080508431442346, + 0.9995683431625366, + -0.026306503876044697, + 0.02628764864600985 + ], + [ + -0.03123898094712733, + 0.02670442685484886, + 0.9991551189933942, + -0.15362422479649027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9991137711452889, + -0.012767252512276176, + 0.040108117728320146, + 0.0512501376091586 + ], + [ + 0.013926568859754997, + 0.9994893670082095, + -0.028759599575851707, + 0.03213578704730869 + ], + [ + -0.039720452162327606, + 0.02929268032312394, + 0.9987813451542589, + -0.17302376001910658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9987699582282975, + -0.014021948911249638, + 0.04755944731174253, + 0.05516601779563261 + ], + [ + 0.015533649414038064, + 0.9993809461593628, + -0.031566289326074144, + 0.037213684512406434 + ], + [ + -0.0470873831763295, + 0.03226623311638832, + 0.9983695003411487, + -0.19844290939401138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9982446741594393, + -0.01537775341421366, + 0.05719318338376325, + 0.061139833547940586 + ], + [ + 0.017372472070550267, + 0.9992521405220034, + -0.03454477470193025, + 0.041982020051549385 + ], + [ + -0.056619187763556525, + 0.03547772392630578, + 0.9977653051669887, + -0.22489647808618585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9972782633276787, + -0.017929838970303535, + 0.07151657050672262, + 0.06938084270722475 + ], + [ + 0.020555430511765505, + 0.9991350173950195, + -0.036147630544765996, + 0.046657256675068697 + ], + [ + -0.07080658373965988, + 0.03751929849386215, + 0.9967841844857741, + -0.24681841684337139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9956420047122302, + -0.019117034971714023, + 0.09127698572401673, + 0.07403900471382723 + ], + [ + 0.02245856776680713, + 0.9991093277931216, + -0.035723004174380374, + 0.05122018479455973 + ], + [ + -0.09051276653846915, + 0.03761727362871171, + 0.9951845974822532, + -0.27440493082174167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9936040439218813, + -0.0200913418084383, + 0.11111870808855179, + 0.07481866402663549 + ], + [ + 0.02412191215896912, + 0.9990944862365723, + -0.03504792913036388, + 0.06258821826262188 + ], + [ + -0.1103139211191905, + 0.0375041589140892, + 0.9931889702420257, + -0.3007493006837676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9915342885469359, + -0.0217317845672369, + 0.1280134196269123, + 0.0543087717532342 + ], + [ + 0.025807487235047173, + 0.9992086887359619, + -0.030265756978645524, + 0.07005584503733449 + ], + [ + -0.1272543991737587, + 0.033313240855932236, + 0.9913105152408058, + -0.30641818100554624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9894394665057314, + -0.024674711748957634, + 0.1428312077795266, + 0.04568646195218306 + ], + [ + 0.02761745162647932, + 0.9994444251060486, + -0.018656931322099776, + 0.06259076325312507 + ], + [ + -0.14229151008645488, + 0.022404538467526436, + 0.9895712275781625, + -0.348709771444169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9871673976843726, + -0.025655964389443404, + 0.15761459468182915, + 0.049155866427486206 + ], + [ + 0.028056436578689246, + 0.9995214939117434, + -0.013023602147116202, + 0.06241567308052513 + ], + [ + -0.15720504011941583, + 0.01727857813239098, + 0.9874148105485437, + -0.371446602685009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9853131243248361, + -0.02726754173636437, + 0.16856619753062138, + 0.04933927284144594 + ], + [ + 0.029107617551345766, + 0.9995405077934267, + -0.008454268415558465, + 0.05548570378169032 + ], + [ + -0.1682582208277679, + 0.013236660510301593, + 0.9856540878703207, + -0.39468140010058755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.983687214116266, + -0.030081553384661674, + 0.17735432857714337, + 0.045752047404089384 + ], + [ + 0.031536652961156354, + 0.9994880557060242, + -0.005390617897108192, + 0.05833937838505646 + ], + [ + -0.177101374182195, + 0.010895843617618084, + 0.9841323288899541, + -0.4237147496646669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9821593006735906, + -0.03212690353393555, + 0.1852862839631591, + 0.05519241211262724 + ], + [ + 0.03282761461962872, + 0.999460756778717, + -0.0007144036219213442, + 0.06206851481663906 + ], + [ + -0.1851634217264438, + 0.006784164812415838, + 0.9826843034807382, + -0.44806587172875423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9802125926337562, + -0.03481781482696533, + 0.19486143410778112, + 0.05783576406742665 + ], + [ + 0.03462447869078922, + 0.999390721321106, + 0.0043992843258647725, + 0.06512410950870808 + ], + [ + -0.19489589482700412, + 0.0024347403086721897, + 0.9808209039317013, + -0.47631205873184607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9780604865366539, + -0.038250498473644264, + 0.20477934023594113, + 0.0568969556769035 + ], + [ + 0.037352115166177, + 0.9992681145668032, + 0.008252162428150162, + 0.06481637535522661 + ], + [ + -0.20494510352329928, + -0.0004221727140247823, + 0.9787733497074448, + -0.5032432800313865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9761635472063319, + -0.04183477163314819, + 0.21296609039575456, + 0.05914557783755324 + ], + [ + 0.040357891776748596, + 0.9991216063499451, + 0.011279367360766741, + 0.07102462345084194 + ], + [ + -0.2132509089945786, + -0.0024156454019248486, + 0.976994477802605, + -0.5291475119464041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9742746216793525, + -0.04527626186609269, + 0.22076920418969836, + 0.05775823844830384 + ], + [ + 0.04330886513013031, + 0.9989671707153323, + 0.013746349346024433, + 0.07892722001335326 + ], + [ + -0.2211635545845553, + -0.0038314568810164937, + 0.9752291931723441, + -0.5482549210878362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9725358199321074, + -0.04850868508219719, + 0.22764224592031013, + 0.07174411063311344 + ], + [ + 0.04598257218269877, + 0.9988077878952026, + 0.01639043106260154, + 0.07845230145510422 + ], + [ + -0.22816591030681316, + -0.005472706630825996, + 0.9736068682866283, + -0.5790184936290546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9707818855007272, + -0.05179406329989435, + 0.23430724534008315, + 0.08365431667313404 + ], + [ + 0.04893945660672536, + 0.9986398220062258, + 0.0179852518438876, + 0.08519107157250186 + ], + [ + -0.2349200573797538, + -0.0059928875416517275, + 0.9719961992763961, + -0.6111200264332913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9689128839582186, + -0.054358188062906265, + 0.24135649654211272, + 0.08288388497927326 + ], + [ + 0.05130107313985827, + 0.9985036849975586, + 0.01893703429058631, + 0.08938341858749288 + ], + [ + -0.24202471545135237, + -0.005966491531580687, + 0.9702517458792739, + -0.6322902662679797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9670486831584787, + -0.056409720331430435, + 0.2482635858011752, + 0.08280310596585805 + ], + [ + 0.05342070767767642, + 0.9983957409858704, + 0.018765549756751744, + 0.09675685236339701 + ], + [ + -0.24892386821172421, + -0.004884785041213036, + 0.968510721515852, + -0.653359602448005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9655018738257913, + -0.0579819865524769, + 0.25385864673922337, + 0.0984984946427695 + ], + [ + 0.05512033651470421, + 0.9983105659484866, + 0.018377316038557547, + 0.1031657059144592 + ], + [ + -0.25449532673537634, + -0.0037505598738789567, + 0.9670667479656953, + -0.6892901726398123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9635774257965056, + -0.058775532990694046, + 0.26089068624695144, + 0.09426762857925783 + ], + [ + 0.056077282847889216, + 0.9982680678367615, + 0.017781144328452174, + 0.10628788676725227 + ], + [ + -0.26148396394270024, + -0.00250347051769495, + 0.9652045689901136, + -0.7116427029554645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9620668064672876, + -0.060026258230209364, + 0.26612830656961545, + 0.10589323721676845 + ], + [ + 0.05729874558121089, + 0.9981946349143984, + 0.018008848490310397, + 0.11007539158939923 + ], + [ + -0.2667288327067842, + -0.002076896838843823, + 0.9637693866001349, + -0.7590325654268345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9608834726668458, + -0.060840301215648665, + 0.2701877886321324, + 0.10141674120505301 + ], + [ + 0.05821382917292732, + 0.9981466531753542, + 0.017731522235565574, + 0.11436961901659881 + ], + [ + -0.2707658076492238, + -0.0013092616572976115, + 0.9626443406069105, + -0.7755628531301701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9601381143663964, + -0.061177417635917664, + 0.2727491527588435, + 0.0970488929819747 + ], + [ + 0.05884958149173941, + 0.9981269240379333, + 0.016715358153981164, + 0.12173118466480191 + ], + [ + -0.27326085789728244, + 2.1168962121009827e-06, + 0.9619399790260063, + -0.7988836722966839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.960905183969987, + -0.06329496204853058, + 0.2695458524690976, + 0.11516301706136153 + ], + [ + 0.06099992929634943, + 0.9979948401451111, + 0.01689099435055154, + 0.12298590731190098 + ], + [ + -0.2700744600720935, + 0.00021163001656532288, + 0.9628394099791272, + -0.8422660406589848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9610566387862626, + -0.06485264748334885, + 0.26863416404070384, + 0.1415174752331932 + ], + [ + 0.06273257981726456, + 0.9978943467140198, + 0.016477906081836483, + 0.12423218044483846 + ], + [ + -0.26913713866900607, + 0.001015910878777504, + 0.963101361472776, + -0.8776681706817424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9597055991391418, + -0.06486009806394578, + 0.27341966626567477, + 0.13484700497080782 + ], + [ + 0.06347406212108657, + 0.9978863596916201, + 0.013922179673473433, + 0.13270234434332245 + ], + [ + -0.27374476967919487, + 0.003993860911577941, + 0.9617941098016642, + -0.8775783586999305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9582649962229133, + -0.06381519138813019, + 0.2786680505037196, + 0.1272333338949229 + ], + [ + 0.06296943286425306, + 0.9979434013366699, + 0.011994723034039879, + 0.14159098309117907 + ], + [ + -0.2788603644129092, + 0.006053442135453224, + 0.9603126082227944, + -0.8967691227201168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.955531286649518, + -0.06344871968030931, + 0.2879830184668576, + 0.08963367648327444 + ], + [ + 0.06302624017822876, + 0.9979540109634402, + 0.010748395087382259, + 0.13254952973481235 + ], + [ + -0.28807574955896914, + 0.00788005441427231, + 0.957575198333623, + -0.8552393254649349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9549607343058255, + -0.06192407011985779, + 0.29019895416179187, + 0.11980838610879019 + ], + [ + 0.06217080389202032, + 0.9980303645133972, + 0.00837846863719079, + 0.13582685892551036 + ], + [ + -0.29014616958765266, + 0.010040792636573315, + 0.9569296278199303, + -0.9373175731320204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9537275703325913, + -0.060161735862493515, + 0.2945917044213609, + 0.12343035819725119 + ], + [ + 0.06124841278755625, + 0.9981071352958679, + 0.005545154894959854, + 0.1360627837604784 + ], + [ + -0.29436771688341284, + 0.012754705734550953, + 0.9556071337803032, + -0.9474148210064115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9535858891593195, + -0.05769183859229088, + 0.2955428737947245, + 0.17177360681039583 + ], + [ + 0.05948225637764663, + 0.9982250332832336, + 0.0029369525176286423, + 0.1377773872435789 + ], + [ + -0.29518773111825825, + 0.014778916724026203, + 0.9553250007360657, + -1.0384966422217272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9509984790941877, + -0.05553293228149414, + 0.3041677748403545, + 0.13669439569080155 + ], + [ + 0.058513163790405866, + 0.9982864260673523, + -0.0006843608408976795, + 0.15011150244249313 + ], + [ + -0.3036085450568946, + 0.018448643386363983, + 0.9526182308235147, + -1.017436026927779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9488980063997142, + -0.05347760394215584, + 0.3110187719369255, + 0.12704885284422263 + ], + [ + 0.057446003562139324, + 0.9983420968055725, + -0.0036057471487747233, + 0.15827723710722394 + ], + [ + -0.31031032143093645, + 0.021288271993398666, + 0.9503969369453694, + -1.0407041895227545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9472276575838331, + -0.05257138237357141, + 0.3162214724730867, + 0.1327291886326914 + ], + [ + 0.05729693236602392, + 0.9983411431312563, + -0.005657639392307851, + 0.1555983431204604 + ], + [ + -0.3153995013943846, + 0.023477591574192054, + 0.9486685449338352, + -1.084446386473056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9457426858028936, + -0.051446933299303055, + 0.3208177158727479, + 0.13623901039150063 + ], + [ + 0.05681919636387295, + 0.9983570575714111, + -0.007399629720119283, + 0.15337516008505203 + ], + [ + -0.31990995638886444, + 0.02522674947977066, + 0.9471120883001323, + -1.1293397757616805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9437413076020571, + -0.05065470561385155, + 0.32678190205624247, + 0.11718028481670478 + ], + [ + 0.05702346014055734, + 0.9983234405517578, + -0.00993205469106809, + 0.16264283245361807 + ], + [ + -0.32573092740256254, + 0.028007522225379944, + 0.9450475895609328, + -1.13916307599419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9422498608947997, + -0.050020668655633926, + 0.33115427613186005, + 0.11279395911241417 + ], + [ + 0.05692964027318552, + 0.9983155131340027, + -0.011189776715701608, + 0.16338754008935327 + ], + [ + -0.3300367341401176, + 0.02939605712890625, + 0.9435103126195881, + -1.1697878930926309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9423477475343153, + -0.04998716711997986, + 0.33088066657543785, + 0.0918177190489074 + ], + [ + 0.05743046988089189, + 0.9982680678367615, + -0.012750449785937295, + 0.16795339814675164 + ], + [ + -0.32967027270504473, + 0.031017987057566643, + 0.9435865055587445, + -1.183786769366145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9456224372203427, + -0.050761431455612196, + 0.3212810296518386, + 0.09058471990040518 + ], + [ + 0.05813928611162965, + 0.9982184767723086, + -0.013405134789161529, + 0.1670754587455001 + ], + [ + -0.3200281988549381, + 0.031355243176221854, + 0.9468890292041282, + -1.2346345568431045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9494094675215995, + -0.05140462517738344, + 0.3098051932495175, + 0.05389291013148159 + ], + [ + 0.05866957640794089, + 0.9981768727302553, + -0.014171966096487578, + 0.1778825983916553 + ], + [ + -0.3085118693517966, + 0.031631134450435645, + 0.9506944643565164, + -1.2108984022974474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9554281456249835, + -0.053655374795198454, + 0.2903069613136313, + 0.05456890288666558 + ], + [ + 0.06003721587446917, + 0.9981099963188174, + -0.013114686548638298, + 0.176912990510156 + ], + [ + -0.28905457342112334, + 0.02995936200022698, + 0.9568437241643002, + -1.2451376821649958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9595184749724506, + -0.05491144210100175, + 0.27624093096529734, + 0.06326722380066756 + ], + [ + 0.06040491479137706, + 0.9981087446212771, + -0.01141048234342966, + 0.17095075144368863 + ], + [ + -0.27509190180680615, + 0.027634875848889358, + 0.9610206770473597, + -1.30299095843321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.960602714953444, + -0.05562080070376396, + 0.27230275309189217, + 0.0791752343813963 + ], + [ + 0.06108606440513156, + 0.9980647563934326, + -0.01162777407060965, + 0.17821238560891284 + ], + [ + -0.271129032786615, + 0.02780357003211975, + 0.9621413512545767, + -1.3428789143219957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9603045635811421, + -0.0576099492609501, + 0.2729399069052173, + 0.07300557986476085 + ], + [ + 0.06291993462101313, + 0.9979608654975893, + -0.010734340659564369, + 0.18531907815188675 + ], + [ + -0.27176491275541587, + 0.027481596916913993, + 0.9619711867723332, + -1.3550549793308313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9613780256910414, + -0.06108393520116806, + 0.2683674774152603, + 0.047670192223448093 + ], + [ + 0.06574221605333352, + 0.9978013038635254, + -0.008397046646723272, + 0.18365415986280131 + ], + [ + -0.2672644904828697, + 0.02571580745279789, + 0.9632800454153018, + -1.3818606555000317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9687471657490088, + -0.04911627992987633, + 0.24313887161237194, + 0.03756631876503891 + ], + [ + 0.05241325722572816, + 0.99860018491745, + -0.0071056818997116775, + 0.188922647153613 + ], + [ + -0.24244953008809605, + 0.01962731033563614, + 0.9699654623346222, + -1.4021324442859824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9728679334947622, + -0.053557172417640686, + 0.22507689333992026, + 0.04808329774823161 + ], + [ + 0.056516571290503526, + 0.9983790516853333, + -0.006721288650542704, + 0.18291046858002682 + ], + [ + -0.22435209633181633, + 0.0192594975233078, + 0.9743178201368186, + -1.4502805372786916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9744003064971215, + -0.06241566687822343, + 0.21598219183094833, + 0.06847397638310684 + ], + [ + 0.06586196171574828, + 0.9977900385856631, + -0.00878862724562501, + 0.1915655033792301 + ], + [ + -0.2149563374653729, + 0.02278864942491055, + 0.9763577818103404, + -1.4893773454989883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9746825614686216, + -0.06560719013214111, + 0.213751372541694, + 0.074801657930462 + ], + [ + 0.06969087093413769, + 0.997501015663147, + -0.01161740133296269, + 0.2095415810513883 + ], + [ + -0.2124549964726143, + 0.026219794526696205, + 0.9768190444813675, + -1.5073059150022161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9747969724987471, + -0.06680790334939957, + 0.2128558947642513, + 0.07153754137131814 + ], + [ + 0.07134290035301404, + 0.9973579049110413, + -0.013687438406300378, + 0.21653942154448425 + ], + [ + -0.21137910903955923, + 0.028528228402137756, + 0.9769877396571032, + -1.5243244885615108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9749801708668919, + -0.06573233753442764, + 0.2123509417269239, + 0.0832768269515238 + ], + [ + 0.07050587672605542, + 0.9973989129066467, + -0.014977426249804316, + 0.22523844721471156 + ], + [ + -0.21081411272380216, + 0.0295746847987175, + 0.9770786917251196, + -1.5587624673969478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.974988117868053, + -0.06520580500364305, + 0.21247670358139067, + 0.09315788759642032 + ], + [ + 0.0700942593332328, + 0.9974191784858706, + -0.015547813560555701, + 0.22936021974556448 + ], + [ + -0.21091452677492073, + 0.0300523266196251, + 0.9770424252511538, + -1.5976025110429504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9748436417171209, + -0.06533044576644899, + 0.21310057382938094, + 0.10282246177437004 + ], + [ + 0.0706007044548758, + 0.9973562359809878, + -0.017207470350197006, + 0.2342014342780724 + ], + [ + -0.21141299041893946, + 0.031819641590118415, + 0.976878721304099, + -1.6243792468511504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9749361150155832, + -0.06353916972875596, + 0.21321892233316142, + 0.1195672399486889 + ], + [ + 0.06906791724905216, + 0.9974390268325808, + -0.018574158907835203, + 0.23554208656561176 + ], + [ + -0.21149269527039852, + 0.03283520415425301, + 0.9768278740117362, + -1.6613048438410185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9746538750465036, + -0.06138151511549951, + 0.21513285166223592, + 0.10619004817073693 + ], + [ + 0.06704364101616712, + 0.9975669384002688, + -0.01911456873473974, + 0.24105835545411722 + ], + [ + -0.21343612805452947, + 0.033053375780582435, + 0.976397710111805, + -1.6885222521856085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9745811733784668, + -0.06145732104778291, + 0.2154404093324097, + 0.10802560219143637 + ], + [ + 0.0671925670764785, + 0.9975515604019167, + -0.019391741467675694, + 0.2386495850153244 + ], + [ + -0.21372115079229334, + 0.03337481617927552, + 0.9763244213698985, + -1.7257771140655425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9747971989948464, + -0.0627216324210167, + 0.21409431538486506, + 0.12122137511528028 + ], + [ + 0.06911279289810521, + 0.9973552823066711, + -0.022491048899812172, + 0.24791751943399715 + ], + [ + -0.2121174297059364, + 0.036720868200063705, + 0.9765540265832876, + -1.747916922908894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9745679552030507, + -0.06103440374135971, + 0.21562017504744999, + 0.11438025672721686 + ], + [ + 0.06793856677841228, + 0.9973825216293335, + -0.0247477019559828, + 0.2565840524372156 + ], + [ + -0.21354530301384683, + 0.038767240941524506, + 0.9761636669439436, + -1.7577005420066147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9744048006980777, + -0.06056318059563637, + 0.21648886216868074, + 0.12001121251666416 + ], + [ + 0.06729359042915695, + 0.997448205947876, + -0.023846759119008652, + 0.2522165804597656 + ], + [ + -0.21449221017855707, + 0.03780470788478851, + 0.9759937787963, + -1.815629699763492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9747536845093245, + -0.061501018702983856, + 0.2146460125709357, + 0.13082302482774485 + ], + [ + 0.06822290893339766, + 0.9973803758621216, + -0.024042485401858205, + 0.2497094138321567 + ], + [ + -0.2126050809924325, + 0.03807927295565605, + 0.9763959564058331, + -1.8384368314154222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9748498718436196, + -0.062250625342130675, + 0.2139921288169671, + 0.1292544064120348 + ], + [ + 0.06962212891684556, + 0.9972058534622195, + -0.02707778524457948, + 0.2621504412526756 + ], + [ + -0.2117085708070739, + 0.04129535704851151, + 0.976460051493658, + -1.8508735486241632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9750077063466676, + -0.06021620333194734, + 0.21385513302668602, + 0.14467238728463078 + ], + [ + 0.06738579214123742, + 0.997377932071686, + -0.02638867843158446, + 0.26591772261315333 + ], + [ + -0.21170537152298272, + 0.04013996198773385, + 0.9765088886664001, + -1.8982277182582237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9746244803161015, + -0.05917394906282426, + 0.2158832828290029, + 0.13428206819566232 + ], + [ + 0.06626460851051208, + 0.9974697828292849, + -0.025749486640875324, + 0.2710202060729049 + ], + [ + -0.21381335958891784, + 0.03940149769186974, + 0.9760795876320346, + -1.9157142686678674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9745491367749658, + -0.059324257075786604, + 0.21618189030488413, + 0.136209619866162 + ], + [ + 0.06655585449694934, + 0.997435510158539, + -0.02631965463940992, + 0.27718747792624676 + ], + [ + -0.2140660961428153, + 0.04003796353936196, + 0.9759983034532996, + -1.941101249517377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9744073287350102, + -0.06047224998474121, + 0.21650276461565332, + 0.13989290284880657 + ], + [ + 0.0680851725682919, + 0.9972901344299316, + -0.02787177103777875, + 0.28110615898083163 + ], + [ + -0.21423062558050956, + 0.04189908504486084, + 0.9758840710227555, + -1.9685725405557961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.973897134879573, + -0.06319940090179443, + 0.21801433259902891, + 0.14518386529740224 + ], + [ + 0.07135751687789126, + 0.9970071911811829, + -0.02974401709216983, + 0.2833059454167497 + ], + [ + -0.21548204891225622, + 0.04452457278966904, + 0.9754922250129855, + -2.002465065933587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9733573995730506, + -0.06522997468709946, + 0.21981907924368826, + 0.1466806299511136 + ], + [ + 0.0740285821292359, + 0.9967418909072876, + -0.03202097272637111, + 0.2906701548815938 + ], + [ + -0.2170141844814454, + 0.04744074493646622, + 0.9750149679667731, + -2.0354217632931975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9727570048226808, + -0.06675709038972856, + 0.22200753113445892, + 0.14311131333256527 + ], + [ + 0.07627596361865831, + 0.9964872002601626, + -0.03457268996513172, + 0.2974732033752769 + ], + [ + -0.21891969634938716, + 0.05056466162204744, + 0.9744318330410708, + -2.052737356490722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9724296854497311, + -0.06788799166679382, + 0.22309590373065757, + 0.15055656152307592 + ], + [ + 0.07801428476615907, + 0.996269702911377, + -0.036883911090112485, + 0.30529754611454374 + ], + [ + -0.2197597185657232, + 0.05327167734503746, + 0.974098426943069, + -2.101202711021549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9722223916735617, + -0.07112137973308563, + 0.22299189859730562, + 0.16474145499868928 + ], + [ + 0.08173801044529816, + 0.9959008097648621, + -0.038735434787667125, + 0.31547628347485657 + ], + [ + -0.219322912181583, + 0.055886369198560715, + 0.974050433662574, + -2.146746159654883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9720058881669672, + -0.0708150863647461, + 0.22403074502414333, + 0.1609352296949017 + ], + [ + 0.08204842674665959, + 0.9957753419876099, + -0.041224882032452316, + 0.3154417907819339 + ], + [ + -0.22016495894992685, + 0.058452196419239044, + 0.9737098109203899, + -2.179985837982978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9722622077870586, + -0.0679236575961113, + 0.22381361961775076, + 0.16157325731304273 + ], + [ + 0.07998884417806547, + 0.9957668781280518, + -0.04527875937708648, + 0.3210666670144466 + ], + [ + -0.21979070741658407, + 0.06192541494965553, + 0.9735796119936406, + -2.2326360400401577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9749356766922045, + -0.06346864998340607, + 0.2132421348023054, + 0.12388997929449297 + ], + [ + 0.0752958155248059, + 0.9960149526596069, + -0.04779939970641788, + 0.3152418104327792 + ], + [ + -0.20935858482655018, + 0.06265757977962494, + 0.9758293860579781, + -2.2320960523156796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9818165855320979, + -0.06100258231163025, + 0.17976357595837192, + 0.08135293196247617 + ], + [ + 0.07097920179918099, + 0.9962441921234131, + -0.04959341850258347, + 0.3127593691978859 + ], + [ + -0.17606307457934828, + 0.06145111471414566, + 0.98245890942515, + -2.2289313525759975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9880493226121518, + -0.06003505736589432, + 0.1419661009080627, + 0.10497827390964332 + ], + [ + 0.06793544028048686, + 0.9963611960411072, + -0.05146979643975186, + 0.33693186481491516 + ], + [ + -0.13835951092269425, + 0.06049922853708267, + 0.9885324705386067, + -2.2822017806879122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9899261647310102, + -0.05983032286167145, + 0.1283218011660991, + 0.10073213250648227 + ], + [ + 0.0669035364093903, + 0.9964277148246765, + -0.051534285340509425, + 0.3414581660180961 + ], + [ + -0.12478009333772797, + 0.05960031971335411, + 0.9903927347998742, + -2.333305958948328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9907975119011826, + -0.06183915585279465, + 0.12040004421934432, + 0.14177614697417762 + ], + [ + 0.06807034974459605, + 0.9965085387229919, + -0.048344562140968, + 0.33010290802635717 + ], + [ + -0.11699006853352079, + 0.056095343083143234, + 0.9915475955148031, + -2.3450250801534804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9914704601450967, + -0.060409583151340485, + 0.11548614452668006, + 0.14645953870027414 + ], + [ + 0.06574521046616653, + 0.9969111680984497, + -0.04296140014865858, + 0.3263810264141983 + ], + [ + -0.1125341265833118, + 0.0501876175403595, + 0.9923796124386829, + -2.3854068039591607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9919287732326535, + -0.0592067949473858, + 0.11212426617695681, + 0.1386887521900872 + ], + [ + 0.0637762678221614, + 0.9972552061080935, + -0.037612142733300886, + 0.3246597786775332 + ], + [ + -0.1095896395312639, + 0.04445943236351014, + 0.9929820967462157, + -2.43565173530963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9927506389428361, + -0.060839325189590454, + 0.10365685970572505, + 0.1432252121261287 + ], + [ + 0.0646811402014999, + 0.9973227977752686, + -0.034110565784235464, + 0.32443050364375936 + ], + [ + -0.10130410175501091, + 0.040567927062511444, + 0.9940280284237603, + -2.4732022108789833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9938011903777083, + -0.05843625217676163, + 0.0945748408534735, + 0.16041768446101998 + ], + [ + 0.061735161541184747, + 0.9975685477256775, + -0.03233745725579912, + 0.331464306740679 + ], + [ + -0.09245518417005774, + 0.03797559067606926, + 0.9949923873976761, + -2.4995590496345192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9945821342782384, + -0.056226253509521484, + 0.0874357096424613, + 0.18617291986814466 + ], + [ + 0.059215480327933785, + 0.997732937335968, + -0.0319763194542361, + 0.33959487439081226 + ], + [ + -0.08543955812074096, + 0.03698062151670456, + 0.9956568164462489, + -2.514488385078709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9955517668101526, + -0.04681570082902908, + 0.08176188217126433, + 0.20259185626683784 + ], + [ + 0.04941139140625755, + 0.998327374458313, + -0.03001647229068722, + 0.3468227598733879 + ], + [ + -0.08021987743396174, + 0.033922918140888214, + 0.9961998078995605, + -2.5401810824336972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9964497000251357, + -0.033648256212472916, + 0.0771738715778642, + 0.21704482653706966 + ], + [ + 0.03582264225712496, + 0.9989942908287048, + -0.02696565621742924, + 0.3509973709699878 + ], + [ + -0.07618891823428613, + 0.029634490609169006, + 0.9966529226393642, + -2.5672938815932387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9968495512341418, + -0.027478035539388657, + 0.07440394363207165, + 0.2301548625815075 + ], + [ + 0.02946755973407714, + 0.9992333650588989, + -0.025774909791299334, + 0.35591095206502665 + ], + [ + -0.07363865541336458, + 0.02788621000945568, + 0.9968950062556544, + -2.5975482846555806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9968291508041494, + -0.029953619465231895, + 0.07371871883131083, + 0.23871013049135642 + ], + [ + 0.03195185060933878, + 0.9991491436958313, + -0.02607753845038351, + 0.3619528725314682 + ], + [ + -0.07287490859917112, + 0.02835030108690262, + 0.9969380673325215, + -2.634744362531098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9967446244937657, + -0.032618649303913116, + 0.07373023306372813, + 0.25304426287582815 + ], + [ + 0.0346029851309579, + 0.9990681409835815, + -0.025797953890427893, + 0.3674194958394665 + ], + [ + -0.07282000175397088, + 0.02826525643467903, + 0.9969444969041085, + -2.6642312389850384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9965806465338456, + -0.034979451447725296, + 0.07485627688036274, + 0.26202718073630626 + ], + [ + 0.03693199580727283, + 0.9990085363388062, + -0.02486021155962544, + 0.3701530899733834 + ], + [ + -0.07391244892024047, + 0.027539798989892006, + 0.9968844182776025, + -2.700116901438824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.996506268997401, + -0.037853289395570755, + 0.07444754615761012, + 0.2772442116132945 + ], + [ + 0.039838742633902, + 0.9988840818405151, + -0.02536691934642991, + 0.37414180315334405 + ], + [ + -0.0734042724902608, + 0.02824418991804123, + 0.9969022607946125, + -2.723121623323079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9967725745465141, + -0.034319907426834106, + 0.0725715107295339, + 0.29234361880888904 + ], + [ + 0.03622143867564307, + 0.9990297555923462, + -0.025050145509835503, + 0.3738926513762023 + ], + [ + -0.07164139969734108, + 0.02759794145822525, + 0.99704855097125, + -2.7503899499373943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9970382014767366, + -0.026705622673034675, + 0.07212263185870574, + 0.3017678504854108 + ], + [ + 0.02835846295375736, + 0.9993559122085574, + -0.02199100797679122, + 0.3750225631895184 + ], + [ + -0.07148888190484877, + 0.02397116087377072, + 0.9971532972694709, + -2.7850980426150107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9971924140865147, + -0.02373455837368965, + 0.07102080326591254, + 0.31230572519078637 + ], + [ + 0.025208715158690005, + 0.9994834661483765, + -0.01993278431023073, + 0.37029140692387214 + ], + [ + -0.07051100041657726, + 0.02166716381907463, + 0.9972756617934818, + -2.8131943442020284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9975073521424471, + -0.018258247524499893, + 0.06815951838283975, + 0.32365305912383535 + ], + [ + 0.019577110465288556, + 0.9996328353881836, + -0.018732061337984114, + 0.3721154307658711 + ], + [ + -0.06779250407522602, + 0.020019734278321266, + 0.9974985939475097, + -2.8400342038622015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9977167154607431, + -0.009037544019520284, + 0.06693017974553489, + 0.32963135032708957 + ], + [ + 0.010050572500636784, + 0.9998397231101992, + -0.01481436871309261, + 0.3691683652017601 + ], + [ + -0.06678554118155446, + 0.015453230589628223, + 0.9976476718974657, + -2.8767004238548197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9976916350196351, + -0.00632533710449934, + 0.06761249103725865, + 0.33623060382423087 + ], + [ + 0.00719070908383307, + 0.9998952150344849, + -0.012563297978335107, + 0.3726292394996715 + ], + [ + -0.06752596498006229, + 0.013020479120314121, + 0.9976325720855405, + -2.904721154390381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9976551670380605, + -0.007949160411953926, + 0.06797780835540901, + 0.3440828213714055 + ], + [ + 0.00880484605526767, + 0.999885618686676, + -0.012297381224303858, + 0.3784808068312272 + ], + [ + -0.06787227540560273, + 0.012867080047726631, + 0.9976110697145104, + -2.9271746333488373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9975359261302688, + -0.015886932611465454, + 0.06833496403147543, + 0.3471409966051979 + ], + [ + 0.016874478463267933, + 0.9997609853744507, + -0.013898621841381777, + 0.38523676143913754 + ], + [ + -0.06809785449656455, + 0.015017491765320301, + 0.9975655970088795, + -2.9613855379455076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9974424300677196, + -0.016893241554498672, + 0.06944909213438553, + 0.35548205103149455 + ], + [ + 0.01794955517819583, + 0.9997320771217346, + -0.01461406135538045, + 0.38929232623493676 + ], + [ + -0.06918357440998686, + 0.01582326553761959, + 0.9974784553087526, + -2.990005615809771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9972824363186027, + -0.018568497151136402, + 0.07129472222318126, + 0.36515756563199997 + ], + [ + 0.01971679215247006, + 0.9996864199638369, + -0.01543645957758274, + 0.3955371280806749 + ], + [ + -0.07098572286293661, + 0.016800213605165485, + 0.9973358405181714, + -3.0191916144276654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9971094359183674, + -0.01905619539320469, + 0.07355041815620583, + 0.368563621811707 + ], + [ + 0.02027166296110801, + 0.9996694326400757, + -0.015814579657974042, + 0.3985201386519272 + ], + [ + -0.07322476110844066, + 0.017259854823350906, + 0.9971661244618432, + -3.048657188063211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.996934854099638, + -0.020030740648508072, + 0.07562860701177752, + 0.37784497138806394 + ], + [ + 0.02134969532305259, + 0.9996330738067627, + -0.016671804925638824, + 0.4069331575886405 + ], + [ + -0.07526693792304633, + 0.018235351890325546, + 0.9969966629102778, + -3.082561002934464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9966673615022822, + -0.020064590498805046, + 0.07906719169087095, + 0.3844937404398295 + ], + [ + 0.02148656137878112, + 0.9996216297149658, + -0.017174720454069325, + 0.4141485864292456 + ], + [ + -0.07869267043983623, + 0.01881636492908001, + 0.9967212974082953, + -3.1096405302709997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9963900831303706, + -0.021730531007051468, + 0.08206430442884016, + 0.3919947131241577 + ], + [ + 0.02325860885040616, + 0.9995725750923157, + -0.0177105317716957, + 0.42058133294964395 + ], + [ + -0.08164434976076974, + 0.01955530047416687, + 0.996469640211226, + -3.1407854468733976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9961516696853538, + -0.023642640560865402, + 0.0843970671601671, + 0.3958678691200871 + ], + [ + 0.025239721925992865, + 0.999521017074585, + -0.017906705026551183, + 0.4275795854012201 + ], + [ + -0.08393331199317437, + 0.019967950880527496, + 0.9962712831850444, + -3.169877053774159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9958250275045689, + -0.03154425695538521, + 0.08565941424471273, + 0.40484209138489424 + ], + [ + 0.033266375154245235, + 0.9992706179618835, + -0.018751488374759397, + 0.4328100667078549 + ], + [ + -0.08500544735090838, + 0.021522779017686844, + 0.9961480399519782, + -3.2053934224259693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9954256728830521, + -0.03916244953870773, + 0.0871438012753141, + 0.41054449126849235 + ], + [ + 0.041039600735667474, + 0.9989602565765381, + -0.01985390610276107, + 0.4331065766015368 + ], + [ + -0.08627569109083659, + 0.02333943359553814, + 0.9959979013084357, + -3.236406149631842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9954576908081124, + -0.03735357522964478, + 0.08757120063601852, + 0.4156609499583167 + ], + [ + 0.03914285067999376, + 0.9990566968917849, + -0.018804235187805655, + 0.43763273260661706 + ], + [ + -0.08678618840458348, + 0.022146606817841533, + 0.9959807954269899, + -3.271076847945621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9954535802976305, + -0.03929330036044121, + 0.08676511839083037, + 0.4213128488900736 + ], + [ + 0.04085949457233151, + 0.999031126499176, + -0.016348743503320207, + 0.4383514906716442 + ], + [ + -0.08603867865783522, + 0.01981959491968155, + 0.9960946743496127, + -3.309318138931073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9953673710085837, + -0.042825013399124146, + 0.08608042781177622, + 0.4301697001371551 + ], + [ + 0.044269772760616735, + 0.9989078044891357, + -0.014944664651457199, + 0.43939858345729205 + ], + [ + -0.08534638343837624, + 0.018686188384890556, + 0.9961761189689256, + -3.3379492009225062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.995609817244462, + -0.043216463178396225, + 0.08302688962769528, + 0.44575201471138326 + ], + [ + 0.044430173343731914, + 0.9989301562309265, + -0.012825803906832144, + 0.4415040472047411 + ], + [ + -0.0823837926148386, + 0.01645839400589466, + 0.9964647912104644, + -3.370018457913965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9957648247255039, + -0.04351062700152397, + 0.0809890466429207, + 0.45671395863152386 + ], + [ + 0.04441312919026878, + 0.9989692568778992, + -0.00937473303371289, + 0.44787834382262326 + ], + [ + -0.08049765323707658, + 0.012932004407048225, + 0.9966709104628241, + -3.4075139666262624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9958721761125698, + -0.043852828443050385, + 0.07947025047245423, + 0.45933932091400076 + ], + [ + 0.044507477217386786, + 0.9989880323410034, + -0.006484311191946676, + 0.4471573378420739 + ], + [ + -0.07910545338333622, + 0.009994563646614552, + 0.9968161655489413, + -3.4414999976858356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9966348784026432, + -0.0460655577480793, + 0.06780035040898959, + 0.46566228084497974 + ], + [ + 0.0465610568586222, + 0.9988989233970642, + -0.005745305442073968, + 0.45132252104357473 + ], + [ + -0.06746102553279898, + 0.008882827125489712, + 0.9976823858907797, + -3.4742296595243713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9972644763180183, + -0.047523919492959976, + 0.05661301305087655, + 0.4855879446642942 + ], + [ + 0.047909643957438575, + 0.9988366961479187, + -0.005474974011752833, + 0.4548650379140069 + ], + [ + -0.056286964730583866, + 0.00817230436950922, + 0.9983811619328488, + -3.5053470441882286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9976163994734625, + -0.04775090515613557, + 0.049813110889968766, + 0.5001098326426703 + ], + [ + 0.04807398225347743, + 0.9988296627998354, + -0.005307279292880139, + 0.4603699084780835 + ], + [ + -0.049501371255325916, + 0.0076893414370715635, + 0.9987444505263312, + -3.5386190683590173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.997924639010865, + -0.047746591269969954, + 0.043205209603539324, + 0.511321520396082 + ], + [ + 0.048016907297192324, + 0.9988327622413637, + -0.005239926174068655, + 0.466601214100893 + ], + [ + -0.04290456638187026, + 0.007303630001842977, + 0.999052499276927, + -3.5641575459369217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9982864240067924, + -0.0505884625017643, + 0.029410519463640705, + 0.5206666920771135 + ], + [ + 0.05077153199399716, + 0.9986950755119324, + -0.005511176540339046, + 0.47528607999700834 + ], + [ + -0.029093345785385662, + 0.0069949510507285595, + 0.9995522286107376, + -3.591947392779665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9984185612994579, + -0.05435311794281006, + 0.01435798552717625, + 0.5418952986887509 + ], + [ + 0.05444506883188384, + 0.9984982013702393, + -0.006092628435571136, + 0.48419811014958136 + ], + [ + -0.014005283248188841, + 0.006864713504910469, + 0.9998783376996466, + -3.614869525748963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/pan_right/transforms.json b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2a3704e8aecc2fa947a2b34f85865961e9f73494 --- /dev/null +++ b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/pan_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, + -9.838233381742612e-05, + -4.791899846168235e-05, + 9.177199535770342e-05 + ], + [ + 9.838460391620174e-05, + 1.0, + 4.736682240036316e-05, + -7.394507701974362e-05 + ], + [ + 4.791433457285166e-05, + -4.737153722089715e-05, + 1.0, + 0.00041252130176872015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999823951769947, + -0.002241932787001133, + 0.005495649799736667, + 0.006127418018877506 + ], + [ + 0.0022726636748666793, + 0.9999817609786987, + -0.005592033891756607, + 0.0024790826719254255 + ], + [ + -0.005483012815249536, + 0.005604425445199013, + 0.9999692487788873, + -0.027977652847766876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999933395354373, + -0.004094271920621395, + 0.01079042337432626, + 0.011845085769891739 + ], + [ + 0.00421181367088006, + 0.999931812286377, + -0.01089304499392052, + 0.008051828481256962 + ], + [ + -0.010745088667921064, + 0.0109377671033144, + 0.9998824425191235, + -0.05918484553694725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997981167566856, + -0.008079848252236843, + 0.01839700925600168, + 0.015316618606448174 + ], + [ + 0.00836259648330239, + 0.9998472929000854, + -0.015344570200212591, + 0.01019664853811264 + ], + [ + -0.01827021879191186, + 0.015495319850742817, + 0.9997130151305493, + -0.09245613217353821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9994919219077045, + -0.011359781958162785, + 0.029779207245138335, + 0.02107161656022072 + ], + [ + 0.011935246808594004, + 0.9997440576553345, + -0.019218364888343005, + 0.016539935022592545 + ], + [ + -0.02955327118469523, + 0.01956402324140072, + 0.9993717251976736, + -0.11586488038301468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9990082433244151, + -0.012502751313149929, + 0.04273479725048008, + 0.02888881415128708 + ], + [ + 0.01349822822462714, + 0.9996423721313477, + -0.0230856707231187, + 0.021057704463601112 + ], + [ + -0.04243087992470988, + 0.0236396174877882, + 0.9988197019115632, + -0.13224278390407562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9983285339252123, + -0.012247668579220772, + 0.056481382319088703, + 0.03273293003439903 + ], + [ + 0.01373228211282347, + 0.9995683431625366, + -0.025972221217662874, + 0.026164822280406952 + ], + [ + -0.056138899579714636, + 0.02670442685484886, + 0.9980657541942302, + -0.1547061800956726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9975245628230898, + -0.012767252512276176, + 0.06915009301854219, + 0.036790527403354645 + ], + [ + 0.0147571420907718, + 0.9994893670082095, + -0.02834238249127265, + 0.031983599066734314 + ], + [ + -0.06875292293798348, + 0.02929268032312394, + 0.9972035526088012, + -0.17413322627544403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9966373023216663, + -0.014021948911249638, + 0.08073052773855127, + 0.038629740476608276 + ], + [ + 0.01657427441468068, + 0.9993809461593628, + -0.031032536370115306, + 0.03701755777001381 + ], + [ + -0.08024541392214, + 0.03226623311638832, + 0.9962527562874262, + -0.1995544582605362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9954080850076092, + -0.01537775341421366, + 0.0944787490112897, + 0.04252360016107559 + ], + [ + 0.018651993966129425, + 0.9992521405220034, + -0.033871040228145355, + 0.041732240468263626 + ], + [ + -0.09388723060434491, + 0.03547772392630578, + 0.9949505136173484, + -0.22593045234680176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9934462605955503, + -0.017929838970303535, + 0.11288525887657719, + 0.0486811064183712 + ], + [ + 0.022039383996696534, + 0.9991350173950195, + -0.035262479642972876, + 0.04631626605987549 + ], + [ + -0.11215535927974572, + 0.03751929849386215, + 0.9929821036286014, + -0.24762992560863495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9904310810676543, + -0.019117034971714023, + 0.1366775889654502, + 0.051256030797958374 + ], + [ + 0.024067474095040925, + 0.9991093277931216, + -0.03465944292777366, + 0.05079912394285202 + ], + [ + -0.13589326679412456, + 0.03761727362871171, + 0.990009072691954, + -0.2747998833656311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9868301053999428, + -0.0200913418084383, + 0.16050765234568257, + 0.049961913377046585 + ], + [ + 0.025838921789881623, + 0.9990944862365723, + -0.033801983717947855, + 0.06208402290940285 + ], + [ + -0.15968317607473934, + 0.0375041589140892, + 0.9864556630086272, + -0.3006337583065033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9831756100588996, + -0.0217317845672369, + 0.1813653791498393, + 0.027389243245124817 + ], + [ + 0.027404062748858503, + 0.9992086887359619, + -0.028828107598907332, + 0.0694490298628807 + ], + [ + -0.18059538316106605, + 0.033313240855932236, + 0.9829931471363236, + -0.30577802658081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9794605953888257, + -0.024674711748957634, + 0.20012034847928825, + 0.01671450398862362 + ], + [ + 0.028655531349094404, + 0.9994444251060486, + -0.017019554747393983, + 0.06184884533286095 + ], + [ + -0.19958922509430818, + 0.022404538467526436, + 0.9796235141724032, + -0.3475211262702942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9754319762924221, + -0.025655964389443404, + 0.21880194499572744, + 0.018141746520996094 + ], + [ + 0.028813225654355422, + 0.9995214939117434, + -0.011250594374146475, + 0.06158837676048279 + ], + [ + -0.2184085978703052, + 0.01727857813239098, + 0.9757044209728123, + -0.3696407079696655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9719365172082297, + -0.02726754173636437, + 0.23365770356193938, + 0.0162874273955822 + ], + [ + 0.02960500200515977, + 0.9995405077934267, + -0.0065016851840278556, + 0.054552722722291946 + ], + [ + -0.23337306088732487, + 0.013236660510301593, + 0.9722971892706883, + -0.3923160135746002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9687149830699542, + -0.030081553384661674, + 0.24634604656184042, + 0.010667250491678715 + ], + [ + 0.03183849169313436, + 0.9994880557060242, + -0.0031511407476102044, + 0.05725180357694626 + ], + [ + -0.24612514176740038, + 0.010895843617618084, + 0.9691768425285262, + -0.4208133816719055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9655665227276694, + -0.03212690353393555, + 0.25816504238976706, + 0.018079403787851334 + ], + [ + 0.03278920940061885, + 0.999460756778717, + 0.0017408047082439705, + 0.06085210293531418 + ], + [ + -0.2580817572096957, + 0.006784164812415838, + 0.9660992390269357, + -0.4446122348308563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9617895045486275, + -0.03481781482696533, + 0.2715670344508639, + 0.01871049590408802 + ], + [ + 0.03416962475279975, + 0.999390721321106, + 0.007116528046847761, + 0.06375099718570709 + ], + [ + -0.2716493673701867, + 0.0024347403086721897, + 0.9623932027072903, + -0.47219690680503845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9576846789197576, + -0.038250498473644264, + 0.28526645311733423, + 0.015773706138134003 + ], + [ + 0.03653813046131007, + 0.9992681145668032, + 0.011324474138793734, + 0.0632442831993103 + ], + [ + -0.28549082276363436, + -0.0004221727140247823, + 0.9583813205991919, + -0.4984036087989807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9538877324088724, + -0.04183477163314819, + 0.29723394912553464, + 0.016027983278036118 + ], + [ + 0.039221256174106094, + 0.9991216063499451, + 0.014753867996157043, + 0.06923261284828186 + ], + [ + -0.297590104276891, + -0.0024156454019248486, + 0.9546906774868329, + -0.5236093401908875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9500509103029022, + -0.04527626186609269, + 0.3087933739568012, + 0.01265508122742176 + ], + [ + 0.04187303476828008, + 0.9989671707153323, + 0.01764281379194292, + 0.07690702378749847 + ], + [ + -0.3092732248407058, + -0.0038314568810164937, + 0.9509654933217541, + -0.5419929027557373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9463727314022959, + -0.04850868508219719, + 0.3194144117550386, + 0.024659866467118263 + ], + [ + 0.04420853173399028, + 0.9988077878952026, + 0.020703837733129837, + 0.0762038454413414 + ], + [ + -0.32003789850335623, + -0.005472706630825996, + 0.9473889170359702, + -0.5720348358154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9426283843801652, + -0.05179406329989435, + 0.32980158185800834, + 0.03459823504090309 + ], + [ + 0.04690551265677202, + 0.9986398220062258, + 0.022768675395266547, + 0.0826931893825531 + ], + [ + -0.33053225530473, + -0.0059928875416517275, + 0.9437756475827479, + -0.603389322757721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9386597986054634, + -0.054358188062906265, + 0.34053328413719874, + 0.03186829388141632 + ], + [ + 0.049060673743410034, + 0.9985036849975586, + 0.02415495114601989, + 0.08665713667869568 + ], + [ + -0.3413367427812573, + -0.005966491531580687, + 0.9399221464028651, + -0.6237571835517883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9346384461180745, + -0.056409720331430435, + 0.3510967653958046, + 0.029836930334568024 + ], + [ + 0.05108564004504088, + 0.9983957409858704, + 0.024416700179291165, + 0.0938100516796112 + ], + [ + -0.3519108552321545, + -0.004884785041213036, + 0.9360207582240994, + -0.643997073173523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9310078503090419, + -0.0579819865524769, + 0.3603643483314084, + 0.043578311800956726 + ], + [ + 0.0527161448456439, + 0.9983105659484866, + 0.024433282933088437, + 0.1000140830874443 + ], + [ + -0.36117223533062237, + -0.0037505598738789567, + 0.932491599306596, + -0.6791362762451172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9267744999207904, + -0.058775532990694046, + 0.37099114810409467, + 0.037417009472846985 + ], + [ + 0.05363384346089659, + 0.9982680678367615, + 0.024171089773600548, + 0.10296840220689774 + ], + [ + -0.3717693140633501, + -0.00250347051769495, + 0.9283217656176357, + -0.7005820274353027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9230955049780268, + -0.060026258230209364, + 0.3798572157444666, + 0.04710443317890167 + ], + [ + 0.05471816604004035, + 0.9981946349143984, + 0.0247666544842428, + 0.10656489431858063 + ], + [ + -0.3806580695504937, + -0.002076896838843823, + 0.9247135420392715, + -0.7471339106559753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9198301039651382, + -0.060840301215648665, + 0.38757072775133816, + 0.04068247228860855 + ], + [ + 0.055557240507893874, + 0.9981466531753542, + 0.024832434735908526, + 0.11068431288003922 + ], + [ + -0.3883632137253194, + -0.0013092616572976115, + 0.9215054331469739, + -0.7628722190856934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9171433684251252, + -0.061177417635917664, + 0.39383415385608833, + 0.034354306757450104 + ], + [ + 0.056214595663485106, + 0.9981269240379333, + 0.024137018754594033, + 0.11788846552371979 + ], + [ + -0.3945730971589086, + 2.1168962121009827e-06, + 0.9188645660301298, + -0.7854765057563782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9166838684097752, + -0.06329496204853058, + 0.3945686563336942, + 0.05043778568506241 + ], + [ + 0.05822188470517745, + 0.9979948401451111, + 0.024829603413808646, + 0.11887797713279724 + ], + [ + -0.3953490482421684, + 0.00021163001656532288, + 0.9185309322206836, + -0.828506350517273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9153109741522399, + -0.06485264748334885, + 0.39749213532027766, + 0.07479269802570343 + ], + [ + 0.059891056788674915, + 0.9978943467140198, + 0.024898981427098753, + 0.11988124996423721 + ], + [ + -0.3982699089891992, + 0.001015910878777504, + 0.9172677425241714, + -0.8634046316146851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9116398126504438, + -0.06486009806394578, + 0.4058398734852403, + 0.06620559096336365 + ], + [ + 0.060881059523971624, + 0.9978863596916201, + 0.022721800990472957, + 0.1281801164150238 + ], + [ + -0.40645583923970513, + 0.003993860911577941, + 0.9136617313447238, + -0.8624099493026733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9077594093685322, + -0.06381519138813019, + 0.41460890012219637, + 0.05668777972459793 + ], + [ + 0.060566161322520476, + 0.9979434013366699, + 0.02099435539766406, + 0.13698193430900574 + ], + [ + -0.4150959477259094, + 0.006053442135453224, + 0.9097575295284429, + -0.8806309103965759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9019371499690476, + -0.06344871968030931, + 0.4271810344538691, + 0.01727179065346718 + ], + [ + 0.06072032398772102, + 0.9979540109634402, + 0.02002191805957738, + 0.12781107425689697 + ], + [ + -0.42757735904556154, + 0.00788005441427231, + 0.903944411996259, + -0.8377912640571594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.8992510048669144, + -0.06192407011985779, + 0.4330277904573375, + 0.04550837352871895 + ], + [ + 0.06015420777306695, + 0.9980303645133972, + 0.01780109211478695, + 0.13103322684764862 + ], + [ + -0.4332771648232839, + 0.010040792636573315, + 0.901204755185343, + -0.9190688729286194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.8955351747040624, + -0.060161735862493515, + 0.4409050936359828, + 0.04724036902189255 + ], + [ + 0.0596143542111325, + 0.9981071352958679, + 0.015107798773931631, + 0.13122452795505524 + ], + [ + -0.440979464245077, + 0.012754705734550953, + 0.8974265758205984, + -0.928176760673523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.8934019432193426, + -0.05769183859229088, + 0.4455385573735646, + 0.09362746775150299 + ], + [ + 0.05822889955109457, + 0.9982250332832336, + 0.012496390316224371, + 0.13296525180339813 + ], + [ + -0.445468687643754, + 0.014778916724026203, + 0.8951755704681963, + -1.0185222625732422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.8875639770584018, + -0.05553293228149414, + 0.4573251896835155, + 0.05676736310124397 + ], + [ + 0.057819905360938804, + 0.9982864260673523, + 0.009006510454970827, + 0.14527054131031036 + ], + [ + -0.45704166778932764, + 0.018448643386363983, + 0.889253932368723, + -0.996074914932251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8824242077819774, + -0.05347760394215584, + 0.4674051995505129, + 0.04532107338309288 + ], + [ + 0.05722560415434965, + 0.9983420968055725, + 0.0061866765659682405, + 0.15341654419898987 + ], + [ + -0.46696115688908263, + 0.021288271993398666, + 0.8840215559015069, + -1.0180612802505493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.877925858622047, + -0.05257138237357141, + 0.47590171433558, + 0.04918202757835388 + ], + [ + 0.05740890198824738, + 0.9983411431312563, + 0.004377820753973363, + 0.15063872933387756 + ], + [ + -0.4753424383070736, + 0.023477591574192054, + 0.8794875894354579, + -1.060628056526184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8736623930643371, + -0.051446933299303055, + 0.48380497880093537, + 0.050868816673755646 + ], + [ + 0.057229704558878186, + 0.9983570575714111, + 0.0028171814877182445, + 0.14834493398666382 + ], + [ + -0.48315506932259933, + 0.02522674947977066, + 0.8751713357902193, + -1.1043691635131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8685919157528394, + -0.05065470561385155, + 0.49293219723887827, + 0.030039045959711075 + ], + [ + 0.057878825357928446, + 0.9983234405517578, + 0.0006019069483883419, + 0.1574842929840088 + ], + [ + -0.49213625897007646, + 0.028007522225379944, + 0.8700675181894797, + -1.1128923892974854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8642576990294141, + -0.050020668655633926, + 0.5005562751829891, + 0.023852180689573288 + ], + [ + 0.05801746523867392, + 0.9983155131340027, + -0.00041081852542039135, + 0.15812253952026367 + ], + [ + -0.49969254849537925, + 0.02939605712890625, + 0.8657039406630771, + -1.1423282623291016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8623182458386359, + -0.04998716711997986, + 0.5038933773033555, + 0.0009498037397861481 + ], + [ + 0.05880689578056706, + 0.9982680678367615, + -0.0016068133486072838, + 0.16252632439136505 + ], + [ + -0.5029403857049525, + 0.031017987057566643, + 0.8637644068870486, + -1.1555629968643188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8652922977073093, + -0.050761431455612196, + 0.4986908193631517, + -0.002485845237970352 + ], + [ + 0.05963546056900201, + 0.9982184767723086, + -0.0018671023026409599, + 0.16146056354045868 + ], + [ + -0.49770761724544993, + 0.031355243176221854, + 0.8667779470114181, + -1.2065532207489014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8691983355820715, + -0.05140462517738344, + 0.49178435132217707, + -0.04143868759274483 + ], + [ + 0.06031442509236329, + 0.9981768727302553, + -0.002265820978123594, + 0.17209474742412567 + ], + [ + -0.49077128798661623, + 0.031631134450435645, + 0.8707141212688706, + -1.183178424835205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8769844252407458, + -0.053655374795198454, + 0.4775137601417445, + -0.043242670595645905 + ], + [ + 0.06144890439933655, + 0.9981099963188174, + -0.0007031652350941015, + 0.17085929214954376 + ], + [ + -0.47657350066007004, + 0.02995936200022698, + 0.8786240136468392, + -1.2186304330825806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8818965006564332, + -0.05491144210100175, + 0.46823425535085444, + -0.036868028342723846 + ], + [ + 0.061459533618478564, + 0.9981087446212771, + 0.0012955947137691134, + 0.16472747921943665 + ], + [ + -0.4674198222112029, + 0.027634875848889358, + 0.883603421199974, + -1.2771927118301392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8818314994535785, + -0.05562080070376396, + 0.46827296728383194, + -0.023011721670627594 + ], + [ + 0.062165236049694955, + 0.9980647563934326, + 0.001481830365031585, + 0.17179042100906372 + ], + [ + -0.46744915956639405, + 0.02780357003211975, + 0.8835826024964841, + -1.316773772239685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8794501313074897, + -0.0576099492609501, + 0.4724918138544155, + -0.03109869733452797 + ], + [ + 0.06375820090259494, + 0.9979608654975893, + 0.00300600395416969, + 0.1785685420036316 + ], + [ + -0.47170148754779034, + 0.027481596916913993, + 0.8813299260948374, + -1.3281522989273071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8795255419220103, + -0.06108393520116806, + 0.4719148570691845, + -0.058486029505729675 + ], + [ + 0.06598864260828818, + 0.9978013038635254, + 0.006168339379933936, + 0.17645587027072906 + ], + [ + -0.47125404349327715, + 0.02571580745279789, + 0.8816225837962695, + -1.3547168970108032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8903551629434707, + -0.04911627992987633, + 0.4526093965612962, + -0.07130642235279083 + ], + [ + 0.052680310410448364, + 0.99860018491745, + 0.0047355193304474946, + 0.18307456374168396 + ], + [ + -0.45220843476232014, + 0.01962731033563614, + 0.8916963072098978, + -1.377041220664978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8965725569527961, + -0.053557172417640686, + 0.43964676054423946, + -0.06318739056587219 + ], + [ + 0.05656969139362347, + 0.9983790516853333, + 0.00625847962277456, + 0.17648394405841827 + ], + [ + -0.4392693133629309, + 0.0192594975233078, + 0.8981489565224143, + -1.4265642166137695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8983262988944775, + -0.06241566687822343, + 0.43487253903222606, + -0.04493164271116257 + ], + [ + 0.06611344093871414, + 0.9977900385856631, + 0.006637084989089046, + 0.1839396208524704 + ], + [ + -0.4343257615776558, + 0.02278864942491055, + 0.9004675885050638, + -1.4660875797271729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8973092670779004, + -0.06560719013214111, + 0.4364995121539229, + -0.040609344840049744 + ], + [ + 0.07047108117955582, + 0.997501015663147, + 0.005060456765373373, + 0.20132917165756226 + ], + [ + -0.43574067486977336, + 0.026219794526696205, + 0.8996902997430309, + -1.4836560487747192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8958124808528667, + -0.06680790334939957, + 0.4393822580360356, + -0.04586026072502136 + ], + [ + 0.07254782793633523, + 0.9973579049110413, + 0.0037373871389321973, + 0.20798391103744507 + ], + [ + -0.4384710842678848, + 0.028528228402137756, + 0.8982924242358938, + -1.5001447200775146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8942791643655807, + -0.06573233753442764, + 0.4426556587433893, + -0.03611521050333977 + ], + [ + 0.0720327952980681, + 0.9973989129066467, + 0.0025842506698596627, + 0.21663540601730347 + ], + [ + -0.44167415990599207, + 0.0295746847987175, + 0.8966879593359841, + -1.5339863300323486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8924086409236133, + -0.06520580500364305, + 0.4464918780376323, + -0.028205813840031624 + ], + [ + 0.07176329262886305, + 0.9974191784858706, + 0.0022292440540381217, + 0.22065897285938263 + ], + [ + -0.4454849235213183, + 0.0300523266196251, + 0.8947849022310057, + -1.572141170501709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8902492086862557, + -0.06533044576644899, + 0.4507641587307106, + -0.020491572096943855 + ], + [ + 0.07265988276739026, + 0.9973562359809878, + 0.0010478270881850095, + 0.22528785467147827 + ], + [ + -0.4496408665030158, + 0.031819641590118415, + 0.8926424703233805, + -1.5981736183166504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8884276217983827, + -0.06353916972875596, + 0.45459773209757975, + -0.005724180489778519 + ], + [ + 0.07152094276695063, + 0.9974390268325808, + -0.0003623782305840026, + 0.22667498886585236 + ], + [ + -0.4534105082082493, + 0.03283520415425301, + 0.8906967871533854, + -1.6343984603881836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8857628703627342, + -0.06138151511549951, + 0.46006136274877646, + -0.021027810871601105 + ], + [ + 0.06970639877344074, + 0.9975669384002688, + -0.0011110844512621028, + 0.23230740427970886 + ], + [ + -0.45887379132243605, + 0.033053375780582435, + 0.8878864300730468, + -1.6606632471084595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8836924406377022, + -0.06145732104778291, + 0.4640158443812525, + -0.02114231325685978 + ], + [ + 0.06992695368663787, + 0.9975515604019167, + -0.0010496930899259191, + 0.2297346591949463 + ], + [ + -0.462815210783736, + 0.03337481617927552, + 0.8858262734455642, + -1.6971691846847534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8823239587719224, + -0.0627216324210167, + 0.4664444091479233, + -0.009933501482009888 + ], + [ + 0.07260832584164331, + 0.9973552823066711, + -0.003233642105100249, + 0.23859760165214539 + ], + [ + -0.46500799073769417, + 0.036720868200063705, + 0.8845445943372091, + -1.7188048362731934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8797440748280217, + -0.06103440374135971, + 0.4715136498566467, + -0.018697474151849747 + ], + [ + 0.07210199086715419, + 0.9973825216293335, + -0.005422224727891292, + 0.24727310240268707 + ], + [ + -0.4699485110427066, + 0.038767240941524506, + 0.881842104953866, + -1.7276685237884521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8773814679049008, + -0.06056318059563637, + 0.47595577824372726, + -0.014994965866208076 + ], + [ + 0.07125614831803437, + 0.997448205947876, + -0.004433571946572305, + 0.24284812808036804 + ], + [ + -0.4744727285403563, + 0.03780470788478851, + 0.8794580117025671, + -1.784730315208435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8762449335742064, + -0.061501018702983856, + 0.4779251746483343, + -0.006183981895446777 + ], + [ + 0.07222099335684334, + 0.9973803758621216, + -0.004066266860896519, + 0.2400631308555603 + ], + [ + -0.4764231034248076, + 0.03807927295565605, + 0.8783911490176431, + -1.8070564270019531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8745285251574748, + -0.062250625342130675, + 0.4809623296215943, + -0.009715262800455093 + ], + [ + 0.07443780429602069, + 0.9972058534622195, + -0.006281765695467529, + 0.2521499693393707 + ], + [ + -0.4792273929787028, + 0.04129535704851151, + 0.8767188015179137, + -1.8188704252243042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8727128136229736, + -0.06021620333194734, + 0.48450633669284854, + 0.0037339329719543457 + ], + [ + 0.07212324043152878, + 0.997377932071686, + -0.005953614156419387, + 0.2560901939868927 + ], + [ + -0.4828774316605092, + 0.04013996198773385, + 0.8747674890901708, + -1.8654677867889404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8697354804023709, + -0.05917394906282426, + 0.4899578181493944, + -0.008538469672203064 + ], + [ + 0.07088875622480675, + 0.9974697828292849, + -0.005368299937593519, + 0.26121100783348083 + ], + [ + -0.4884004560923408, + 0.03940149769186974, + 0.8717296075156654, + -1.8818799257278442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8675319222232204, + -0.059324257075786604, + 0.493830936260891, + -0.008538167923688889 + ], + [ + 0.07135681901681803, + 0.997435510158539, + -0.005532663730788089, + 0.2671874761581421 + ], + [ + -0.4922362902739997, + 0.04003796353936196, + 0.8695403477693457, + -1.9064515829086304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8652411147819213, + -0.06047224998474121, + 0.497695592375156, + -0.006768852472305298 + ], + [ + 0.07330233672071985, + 0.9972901344299316, + -0.006260493248830776, + 0.27072328329086304 + ], + [ + -0.4959683376033481, + 0.04189908504486084, + 0.8673291699853836, + -1.9331117868423462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8622216608435861, + -0.06319940090179443, + 0.502573065451551, + -0.0033277347683906555 + ], + [ + 0.07701326253173806, + 0.9970071911811829, + -0.006749752734390792, + 0.272264301776886 + ], + [ + -0.5006423836124559, + 0.04452457278966904, + 0.8645084141840654, + -1.966018795967102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8590586076836476, + -0.06522997468709946, + 0.5077040116719457, + -0.0036691688001155853 + ], + [ + 0.08028124699356644, + 0.9967418909072876, + -0.007777856232022166, + 0.27904650568962097 + ], + [ + -0.5055425300386341, + 0.04744074493646622, + 0.8614964273562202, + -1.9979336261749268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8556909814310669, + -0.06675709038972856, + 0.5131632085502117, + -0.009059175848960876 + ], + [ + 0.08324166126812542, + 0.9964872002601626, + -0.009171659975308426, + 0.28532013297080994 + ], + [ + -0.5107482906315807, + 0.05056466162204744, + 0.8582420487895053, + -2.0141348838806152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.852898078667813, + -0.06788799166679382, + 0.5176448037119805, + -0.0034763216972351074 + ], + [ + 0.08565612672764553, + 0.996269702911377, + -0.010472797090377075, + 0.2926858961582184 + ], + [ + -0.5150028483726711, + 0.05327167734503746, + 0.85553149880357, + -2.0616390705108643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8505762488058619, + -0.07112137973308563, + 0.5210199714779078, + 0.008825816214084625 + ], + [ + 0.08981841419395944, + 0.9959008097648621, + -0.010685912755943088, + 0.3020784556865692 + ], + [ + -0.5181242458913287, + 0.055886369198560715, + 0.8534776229905509, + -2.106414794921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.847863899248117, + -0.0708150863647461, + 0.5254636330890144, + 0.003148183226585388 + ], + [ + 0.09095853823977519, + 0.9957753419876099, + -0.012568991665003474, + 0.3017956018447876 + ], + [ + -0.5223536806553513, + 0.058452196419239044, + 0.8507232436802533, + -2.1386728286743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8459861418744787, + -0.0679236575961113, + 0.5288608368689244, + 0.0018337592482566833 + ], + [ + 0.09038616669763196, + 0.9957668781280518, + -0.016694972697756074, + 0.30755195021629333 + ], + [ + -0.5254881284612453, + 0.06192541494965553, + 0.8485443080963233, + -2.190530300140381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.8497961211008572, + -0.06346864998340607, + 0.5232765371237932, + -0.038270629942417145 + ], + [ + 0.08685760601289406, + 0.9960149526596069, + -0.020248425260952326, + 0.3023146092891693 + ], + [ + -0.5199060925302466, + 0.06265757977962494, + 0.8519223337163998, + -2.1908628940582275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.8652880512808909, + -0.06100258231163025, + 0.4975493334110366, + -0.08411379158496857 + ], + [ + 0.08347213748890844, + 0.9962441921234131, + -0.02302078430145272, + 0.3003774881362915 + ], + [ + -0.4942762646027334, + 0.06145111471414566, + 0.8671301454738828, + -2.192455530166626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.8818584518814463, + -0.06003505736589432, + 0.46767671373142916, + -0.06376884877681732 + ], + [ + 0.08133700524391858, + 0.9963611960411072, + -0.025468717470729613, + 0.3248918652534485 + ], + [ + -0.4644458892774997, + 0.06049922853708267, + 0.8835325775007739, + -2.2513675689697266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.8863376712939888, + -0.05983032286167145, + 0.4591577383848695, + -0.07041148841381073 + ], + [ + 0.08049452312673235, + 0.9964277148246765, + -0.02554403054021836, + 0.32943448424339294 + ], + [ + -0.4559891980353938, + 0.05960031971335411, + 0.8879874391638569, + -2.3040921688079834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.8879798368063422, + -0.06183915585279465, + 0.4557057051025101, + -0.03155885264277458 + ], + [ + 0.08059135945485171, + 0.9965085387229919, + -0.02181288573693142, + 0.31773874163627625 + ], + [ + -0.4527657208079836, + 0.056095343083143234, + 0.8898631986816246, + -2.31646466255188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.8884278701551672, + -0.060409583151340485, + 0.45502378229002505, + -0.029014622792601585 + ], + [ + 0.07661994873671472, + 0.9969111680984497, + -0.017248132001956164, + 0.3143143355846405 + ], + [ + -0.4525763177504792, + 0.0501876175403595, + 0.8903122494053626, + -2.356931686401367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.8881471418256818, + -0.0592067949473858, + 0.45572930199783124, + -0.03887719660997391 + ], + [ + 0.07295722480450016, + 0.9972552061080935, + -0.012622557868351671, + 0.31284043192863464 + ], + [ + -0.4537310931159847, + 0.04445943236351014, + 0.8900288920540035, + -2.40700101852417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.8900410731592031, + -0.060839325189590454, + 0.45180246101042404, + -0.03654998168349266 + ], + [ + 0.07260195307955652, + 0.9973227977752686, + -0.008725652120077466, + 0.3123306930065155 + ], + [ + -0.4500620564011133, + 0.040567927062511444, + 0.892075326254694, + -2.445347309112549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.8924182987688555, + -0.05843625217676163, + 0.44740897011695224, + -0.02162446640431881 + ], + [ + 0.06924987807313679, + 0.9975685477256775, + -0.00783554076898971, + 0.3197753429412842 + ], + [ + -0.44586321785696365, + 0.03797559067606926, + 0.8942951431275249, + -2.4726290702819824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.8938865479431577, + -0.056226253509521484, + 0.4447532625539712, + 0.0019230954349040985 + ], + [ + 0.06680439745550856, + 0.997732937335968, + -0.008132072116853913, + 0.32823625206947327 + ], + [ + -0.4432877229882148, + 0.03698062151670456, + 0.8956162174032305, + -2.4881720542907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.8950265802111681, + -0.04681570082902908, + 0.4435490350463021, + 0.016106555238366127 + ], + [ + 0.05700262036237052, + 0.998327374458313, + -0.009652744754909752, + 0.3371935486793518 + ], + [ + -0.4423552375152645, + 0.033922918140888214, + 0.896198153221404, + -2.5141613483428955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.8957204021106421, + -0.033648256212472916, + 0.44334272563926114, + 0.028342388570308685 + ], + [ + 0.04329637529778341, + 0.9989942908287048, + -0.01165470718602685, + 0.3438721001148224 + ], + [ + -0.4425046959779259, + 0.029634490609169006, + 0.8962764046346309, + -2.54135799407959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.8952847369544163, + -0.027478035539388657, + 0.4446461676436398, + 0.039346445351839066 + ], + [ + 0.037009244341442, + 0.9992333650588989, + -0.012767101656463206, + 0.34993475675582886 + ], + [ + -0.44395445453954996, + 0.02788621000945568, + 0.8956152898220532, + -2.5714216232299805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.8936713091404569, + -0.029953619465231895, + 0.44772133813146897, + 0.04590097814798355 + ], + [ + 0.03947436458113053, + 0.9991491436958313, + -0.01194710466634994, + 0.3554161489009857 + ], + [ + -0.4469825612573516, + 0.02835030108690262, + 0.8940933129891191, + -2.608083963394165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.891720618604608, + -0.032618649303913116, + 0.4514092733653846, + 0.05825744569301605 + ], + [ + 0.041863357147787036, + 0.9990681409835815, + -0.01050525264916392, + 0.3602864444255829 + ], + [ + -0.45064592622682, + 0.02826525643467903, + 0.8922551942902915, + -2.6368930339813232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.8892485763314639, + -0.034979451447725296, + 0.45608487886211685, + 0.06529605388641357 + ], + [ + 0.04368852680580847, + 0.9990085363388062, + -0.008562421306844672, + 0.3624859154224396 + ], + [ + -0.45533315936416624, + 0.027539798989892006, + 0.8898951103885828, + -2.671865940093994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.887437534659789, + -0.037853289395570755, + 0.4593710954739816, + 0.07853303849697113 + ], + [ + 0.046596275545034316, + 0.9988840818405151, + -0.007706693007366901, + 0.3657955825328827 + ], + [ + -0.4585667679188477, + 0.02824418991804123, + 0.8882110245643745, + -2.6942648887634277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.886508525854266, + -0.034319907426834106, + 0.46143777817312387, + 0.09156370908021927 + ], + [ + 0.04318096417913405, + 0.9990297555923462, + -0.008654868130575161, + 0.366188108921051 + ], + [ + -0.46069304391991917, + 0.02759794145822525, + 0.8871303300125991, + -2.7211732864379883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.8850063178808162, + -0.026705622673034675, + 0.46481250686834114, + 0.09894010424613953 + ], + [ + 0.034786325474571604, + 0.9993559122085574, + -0.008815804722887993, + 0.3688850700855255 + ], + [ + -0.4642776614705237, + 0.02397116087377072, + 0.8853652418922063, + -2.7551913261413574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.8836530256645585, + -0.02373455837368965, + 0.46754036771395235, + 0.10744330286979675 + ], + [ + 0.031110079122055184, + 0.9994834661483765, + -0.008059664219408501, + 0.36476680636405945 + ], + [ + -0.4671075597522229, + 0.02166716381907463, + 0.8839349944468186, + -2.78275990486145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.8831560812523491, + -0.018258247524499893, + 0.4687237711823572, + 0.11669362336397171 + ], + [ + 0.025511191810405513, + 0.9996328353881836, + -0.009128661925649822, + 0.36772239208221436 + ], + [ + -0.4683850421836943, + 0.020019734278321266, + 0.8832976399802206, + -2.8094289302825928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.8818971053520956, + -0.009037544019520284, + 0.47135526818116497, + 0.12062251567840576 + ], + [ + 0.015254114446129821, + 0.9998397231101992, + -0.009369712931695777, + 0.36679795384407043 + ], + [ + -0.47119503255649664, + 0.015453230589628223, + 0.8818936597160844, + -2.845567464828491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.8796247322585701, + -0.00632533710449934, + 0.4756263007145997, + 0.12525592744350433 + ], + [ + 0.011756692048040767, + 0.9998952150344849, + -0.008445291309853876, + 0.3708774745464325 + ], + [ + -0.4755230649397428, + 0.013020479120314121, + 0.8796069119457923, + -2.872687339782715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.8774545285797704, + -0.007949160411953926, + 0.47959395849134506, + 0.13114207983016968 + ], + [ + 0.01314603344953287, + 0.999885618686676, + -0.007478816990446188, + 0.3763650357723236 + ], + [ + -0.479479658551236, + 0.012867080047726631, + 0.8774586880424935, + -2.894313335418701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.8751949739855838, + -0.015886932611465454, + 0.48350940915366847, + 0.13225480914115906 + ], + [ + 0.021167282636638054, + 0.9997609853744507, + -0.005464966447994807, + 0.38131627440452576 + ], + [ + -0.4833070543909408, + 0.015017491765320301, + 0.8753220717534029, + -2.927713632583618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.872618563469775, + -0.016893241554498672, + 0.4881100494618344, + 0.13866281509399414 + ], + [ + 0.022467313333121904, + 0.9997320771217346, + -0.0055657121723319235, + 0.38507968187332153 + ], + [ + -0.4878852375330845, + 0.01582326553761959, + 0.8727643615378454, + -2.955326557159424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.8696443626678397, + -0.018568497151136402, + 0.4933293805222786, + 0.146438866853714 + ], + [ + 0.02443938902957299, + 0.9996864199638369, + -0.005454579812894709, + 0.3908720016479492 + ], + [ + -0.49307339805872796, + 0.016800213605165485, + 0.8698254858069405, + -2.9833357334136963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.8664522292109167, + -0.01905619539320469, + 0.4988962073456067, + 0.1479623019695282 + ], + [ + 0.025125826183143136, + 0.9996694326400757, + -0.0054528990071010495, + 0.3936735987663269 + ], + [ + -0.4986273967211656, + 0.017259854823350906, + 0.8666446011213095, + -3.011512279510498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.8633051259688486, + -0.020030740648508072, + 0.5042846904211142, + 0.15536360442638397 + ], + [ + 0.026492732794780757, + 0.9996330738067627, + -0.0056474488868936785, + 0.40177443623542786 + ], + [ + -0.5039865417601859, + 0.018235351890325546, + 0.8635189769328466, + -3.044154167175293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.859444427850303, + -0.020064590498805046, + 0.5108353215302042, + 0.16018952429294586 + ], + [ + 0.026860751610634996, + 0.9996216297149658, + -0.005928183994388588, + 0.4088934361934662 + ], + [ + -0.5105230566960406, + 0.01881636492908001, + 0.859658123715445, + -3.069643974304199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.8557319534179616, + -0.021730531007051468, + 0.5169628339846258, + 0.16586796939373016 + ], + [ + 0.02871048497135113, + 0.9995725750923157, + -0.005507619631225025, + 0.4148534834384918 + ], + [ + -0.5166221782180677, + 0.01955530047416687, + 0.85599011015535, + -3.099285364151001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.852316312190692, + -0.023642640560865402, + 0.5224920266720008, + 0.16790169477462769 + ], + [ + 0.030591553881761387, + 0.999521017074585, + -0.004674449583496225, + 0.4213308095932007 + ], + [ + -0.5221312823582596, + 0.019967950880527496, + 0.852631335656999, + -3.1270053386688232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.8492752101417828, + -0.03154425695538521, + 0.52700724671664, + 0.17503780126571655 + ], + [ + 0.03815083417559167, + 0.9992706179618835, + -0.0016684974912262787, + 0.4246085286140442 + ], + [ + -0.5265702312322664, + 0.021522779017686844, + 0.8498591854886864, + -3.161414384841919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.8460453132017504, + -0.03916244953870773, + 0.5316706126397627, + 0.178930401802063 + ], + [ + 0.0455775472937175, + 0.9989602565765381, + 0.0010552718934931564, + 0.42297181487083435 + ], + [ + -0.5311591625657545, + 0.02333943359553814, + 0.8469505642636153, + -3.1912615299224854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.8436605009435526, + -0.03735357522964478, + 0.535576034300945, + 0.18211407959461212 + ], + [ + 0.04340576608040973, + 0.9990566968917849, + 0.0013044122536025112, + 0.4278777241706848 + ], + [ + -0.5351195465295847, + 0.022146606817841533, + 0.8444860320213396, + -3.2249300479888916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.8417976622515846, + -0.03929330036044121, + 0.5383611354142432, + 0.18581241369247437 + ], + [ + 0.04378265933644729, + 0.999031126499176, + 0.004456282337593481, + 0.428159236907959 + ], + [ + -0.5380146790349647, + 0.01981959491968155, + 0.8427024739703516, + -3.262455940246582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.839796931476136, + -0.042825013399124146, + 0.5412089773867985, + 0.1927403211593628 + ], + [ + 0.04612276051629964, + 0.9989078044891357, + 0.00747306792269603, + 0.428329199552536 + ], + [ + -0.5409379000068077, + 0.018686188384890556, + 0.8408549539047898, + -3.290353775024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8391925749231869, + -0.043216463178396225, + 0.5421145587314471, + 0.2062498927116394 + ], + [ + 0.04523495439639536, + 0.9989301562309265, + 0.009609393839707506, + 0.43035516142845154 + ], + [ + -0.5419498806189366, + 0.01645839400589466, + 0.8402496630792776, + -3.3222298622131348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.838036152529369, + -0.04351062700152397, + 0.5438770255218681, + 0.21518680453300476 + ], + [ + 0.043541749864022136, + 0.9989692568778992, + 0.012826834477135052, + 0.43673402070999146 + ], + [ + -0.5438745289883826, + 0.012932004407048225, + 0.8390669059479918, + -3.35927414894104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8365894659107306, + -0.043852828443050385, + 0.5460723188301514, + 0.21581320464611053 + ], + [ + 0.04218857429476027, + 0.9989880323410034, + 0.01559121608039931, + 0.43597885966300964 + ], + [ + -0.5462034128603065, + 0.009994563646614552, + 0.8375929634580457, + -3.3926877975463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8406050375860984, + -0.0460655577480793, + 0.5396861487467575, + 0.2196681797504425 + ], + [ + 0.043566694912117794, + 0.9988989233970642, + 0.017403552650221275, + 0.43956148624420166 + ], + [ + -0.5398936164229969, + 0.008882827125489712, + 0.841686411930449, + -3.4273719787597656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8443373594000425, + -0.047523919492959976, + 0.533700189707586, + 0.23715591430664062 + ], + [ + 0.04454169901533808, + 0.9988366961479187, + 0.018475561517445963, + 0.4426768124103546 + ], + [ + -0.5339573443597508, + 0.00817230436950922, + 0.8454718926760662, + -3.4603679180145264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8457454783957995, + -0.04775090515613557, + 0.5314455873257315, + 0.24943187832832336 + ], + [ + 0.04452584264742946, + 0.9988296627998354, + 0.018887146945387186, + 0.4480457901954651 + ], + [ + -0.5317254938341577, + 0.0076893414370715635, + 0.8468818467886308, + -3.4944546222686768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8470542267422508, + -0.047746591269969954, + 0.5293575466921565, + 0.25840553641319275 + ], + [ + 0.04436411757056513, + 0.9988327622413637, + 0.01910249420578176, + 0.454194039106369 + ], + [ + -0.5296517345389908, + 0.007303630001842977, + 0.8481837880010021, + -3.520779609680176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8520088550413067, + -0.0505884625017643, + 0.5210774164580462, + 0.26525068283081055 + ], + [ + 0.0468102791296658, + 0.9986950755119324, + 0.020418601707243196, + 0.4620628356933594 + ], + [ + -0.5214304208163156, + 0.0069949510507285595, + 0.8532651385923371, + -3.551219940185547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8574768449316533, + -0.05435311794281006, + 0.5116436608634329, + 0.2839747965335846 + ], + [ + 0.05019712693698933, + 0.9984982013702393, + 0.02194616341491788, + 0.46989908814430237 + ], + [ + -0.5120680999299515, + 0.006864713504910469, + 0.8589173995175554, + -3.577174663543701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/pull_out/transforms.json b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d0f5f289ce46b5df530b99de0573f9424c6f91ac --- /dev/null +++ b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/pull_out/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, + -9.838233381742612e-05, + -4.791899846168235e-05, + 9.177199535770342e-05 + ], + [ + 9.838460391620174e-05, + 1.0, + 4.736682240036316e-05, + -7.394507701974362e-05 + ], + [ + 4.791433457285166e-05, + -4.737153722089715e-05, + 1.0, + 0.00041252130176872015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999916553497314, + -0.002241932787001133, + 0.0034179030917584896, + 0.006124705397376111 + ], + [ + 0.002261039800941944, + 0.9999817609786987, + -0.005596743896603584, + 0.0024835245321608254 + ], + [ + -0.0034052934497594833, + 0.005604425445199013, + 0.9999784827232361, + -0.028771286564213887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999696016311646, + -0.004094271920621395, + 0.006635073106735945, + 0.011834553907817555 + ], + [ + 0.004166510887444019, + 0.999931812286377, + -0.010910453274846077, + 0.008069146661058305 + ], + [ + -0.006589950527995825, + 0.0109377671033144, + 0.9999184608459473, + -0.06077201769702018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998933672904968, + -0.008079848252236843, + 0.012164631858468056, + 0.015287655197261345 + ], + [ + 0.00826678704470396, + 0.9998472929000854, + -0.01539639849215746, + 0.010233306629760634 + ], + [ + -0.012038374319672585, + 0.015495319850742817, + 0.9998074769973755, + -0.0948366261663891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999704897403717, + -0.011359781958162785, + 0.021471405401825905, + 0.02100345336846889 + ], + [ + 0.011775110848248005, + 0.9997440576553345, + -0.019316894933581352, + 0.016601258498572167 + ], + [ + -0.021246476098895073, + 0.01956402324140072, + 0.999582827091217, + -0.11903815919917728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993982911109924, + -0.012502751313149929, + 0.032354116439819336, + 0.028760424800335416 + ], + [ + 0.01325767021626234, + 0.9996423721313477, + -0.02322465367615223, + 0.021149865787712826 + ], + [ + -0.0320521742105484, + 0.0236396174877882, + 0.9992066025733948, + -0.13620788946984305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9989550709724426, + -0.012247668579220772, + 0.04403151571750641, + 0.032523256150029954 + ], + [ + 0.01340743713080883, + 0.9995683431625366, + -0.026141393929719925, + 0.026289305108643714 + ], + [ + -0.04369233548641205, + 0.02670442685484886, + 0.9986880421638489, + -0.15946183743930997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.998424768447876, + -0.012767252512276173, + 0.054634883999824524, + 0.03648700027002229 + ], + [ + 0.01434337254613638, + 0.9994893670082092, + -0.02855401113629341, + 0.03214223246193594 + ], + [ + -0.05424242466688156, + 0.029292680323123932, + 0.9980980157852173, + -0.17967821525202857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.997841477394104, + -0.014021948911249638, + 0.06415385007858276, + 0.038222414444363306 + ], + [ + 0.016056180000305176, + 0.9993809461593628, + -0.03130373731255531, + 0.037216311657712574 + ], + [ + -0.06367519497871399, + 0.03226623311638832, + 0.9974489212036133, + -0.2058874672840512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9970006942749023, + -0.015377753414213657, + 0.07584922760725021, + 0.04198181996388095 + ], + [ + 0.018015382811427116, + 0.9992521405220032, + -0.03421388939023018, + 0.04197662539247956 + ], + [ + -0.07526636868715286, + 0.03547772392630577, + 0.996532142162323, + -0.23304853907653264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9955771565437317, + -0.017929838970303535, + 0.09222082048654556, + 0.04794919514466846 + ], + [ + 0.021302005276083946, + 0.9991350173950195, + -0.03571276366710663, + 0.04659970069215411 + ], + [ + -0.09150072187185287, + 0.03751929849386215, + 0.9950979351997375, + -0.2555275282689503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9932959675788879, + -0.01911703497171402, + 0.11400706321001053, + 0.05026073103977574 + ], + [ + 0.02326909825205803, + 0.9991093277931213, + -0.035200417041778564, + 0.05110642917099453 + ], + [ + -0.11323259025812149, + 0.0376172736287117, + 0.9928561449050903, + -0.28346767510686605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99052494764328, + -0.0200913418084383, + 0.13585540652275085, + 0.04866805236254419 + ], + [ + 0.02498818375170231, + 0.9990944862365723, + -0.034435659646987915, + 0.06241198157270749 + ], + [ + -0.1350405216217041, + 0.0375041589140892, + 0.9901300668716431, + -0.31006356846718564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9877152442932129, + -0.0217317845672369, + 0.15474584698677063, + 0.025792659109547023 + ], + [ + 0.026615483686327934, + 0.9992086887359619, + -0.029557714238762856, + 0.06975399040661398 + ], + [ + -0.1539810597896576, + 0.033313240855932236, + 0.9875120520591736, + -0.3159666429909449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848666787147522, + -0.024674711748957634, + 0.17154835164546967, + 0.014808411192562845 + ], + [ + 0.02814839966595173, + 0.9994444251060486, + -0.017845792695879936, + 0.062047131918370725 + ], + [ + -0.17101271450519562, + 0.022404538467526436, + 0.9850140810012817, + -0.35846572717030845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9817764759063721, + -0.025655964389443398, + 0.18829971551895142, + 0.015900083241008577 + ], + [ + 0.028448646888136864, + 0.9995214939117432, + -0.012142995372414589, + 0.06173293622920201 + ], + [ + -0.18789806962013245, + 0.017278578132390976, + 0.9820365309715271, + -0.3813316190526599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9791658520698547, + -0.027267541736364365, + 0.20122313499450684, + 0.01373221298295354 + ], + [ + 0.02937253937125206, + 0.9995405077934265, + -0.0074821109883487225, + 0.05464773365547733 + ], + [ + -0.20092666149139404, + 0.01323666051030159, + 0.979516863822937, + -0.4047543229564788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9768103957176208, + -0.030081553384661674, + 0.21198241412639618, + 0.007807170301084481 + ], + [ + 0.03170735016465187, + 0.9994880557060242, + -0.004273544996976852, + 0.057309462517381664 + ], + [ + -0.21174533665180206, + 0.010895843617618084, + 0.9772641658782959, + -0.43399869184645395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9745444059371948, + -0.03212690353393555, + 0.22188082337379456, + 0.014909677739654268 + ], + [ + 0.03283137083053589, + 0.999460756778717, + 0.0005135596729815006, + 0.0608447663685573 + ], + [ + -0.22177767753601074, + 0.006784164812415838, + 0.9750736355781555, + -0.45854185819625853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9717581868171692, + -0.03481781482696533, + 0.23339608311653137, + 0.015191031158680007 + ], + [ + 0.03442387282848358, + 0.999390721321106, + 0.005762395914644003, + 0.06366410391397834 + ], + [ + -0.23345452547073364, + 0.0024347403086721897, + 0.9723646640777588, + -0.4868595485649412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.968708872795105, + -0.03825049847364426, + 0.24523460865020752, + 0.011881093302416424 + ], + [ + 0.036977045238018036, + 0.999268114566803, + 0.009796775877475739, + 0.06308877882030275 + ], + [ + -0.2454298436641693, + -0.0004221727140247822, + 0.969414234161377, + -0.5137911363253518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9659450054168701, + -0.04183477163314819, + 0.2553430497646332, + 0.011772265781958897 + ], + [ + 0.03982748091220856, + 0.9991216063499451, + 0.01302901841700077, + 0.06901546254133185 + ], + [ + -0.25566384196281433, + -0.0024156454019248486, + 0.9667627215385437, + -0.5397220522165298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9631688594818115, + -0.04527626186609268, + 0.26505815982818604, + 0.008027081611374068 + ], + [ + 0.0426354855298996, + 0.998967170715332, + 0.015710992738604546, + 0.0766327048666657 + ], + [ + -0.2654957175254822, + -0.003831456881016493, + 0.964104413986206, + -0.5588264718888298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9605509042739868, + -0.04850868508219719, + 0.2738409638404846, + 0.019661182206537987 + ], + [ + 0.04514709487557411, + 0.9988077878952026, + 0.018568333238363266, + 0.07586489967587921 + ], + [ + -0.27441519498825073, + -0.005472706630825996, + 0.9615957140922546, + -0.5895877734536217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9578958749771118, + -0.05179406329989433, + 0.28240546584129333, + 0.029219083310592742 + ], + [ + 0.04798213019967079, + 0.9986398220062256, + 0.020402325317263603, + 0.08230457366222427 + ], + [ + -0.28307804465293884, + -0.005992887541651726, + 0.9590781331062317, + -0.6216574776740301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9550745487213135, + -0.054358188062906265, + 0.29133784770965576, + 0.026087781030034264 + ], + [ + 0.0502486489713192, + 0.9985036849975586, + 0.021575093269348145, + 0.08622905943128797 + ], + [ + -0.29207468032836914, + -0.005966491531580687, + 0.9563769102096558, + -0.642732915897218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9522327184677124, + -0.056409720331430435, + 0.30011799931526184, + 0.023644019237586432 + ], + [ + 0.05232951417565346, + 0.9983957409858704, + 0.0216226689517498, + 0.09336386962187669 + ], + [ + -0.30085626244544983, + -0.004884785041213036, + 0.9536569714546204, + -0.6636757090924278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9497489929199219, + -0.05798198655247688, + 0.3075954020023346, + 0.036986981758049556 + ], + [ + 0.05400319769978523, + 0.9983105659484863, + 0.021439027041196823, + 0.09955467536513295 + ], + [ + -0.3083188235759735, + -0.003750559873878956, + 0.9512757062911987, + -0.6995207556656429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9467777609825134, + -0.058775532990694046, + 0.31647634506225586, + 0.030384201804796854 + ], + [ + 0.05494852736592293, + 0.9982680678367615, + 0.02101166546344757, + 0.10250147630771002 + ], + [ + -0.31716322898864746, + -0.00250347051769495, + 0.9483676552772522, + -0.7216568642192417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9442948698997498, + -0.06002625823020935, + 0.3235799968242645, + 0.039656957061517804 + ], + [ + 0.056110285222530365, + 0.9981946349143982, + 0.02142663672566414, + 0.1060717415685455 + ], + [ + -0.3242819607257843, + -0.0020768968388438225, + 0.9459581971168518, + -0.7689059643991409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9421865940093994, + -0.06084030121564865, + 0.32951921224594116, + 0.03283677675894329 + ], + [ + 0.05699622631072998, + 0.998146653175354, + 0.021323390305042267, + 0.11017661311087154 + ], + [ + -0.3302057981491089, + -0.0013092616572976112, + 0.9439080357551575, + -0.7853462199370066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9405912160873413, + -0.061177417635917664, + 0.33398422598838806, + 0.026137234530751667 + ], + [ + 0.057651638984680176, + 0.9981269240379333, + 0.020468633621931076, + 0.11738487215683101 + ], + [ + -0.33461084961891174, + 2.1168962121009827e-06, + 0.9423564076423645, + -0.8086614649920236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9408734440803528, + -0.06329496204853058, + 0.33279258012771606, + 0.04198591063419978 + ], + [ + 0.05974291265010834, + 0.9979948401451111, + 0.020906493067741394, + 0.11834701857869587 + ], + [ + -0.33344852924346924, + 0.00021163001656532288, + 0.9427682757377625, + -0.8524496718058511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9403935074806213, + -0.06485264748334885, + 0.33384761214256287, + 0.06604907008863631 + ], + [ + 0.06145622581243515, + 0.9978943467140198, + 0.020737171173095703, + 0.11933813357637042 + ], + [ + -0.33448949456214905, + 0.001015910878777504, + 0.9423989653587341, + -0.8880865092788424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9380123615264893, + -0.06486009806394577, + 0.3404790163040161, + 0.05701806195198544 + ], + [ + 0.062333036214113235, + 0.9978863596916199, + 0.01836780458688736, + 0.1276844772436316 + ], + [ + -0.34095072746276855, + 0.00399386091157794, + 0.9400727152824402, + -0.8877769908261678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.935484766960144, + -0.06381519138813019, + 0.34755709767341614, + 0.04703341590033637 + ], + [ + 0.061931487172842026, + 0.9979434013366699, + 0.01653825119137764, + 0.13652253844257858 + ], + [ + -0.3478976786136627, + 0.006053442135453224, + 0.937512993812561, + -0.9066729380024804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9313384294509888, + -0.0634487196803093, + 0.3585847020149231, + 0.007026513453040804 + ], + [ + 0.062046777456998825, + 0.9979540109634399, + 0.015428297221660614, + 0.12737026576484953 + ], + [ + -0.35882991552352905, + 0.007880054414272308, + 0.9333696961402893, + -0.8644589696611676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.929852306842804, + -0.06192407011985779, + 0.36268460750579834, + 0.034858111244818524 + ], + [ + 0.06134369224309921, + 0.9980303645133972, + 0.013128557242453098, + 0.130647705722275 + ], + [ + -0.36278319358825684, + 0.010040792636573315, + 0.9318194389343262, + -0.9464318247068496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9275209307670593, + -0.060161735862493515, + 0.3688976466655731, + 0.036114884439914945 + ], + [ + 0.06062023714184761, + 0.9981071352958679, + 0.010358748026192188, + 0.13091212126855103 + ], + [ + -0.3688226044178009, + 0.012754705734550953, + 0.929412305355072, + -0.9562066555969299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9265342354774475, + -0.05769183859229088, + 0.37176060676574707, + 0.08212059182780129 + ], + [ + 0.059049341827631, + 0.9982250332832336, + 0.007742076180875301, + 0.13272561611208533 + ], + [ + -0.3715474009513855, + 0.014778916724026203, + 0.9282963871955872, + -1.047255245986439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9224653244018555, + -0.05553293228149414, + 0.3820652663707733, + 0.04463830702598133 + ], + [ + 0.058368004858493805, + 0.9982864260673523, + 0.004175487440079451, + 0.14513798615348245 + ], + [ + -0.3816424310207367, + 0.018448643386363983, + 0.9241259098052979, + -1.0254122454022605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9189937114715576, + -0.05347760394215584, + 0.39062854647636414, + 0.03261014448981436 + ], + [ + 0.05754448100924492, + 0.9983420968055725, + 0.001295161433517933, + 0.15337440005710556 + ], + [ + -0.3900502026081085, + 0.021288271993398666, + 0.9205474853515625, + -1.0480156031865921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9160626530647278, + -0.052571382373571396, + 0.3975744843482971, + 0.03592954476674398 + ], + [ + 0.05757199600338936, + 0.9983411431312561, + -0.0006423536688089371, + 0.15066014112283785 + ], + [ + -0.39688122272491455, + 0.023477591574192047, + 0.9175696969032288, + -1.0912137130896251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.913345456123352, + -0.051446933299303055, + 0.4039224088191986, + 0.03708416303944966 + ], + [ + 0.057252805680036545, + 0.9983570575714111, + -0.0023003993555903435, + 0.14842343967895777 + ], + [ + -0.40314045548439026, + 0.02522674947977066, + 0.9147903919219971, + -1.135588200697823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9099667072296143, + -0.05065470561385155, + 0.4115758240222931, + 0.015666556866869095 + ], + [ + 0.05769206956028938, + 0.9983234405517578, + -0.004684637300670147, + 0.15764788349292108 + ], + [ + -0.41064849495887756, + 0.028007522225379944, + 0.9113634824752808, + -1.144717780749003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9072164297103882, + -0.050020668655633926, + 0.41767966747283936, + 0.008935049708400455 + ], + [ + 0.0577256940305233, + 0.9983155131340027, + -0.0058257440105080605, + 0.15833060180635325 + ], + [ + -0.41668468713760376, + 0.02939605712890625, + 0.908575713634491, + -1.1747773949589049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9064701795578003, + -0.04998716711997986, + 0.41930073499679565, + -0.01435800087120798 + ], + [ + 0.058385156095027924, + 0.9982680678367615, + -0.00721154548227787, + 0.16278960303595616 + ], + [ + -0.4182140827178955, + 0.031017987057566643, + 0.9078187942504883, + -1.188705587765527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9097920656204224, + -0.05076143145561218, + 0.41194865107536316, + -0.017852183809829135 + ], + [ + 0.059169284999370575, + 0.9982184767723083, + -0.0076726749539375305, + 0.16174676649508968 + ], + [ + -0.41082528233528137, + 0.03135524317622185, + 0.9111747741699219, + -1.240541486134605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9138450026512146, + -0.05140462517738342, + 0.40279635787010193, + -0.056783310749701096 + ], + [ + 0.059789106249809265, + 0.9981768727302551, + -0.008259939029812813, + 0.17240941176811855 + ], + [ + -0.40163740515708923, + 0.03163113445043564, + 0.9152523875236511, + -1.2180451824551537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9209753274917603, + -0.05365537479519844, + 0.38590869307518005, + -0.058250230881902905 + ], + [ + 0.061059240251779556, + 0.9981099963188171, + -0.006944888271391392, + 0.17112937113787566 + ], + [ + -0.38480666279792786, + 0.029959362000226974, + 0.9225108623504639, + -1.2545058555073207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.925698459148407, + -0.05491144210100174, + 0.3742554187774658, + -0.05171943384976614 + ], + [ + 0.061262525618076324, + 0.9981087446212769, + -0.00508485920727253, + 0.16492925934670938 + ], + [ + -0.37326836585998535, + 0.02763487584888935, + 0.9273117184638977, + -1.3139907958961667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9264135360717773, + -0.05562080070376396, + 0.37237659096717834, + -0.03808410749548957 + ], + [ + 0.061973270028829575, + 0.9980647563934326, + -0.005101587623357773, + 0.17199691384143773 + ], + [ + -0.37137219309806824, + 0.02780357003211975, + 0.928067684173584, + -1.354338416599092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9252727031707764, + -0.05760994926095009, + 0.3749019503593445, + -0.04657084131761203 + ], + [ + 0.06371057033538818, + 0.9979608654975891, + -0.003886832855641842, + 0.17872895097862634 + ], + [ + -0.3739135265350342, + 0.027481596916913986, + 0.9270563125610352, + -1.3664117657949053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.92606121301651, + -0.06108393520116806, + 0.37239688634872437, + -0.0741503429791284 + ], + [ + 0.06626682728528976, + 0.9978013038635254, + -0.0011211447417736053, + 0.1765030295336767 + ], + [ + -0.3715096116065979, + 0.02571580745279789, + 0.9280729293823242, + -1.3937548853102184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9354329705238342, + -0.04911627992987633, + 0.3500753343105316, + -0.08630965096609933 + ], + [ + 0.05287927761673927, + 0.99860018491745, + -0.0011925799772143364, + 0.183125674312136 + ], + [ + -0.3495267331600189, + 0.01962731033563614, + 0.9367207884788513, + -1.4171863973140717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9408570528030396, + -0.053557172417640686, + 0.334543913602829, + -0.07779049790567821 + ], + [ + 0.05691435933113098, + 0.9983790516853333, + -0.00023292377591133118, + 0.17649411136609694 + ], + [ + -0.3339891731739044, + 0.0192594975233078, + 0.9423801302909851, + -1.4676998572217093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9427377581596375, + -0.06241566687822342, + 0.3276427686214447, + -0.059493543538782334 + ], + [ + 0.06643692404031754, + 0.9977900385856628, + -0.0010830946266651154, + 0.1839877583914333 + ], + [ + -0.32685109972953796, + 0.022788649424910545, + 0.9448010921478271, + -1.5080787393781874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.942598819732666, + -0.06560719013214111, + 0.3274190127849579, + -0.05542115732317879 + ], + [ + 0.07057535648345947, + 0.997501015663147, + -0.003301599994301796, + 0.20147852975254257 + ], + [ + -0.32638415694236755, + 0.026219794526696205, + 0.9448735117912292, + -1.5264003266890844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9421377182006836, + -0.06680790334939957, + 0.3285015821456909, + -0.060981762125378564 + ], + [ + 0.07247097045183182, + 0.9973579049110413, + -0.005011371336877346, + 0.20821459321009497 + ], + [ + -0.3272988796234131, + 0.028528228402137756, + 0.9444901347160339, + -1.5436212500882527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9416967034339905, + -0.06573233753442764, + 0.32997965812683105, + -0.051566638939437415 + ], + [ + 0.07180822640657425, + 0.9973989129066467, + -0.006243442185223103, + 0.21692775767518296 + ], + [ + -0.32871097326278687, + 0.0295746847987175, + 0.9439674019813538, + -1.5781879782203645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.941001296043396, + -0.06520580500364304, + 0.3320613503456116, + -0.04401825909458455 + ], + [ + 0.0714835450053215, + 0.9974191784858704, + -0.006711370311677456, + 0.22097856192184345 + ], + [ + -0.3307667374610901, + 0.03005232661962509, + 0.9432339072227478, + -1.6170570708456493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400871396064758, + -0.06533044576644897, + 0.33461642265319824, + -0.03669125605078917 + ], + [ + 0.07220950722694397, + 0.9973562359809875, + -0.008145156316459179, + 0.2256821836677513 + ], + [ + -0.3331996202468872, + 0.03181964159011841, + 0.9423192143440247, + -1.6437938342491785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9394663572311401, + -0.06353916972875595, + 0.3366982340812683, + -0.022291871373142515 + ], + [ + 0.07088176161050797, + 0.9974390268325806, + -0.009547378867864609, + 0.22714478052442982 + ], + [ + -0.3352293372154236, + 0.032835204154253006, + 0.9415642023086548, + -1.6807293973271809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9382351040840149, + -0.061381515115499496, + 0.34051021933555603, + -0.03805332183837891 + ], + [ + 0.06896502524614334, + 0.9975669384002686, + -0.010200089775025845, + 0.23281740876846016 + ], + [ + -0.3390556275844574, + 0.03305337578058243, + 0.9401854872703552, + -1.7076725214719772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9374127388000488, + -0.0614573210477829, + 0.3427541255950928, + -0.03855204662042005 + ], + [ + 0.06917043030261993, + 0.9975515604019165, + -0.010311754420399666, + 0.23025843084804595 + ], + [ + -0.3412811756134033, + 0.03337481617927551, + 0.9393685460090637, + -1.7448831425772773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9370938539505005, + -0.0627216324210167, + 0.3433963656425476, + -0.02764839336039528 + ], + [ + 0.07151175290346146, + 0.9973552823066711, + -0.012980547733604908, + 0.23926723308284722 + ], + [ + -0.3416740298271179, + 0.036720868200063705, + 0.9391008615493774, + -1.7672505156388358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9359426498413086, + -0.06103440374135971, + 0.3468228876590729, + -0.03686438731494404 + ], + [ + 0.07068385928869247, + 0.9973825216293335, + -0.015227923169732094, + 0.2480707555211016 + ], + [ + -0.34498563408851624, + 0.038767240941524506, + 0.937807023525238, + -1.7767917488302503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9349378943443298, + -0.06056318059563637, + 0.34960445761680603, + -0.033585044168054114 + ], + [ + 0.06995159387588501, + 0.997448205947876, + -0.014278296381235123, + 0.24360737082444958 + ], + [ + -0.3478476107120514, + 0.03780470788478851, + 0.9367885589599609, + -1.8345436750896393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9348143935203552, + -0.061501018702983856, + 0.3497709333896637, + -0.02506050845933339 + ], + [ + 0.07092873007059097, + 0.9973803758621216, + -0.014195832423865795, + 0.24082925514510226 + ], + [ + -0.34798160195350647, + 0.03807927295565605, + 0.9367277026176453, + -1.8576099855559214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9342742562294006, + -0.06225062534213066, + 0.3510790765285492, + -0.02894102175320898 + ], + [ + 0.07277660816907883, + 0.9972058534622192, + -0.016852673143148422, + 0.25307285382101935 + ], + [ + -0.34904900193214417, + 0.041295357048511505, + 0.9361941814422607, + -1.8701382018270947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9337188005447388, + -0.06021620333194733, + 0.35290685296058655, + -0.015872003303633798 + ], + [ + 0.07049886882305145, + 0.9973779320716858, + -0.01634370908141136, + 0.2569981778247489 + ], + [ + -0.35099735856056213, + 0.04013996198773384, + 0.9355157017707825, + -1.9174408813317616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9323063492774963, + -0.05917394906282425, + 0.35679593682289124, + -0.028643637540794555 + ], + [ + 0.06932971626520157, + 0.9974697828292847, + -0.015729743987321854, + 0.2620973664232426 + ], + [ + -0.35496237874031067, + 0.039401497691869736, + 0.9340499043464661, + -1.9345128965283198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.931443989276886, + -0.05932425707578659, + 0.3590163290500641, + -0.029053386726549692 + ], + [ + 0.06973522156476974, + 0.9974355101585388, + -0.016106050461530685, + 0.268107821898801 + ], + [ + -0.3571401536464691, + 0.040037963539361954, + 0.9331923127174377, + -1.9597768579210553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9305073618888855, + -0.06047224998474121, + 0.36124664545059204, + -0.02769822161349039 + ], + [ + 0.07151481509208679, + 0.9972901344299316, + -0.017264343798160553, + 0.27172351908234377 + ], + [ + -0.35922372341156006, + 0.04189908504486084, + 0.9323104619979858, + -1.987126599323182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9290190935134888, + -0.06319940090179443, + 0.36459484696388245, + -0.024740448002777398 + ], + [ + 0.07507100701332092, + 0.9970071911811829, + -0.018464714288711548, + 0.27334873737796905 + ], + [ + -0.3623367249965668, + 0.04452457278966904, + 0.9309831857681274, + -2.020695586242373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9274462461471558, + -0.06522997468709946, + 0.3682234585285187, + -0.02558723180776551 + ], + [ + 0.07810129970312119, + 0.9967418909072876, + -0.020143501460552216, + 0.2802455236337015 + ], + [ + -0.3657098114490509, + 0.04744074493646622, + 0.9295190572738647, + -2.0532621414888474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9257420897483826, + -0.06675709038972855, + 0.37221649289131165, + -0.031510329388436814 + ], + [ + 0.08076367527246475, + 0.9964872002601624, + -0.022147737443447113, + 0.2866560282451766 + ], + [ + -0.36943045258522034, + 0.050564661622047424, + 0.92788165807724, + -2.0701023489709884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9244701862335205, + -0.06788799166679382, + 0.3751614987850189, + -0.026402857734097375 + ], + [ + 0.08289383351802826, + 0.996269702911377, + -0.02398465946316719, + 0.29415162534763417 + ], + [ + -0.3721337616443634, + 0.05327167734503746, + 0.9266490936279297, + -2.118267626232571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9235008955001831, + -0.07112137973308563, + 0.376945436000824, + -0.014508901252633051 + ], + [ + 0.08691717684268951, + 0.9959008097648621, + -0.025038782507181168, + 0.3036284755560614 + ], + [ + -0.3736194968223572, + 0.055886369198560715, + 0.9258970022201538, + -2.1637322283926466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9223323464393616, + -0.0708150863647461, + 0.37985295057296753, + -0.02066799383314829 + ], + [ + 0.08768205344676971, + 0.9957753419876099, + -0.027263395488262177, + 0.3035049734666707 + ], + [ + -0.37631756067276, + 0.058452196419239044, + 0.9246450662612915, + -2.196646606638318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9218298196792603, + -0.0679236575961113, + 0.38159680366516113, + -0.022394609238420213 + ], + [ + 0.0863780602812767, + 0.9957668781280518, + -0.03141992911696434, + 0.3095468663507038 + ], + [ + -0.3778473138809204, + 0.06192541494965553, + 0.923794686794281, + -2.249183931047954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9254414439201355, + -0.06346864998340607, + 0.3735370337963104, + -0.06228372497217996 + ], + [ + 0.08223865926265717, + 0.9960149526596069, + -0.03451152518391609, + 0.3045332073367068 + ], + [ + -0.369858056306839, + 0.06265757977962494, + 0.9269730448722839, + -2.2504540183714457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9371210336685181, + -0.06100258231163025, + 0.34363195300102234, + -0.10647714090725732 + ], + [ + 0.07836025953292847, + 0.9962441921234131, + -0.036840520799160004, + 0.302775045839094 + ], + [ + -0.3400939404964447, + 0.06145111471414566, + 0.9383814930915833, + -2.253524801939253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.949031412601471, + -0.06003505736589432, + 0.30941107869148254, + -0.08415068967474831 + ], + [ + 0.07576001435518265, + 0.9963611960411072, + -0.039048485457897186, + 0.32746410675583376 + ], + [ + -0.3059408962726593, + 0.06049922853708267, + 0.9501262903213501, + -2.3139552531734346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9526041150093079, + -0.05983032286167145, + 0.29827117919921875, + -0.09029623369375865 + ], + [ + 0.07483595609664917, + 0.9964277148246765, + -0.03913368657231331, + 0.33204339668154714 + ], + [ + -0.294864296913147, + 0.05960031971335411, + 0.9536786079406738, + -2.367670742670695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9542319178581238, + -0.06183915585279465, + 0.29260438680648804, + -0.05129803746702179 + ], + [ + 0.07550535351037979, + 0.9965085387229919, + -0.03563300147652626, + 0.32014255522794666 + ], + [ + -0.2893792390823364, + 0.056095343083143234, + 0.9555694460868835, + -2.380927680740281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9551575183868408, + -0.060409583151340485, + 0.28987038135528564, + -0.048799426599390926 + ], + [ + 0.07233431190252304, + 0.9969111680984497, + -0.03059186041355133, + 0.31640235145413687 + ], + [ + -0.28712695837020874, + 0.0501876175403595, + 0.9565768837928772, + -2.422221854660246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9556084275245667, + -0.05920679494738579, + 0.2886296510696411, + -0.0588063868028777 + ], + [ + 0.06949914991855621, + 0.9972552061080933, + -0.025533385574817657, + 0.31460345140880064 + ], + [ + -0.28632569313049316, + 0.04445943236351013, + 0.9571002721786499, + -2.473086513507934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9573544263839722, + -0.060839325189590454, + 0.2824377417564392, + -0.056275792218863016 + ], + [ + 0.06980516016483307, + 0.9973227977752686, + -0.021781189367175102, + 0.3138519189305722 + ], + [ + -0.2803564667701721, + 0.040567927062511444, + 0.9590383172035217, + -2.512327763012477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9594680666923523, + -0.05843625217676163, + 0.27569228410720825, + -0.04109796901189146 + ], + [ + 0.06662849336862564, + 0.9975685477256775, + -0.020434901118278503, + 0.32121876055995624 + ], + [ + -0.27382779121398926, + 0.03797559067606926, + 0.9610286951065063, + -2.540511255888712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9609877467155457, + -0.056226253509521484, + 0.27081575989723206, + -0.01742088741489819 + ], + [ + 0.06412791460752487, + 0.997732937335968, + -0.02041001431643963, + 0.3296941102349332 + ], + [ + -0.26905420422554016, + 0.03698062151670456, + 0.9624148011207581, + -2.55691596865654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9624417424201965, + -0.04681570082902908, + 0.2674214243888855, + -0.003207214300831162 + ], + [ + 0.05417246371507645, + 0.998327374458313, + -0.020194513723254204, + 0.3386520413371424 + ], + [ + -0.2660287022590637, + 0.033922918140888214, + 0.9633680582046509, + -2.5837379303243426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9636372923851013, + -0.033648256212472916, + 0.26508674025535583, + 0.00898684880563191 + ], + [ + 0.040293436497449875, + 0.9989942908287048, + -0.01966843381524086, + 0.3453082079806971 + ], + [ + -0.26415833830833435, + 0.029634490609169006, + 0.9640239477157593, + -2.611747044230264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9640087485313416, + -0.027478035539388657, + 0.26444679498672485, + 0.019827753340914134 + ], + [ + 0.03386874869465828, + 0.9992333650588989, + -0.019636468961834908, + 0.35138411517920237 + ], + [ + -0.26370447874069214, + 0.02788621000945568, + 0.9642003178596497, + -2.6425887895481925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9635701775550842, + -0.029953619465231895, + 0.26577305793762207, + 0.026073464301843492 + ], + [ + 0.03640526533126831, + 0.9991491436958313, + -0.019380800426006317, + 0.35686201813911633 + ], + [ + -0.2649664282798767, + 0.02835030108690262, + 0.9638407826423645, + -2.679989545591294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9629307389259338, + -0.032618649303913116, + 0.2677692770957947, + 0.03806849226119026 + ], + [ + 0.03899028152227402, + 0.9990681409835815, + -0.018511049449443817, + 0.3616821187888346 + ], + [ + -0.2669159173965454, + 0.02826525643467903, + 0.9633052349090576, + -2.7095231905816095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9619884490966797, + -0.034979451447725296, + 0.27084067463874817, + 0.04466057391393752 + ], + [ + 0.04112568125128746, + 0.9990085363388062, + -0.017049362882971764, + 0.36378491449923744 + ], + [ + -0.2699757516384125, + 0.027539798989892006, + 0.9624732136726379, + -2.74519723256429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9614325761795044, + -0.037853289395570755, + 0.27242353558540344, + 0.05756075043999959 + ], + [ + 0.044110361486673355, + 0.9988840818405151, + -0.01687844842672348, + 0.3670949551498606 + ], + [ + -0.27148064970970154, + 0.02824418991804123, + 0.9620293974876404, + -2.7683258820620793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9615046381950378, + -0.034319907426834106, + 0.27263715863227844, + 0.07035859674215317 + ], + [ + 0.04053870588541031, + 0.9990297555923462, + -0.01720801368355751, + 0.3675265099853277 + ], + [ + -0.2717820703983307, + 0.02759794145822525, + 0.9619629979133606, + -2.7959926307201384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.961287796497345, + -0.026705622673034668, + 0.27424919605255127, + 0.07739195312772479 + ], + [ + 0.03225232660770416, + 0.9993559122085571, + -0.01573512889444828, + 0.37012140164151786 + ], + [ + -0.2736523151397705, + 0.023971160873770714, + 0.9615299105644226, + -2.830740104828562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.961094081401825, + -0.02373455837368965, + 0.27519962191581726, + 0.08560206303520808 + ], + [ + 0.02877836674451828, + 0.9994834661483765, + -0.014303874224424362, + 0.365902034477109 + ], + [ + -0.27471795678138733, + 0.02166716381907463, + 0.9612807035446167, + -2.859052024190388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9614242911338806, + -0.018258247524499893, + 0.27446305751800537, + 0.09469301319784588 + ], + [ + 0.023049838840961456, + 0.9996328353881836, + -0.014242833480238914, + 0.36886407952785255 + ], + [ + -0.27410227060317993, + 0.020019734278321266, + 0.9614921808242798, + -2.8865009225550153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9613152146339417, + -0.009037544019520283, + 0.27530229091644287, + 0.09833613974707467 + ], + [ + 0.012941903434693813, + 0.999839723110199, + -0.012368777766823769, + 0.36779923585376567 + ], + [ + -0.27514636516571045, + 0.01545323058962822, + 0.9612781405448914, + -2.9233852190630776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9605717062950134, + -0.00632533710449934, + 0.27796050906181335, + 0.1025337588455942 + ], + [ + 0.009694869630038738, + 0.9998952150344849, + -0.010749523527920246, + 0.3717562054380006 + ], + [ + -0.27786341309547424, + 0.013020479120314121, + 0.9605323672294617, + -2.9512070491673454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.959878146648407, + -0.007949160411953926, + 0.28030475974082947, + 0.10800581394679963 + ], + [ + 0.01123676635324955, + 0.999885618686676, + -0.010123535990715027, + 0.3772006292191763 + ], + [ + -0.28019222617149353, + 0.012867080047726631, + 0.959857702255249, + -2.9735396854461187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9590999484062195, + -0.015886932611465454, + 0.28262144327163696, + 0.10870302220185599 + ], + [ + 0.019482698291540146, + 0.9997609853744507, + -0.009916863404214382, + 0.3821426796882103 + ], + [ + -0.2823963761329651, + 0.015017491765320301, + 0.9591802358627319, + -3.0076453189055123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9581760168075562, + -0.016893241554498672, + 0.2856804132461548, + 0.11462938350344462 + ], + [ + 0.02070866897702217, + 0.9997320771217346, + -0.010339649394154549, + 0.38594952539378213 + ], + [ + -0.2854291796684265, + 0.01582326553761959, + 0.9582691788673401, + -3.0359428531593746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9570173621177673, + -0.0185684971511364, + 0.28943559527397156, + 0.1218598123344164 + ], + [ + 0.022635184228420258, + 0.9996864199638367, + -0.010709090158343315, + 0.39178142438361807 + ], + [ + -0.28914597630500793, + 0.01680021360516548, + 0.9571375846862793, + -3.064616464811658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9557433128356934, + -0.01905619539320469, + 0.29358407855033875, + 0.12279795237949917 + ], + [ + 0.023282485082745552, + 0.9996694326400757, + -0.010907205753028393, + 0.3946085021165865 + ], + [ + -0.2932792007923126, + 0.017259854823350906, + 0.955871045589447, + -3.093444083418165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9544944763183594, + -0.020030740648508072, + 0.29755517840385437, + 0.12962271994541563 + ], + [ + 0.024548087269067764, + 0.9996330738067627, + -0.011452073231339455, + 0.4027651314594088 + ], + [ + -0.29721662402153015, + 0.018235351890325546, + 0.9546359181404114, + -3.1267377505699794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9528345465660095, + -0.020064590498805046, + 0.30282631516456604, + 0.13375230630238852 + ], + [ + 0.024819081649184227, + 0.9996216297149658, + -0.01185987051576376, + 0.40992882171468364 + ], + [ + -0.3024737536907196, + 0.01881636492908001, + 0.9529719352722168, + -3.152839936907329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9512482285499573, + -0.021730531007051468, + 0.3076598048210144, + 0.13876460563568843 + ], + [ + 0.02669128030538559, + 0.9995725750923157, + -0.011924821883440018, + 0.41590400346155676 + ], + [ + -0.3072691559791565, + 0.01955530047416687, + 0.9514216780662537, + -3.1831010834092184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9498369693756104, + -0.023642640560865402, + 0.31185051798820496, + 0.14018164873123168 + ], + [ + 0.028688952326774597, + 0.999521017074585, + -0.011603347025811672, + 0.4223622182177173 + ], + [ + -0.3114268481731415, + 0.019967950880527496, + 0.9500603079795837, + -3.211455143822564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9485756158828735, + -0.03154425695538521, + 0.3149751126766205, + 0.14679003322408313 + ], + [ + 0.03671595826745033, + 0.9992706179618835, + -0.01049802079796791, + 0.42555001778084606 + ], + [ + -0.31441423296928406, + 0.021522779017686844, + 0.9490419030189514, + -3.246526872969809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9471825957298279, + -0.03916244953870773, + 0.31829458475112915, + 0.15013232032457988 + ], + [ + 0.04455256462097168, + 0.9989602565765381, + -0.00966930203139782, + 0.4238466564831989 + ], + [ + -0.3175849914550781, + 0.02333943359553814, + 0.9479425549507141, + -3.277027761084693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9464491605758667, + -0.037353575229644775, + 0.3206847608089447, + 0.15284523237792272 + ], + [ + 0.04248126596212387, + 0.9990566968917847, + -0.009005779400467873, + 0.4286996802270767 + ], + [ + -0.3200458586215973, + 0.02214660681784153, + 0.9471431970596313, + -3.311375657244334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9459692239761353, + -0.03929330036044121, + 0.32186681032180786, + 0.1561802311549111 + ], + [ + 0.0435807965695858, + 0.999031126499176, + -0.0061232247389853, + 0.42872296236011953 + ], + [ + -0.32131439447402954, + 0.01981959491968155, + 0.9467651844024658, + -3.349618449286809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9453795552253723, + -0.042825013399124146, + 0.3231463134288788, + 0.16273387776953835 + ], + [ + 0.046565450727939606, + 0.9989078044891357, + -0.0038489713333547115, + 0.4286866040334904 + ], + [ + -0.32262852787971497, + 0.018686188384890556, + 0.9463412165641785, + -3.378228316562516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9456824660301208, + -0.043216463178396225, + 0.3222065269947052, + 0.1760749957391194 + ], + [ + 0.046214643865823746, + 0.9989301562309265, + -0.0016577821224927902, + 0.4305104140399231 + ], + [ + -0.3217901885509491, + 0.01645839400589466, + 0.9466679692268372, + -3.4108860688550133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9456599950790405, + -0.04351062700152397, + 0.32223281264305115, + 0.18475370556116105 + ], + [ + 0.045356836169958115, + 0.9989692568778992, + 0.0017801900394260883, + 0.4365658916507123 + ], + [ + -0.3219781219959259, + 0.012932004407048225, + 0.9466587901115417, + -3.4486808124515744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9454672336578369, + -0.043852828443050385, + 0.32275164127349854, + 0.18507495309625355 + ], + [ + 0.04473123699426651, + 0.9989880323410034, + 0.00469875056296587, + 0.4355313596093938 + ], + [ + -0.3226310610771179, + 0.009994563646614552, + 0.9464720487594604, + -3.4828279926663352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.948436439037323, + -0.0460655577480793, + 0.31360211968421936, + 0.18955242063791033 + ], + [ + 0.046526554971933365, + 0.9988989233970642, + 0.006018324755132198, + 0.43898353600978024 + ], + [ + -0.31353405117988586, + 0.008882827125489712, + 0.9495354294776917, + -3.5185575239715123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9511978626251221, + -0.047523919492959976, + 0.3049001395702362, + 0.20763383730063362 + ], + [ + 0.04775164648890495, + 0.9988366961479187, + 0.006714877672493458, + 0.44202664171508144 + ], + [ + -0.3048645555973053, + 0.00817230436950922, + 0.9523606300354004, + -3.552580613938589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9526217579841614, + -0.04775090515613556, + 0.3003857731819153, + 0.22010850523199355 + ], + [ + 0.04785420000553131, + 0.9988296627998352, + 0.007017871830612421, + 0.4473607122310482 + ], + [ + -0.3003693222999573, + 0.007689341437071562, + 0.9537919759750366, + -3.5875628865900495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9539773464202881, + -0.04774659126996994, + 0.2960532009601593, + 0.2292701420329866 + ], + [ + 0.04776716232299805, + 0.9988327622413635, + 0.007167873904109001, + 0.4534886292935837 + ], + [ + -0.2960498631000519, + 0.007303630001842976, + 0.9551445841789246, + -3.6147779655834986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9572524428367615, + -0.0505884625017643, + 0.2847955822944641, + 0.23699715284128037 + ], + [ + 0.0504840649664402, + 0.9986950755119324, + 0.007712373975664377, + 0.46129771922751966 + ], + [ + -0.28481411933898926, + 0.0069949510507285595, + 0.9585572481155396, + -3.646314905276374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9606821537017822, + -0.05435311794281006, + 0.27227848768234253, + 0.25674694776535034 + ], + [ + 0.05416678637266159, + 0.9984982013702393, + 0.00820639356970787, + 0.46907844878733157 + ], + [ + -0.2723156213760376, + 0.006864713504910469, + 0.9621834754943848, + -3.6733930110931396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/push_in/transforms.json b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..47b5680a9a1fe38638f764a15cfadc592d865512 --- /dev/null +++ b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/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, + -9.838233381742612e-05, + -4.791899846168235e-05, + 9.177199535770342e-05 + ], + [ + 9.838460391620174e-05, + 1.0, + 4.736682240036316e-05, + -7.394507701974362e-05 + ], + [ + 4.791433457285166e-05, + -4.737153722089715e-05, + 1.0, + 0.00041252130176872015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999916553497314, + -0.002241932787001133, + 0.0034179030917584896, + 0.006130130640378902 + ], + [ + 0.002261039800941944, + 0.9999817609786987, + -0.005596743896603584, + 0.0024746408116900257 + ], + [ + -0.0034052934497594833, + 0.005604425445199013, + 0.9999784827232361, + -0.027184019131319865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999696016311646, + -0.004094271920621395, + 0.006635073106735945, + 0.011855617631965923 + ], + [ + 0.004166510887444019, + 0.999931812286377, + -0.010910453274846077, + 0.008034510301455619 + ], + [ + -0.006589950527995825, + 0.0109377671033144, + 0.9999184608459473, + -0.05759767337687432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998933672904968, + -0.008079848252236843, + 0.012164631858468056, + 0.015345582015635002 + ], + [ + 0.00826678704470396, + 0.9998472929000854, + -0.01539639849215746, + 0.010159990446464647 + ], + [ + -0.012038374319672585, + 0.015495319850742817, + 0.9998074769973755, + -0.09007563818068731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999704897403717, + -0.011359781958162785, + 0.021471405401825905, + 0.021139779751972548 + ], + [ + 0.011775110848248005, + 0.9997440576553345, + -0.019316894933581352, + 0.016478611546612922 + ], + [ + -0.021246476098895073, + 0.01956402324140072, + 0.999582827091217, + -0.11269160156685208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993982911109924, + -0.012502751313149929, + 0.032354116439819336, + 0.029017203502238742 + ], + [ + 0.01325767021626234, + 0.9996423721313477, + -0.02322465367615223, + 0.0209655431394894 + ], + [ + -0.0320521742105484, + 0.0236396174877882, + 0.9992066025733948, + -0.1282776783383082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9989550709724426, + -0.012247668579220772, + 0.04403151571750641, + 0.03294260391876811 + ], + [ + 0.01340743713080883, + 0.9995683431625366, + -0.026141393929719925, + 0.02604033945217019 + ], + [ + -0.04369233548641205, + 0.02670442685484886, + 0.9986880421638489, + -0.14995052275203524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.998424768447876, + -0.012767252512276173, + 0.054634883999824524, + 0.037094054536687 + ], + [ + 0.01434337254613638, + 0.9994893670082092, + -0.02855401113629341, + 0.03182496567153269 + ], + [ + -0.05424242466688156, + 0.029292680323123932, + 0.9980980157852173, + -0.1685882372988595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.997841477394104, + -0.014021948911249638, + 0.06415385007858276, + 0.039037066508853246 + ], + [ + 0.016056180000305176, + 0.9993809461593628, + -0.03130373731255531, + 0.036818803882315045 + ], + [ + -0.06367519497871399, + 0.03226623311638832, + 0.9974489212036133, + -0.1932214492370212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9970006942749023, + -0.015377753414213657, + 0.07584922760725021, + 0.04306538035827023 + ], + [ + 0.018015382811427116, + 0.9992521405220032, + -0.03421388939023018, + 0.04148785554404769 + ], + [ + -0.07526636868715286, + 0.03547772392630577, + 0.996532142162323, + -0.21881236561707088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9955771565437317, + -0.017929838970303535, + 0.09222082048654556, + 0.04941301769207394 + ], + [ + 0.021302005276083946, + 0.9991350173950195, + -0.03571276366710663, + 0.046032831427596864 + ], + [ + -0.09150072187185287, + 0.03751929849386215, + 0.9950979351997375, + -0.23973232294831956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9932959675788879, + -0.01911703497171402, + 0.11400706321001053, + 0.05225133055614101 + ], + [ + 0.02326909825205803, + 0.9991093277931213, + -0.035200417041778564, + 0.05049181871470951 + ], + [ + -0.11323259025812149, + 0.0376172736287117, + 0.9928561449050903, + -0.26613209162439616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99052494764328, + -0.0200913418084383, + 0.13585540652275085, + 0.05125577439154898 + ], + [ + 0.02498818375170231, + 0.9990944862365723, + -0.034435659646987915, + 0.061756064246098204 + ], + [ + -0.1350405216217041, + 0.0375041589140892, + 0.9901300668716431, + -0.29120394814582096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9877152442932129, + -0.0217317845672369, + 0.15474584698677063, + 0.02898582738070261 + ], + [ + 0.026615483686327934, + 0.9992086887359619, + -0.029557714238762856, + 0.06914406931914743 + ], + [ + -0.1539810597896576, + 0.033313240855932236, + 0.9875120520591736, + -0.2955894101706762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848666787147522, + -0.024674711748957634, + 0.17154835164546967, + 0.018620596784684394 + ], + [ + 0.02814839966595173, + 0.9994444251060486, + -0.017845792695879936, + 0.06165055874735117 + ], + [ + -0.17101271450519562, + 0.022404538467526436, + 0.9850140810012817, + -0.33657652537027993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9817764759063721, + -0.025655964389443398, + 0.18829971551895142, + 0.02038340980098361 + ], + [ + 0.028448646888136864, + 0.9995214939117432, + -0.012142995372414589, + 0.06144381729176357 + ], + [ + -0.18789806962013245, + 0.017278578132390976, + 0.9820365309715271, + -0.35794979688667117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9791658520698547, + -0.027267541736364365, + 0.20122313499450684, + 0.018842641808210856 + ], + [ + 0.02937253937125206, + 0.9995405077934265, + -0.0074821109883487225, + 0.054457711789106564 + ], + [ + -0.20092666149139404, + 0.01323666051030159, + 0.979516863822937, + -0.37987770419272165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9768103957176208, + -0.030081553384661674, + 0.21198241412639618, + 0.013527330682272949 + ], + [ + 0.03170735016465187, + 0.9994880557060242, + -0.004273544996976852, + 0.05719414463651085 + ], + [ + -0.21174533665180206, + 0.010895843617618084, + 0.9772641658782959, + -0.4076280714973571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9745444059371948, + -0.03212690353393555, + 0.22188082337379456, + 0.0212491298360484 + ], + [ + 0.03283137083053589, + 0.999460756778717, + 0.0005135596729815006, + 0.06085943950207106 + ], + [ + -0.22177767753601074, + 0.006784164812415838, + 0.9750736355781555, + -0.4306826114654541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9717581868171692, + -0.03481781482696533, + 0.23339608311653137, + 0.022229960649496033 + ], + [ + 0.03442387282848358, + 0.999390721321106, + 0.005762395914644003, + 0.06383789045743585 + ], + [ + -0.23345452547073364, + 0.0024347403086721897, + 0.9723646640777588, + -0.4575342650451357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.968708872795105, + -0.03825049847364426, + 0.24523460865020752, + 0.01966631897385158 + ], + [ + 0.036977045238018036, + 0.999268114566803, + 0.009796775877475739, + 0.06339978757831785 + ], + [ + -0.2454298436641693, + -0.0004221727140247822, + 0.969414234161377, + -0.48301608127260964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9659450054168701, + -0.04183477163314819, + 0.2553430497646332, + 0.020283700774113338 + ], + [ + 0.03982748091220856, + 0.9991216063499451, + 0.01302901841700077, + 0.06944976315523187 + ], + [ + -0.25566384196281433, + -0.0024156454019248486, + 0.9667627215385437, + -0.5074966281652451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9631688594818115, + -0.04527626186609268, + 0.26505815982818604, + 0.017283080843469453 + ], + [ + 0.0426354855298996, + 0.998967170715332, + 0.015710992738604546, + 0.07718134270833125 + ], + [ + -0.2654957175254822, + -0.003831456881016493, + 0.964104413986206, + -0.5251593336226448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9605509042739868, + -0.04850868508219719, + 0.2738409638404846, + 0.02965855072769854 + ], + [ + 0.04514709487557411, + 0.9988077878952026, + 0.018568333238363266, + 0.07654279120680359 + ], + [ + -0.27441519498825073, + -0.005472706630825996, + 0.9615957140922546, + -0.5544818981772377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9578958749771118, + -0.05179406329989433, + 0.28240546584129333, + 0.039977386771213444 + ], + [ + 0.04798213019967079, + 0.9986398220062256, + 0.020402325317263603, + 0.08308180510288193 + ], + [ + -0.28307804465293884, + -0.005992887541651726, + 0.9590781331062317, + -0.5851211678414118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9550745487213135, + -0.054358188062906265, + 0.29133784770965576, + 0.03764880673279838 + ], + [ + 0.0502486489713192, + 0.9985036849975586, + 0.021575093269348145, + 0.08708521392610338 + ], + [ + -0.29207468032836914, + -0.005966491531580687, + 0.9563769102096558, + -0.6047814512063586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9522327184677124, + -0.056409720331430435, + 0.30011799931526184, + 0.036029841431549615 + ], + [ + 0.05232951417565346, + 0.9983957409858704, + 0.0216226689517498, + 0.09425623373734572 + ], + [ + -0.30085626244544983, + -0.004884785041213036, + 0.9536569714546204, + -0.6243184372546181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9497489929199219, + -0.05798198655247688, + 0.3075954020023346, + 0.050169641843863896 + ], + [ + 0.05400319769978523, + 0.9983105659484863, + 0.021439027041196823, + 0.10047349080975566 + ], + [ + -0.3083188235759735, + -0.003750559873878956, + 0.9512757062911987, + -0.6587517968245915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9467777609825134, + -0.058775532990694046, + 0.31647634506225586, + 0.044449817140897116 + ], + [ + 0.05494852736592293, + 0.9982680678367615, + 0.02101166546344757, + 0.10343532810608545 + ], + [ + -0.31716322898864746, + -0.00250347051769495, + 0.9483676552772522, + -0.6795071906513638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9442948698997498, + -0.06002625823020935, + 0.3235799968242645, + 0.05455190929628554 + ], + [ + 0.056110285222530365, + 0.9981946349143982, + 0.02142663672566414, + 0.10705804706861576 + ], + [ + -0.3242819607257843, + -0.0020768968388438225, + 0.9459581971168518, + -0.7253618569128097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9421865940093994, + -0.06084030121564865, + 0.32951921224594116, + 0.048528167818273814 + ], + [ + 0.05699622631072998, + 0.998146653175354, + 0.021323390305042267, + 0.11119201264920689 + ], + [ + -0.3302057981491089, + -0.0013092616572976112, + 0.9439080357551575, + -0.7403982182343801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9405912160873413, + -0.061177417635917664, + 0.33398422598838806, + 0.04257137898414854 + ], + [ + 0.057651638984680176, + 0.9981269240379333, + 0.020468633621931076, + 0.11839205889060857 + ], + [ + -0.33461084961891174, + 2.1168962121009827e-06, + 0.9423564076423645, + -0.7622915465207327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9408734440803528, + -0.06329496204853058, + 0.33279258012771606, + 0.05888966073592504 + ], + [ + 0.05974291265010834, + 0.9979948401451111, + 0.020906493067741394, + 0.11940893568689862 + ], + [ + -0.33344852924346924, + 0.00021163001656532288, + 0.9427682757377625, + -0.8045630292286948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9403935074806213, + -0.06485264748334885, + 0.33384761214256287, + 0.08353632596277055 + ], + [ + 0.06145622581243515, + 0.9978943467140198, + 0.020737171173095703, + 0.120424366352104 + ], + [ + -0.33448949456214905, + 0.001015910878777504, + 0.9423989653587341, + -0.8387227539505278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9380123615264893, + -0.06486009806394577, + 0.3404790163040161, + 0.07539311997474187 + ], + [ + 0.062333036214113235, + 0.9978863596916199, + 0.01836780458688736, + 0.128675755586416 + ], + [ + -0.34095072746276855, + 0.00399386091157794, + 0.9400727152824402, + -0.8370429077791789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.935484766960144, + -0.06381519138813019, + 0.34755709767341614, + 0.06634214354885949 + ], + [ + 0.061931487172842026, + 0.9979434013366699, + 0.01653825119137764, + 0.1374413301754329 + ], + [ + -0.3478976786136627, + 0.006053442135453224, + 0.937512993812561, + -0.8545888827906715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9313384294509888, + -0.0634487196803093, + 0.3585847020149231, + 0.027517067853893552 + ], + [ + 0.062046777456998825, + 0.9979540109634399, + 0.015428297221660614, + 0.12825188274894442 + ], + [ + -0.35882991552352905, + 0.007880054414272308, + 0.9333696961402893, + -0.8111235584531512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.929852306842804, + -0.06192407011985779, + 0.36268460750579834, + 0.05615863581261937 + ], + [ + 0.06134369224309921, + 0.9980303645133972, + 0.013128557242453098, + 0.13141874797302225 + ], + [ + -0.36278319358825684, + 0.010040792636573315, + 0.9318194389343262, + -0.8917059211503892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9275209307670593, + -0.060161735862493515, + 0.3688976466655731, + 0.05836585360387015 + ], + [ + 0.06062023714184761, + 0.9981071352958679, + 0.010358748026192188, + 0.13153693464155944 + ], + [ + -0.3688226044178009, + 0.012754705734550953, + 0.929412305355072, + -0.900146865750116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9265342354774475, + -0.05769183859229088, + 0.37176060676574707, + 0.10513434367520469 + ], + [ + 0.059049341827631, + 0.9982250332832336, + 0.007742076180875301, + 0.13320488749471093 + ], + [ + -0.3715474009513855, + 0.014778916724026203, + 0.9282963871955872, + -0.9897892791600454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9224653244018555, + -0.05553293228149414, + 0.3820652663707733, + 0.06889641917650662 + ], + [ + 0.058368004858493805, + 0.9982864260673523, + 0.004175487440079451, + 0.14540309646713828 + ], + [ + -0.3816424310207367, + 0.018448643386363983, + 0.9241259098052979, + -0.9667375844622416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9189937114715576, + -0.05347760394215584, + 0.39062854647636414, + 0.0580320022763714 + ], + [ + 0.05754448100924492, + 0.9983420968055725, + 0.001295161433517933, + 0.15345868834087417 + ], + [ + -0.3900502026081085, + 0.021288271993398666, + 0.9205474853515625, + -0.9881069573145064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9160626530647278, + -0.052571382373571396, + 0.3975744843482971, + 0.06243451038996378 + ], + [ + 0.05757199600338936, + 0.9983411431312561, + -0.0006423536688089371, + 0.15061731754491728 + ], + [ + -0.39688122272491455, + 0.023477591574192047, + 0.9175696969032288, + -1.030042399962743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.913345456123352, + -0.051446933299303055, + 0.4039224088191986, + 0.06465347030806164 + ], + [ + 0.057252805680036545, + 0.9983570575714111, + -0.0023003993555903435, + 0.14826642829436987 + ], + [ + -0.40314045548439026, + 0.02522674947977066, + 0.9147903919219971, + -1.0731501263285441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9099667072296143, + -0.05065470561385155, + 0.4115758240222931, + 0.044411535052553054 + ], + [ + 0.05769206956028938, + 0.9983234405517578, + -0.004684637300670147, + 0.1573207024750965 + ], + [ + -0.41064849495887756, + 0.028007522225379944, + 0.9113634824752808, + -1.0810669978459677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9072164297103882, + -0.050020668655633926, + 0.41767966747283936, + 0.03876931167074612 + ], + [ + 0.0577256940305233, + 0.9983155131340027, + -0.0058257440105080605, + 0.1579144772341741 + ], + [ + -0.41668468713760376, + 0.02939605712890625, + 0.908575713634491, + -1.1098791296992983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9064701795578003, + -0.04998716711997986, + 0.41930073499679565, + 0.016257608350780276 + ], + [ + 0.058385156095027924, + 0.9982680678367615, + -0.00721154548227787, + 0.16226304574677394 + ], + [ + -0.4182140827178955, + 0.031017987057566643, + 0.9078187942504883, + -1.1224204059631107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9097920656204224, + -0.05076143145561218, + 0.41194865107536316, + 0.012880493333888432 + ], + [ + 0.059169284999370575, + 0.9982184767723083, + -0.0076726749539375305, + 0.16117436058582768 + ], + [ + -0.41082528233528137, + 0.03135524317622185, + 0.9111747741699219, + -1.1725649553631978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9138450026512146, + -0.05140462517738342, + 0.40279635787010193, + -0.02609406443578856 + ], + [ + 0.059789106249809265, + 0.9981768727302551, + -0.008259939029812813, + 0.1717800830801328 + ], + [ + -0.40163740515708923, + 0.03163113445043564, + 0.9152523875236511, + -1.1483116672152565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9209753274917603, + -0.05365537479519844, + 0.38590869307518005, + -0.028235110309388904 + ], + [ + 0.061059240251779556, + 0.9981099963188171, + -0.006944888271391392, + 0.17058921316121187 + ], + [ + -0.38480666279792786, + 0.029959362000226974, + 0.9225108623504639, + -1.1827550106578404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.925698459148407, + -0.05491144210100174, + 0.3742554187774658, + -0.02201662283568155 + ], + [ + 0.061262525618076324, + 0.9981087446212769, + -0.00508485920727253, + 0.1645256990921639 + ], + [ + -0.37326836585998535, + 0.02763487584888935, + 0.9273117184638977, + -1.2403946277641116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9264135360717773, + -0.05562080070376396, + 0.37237659096717834, + -0.007939335845765613 + ], + [ + 0.061973270028829575, + 0.9980647563934326, + -0.005101587623357773, + 0.17158392817668972 + ], + [ + -0.37137219309806824, + 0.02780357003211975, + 0.928067684173584, + -1.2792091278802782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9252727031707764, + -0.05760994926095009, + 0.3749019503593445, + -0.01562655335144391 + ], + [ + 0.06371057033538818, + 0.9979608654975891, + -0.003886832855641842, + 0.17840813302863684 + ], + [ + -0.3739135265350342, + 0.027481596916913986, + 0.9270563125610352, + -1.289892832059709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.92606121301651, + -0.06108393520116806, + 0.37239688634872437, + -0.04282171603233095 + ], + [ + 0.06626682728528976, + 0.9978013038635254, + -0.0011211447417736053, + 0.17640871100778144 + ], + [ + -0.3715096116065979, + 0.02571580745279789, + 0.9280729293823242, + -1.315678908711388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9354329705238342, + -0.04911627992987633, + 0.3500753343105316, + -0.05630319373948234 + ], + [ + 0.05287927761673927, + 0.99860018491745, + -0.0011925799772143364, + 0.18302345317123192 + ], + [ + -0.3495267331600189, + 0.01962731033563614, + 0.9367207884788513, + -1.3368960440158844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9408570528030396, + -0.053557172417640686, + 0.334543913602829, + -0.048584283226066165 + ], + [ + 0.05691435933113098, + 0.9983790516853333, + -0.00023292377591133118, + 0.1764737767507396 + ], + [ + -0.3339891731739044, + 0.0192594975233078, + 0.9423801302909851, + -1.3854285760058298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9427377581596375, + -0.06241566687822342, + 0.3276427686214447, + -0.0303697418835428 + ], + [ + 0.06643692404031754, + 0.9977900385856628, + -0.0010830946266651154, + 0.1838914833135075 + ], + [ + -0.32685109972953796, + 0.022788649424910545, + 0.9448010921478271, + -1.4240964200761583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.942598819732666, + -0.06560719013214111, + 0.3274190127849579, + -0.0257975323569207 + ], + [ + 0.07057535648345947, + 0.997501015663147, + -0.003301599994301796, + 0.20117981356258194 + ], + [ + -0.32638415694236755, + 0.026219794526696205, + 0.9448735117912292, + -1.440911770860354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9421377182006836, + -0.06680790334939957, + 0.3285015821456909, + -0.03073875932466416 + ], + [ + 0.07247097045183182, + 0.9973579049110413, + -0.005011371336877346, + 0.20775322886479516 + ], + [ + -0.3272988796234131, + 0.028528228402137756, + 0.9444901347160339, + -1.4566681900667766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9416967034339905, + -0.06573233753442764, + 0.32997965812683105, + -0.02066378206724212 + ], + [ + 0.07180822640657425, + 0.9973989129066467, + -0.006243442185223103, + 0.21634305435942397 + ], + [ + -0.32871097326278687, + 0.0295746847987175, + 0.9439674019813538, + -1.4897846818443328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.941001296043396, + -0.06520580500364304, + 0.3320613503456116, + -0.012393368585478692 + ], + [ + 0.0714835450053215, + 0.9974191784858704, + -0.006711370311677456, + 0.2203393837969218 + ], + [ + -0.3307667374610901, + 0.03005232661962509, + 0.9432339072227478, + -1.5272252701577687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9400871396064758, + -0.06533044576644897, + 0.33461642265319824, + -0.004291888143098544 + ], + [ + 0.07220950722694397, + 0.9973562359809875, + -0.008145156316459179, + 0.22489352567520524 + ], + [ + -0.3331996202468872, + 0.03181964159011841, + 0.9423192143440247, + -1.5525534023841223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9394663572311401, + -0.06353916972875595, + 0.3366982340812683, + 0.010843510393585477 + ], + [ + 0.07088176161050797, + 0.9974390268325806, + -0.009547378867864609, + 0.2262051972072749 + ], + [ + -0.3352293372154236, + 0.032835204154253006, + 0.9415642023086548, + -1.5880675234491863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9382351040840149, + -0.061381515115499496, + 0.34051021933555603, + -0.004002299904823304 + ], + [ + 0.06896502524614334, + 0.9975669384002686, + -0.010200089775025845, + 0.23179739979095756 + ], + [ + -0.3390556275844574, + 0.03305337578058243, + 0.9401854872703552, + -1.6136539727449417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9374127388000488, + -0.0614573210477829, + 0.3427541255950928, + -0.0037325798932995105 + ], + [ + 0.06917043030261993, + 0.9975515604019165, + -0.010311754420399666, + 0.22921088754184663 + ], + [ + -0.3412811756134033, + 0.03337481617927551, + 0.9393685460090637, + -1.6494552267922296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9370938539505005, + -0.0627216324210167, + 0.3433963656425476, + 0.0077813903963755045 + ], + [ + 0.07151175290346146, + 0.9973552823066711, + -0.012980547733604908, + 0.23792797022144355 + ], + [ + -0.3416740298271179, + 0.036720868200063705, + 0.9391008615493774, + -1.6703591569075509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9359426498413086, + -0.06103440374135971, + 0.3468228876590729, + -0.0005305609887554553 + ], + [ + 0.07068385928869247, + 0.9973825216293335, + -0.015227923169732094, + 0.24647544928427254 + ], + [ + -0.34498563408851624, + 0.038767240941524506, + 0.937807023525238, + -1.678545298746654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9349378943443298, + -0.06056318059563637, + 0.34960445761680603, + 0.0035951124356379607 + ], + [ + 0.06995159387588501, + 0.997448205947876, + -0.014278296381235123, + 0.2420888853362865 + ], + [ + -0.3478476107120514, + 0.03780470788478851, + 0.9367885589599609, + -1.7349169553272308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9348143935203552, + -0.061501018702983856, + 0.3497709333896637, + 0.012692544668439835 + ], + [ + 0.07092873007059097, + 0.9973803758621216, + -0.014195832423865795, + 0.23929700656601835 + ], + [ + -0.34798160195350647, + 0.03807927295565605, + 0.9367277026176453, + -1.7565028684479849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9342742562294006, + -0.06225062534213066, + 0.3510790765285492, + 0.009510496152298792 + ], + [ + 0.07277660816907883, + 0.9972058534622192, + -0.016852673143148422, + 0.2512270848577221 + ], + [ + -0.34904900193214417, + 0.041295357048511505, + 0.9361941814422607, + -1.7676026486215137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9337188005447388, + -0.06021620333194733, + 0.35290685296058655, + 0.02333986924754249 + ], + [ + 0.07049886882305145, + 0.9973779320716858, + -0.01634370908141136, + 0.2551822101490365 + ], + [ + -0.35099735856056213, + 0.04013996198773384, + 0.9355157017707825, + -1.8134946922461193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9323063492774963, + -0.05917394906282425, + 0.35679593682289124, + 0.011566698196388427 + ], + [ + 0.06932971626520157, + 0.9974697828292847, + -0.015729743987321854, + 0.26032464924371906 + ], + [ + -0.35496237874031067, + 0.039401497691869736, + 0.9340499043464661, + -1.8292469549273687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.931443989276886, + -0.05932425707578659, + 0.3590163290500641, + 0.011977050879171915 + ], + [ + 0.06973522156476974, + 0.9974355101585388, + -0.016106050461530685, + 0.2662671304174832 + ], + [ + -0.3571401536464691, + 0.040037963539361954, + 0.9331923127174377, + -1.8531263078962055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9305073618888855, + -0.06047224998474121, + 0.36124664545059204, + 0.014160516668879793 + ], + [ + 0.07151481509208679, + 0.9972901344299316, + -0.017264343798160553, + 0.2697230474993823 + ], + [ + -0.35922372341156006, + 0.04189908504486084, + 0.9323104619979858, + -1.8790969743615105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9290190935134888, + -0.06319940090179443, + 0.36459484696388245, + 0.018084978465996087 + ], + [ + 0.07507100701332092, + 0.9970071911811829, + -0.018464714288711548, + 0.2711798661758029 + ], + [ + -0.3623367249965668, + 0.04452457278966904, + 0.9309831857681274, + -1.911342005691831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9274462461471558, + -0.06522997468709946, + 0.3682234585285187, + 0.01824889420753434 + ], + [ + 0.07810129970312119, + 0.9967418909072876, + -0.020143501460552216, + 0.27784748774554047 + ], + [ + -0.3657098114490509, + 0.04744074493646622, + 0.9295190572738647, + -1.9426051108610063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9257420897483826, + -0.06675709038972855, + 0.37221649289131165, + 0.013391977690515065 + ], + [ + 0.08076367527246475, + 0.9964872002601624, + -0.022147737443447113, + 0.28398423769644326 + ], + [ + -0.36943045258522034, + 0.050564661622047424, + 0.92788165807724, + -1.958167418790242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9244701862335205, + -0.06788799166679382, + 0.3751614987850189, + 0.01945021433962716 + ], + [ + 0.08289383351802826, + 0.996269702911377, + -0.02398465946316719, + 0.2912201669688026 + ], + [ + -0.3721337616443634, + 0.05327167734503746, + 0.9266490936279297, + -2.0050105147891575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9235008955001831, + -0.07112137973308563, + 0.376945436000824, + 0.0321605336808023 + ], + [ + 0.08691717684268951, + 0.9959008097648621, + -0.025038782507181168, + 0.30052843581707706 + ], + [ + -0.3736194968223572, + 0.055886369198560715, + 0.9258970022201538, + -2.0490973614511034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9223323464393616, + -0.0708150863647461, + 0.37985295057296753, + 0.026964360286319065 + ], + [ + 0.08768205344676971, + 0.9957753419876099, + -0.027263395488262177, + 0.3000862302229045 + ], + [ + -0.37631756067276, + 0.058452196419239044, + 0.9246450662612915, + -2.0806990507103147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9218298196792603, + -0.0679236575961113, + 0.38159680366516113, + 0.02606212773493358 + ], + [ + 0.0863780602812767, + 0.9957668781280518, + -0.03141992911696434, + 0.3055570340818829 + ], + [ + -0.3778473138809204, + 0.06192541494965553, + 0.923794686794281, + -2.1318766692328075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9254414439201355, + -0.06346864998340607, + 0.3735370337963104, + -0.014257534912654333 + ], + [ + 0.08223865926265717, + 0.9960149526596069, + -0.03451152518391609, + 0.3000960112416318 + ], + [ + -0.369858056306839, + 0.06265757977962494, + 0.9269730448722839, + -2.1312717697450094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9371210336685181, + -0.06100258231163025, + 0.34363195300102234, + -0.06175044226267981 + ], + [ + 0.07836025953292847, + 0.9962441921234131, + -0.036840520799160004, + 0.297979930433489 + ], + [ + -0.3400939404964447, + 0.06145111471414566, + 0.9383814930915833, + -2.131386258393999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.949031412601471, + -0.06003505736589432, + 0.30941107869148254, + -0.04338700787888633 + ], + [ + 0.07576001435518265, + 0.9963611960411072, + -0.039048485457897186, + 0.3223196237510632 + ], + [ + -0.3059408962726593, + 0.06049922853708267, + 0.9501262903213501, + -2.1887798847660185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9526041150093079, + -0.05983032286167145, + 0.29827117919921875, + -0.05052674313386281 + ], + [ + 0.07483595609664917, + 0.9964277148246765, + -0.03913368657231331, + 0.32682557180523875 + ], + [ + -0.294864296913147, + 0.05960031971335411, + 0.9536786079406738, + -2.2405135949452717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9542319178581238, + -0.06183915585279465, + 0.29260438680648804, + -0.011819667818527373 + ], + [ + 0.07550535351037979, + 0.9965085387229919, + -0.03563300147652626, + 0.31533492804460583 + ], + [ + -0.2893792390823364, + 0.056095343083143234, + 0.9555694460868835, + -2.252001644363479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9551575183868408, + -0.060409583151340485, + 0.28987038135528564, + -0.009229818985812245 + ], + [ + 0.07233431190252304, + 0.9969111680984497, + -0.03059186041355133, + 0.31222631971514414 + ], + [ + -0.28712695837020874, + 0.0501876175403595, + 0.9565768837928772, + -2.2916415181424883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9556084275245667, + -0.05920679494738579, + 0.2886296510696411, + -0.018948006417070114 + ], + [ + 0.06949914991855621, + 0.9972552061080933, + -0.025533385574817657, + 0.31107741244846865 + ], + [ + -0.28632569313049316, + 0.04445943236351013, + 0.9571002721786499, + -2.340915523540406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9573544263839722, + -0.060839325189590454, + 0.2824377417564392, + -0.0168241711481223 + ], + [ + 0.06980516016483307, + 0.9973227977752686, + -0.021781189367175102, + 0.3108094670824588 + ], + [ + -0.2803564667701721, + 0.040567927062511444, + 0.9590383172035217, + -2.3783668552126205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9594680666923523, + -0.05843625217676163, + 0.27569228410720825, + -0.0021509637967461644 + ], + [ + 0.06662849336862564, + 0.9975685477256775, + -0.020434901118278503, + 0.3183319253226121 + ], + [ + -0.27382779121398926, + 0.03797559067606926, + 0.9610286951065063, + -2.404746884675253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9609877467155457, + -0.056226253509521484, + 0.27081575989723206, + 0.02126707828470639 + ], + [ + 0.06412791460752487, + 0.997732937335968, + -0.02041001431643963, + 0.3267783939040133 + ], + [ + -0.26905420422554016, + 0.03698062151670456, + 0.9624148011207581, + -2.419428139925003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9624417424201965, + -0.04681570082902908, + 0.2674214243888855, + 0.03542032477756342 + ], + [ + 0.05417246371507645, + 0.998327374458313, + -0.020194513723254204, + 0.33573505602156123 + ], + [ + -0.2660287022590637, + 0.033922918140888214, + 0.9633680582046509, + -2.4445847663614484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9636372923851013, + -0.033648256212472916, + 0.26508674025535583, + 0.04769792833498546 + ], + [ + 0.040293436497449875, + 0.9989942908287048, + -0.01966843381524086, + 0.34243599224894766 + ], + [ + -0.26415833830833435, + 0.029634490609169006, + 0.9640239477157593, + -2.4709689439289155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9640087485313416, + -0.027478035539388657, + 0.26444679498672485, + 0.058865137362764 + ], + [ + 0.03386874869465828, + 0.9992333650588989, + -0.019636468961834908, + 0.34848539833245534 + ], + [ + -0.26370447874069214, + 0.02788621000945568, + 0.9642003178596497, + -2.5002544569117684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9635701775550842, + -0.029953619465231895, + 0.26577305793762207, + 0.06572849199412362 + ], + [ + 0.03640526533126831, + 0.9991491436958313, + -0.019380800426006317, + 0.3539702796628551 + ], + [ + -0.2649664282798767, + 0.02835030108690262, + 0.9638407826423645, + -2.536178381197036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9629307389259338, + -0.032618649303913116, + 0.2677692770957947, + 0.07844639912484185 + ], + [ + 0.03899028152227402, + 0.9990681409835815, + -0.018511049449443817, + 0.35889077006233117 + ], + [ + -0.2669159173965454, + 0.02826525643467903, + 0.9633052349090576, + -2.564262877381037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9619884490966797, + -0.034979451447725296, + 0.27084067463874817, + 0.08593153385888963 + ], + [ + 0.04112568125128746, + 0.9990085363388062, + -0.017049362882971764, + 0.3611869163456417 + ], + [ + -0.2699757516384125, + 0.027539798989892006, + 0.9624732136726379, + -2.598534647623698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9614325761795044, + -0.037853289395570755, + 0.27242353558540344, + 0.09950532655394267 + ], + [ + 0.044110361486673355, + 0.9988840818405151, + -0.01687844842672348, + 0.36449620991590476 + ], + [ + -0.27148064970970154, + 0.02824418991804123, + 0.9620293974876404, + -2.620203895464776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9615046381950378, + -0.034319907426834106, + 0.27263715863227844, + 0.11276882141828537 + ], + [ + 0.04053870588541031, + 0.9990297555923462, + -0.01720801368355751, + 0.36484970785677434 + ], + [ + -0.2717820703983307, + 0.02759794145822525, + 0.9619629979133606, + -2.646353942155838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.961287796497345, + -0.026705622673034668, + 0.27424919605255127, + 0.12048825536455426 + ], + [ + 0.03225232660770416, + 0.9993559122085571, + -0.01573512889444828, + 0.36764873852953317 + ], + [ + -0.2736523151397705, + 0.023971160873770714, + 0.9615299105644226, + -2.679642547454153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.961094081401825, + -0.02373455837368965, + 0.27519962191581726, + 0.1292845427043854 + ], + [ + 0.02877836674451828, + 0.9994834661483765, + -0.014303874224424362, + 0.3636315782510099 + ], + [ + -0.27471795678138733, + 0.02166716381907463, + 0.9612807035446167, + -2.7064677855325123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9614242911338806, + -0.018258247524499893, + 0.27446305751800537, + 0.13869423353009752 + ], + [ + 0.023049838840961456, + 0.9996328353881836, + -0.014242833480238914, + 0.36658070463657616 + ], + [ + -0.27410227060317993, + 0.020019734278321266, + 0.9614921808242798, + -2.73235693801017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9613152146339417, + -0.009037544019520283, + 0.27530229091644287, + 0.14290889160973685 + ], + [ + 0.012941903434693813, + 0.999839723110199, + -0.012368777766823769, + 0.3657966718343752 + ], + [ + -0.27514636516571045, + 0.01545323058962822, + 0.9612781405448914, + -2.767749710593905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9605717062950134, + -0.00632533710449934, + 0.27796050906181335, + 0.1479780960414145 + ], + [ + 0.009694869630038738, + 0.9998952150344849, + -0.010749523527920246, + 0.3699987436548644 + ], + [ + -0.27786341309547424, + 0.013020479120314121, + 0.9605323672294617, + -2.7941676303980842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.959878146648407, + -0.007949160411953926, + 0.28030475974082947, + 0.15427834571353974 + ], + [ + 0.01123676635324955, + 0.999885618686676, + -0.010123535990715027, + 0.3755294423254709 + ], + [ + -0.28019222617149353, + 0.012867080047726631, + 0.959857702255249, + -2.8150869853912837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9590999484062195, + -0.015886932611465454, + 0.28262144327163696, + 0.15580659608046213 + ], + [ + 0.019482698291540146, + 0.9997609853744507, + -0.009916863404214382, + 0.3804898691208412 + ], + [ + -0.2823963761329651, + 0.015017491765320301, + 0.9591802358627319, + -2.847781946261724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9581760168075562, + -0.016893241554498672, + 0.2856804132461548, + 0.16269624668454366 + ], + [ + 0.02070866897702217, + 0.9997320771217346, + -0.010339649394154549, + 0.38420983835286093 + ], + [ + -0.2854291796684265, + 0.01582326553761959, + 0.9582691788673401, + -2.874710261159473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9570173621177673, + -0.0185684971511364, + 0.28943559527397156, + 0.17101792137301158 + ], + [ + 0.022635184228420258, + 0.9996864199638367, + -0.010709090158343315, + 0.38996257891228037 + ], + [ + -0.28914597630500793, + 0.01680021360516548, + 0.9571375846862793, + -2.9020550020157345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9557433128356934, + -0.01905619539320469, + 0.29358407855033875, + 0.17312665155955723 + ], + [ + 0.023282485082745552, + 0.9996694326400757, + -0.010907205753028393, + 0.3927386954160673 + ], + [ + -0.2932792007923126, + 0.017259854823350906, + 0.955871045589447, + -2.929580475602831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9544944763183594, + -0.020030740648508072, + 0.29755517840385437, + 0.1811044889073523 + ], + [ + 0.024548087269067764, + 0.9996330738067627, + -0.011452073231339455, + 0.4007837410114469 + ], + [ + -0.29721662402153015, + 0.018235351890325546, + 0.9546359181404114, + -2.9615705837806066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9528345465660095, + -0.020064590498805046, + 0.30282631516456604, + 0.1866267422835032 + ], + [ + 0.024819081649184227, + 0.9996216297149658, + -0.01185987051576376, + 0.40785805067224873 + ], + [ + -0.3024737536907196, + 0.01881636492908001, + 0.9529719352722168, + -2.986448011701069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9512482285499573, + -0.021730531007051468, + 0.3076598048210144, + 0.1929713331517719 + ], + [ + 0.02669128030538559, + 0.9995725750923157, + -0.011924821883440018, + 0.4138029634154269 + ], + [ + -0.3072691559791565, + 0.01955530047416687, + 0.9514216780662537, + -3.0154696448927836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9498369693756104, + -0.023642640560865402, + 0.31185051798820496, + 0.1956217408180237 + ], + [ + 0.028688952326774597, + 0.999521017074585, + -0.011603347025811672, + 0.42029940096868407 + ], + [ + -0.3114268481731415, + 0.019967950880527496, + 0.9500603079795837, + -3.0425555335150825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9485756158828735, + -0.03154425695538521, + 0.3149751126766205, + 0.20328556930734998 + ], + [ + 0.03671595826745033, + 0.9992706179618835, + -0.01049802079796791, + 0.4236670394472423 + ], + [ + -0.31441423296928406, + 0.021522779017686844, + 0.9490419030189514, + -3.0763018967140288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9471825957298279, + -0.03916244953870773, + 0.31829458475112915, + 0.2077284832795461 + ], + [ + 0.04455256462097168, + 0.9989602565765381, + -0.00966930203139782, + 0.4220969732584698 + ], + [ + -0.3175849914550781, + 0.02333943359553814, + 0.9479425549507141, + -3.1054952987602777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9464491605758667, + -0.037353575229644775, + 0.3206847608089447, + 0.21138292681130152 + ], + [ + 0.04248126596212387, + 0.9990566968917847, + -0.009005779400467873, + 0.4270557681142929 + ], + [ + -0.3200458586215973, + 0.02214660681784153, + 0.9471431970596313, + -3.138484438733449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9459692239761353, + -0.03929330036044121, + 0.32186681032180786, + 0.21544459623003764 + ], + [ + 0.0435807965695858, + 0.999031126499176, + -0.0061232247389853, + 0.42759551145579844 + ], + [ + -0.32131439447402954, + 0.01981959491968155, + 0.9467651844024658, + -3.175293431206355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9453795552253723, + -0.042825013399124146, + 0.3231463134288788, + 0.22274676454918724 + ], + [ + 0.046565450727939606, + 0.9989078044891357, + -0.0038489713333547115, + 0.4279717950715816 + ], + [ + -0.32262852787971497, + 0.018686188384890556, + 0.9463412165641785, + -3.202479233486312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9456824660301208, + -0.043216463178396225, + 0.3222065269947052, + 0.23642478968415942 + ], + [ + 0.046214643865823746, + 0.9989301562309265, + -0.0016577821224927902, + 0.43019990881698 + ], + [ + -0.3217901885509491, + 0.01645839400589466, + 0.9466679692268372, + -3.233573655571256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9456599950790405, + -0.04351062700152397, + 0.32223281264305115, + 0.24561990350484847 + ], + [ + 0.045356836169958115, + 0.9989692568778992, + 0.0017801900394260883, + 0.4369021497692706 + ], + [ + -0.3219781219959259, + 0.012932004407048225, + 0.9466587901115417, + -3.2698674854305056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9454672336578369, + -0.043852828443050385, + 0.32275164127349854, + 0.24655145619596752 + ], + [ + 0.04473123699426651, + 0.9989880323410034, + 0.00469875056296587, + 0.43642635971662547 + ], + [ + -0.3226310610771179, + 0.009994563646614552, + 0.9464720487594604, + -3.302547602426438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.948436439037323, + -0.0460655577480793, + 0.31360211968421936, + 0.24978393886297467 + ], + [ + 0.046526554971933365, + 0.9988989233970642, + 0.006018324755132198, + 0.4401394364786231 + ], + [ + -0.31353405117988586, + 0.008882827125489712, + 0.9495354294776917, + -3.336186433548019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9511978626251221, + -0.047523919492959976, + 0.3049001395702362, + 0.26667799131264763 + ], + [ + 0.04775164648890495, + 0.9988366961479187, + 0.006714877672493458, + 0.4433269831056278 + ], + [ + -0.3048645555973053, + 0.00817230436950922, + 0.9523606300354004, + -3.3681552220904636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9526217579841614, + -0.04775090515613556, + 0.3003857731819153, + 0.2787552514246532 + ], + [ + 0.04785420000553131, + 0.9988296627998352, + 0.007017871830612421, + 0.448730868159882 + ], + [ + -0.3003693222999573, + 0.007689341437071562, + 0.9537919759750366, + -3.401346357947304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9539773464202881, + -0.04774659126996994, + 0.2960532009601593, + 0.28754093079339893 + ], + [ + 0.04776716232299805, + 0.9988327622413635, + 0.007167873904109001, + 0.45489944891915435 + ], + [ + -0.2960498631000519, + 0.007303630001842976, + 0.9551445841789246, + -3.426781253776853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9572524428367615, + -0.0505884625017643, + 0.2847955822944641, + 0.2935042128203407 + ], + [ + 0.0504840649664402, + 0.9986950755119324, + 0.007712373975664377, + 0.4628279521591991 + ], + [ + -0.28481411933898926, + 0.0069949510507285595, + 0.9585572481155396, + -3.4561249750947196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9606821537017822, + -0.05435311794281006, + 0.27227848768234253, + 0.31120264530181885 + ], + [ + 0.05416678637266159, + 0.9984982013702393, + 0.00820639356970787, + 0.47071972750127317 + ], + [ + -0.2723156213760376, + 0.006864713504910469, + 0.9621834754943848, + -3.4809563159942627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/tilt_down/transforms.json b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..cc3c619dad1195b1d389d8dc86a3eaeb9697fe18 --- /dev/null +++ b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/tilt_down/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, + -9.838233381742612e-05, + -4.791899846168235e-05, + 9.177199535770342e-05 + ], + [ + 9.838460391620174e-05, + 1.0, + 4.736682240036316e-05, + -7.394507701974362e-05 + ], + [ + 4.791433457285166e-05, + -4.737153722089715e-05, + 1.0, + 0.00041252130176872015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999916553497314, + -0.0022490295690078548, + 0.003413237490098111, + 0.006127418018877506 + ], + [ + 0.002261039800941944, + 0.9999912312032299, + -0.003518998288125882, + 0.0024790826719254255 + ], + [ + -0.0034052934497594833, + 0.003526686631605676, + 0.9999879689153458, + -0.027977652847766876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999696016311646, + -0.004121808840657957, + 0.006618001932063281, + 0.011845085769891739 + ], + [ + 0.004166510887444019, + 0.9999685173651555, + -0.006755108549378102, + 0.008051828481256962 + ], + [ + -0.006589950527995825, + 0.0067824776243745315, + 0.9999552795435451, + -0.05918484553694725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998933672904968, + -0.00815551682138212, + 0.012114031591810551, + 0.015316618606448174 + ], + [ + 0.00826678704470396, + 0.9999238388363113, + -0.009163772859102515, + 0.01019664853811264 + ], + [ + -0.012038374319672585, + 0.00926294047954189, + 0.9998846403114746, + -0.09245613217353821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999704897403717, + -0.01153783839056607, + 0.021376252743166634, + 0.02107161656022072 + ], + [ + 0.011775110848248005, + 0.9998700722076225, + -0.011007358927161119, + 0.016539935022592545 + ], + [ + -0.021246476098895073, + 0.011255818686501821, + 0.9997109010942895, + -0.11586488038301468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993982911109924, + -0.012838193106196077, + 0.032222483435760806, + 0.02888881415128708 + ], + [ + 0.01325767021626234, + 0.9998297011040717, + -0.012838437946552967, + 0.021057704463601112 + ], + [ + -0.0320521742105484, + 0.013257906434675849, + 0.9993982659871911, + -0.13224278390407562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9989550709724426, + -0.012795627570329033, + 0.043875410848092135, + 0.03273293003439903 + ], + [ + 0.01340743713080883, + 0.9998165560271839, + -0.013678429121371833, + 0.026164822280406952 + ], + [ + -0.04369233548641205, + 0.014252392403797326, + 0.998943342380075, + -0.1547061800956726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9984247684478762, + -0.013560506305681359, + 0.05444341975960071, + 0.036790527403354645 + ], + [ + 0.014343372546136383, + 0.9997989395594928, + -0.014014519975949649, + 0.031983599066734314 + ], + [ + -0.054242424666881575, + 0.014773346704948374, + 0.9984184786260901, + -0.17413322627544403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.997841477394104, + -0.015086339798101573, + 0.06391192285224398, + 0.038629740476608276 + ], + [ + 0.016056180000305176, + 0.9997631988701738, + -0.014688284480968624, + 0.03701755777001381 + ], + [ + -0.06367519497871399, + 0.015682760314742354, + 0.9978474388596102, + -0.1995544582605362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9970006942749026, + -0.016793359357757786, + 0.07554841964042674, + 0.04252360016107559 + ], + [ + 0.01801538281142712, + 0.9997171931376079, + -0.015523025158623676, + 0.041732240468263626 + ], + [ + -0.07526636868715288, + 0.016837499613042473, + 0.997021302613139, + -0.22593045234680176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9955771565437317, + -0.019841970194081297, + 0.09182840015773915, + 0.0486811064183712 + ], + [ + 0.021302005276083946, + 0.999661331593773, + -0.014946791958586161, + 0.04631626605987549 + ], + [ + -0.09150072187185287, + 0.016836812211395377, + 0.9956626537903341, + -0.24762992560863495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9932959675788882, + -0.021717503890564344, + 0.11354039595071175, + 0.051256030797958374 + ], + [ + 0.023269098252058033, + 0.9996528379603415, + -0.012358066231152475, + 0.05079912394285202 + ], + [ + -0.11323259025812152, + 0.014917198786167898, + 0.9934565219129771, + -0.2747998833656311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99052494764328, + -0.023472066318745766, + 0.13531228916788673, + 0.049961913377046585 + ], + [ + 0.02498818375170231, + 0.9996424545028211, + -0.009516839770583593, + 0.06208402290940285 + ], + [ + -0.1350405216217041, + 0.012807874468680047, + 0.9907573212501093, + -0.3006337583065033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9877152442932129, + -0.025903196573971873, + 0.1541024724895094, + 0.027389243245124817 + ], + [ + 0.026615483686327934, + 0.9996424889678538, + -0.0025605402975577016, + 0.0694490298628807 + ], + [ + -0.1539810597896576, + 0.006630596985651946, + 0.9880515473203103, + -0.30577802658081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848666787147522, + -0.02965370867263337, + 0.17075812107812166, + 0.01671450398862362 + ], + [ + 0.02814839966595173, + 0.9995406500854699, + 0.011230316968833219, + 0.06184884533286095 + ], + [ + -0.17101271450519562, + -0.006253797274557224, + 0.9852490005751802, + -0.3475211262702942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9817764759063723, + -0.031511215549260466, + 0.18740879026309967, + 0.018141746520996094 + ], + [ + 0.02844864688813687, + 0.9994144818593086, + 0.01900953913348015, + 0.06158837676048279 + ], + [ + -0.1878980696201325, + -0.01333159189396642, + 0.9820980430091699, + -0.3696407079696655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.979165852069855, + -0.033940778803518194, + 0.2002056253544654, + 0.0162874273955822 + ], + [ + 0.029372539371252067, + 0.9992369108422425, + 0.025744993983986234, + 0.054552722722291946 + ], + [ + -0.2009266614913941, + -0.01932807334447638, + 0.9794156019156414, + -0.3923160135746002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9768103957176208, + -0.03754890518042648, + 0.2107878636749292, + 0.010667250491678715 + ], + [ + 0.03170735016465187, + 0.9990155324868458, + 0.031025836586199427, + 0.05725180357694626 + ], + [ + -0.21174533665180206, + -0.02362283658728166, + 0.9770393701942167, + -0.4208133816719055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9745444059371948, + -0.04040082631709133, + 0.22052439988492892, + 0.018079403787851334 + ], + [ + 0.03283137083053589, + 0.9987426360478132, + 0.037884231871437746, + 0.06085210293531418 + ], + [ + -0.22177767753601074, + -0.02967974706317814, + 0.9746454392783406, + -0.4446122348308563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9717581868171692, + -0.044002230825837166, + 0.23184006453978875, + 0.01871049590408802 + ], + [ + 0.03442387282848358, + 0.9983846264406243, + 0.045201291534786, + 0.06375099718570709 + ], + [ + -0.23345452547073364, + -0.035943892972877985, + 0.9717031462670983, + -0.47219690680503845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9687088727951052, + -0.04840538048077953, + 0.24343383711763178, + 0.015773706138134003 + ], + [ + 0.03697704523801804, + 0.9979984502374214, + 0.05130141256527005, + 0.0632442831993103 + ], + [ + -0.24542984366416937, + -0.0406946678708771, + 0.9685597966214418, + -0.4984036087989807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9659450054168701, + -0.052932861599109655, + 0.25327521265143793, + 0.016027983278036118 + ], + [ + 0.03982748091220856, + 0.9976023461666004, + 0.05659769005091689, + 0.06923261284828186 + ], + [ + -0.25566384196281433, + -0.0445829438839216, + 0.965737208672195, + -0.5236093401908875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9631688594818117, + -0.0573408235083179, + 0.26271238634571303, + 0.01265508122742176 + ], + [ + 0.042635485529899604, + 0.9972057683431739, + 0.06134247340080493, + 0.07690702378749847 + ], + [ + -0.26549571752548223, + -0.04788228979931317, + 0.9629222644913201, + -0.5419929027557373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9605509042739868, + -0.061534848615585266, + 0.2712110403566684, + 0.024659866467118263 + ], + [ + 0.04514709487557411, + 0.996780462468894, + 0.06626077119727002, + 0.0762038454413414 + ], + [ + -0.27441519498825073, + -0.05140245272431071, + 0.9602364582395241, + -0.5720348358154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.957895874977112, + -0.06580642975910148, + 0.2794726926418963, + 0.03459823504090309 + ], + [ + 0.047982130199670806, + 0.996381462058574, + 0.07015505000351836, + 0.0826931893825531 + ], + [ + -0.2830780446529389, + -0.05379153687279944, + 0.9575872026423934, + -0.603389322757721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9550745487213135, + -0.0694114122508448, + 0.28812256066979575, + 0.03186829388141632 + ], + [ + 0.0502486489713192, + 0.9960367005095224, + 0.07338926925231616, + 0.08665713667869568 + ], + [ + -0.29207468032836914, + -0.05561445757471261, + 0.9547771601332088, + -0.6237571835517883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9522327184677124, + -0.07253254617517227, + 0.2966342862957892, + 0.029836930334568024 + ], + [ + 0.05232951417565346, + 0.995771708941772, + 0.07550032518145347, + 0.0938100516796112 + ], + [ + -0.30085626244544983, + -0.05637115243854172, + 0.9520019818790548, + -0.643997073173523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9497489929199221, + -0.07513778192037007, + 0.30386042161761767, + 0.043578311800956726 + ], + [ + 0.054003197699785246, + 0.9955379429240512, + 0.07738101940016867, + 0.1000140830874443 + ], + [ + -0.30831882357597357, + -0.0570831138470336, + 0.9495688780666274, + -0.6791362762451172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9467777609825134, + -0.07707755702920951, + 0.3125234238656571, + 0.037417009472846985 + ], + [ + 0.05494852736592293, + 0.9953574365696386, + 0.07902024306218612, + 0.10296840220689774 + ], + [ + -0.31716322898864746, + -0.0576419101021314, + 0.9466176034389409, + -0.7005820274353027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.94429486989975, + -0.07940297282257847, + 0.3193780423398699, + 0.04710443317890167 + ], + [ + 0.05611028522253038, + 0.9950928132252586, + 0.08149799384465352, + 0.10656489431858063 + ], + [ + -0.32428196072578436, + -0.05903774609105617, + 0.9441163957529454, + -0.7471339106559753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9421865940093996, + -0.08124882857906403, + 0.32508934363606323, + 0.04068247228860855 + ], + [ + 0.056996226310729994, + 0.9948798740029462, + 0.08345935851145664, + 0.11068431288003922 + ], + [ + -0.33020579814910894, + -0.06010542199897304, + 0.9419933292627781, + -0.7628722190856934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9405912160873413, + -0.08254792890217597, + 0.329353881215363, + 0.034354306757450104 + ], + [ + 0.057651638984680176, + 0.9947396464277303, + 0.08467205723619434, + 0.11788846552371979 + ], + [ + -0.33461084961891174, + -0.06065400712434268, + 0.9404024087851242, + -0.7854765057563782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9408734440803528, + -0.08526576570712062, + 0.3278519525748866, + 0.05043778568506241 + ], + [ + 0.05974291265010834, + 0.9944006867122508, + 0.08716683242415867, + 0.11887797713279724 + ], + [ + -0.33344852924346924, + -0.06242613167804316, + 0.9406992317465415, + -0.828506350517273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9403935074806213, + -0.08757309150801863, + 0.3286199136732569, + 0.07479269802570343 + ], + [ + 0.06145622581243515, + 0.994128770896315, + 0.08905697248528406, + 0.11988124996423721 + ], + [ + -0.33448949456214905, + -0.06355286143018643, + 0.9402541548901349, + -0.8634046316146851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9380123615264895, + -0.0887312127433932, + 0.3350515852063707, + 0.06620559096336365 + ], + [ + 0.06233303621411325, + 0.9941008608734069, + 0.08875833208598888, + 0.1281801164150238 + ], + [ + -0.3409507274627686, + -0.062371635634169025, + 0.9380098293790954, + -0.8624099493026733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.935484766960144, + -0.08889931594871305, + 0.34200179300542144, + 0.05668777972459793 + ], + [ + 0.061931487172842026, + 0.9941041180279566, + 0.0890030816529942, + 0.13698193430900574 + ], + [ + -0.3478976786136627, + -0.06208034927285914, + 0.9354748996970674, + -0.8806309103965759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.931338429450989, + -0.09006837253172396, + 0.35284049770071507, + 0.01727179065346718 + ], + [ + 0.06204677745699884, + 0.9940105710496777, + 0.08996235320772514, + 0.12781107425689697 + ], + [ + -0.3588299155235291, + -0.06189278455938952, + 0.9313486823687857, + -0.8377912640571594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.929852306842804, + -0.08959603420875548, + 0.3568574864506945, + 0.04550837352871895 + ], + [ + 0.06134369224309921, + 0.994074256617906, + 0.08974040247051797, + 0.13103322684764862 + ], + [ + -0.36278319358825684, + -0.06155436174154528, + 0.9298383433926803, + -0.9190688729286194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9275209307670593, + -0.08907050842914034, + 0.3630032406268034, + 0.04724036902189255 + ], + [ + 0.06062023714184761, + 0.994180646576344, + 0.08905054273970975, + 0.13122452795505524 + ], + [ + -0.3688226044178009, + -0.060590903400159164, + 0.9275228613295509, + -0.928176760673523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9265342354774475, + -0.08759450219526105, + 0.3658708790928294, + 0.09362746775150299 + ], + [ + 0.059049341827631, + 0.9943227901834485, + 0.08851748832126505, + 0.13296525180339813 + ], + [ + -0.3715474009513855, + -0.060410056914125015, + 0.9264465574891773, + -1.0185222625732422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9224653244018555, + -0.08705849890654575, + 0.3761364009277618, + 0.05676736310124397 + ], + [ + 0.058368004858493805, + 0.9944939869592666, + 0.08703409140992846, + 0.14527054131031036 + ], + [ + -0.3816424310207367, + -0.058331597617519354, + 0.9224676006969864, + -0.996074914932251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9189937114715576, + -0.08652057407072304, + 0.38466180692668667, + 0.04532107338309288 + ], + [ + 0.05754448100924492, + 0.9946115467078369, + 0.08623509061124841, + 0.15341654419898987 + ], + [ + -0.3900502026081085, + -0.057114344728025936, + 0.9190205737293579, + -1.0180612802505493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.916062653064728, + -0.0870222318727987, + 0.3914796955262935, + 0.04918202757835388 + ], + [ + 0.05757199600338937, + 0.9945981384853216, + 0.0863712545259835, + 0.15063872933387756 + ], + [ + -0.39688122272491466, + -0.056583216206170926, + 0.9161242741162214, + -1.060628056526184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.913345456123352, + -0.08728188141561433, + 0.3977209731316132, + 0.050868816673755646 + ], + [ + 0.057252805680036545, + 0.9945803226384103, + 0.08678760314881798, + 0.14834493398666382 + ], + [ + -0.40314045548439026, + -0.05649642493629831, + 0.9133925793499382, + -1.1043691635131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9099667072296143, + -0.08801786333605126, + 0.40523254293579597, + 0.030039045959711075 + ], + [ + 0.05769206956028938, + 0.9945820426480213, + 0.08647657615694201, + 0.1574842929840088 + ], + [ + -0.41064849495887756, + -0.055312105266745314, + 0.9101144925236808, + -1.1128923892974854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9072164297103882, + -0.08879826325632723, + 0.4111851655345052, + 0.023852180689573288 + ], + [ + 0.0577256940305233, + 0.9944988622635362, + 0.08740604106018854, + 0.15812253952026367 + ], + [ + -0.41668468713760376, + -0.05556024970570556, + 0.9073516486091764, + -1.1423282623291016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9064701795578003, + -0.08977377361596048, + 0.4126166414679419, + 0.0009498037397861481 + ], + [ + 0.058385156095027924, + 0.9944001269887329, + 0.08808818930807782, + 0.16252632439136505 + ], + [ + -0.4182140827178955, + -0.055758637347930594, + 0.906635567952535, + -1.1555629968643188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9097920656204226, + -0.09068464871453996, + 0.4050366755415547, + -0.002485845237970352 + ], + [ + 0.05916928499937059, + 0.9942105588052418, + 0.08969036777015355, + 0.16146056354045868 + ], + [ + -0.4108252823352815, + -0.05763385786353529, + 0.9098906301232111, + -1.2065532207489014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9138450026512148, + -0.09125475001738365, + 0.3956765244518701, + -0.04143868759274483 + ], + [ + 0.05978910624980928, + 0.9940391319668087, + 0.09116742820219248, + 0.17209474742412567 + ], + [ + -0.40163740515708934, + -0.0596557570795056, + 0.9138537367553061, + -1.183178424835205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9209753274917605, + -0.09259939395135704, + 0.3784570925154504, + -0.043242670595645905 + ], + [ + 0.06105924025177957, + 0.9936473757920666, + 0.09453406161903287, + 0.17085929214954376 + ], + [ + -0.38480666279792797, + -0.06395523873657383, + 0.9207787910047697, + -1.2186304330825806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9256984591484072, + -0.09342637017980995, + 0.3665431738730557, + -0.036868028342723846 + ], + [ + 0.06126252561807634, + 0.9932546773204627, + 0.0984483004609156, + 0.16472747921943665 + ], + [ + -0.3732683658599854, + -0.06867807981918284, + 0.925177837453968, + -1.2771927118301392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9264135360717773, + -0.09469442085507125, + 0.36440494731848483, + -0.023011721670627594 + ], + [ + 0.061973270028829575, + 0.9930060080910714, + 0.10049055699913238, + 0.17179042100906372 + ], + [ + -0.37137219309806824, + -0.07051244884452618, + 0.9258027108794823, + -1.316773772239685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9252727031707766, + -0.09770123614299443, + 0.36650354308412975, + -0.03109869733452797 + ], + [ + 0.0637105703353882, + 0.9925607911204294, + 0.10375004802279658, + 0.1785685420036316 + ], + [ + -0.37391352653503424, + -0.07264693836164335, + 0.9246140098306144, + -1.3281522989273071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.92606121301651, + -0.10164017345572687, + 0.3634280716204721, + -0.058486029505729675 + ], + [ + 0.06626682728528976, + 0.9918805367852974, + 0.10854353828668767, + 0.17645587027072906 + ], + [ + -0.3715096116065979, + -0.07643473737469002, + 0.9252774696963609, + -1.3547168970108032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9354329705238342, + -0.08800344847362154, + 0.34237485553634206, + -0.07130642235279083 + ], + [ + 0.05287927761673927, + 0.99245472314648, + 0.11062266525631655, + 0.18307456374168396 + ], + [ + -0.3495267331600189, + -0.08537555440922658, + 0.9330284462913065, + -1.377041220664978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9408570528030396, + -0.09135553019188439, + 0.3262547592747571, + -0.06318739056587219 + ], + [ + 0.05691435933113098, + 0.9918936127960298, + 0.11361270171961707, + 0.17648394405841827 + ], + [ + -0.3339891731739044, + -0.08832473244560593, + 0.9384295284412766, + -1.4265642166137695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9427377581596377, + -0.10003063826881689, + 0.31818134877662463, + -0.04493164271116257 + ], + [ + 0.06643692404031755, + 0.9911690789075767, + 0.11476058213626754, + 0.1839396208524704 + ], + [ + -0.326851099729538, + -0.0870501513261864, + 0.9410582858784182, + -1.4660875797271729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.942598819732666, + -0.10383425891001276, + 0.3173735338788031, + -0.040609344840049744 + ], + [ + 0.07057535648345947, + 0.9909036254016033, + 0.11458264256636577, + 0.20132917165756226 + ], + [ + -0.32638415694236755, + -0.08560671435277037, + 0.9413527082700913, + -1.4836560487747192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9421377182006836, + -0.10581561508718174, + 0.3180874738588212, + -0.04586026072502136 + ], + [ + 0.07247097045183182, + 0.9907268847015079, + 0.11492669081141615, + 0.20798391103744507 + ], + [ + -0.3272988796234131, + -0.08522466435882653, + 0.9410697269472661, + -1.5001447200775146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9416967034339905, + -0.10558954736901148, + 0.3194654323422919, + -0.03611521050333977 + ], + [ + 0.07180822640657425, + 0.9906773148314064, + 0.11576713659806631, + 0.21663540601730347 + ], + [ + -0.32871097326278687, + -0.08607728430414274, + 0.9404997709256467, + -1.5339863300323486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9410012960433962, + -0.10598949469476014, + 0.321376359450837, + -0.028205813840031624 + ], + [ + 0.07148354500532152, + 0.9905129309564307, + 0.11736351098612557, + 0.22065897285938263 + ], + [ + -0.33076673746109014, + -0.08746610165165275, + 0.9396504813662402, + -1.572141170501709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.940087139606476, + -0.10710362763370151, + 0.32367426589237547, + -0.020491572096943855 + ], + [ + 0.07220950722694398, + 0.9903857385298322, + 0.11799107567228116, + 0.22528785467147827 + ], + [ + -0.33319962024688726, + -0.08754953112069126, + 0.938782760234449, + -1.5981736183166504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9394663572311404, + -0.10626692600287785, + 0.3257457096588735, + -0.005724180489778519 + ], + [ + 0.07088176161050798, + 0.9904006848711961, + 0.11866864833913737, + 0.22667498886585236 + ], + [ + -0.33522933721542364, + -0.08839577728341426, + 0.9379805351175717, + -1.6343984603881836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9382351040840151, + -0.10530189008648559, + 0.3295852117647825, + -0.021027810871601105 + ], + [ + 0.06896502524614335, + 0.9903639938319877, + 0.12009578736100093, + 0.23230740427970886 + ], + [ + -0.33905562758445745, + -0.08994823206523728, + 0.9364564013730838, + -1.6606632471084595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.937412738800049, + -0.10635911254579966, + 0.33157975224868125, + -0.02114231325685978 + ], + [ + 0.06917043030261995, + 0.9901118873917149, + 0.12204056040981506, + 0.2297346591949463 + ], + [ + -0.3412811756134034, + -0.09146686279105075, + 0.9355003776575113, + -1.6971691846847534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9370938539505005, + -0.10838710275932552, + 0.33182420506272114, + -0.009933501482009888 + ], + [ + 0.07151175290346146, + 0.990021026814807, + 0.12142660428851337, + 0.23859760165214539 + ], + [ + -0.3416740298271179, + -0.09005879639883257, + 0.9354935935191342, + -1.7188048362731934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9359426498413086, + -0.1078733526055543, + 0.33522328922955064, + -0.018697474151849747 + ], + [ + 0.07068385928869247, + 0.9901008009883248, + 0.1212608262301926, + 0.24727310240268707 + ], + [ + -0.34498563408851624, + -0.08979831014745492, + 0.9343025076698372, + -1.7276685237884521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9349378943443298, + -0.10848894771567136, + 0.33781847766655265, + -0.014994965866208076 + ], + [ + 0.06995159387588501, + 0.9897799886717263, + 0.12426732201662723, + 0.24284812808036804 + ], + [ + -0.3478476107120514, + -0.09255128094871802, + 0.9329717361910199, + -1.784730315208435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9348143935203552, + -0.11014255895030182, + 0.33762508475180075, + -0.006183981895446777 + ], + [ + 0.07092873007059097, + 0.989440886400775, + 0.12639568082621397, + 0.2400631308555603 + ], + [ + -0.34798160195350647, + -0.0942091843269634, + 0.9327558359338264, + -1.8070564270019531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9342742562294009, + -0.11177264698996144, + 0.33858312674509156, + -0.009715262800455093 + ], + [ + 0.07277660816907884, + 0.9893829953906266, + 0.12579672175082568, + 0.2521499693393707 + ], + [ + -0.3490490019321442, + -0.09288771805095251, + 0.9324895300835263, + -1.8188704252243042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.933718800544739, + -0.11072786525573225, + 0.34045348855044494, + 0.0037339329719543457 + ], + [ + 0.07049886882305147, + 0.9892159795386286, + 0.12838069183316433, + 0.2560901939868927 + ], + [ + -0.3509973585605622, + -0.09586988030704305, + 0.9314557482016899, + -1.8654677867889404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9323063492774966, + -0.11097572333298268, + 0.34422272675077054, + -0.008538469672203064 + ], + [ + 0.06932971626520158, + 0.9889477065022422, + 0.13105657674211763, + 0.26121100783348083 + ], + [ + -0.3549623787403107, + -0.0983200151466635, + 0.9296961204886063, + -1.8818799257278442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9314439892768862, + -0.11217026141531468, + 0.34616459156909435, + -0.008538167923688889 + ], + [ + 0.06973522156476976, + 0.9886954618762851, + 0.1327338896135183, + 0.2671874761581421 + ], + [ + -0.35714015364646917, + -0.09949432449859334, + 0.9287366744303083, + -1.9064515829086304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9305073618888855, + -0.11436107602698191, + 0.3479620326378636, + -0.006768852472305298 + ], + [ + 0.07151481509208679, + 0.9884488444329439, + 0.13362092552152974, + 0.27072328329086304 + ], + [ + -0.35922372341156006, + -0.09945081369142413, + 0.9279374259801186, + -1.9331117868423462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9290190935134888, + -0.11829157068214677, + 0.3506147045012705, + -0.0033277347683906555 + ], + [ + 0.07507100701332092, + 0.9880733085669066, + 0.1344448654222312, + 0.272264301776886 + ], + [ + -0.3623367249965668, + -0.09858085369688252, + 0.9268192623427007, + -1.966018795967102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9274462461471558, + -0.12158895255843598, + 0.35363765583450774, + -0.0036691688001155853 + ], + [ + 0.07810129970312119, + 0.9877902973731725, + 0.13479794566663805, + 0.27904650568962097 + ], + [ + -0.3657098114490509, + -0.09739828659980138, + 0.9256186449520364, + -1.9979336261749268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9257420897483828, + -0.12445950939044831, + 0.3570874643835866, + -0.009059175848960876 + ], + [ + 0.08076367527246477, + 0.9875717407636087, + 0.13483070644826053, + 0.28532013297080994 + ], + [ + -0.3694304525852204, + -0.09597876177856177, + 0.9242885013287652, + -2.0141348838806152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9244701862335205, + -0.12678680519548757, + 0.35955533038948806, + -0.0034763216972351074 + ], + [ + 0.08289383351802826, + 0.9873673762116517, + 0.13503425203112782, + 0.2926858961582184 + ], + [ + -0.3721337616443634, + -0.09503021412385769, + 0.9233015069478611, + -2.0616390705108643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9235008955001831, + -0.13101247510317401, + 0.36052994847076053, + 0.008825816214084625 + ], + [ + 0.08691717684268951, + 0.9868907063714255, + 0.13598565070425178, + 0.3020784556865692 + ], + [ + -0.3736194968223572, + -0.09424663381991112, + 0.9227817277103405, + -2.106414794921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9223323464393616, + -0.13193422579133424, + 0.3631754404976704, + 0.003148183226585388 + ], + [ + 0.08768205344676971, + 0.9868457671490423, + 0.13582067701240752, + 0.3017956018447876 + ], + [ + -0.37631756067276, + -0.09342784471995129, + 0.9217680812756351, + -2.1386728286743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9218298196792603, + -0.13012549403130472, + 0.3650987532597313, + 0.0018337592482566833 + ], + [ + 0.0863780602812767, + 0.9872408148939059, + 0.13377017952525047, + 0.30755195021629333 + ], + [ + -0.3778473138809204, + -0.0917768178960466, + 0.9213079811132141, + -2.190530300140381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9254414439201355, + -0.1251416803987916, + 0.3576279421060787, + -0.038270629942417145 + ], + [ + 0.08223865926265717, + 0.9877231710819633, + 0.13281479059137144, + 0.3023146092891693 + ], + [ + -0.369858056306839, + -0.09350146185662175, + 0.9243713944374892, + -2.1908628940582275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9371210336685181, + -0.11838358394654849, + 0.3283132059847038, + -0.08411379158496857 + ], + [ + 0.07836025953292847, + 0.9880658916739937, + 0.13261036167231036, + 0.3003774881362915 + ], + [ + -0.3400939404964447, + -0.09854524015580778, + 0.9352138267364498, + -2.192455530166626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.949031412601471, + -0.11223995841276665, + 0.2945192955740819, + -0.06376884877681732 + ], + [ + 0.07576001435518265, + 0.9882823834394199, + 0.13250791590060135, + 0.3248918652534485 + ], + [ + -0.3059408962726593, + -0.10344138027507614, + 0.9464142882798102, + -2.2513675689697266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9526041150093079, + -0.11071561253790835, + 0.28335034324133096, + -0.07041148841381073 + ], + [ + 0.07483595609664917, + 0.98808523223425, + 0.1344886989157649, + 0.32943448424339294 + ], + [ + -0.294864296913147, + -0.10690969541311543, + 0.949539573888456, + -2.3040921688079834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9542319178581238, + -0.1122860745718366, + 0.2771881055028066, + -0.03155885264277458 + ], + [ + 0.07550535351037979, + 0.9872681798807058, + 0.14000185547733754, + 0.31773874163627625 + ], + [ + -0.2893792390823364, + -0.11266505587549698, + 0.950561012768239, + -2.31646466255188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9551575183868408, + -0.11096901556158766, + 0.2745178196563377, + -0.029014622792601585 + ], + [ + 0.07233431190252304, + 0.9864753677321454, + 0.14708530810623505, + 0.3143143355846405 + ], + [ + -0.28712695837020874, + -0.12063258290390907, + 0.9502662319072485, + -2.356931686401367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9556084275245669, + -0.11013290837565205, + 0.27328238607207167, + -0.03887719660997391 + ], + [ + 0.06949914991855623, + 0.9855966313079632, + 0.15417256644099514, + 0.31284043192863464 + ], + [ + -0.2863256931304932, + -0.12833570647638917, + 0.9494985616491146, + -2.40700101852417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9573544263839722, + -0.11117995008172582, + 0.26666743362815554, + -0.03654998168349266 + ], + [ + 0.06980516016483307, + 0.9846583831717186, + 0.15992201731529995, + 0.3123306930065155 + ], + [ + -0.2803564667701721, + -0.13448729523256595, + 0.9504280183116135, + -2.445347309112549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9594680666923523, + -0.10813139693717928, + 0.260247251822435, + -0.02162446640431881 + ], + [ + 0.06662849336862564, + 0.9843179948312476, + 0.16333608801065108, + 0.3197753429412842 + ], + [ + -0.27382779121398926, + -0.13937588590732344, + 0.9516263241067155, + -2.4726290702819824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9609877467155457, + -0.10559382478151172, + 0.25564137294351164, + 0.0019230954349040985 + ], + [ + 0.06412791460752487, + 0.9841333920306787, + 0.16543593811396032, + 0.32823625206947327 + ], + [ + -0.26905420422554016, + -0.14258816357209345, + 0.9525116437047937, + -2.4881720542907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9624417424201965, + -0.09624394800747836, + 0.2538563186887956, + 0.016106555238366127 + ], + [ + 0.05417246371507645, + 0.9843308688215331, + 0.1678037712996733, + 0.3371935486793518 + ], + [ + -0.2660287022590637, + -0.14774933375630064, + 0.9525748864623517, + -2.5141613483428955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9636372923851013, + -0.08340001656774072, + 0.2538653624302679, + 0.028342388570308685 + ], + [ + 0.040293436497449875, + 0.9845349034206052, + 0.17049183072414575, + 0.3438721001148224 + ], + [ + -0.26415833830833435, + -0.15406317784008647, + 0.9520950120849051, + -2.54135799407959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9640087485313416, + -0.07774903648599188, + 0.25424837687063945, + 0.039346445351839066 + ], + [ + 0.03386874869465828, + 0.9844070215968769, + 0.1726143811824088, + 0.34993475675582886 + ], + [ + -0.26370447874069214, + -0.1577906924672524, + 0.9516102096131829, + -2.5714216232299805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9635701775550842, + -0.0809630449439633, + 0.254906890840527, + 0.04590097814798355 + ], + [ + 0.03640526533126831, + 0.9839140054359415, + 0.17489384403193803, + 0.3554161489009857 + ], + [ + -0.2649664282798767, + -0.15924253738885447, + 0.9510176697319157, + -2.608083963394165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9629307389259338, + -0.08449726574549601, + 0.2561729379156807, + 0.05825744569301605 + ], + [ + 0.03899028152227402, + 0.9832984962333311, + 0.17777479176019087, + 0.3602864444255829 + ], + [ + -0.2669159173965454, + -0.16119655844621397, + 0.9501429207596136, + -2.6368930339813232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9619884490966797, + -0.08795193105028509, + 0.25853953447564243, + 0.06529605388641357 + ], + [ + 0.04112568125128746, + 0.9825789479444078, + 0.18123837206557458, + 0.3624859154224396 + ], + [ + -0.2699757516384125, + -0.1637166019311916, + 0.9488466692874264, + -2.671865940093994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9614325761795044, + -0.09162145563017794, + 0.2593317626653622, + 0.07853303849697113 + ], + [ + 0.044110361486673355, + 0.9820441056482598, + 0.18342209664370301, + 0.3657955825328827 + ], + [ + -0.27148064970970154, + -0.1649087577738881, + 0.9482106292928971, + -2.6942648887634277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9615046381950378, + -0.08874290382445595, + 0.26006455608881424, + 0.09156370908021927 + ], + [ + 0.04053870588541031, + 0.9818701847558408, + 0.18516886504314808, + 0.366188108921051 + ], + [ + -0.2717820703983307, + -0.16749803696414142, + 0.9476702292149686, + -2.7211732864379883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9612877964973452, + -0.08215856577121403, + 0.2630128930076287, + 0.09894010424613953 + ], + [ + 0.03225232660770417, + 0.9815017678026436, + 0.18871701923199202, + 0.3688850700855255 + ], + [ + -0.27365231513977056, + -0.17292858063103939, + 0.9461554266951054, + -2.7551913261413574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.961094081401825, + -0.07999376599828313, + 0.26438449002393233, + 0.10744330286979675 + ], + [ + 0.02877836674451828, + 0.9809371017241902, + 0.1921827317496206, + 0.36476680636405945 + ], + [ + -0.27471795678138733, + -0.177097136590339, + 0.9450749500471901, + -2.78275990486145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9614242911338806, + -0.07503331742471951, + 0.26463812049861435, + 0.11669362336397171 + ], + [ + 0.023049838840961456, + 0.9806690488661116, + 0.19431129789027005, + 0.36772239208221436 + ], + [ + -0.27410227060317993, + -0.18071574537144097, + 0.9445685909036191, + -2.8094289302825928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9613152146339419, + -0.06674514459056696, + 0.2672416776240765, + 0.12062251567840576 + ], + [ + 0.012941903434693817, + 0.9800712490103086, + 0.19822412929786862, + 0.36679795384407043 + ], + [ + -0.2751463651657105, + -0.18709726306870625, + 0.9430212510740676, + -2.845567464828491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9605717062950134, + -0.06521448856755832, + 0.2702760162653353, + 0.12525592744350433 + ], + [ + 0.009694869630038738, + 0.979367596642696, + 0.20185416505795878, + 0.3708774745464325 + ], + [ + -0.27786341309547424, + -0.1912751070540382, + 0.9413850406679629, + -2.872687339782715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.959878146648407, + -0.06786461088039357, + 0.2720814989569704, + 0.13114207983016968 + ], + [ + 0.01123676635324955, + 0.9788024842421797, + 0.2044980031167292, + 0.3763650357723236 + ], + [ + -0.28019222617149353, + -0.1932358533341675, + 0.9402937175765331, + -2.894313335418701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9590999484062195, + -0.07668082494629971, + 0.2724836250314857, + 0.13225480914115906 + ], + [ + 0.019482698291540146, + 0.9782090601820514, + 0.20670608756013512, + 0.38131627440452576 + ], + [ + -0.2823963761329651, + -0.19294308269974944, + 0.9396942145011458, + -2.927713632583618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9581760168075562, + -0.07889710488087574, + 0.2750889437329834, + 0.13866281509399414 + ], + [ + 0.02070866897702217, + 0.9778416157663651, + 0.20831924743325203, + 0.38507968187332153 + ], + [ + -0.2854291796684265, + -0.1939097898566657, + 0.938578280324611, + -2.955326557159424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9570173621177676, + -0.08193052900962358, + 0.27821779474766395, + 0.146438866853714 + ], + [ + 0.02263518422842026, + 0.977443591555631, + 0.20998011381785936, + 0.3908720016479492 + ], + [ + -0.289145976305008, + -0.19465710823972943, + 0.9372850225027658, + -2.9833357334136963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9557433128356934, + -0.08390702014255128, + 0.28198291035435635, + 0.1479623019695282 + ], + [ + 0.023282485082745552, + 0.9770327144467947, + 0.21181363646611098, + 0.3936735987663269 + ], + [ + -0.2932792007923126, + -0.19587420357887161, + 0.9357460418068188, + -3.011512279510498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9544944763183594, + -0.0863340889059948, + 0.2854588234030421, + 0.15536360442638397 + ], + [ + 0.024548087269067764, + 0.9766774226624683, + 0.21330411222255144, + 0.40177443623542786 + ], + [ + -0.29721662402153015, + -0.19659011781948296, + 0.9343524976357006, + -3.044154167175293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9528345465660095, + -0.08815427365828989, + 0.2904052151456877, + 0.16018952429294586 + ], + [ + 0.024819081649184227, + 0.9763133655385513, + 0.21493317890321567, + 0.4088934361934662 + ], + [ + -0.3024737536907196, + -0.19758815151133055, + 0.9324529411117506, + -3.069643974304199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9512482285499573, + -0.09148421349990216, + 0.29454610871756126, + 0.16586796939373016 + ], + [ + 0.02669128030538559, + 0.9758317677974332, + 0.21688682581238314, + 0.4148534834384918 + ], + [ + -0.3072691559791565, + -0.19845140022731467, + 0.9307000918764643, + -3.099285364151001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9498369693756104, + -0.09492302887204346, + 0.2979921787764894, + 0.16790169477462769 + ], + [ + 0.028688952326774597, + 0.9752547146790378, + 0.21921483237300113, + 0.4213308095932007 + ], + [ + -0.3114268481731415, + -0.19966927300225543, + 0.9290562358002769, + -3.1270053386688232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9485756158828735, + -0.10395370488394348, + 0.29899496482954213, + 0.17503780126571655 + ], + [ + 0.03671595826745033, + 0.9742964622164334, + 0.22225746348579875, + 0.4246085286140442 + ], + [ + -0.31441423296928406, + -0.19985012042989242, + 0.9280106104278305, + -3.161414384841919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9471825957298279, + -0.11275914082803727, + 0.30021744835283715, + 0.178930401802063 + ], + [ + 0.04455256462097168, + 0.9733363984147775, + 0.22501409987417834, + 0.42297181487083435 + ], + [ + -0.3175849914550781, + -0.199753982609605, + 0.9269510036019433, + -3.1912615299224854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9464491605758669, + -0.11219089809730408, + 0.302732898413184, + 0.18211407959461212 + ], + [ + 0.04248126596212388, + 0.972803429519093, + 0.22770348083159497, + 0.4278777241706848 + ], + [ + -0.32004585862159735, + -0.20264929113461577, + 0.9254749984373007, + -3.2249300479888916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9459692239761353, + -0.11498547148819668, + 0.3031840173666606, + 0.18581241369247437 + ], + [ + 0.0435807965695858, + 0.9716153315658993, + 0.23251738227819466, + 0.428159236907959 + ], + [ + -0.32131439447402954, + -0.20674129825044457, + 0.9241294099514071, + -3.262455940246582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9453795552253723, + -0.11935103077255925, + 0.30333620474456713, + 0.1927403211593628 + ], + [ + 0.046565450727939606, + 0.9704629801173996, + 0.23671337239641987, + 0.428329199552536 + ], + [ + -0.32262852787971497, + -0.20965900797905354, + 0.9230135276244678, + -3.290353775024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9456824660301208, + -0.12013266695246298, + 0.3020808684086564, + 0.2062498927116394 + ], + [ + 0.046214643865823746, + 0.969458868836108, + 0.2408603473054931, + 0.43035516142845154 + ], + [ + -0.3217901885509491, + -0.21381684933418074, + 0.9223521440502653, + -3.3222298622131348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9456599950790405, + -0.1210517135548551, + 0.3017840997324921, + 0.21518680453300476 + ], + [ + 0.045356836169958115, + 0.9681528141559211, + 0.24621712715757393, + 0.43673402070999146 + ], + [ + -0.3219781219959259, + -0.2191497228814086, + 0.921033930208021, + -3.35927414894104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9454672336578369, + -0.12213813508198024, + 0.3019502748233368, + 0.21581320464611053 + ], + [ + 0.04473123699426651, + 0.9669371598950327, + 0.2510611396284392, + 0.43597885966300964 + ], + [ + -0.3226310610771179, + -0.2238634751227801, + 0.9196707970199821, + -3.3926877975463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.948436439037323, + -0.12263229167511235, + 0.2922835029891137, + 0.2196681797504425 + ], + [ + 0.046526554971933365, + 0.9659988464706316, + 0.2543255944927313, + 0.43956148624420166 + ], + [ + -0.31353405117988586, + -0.22761272229562038, + 0.9218941832446403, + -3.4273719787597656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9511978626251221, + -0.12246878030484745, + 0.28323844351458694, + 0.23715591430664062 + ], + [ + 0.04775164648890495, + 0.9652334090146575, + 0.25699085835062097, + 0.4426768124103546 + ], + [ + -0.3048645555973053, + -0.23092404360605465, + 0.9239759965955617, + -3.4603679180145264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9526217579841616, + -0.12213543312020236, + 0.2785582482172587, + 0.24943187832832336 + ], + [ + 0.047854200005531325, + 0.9646139574799086, + 0.2592872130453268, + 0.4480457901954651 + ], + [ + -0.30036932229995733, + -0.23367246695293328, + 0.9247569613656506, + -3.4944546222686768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9539773464202883, + -0.12160582650354429, + 0.27411540952133273, + 0.25840553641319275 + ], + [ + 0.04776716232299806, + 0.9640379119109271, + 0.26143674137625955, + 0.454194039106369 + ], + [ + -0.29604986310005194, + -0.23631102486410696, + 0.9254791295459938, + -3.520779609680176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9572524428367615, + -0.1220305862440042, + 0.2622522683480163, + 0.26525068283081055 + ], + [ + 0.0504840649664402, + 0.9632197223662281, + 0.2639301062949272, + 0.4620628356933594 + ], + [ + -0.28481411933898926, + -0.23940818657398263, + 0.9282050675666426, + -3.551219940185547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9606821537017822, + -0.12297193854419833, + 0.2489332011110018, + 0.2839747965335846 + ], + [ + 0.05416678637266159, + 0.9623512292592495, + 0.2663571185049031, + 0.46989908814430237 + ], + [ + -0.2723156213760376, + -0.24240060427641297, + 0.9311745872028443, + -3.577174663543701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/tilt_up/transforms.json b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..767e37d3d98656c3b53602641fdf07c53cff2d46 --- /dev/null +++ b/dynpose_eval/camera_controls/672d233e-7587-4e0b-988b-606ced1d1631/tilt_up/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, + -9.838233381742612e-05, + -4.791899846168235e-05, + 9.177199535770342e-05 + ], + [ + 9.838460391620174e-05, + 1.0, + 4.736682240036316e-05, + -7.394507701974362e-05 + ], + [ + 4.791433457285166e-05, + -4.737153722089715e-05, + 1.0, + 0.00041252130176872015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999916553497314, + -0.0022348263262595013, + 0.003422553937856987, + 0.006127418018877506 + ], + [ + 0.002261039800941944, + 0.9999679736941579, + -0.007674465343161336, + 0.0024790826719254255 + ], + [ + -0.0034052934497594833, + 0.007682140063710089, + 0.9999646794852695, + -0.027977652847766876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999696016311646, + -0.004066664298501297, + 0.006652029703407401, + 0.011845085769891739 + ], + [ + 0.004166510887444019, + 0.9998778398487386, + -0.01506560959275495, + 0.008051828481256962 + ], + [ + -0.006589950527995825, + 0.015092867703025327, + 0.9998643750200492, + -0.05918484553694725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998933672904968, + -0.008003865747561255, + 0.012214759478853709, + 0.015316618606448174 + ], + [ + 0.00826678704470396, + 0.9997318987602387, + -0.021628425911437262, + 0.01019664853811264 + ], + [ + -0.012038374319672585, + 0.021727097164664592, + 0.9996914670266681, + -0.09245613217353821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999704897403717, + -0.011180940861915768, + 0.021565074947908287, + 0.02107161656022072 + ], + [ + 0.011775110848248005, + 0.9995489869347224, + -0.02762509664775167, + 0.016539935022592545 + ], + [ + -0.021246476098895073, + 0.027870876433946715, + 0.9993857080566358, + -0.11586488038301468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9993982911109924, + -0.012165960128950486, + 0.03248225754378299, + 0.02888881415128708 + ], + [ + 0.01325767021626234, + 0.9993471542196509, + -0.03360836282608562, + 0.021057704463601112 + ], + [ + -0.0320521742105484, + 0.0340187771752126, + 0.9989070972521609, + -0.13224278390407562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9989550709724426, + -0.01169780611623424, + 0.04418077742723003, + 0.03273293003439903 + ], + [ + 0.01340743713080883, + 0.9991647823458027, + -0.03860029597233574, + 0.026164822280406952 + ], + [ + -0.04369233548641205, + 0.039152311036384634, + 0.9982775308075493, + -0.1547061800956726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9984247684478762, + -0.01197129798348228, + 0.05481479098726162, + 0.036790527403354645 + ], + [ + 0.014343372546136383, + 0.9989683663284761, + -0.043087462091174714, + 0.031983599066734314 + ], + [ + -0.054242424666881575, + 0.04380581748060424, + 0.99756641913697, + -0.17413322627544403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.997841477394104, + -0.012953683891470414, + 0.06437805219804983, + 0.038629740476608276 + ], + [ + 0.016056180000305176, + 0.9987225738695313, + -0.04791054121522083, + 0.03701755777001381 + ], + [ + -0.06367519497871399, + 0.048840791060552856, + 0.9967748177689646, + -0.1995544582605362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9970006942749026, + -0.013956770205927631, + 0.07612351275462621, + 0.04252360016107559 + ], + [ + 0.01801538281142712, + 0.9984376712420286, + -0.052892789771451926, + 0.041732240468263626 + ], + [ + -0.07526636868715288, + 0.054105542453830854, + 0.9956945161711982, + -0.22593045234680176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9955771565437317, + -0.016009967461952896, + 0.09257342922556065, + 0.0486811064183712 + ], + [ + 0.021302005276083946, + 0.9981773781088419, + -0.05646331822915271, + 0.04631626605987549 + ], + [ + -0.09150072187185287, + 0.05818558775148123, + 0.9941036343240414, + -0.24762992560863495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9932959675788882, + -0.01650658024598845, + 0.1144141787387552, + 0.051256030797958374 + ], + [ + 0.023269098252058033, + 0.9980439316321077, + -0.058024380871001556, + 0.05079912394285202 + ], + [ + -0.11323259025812152, + 0.060297699041823305, + 0.9917371482612302, + -0.2747998833656311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.99052494764328, + -0.01669812779680721, + 0.1363140712663476, + 0.049961913377046585 + ], + [ + 0.02498818375170231, + 0.9979254448719086, + -0.05933307307772814, + 0.06208402290940285 + ], + [ + -0.1350405216217041, + 0.06217712942422888, + 0.9888873120005436, + -0.3006337583065033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9877152442932129, + -0.017544518085935525, + 0.15527632628724222, + 0.027389243245124817 + ], + [ + 0.026615483686327934, + 0.9980459134540424, + -0.056533324279995155, + 0.0694490298628807 + ], + [ + -0.1539810597896576, + 0.059971580972959286, + 0.9862521150568192, + -0.30577802658081055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9848666787147522, + -0.019674837555727655, + 0.17219343518069322, + 0.01671450398862362 + ], + [ + 0.02814839966595173, + 0.9985025703628548, + -0.04690680303832698, + 0.06184884533286095 + ], + [ + -0.17101271450519562, + 0.05104391773329605, + 0.9839457411753857, + -0.3475211262702942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9817764759063723, + -0.0197757941573099, + 0.18900774941445692, + 0.018141746520996094 + ], + [ + 0.02844864688813687, + 0.9986576927836425, + -0.043283735654742826, + 0.06158837676048279 + ], + [ + -0.1878980696201325, + 0.04787196585692294, + 0.9810211885121861, + -0.3696407079696655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.979165852069855, + -0.020564171686911725, + 0.20201827573809536, + 0.0162874273955822 + ], + [ + 0.029372539371252067, + 0.9987395263884284, + -0.04070094758357255, + 0.054552722722291946 + ], + [ + -0.2009266614913941, + 0.04578676671508058, + 0.9785356752253677, + -0.3923160135746002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9768103957176208, + -0.022576674134114568, + 0.21291251146405463, + 0.010667250491678715 + ], + [ + 0.03170735016465187, + 0.9987136937548678, + -0.039567595230917824, + 0.05725180357694626 + ], + [ + -0.21174533665180206, + 0.04540093099792374, + 0.9762698012242634, + -0.4208133816719055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9745444059371948, + -0.023808048371170048, + 0.22292692646799725, + 0.018079403787851334 + ], + [ + 0.03283137083053589, + 0.9987810412668231, + -0.03685783078511512, + 0.06085210293531418 + ], + [ + -0.22177767753601074, + 0.04323858842007374, + 0.9741381032293333, + -0.4446122348308563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9717581868171692, + -0.02557914274070855, + 0.23458840401885625, + 0.01871049590408802 + ], + [ + 0.03442387282848358, + 0.9988394803786137, + -0.03368547916207347, + 0.06375099718570709 + ], + [ + -0.23345452547073364, + 0.04080957957030459, + 0.9715109603718933, + -0.47219690680503845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9687088727951052, + -0.028029572863883252, + 0.24661195623564355, + 0.015773706138134003 + ], + [ + 0.03697704523801804, + 0.9988124349422883, + -0.03172477599832615, + 0.0632442831993103 + ], + [ + -0.24542984366416937, + 0.03985105136945796, + 0.9685948736851948, + -0.4984036087989807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9659450054168701, + -0.030657046801650052, + 0.25692482686985124, + 0.016027983278036118 + ], + [ + 0.03982748091220856, + 0.9987389817692429, + -0.030564454693993104, + 0.06923261284828186 + ], + [ + -0.25566384196281433, + 0.03975625139839078, + 0.9659479466172427, + -0.5236093401908875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9631688594818117, + -0.0331171121318677, + 0.2668501918007865, + 0.01265508122742176 + ], + [ + 0.042635485529899604, + 0.9986415987050241, + -0.02995331026283758, + 0.07690702378749847 + ], + [ + -0.26549571752548223, + 0.04022738045683732, + 0.9632724220027781, + -0.5419929027557373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9605509042739868, + -0.03537176008577374, + 0.27584561731868035, + 0.024659866467118263 + ], + [ + 0.04514709487557411, + 0.9985545029176025, + -0.029166502401538643, + 0.0762038454413414 + ], + [ + -0.27441519498825073, + 0.04046953547223239, + 0.9607593270830744, + -0.5720348358154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.957895874977112, + -0.037652928638539425, + 0.2846361345561952, + 0.03459823504090309 + ], + [ + 0.047982130199670806, + 0.9984154060085273, + -0.029401122764364213, + 0.0826931893825531 + ], + [ + -0.2830780446529389, + 0.04182066105217681, + 0.9581846442167505, + -0.603389322757721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9550745487213135, + -0.03915832689808959, + 0.2937672200095157, + 0.03186829388141632 + ], + [ + 0.0502486489713192, + 0.9982770999059706, + -0.030297283815709963, + 0.08665713667869568 + ], + [ + -0.29207468032836914, + 0.04369756975519232, + 0.9553967321489302, + -0.6237571835517883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9522327184677124, + -0.04012230913476792, + 0.3027260649011906, + 0.029836930334568024 + ], + [ + 0.05232951417565346, + 0.9981067765744075, + -0.03231807524541056, + 0.0938100516796112 + ], + [ + -0.30085626244544983, + 0.046615834581888546, + 0.9525294978608965, + -0.643997073173523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9497489929199221, + -0.040643758403620674, + 0.3103625734530141, + 0.043578311800956726 + ], + [ + 0.054003197699785246, + 0.9979421345931114, + -0.03457042042852269, + 0.1000140830874443 + ], + [ + -0.30831882357597357, + 0.04959379474821242, + 0.9499894692056639, + -0.6791362762451172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9467777609825134, + -0.04027463115349437, + 0.319358410485389, + 0.037417009472846985 + ], + [ + 0.05494852736592293, + 0.9978008759566311, + -0.0370680089601334, + 0.10296840220689774 + ], + [ + -0.31716322898864746, + 0.05264344001851847, + 0.9469087311688085, + -0.7005820274353027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.94429486989975, + -0.04043167133331771, + 0.3266074799742122, + 0.04710443317890167 + ], + [ + 0.05611028522253038, + 0.9976733927664292, + -0.03872249087010032, + 0.10656489431858063 + ], + [ + -0.32428196072578436, + 0.054891490752653295, + 0.9443665328864611, + -0.7471339106559753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9421865940093996, + -0.04019545987735643, + 0.33266917274740737, + 0.04068247228860855 + ], + [ + 0.056996226310729994, + 0.9975364626679796, + -0.040895401539982536, + 0.11068431288003922 + ], + [ + -0.33020579814910894, + 0.05749198407712256, + 0.9421564444911064, + -0.7628722190856934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9405912160873413, + -0.039553182960904876, + 0.3372294253995688, + 0.034354306757450104 + ], + [ + 0.057651638984680176, + 0.9973746322559847, + -0.04381968032761913, + 0.11788846552371979 + ], + [ + -0.33461084961891174, + 0.060658232137283476, + 0.940402136271012, + -0.7854765057563782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9408734440803528, + -0.04104445014690892, + 0.3362625562279053, + 0.05043778568506241 + ], + [ + 0.05974291265010834, + 0.9971787313034228, + -0.04544623465979848, + 0.11887797713279724 + ], + [ + -0.33344852924346924, + 0.0628484564920317, + 0.9406711104532693, + -0.828506350517273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9403935074806213, + -0.041827426873996106, + 0.3375063856877246, + 0.07479269802570343 + ], + [ + 0.06145622581243515, + 0.9969702939249047, + -0.04768008497634883, + 0.11988124996423721 + ], + [ + -0.33448949456214905, + 0.06557990889000663, + 0.9401149491068125, + -0.8634046316146851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9380123615264895, + -0.04066542625469517, + 0.3442079545445444, + 0.06620559096336365 + ], + [ + 0.06233303621411325, + 0.9966938634705219, + -0.05211435142204249, + 0.1281801164150238 + ], + [ + -0.3409507274627686, + 0.07033943392634119, + 0.9374460117672927, + -0.8624099493026733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.935484766960144, + -0.038393729094331856, + 0.35127515762049455, + 0.05668777972459793 + ], + [ + 0.061931487172842026, + 0.9965073895696892, + -0.056014003221290264, + 0.13698193430900574 + ], + [ + -0.3478976786136627, + 0.07415523404014106, + 0.9345952380541699, + -0.8806309103965759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.931338429450989, + -0.03647423585125346, + 0.3623235552200117, + 0.01727179065346718 + ], + [ + 0.06204677745699884, + 0.9963164872401854, + -0.059192040060765505, + 0.12781107425689697 + ], + [ + -0.3588299155235291, + 0.07760882492720286, + 0.9301709279610963, + -0.8377912640571594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.929852306842804, + -0.03388630476984443, + 0.3663692581684349, + 0.04550837352871895 + ], + [ + 0.06134369224309921, + 0.9960908527368594, + -0.06356084171854022, + 0.13103322684764862 + ], + [ + -0.36278319358825684, + 0.08157663349408593, + 0.928296039612593, + -0.9190688729286194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9275209307670593, + -0.030878112800611462, + 0.3724935574305403, + 0.04724036902189255 + ], + [ + 0.06062023714184761, + 0.9958147051527678, + -0.06839758907081828, + 0.13122452795505524 + ], + [ + -0.3688226044178009, + 0.08602084396150496, + 0.9255108482713508, + -0.928176760673523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9265342354774475, + -0.027410556255284064, + 0.3752105520754597, + 0.09362746775150299 + ], + [ + 0.059049341827631, + 0.9955761470100005, + -0.07308414548741204, + 0.13296525180339813 + ], + [ + -0.3715474009513855, + 0.08987089961137075, + 0.9240540137150848, + -1.0185222625732422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9224653244018555, + -0.02362399687075993, + 0.38535656359610815, + 0.05676736310124397 + ], + [ + 0.058368004858493805, + 0.9951872453887336, + -0.0787119417958553, + 0.14527054131031036 + ], + [ + -0.3816424310207367, + 0.09510152511491371, + 0.9194045624952513, + -0.996074914932251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9189937114715576, + -0.02004677545298631, + 0.3937621645607518, + 0.04532107338309288 + ], + [ + 0.05754448100924492, + 0.9948319461156265, + -0.0836541611940549, + 0.15341654419898987 + ], + [ + -0.3900502026081085, + 0.09953649073012023, + 0.9153979191175183, + -1.0180612802505493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.916062653064728, + -0.01772043291101264, + 0.4006434912823731, + 0.04918202757835388 + ], + [ + 0.05757199600338937, + 0.9944861688630983, + -0.08765107316431799, + 0.15063872933387756 + ], + [ + -0.39688122272491466, + 0.10335972070651804, + 0.9120318602530717, + -1.060628056526184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.913345456123352, + -0.015201588677057907, + 0.40690172154207005, + 0.050868816673755646 + ], + [ + 0.057252805680036545, + 0.9941698144434051, + -0.09137005138121901, + 0.14834493398666382 + ], + [ + -0.40314045548439026, + 0.10674868799743659, + 0.9088908447404133, + -1.1043691635131836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9099667072296143, + -0.012868471486833651, + 0.41448155635932477, + 0.030039045959711075 + ], + [ + 0.05769206956028938, + 0.9937266774306502, + -0.09580672389962178, + 0.1574842929840088 + ], + [ + -0.41064849495887756, + 0.1110932263007686, + 0.9050006152267317, + -1.1128923892974854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9072164297103882, + -0.010806101390941618, + 0.42052538578034393, + 0.023852180689573288 + ], + [ + 0.0577256940305233, + 0.9934110372980478, + -0.09900663630131054, + 0.15812253952026367 + ], + [ + -0.41668468713760376, + 0.1140955646495561, + 0.9018626046734888, + -1.1423282623291016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9064701795578003, + -0.009744271920281017, + 0.4221574024108513, + 0.0009498037397861481 + ], + [ + 0.058385156095027924, + 0.9930237010890578, + -0.1024454524426224, + 0.16252632439136505 + ], + [ + -0.4182140827178955, + 0.1175114756519771, + 0.9007153444932581, + -1.1555629968643188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9097920656204226, + -0.010354509201506667, + 0.4149351734734356, + -0.002485845237970352 + ], + [ + 0.05916928499937059, + 0.9927143843478695, + -0.10496260486195602, + 0.16146056354045868 + ], + [ + -0.4108252823352815, + 0.12004556052697657, + 0.9037763460923351, + -1.2065532207489014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9138450026512148, + -0.011043618077855687, + 0.40591302011982444, + -0.04143868759274483 + ], + [ + 0.05978910624980928, + 0.9923942832823862, + -0.10760521527680364, + 0.17209474742412567 + ], + [ + -0.40163740515708934, + 0.12260366155531408, + 0.9075548488700809, + -1.183178424835205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9209753274917605, + -0.01415567356711941, + 0.38936362893992543, + -0.043242670595645905 + ], + [ + 0.06105924025177957, + 0.9922356872671992, + -0.10835191340276527, + 0.17085929214954376 + ], + [ + -0.38480666279792797, + 0.12356368850237291, + 0.9146889468063698, + -1.2186304330825806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9256984591484072, + -0.015804395863792568, + 0.3779320124430961, + -0.036868028342723846 + ], + [ + 0.06126252561807634, + 0.9922000584933612, + -0.10856318809057613, + 0.16472747921943665 + ], + [ + -0.3732683658599854, + 0.1236498405852139, + 0.9194462607933658, + -1.2771927118301392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9264135360717773, + -0.015923205355205854, + 0.3761707730572393, + -0.023011721670627594 + ], + [ + 0.061973270028829575, + 0.9919268364465079, + -0.11063650070471044, + 0.17179042100906372 + ], + [ + -0.37137219309806824, + 0.12580767793525294, + 0.9199212428715786, + -1.316773772239685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9252727031707766, + -0.016846803869342016, + 0.3789281776755031, + -0.03109869733452797 + ], + [ + 0.0637105703353882, + 0.9917225248388476, + -0.11147838472819127, + 0.1785685420036316 + ], + [ + -0.37391352653503424, + 0.12728963643073118, + 0.9186871030365562, + -1.3281522989273071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.92606121301651, + -0.019787689686695843, + 0.3768542628639727, + -0.058486029505729675 + ], + [ + 0.06626682728528976, + 0.9916341102303428, + -0.110772245553477, + 0.17645587027072906 + ], + [ + -0.3715096116065979, + 0.12755481563571738, + 0.9196251595152104, + -1.3547168970108032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9354329705238342, + -0.009611445668083496, + 0.3533734126373261, + -0.07130642235279083 + ], + [ + 0.05287927761673927, + 0.9921876699617598, + -0.11299282782558072, + 0.18307456374168396 + ], + [ + -0.3495267331600189, + 0.12438335026499751, + 0.9286333232532135, + -1.377041220664978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9408570528030396, + -0.015060153649918442, + 0.33846889460940255, + -0.06318739056587219 + ], + [ + 0.05691435933113098, + 0.9918404926929099, + -0.11407551074738523, + 0.17648394405841827 + ], + [ + -0.3339891731739044, + 0.12659248458550865, + 0.9340372482179564, + -1.4265642166137695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9427377581596377, + -0.023956630666172766, + 0.3326733820865498, + -0.04493164271116257 + ], + [ + 0.06643692404031755, + 0.9909175996846109, + -0.1169121243928035, + 0.1839396208524704 + ], + [ + -0.326851099729538, + 0.13231927278609645, + 0.935767084436986, + -1.4660875797271729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.942598819732666, + -0.02646096451929149, + 0.3328773508168138, + -0.040609344840049744 + ], + [ + 0.07057535648345947, + 0.9901234151561851, + -0.12113958713395509, + 0.20132917165756226 + ], + [ + -0.32638415694236755, + 0.1376789640443887, + 0.9351566359543071, + -1.4836560487747192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9421377182006836, + -0.026831123441301376, + 0.3341506789414657, + -0.04586026072502136 + ], + [ + 0.07247097045183182, + 0.9895219571181867, + -0.12487674207878433, + 0.20798391103744507 + ], + [ + -0.3272988796234131, + 0.14186731086949902, + 0.9342104369457309, + -1.5001447200775146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9416967034339905, + -0.024888540867700225, + 0.33554116812802126, + -0.03611521050333977 + ], + [ + 0.07180822640657425, + 0.9891503962593938, + -0.12816031217801097, + 0.21663540601730347 + ], + [ + -0.32871097326278687, + 0.1447827628780472, + 0.9332668801354569, + -1.5339863300323486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9410012960433962, + -0.02341001775032049, + 0.33759222216818596, + -0.028205813840031624 + ], + [ + 0.07148354500532152, + 0.9888438976608005, + -0.13068208049264315, + 0.22065897285938263 + ], + [ + -0.33076673746109014, + 0.14710429509474482, + 0.9321768461159193, + -1.572141170501709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.940087139606476, + -0.022509194602836378, + 0.340190466667716, + -0.020491572096943855 + ], + [ + 0.07220950722694398, + 0.9883265602173179, + -0.13415071893429314, + 0.22528785467147827 + ], + [ + -0.33319962024688726, + 0.1506783449633851, + 0.9307384313930305, + -1.5981736183166504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9394663572311404, + -0.019758432785677453, + 0.3420709447718676, + -0.005724180489778519 + ], + [ + 0.07088176161050798, + 0.9879476593532976, + -0.13760518547755657, + 0.22667498886585236 + ], + [ + -0.33522933721542364, + 0.15352203565443653, + 0.9295441260475498, + -1.6343984603881836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9382351040840151, + -0.01641088540271613, + 0.3456090026462299, + -0.021027810871601105 + ], + [ + 0.06896502524614335, + 0.9877012360747142, + -0.14032144054700277, + 0.23230740427970886 + ], + [ + -0.33905562758445745, + 0.1554894312026693, + 0.927827738811768, + -1.6606632471084595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.937412738800049, + -0.015470379805034974, + 0.34787650146498095, + -0.02114231325685978 + ], + [ + 0.06917043030261995, + 0.9873775007815554, + -0.14248199496741668, + 0.2297346591949463 + ], + [ + -0.3412811756134034, + 0.15762719720039192, + 0.9266503171579514, + -1.6971691846847534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9370938539505005, + -0.015913862536401483, + 0.34871451947006726, + -0.009933501482009888 + ], + [ + 0.07151175290346146, + 0.986525493871269, + -0.1471512952934258, + 0.23859760165214539 + ], + [ + -0.3416740298271179, + 0.16283176463292523, + 0.9256050274013625, + -1.7188048362731934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9359426498413086, + -0.013049472230525373, + 0.35191053567454605, + -0.018697474151849747 + ], + [ + 0.07068385928869247, + 0.9859373768995829, + -0.15143075291406669, + 0.24727310240268707 + ], + [ + -0.34498563408851624, + 0.1666048978814048, + 0.9237032642279723, + -1.7276685237884521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9349378943443298, + -0.011465614922494467, + 0.35462616274585534, + -0.014994965866208076 + ], + [ + 0.06995159387588501, + 0.985817430782849, + -0.1525476530822082, + 0.24284812808036804 + ], + [ + -0.3478476107120514, + 0.16742923741308122, + 0.9224800543078472, + -1.784730315208435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9348143935203552, + -0.011633808015183636, + 0.35494610246746927, + -0.006183981895446777 + ], + [ + 0.07092873007059097, + 0.9854428019773293, + -0.1545044330889687, + 0.2400631308555603 + ], + [ + -0.34798160195350647, + 0.16960883810541172, + 0.9220312694896499, + -1.8070564270019531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9342742562294009, + -0.011451300303816565, + 0.3563713316934698, + -0.009715262800455093 + ], + [ + 0.07277660816907884, + 0.9845673200114515, + -0.15915627269087268, + 0.2521499693393707 + ], + [ + -0.3490490019321442, + 0.17463110412067642, + 0.9206893229280453, + -1.8188704252243042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.933718800544739, + -0.008432972532038356, + 0.3579079811690896, + 0.0037339329719543457 + ], + [ + 0.07049886882305147, + 0.9844785312483373, + -0.1607229844211682, + 0.2560901939868927 + ], + [ + -0.3509973585605622, + 0.17530217983048346, + 0.9198206295548809, + -1.8654677867889404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9323063492774966, + -0.006086723419252211, + 0.3616183742276267, + -0.008538469672203064 + ], + [ + 0.06932971626520158, + 0.9843235587879474, + -0.1621743633205865, + 0.26121100783348083 + ], + [ + -0.3549623787403107, + 0.17626708135675945, + 0.9181130746590938, + -1.8818799257278442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9314439892768862, + -0.0051530468635693025, + 0.36384823499668073, + -0.008538167923688889 + ], + [ + 0.06973522156476976, + 0.9838944973564163, + -0.16458620798371634, + 0.2671874761581421 + ], + [ + -0.35714015364646917, + 0.17867586963259105, + 0.9168019767923371, + -1.9064515829086304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9305073618888855, + -0.005194862073892939, + 0.3662363243529457, + -0.006768852472305298 + ], + [ + 0.07151481509208679, + 0.983231680280516, + -0.16775318980813927, + 0.27072328329086304 + ], + [ + -0.35922372341156006, + 0.1822868983314144, + 0.9152758150280205, + -1.9331117868423462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9290190935134888, + -0.006616096646159952, + 0.36997269354930945, + -0.0033277347683906555 + ], + [ + 0.07507100701332092, + 0.9824175629130597, + -0.1709386352487918, + 0.272264301776886 + ], + [ + -0.3623367249965668, + 0.18657948100331717, + 0.9131813768543503, + -1.966018795967102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9274462461471558, + -0.0072901606690329215, + 0.37388543508112615, + -0.0036691688001155853 + ], + [ + 0.07810129970312119, + 0.9815376325088419, + -0.17459677462503131, + 0.27904650568962097 + ], + [ + -0.3657098114490509, + 0.19113005895738733, + 0.910892750370957, + -1.9979336261749268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9257420897483828, + -0.007393485998834543, + 0.3780832753010841, + -0.009059175848960876 + ], + [ + 0.08076367527246477, + 0.9806060431141415, + -0.17857505638870066, + 0.28532013297080994 + ], + [ + -0.3694304525852204, + 0.19584983250363172, + 0.9083853805018111, + -2.0141348838806152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9244701862335205, + -0.007255198413569527, + 0.38118537705315003, + -0.0034763216972351074 + ], + [ + 0.08289383351802826, + 0.9797255342501652, + -0.18239096021161735, + 0.2926858961582184 + ], + [ + -0.3721337616443634, + 0.20021291568309016, + 0.906328418798778, + -2.0616390705108643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9235008955001831, + -0.009366332235474235, + 0.38348192160445294, + 0.008825816214084625 + ], + [ + 0.08691717684268951, + 0.9788103026227643, + -0.185406998247862, + 0.3020784556865692 + ], + [ + -0.3736194968223572, + 0.2045546998898345, + 0.9047463289427844, + -2.106414794921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9223323464393616, + -0.007792236872483987, + 0.38631893761548736, + 0.003148183226585388 + ], + [ + 0.08768205344676971, + 0.9779356556559267, + -0.18961455070986333, + 0.3017956018447876 + ], + [ + -0.37631756067276, + 0.20876087698547308, + 0.9026649733250081, + -2.1386728286743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9218298196792603, + -0.0038494281187248743, + 0.38757570322694385, + 0.0018337592482566833 + ], + [ + 0.0863780602812767, + 0.9768434923743393, + -0.19574391160009305, + 0.30755195021629333 + ], + [ + -0.3778473138809204, + 0.21392060314861464, + 0.9008159389767498, + -2.190530300140381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9254414439201355, + -2.124807444321232e-06, + 0.3788907298200198, + -0.038270629942417145 + ], + [ + 0.08223865926265717, + 0.976161380593875, + -0.20086261555874166, + 0.3023146092891693 + ], + [ + -0.369858056306839, + 0.21704604584707468, + 0.9033803253368887, + -2.1908628940582275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9371210336685181, + -0.0018550496953415516, + 0.3489997033847047, + -0.08411379158496857 + ], + [ + 0.07836025953292847, + 0.9755729559842663, + -0.20522456447634654, + 0.3003774881362915 + ], + [ + -0.3400939404964447, + 0.21966794986757734, + 0.914375228162583, + -2.192455530166626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.949031412601471, + -0.006049087682061144, + 0.3151235190654099, + -0.06376884877681732 + ], + [ + 0.07576001435518265, + 0.9748808184759881, + -0.2094464298110828, + 0.3248918652534485 + ], + [ + -0.3059408962726593, + 0.2226449980797293, + 0.9256507597595705, + -2.2513675689697266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9526041150093079, + -0.007127119100886858, + 0.30412919630963764, + -0.07041148841381073 + ], + [ + 0.07483595609664917, + 0.974494245516908, + -0.21156701479649268, + 0.32943448424339294 + ], + [ + -0.294864296913147, + 0.22429940928455036, + 0.9288406000752752, + -2.3040921688079834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9542319178581238, + -0.009468399476996257, + 0.2989176438190478, + -0.03155885264277458 + ], + [ + 0.07550535351037979, + 0.9747471701704501, + -0.21015930335523694, + 0.31773874163627625 + ], + [ + -0.2893792390823364, + 0.22311059639896585, + 0.9308497814281887, + -2.31646466255188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9551575183868408, + -0.0079264255716583, + 0.2959921071603674, + -0.029014622792601585 + ], + [ + 0.07233431190252304, + 0.9756006294615973, + -0.2072948402568498, + 0.3143143355846405 + ], + [ + -0.28712695837020874, + 0.2194096082632583, + 0.9324256299367969, + -2.356931686401367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9556084275245669, + -0.0063512769686802336, + 0.2945711821027164, + -0.03887719660997391 + ], + [ + 0.06949914991855623, + 0.9764156743256245, + -0.20440726704264772, + 0.31284043192863464 + ], + [ + -0.2863256931304932, + 0.2158057471083316, + 0.9335124271511046, + -2.40700101852417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9573544263839722, + -0.008470384298092814, + 0.2887918870879935, + -0.03654998168349266 + ], + [ + 0.06980516016483307, + 0.976737570293662, + -0.20275823521961286, + 0.3123306930065155 + ], + [ + -0.2803564667701721, + 0.21427065941353646, + 0.9356753363668406, + -2.445347309112549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9594680666923523, + -0.006748505328326366, + 0.28173655914799073, + -0.02162446640431881 + ], + [ + 0.06662849336862564, + 0.9768032782992956, + -0.20350908603543993, + 0.3197753429412842 + ], + [ + -0.27382779121398926, + 0.2140321477795825, + 0.9376612064184856, + -2.4726290702819824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9609877467155457, + -0.004898238446430925, + 0.2765475992529209, + 0.0019230954349040985 + ], + [ + 0.06412791460752487, + 0.976544474903104, + -0.20554432968505035, + 0.32823625206947327 + ], + [ + -0.26905420422554016, + 0.21526000129538037, + 0.9387613901446856, + -2.4881720542907715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9624417424201965, + 0.004281238591506184, + 0.27145459852877085, + 0.016106555238366127 + ], + [ + 0.05417246371507645, + 0.9767396398654202, + -0.20747298834527025, + 0.3371935486793518 + ], + [ + -0.2660287022590637, + 0.21438602632500214, + 0.9398230746586127, + -2.5141613483428955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9636372923851013, + 0.017329281346752864, + 0.2666512347868575, + 0.028342388570308685 + ], + [ + 0.040293436497449875, + 0.9770611703799468, + -0.20911219412760185, + 0.3438721001148224 + ], + [ + -0.26415833830833435, + 0.21225259990355333, + 0.9408343151890899, + -2.54135799407959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9640087485313416, + 0.02381577779373354, + 0.26480173440507204, + 0.039346445351839066 + ], + [ + 0.03386874869465828, + 0.9768653369895121, + -0.21115639263017133, + 0.34993475675582886 + ], + [ + -0.26370447874069214, + 0.21252510665893296, + 0.9409000864645247, + -2.5714216232299805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9635701775550842, + 0.0221947967197291, + 0.26653316612225286, + 0.04590097814798355 + ], + [ + 0.03640526533126831, + 0.9763914914641497, + -0.21291848714867145, + 0.3554161489009857 + ], + [ + -0.2649664282798767, + 0.214865115269326, + 0.9400137105897249, + -2.608083963394165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9629307389259338, + 0.020526740143661487, + 0.2689665685134321, + 0.05825744569301605 + ], + [ + 0.03899028152227402, + 0.9760381242165019, + -0.21407799829978266, + 0.3602864444255829 + ], + [ + -0.2669159173965454, + 0.2166293660266351, + 0.9390567704347864, + -2.6368930339813232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9619884490966797, + 0.019380139152096583, + 0.27240162126683715, + 0.06529605388641357 + ], + [ + 0.04112568125128746, + 0.9758224169458722, + -0.2146610049320447, + 0.3624859154224396 + ], + [ + -0.2699757516384125, + 0.21770410851273414, + 0.9379328593787589, + -2.671865940093994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9614325761795044, + 0.017447278707434104, + 0.27448687896622953, + 0.07853303849697113 + ], + [ + 0.044110361486673355, + 0.9752865727371276, + -0.21649570899749981, + 0.3657955825328827 + ], + [ + -0.27148064970970154, + 0.22025373765469877, + 0.9369026560660899, + -2.6942648887634277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9615046381950378, + 0.021521144867792174, + 0.27394473281384357, + 0.09156370908021927 + ], + [ + 0.04053870588541031, + 0.9749106592523499, + -0.21887387868355876, + 0.366188108921051 + ], + [ + -0.2717820703983307, + 0.22155360725843665, + 0.9365086517688805, + -2.7211732864379883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9612877964973452, + 0.029873317824706345, + 0.2739222457194182, + 0.09894010424613953 + ], + [ + 0.03225232660770417, + 0.9750739052818294, + -0.21952383193167124, + 0.3688850700855255 + ], + [ + -0.27365231513977056, + 0.21986019893463551, + 0.9363631124665717, + -2.7551913261413574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.961094081401825, + 0.03354562242367318, + 0.2741766809559325, + 0.10744330286979675 + ], + [ + 0.02877836674451828, + 0.9750357377608251, + -0.22017518027925984, + 0.36476680636405945 + ], + [ + -0.27471795678138733, + 0.21949942274530665, + 0.9361357061931103, + -2.78275990486145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9614242911338806, + 0.03931795346537847, + 0.27224516906658264, + 0.11669362336397171 + ], + [ + 0.023049838840961456, + 0.9747349675209946, + -0.22217202115390397, + 0.36772239208221436 + ], + [ + -0.27410227060317993, + 0.21987679273702732, + 0.9362276430241111, + -2.8094289302825928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9613152146339419, + 0.04907446551808059, + 0.27104377030262333, + 0.12062251567840576 + ], + [ + 0.012941903434693817, + 0.9748677070648156, + -0.22240821094265703, + 0.36679795384407043 + ], + [ + -0.2751463651657105, + 0.21731222830623592, + 0.9365200805394824, + -2.845567464828491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9605717062950134, + 0.052852414193506586, + 0.2729627754865231, + 0.12525592744350433 + ], + [ + 0.009694869630038738, + 0.9748016136784883, + -0.22286275434614777, + 0.3708774745464325 + ], + [ + -0.27786341309547424, + 0.2167219929056423, + 0.9358544433633698, + -2.872687339782715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.959878146648407, + 0.05233602757789654, + 0.27549026788978365, + 0.13114207983016968 + ], + [ + 0.01123676635324955, + 0.9744612968479146, + -0.2242742013314792, + 0.3763650357723236 + ], + [ + -0.28019222617149353, + 0.2183715298114657, + 0.9347760401804708, + -2.894313335418701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9590999484062195, + 0.04566012719838536, + 0.2793607481536582, + 0.13225480914115906 + ], + [ + 0.019482698291540146, + 0.9739162560086814, + -0.22606967584951168, + 0.38131627440452576 + ], + [ + -0.2823963761329651, + 0.22226611719462683, + 0.9331934542611366, + -2.927713632583618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9581760168075562, + 0.04592676171706891, + 0.2824701978632365, + 0.13866281509399414 + ], + [ + 0.02070866897702217, + 0.973323857611439, + -0.22849902096096442, + 0.38507968187332153 + ], + [ + -0.2854291796684265, + 0.2247918732664319, + 0.9316645365219869, + -2.955326557159424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9570173621177676, + 0.045707544641139304, + 0.2864063079977959, + 0.146438866853714 + ], + [ + 0.02263518422842026, + 0.972720994678528, + -0.2308711532083368, + 0.3908720016479492 + ], + [ + -0.289145976305008, + 0.2274305669560619, + 0.9298763038223461, + -2.9833357334136963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9557433128356934, + 0.046750186564899404, + 0.29046371514745617, + 0.1479623019695282 + ], + [ + 0.023282485082745552, + 0.9721785512247596, + -0.2330811151311861, + 0.3936735987663269 + ], + [ + -0.2932792007923126, + 0.22952843203385337, + 0.9280646837763339, + -3.011512279510498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9544944763183594, + 0.04729563922479473, + 0.2944544740298497, + 0.15536360442638397 + ], + [ + 0.024548087269067764, + 0.9715343851907402, + -0.23562336603508396, + 0.40177443623542786 + ], + [ + -0.29721662402153015, + 0.23212948601765654, + 0.9261631422074238, + -3.044154167175293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9528345465660095, + 0.04906865999368931, + 0.2994972980753875, + 0.16018952429294586 + ], + [ + 0.024819081649184227, + 0.9709391753066975, + -0.2380360833516736, + 0.4088934361934662 + ], + [ + -0.3024737536907196, + 0.23424223474487377, + 0.9239264800119897, + -3.069643974304199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9512482285499573, + 0.04917391621250686, + 0.3044810296959048, + 0.16586796939373016 + ], + [ + 0.02669128030538559, + 0.9703798916764882, + -0.24010497721530386, + 0.4148534834384918 + ], + [ + -0.3072691559791565, + 0.23652642822998324, + 0.9217596584901118, + -3.099285364151001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9498369693756104, + 0.048912328622618316, + 0.30889691505567846, + 0.16790169477462769 + ], + [ + 0.028688952326774597, + 0.9699028827232692, + -0.24179598698304852, + 0.4213308095932007 + ], + [ + -0.3114268481731415, + 0.23852869736282975, + 0.9198463830417666, + -3.1270053386688232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9485756158828735, + 0.042596112478842665, + 0.3136716961318106, + 0.17503780126571655 + ], + [ + 0.03671595826745033, + 0.969412003195087, + -0.24267744935178445, + 0.4246085286140442 + ], + [ + -0.31441423296928406, + 0.24171466345146567, + 0.9179966150128341, + -3.161414384841919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9471825957298279, + 0.03662121885326443, + 0.3185969655622396, + 0.178930401802063 + ], + [ + 0.04455256462097168, + 0.9687984518567275, + -0.24381273408344625, + 0.42297181487083435 + ], + [ + -0.3175849914550781, + 0.24512948886531283, + 0.9159974619701076, + -3.1912615299224854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9464491605758669, + 0.03960629176725565, + 0.3204143365237796, + 0.18211407959461212 + ], + [ + 0.04248126596212388, + 0.9685405141186771, + -0.24520330376579813, + 0.4278777241706848 + ], + [ + -0.32004585862159735, + 0.24568406699038547, + 0.9149918290110288, + -3.2249300479888916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9459692239761353, + 0.03867044655784929, + 0.32194223643841297, + 0.18581241369247437 + ], + [ + 0.0435807965695858, + 0.9686921668017836, + -0.2444098434439214, + 0.428159236907959 + ], + [ + -0.32131439447402954, + 0.2452347021266849, + 0.9146677383685572, + -3.262455940246582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9453795552253723, + 0.036219408759888515, + 0.3239532004540076, + 0.1927403211593628 + ], + [ + 0.046565450727939606, + 0.9686099923617166, + -0.24418496912518106, + 0.428329199552536 + ], + [ + -0.32262852787971497, + 0.24593250858937793, + 0.9140175452492476, + -3.290353775024414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9456824660301208, + 0.03628457536881199, + 0.323060579950486, + 0.2062498927116394 + ], + [ + 0.046214643865823746, + 0.9686540877834445, + -0.24407675737261775, + 0.43035516142845154 + ], + [ + -0.3217901885509491, + 0.24574923866991724, + 0.9143623102394768, + -3.3222298622131348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9456599950790405, + 0.03667695864127975, + 0.32308197243229664, + 0.21518680453300476 + ], + [ + 0.045356836169958115, + 0.9690241934821678, + -0.24276502571415176, + 0.43673402070999146 + ], + [ + -0.3219781219959259, + 0.24422715286989746, + 0.914703886202795, + -3.35927414894104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9454672336578369, + 0.037144575119859066, + 0.32359229447926885, + 0.21581320464611053 + ], + [ + 0.04473123699426651, + 0.9692560628176592, + -0.24195423473998653, + 0.43597885966300964 + ], + [ + -0.3226310610771179, + 0.24323448435419015, + 0.9147383319870048, + -3.3926877975463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.948436439037323, + 0.03339754914143243, + 0.3152029961666334, + 0.2196681797504425 + ], + [ + 0.046526554971933365, + 0.9689932084171361, + -0.24266734728458397, + 0.43956148624420166 + ], + [ + -0.31353405117988586, + 0.2448198685945776, + 0.9174746145765884, + -3.4273719787597656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9511978626251221, + 0.030458336613128276, + 0.3070747592438757, + 0.23715591430664062 + ], + [ + 0.04775164648890495, + 0.968601353956758, + -0.24399027084492786, + 0.4426768124103546 + ], + [ + -0.3048645555973053, + 0.24674633602311227, + 0.9198770580133532, + -3.4603679180145264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9526217579841616, + 0.029735487957460692, + 0.3027004499984416, + 0.24943187832832336 + ], + [ + 0.047854200005531325, + 0.9681620970859566, + -0.24570734539281974, + 0.4480457901954651 + ], + [ + -0.30036932229995733, + 0.2485516556258985, + 0.9208693359493114, + -3.4944546222686768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9539773464202883, + 0.02926458576506994, + 0.2984473467743631, + 0.25840553641319275 + ], + [ + 0.04776716232299806, + 0.9676907016375543, + -0.24757417334454643, + 0.454194039106369 + ], + [ + -0.29604986310005194, + 0.2504361432930136, + 0.9217571577319353, + -3.520779609680176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9572524428367615, + 0.024246982721481448, + 0.28823566757367053, + 0.26525068283081055 + ], + [ + 0.0504840649664402, + 0.9671809752305595, + -0.24902268112802306, + 0.4620628356933594 + ], + [ + -0.28481411933898926, + 0.2529288884569474, + 0.9246122996364322, + -3.551219940185547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9606821537017822, + 0.017969777823606363, + 0.2770684452796074, + 0.2839747965335846 + ], + [ + 0.05416678637266159, + 0.966599171154144, + -0.2505035835255564, + 0.46989908814430237 + ], + [ + -0.2723156213760376, + 0.2556622124053497, + 0.9276211500143577, + -3.577174663543701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 654.4036458333333, + "fy": 654.5380859375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/9bcefa5e-1e87-43cb-a07f-6a6648a38ae4/move_right/transforms.json b/dynpose_eval/camera_controls/9bcefa5e-1e87-43cb-a07f-6a6648a38ae4/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2f78cb0083fca80ce4d8ef671c588c2af66f3bab --- /dev/null +++ b/dynpose_eval/camera_controls/9bcefa5e-1e87-43cb-a07f-6a6648a38ae4/move_right/transforms.json @@ -0,0 +1,3688 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 105, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00011750437988666818, + 3.4035892895190045e-05, + -3.140216358588077e-05 + ], + [ + -0.00011750414705602452, + 1.0, + -6.869918252050411e-06, + 1.0749317880254239e-05 + ], + [ + -3.403670052648522e-05, + 6.865919203846715e-06, + 1.0, + -2.391584814631642e-07 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9998552203178406, + 0.0005484940484166145, + -0.01700780726969242, + 0.017844332926548443 + ], + [ + -0.0005897367373108864, + 0.9999969005584717, + -0.0024200042244046926, + 0.0020637420283702132 + ], + [ + 0.01700642891228199, + 0.0024296839255839586, + 0.9998524188995361, + -0.002868215379735025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9993457794189453, + 0.000718146504368633, + -0.036159366369247437, + 0.037917305930302694 + ], + [ + -0.0009077374706976116, + 0.999985933303833, + -0.005227061454206705, + 0.004499190136490282 + ], + [ + 0.036155104637145996, + 0.005256465170532465, + 0.9993323683738708, + -0.005356208657702574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9984697103500366, + 0.001664218958467245, + -0.05527679622173309, + 0.05799401585872357 + ], + [ + -0.002083824248984456, + 0.9999694228172302, + -0.007534215226769447, + 0.0064286246933848955 + ], + [ + 0.05526256561279297, + 0.007637872360646725, + 0.9984426498413086, + -0.0063159726345195216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9973409175872803, + 0.0023058089427649975, + -0.0728410854935646, + 0.07652922238294894 + ], + [ + -0.002975987270474434, + 0.9999542236328125, + -0.009093363769352436, + 0.0075477728047049965 + ], + [ + 0.07281678169965744, + 0.009285957552492619, + 0.9973021149635315, + -0.006598548483676635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9959200024604797, + 0.0035077205393463373, + -0.09017221629619598, + 0.09477674072751632 + ], + [ + -0.004463761579245329, + 0.9999359250068665, + -0.010402915067970753, + 0.008437450117736053 + ], + [ + 0.09012994170188904, + 0.01076297927647829, + 0.9958718419075012, + -0.005684820827669823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9943199157714844, + 0.004899928346276283, + -0.10631997883319855, + 0.11181806601010837 + ], + [ + -0.006129331886768341, + 0.9999180436134338, + -0.011239560320973396, + 0.00885694925315105 + ], + [ + 0.10625618696212769, + 0.011827388778328896, + 0.9942684173583984, + -0.0047849817989537346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9924798607826233, + 0.006877824664115906, + -0.12221480160951614, + 0.1285308073919553 + ], + [ + -0.0084358686581254, + 0.9998895525932312, + -0.012235540896654129, + 0.009308158478233963 + ], + [ + 0.12211715430021286, + 0.013174515217542648, + 0.9924282431602478, + -0.0026783136041978227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9904754161834717, + 0.008791305124759674, + -0.13740864396095276, + 0.14449689136101648 + ], + [ + -0.010716026648879051, + 0.9998545050621033, + -0.013273804448544979, + 0.00977113415988592 + ], + [ + 0.1372719407081604, + 0.014619852416217327, + 0.9904255270957947, + -0.0007242089603096246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9882787466049194, + 0.01113686989992857, + -0.15225324034690857, + 0.16000468536065174 + ], + [ + -0.013490079902112484, + 0.9998048543930054, + -0.014431629329919815, + 0.010350084140932617 + ], + [ + 0.1520628035068512, + 0.016316380351781845, + 0.988236129283905, + 0.0026421426293941645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9860337376594543, + 0.013180269859731197, + -0.16602326929569244, + 0.17438474927957243 + ], + [ + -0.015936298295855522, + 0.9997562766075134, + -0.015279008075594902, + 0.01065308846031817 + ], + [ + 0.1657814234495163, + 0.017711414024233818, + 0.9860034584999084, + 0.005920004529448656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9836828708648682, + 0.015234231948852539, + -0.1792648732662201, + 0.18805100482243758 + ], + [ + -0.018359314650297165, + 0.9997068047523499, + -0.015786578878760338, + 0.010690633562178566 + ], + [ + 0.17897182703018188, + 0.01882016845047474, + 0.983674168586731, + 0.010004050470888615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9813454151153564, + 0.0177559033036232, + -0.19143128395080566, + 0.20051174140893496 + ], + [ + -0.02127925306558609, + 0.999639630317688, + -0.01636509597301483, + 0.010841462145058009 + ], + [ + 0.19107171893119812, + 0.020133323967456818, + 0.9813695549964905, + 0.014165456721989008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9790619611740112, + 0.019716933369636536, + -0.20260529220104218, + 0.21204094141721724 + ], + [ + -0.023639220744371414, + 0.99957674741745, + -0.016957486048340797, + 0.011050133733078837 + ], + [ + 0.20218519866466522, + 0.021391859278082848, + 0.9791136384010315, + 0.017804827354848386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9768484234809875, + 0.02140190452337265, + -0.2128593921661377, + 0.2224017036648897 + ], + [ + -0.02568690851330757, + 0.999518871307373, + -0.017385227605700493, + 0.011088623529156813 + ], + [ + 0.2123849093914032, + 0.022450430318713188, + 0.976928174495697, + 0.021968032734898422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9747669696807861, + 0.023606818169355392, + -0.22197303175926208, + 0.2316787219964541 + ], + [ + -0.0284513421356678, + 0.9994211196899414, + -0.018652165308594704, + 0.012042548238801269 + ], + [ + 0.22140422463417053, + 0.02449694462120533, + 0.9748743772506714, + 0.02575823678993262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9728773236274719, + 0.025410816073417664, + -0.22992177307605743, + 0.2395426245836111 + ], + [ + -0.031052246689796448, + 0.9992981553077698, + -0.020950794219970703, + 0.013912516345198338 + ], + [ + 0.22922803461551666, + 0.027522139251232147, + 0.9729835987091064, + 0.030512224854185033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9709979891777039, + 0.02733757346868515, + -0.2375197410583496, + 0.24741589169089612 + ], + [ + -0.03340386599302292, + 0.9992095232009888, + -0.02155240625143051, + 0.014155073471080798 + ], + [ + 0.2367427945137024, + 0.02886141836643219, + 0.9711436033248901, + 0.03377426487322037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9692779779434204, + 0.029389778152108192, + -0.24420574307441711, + 0.25424231520065893 + ], + [ + -0.03583822399377823, + 0.9991153478622437, + -0.022003665566444397, + 0.014216922868329745 + ], + [ + 0.2433430254459381, + 0.030079569667577744, + 0.9694737792015076, + 0.03753733738110616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.967623770236969, + 0.030714664608240128, + -0.2505212426185608, + 0.2607886371131127 + ], + [ + -0.03750733658671379, + 0.9990456104278564, + -0.02238389104604721, + 0.014232447080744 + ], + [ + 0.24959462881088257, + 0.031055565923452377, + 0.9678522944450378, + 0.040729494163623224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9663963317871094, + 0.03182915225625038, + -0.25507840514183044, + 0.26555713552695054 + ], + [ + -0.03912999853491783, + 0.9989554286003113, + -0.02359738200902939, + 0.015125097062152166 + ], + [ + 0.25406089425086975, + 0.03278564289212227, + 0.9666323661804199, + 0.04358191902820881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9653525352478027, + 0.032014716416597366, + -0.2589779496192932, + 0.2698557473145998 + ], + [ + -0.039793942123651505, + 0.9988988637924194, + -0.02485046163201332, + 0.016126247678095333 + ], + [ + 0.25789719820022583, + 0.034295208752155304, + 0.9655634760856628, + 0.04593702130592786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9644949436187744, + 0.0317477323114872, + -0.2621861398220062, + 0.2735773210342114 + ], + [ + -0.039953771978616714, + 0.9988625049591064, + -0.02602575719356537, + 0.017096449843106362 + ], + [ + 0.2610616385936737, + 0.03557703271508217, + 0.9646663069725037, + 0.04803565316475355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9637604355812073, + 0.03101760894060135, + -0.2649598717689514, + 0.2769173653653035 + ], + [ + -0.039598897099494934, + 0.9988479614257812, + -0.027105895802378654, + 0.018081257248727174 + ], + [ + 0.263813853263855, + 0.036615706980228424, + 0.9638783931732178, + 0.050015419778915556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9631667137145996, + 0.030139103531837463, + -0.2672107517719269, + 0.2800292019660656 + ], + [ + -0.03909754753112793, + 0.9988355040550232, + -0.0282677561044693, + 0.019253158254119065 + ], + [ + 0.2660476267337799, + 0.03767384588718414, + 0.963223397731781, + 0.05111938250752596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9626944661140442, + 0.029011089354753494, + -0.26903101801872253, + 0.28272153121920734 + ], + [ + -0.038317207247018814, + 0.9988329410552979, + -0.029403798282146454, + 0.020469086871554073 + ], + [ + 0.26786401867866516, + 0.0386153906583786, + 0.9626825451850891, + 0.05257278809753748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9623668193817139, + 0.02773204632103443, + -0.2703350782394409, + 0.28502830266952517 + ], + [ + -0.0372743122279644, + 0.9988477826118469, + -0.030227182433009148, + 0.021470212657004595 + ], + [ + 0.2691853642463684, + 0.03916619345545769, + 0.9622916579246521, + 0.053607387095689775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9621230959892273, + 0.026787418872117996, + -0.27129611372947693, + 0.287275408838804 + ], + [ + -0.03662189468741417, + 0.9988403916358948, + -0.031251512467861176, + 0.022613661775652032 + ], + [ + 0.27014437317848206, + 0.040003180503845215, + 0.9619884490966797, + 0.05402068584584273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9619874954223633, + 0.0270579531788826, + -0.27174973487854004, + 0.2894865421148447 + ], + [ + -0.03702671080827713, + 0.998813807964325, + -0.03162239119410515, + 0.023209998183525524 + ], + [ + 0.270571768283844, + 0.04048234596848488, + 0.961848258972168, + 0.05343743230287845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9620289206504822, + 0.026931487023830414, + -0.2716157138347626, + 0.29202043110361464 + ], + [ + -0.03688773512840271, + 0.9988191723823547, + -0.03161592409014702, + 0.023506178363011433 + ], + [ + 0.27044352889060974, + 0.04043472185730934, + 0.9618863463401794, + 0.04970110267973863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9621157050132751, + 0.025784380733966827, + -0.271419495344162, + 0.29433207156566477 + ], + [ + -0.03569392114877701, + 0.9988619089126587, + -0.0316360741853714, + 0.02375525300605939 + ], + [ + 0.2702948749065399, + 0.040125586092472076, + 0.9619410634040833, + 0.046377735355725654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9622231125831604, + 0.025441719219088554, + -0.2710708975791931, + 0.29692994029476094 + ], + [ + -0.03523406758904457, + 0.9988882541656494, + -0.03131873905658722, + 0.023852868639649107 + ], + [ + 0.2699727416038513, + 0.039686545729637146, + 0.9620497226715088, + 0.04116079618151371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9625180959701538, + 0.025158921256661415, + -0.27004799246788025, + 0.29709267891370333 + ], + [ + -0.03505854308605194, + 0.9988760948181152, + -0.031897444278001785, + 0.024429135483044845 + ], + [ + 0.2689419686794281, + 0.040169354528188705, + 0.9623183608055115, + 0.043163397564337805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9627652764320374, + 0.021434582769870758, + -0.26948773860931396, + 0.29957624771274055 + ], + [ + -0.03120512142777443, + 0.998999834060669, + -0.03202396258711815, + 0.024951751440620194 + ], + [ + 0.26853179931640625, + 0.03924095258116722, + 0.9624711871147156, + 0.037106642528222156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9632095694541931, + 0.019896889105439186, + -0.26801395416259766, + 0.2998502478003502 + ], + [ + -0.029669953510165215, + 0.9990324378013611, + -0.032463785260915756, + 0.025447970918881204 + ], + [ + 0.267108678817749, + 0.0392213873565197, + 0.9628679156303406, + 0.036599561715355285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9634868502616882, + 0.01817193813621998, + -0.26713836193084717, + 0.3008281213159745 + ], + [ + -0.027795439586043358, + 0.9990920424461365, + -0.03228702023625374, + 0.025369639248730473 + ], + [ + 0.26630908250808716, + 0.038533348590135574, + 0.9631171226501465, + 0.035980493833239265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9637490510940552, + 0.014723186381161213, + -0.2664039134979248, + 0.303466502061257 + ], + [ + -0.024197496473789215, + 0.9991847276687622, + -0.03231607750058174, + 0.025966107644713843 + ], + [ + 0.2657109498977661, + 0.03759089484810829, + 0.9633195996284485, + 0.028644186372940358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9640058279037476, + 0.010910135693848133, + -0.26565709710121155, + 0.30622511861416013 + ], + [ + -0.020253043621778488, + 0.9992679953575134, + -0.03245500475168228, + 0.026739279757468745 + ], + [ + 0.26510855555534363, + 0.036667175590991974, + 0.9635211229324341, + 0.02148349666251586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9643102884292603, + 0.007116299122571945, + -0.26467910408973694, + 0.3076620328884858 + ], + [ + -0.016547655686736107, + 0.9993043541908264, + -0.03342057019472122, + 0.02812304152533985 + ], + [ + 0.26425716280937195, + 0.036607615649700165, + 0.9637572765350342, + 0.01862357841947904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9649132490158081, + 0.004333839286118746, + -0.2625332176685333, + 0.3077143386006355 + ], + [ + -0.013669455423951149, + 0.9993370175361633, + -0.033743809908628464, + 0.028712813765741883 + ], + [ + 0.2622129023075104, + 0.03614853695034981, + 0.9643327593803406, + 0.016508414410054684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9653571248054504, + 0.0011198334395885468, + -0.26092976331710815, + 0.30929376299564654 + ], + [ + -0.010531220585107803, + 0.99934321641922, + -0.034673284739255905, + 0.030022462973227866 + ], + [ + 0.26071953773498535, + 0.0362200103700161, + 0.9647349119186401, + 0.010927471368072126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9654814004898071, + -0.0032027794513851404, + -0.2604523301124573, + 0.3120314209507062 + ], + [ + -0.006132407113909721, + 0.9993677139282227, + -0.03502168878912926, + 0.030605649520069934 + ], + [ + 0.26039981842041016, + 0.035409990698099136, + 0.9648513197898865, + 0.0059781224395220114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9657900333404541, + -0.007673986721783876, + -0.2592116594314575, + 0.3136558083387522 + ], + [ + -0.0016354857943952084, + 0.9993619322776794, + -0.03567982837557793, + 0.03134147543549681 + ], + [ + 0.25932008028030396, + 0.03488316014409065, + 0.9651612639427185, + 0.002439045375929429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.966201901435852, + -0.011050165630877018, + -0.257549524307251, + 0.3147525497353994 + ], + [ + 0.0017507104203104973, + 0.9993391036987305, + -0.036308832466602325, + 0.03185831285529555 + ], + [ + 0.2577805519104004, + 0.03463076800107956, + 0.9655826687812805, + -0.0003163814544677717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9666702747344971, + -0.013613151386380196, + -0.2556625008583069, + 0.31555239420670733 + ], + [ + 0.0042620995081961155, + 0.9993026852607727, + -0.037094272673130035, + 0.03232661698980687 + ], + [ + 0.2559891939163208, + 0.03476826846599579, + 0.9660542011260986, + -0.002753459834135493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9671444296836853, + -0.013922617770731449, + -0.253846138715744, + 0.3163596778534926 + ], + [ + 0.004397961311042309, + 0.9992661476135254, + -0.03805036097764969, + 0.03262458854050447 + ], + [ + 0.2541896402835846, + 0.03568378835916519, + 0.9664958715438843, + -0.00490494043781207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9677355289459229, + -0.01493077538907528, + -0.25152549147605896, + 0.3167294681072235 + ], + [ + 0.005354300606995821, + 0.9992359280586243, + -0.038715045899152756, + 0.03276090391893656 + ], + [ + 0.25191137194633484, + 0.03611918166279793, + 0.9670760631561279, + -0.007759172096848486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.967397153377533, + -0.018532291054725647, + -0.25258520245552063, + 0.3215648587506551 + ], + [ + 0.00895125512033701, + 0.9991980195045471, + -0.03902845457196236, + 0.03313424670979237 + ], + [ + 0.25310590863227844, + 0.03549506142735481, + 0.9667872190475464, + -0.01332009440431228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9677547216415405, + -0.02049296163022518, + -0.25105932354927063, + 0.32367530235877406 + ], + [ + 0.011129042133688927, + 0.9991903901100159, + -0.038660928606987, + 0.03285425291038477 + ], + [ + 0.25164833664894104, + 0.0346202477812767, + 0.9671993255615234, + -0.02011001121539336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9681040048599243, + -0.020950593054294586, + -0.24967128038406372, + 0.32535140617535663 + ], + [ + 0.011451445519924164, + 0.9991563558578491, + -0.039438772946596146, + 0.03340404654781406 + ], + [ + 0.25028690695762634, + 0.035321738570928574, + 0.9675271511077881, + -0.025477496620554187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9683090448379517, + -0.02126317098736763, + -0.2488483190536499, + 0.32796753025971925 + ], + [ + 0.01160565484315157, + 0.999123752117157, + -0.040211960673332214, + 0.03392788904826515 + ], + [ + 0.2494853138923645, + 0.03604955971240997, + 0.9677073359489441, + -0.031571081338020474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9685779809951782, + -0.023069258779287338, + -0.24763785302639008, + 0.3295658862361541 + ], + [ + 0.013303711079061031, + 0.999069094657898, + -0.04103614762425423, + 0.034490799729246645 + ], + [ + 0.2483540028333664, + 0.03645220771431923, + 0.9679832458496094, + -0.0355927307301989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.96881103515625, + -0.024430301040410995, + -0.2465934306383133, + 0.33176822066307066 + ], + [ + 0.01453391369432211, + 0.9990172386169434, + -0.041873279958963394, + 0.03507363381795585 + ], + [ + 0.24737407267093658, + 0.03698332980275154, + 0.9682139754295349, + -0.041029782593250276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9690441489219666, + -0.02475357986986637, + -0.24564342200756073, + 0.3349428004370286 + ], + [ + 0.014727773144841194, + 0.9989849925041199, + -0.04256817698478699, + 0.03546507740572381 + ], + [ + 0.24644781649112701, + 0.037632666528224945, + 0.9684251546859741, + -0.04935559073033241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9691660404205322, + -0.02733420953154564, + -0.24488773941993713, + 0.3378060730604025 + ], + [ + 0.017273638397455215, + 0.9989198446273804, + -0.04313674569129944, + 0.03593396724273379 + ], + [ + 0.24580234289169312, + 0.037576571106910706, + 0.9685913324356079, + -0.05595737030872931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9693012833595276, + -0.029880192130804062, + -0.24405373632907867, + 0.34142640089759463 + ], + [ + 0.019838862121105194, + 0.9988564848899841, + -0.04349939525127411, + 0.03628931413046443 + ], + [ + 0.24507440626621246, + 0.0373222753405571, + 0.9687856435775757, + -0.06506562154166973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9694836139678955, + -0.032953891903162, + -0.2429312765598297, + 0.34302770495414736 + ], + [ + 0.022750113159418106, + 0.9987418055534363, + -0.04468988627195358, + 0.03703849415939588 + ], + [ + 0.24409833550453186, + 0.037799395620822906, + 0.969013512134552, + -0.06623688237025187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9698888659477234, + -0.034192103892564774, + -0.24113580584526062, + 0.3458159677684307 + ], + [ + 0.023987479507923126, + 0.9986931085586548, + -0.04512905701994896, + 0.03710771599211372 + ], + [ + 0.24236372113227844, + 0.03798593208193779, + 0.9694415330886841, + -0.07419355015915173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.970196545124054, + -0.037107132375240326, + -0.23946122825145721, + 0.347969428048684 + ], + [ + 0.026803530752658844, + 0.9985751509666443, + -0.046143461018800735, + 0.037608592283840364 + ], + [ + 0.24083228409290314, + 0.03834981843829155, + 0.96980881690979, + -0.07838696616773422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9704660773277283, + -0.040051110088825226, + -0.23788970708847046, + 0.3504498865168828 + ], + [ + 0.029623376205563545, + 0.9984437227249146, + -0.04725004360079765, + 0.038156938042420034 + ], + [ + 0.23941189050674438, + 0.038807470351457596, + 0.9701422452926636, + -0.08297570078418805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9706693291664124, + -0.043911390006542206, + -0.2363744080066681, + 0.3530874951527669 + ], + [ + 0.03337923437356949, + 0.9982712268829346, + -0.04837783798575401, + 0.03883080141475567 + ], + [ + 0.23809009790420532, + 0.03906888887286186, + 0.9704569578170776, + -0.08775704124799141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9707970023155212, + -0.047575972974300385, + -0.23513752222061157, + 0.3575081579387188 + ], + [ + 0.0369395986199379, + 0.9980939030647278, + -0.049436748027801514, + 0.039675811513398704 + ], + [ + 0.23704132437705994, + 0.039307162165641785, + 0.9707040786743164, + -0.09778282198195273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9710876941680908, + -0.04915793985128403, + -0.2336069792509079, + 0.36209554488842305 + ], + [ + 0.038459427654743195, + 0.9980016350746155, + -0.050136465579271317, + 0.040005332675690834 + ], + [ + 0.23560474812984467, + 0.03970251604914665, + 0.9710376262664795, + -0.10986529585833733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9710802435874939, + -0.05386604741215706, + -0.23259755969047546, + 0.3651250078701056 + ], + [ + 0.04294099286198616, + 0.9977346658706665, + -0.051784176379442215, + 0.041018486864721544 + ], + [ + 0.23486006259918213, + 0.040298622101545334, + 0.9711934924125671, + -0.11259338981830157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9713437557220459, + -0.056315626949071884, + -0.23091089725494385, + 0.3677700514976795 + ], + [ + 0.045223746448755264, + 0.9975670576095581, + -0.053054288029670715, + 0.04174988275537124 + ], + [ + 0.2333368957042694, + 0.041091300547122955, + 0.9715273380279541, + -0.11768536017491267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9713881611824036, + -0.060305505990982056, + -0.22971360385417938, + 0.3714156039059162 + ], + [ + 0.04915977269411087, + 0.9973331689834595, + -0.05394310504198074, + 0.04247429268434644 + ], + [ + 0.2323540598154068, + 0.041107021272182465, + 0.9717622399330139, + -0.1250494932755828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.971664547920227, + -0.062390416860580444, + -0.2279813587665558, + 0.374393251996774 + ], + [ + 0.051166094839572906, + 0.9971843361854553, + -0.05482231825590134, + 0.0433134703252178 + ], + [ + 0.23075982928276062, + 0.04160398989915848, + 0.9721208810806274, + -0.1331496940782437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9715136289596558, + -0.06630156934261322, + -0.2275201380252838, + 0.37793008513175524 + ], + [ + 0.055049337446689606, + 0.9969423413276672, + -0.055457331240177155, + 0.04392586389843088 + ], + [ + 0.23050138354301453, + 0.04135271906852722, + 0.9721929430961609, + -0.13669111806039627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9715074300765991, + -0.06991260498762131, + -0.22646306455135345, + 0.38034524138157183 + ], + [ + 0.05861882120370865, + 0.9966958165168762, + -0.056225426495075226, + 0.04465097231933704 + ], + [ + 0.22964565455913544, + 0.0413484200835228, + 0.9723955988883972, + -0.1384519898547576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9713298678398132, + -0.07309667766094208, + -0.22621922194957733, + 0.384074772722446 + ], + [ + 0.06178976595401764, + 0.996478796005249, + -0.05667529255151749, + 0.04513407396869017 + ], + [ + 0.22956542670726776, + 0.04107237607240677, + 0.9724262356758118, + -0.14141405295007503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.971312403678894, + -0.07562411576509476, + -0.2254621386528015, + 0.38714052049013287 + ], + [ + 0.06428148597478867, + 0.9962887167930603, + -0.057242654263973236, + 0.045786664534646734 + ], + [ + 0.22895431518554688, + 0.04110746085643768, + 0.9725688099861145, + -0.1445337304702172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9711397290229797, + -0.07888468354940414, + -0.22508840262889862, + 0.39072704378228923 + ], + [ + 0.06752955168485641, + 0.996046245098114, + -0.05772027000784874, + 0.04647562132002069 + ], + [ + 0.22875170409679413, + 0.040854331105947495, + 0.9726271629333496, + -0.14787892715002482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9709280133247375, + -0.08212512731552124, + -0.224842831492424, + 0.39415412957851703 + ], + [ + 0.07077847421169281, + 0.9957996010780334, + -0.0580822192132473, + 0.04695138587401464 + ], + [ + 0.22866840660572052, + 0.040479619055986404, + 0.9726623892784119, + -0.14998446370546634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9706422090530396, + -0.08518669754266739, + -0.22493763267993927, + 0.3979406266258313 + ], + [ + 0.07384417206048965, + 0.9955594539642334, + -0.058381304144859314, + 0.0471706523703268 + ], + [ + 0.2289121001958847, + 0.04005702584981918, + 0.9726225733757019, + -0.15192017843230413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9705958366394043, + -0.087242990732193, + -0.2243487536907196, + 0.40094535534198467 + ], + [ + 0.07586345076560974, + 0.9953789114952087, + -0.058868564665317535, + 0.04731135156292182 + ], + [ + 0.22844788432121277, + 0.040117718279361725, + 0.9727292060852051, + -0.15394024648345433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9703189134597778, + -0.08863799273967743, + -0.22499904036521912, + 0.40630295127630234 + ], + [ + 0.07721400260925293, + 0.9952617883682251, + -0.05909274145960808, + 0.04717859195975157 + ], + [ + 0.2291707992553711, + 0.03996573016047478, + 0.9725654125213623, + -0.1586749588067715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9703112840652466, + -0.08982875198125839, + -0.22455914318561554, + 0.4093308237882761 + ], + [ + 0.07825515419244766, + 0.9951300024986267, + -0.05993710458278656, + 0.04752188665935626 + ], + [ + 0.2288496047258377, + 0.0405847430229187, + 0.9726154208183289, + -0.15966066013161953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9704076051712036, + -0.08936332911252975, + -0.2243284285068512, + 0.41268055404608067 + ], + [ + 0.07761650532484055, + 0.9951358437538147, + -0.06066553294658661, + 0.0475317052565515 + ], + [ + 0.228658527135849, + 0.04145871102809906, + 0.9726234674453735, + -0.16058897631099592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9703574776649475, + -0.08874335139989853, + -0.22479096055030823, + 0.4175534412264824 + ], + [ + 0.07684919983148575, + 0.9951664805412292, + -0.06113775074481964, + 0.047249178402125835 + ], + [ + 0.22912999987602234, + 0.042050473392009735, + 0.9724870920181274, + -0.16400355026125907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9704536199569702, + -0.08729905635118484, + -0.22494156658649445, + 0.4217044739769055 + ], + [ + 0.07515870779752731, + 0.9952424764633179, + -0.061996977776288986, + 0.04702079646432629 + ], + [ + 0.2292836755514145, + 0.043258871883153915, + 0.9723979234695435, + -0.16627692154680307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9705545902252197, + -0.08433111757040024, + -0.22563712298870087, + 0.4268565865663382 + ], + [ + 0.07189350575208664, + 0.9954334497451782, + -0.06279752403497696, + 0.046267142376074426 + ], + [ + 0.22990252077579498, + 0.04472658038139343, + 0.9721853733062744, + -0.1691494366297355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9709175229072571, + -0.08037154376506805, + -0.22552070021629333, + 0.43058751941873474 + ], + [ + 0.06765797734260559, + 0.9956819415092468, + -0.0635603815317154, + 0.04489423262958343 + ], + [ + 0.22965532541275024, + 0.04645361378788948, + 0.9721627831459045, + -0.17071589042360966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9710081219673157, + -0.07815839350223541, + -0.2259080410003662, + 0.43526521015625735 + ], + [ + 0.06501869857311249, + 0.9957621097564697, + -0.06504182517528534, + 0.04442114930313367 + ], + [ + 0.2300342321395874, + 0.04846789687871933, + 0.9719748497009277, + -0.17369761214806484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9711598753929138, + -0.07737506926059723, + -0.22552525997161865, + 0.43813683877770715 + ], + [ + 0.06382298469543457, + 0.9957240223884583, + -0.06678581237792969, + 0.04424629538105084 + ], + [ + 0.22972846031188965, + 0.050466008484363556, + 0.9719454646110535, + -0.1744193508074834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + -0.145621657371521, + -0.7921655178070068, + -0.5926787853240967, + 1.0816921348755175 + ], + [ + 0.7447174787521362, + 0.3066047430038452, + -0.5927810668945312, + 0.8074203055638534 + ], + [ + 0.6512988805770874, + -0.5277000665664673, + 0.5452911853790283, + 0.48339324776942916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + -0.14851164817810059, + -0.7927688360214233, + -0.5911530256271362, + 1.07934693304392 + ], + [ + 0.7466133832931519, + 0.3021050691604614, + -0.5927065014839172, + 0.807583826665695 + ], + [ + 0.6484695672988892, + -0.529386579990387, + 0.5470256805419922, + 0.48495334673386353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + -0.14916324615478516, + -0.7933825850486755, + -0.5901647210121155, + 1.0813974655591525 + ], + [ + 0.7470554709434509, + 0.30059385299682617, + -0.5929177403450012, + 0.8116258947895123 + ], + [ + 0.6478105187416077, + -0.5293273329734802, + 0.547863245010376, + 0.48471217098144387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + -0.1503664255142212, + -0.7934668064117432, + -0.5897461175918579, + 1.086073632996816 + ], + [ + 0.7471216917037964, + 0.2994658350944519, + -0.5934048891067505, + 0.8187631571522126 + ], + [ + 0.6474559307098389, + -0.5298402309417725, + 0.5477865934371948, + 0.48353100258570453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + -0.15130507946014404, + -0.7936453819274902, + -0.5892654657363892, + 1.0877379004771892 + ], + [ + 0.7477147579193115, + 0.29802602529525757, + -0.5933827757835388, + 0.8226191869148841 + ], + [ + 0.6465519666671753, + -0.530384361743927, + 0.5483275651931763, + 0.48348921629098746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + -0.1512136459350586, + -0.7938281297683716, + -0.5890427827835083, + 1.0885331713236295 + ], + [ + 0.7481487989425659, + 0.2975614070892334, + -0.5930687785148621, + 0.8248894837040168 + ], + [ + 0.6460710763931274, + -0.5303717255592346, + 0.5489062070846558, + 0.48449606998608663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + -0.15202391147613525, + -0.7940018773078918, + -0.5885998010635376, + 1.089761278950251 + ], + [ + 0.7487661242485046, + 0.29620832204818726, + -0.5929670333862305, + 0.8285103090680562 + ], + [ + 0.6451650857925415, + -0.5308687686920166, + 0.5494909882545471, + 0.48445303508868587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + -0.15175414085388184, + -0.7942115068435669, + -0.5883866548538208, + 1.090408918261528 + ], + [ + 0.7490872144699097, + 0.2959566116333008, + -0.59268718957901, + 0.8307083144783973 + ], + [ + 0.6448559761047363, + -0.5306956171989441, + 0.5500209331512451, + 0.4852972149848938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + -0.1519620418548584, + -0.7943263649940491, + -0.5881781578063965, + 1.0925648991878216 + ], + [ + 0.7488889098167419, + 0.2958317995071411, + -0.5930001139640808, + 0.8354042018835361 + ], + [ + 0.6450374126434326, + -0.5305934548377991, + 0.5499067902565002, + 0.48556973063028774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + -0.15216517448425293, + -0.7944842576980591, + -0.5879120230674744, + 1.0928005642615832 + ], + [ + 0.7493174076080322, + 0.2951511740684509, + -0.5927978157997131, + 0.8373885532984366 + ], + [ + 0.6444913744926453, + -0.5307359099388123, + 0.550409197807312, + 0.4863326402237782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + -0.15204715728759766, + -0.7945832014083862, + -0.5878089666366577, + 1.094096145263085 + ], + [ + 0.7490935325622559, + 0.29533374309539795, + -0.5929899215698242, + 0.8406472857181843 + ], + [ + 0.6447795629501343, + -0.5304862260818481, + 0.5503123998641968, + 0.48715780125214503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + -0.1529618501663208, + -0.794622540473938, + -0.5875181555747986, + 1.0945972645511994 + ], + [ + 0.7498176097869873, + 0.2939368486404419, + -0.5927686095237732, + 0.8430498299690393 + ], + [ + 0.6437205672264099, + -0.531202495098114, + 0.5508608818054199, + 0.48702086536930156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + -0.15363717079162598, + -0.7945641279220581, + -0.5874212384223938, + 1.0951653315470768 + ], + [ + 0.7500395774841309, + 0.2932499647140503, + -0.5928281545639038, + 0.8455725229703464 + ], + [ + 0.6433011889457703, + -0.5316694974899292, + 0.5509002804756165, + 0.4876502596415006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + -0.15489017963409424, + -0.7945196628570557, + -0.5871520638465881, + 1.0952924580528185 + ], + [ + 0.7504574060440063, + 0.29190194606781006, + -0.5929645895957947, + 0.8480020923110155 + ], + [ + 0.642512857913971, + -0.5324769616127014, + 0.5510404109954834, + 0.48811539142177657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + -0.15509164333343506, + -0.7944888472557068, + -0.587140679359436, + 1.0959910734341696 + ], + [ + 0.7504984736442566, + 0.29173046350479126, + -0.5929970741271973, + 0.8503950553444716 + ], + [ + 0.6424163579940796, + -0.5326169729232788, + 0.5510175824165344, + 0.4886008067772939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + -0.15479516983032227, + -0.7945473194122314, + -0.5871397852897644, + 1.095006139920308 + ], + [ + 0.7505677938461304, + 0.2918621897697449, + -0.5928444862365723, + 0.8505940576012319 + ], + [ + 0.6424068808555603, + -0.5324575901031494, + 0.551182746887207, + 0.4903723334463743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + -0.1548537015914917, + -0.7945911288261414, + -0.5870652794837952, + 1.09598666200271 + ], + [ + 0.7504145503044128, + 0.29189610481262207, + -0.593021810054779, + 0.8534750422606101 + ], + [ + 0.6425719857215881, + -0.5323737263679504, + 0.5510713458061218, + 0.49062178570490617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + -0.15483355522155762, + -0.7946431636810303, + -0.5869998335838318, + 1.0960337934585718 + ], + [ + 0.7503889799118042, + 0.291881263256073, + -0.5930613279342651, + 0.8551177450097525 + ], + [ + 0.6426064372062683, + -0.532304048538208, + 0.5510983467102051, + 0.4913999281823635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + -0.15476107597351074, + -0.7946922779083252, + -0.5869525671005249, + 1.0956668372337635 + ], + [ + 0.7504795789718628, + 0.2918173670768738, + -0.5929781198501587, + 0.8559272539157134 + ], + [ + 0.6425180435180664, + -0.5322657823562622, + 0.5512382984161377, + 0.4924494491173671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + -0.1548365354537964, + -0.7947673797607422, + -0.5868310928344727, + 1.0953133829511128 + ], + [ + 0.7504689693450928, + 0.2916872501373291, + -0.5930556654930115, + 0.8569311190109987 + ], + [ + 0.6425124406814575, + -0.5322250723838806, + 0.5512842535972595, + 0.49355375938690627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + -0.15468883514404297, + -0.7948475480079651, + -0.5867615342140198, + 1.0957715034484863 + ], + [ + 0.7502546906471252, + 0.29190731048583984, + -0.5932185649871826, + 0.8587662279605865 + ], + [ + 0.6427983641624451, + -0.5319846868515015, + 0.5511830449104309, + 0.4942880988121033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/9bcefa5e-1e87-43cb-a07f-6a6648a38ae4/orbit_right/transforms.json b/dynpose_eval/camera_controls/9bcefa5e-1e87-43cb-a07f-6a6648a38ae4/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..494f18b00d115adf4c14a11fd1037a775359545e --- /dev/null +++ b/dynpose_eval/camera_controls/9bcefa5e-1e87-43cb-a07f-6a6648a38ae4/orbit_right/transforms.json @@ -0,0 +1,3688 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 105, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00011750437988666818, + 3.4035892895190045e-05, + -3.140216358588077e-05 + ], + [ + -0.00011750414705602452, + 1.0, + -6.869918252050411e-06, + 1.0749317880254239e-05 + ], + [ + -3.403670052648522e-05, + 6.865919203846715e-06, + 1.0, + -2.391584814631642e-07 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9998092386353085, + 0.0005484940484166145, + -0.019524688075494658, + 0.01936564566070518 + ], + [ + -0.0005958267433577214, + 0.9999969005584717, + -0.002418512013071339, + 0.0020620485565451636 + ], + [ + 0.019523302670443506, + 0.0024296839255839586, + 0.999806440695618, + -0.002514656823895308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9991510668128315, + 0.000718146504368633, + -0.04119019671554825, + 0.04094582596652593 + ], + [ + -0.000934042037706488, + 0.999985933303833, + -0.005222425129531215, + 0.004492992563446276 + ], + [ + 0.04118586751844752, + 0.005256465170532465, + 0.9991376773937644, + -0.004590948197914472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9980237973158788, + 0.0016642189584672455, + -0.06281549711830087, + 0.06251399167040453 + ], + [ + -0.002140661967652525, + 0.9999694228172304, + -0.007518263690785677, + 0.006411672583698424 + ], + [ + 0.06280106255869371, + 0.0076378723606467264, + 0.9979968450459858, + -0.005081419090530054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9965569187579137, + 0.0023058089427649975, + -0.08287965555823745, + 0.08252594285881368 + ], + [ + -0.0030673978225712367, + 0.9999542236328125, + -0.009062937463862513, + 0.007517676946503934 + ], + [ + 0.08285496229133071, + 0.009285957552492619, + 0.9965183628170285, + -0.004846743205041049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9947061931259772, + 0.0035077205393463373, + -0.10269989897500485, + 0.1022334003442133 + ], + [ + -0.004594340936185463, + 0.9999359250068665, + -0.010345909370850403, + 0.008386325065490516 + ], + [ + 0.10265702157199873, + 0.01076297927647829, + 0.9946585684632648, + -0.003365212105976477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9926007274679164, + 0.004899928346276284, + -0.12132530086122567, + 0.1207196529786588 + ], + [ + -0.006298386511427274, + 0.9999180436134341, + -0.011145705582852338, + 0.008778693481909646 + ], + [ + 0.12126073847356363, + 0.011827388778328899, + 0.9925501983924799, + -0.001856844438304318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9901723311402678, + 0.0068778246641159075, + -0.13968352242049512, + 0.13885986842801515 + ], + [ + -0.008650151695074524, + 0.9998895525932314, + -0.012084999656724762, + 0.009189919556541897 + ], + [ + 0.13958498075785206, + 0.013174515217542652, + 0.9901224420966067, + 0.0009031759662610061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9875075712952774, + 0.008791305124759674, + -0.15732603768452216, + 0.15623722011425278 + ], + [ + -0.010981149056492473, + 0.9998545050621033, + -0.013055323706319689, + 0.009605426233866475 + ], + [ + 0.15718835753197122, + 0.014619852416217327, + 0.9874604451243444, + 0.003548816424355227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.984576013731929, + 0.01113686989992857, + -0.17460241513469485, + 0.17313859162258916 + ], + [ + -0.013813548875658705, + 0.9998048543930054, + -0.01412232446665099, + 0.010122122149796395 + ], + [ + 0.17441106172306178, + 0.016316380351781845, + 0.9845377214617187, + 0.007646125216575701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9815424734352416, + 0.0131802698597312, + -0.190789492878754, + 0.18889857917725567 + ], + [ + -0.016315827425609393, + 0.9997562766075136, + -0.01487304496619016, + 0.010359664685980166 + ], + [ + 0.1905469615177387, + 0.01771141402423382, + 0.9815182912157502, + 0.011682168038342322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.978342506307381, + 0.015234231948852539, + -0.20643116424681432, + 0.20392900472462755 + ], + [ + -0.018789356121055818, + 0.9997068047523499, + -0.015272216724499438, + 0.010325335889316601 + ], + [ + 0.20613798941268496, + 0.01882016845047474, + 0.9783419208723572, + 0.016555610190217878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9751159057247295, + 0.0177559033036232, + -0.2209835528848827, + 0.21774252743831704 + ], + [ + -0.021763820588923607, + 0.999639630317688, + -0.01571493209047962, + 0.01038717240174818 + ], + [ + 0.22062488100191513, + 0.020133323967456818, + 0.9751508945451588, + 0.02152528571871827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9719086998029286, + 0.019716933369636536, + -0.2345308241855462, + 0.2306147011482979 + ], + [ + -0.0241813974000007, + 0.99957674741745, + -0.016174953176563825, + 0.010508612384216258 + ], + [ + 0.2341126464039806, + 0.021391859278082848, + 0.9719740944365239, + 0.02598899590277397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9687417704491591, + 0.021401904523372654, + -0.24714640494584852, + 0.24230985523137755 + ], + [ + -0.026283525695140152, + 0.9995188713073733, + -0.016469355934764153, + 0.010459706167039114 + ], + [ + 0.2466750268193087, + 0.02245043031871319, + 0.9688381903106336, + 0.030989792768978897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9656925445720074, + 0.0236068181693554, + -0.25861280201703657, + 0.25291641598859926 + ], + [ + -0.029135191432141626, + 0.9994211196899416, + -0.01756481597490937, + 0.011299158030529834 + ], + [ + 0.2580484550365813, + 0.024496944621205337, + 0.9658213483657195, + 0.03562091656130358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9628303019946405, + 0.025410816073417664, + -0.26890912614468865, + 0.2621083250612561 + ], + [ + -0.03187066668626017, + 0.9992981553077698, + -0.01968345518207711, + 0.013043967242245316 + ], + [ + 0.2682202295733801, + 0.027522139251232147, + 0.9629644249182933, + 0.04121366942782587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9599476635811509, + 0.02733757346868515, + -0.27884261791315096, + 0.27130084012222533 + ], + [ + -0.03429531878599344, + 0.9992095232009888, + -0.02010362126268847, + 0.013167839249137022 + ], + [ + 0.27807261221470214, + 0.02886141836643219, + 0.9601263830189757, + 0.04532939051512283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9572215972865855, + 0.029389778152108192, + -0.28785943994375424, + 0.27944555069808896 + ], + [ + -0.03679811656975273, + 0.9991153478622437, + -0.020357755630398995, + 0.013102039346774872 + ], + [ + 0.2870064767976201, + 0.030079569667577744, + 0.9574562751732598, + 0.04994375515128868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.95453967290898, + 0.030714664608240128, + -0.296497329791639, + 0.2873047409448164 + ], + [ + -0.038534629146087206, + 0.9990456104278564, + -0.020565048815013257, + 0.013004829316469617 + ], + [ + 0.2955827014940424, + 0.031055565923452377, + 0.9548122376526447, + 0.05399645386112538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9523350547421681, + 0.03182915225625038, + -0.3033888698856837, + 0.29340147335739236 + ], + [ + -0.04026794996922943, + 0.9989554286003113, + -0.021598273734221716, + 0.013775356620637249 + ], + [ + 0.3023845266532051, + 0.03278564289212227, + 0.9526219960592062, + 0.05767555514025807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9503199314620455, + 0.032014716416597366, + -0.3096241650200232, + 0.2990319980073616 + ], + [ + -0.04105141892230022, + 0.9988988637924194, + -0.022713086041542294, + 0.014679106413257093 + ], + [ + 0.308556069190664, + 0.034295208752155304, + 0.9505876831496195, + 0.060851012187493586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9485036461581723, + 0.0317477323114872, + -0.3151712255355811, + 0.30409098043166033 + ], + [ + -0.04133310465817368, + 0.9988625049591064, + -0.02377432211723773, + 0.015566555863489859 + ], + [ + 0.3140579336595621, + 0.03557703271508217, + 0.9487369905609608, + 0.06375968089904811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9468134797142838, + 0.03101760894060135, + -0.32028447585049624, + 0.3087713089995232 + ], + [ + -0.041101043402844366, + 0.9988479614257812, + -0.024769062758677424, + 0.01648614753130261 + ], + [ + 0.31914720332103863, + 0.036615706980228424, + 0.9469975547024748, + 0.06654490587029765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9452756845844534, + 0.030139103531837463, + -0.3248777991856211, + 0.31322864015992263 + ], + [ + -0.04073298081474363, + 0.9988355040550232, + -0.025855531943402295, + 0.01759793465488843 + ], + [ + 0.323720218701823, + 0.03767384588718414, + 0.9454024929268366, + 0.06844426052438687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9438690838367192, + 0.0290110893547535, + -0.3290432742361214, + 0.31727134040000415 + ], + [ + -0.040090589184519514, + 0.9988329410552981, + -0.026935782584997185, + 0.018765381968574753 + ], + [ + 0.32787783536765946, + 0.03861539065837861, + 0.9439305802766133, + 0.07068445154392881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9426255580912618, + 0.02773204632103443, + -0.33269807154045616, + 0.32093598638864135 + ], + [ + -0.03917145738318528, + 0.9988477826118469, + -0.027724607055529083, + 0.01973275342202637 + ], + [ + 0.33154590337880707, + 0.03916619345545769, + 0.9426257524535157, + 0.07249265100016165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9414766416740251, + 0.026787418872117996, + -0.3360121520761005, + 0.3245456066530715 + ], + [ + -0.0386597804152848, + 0.9988403916358948, + -0.028692186745992346, + 0.020827216171480832 + ], + [ + 0.33485392623208066, + 0.040003180503845215, + 0.9414205259300386, + 0.07366916554374946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9404606049527605, + 0.027057953178882606, + -0.3388240107894309, + 0.32812715804791237 + ], + [ + -0.03916181524840303, + 0.9988138079643252, + -0.0289362258175242, + 0.021336676032297636 + ], + [ + 0.337639163205944, + 0.040482345968484885, + 0.940404673823789, + 0.07383062236873263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9396557937792577, + 0.026931487023830414, + -0.3410597152801432, + 0.3320441769898062 + ], + [ + -0.039095455088052296, + 0.9988191723823547, + -0.02884123871187261, + 0.02157216798418027 + ], + [ + 0.3398802534535185, + 0.04043472185730934, + 0.9395990947775746, + 0.07081730362752717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9388956084041018, + 0.025784380733966834, + -0.3432349178122222, + 0.33574185113743105 + ], + [ + -0.037979042153124365, + 0.9988619089126589, + -0.028852895070835383, + 0.02180904697909659 + ], + [ + 0.3421003265411462, + 0.04012558609247208, + 0.9388063141267011, + 0.0682158086700154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9381628650341645, + 0.025441719219088554, + -0.34525814773079966, + 0.33972867116958955 + ], + [ + -0.03756836054617127, + 0.9988882541656494, + -0.028476678542920766, + 0.021866781765972877 + ], + [ + 0.3441498167761697, + 0.039686545729637146, + 0.9380756119388007, + 0.06371265901052306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9376671110269453, + 0.025158921256661422, + -0.3466228385498063, + 0.34129715358762247 + ], + [ + -0.03751153692544412, + 0.9988760948181155, + -0.02897297002855993, + 0.02238149136216 + ], + [ + 0.34550432925234553, + 0.04016935452818871, + 0.9375570214810725, + 0.06639518514740392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9370844021430211, + 0.02143458276987076, + -0.3484443169636668, + 0.34518062622044443 + ], + [ + -0.03375471613359343, + 0.9989998340606692, + -0.029324271889406183, + 0.0230329418011787 + ], + [ + 0.34746727194639393, + 0.03924095258116723, + 0.9368706464588629, + 0.061045405549030096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9367729459179861, + 0.019896889105439186, + -0.34937172482921547, + 0.346876063000254 + ], + [ + -0.03233647633798403, + 0.9990324378013611, + -0.02980865298542044, + 0.023545824460587693 + ], + [ + 0.3484405573213013, + 0.0392213873565197, + 0.9365099290790788, + 0.061194270498953936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9362437547726473, + 0.01817193813621998, + -0.35088095800641567, + 0.34926190968360804 + ], + [ + -0.030528614251397735, + 0.9990920424461365, + -0.029716020080202524, + 0.023513764683067453 + ], + [ + 0.3500223622489482, + 0.038533348590135574, + 0.9359484308944924, + 0.06125869673182177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9356851077031293, + 0.014723186381161213, + -0.35252894609419677, + 0.3533071904107479 + ], + [ + -0.02702277212622448, + 0.9991847276687622, + -0.029993624109746934, + 0.02425466524855053 + ], + [ + 0.351799961155384, + 0.03759089484810829, + 0.9353201308936732, + 0.054614129004339845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9351198441704982, + 0.010910135693848133, + -0.3541635307469921, + 0.35747383248445314 + ], + [ + -0.023183754464151066, + 0.9992679953575134, + -0.030430685801068256, + 0.025201486284673034 + ], + [ + 0.3535722865487386, + 0.036667175590991974, + 0.9346882575224298, + 0.048143232518997776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9346218241357828, + 0.007116299122571945, + -0.3555719425958281, + 0.3603256911767323 + ], + [ + -0.019664058841334525, + 0.9993043541908264, + -0.031687287841523956, + 0.026746688398521873 + ], + [ + 0.3550991112197024, + 0.036607615649700165, + 0.9341116407481832, + 0.045957381480624906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9345341727467907, + 0.004333839286118746, + -0.35584708580246643, + 0.3618272129825358 + ], + [ + -0.016911105010910657, + 0.9993370175361633, + -0.032241483310278894, + 0.027467527903992386 + ], + [ + 0.3554714149133984, + 0.03614853695034981, + 0.933987874723273, + 0.04444713117866987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9342382481365508, + 0.001119833439588547, + -0.3566477471064651, + 0.3648422747890685 + ], + [ + -0.013963306402225857, + 0.9993432164192202, + -0.03343903939917045, + 0.02892476223306447 + ], + [ + 0.3563760402631554, + 0.036220010370016105, + 0.9336403191581676, + 0.03949661482820948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9335103015394115, + -0.0032027794513851404, + -0.35853628529420095, + 0.3689828400099854 + ], + [ + -0.009707927188993954, + 0.9993677139282227, + -0.03420352689923284, + 0.02975124178807048 + ], + [ + 0.35841913819196963, + 0.035409990698099136, + 0.9328889838085741, + 0.03524304014402015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.933042637952853, + -0.007673986721783876, + -0.3596839010116334, + 0.37203315416219873 + ], + [ + -0.0053916391506655, + 0.9993619322776794, + -0.03530800467264293, + 0.030745597623843053 + ], + [ + 0.3597253625354641, + 0.03488316014409065, + 0.9324059378837193, + 0.03235275387489372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.932723272275857, + -0.011050165630877018, + -0.3604235968470493, + 0.37457029467453745 + ], + [ + -0.0021820779482314666, + 0.9993391036987305, + -0.03628546317592516, + 0.03146174233392396 + ], + [ + 0.36058637493378287, + 0.03463076800107956, + 0.9320827052392529, + 0.030214401099525924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.932487108276169, + -0.013613151386380199, + -0.36094670977741383, + 0.37681992407069875 + ], + [ + 0.00013576890133124326, + 0.9993026852607729, + -0.03733807874237397, + 0.03207824794042479 + ], + [ + 0.36120330327427164, + 0.034768268465995796, + 0.9318386988202773, + 0.02837377239566071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.932251974117314, + -0.013922617770731449, + -0.36154179117142826, + 0.37907901517797427 + ], + [ + 6.86955523859727e-05, + 0.9992661476135254, + -0.038303620131052284, + 0.03236581491814453 + ], + [ + 0.36180978045932694, + 0.03568378835916519, + 0.9315687444857971, + 0.02681257578642307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.932194173546676, + -0.01493077538907528, + -0.36165059055965604, + 0.3809190664645871 + ], + [ + 0.0008454126079714071, + 0.9992359280586243, + -0.03907439815897186, + 0.03255354198315217 + ], + [ + 0.361957693961958, + 0.03611918166279793, + 0.9314945405246247, + 0.024511880790553817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9308197417405438, + -0.018532291054725647, + -0.36500841805158124, + 0.38710927820493113 + ], + [ + 0.004281862814321248, + 0.9991980195045471, + -0.039812195183692424, + 0.03317571853812464 + ], + [ + 0.36545348901861685, + 0.03549506142735481, + 0.9301526085876336, + 0.01973379189395303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9304368427160733, + -0.02049296163022518, + -0.36587875986050106, + 0.39066449087363486 + ], + [ + 0.006387838896449876, + 0.9991903901100159, + -0.039720504702243795, + 0.033062021209183744 + ], + [ + 0.3663965327917918, + 0.0346202477812767, + 0.9298144984151399, + 0.013546788643299786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.930030276126312, + -0.020950593054294586, + -0.3668852653934987, + 0.3937846229122197 + ], + [ + 0.00651208185947164, + 0.9991563558578491, + -0.04054806044540843, + 0.03362778056769184 + ], + [ + 0.3674252412803358, + 0.035321738570928574, + 0.9293820613694107, + 0.00878387619960544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9294104962746331, + -0.02126317098736763, + -0.36843455541704256, + 0.39782648074731064 + ], + [ + 0.006465918473961033, + 0.999123752117157, + -0.041350754573768946, + 0.034155297551504815 + ], + [ + 0.36899097693222255, + 0.03604955971240997, + 0.9287335833488408, + 0.0033312490398426237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9289017904116017, + -0.023069258779287338, + -0.36960691997084805, + 0.40086318735351445 + ], + [ + 0.007940366831674756, + 0.999069094657898, + -0.042401706509209706, + 0.034841233414182424 + ], + [ + 0.37024103212531834, + 0.03645220771431923, + 0.9282202610909117, + -7.585268084804586e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9283358209202078, + -0.024430301040411002, + -0.3709390050546068, + 0.4044998087114486 + ], + [ + 0.00894401425907842, + 0.9990172386169436, + -0.043412104656755955, + 0.035514366257639096 + ], + [ + 0.3716350366537675, + 0.03698332980275155, + 0.9276419748902176, + -0.004890379996821556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9277565288683848, + -0.02475357986986637, + -0.372364171850044, + 0.4091084369501202 + ], + [ + 0.008934405042934083, + 0.9989849925041199, + -0.04414899093006372, + 0.03591790910515924 + ], + [ + 0.3730790782300243, + 0.037632666528224945, + 0.9270360337488682, + -0.012592500605669174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9270394115363787, + -0.02733420953154564, + -0.37396623949349284, + 0.4133944826420007 + ], + [ + 0.011268570364325709, + 0.9989198446273804, + -0.04507967096448376, + 0.03659522517201172 + ], + [ + 0.37479452373132527, + 0.037576571106910706, + 0.9263460616969453, + -0.018550925061517037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9263441387031525, + -0.02988019213080407, + -0.37549133256165274, + 0.41844098374214367 + ], + [ + 0.013645683272057282, + 0.9988564848899844, + -0.04582109956696247, + 0.03717173793174823 + ], + [ + 0.37643107229337625, + 0.037322275340557105, + 0.9256925707927084, + -0.027024102868975136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9257342099798485, + -0.03295389190316201, + -0.37673632072873736, + 0.4214787399594726 + ], + [ + 0.016245400075591956, + 0.9987418055534365, + -0.04744302435712158, + 0.038164083551703976 + ], + [ + 0.37782575236254073, + 0.03779939562082291, + 0.9251047967377009, + -0.027582990441282595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9254407484461556, + -0.03419210389256478, + -0.37734640619121307, + 0.42573672019071895 + ], + [ + 0.017287771940121446, + 0.998693108558655, + -0.04809536258309305, + 0.03835291018354364 + ], + [ + 0.378497736738975, + 0.0379859320819378, + 0.9248224276486254, + -0.03499240635482157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9250359545614918, + -0.037107132375240326, + -0.37806282384658874, + 0.429351372581894 + ], + [ + 0.019805155459886967, + 0.9985751509666443, + -0.0495520339926831, + 0.03910577910578109 + ], + [ + 0.37936288344695884, + 0.03834981843829155, + 0.9244528831044775, + -0.03862674622514066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9245804378371197, + -0.040051110088825226, + -0.378875881986999, + 0.4332896310325561 + ], + [ + 0.022305410330277563, + 0.9984437227249146, + -0.051113400474744136, + 0.039912613595905436 + ], + [ + 0.38033338858473487, + 0.038807470351457596, + 0.9240349251760763, + -0.04265149087662778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9240527010834692, + -0.043911390006542206, + -0.3797346612639151, + 0.43737971438119544 + ], + [ + 0.025720078187363885, + 0.9982712268829346, + -0.0528494661617072, + 0.04093819945755047 + ], + [ + 0.38139886438960174, + 0.03906888887286186, + 0.9235845970661991, + -0.04686429454194161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9234092234387209, + -0.0475759729743004, + -0.3808567711478286, + 0.4432418608541062 + ], + [ + 0.028943466940767434, + 0.998093903064728, + -0.05450506144584334, + 0.04212882999221072 + ], + [ + 0.3827239593273369, + 0.03930716216564179, + 0.9230262015642846, + -0.05630128748820596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9229726332663531, + -0.04915793985128403, + -0.3817133070261079, + 0.4492933318255885 + ], + [ + 0.030198761747268484, + 0.9980016350746155, + -0.05550520286643044, + 0.04262824919637126 + ], + [ + 0.3836790111897448, + 0.03970251604914665, + 0.9226126410032688, + -0.06783297658559588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9221608789185058, + -0.05386604741215706, + -0.3830375668941099, + 0.4537493294384132 + ], + [ + 0.034224052141019874, + 0.9977346658706665, + -0.05791583588552514, + 0.04408085898993157 + ], + [ + 0.3852895624566315, + 0.040298622101545334, + 0.9219153983802356, + -0.06995155714086798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9217243964044621, + -0.0563156269490719, + -0.3837351577900092, + 0.45786222979014685 + ], + [ + 0.036127604511878256, + 0.9975670576095583, + -0.059621648026785386, + 0.045057335801843255 + ], + [ + 0.38615918886940875, + 0.04109130054712296, + 0.9215164438491091, + -0.07450853910179138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9209943458518067, + -0.060305505990982056, + -0.38488012989762016, + 0.46294537824428583 + ], + [ + 0.03971607430326533, + 0.9973331689834595, + -0.06123050934660209, + 0.04620519357498905 + ], + [ + 0.38754625390059644, + 0.041107021272182465, + 0.9209333098329894, + -0.08129058997884624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9205816266077972, + -0.062390416860580444, + -0.38553464485336025, + 0.46739649151395674 + ], + [ + 0.04139510526694739, + 0.9971843361854553, + -0.06252920197813056, + 0.047284972810649105 + ], + [ + 0.3883503240001409, + 0.04160398989915848, + 0.9205721764710086, + -0.08887050254643133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9195368471309335, + -0.06630156934261322, + -0.3873707929489605, + 0.47233714774739416 + ], + [ + 0.044959117829691884, + 0.9969423413276672, + -0.06391105433004617, + 0.048340919392616866 + ], + [ + 0.3904237669083764, + 0.04135271906852722, + 0.9197060881902941, + -0.09176589097259144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9187327610073596, + -0.06991260498762131, + -0.38864163460934376, + 0.476184271743892 + ], + [ + 0.048184569301705886, + 0.9966958165168762, + -0.06538892922410164, + 0.04948547825807349 + ], + [ + 0.3919290034542621, + 0.0413484200835228, + 0.9190658211721114, + -0.09294058362160387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9176187736672028, + -0.07309667766094208, + -0.3906822682829107, + 0.481310003325183 + ], + [ + 0.05106529840046036, + 0.996478796005249, + -0.06650112225913418, + 0.050363628992787166 + ], + [ + 0.39416759930429995, + 0.04107237607240677, + 0.9181203475735653, + -0.0952411223633026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9167479255981872, + -0.07562411576509476, + -0.3922425300981353, + 0.48580045381664794 + ], + [ + 0.0532514101276888, + 0.9962887167930603, + -0.06762483438592963, + 0.05134535650835357 + ], + [ + 0.3959008789290446, + 0.04110746085643768, + 0.917372695616727, + -0.09775368335385204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9156541473350599, + -0.07888468354940414, + -0.39415053564971847, + 0.49078637647081863 + ], + [ + 0.05619242550226784, + 0.996046245098114, + -0.06880611336726362, + 0.05245478282926073 + ], + [ + 0.39801991634886624, + 0.040854331105947495, + 0.916466631357959, + -0.10045120424391706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.914495069026001, + -0.08212512731552125, + -0.3961745507467414, + 0.4956052631303882 + ], + [ + 0.05914950359736664, + 0.9957996010780337, + -0.06988900360325716, + 0.0533634469932556 + ], + [ + 0.40025009258681454, + 0.04047961905598641, + 0.9155114565534582, + -0.10189707241551392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9131965664122902, + -0.0851866975426674, + -0.398516333020146, + 0.5007666751929452 + ], + [ + 0.0619328135101848, + 0.9955594539642336, + -0.07089192501030313, + 0.05400637671812996 + ], + [ + 0.40278575559072544, + 0.04005702584981919, + 0.9144173308447692, + -0.10313869234508583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9122539813009294, + -0.08724299073219301, + -0.4002265795582903, + 0.5051890169836608 + ], + [ + 0.06364826312545047, + 0.995378911495209, + -0.07190041494271221, + 0.05445709262214314 + ], + [ + 0.4046499053588384, + 0.04011771827936173, + 0.913591264360094, + -0.10454039465535986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9108495539410878, + -0.08863799273967743, + -0.40310848672330724, + 0.5119076149020716 + ], + [ + 0.06475154690047862, + 0.9952617883682251, + -0.07253407107111058, + 0.05457007116075775 + ], + [ + 0.40762773449333584, + 0.03996573016047478, + 0.9122731865707903, + -0.10852876867603856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9099080796076491, + -0.08982875198125839, + -0.40496676831232153, + 0.5163536177247766 + ], + [ + 0.06543035195713165, + 0.9951300024986267, + -0.07372377300584615, + 0.05511173009967578 + ], + [ + 0.409617082206092, + 0.0405847430229187, + 0.9113543462132359, + -0.10888188676803148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9090247319190423, + -0.08936332911252975, + -0.4070481553452583, + 0.5211286892351665 + ], + [ + 0.06447756035634498, + 0.9951358437538147, + -0.07448001743439832, + 0.05512794135370361 + ], + [ + 0.411723986508066, + 0.04145871102809906, + 0.9103650313974627, + -0.109164326466879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9078577899429126, + -0.08874335139989853, + -0.4097790180638582, + 0.5273922025557818 + ], + [ + 0.06344518052533898, + 0.9951664805412292, + -0.0749555411492871, + 0.05484060204834189 + ], + [ + 0.4144501511155414, + 0.042050473392009735, + 0.9090999797741528, + -0.11185837384397279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9068878710190839, + -0.08729905635118484, + -0.4122297008519004, + 0.5329591251175853 + ], + [ + 0.06142937201868328, + 0.9952424764633179, + -0.07562333544996527, + 0.05448336314361484 + ], + [ + 0.4168703454503588, + 0.043258871883153915, + 0.9079360332789667, + -0.11344698555295053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9058070927319385, + -0.08433111757040024, + -0.4152129991153647, + 0.5395136286548657 + ], + [ + 0.05787946656592741, + 0.9954334497451782, + -0.07590897538692323, + 0.05340428406071655 + ], + [ + 0.4197183945115875, + 0.04472658038139343, + 0.9065517295986703, + -0.11558073501009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9051379962391195, + -0.08037154376506805, + -0.41745135079269186, + 0.5447007574004195 + ], + [ + 0.05338594013215703, + 0.9956819415092468, + -0.07594383052464172, + 0.051576427223504036 + ], + [ + 0.4217524777857614, + 0.04645361378788948, + 0.9055202332946504, + -0.11650875652292486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9040935664020214, + -0.07815839350223541, + -0.4201262180649886, + 0.5507881922393695 + ], + [ + 0.050307716868866925, + 0.9957621097564697, + -0.07698703663419944, + 0.050815541765429 + ], + [ + 0.42436295171630956, + 0.04846789687871933, + 0.9041940840426971, + -0.11877885569830816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9032609677514651, + -0.07737506926059723, + -0.4220577811095688, + 0.5550982817093101 + ], + [ + 0.048582311957275956, + 0.9957240223884583, + -0.07857147749215121, + 0.05051968606701264 + ], + [ + 0.4263325171797933, + 0.050466008484363556, + 0.9031576476177398, + -0.11887040904055819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + -0.26677029065294583, + -0.7921655178070068, + -0.5489147672397037, + 1.04670085866113 + ], + [ + 0.6037167804647976, + 0.3066047430038452, + -0.7358801297852637, + 0.8866361774797673 + ], + [ + 0.7512387610760177, + -0.5277000665664673, + 0.3964505423757206, + 0.5819470658512756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + -0.2706513317013137, + -0.7927688360214233, + -0.5461368564755531, + 1.0436064525824509 + ], + [ + 0.6037309399251042, + 0.3021050691604614, + -0.7377272485078085, + 0.8879909172989509 + ], + [ + 0.7498378788966915, + -0.529386579990387, + 0.39685391551167637, + 0.5843614723989072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + -0.2724493635886705, + -0.7933825850486755, + -0.5443486164314828, + 1.0451787809391024 + ], + [ + 0.602258340972947, + 0.30059385299682617, + -0.7395459513856305, + 0.8930310590487605 + ], + [ + 0.7503707477692613, + -0.5293273329734802, + 0.39592467000399173, + 0.5852268502332102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + -0.2749022836882435, + -0.7934668064117432, + -0.5429910492444436, + 1.0492858806107739 + ], + [ + 0.6003535760677269, + 0.2994658350944519, + -0.741549572404185, + 0.9011098052003956 + ], + [ + 0.7510022595426378, + -0.5298402309417725, + 0.3940367245863293, + 0.5851651623321094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + -0.27707839410474544, + -0.7936453819274905, + -0.5416221743063143, + 1.0504150171784097 + ], + [ + 0.5990684045133052, + 0.2980260252952576, + -0.7431672251389961, + 0.905992685138694 + ], + [ + 0.7512287732869374, + -0.5303843617439271, + 0.39287134603795254, + 0.5861857025435524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + -0.27830231929650723, + -0.7938281297683716, + -0.5407261652079521, + 1.0508050846579804 + ], + [ + 0.5976886864894739, + 0.2975614070892334, + -0.7444631860950559, + 0.9092785556677663 + ], + [ + 0.7518750530488434, + -0.5303717255592346, + 0.3916500536584112, + 0.5883110757710575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + -0.2803526623301321, + -0.7940018773078918, + -0.5394102151395974, + 1.0515109809801126 + ], + [ + 0.596437160500001, + 0.29620832204818726, + -0.7460049095546827, + 0.913935417954618 + ], + [ + 0.7521070885647291, + -0.5308687686920166, + 0.39052946294657864, + 0.5893272262626194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + -0.2813985070911066, + -0.7942115068435669, + -0.5385564548710428, + 1.0517774610375092 + ], + [ + 0.5949336014852812, + 0.2959566116333008, + -0.7473043351922337, + 0.9171355555942241 + ], + [ + 0.7529070881684805, + -0.5306956171989441, + 0.38922123966738825, + 0.5913095192625397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + -0.28290781800992126, + -0.7943263649940493, + -0.5375957347246064, + 1.0534859962905276 + ], + [ + 0.5927856929391099, + 0.29583179950714117, + -0.7490586470061077, + 0.9227438999980135 + ], + [ + 0.754034882660568, + -0.5305934548377992, + 0.3871719739482758, + 0.5927690554314948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + -0.28439606539310236, + -0.7944842576980591, + -0.5365758708533546, + 1.053276150778429 + ], + [ + 0.5913619474445246, + 0.2951511740684509, + -0.7504511142479247, + 0.9257446156500759 + ], + [ + 0.7545925249780444, + -0.5307359099388123, + 0.3858879864333265, + 0.5946349347059705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + -0.28560699878499635, + -0.7945832014083865, + -0.5357857421980563, + 1.054166853129575 + ], + [ + 0.5892082929268748, + 0.295333743095398, + -0.7520716423029019, + 0.9299153600079467 + ], + [ + 0.7558189957335048, + -0.5304862260818483, + 0.3838255696678562, + 0.5966630242422956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + -0.2877746040129367, + -0.794622540473938, + -0.5345658874465473, + 1.054119545187434 + ], + [ + 0.5880691299597527, + 0.2939368486404419, + -0.7535089719252173, + 0.9333794986279982 + ], + [ + 0.7558838661607402, + -0.531202495098114, + 0.3827054489442606, + 0.5975544753867045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + -0.28975185772229306, + -0.7945641279220581, + -0.5335840632412423, + 1.0541655757838084 + ], + [ + 0.5863717268860826, + 0.2932499647140503, + -0.7550978655411832, + 0.9368836983233797 + ], + [ + 0.7564470921255703, + -0.5316694974899292, + 0.38094006817598414, + 0.5992871387762797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + -0.29224489496655204, + -0.7945196628570557, + -0.5322888644264305, + 1.0536885687372601 + ], + [ + 0.5848415116306525, + 0.29190194606781006, + -0.7568049478395218, + 0.9403219823899329 + ], + [ + 0.7566725671017707, + -0.5324769616127014, + 0.37936121748337204, + 0.6008028332377496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + -0.2937764835362189, + -0.7944888472557068, + -0.5314912726579988, + 1.0539284932467965 + ], + [ + 0.582966445679789, + 0.29173046350479126, + -0.7583163008120354, + 0.9436717998721369 + ], + [ + 0.7575259822160217, + -0.5326169729232788, + 0.37745667223959795, + 0.6024347999780434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + -0.29482594024178993, + -0.7945473194122314, + -0.5308223215290155, + 1.0525592006370947 + ], + [ + 0.5811605027783974, + 0.2918621897697449, + -0.7596506223459, + 0.9448380350558447 + ], + [ + 0.7585053054363605, + -0.5324575901031494, + 0.3757109562703627, + 0.6053718224927064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + -0.2961993737978984, + -0.7945911288261416, + -0.5299917378919281, + 1.0531044684160382 + ], + [ + 0.5790538119983895, + 0.2918961048126221, + -0.7612447354953298, + 0.9486417673954243 + ], + [ + 0.7595808325192677, + -0.5323737263679506, + 0.3736513667472548, + 0.6068044491145677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + -0.2974966235810034, + -0.7946431636810303, + -0.529186161391146, + 1.052728050953938 + ], + [ + 0.5771010087977059, + 0.291881263256073, + -0.7627317913322496, + 0.9512308857800766 + ], + [ + 0.760559153286148, + -0.532304048538208, + 0.37175555844978686, + 0.6087506254388613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + -0.2987456942780822, + -0.7946922779083252, + -0.5284082860938893, + 1.0519451943132399 + ], + [ + 0.5752879160594407, + 0.2918173670768738, + -0.7641246382042655, + 0.9530089028113586 + ], + [ + 0.7614426087516464, + -0.5322657823562622, + 0.36999763710663064, + 0.610952942869684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + -0.30011670226674103, + -0.7947673797607422, + -0.5275178188925683, + 1.051155326640448 + ], + [ + 0.5733324263516861, + 0.2916872501373291, + -0.7656426223878428, + 0.9549602630724654 + ], + [ + 0.7623779576707554, + -0.5322250723838806, + 0.3681255415649651, + 0.6132197216447853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + -0.3012830008923658, + -0.7948475480079651, + -0.5267317031703159, + 1.0512105559191869 + ], + [ + 0.5711541194635035, + 0.29190731048583984, + -0.7671853351722357, + 0.9577075290809272 + ], + [ + 0.7635522104012886, + -0.5319846868515015, + 0.36603347928564617, + 0.6151578280206434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 5165.554361979166, + "fy": 5171.430989583333, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_045/boom_down/transforms.json b/spatialvid_eval/camera_controls/scene_045/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..490c4d70bfb656035ddf89768fd00b2f7da96990 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_045/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": [ + [ + 0.9999999987930897, + 1.0974241700399624e-05, + 4.788932143218456e-05, + -4.94368018973278e-05 + ], + [ + -1.0978637491440877e-05, + 0.9999999957269105, + 9.179133371441396e-05, + -0.00011823670054394975 + ], + [ + -4.7888313887267015e-05, + -9.179185936312976e-05, + 0.9999999946404821, + -3.455040860072317e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999970973325091, + 0.0015863364545277295, + -0.0018135223212168484, + -0.0021445541536984558 + ], + [ + -0.001585602392828774, + 0.9999986604578416, + 0.0004061373837527253, + -0.0018231687496717604 + ], + [ + 0.0018141641624646373, + -0.00040326067953897474, + 0.999998273093117, + 0.01359972795914416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999989293488628, + 0.0035202230791842215, + -0.003003487570727617, + -0.0045308453013478975 + ], + [ + -0.0035184178026053067, + 0.9999936266495677, + 0.0006061323381490484, + -0.0035446986237825614 + ], + [ + 0.003005602149494602, + -0.0005955583244475252, + 0.9999953058219829, + 0.02771764422680739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999865507369823, + 0.003060878583213738, + -0.004186808743160502, + -0.007153157538217669 + ], + [ + -0.003057722464895599, + 0.999995036340798, + 0.0007600178247589412, + -0.004173552572778206 + ], + [ + 0.004189114283551423, + -0.0007472055039291347, + 0.9999909464617439, + 0.041849891992927775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999831028636889, + 0.002799944081463589, + -0.00509453631356454, + -0.010422104248300508 + ], + [ + -0.002792717716949159, + 0.999995085017614, + 0.0014250152170276894, + -0.004925853038623642 + ], + [ + 0.005098501236931205, + -0.0014107635365287888, + 0.9999860074177945, + 0.05716245430076152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999798799268087, + 0.0026361949891954522, + -0.0057697675468056046, + -0.014334879524006704 + ], + [ + -0.002619628641105124, + 0.9999924304394561, + 0.002876909726100658, + -0.007272389764852423 + ], + [ + 0.00577730796720515, + -0.002861737194148273, + 0.9999792163704622, + 0.07520299318152673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999788933352735, + 0.0025259201904814783, + -0.0059860346769367734, + -0.01749159400714456 + ], + [ + -0.002500248372955785, + 0.9999876626918107, + 0.0042922281210591206, + -0.009144435157286062 + ], + [ + 0.005996802651055268, + -0.004277170952977771, + 0.9999728717153299, + 0.09171941670447556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999792069416595, + 0.00251152067089668, + -0.005939524244379986, + -0.020175506355101337 + ], + [ + -0.0024787606524938072, + 0.9999817115944911, + 0.005516540780225239, + -0.010011259520382907 + ], + [ + 0.005953270526153453, + -0.005501703415479455, + 0.9999671443750394, + 0.10782532224316498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999806249433171, + 0.0026148706615715927, + -0.0056490874834951845, + -0.02220231556335853 + ], + [ + -0.0025776868731711517, + 0.9999750322258361, + 0.00657954826123118, + -0.011008785342962618 + ], + [ + 0.005666151106069353, + -0.00656485920345907, + 0.9999623979706846, + 0.12403155964952622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999828936915364, + 0.002791921612351399, + -0.005139795522410724, + -0.023465415084185735 + ], + [ + -0.002753032878364761, + 0.9999676497667302, + 0.007557792665381167, + -0.012892729398833142 + ], + [ + 0.005160730013510763, + -0.0075435133533872595, + 0.9999582302636522, + 0.14010463373655682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999849503927892, + 0.0030588954198939263, + -0.00455435470083926, + -0.02446202144155463 + ], + [ + -0.003020724764659416, + 0.9999604539419232, + 0.008364554630047757, + -0.014819195774551971 + ], + [ + 0.0045797608919110645, + -0.008350671294754215, + 0.9999546450110125, + 0.15559551941821306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999849714648859, + 0.003991492124848307, + -0.003758302141742609, + -0.025549099310568025 + ], + [ + -0.003959351646100797, + 0.999955858660406, + 0.008520813650851266, + -0.015989435767904736 + ], + [ + 0.003792147005836146, + -0.00850580515573266, + 0.9999566345095865, + 0.1715137968296668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999798060292877, + 0.005720330161265288, + -0.0027686380179677336, + -0.026569094761628928 + ], + [ + -0.005698399304391244, + 0.9999528316992161, + 0.007865279530134432, + -0.016567221332904794 + ], + [ + 0.002813499421739951, + -0.007849343893954256, + 0.9999652354064308, + 0.18732238122816072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999847944125667, + 0.005009842283737047, + -0.0023048696164082345, + -0.027718364406790683 + ], + [ + -0.004993794387524336, + 0.9999636116629337, + 0.00691645629181694, + -0.017842082696340442 + ], + [ + 0.002339436101220103, + -0.0069048410780816714, + 0.9999734247510854, + 0.2032454695970625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999804423758457, + 0.0061358248767905505, + -0.0012109991286509665, + -0.02843011242269096 + ], + [ + -0.006129022671730625, + 0.9999658545535408, + 0.005542996310358443, + -0.019177764874801377 + ], + [ + 0.0012449686331981124, + -0.005535465661404968, + 0.9999839042069698, + 0.2191861106284254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999759890176387, + 0.00692963252725019, + 3.976471188041994e-05, + -0.028558281335337644 + ], + [ + -0.00692973610891937, + 0.9999680026474544, + 0.003996553355208113, + -0.019972470486870734 + ], + [ + -1.206879338777401e-05, + -0.003996732952995774, + 0.9999920129581268, + 0.23505164964200936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999732220866706, + 0.007161312735513655, + 0.0015068873568800717, + -0.02765806508305293 + ], + [ + -0.007164950268453684, + 0.9999713969672286, + 0.0024225472255273426, + -0.021156492572794006 + ], + [ + -0.0014894956370330678, + -0.0024332791277399085, + 0.9999959302694356, + 0.2517839874556189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.99996533146136, + 0.0076452732726622055, + 0.0032993441710075927, + -0.02602586759439589 + ], + [ + -0.007649168762726181, + 0.9999700605767209, + 0.0011696868934346135, + -0.022517620983771948 + ], + [ + -0.003290302814602154, + -0.0011948835824697058, + 0.9999938730615366, + 0.2672623912685093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999488068106621, + 0.008474285160037051, + 0.005529036892603586, + -0.024467296530852504 + ], + [ + -0.008475063930177891, + 0.9999640791049164, + 0.00011743609405481963, + -0.023627361185658502 + ], + [ + -0.005527843097700351, + -0.00016428902326374905, + 0.9999847078629774, + 0.28228191795039004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999244484187085, + 0.009108820955383143, + 0.008253898190803502, + -0.023272574066797343 + ], + [ + -0.009101553395617348, + 0.9999581589596592, + -0.0009176359820415841, + -0.02405334671324018 + ], + [ + -0.008261911420978965, + 0.0008424433580865034, + 0.9999655149598211, + 0.2975580279352461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998864199279908, + 0.00960203918691723, + 0.011616715845650816, + -0.022754157706751814 + ], + [ + -0.009582624390274524, + 0.9999525963545777, + -0.00172579069819883, + -0.024667025531003396 + ], + [ + -0.011632736280884421, + 0.0016142760581696336, + 0.9999310344015868, + 0.3133713996929599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9998267748994039, + 0.010270860803228017, + 0.015521907505770762, + -0.02266580369662877 + ], + [ + -0.010236509187990165, + 0.9999449812252235, + -0.002290939137549893, + -0.025837277942723294 + ], + [ + -0.015544583426428041, + 0.0021316521405893756, + 0.9998769034162408, + 0.3291453639421722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997456376627746, + 0.010997838507979791, + 0.019690290053846208, + -0.022267717953322386 + ], + [ + -0.010945680088178386, + 0.9999362996636301, + -0.002754759955822018, + -0.026859188708646797 + ], + [ + -0.01971933218086894, + 0.0025385356328683187, + 0.999802332351341, + 0.3440281736117623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9996473330923621, + 0.01150381840575435, + 0.023934736334785454, + -0.021151924926103675 + ], + [ + -0.011432089112982591, + 0.9999297478960931, + -0.0031315508887463485, + -0.027334365250352426 + ], + [ + -0.02396907966195399, + 0.002856822455703294, + 0.9997086184412015, + 0.3582587385965634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995330814263406, + 0.011941061986065692, + 0.028125258630096985, + -0.019331052818335887 + ], + [ + -0.011847938585470277, + 0.9999237712348416, + -0.003475351891202552, + -0.027923242426379835 + ], + [ + -0.02816461406871808, + 0.0031405028479046895, + 0.9995983652228644, + 0.3733858312391412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9994021122622381, + 0.012059858687904166, + 0.03240336115597636, + -0.01615608374035601 + ], + [ + -0.011955776831852486, + 0.999922733400957, + -0.0034039136748245692, + -0.029272322712074 + ], + [ + -0.03244190817636648, + 0.0030144711619952205, + 0.9994690768390435, + 0.38974216672877676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999258701716171, + 0.012208255245726303, + 0.036510348510627164, + -0.013349331940695326 + ], + [ + -0.012095009856184445, + 0.9999213377354318, + -0.003321005565087734, + -0.030051831008645898 + ], + [ + -0.03654802020754422, + 0.002876950684272984, + 0.9993277567313285, + 0.4038730834987454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990947757631596, + 0.012282042955994533, + 0.04072812865316953, + -0.010934184237031052 + ], + [ + -0.012175946605776516, + 0.9999218030637337, + -0.0028520312104433503, + -0.030865447166127484 + ], + [ + -0.04075997260812749, + 0.0023535459628332427, + 0.9991661951118972, + 0.4171839027109041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9989132001886377, + 0.011687365835196868, + 0.045120106036322355, + -0.00897679035898592 + ], + [ + -0.011599004710770834, + 0.9999302656379071, + -0.0022196736301107645, + -0.031751344956072146 + ], + [ + -0.045142901752260184, + 0.0016939129667624916, + 0.9989791034252152, + 0.43009181919831724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9986950756302656, + 0.010590356010673223, + 0.04995988662342148, + -0.006966335068108582 + ], + [ + -0.010533216208958236, + 0.9999435344481076, + -0.0014068659216673663, + -0.03330686801029509 + ], + [ + -0.04997196482182056, + 0.0008787917804616948, + 0.9987502342712382, + 0.44363871465835186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984432100869323, + 0.008411822110754844, + 0.05513979942001242, + -0.005205281857635321 + ], + [ + -0.008387710008858696, + 0.9999645989511156, + -0.000668704226235203, + -0.03396161136431517 + ], + [ + -0.05514347243427346, + 0.00020516654675927504, + 0.9984784200745547, + 0.4578052391523731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9981227998979353, + 0.006946050399853713, + 0.06084922931105361, + -0.0028804726698252047 + ], + [ + -0.006948270275868237, + 0.9999758451456575, + -0.00017511539491117095, + -0.034304845451493204 + ], + [ + -0.06084897586714159, + -0.00024801022305751344, + 0.9981469534226157, + 0.47212654330669473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9977544604875068, + 0.005464263350373908, + 0.06675461334860518, + 0.0005331326168080933 + ], + [ + -0.005486491359530715, + 0.9999849378944982, + 0.0001496552647669618, + -0.034699530243665004 + ], + [ + -0.06675279012779774, + -0.0005155678173026111, + 0.9977694118382162, + 0.48522274334747656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.997348589974518, + 0.0032554139846248083, + 0.07269932844001688, + 0.005196860604315446 + ], + [ + -0.0032862628594807312, + 0.9999945537944167, + 0.0003047259815614975, + -0.03558641900801438 + ], + [ + -0.07269794049530658, + -0.0005428271310005792, + 0.9973538563551287, + 0.49765940971358485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9968605028960817, + 0.001013462576208376, + 0.0791714005141875, + 0.010120571788985778 + ], + [ + -0.0010454132346128266, + 0.9999993879915084, + 0.00036211569636879904, + -0.03673332800125606 + ], + [ + -0.07917098506991158, + -0.00044374566508913015, + 0.9968609522961789, + 0.5097514293314546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9962612712683804, + -0.00016064672524094439, + 0.08639128175539702, + 0.014524468776294142 + ], + [ + 0.00015007819878629658, + 0.9999999804399269, + 0.00012882810348490816, + -0.0374133470356313 + ], + [ + -0.08639130076139016, + -0.00011538100219627964, + 0.9962612758910082, + 0.521531166370611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9955306960908957, + -0.0005874467548122258, + 0.094436688035356, + 0.01920194150211132 + ], + [ + 0.0006572800139179078, + 0.9999995330986103, + -0.0007083682268141767, + -0.03777263551800969 + ], + [ + -0.09443622781411908, + 0.0007672736615552306, + 0.9955306173932413, + 0.534795639867561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9948412942611836, + -0.0014236656219353378, + 0.10143358619771972, + 0.023555837322493483 + ], + [ + 0.0015844497065096769, + 0.9999976128936094, + -0.0015045684466318953, + -0.03843949089985099 + ], + [ + -0.10143120206258457, + 0.001657523236633014, + 0.9948411751957492, + 0.5468031803642156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9941733418657589, + -0.001979458544607496, + 0.10777498813425627, + 0.028078313779857967 + ], + [ + 0.002242945960733319, + 0.9999947849621644, + -0.0023236268830602405, + -0.03949294636070533 + ], + [ + -0.10776982656052729, + 0.002551821377884928, + 0.994172597032713, + 0.557500054424203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9935523049682936, + -0.0020001747662034123, + 0.11335703151148468, + 0.0327313600299733 + ], + [ + 0.002389678867186299, + 0.9999916986762601, + -0.0033003050585699496, + -0.04016273902554806 + ], + [ + -0.11334948931116898, + 0.003549912600690659, + 0.9935488369443269, + 0.5669476112051637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9930128105831431, + -0.0015372838972088046, + 0.1179965879845099, + 0.037328518953918505 + ], + [ + 0.002085816607815699, + 0.999987585136738, + -0.004525366446347898, + -0.04033178322244011 + ], + [ + -0.11798816630003775, + 0.0047398660966902545, + 0.993003688957166, + 0.5762094856613079 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9926521936101707, + -0.0010008280466354675, + 0.12099843331273966, + 0.043516160101042325 + ], + [ + 0.0016988590269567184, + 0.9999825055474703, + -0.005665904783034325, + -0.04019573204697715 + ], + [ + -0.12099064591497544, + 0.0058298320923463485, + 0.9926365279692523, + 0.5854497140137195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9924998510715616, + -0.0007267314492208701, + 0.12224368075417638, + 0.05123687777844502 + ], + [ + 0.001553895921648033, + 0.9999765391536614, + -0.0066713229370959325, + -0.040373243710490725 + ], + [ + -0.12223596455378002, + 0.006811240978489164, + 0.9924776954500995, + 0.5959925397301762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9925017557385426, + -0.00035826037918738543, + 0.12222985112242829, + 0.05828960692124194 + ], + [ + 0.0012753115661641781, + 0.9999716245915755, + -0.0074245263885647835, + -0.04039861430080136 + ], + [ + -0.12222372288684177, + 0.007524736619044648, + 0.9924740499894668, + 0.6050744920120009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9926728946327394, + -0.00043517229201918265, + 0.12083184549833939, + 0.06432223579426802 + ], + [ + 0.0014098974613133974, + 0.9999671540696099, + -0.007981414102379191, + -0.0404604188001177 + ], + [ + -0.12082440337368475, + 0.008093293952485241, + 0.9926409029162518, + 0.6123777691054674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9930283410060341, + -0.0005326677628450659, + 0.11787463774645608, + 0.07052585951635225 + ], + [ + 0.0015484931741045925, + 0.9999624503752685, + -0.008526429990237689, + -0.04057804973401945 + ], + [ + -0.11786566984365539, + 0.008649514699860267, + 0.9929918779968764, + 0.6196200570737694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9934907003578806, + -0.0006729302219443194, + 0.11391126137184449, + 0.07606773533472458 + ], + [ + 0.0017468290193251642, + 0.9999549679614602, + -0.009327949269402348, + -0.040560697518962234 + ], + [ + -0.1138998546565601, + 0.00946621434955359, + 0.9934471369404126, + 0.6259265725752257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9940493700081724, + -0.0011279991389479365, + 0.10892464185985878, + 0.08133679300202035 + ], + [ + 0.0023088673116666404, + 0.9999399203421191, + -0.010715635209072432, + -0.04073974741596634 + ], + [ + -0.1089060104773519, + 0.010903362973841065, + 0.9939922522624449, + 0.6321140724159191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9946732844225364, + -0.0018081006728628828, + 0.1030620591102332, + 0.08631720017424617 + ], + [ + 0.003142642616718802, + 0.999913291525288, + -0.012788011121695607, + -0.041067380110531654 + ], + [ + -0.10303000074477331, + 0.013043780242775502, + 0.994592720033437, + 0.6378380759715371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9953410342070925, + -0.002312409787175773, + 0.09638920263458753, + 0.0910643625055008 + ], + [ + 0.0038425977789057772, + 0.9998694814726836, + -0.015692496992390195, + -0.0413773945881883 + ], + [ + -0.09634033457418004, + 0.01598977112165151, + 0.9952200094218424, + 0.6430489533413434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9960335290956208, + -0.0025007056878522597, + 0.08894355169648785, + 0.09570978881730706 + ], + [ + 0.0042744219975227905, + 0.99979567089215, + -0.019757170392105033, + -0.041643922333033545 + ], + [ + -0.0888759710715453, + 0.020058986424501157, + 0.9958406995246336, + 0.648324533171351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9967165470871334, + -0.00272269753787688, + 0.08092411062729966, + 0.10053413021260608 + ], + [ + 0.004776849835811234, + 0.999670993083249, + -0.02520093834754903, + -0.041870106358733214 + ], + [ + -0.08082887150238029, + 0.025504754577687985, + 0.9964016263663883, + 0.653387754797442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9973356811624164, + -0.00258033727896424, + 0.07290322996840227, + 0.1055636804337316 + ], + [ + 0.004920292140274272, + 0.9994778244872121, + -0.031935389203265475, + -0.04218135617233559 + ], + [ + -0.07278275761163021, + 0.03220900833363979, + 0.9968275929049166, + 0.6583319366923833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9978774258892221, + -0.0028343002661935703, + 0.06505850937964228, + 0.11039932551689767 + ], + [ + 0.005448376440026811, + 0.9991832948910082, + -0.040038211809672535, + -0.04254233834127684 + ], + [ + -0.06489189544825846, + 0.04030769098757079, + 0.9970778966321452, + 0.6631146159153656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9983126682660858, + -0.0024997332864518523, + 0.058013513192573314, + 0.1140845809636706 + ], + [ + 0.005376081768951695, + 0.9987607597712472, + -0.04947769685398318, + -0.04301465881928178 + ], + [ + -0.05781793946745092, + 0.0497060969565879, + 0.9970889578172454, + 0.6674120293977173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9986525555751178, + -0.002786322722071521, + 0.05181997345594958, + 0.11693416361674298 + ], + [ + 0.005905416798404686, + 0.9981727449415773, + -0.060135657543878396, + -0.043416536877376496 + ], + [ + -0.051557727798303636, + 0.06036064662912391, + 0.9968442170383448, + 0.6718580850150286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9989304001659968, + -0.00298846191998876, + 0.04614243946254264, + 0.1192166051773452 + ], + [ + 0.006348754469149752, + 0.9973226597517958, + -0.07285057077535019, + -0.04414986570072196 + ], + [ + -0.045801189295607676, + 0.07306559683569712, + 0.996274896611448, + 0.6758162023694577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9990947749209282, + -0.0031146711767270647, + 0.04242557659196784, + 0.1200855932726821 + ], + [ + 0.006725386753025565, + 0.9963384028592998, + -0.08523236568817145, + -0.0450167782998656 + ], + [ + -0.04200476042929292, + 0.08544053962400298, + 0.9954574397180611, + 0.6803428285002269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9991970114270307, + -0.003478243907470727, + 0.03991533758608076, + 0.11979798143619073 + ], + [ + 0.007386569692699533, + 0.9951402459076226, + -0.09819027224267991, + -0.04569043825592557 + ], + [ + -0.039379829144697176, + 0.09840626399897949, + 0.9943668519526875, + 0.6856141783458525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9992549896561363, + -0.004221838574937652, + 0.03836198282625932, + 0.11912270259653124 + ], + [ + 0.008479517657667444, + 0.9937268380214045, + -0.11151264132946943, + -0.046205659404899055 + ], + [ + -0.03765054352341215, + 0.1117548543689658, + 0.9930223004028474, + 0.6908734737161978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9992802589841909, + -0.004986967717953203, + 0.03760444332081477, + 0.11816530544553573 + ], + [ + 0.009655942550906117, + 0.9921069656914419, + -0.12502212364207238, + -0.04656510657269852 + ], + [ + -0.03668414886489638, + 0.12529524643616824, + 0.9914410594899516, + 0.6961905283286655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.999290173245842, + -0.00572417305111999, + 0.03723417109559817, + 0.1172276674644819 + ], + [ + 0.010842525379987113, + 0.990267614464789, + -0.13875334729512226, + -0.04681030271669205 + ], + [ + -0.036077545616072355, + 0.13905856890208998, + 0.9896267605098517, + 0.7010651243317663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9992981914617148, + -0.006444253676826247, + 0.0368998121390225, + 0.11678812234909504 + ], + [ + 0.012015045765643188, + 0.9881831730810953, + -0.15280593939578424, + -0.047073783236727715 + ], + [ + -0.03547905320884339, + 0.15314205181440954, + 0.9875670856956895, + 0.7049226006338034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9993099513128345, + -0.006876148411338117, + 0.036501229981544744, + 0.1168134601256494 + ], + [ + 0.01289350660391384, + 0.9858250971404681, + -0.1672801104000159, + -0.047392991204237886 + ], + [ + -0.03483358572692738, + 0.1676353078292635, + 0.9852334874913626, + 0.7080923943426194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9993330155331435, + -0.007092044493639241, + 0.035822157533213154, + 0.11712384398864266 + ], + [ + 0.013517714557003657, + 0.9831189806008797, + -0.18246737071444472, + -0.04768243969587774 + ], + [ + -0.03392337628523243, + 0.18282990151282, + 0.9825591237448376, + 0.7107476407912139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9993706319885153, + -0.0071463265796316445, + 0.03474579018086916, + 0.11777879844496929 + ], + [ + 0.013968602700487413, + 0.9796384820401339, + -0.20028310623888948, + -0.04803721578757027 + ], + [ + -0.032607024664505484, + 0.20064240459713298, + 0.979121753113477, + 0.7128983013079915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999416797710486, + -0.007538411909047279, + 0.03330520680024913, + 0.11832551450176271 + ], + [ + 0.014623050601160804, + 0.9758553910981477, + -0.21792756148729178, + -0.0481721662021244 + ], + [ + -0.030858237882836363, + 0.21828748935880635, + 0.9753965045786229, + 0.71468096246708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9994776529775647, + -0.00800483083738287, + 0.03131044365261332, + 0.11867575567719733 + ], + [ + 0.015201809404355312, + 0.9714116838732572, + -0.23691400428289744, + -0.048288317950852575 + ], + [ + -0.028518874264112246, + 0.23726622835495992, + 0.9710259577853312, + 0.7162192403033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9995416049549153, + -0.009253304332567677, + 0.02882631303307662, + 0.11888080958703416 + ], + [ + 0.016360437669395884, + 0.9662390208515619, + -0.257127382172885, + -0.04877499889155279 + ], + [ + -0.025473830560358426, + 0.25748112735255746, + 0.9659474897808049, + 0.7165903915985598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996056351939995, + -0.010514938796948203, + 0.026038628045606953, + 0.11876238667742237 + ], + [ + 0.01735287633360935, + 0.960317346843206, + -0.27836930691973966, + -0.04908665343254824 + ], + [ + -0.022078309974984407, + 0.278711372954392, + 0.9601210959116181, + 0.71736987688212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996660529469668, + -0.011793346717725731, + 0.02299346773820454, + 0.11844241135382796 + ], + [ + 0.018155279092954894, + 0.9537162015753445, + -0.30015961202958985, + -0.049838589490541846 + ], + [ + -0.018389356337002668, + 0.30047682743581494, + 0.9536118223614987, + 0.7182748654344895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9997166299255422, + -0.01314883715947544, + 0.01984358666345697, + 0.11802690551575451 + ], + [ + 0.01884608429986832, + 0.9464402250148761, + -0.3223285987627424, + -0.05023910294414752 + ], + [ + -0.014542522369891214, + 0.3226112343907824, + 0.9464198362713965, + 0.7193287133618844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9997501522552265, + -0.014971331231815939, + 0.016597960922935077, + 0.11767812492911592 + ], + [ + 0.019774651029479763, + 0.9385796699800457, + -0.34449552432043473, + -0.0507996115451972 + ], + [ + -0.010420952082910766, + 0.3447376717756506, + 0.9386412208167666, + 0.720312582229293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9997642102496018, + -0.017139133513802227, + 0.01333319190540088, + 0.11748295296284127 + ], + [ + 0.02083390511595255, + 0.9301957241807396, + -0.36647218600255216, + -0.05116990744774211 + ], + [ + -0.006121462375092441, + 0.36666355807233664, + 0.9303334686445097, + 0.7213325719225732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9997620709880848, + -0.01932329275421101, + 0.010119870095559796, + 0.11744073333778135 + ], + [ + 0.02173639896149238, + 0.9213653423505896, + -0.38808946761715635, + -0.051464910922570384 + ], + [ + -0.0018249311775467422, + 0.388217099407427, + 0.9215661416056263, + 0.7223154934712837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9997439853308486, + -0.02149395315096337, + 0.007069213020980701, + 0.11740303605126554 + ], + [ + 0.022504093882865207, + 0.9120856857063524, + -0.4093815673526156, + -0.05171331450769395 + ], + [ + 0.002351500223899619, + 0.4094358458995953, + 0.9123358803309117, + 0.7232131994255429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9997068064211493, + -0.023877360418525128, + 0.004021548790055887, + 0.11724038923257413 + ], + [ + 0.02326795519623986, + 0.9013559071732403, + -0.4324536170098373, + -0.05175615285309712 + ], + [ + 0.006701004119736441, + 0.4324203976032457, + 0.9016472127614206, + 0.7242934011396902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9996669011363274, + -0.02577084161449138, + 0.0013966012219135092, + 0.11699160570385965 + ], + [ + 0.02360270389146638, + 0.8909920892203191, + -0.45340490658551835, + -0.052109535420941225 + ], + [ + 0.010440265394328284, + 0.4532868414914464, + 0.8913035623115193, + 0.7254614578020344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9996230352970821, + -0.027437545939436456, + -0.0009840611109987766, + 0.11647584823364178 + ], + [ + 0.023687678057584215, + 0.8800181021486051, + -0.47434906324246895, + -0.05206347580927842 + ], + [ + 0.01388096580534328, + 0.4741469402659779, + 0.8803362981410697, + 0.7267474139993423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9995603726660094, + -0.02946033620785138, + -0.0033391595213828193, + 0.11637934460715045 + ], + [ + 0.023942402274938594, + 0.8684668104493259, + -0.49516882022324465, + -0.05212918466761432 + ], + [ + 0.017487789142538734, + 0.4948711829744134, + 0.8687903599214319, + 0.7276379899264033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9994878714618995, + -0.031506697379274404, + -0.0055966794452198465, + 0.11636479288407744 + ], + [ + 0.024105954204711108, + 0.8563450964072309, + -0.5158410402742024, + -0.05237258002156826 + ], + [ + 0.021045136550806545, + 0.5154419500579495, + 0.8566660366490647, + 0.7289084905268575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_045/boom_up/transforms.json b/spatialvid_eval/camera_controls/scene_045/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..604c624bb73de3ad3a7a497127ed3106020f3f66 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_045/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": [ + [ + 0.9999999987930897, + 1.0974241700399624e-05, + 4.788932143218456e-05, + -4.94368018973278e-05 + ], + [ + -1.0978637491440877e-05, + 0.9999999957269105, + 9.179133371441396e-05, + -0.00011823670054394975 + ], + [ + -4.7888313887267015e-05, + -9.179185936312976e-05, + 0.9999999946404821, + -3.455040860072317e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999970973325091, + 0.0015863364545277295, + -0.0018135223212168484, + -0.002148519994834775 + ], + [ + -0.001585602392828774, + 0.9999986604578416, + 0.0004061373837527253, + -0.004323165400816365 + ], + [ + 0.0018141641624646373, + -0.00040326067953897474, + 0.999998273093117, + 0.013600736110843009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999989293488628, + 0.0035202230791842215, + -0.003003487570727617, + -0.0045484464167438185 + ], + [ + -0.0035184178026053067, + 0.9999936266495677, + 0.0006061323381490484, + -0.008544666757030401 + ], + [ + 0.003005602149494602, + -0.0005955583244475252, + 0.9999953058219829, + 0.027720622018429623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999865507369823, + 0.003060878583213738, + -0.004186808743160502, + -0.007176114127591771 + ], + [ + -0.003057722464895599, + 0.999995036340798, + 0.0007600178247589412, + -0.011673515345334192 + ], + [ + 0.004189114283551423, + -0.0007472055039291347, + 0.9999909464617439, + 0.04185549603420725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999831028636889, + 0.002799944081463589, + -0.00509453631356454, + -0.010450103689115144 + ], + [ + -0.002792717716949159, + 0.999995085017614, + 0.0014250152170276894, + -0.014925803888799783 + ], + [ + 0.005098501236931205, + -0.0014107635365287888, + 0.9999860074177945, + 0.05717656193612681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999798799268087, + 0.0026361949891954522, + -0.0057697675468056046, + -0.014367831961371647 + ], + [ + -0.002619628641105124, + 0.9999924304394561, + 0.002876909726100658, + -0.019772295145345627 + ], + [ + 0.00577730796720515, + -0.002861737194148273, + 0.9999792163704622, + 0.07523876489645359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999788933352735, + 0.0025259201904814783, + -0.0059860346769367734, + -0.017529482810001783 + ], + [ + -0.002500248372955785, + 0.9999876626918107, + 0.0042922281210591206, + -0.024144250097663227 + ], + [ + 0.005996802651055268, + -0.004277170952977771, + 0.9999728717153299, + 0.09178357426877023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999792069416595, + 0.00251152067089668, + -0.005939524244379986, + -0.02021945796684203 + ], + [ + -0.0024787606524938072, + 0.9999817115944911, + 0.005516540780225239, + -0.027510939473286505 + ], + [ + 0.005953270526153453, + -0.005501703415479455, + 0.9999671443750394, + 0.10792160205293587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999806249433171, + 0.0026148706615715927, + -0.0056490874834951845, + -0.022254612976589965 + ], + [ + -0.0025776868731711517, + 0.9999750322258361, + 0.00657954826123118, + -0.031008285987479345 + ], + [ + 0.005666151106069353, + -0.00656485920345907, + 0.9999623979706846, + 0.1241628568335954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999828936915364, + 0.002791921612351399, + -0.005139795522410724, + -0.02352823332046364 + ], + [ + -0.002753032878364761, + 0.9999676497667302, + 0.007557792665381167, + -0.03539200151858457 + ], + [ + 0.005160730013510763, + -0.0075435133533872595, + 0.9999582302636522, + 0.14027436278700803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999849503927892, + 0.0030588954198939263, + -0.00455435470083926, + -0.02453849382705198 + ], + [ + -0.003020724764659416, + 0.9999604539419232, + 0.008364554630047757, + -0.03981820712310005 + ], + [ + 0.0045797608919110645, + -0.008350671294754215, + 0.9999546450110125, + 0.15580428620058193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999849714648859, + 0.003991492124848307, + -0.003758302141742609, + -0.025658865344001355 + ], + [ + -0.003959351646100797, + 0.999955858660406, + 0.008520813650851266, + -0.0434882218810659 + ], + [ + 0.003792147005836146, + -0.00850580515573266, + 0.9999566345095865, + 0.17174770647144946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999798060292877, + 0.005720330161265288, + -0.0027686380179677336, + -0.026740704666466886 + ], + [ + -0.005698399304391244, + 0.9999528316992161, + 0.007865279530134432, + -0.04656580628388128 + ], + [ + 0.002813499421739951, + -0.007849343893954256, + 0.9999652354064308, + 0.18755786154497936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999847944125667, + 0.005009842283737047, + -0.0023048696164082345, + -0.027881184281012137 + ], + [ + -0.004993794387524336, + 0.9999636116629337, + 0.00691645629181694, + -0.05034090007538579 + ], + [ + 0.002339436101220103, + -0.0069048410780816714, + 0.9999734247510854, + 0.20346987693210014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999804423758457, + 0.0061358248767905505, + -0.0012109991286509665, + -0.028644866293378625 + ], + [ + -0.006129022671730625, + 0.9999658545535408, + 0.005542996310358443, + -0.05417656978417531 + ], + [ + 0.0012449686331981124, + -0.005535465661404968, + 0.9999839042069698, + 0.2193798519265746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999759890176387, + 0.00692963252725019, + 3.976471188041994e-05, + -0.028818142555109526 + ], + [ + -0.00692973610891937, + 0.9999680026474544, + 0.003996553355208113, + -0.057471270586150286 + ], + [ + -1.206879338777401e-05, + -0.003996732952995774, + 0.9999920129581268, + 0.23520152712774672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999732220866706, + 0.007161312735513655, + 0.0015068873568800717, + -0.02794451759247348 + ], + [ + -0.007164950268453684, + 0.9999713969672286, + 0.0024225472255273426, + -0.061155348451483155 + ], + [ + -0.0014894956370330678, + -0.0024332791277399085, + 0.9999959302694356, + 0.2518813186207285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.99996533146136, + 0.0076452732726622055, + 0.0032993441710075927, + -0.026350791708484037 + ], + [ + -0.007649168762726181, + 0.9999700605767209, + 0.0011696868934346135, + -0.06501634855828259 + ], + [ + -0.003290302814602154, + -0.0011948835824697058, + 0.9999938730615366, + 0.2673131738207643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999488068106621, + 0.008474285160037051, + 0.005529036892603586, + -0.024848639363054172 + ], + [ + -0.008475063930177891, + 0.9999640791049164, + 0.00011743609405481963, + -0.06862574474537975 + ], + [ + -0.005527843097700351, + -0.00016428902326374905, + 0.9999847078629774, + 0.28228931095643695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999244484187085, + 0.009108820955383143, + 0.008253898190803502, + -0.02370524306217804 + ], + [ + -0.009101553395617348, + 0.9999581589596592, + -0.0009176359820415841, + -0.071551359263824 + ], + [ + -0.008261911420978965, + 0.0008424433580865034, + 0.9999655149598211, + 0.297518011875737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998864199279908, + 0.00960203918691723, + 0.011616715845650816, + -0.023234259666097677 + ], + [ + -0.009582624390274524, + 0.9999525963545777, + -0.00172579069819883, + -0.07466465534873229 + ], + [ + -0.011632736280884421, + 0.0016142760581696336, + 0.9999310344015868, + 0.3132906858900514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9998267748994039, + 0.010270860803228017, + 0.015521907505770762, + -0.023205023888798238 + ], + [ + -0.010236509187990165, + 0.9999449812252235, + -0.002290939137549893, + -0.07833438945704753 + ], + [ + -0.015544583426428041, + 0.0021316521405893756, + 0.9998769034162408, + 0.3290334522047913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997456376627746, + 0.010997838507979791, + 0.019690290053846208, + -0.022872599071261275 + ], + [ + -0.010945680088178386, + 0.9999362996636301, + -0.002754759955822018, + -0.08185568519014645 + ], + [ + -0.01971933218086894, + 0.0025385356328683187, + 0.999802332351341, + 0.3438885541519545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9996473330923621, + 0.01150381840575435, + 0.023934736334785454, + -0.021813394484434548 + ], + [ + -0.011432089112982591, + 0.9999297478960931, + -0.0031315508887463485, + -0.0848303257543778 + ], + [ + -0.02396907966195399, + 0.002856822455703294, + 0.9997086184412015, + 0.3580944713053605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995330814263406, + 0.011941061986065692, + 0.028125258630096985, + -0.02004751653749983 + ], + [ + -0.011847938585470277, + 0.9999237712348416, + -0.003475351891202552, + -0.08791866870047034 + ], + [ + -0.02816461406871808, + 0.0031405028479046895, + 0.9995983652228644, + 0.3731974010682669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9994021122622381, + 0.012059858687904166, + 0.03240336115597636, + -0.01690982490835002 + ], + [ + -0.011955776831852486, + 0.999922733400957, + -0.0034039136748245692, + -0.09176749354963382 + ], + [ + -0.03244190817636648, + 0.0030144711619952205, + 0.9994690768390435, + 0.38955376228115207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999258701716171, + 0.012208255245726303, + 0.036510348510627164, + -0.014142868531667536 + ], + [ + -0.012095009856184445, + 0.9999213377354318, + -0.003321005565087734, + -0.09504671796144898 + ], + [ + -0.03654802020754422, + 0.002876950684272984, + 0.9993277567313285, + 0.4036860817042677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990947757631596, + 0.012282042955994533, + 0.04072812865316953, + -0.011763222136560685 + ], + [ + -0.012175946605776516, + 0.9999218030637337, + -0.0028520312104433503, + -0.0983601688729295 + ], + [ + -0.04075997260812749, + 0.0023535459628332427, + 0.9991661951118972, + 0.41702503835841287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9989132001886377, + 0.011687365835196868, + 0.045120106036322355, + -0.0097949059674497 + ], + [ + -0.011599004710770834, + 0.9999302656379071, + -0.0022196736301107645, + -0.10174646355072564 + ], + [ + -0.045142901752260184, + 0.0016939129667624916, + 0.9989791034252152, + 0.4299732452906439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9986950756302656, + 0.010590356010673223, + 0.04995988662342148, + -0.00773413587888239 + ], + [ + -0.010533216208958236, + 0.9999435344481076, + -0.0014068659216673663, + -0.1058027742577829 + ], + [ + -0.04997196482182056, + 0.0008787917804616948, + 0.9987502342712382, + 0.44357500225426844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984432100869323, + 0.008411822110754844, + 0.05513979942001242, + -0.005836168515941934 + ], + [ + -0.008387710008858696, + 0.9999645989511156, + -0.000668704226235203, + -0.10895895628564886 + ], + [ + -0.05514347243427346, + 0.00020516654675927504, + 0.9984784200745547, + 0.45778985166136615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9981227998979353, + 0.006946050399853713, + 0.06084922931105361, + -0.0034187915758138675 + ], + [ + -0.006948270275868237, + 0.9999758451456575, + -0.00017511539491117095, + -0.11180297345028167 + ], + [ + -0.06084897586714159, + -0.00024801022305751344, + 0.9981469534226157, + 0.47214576409898174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9977544604875068, + 0.005464263350373908, + 0.06675461334860518, + 9.599154877818055e-05 + ], + [ + -0.005486491359530715, + 0.9999849378944982, + 0.0001496552647669618, + -0.11469832527522486 + ], + [ + -0.06675279012779774, + -0.0005155678173026111, + 0.9977694118382162, + 0.48526398877286075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.997348589974518, + 0.0032554139846248083, + 0.07269932844001688, + 0.004928288950583899 + ], + [ + -0.0032862628594807312, + 0.9999945537944167, + 0.0003047259815614975, + -0.11808596969605378 + ], + [ + -0.07269794049530658, + -0.0005428271310005792, + 0.9973538563551287, + 0.49770419295189244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9968605028960817, + 0.001013462576208376, + 0.0791714005141875, + 0.010034427470008066 + ], + [ + -0.0010454132346128266, + 0.9999993879915084, + 0.00036211569636879904, + -0.1217332759805343 + ], + [ + -0.07917098506991158, + -0.00044374566508913015, + 0.9968609522961789, + 0.5097891477129871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9962612712683804, + -0.00016064672524094439, + 0.08639128175539702, + 0.014538525364752725 + ], + [ + 0.00015007819878629658, + 0.9999999804399269, + 0.00012882810348490816, + -0.12491334532412492 + ], + [ + -0.08639130076139016, + -0.00011538100219627964, + 0.9962612758910082, + 0.5215412622083031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9955306960908957, + -0.0005874467548122258, + 0.094436688035356, + 0.01925481171004442 + ], + [ + 0.0006572800139179078, + 0.9999995330986103, + -0.0007083682268141767, + -0.12777259349688463 + ], + [ + -0.09443622781411908, + 0.0007672736615552306, + 0.9955306173932413, + 0.5347265852380211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9948412942611836, + -0.0014236656219353378, + 0.10143358619771972, + 0.023687526392522504 + ], + [ + 0.0015844497065096769, + 0.9999976128936094, + -0.0015045684466318953, + -0.13093927009250989 + ], + [ + -0.10143120206258457, + 0.001657523236633014, + 0.9948411751957492, + 0.5466498594648271 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9941733418657589, + -0.001979458544607496, + 0.10777498813425627, + 0.028266362341595682 + ], + [ + 0.002242945960733319, + 0.9999947849621644, + -0.0023236268830602405, + -0.13449245093211096 + ], + [ + -0.10776982656052729, + 0.002551821377884928, + 0.994172597032713, + 0.557257631393304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9935523049682936, + -0.0020001747662034123, + 0.11335703151148468, + 0.03292637706967813 + ], + [ + 0.002389678867186299, + 0.9999916986762601, + -0.0033003050585699496, + -0.13766192964648344 + ], + [ + -0.11334948931116898, + 0.003549912600690659, + 0.9935488369443269, + 0.5666014947265963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9930128105831431, + -0.0015372838972088046, + 0.1179965879845099, + 0.03748224734363939 + ], + [ + 0.002085816607815699, + 0.999987585136738, + -0.004525366446347898, + -0.14033054173611392 + ], + [ + -0.11798816630003775, + 0.0047398660966902545, + 0.993003688957166, + 0.5757354990516389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9926521936101707, + -0.0010008280466354675, + 0.12099843331273966, + 0.043618744975822465 + ], + [ + 0.0016988590269567184, + 0.9999825055474703, + -0.005665904783034325, + -0.14269393886559287 + ], + [ + -0.12099064591497544, + 0.0058298320923463485, + 0.9926365279692523, + 0.584852156224254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9924998510715616, + -0.0007267314492208701, + 0.12224368075417638, + 0.05131318458061321 + ], + [ + 0.001553895921648033, + 0.9999765391536614, + -0.0066713229370959325, + -0.14537078032162518 + ], + [ + -0.12223596455378002, + 0.006811240978489164, + 0.9924776954500995, + 0.5952773594274348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9925017557385426, + -0.00035826037918738543, + 0.12222985112242829, + 0.05832811991200458 + ], + [ + 0.0012753115661641781, + 0.9999716245915755, + -0.0074245263885647835, + -0.14789556394439574 + ], + [ + -0.12222372288684177, + 0.007524736619044648, + 0.9924740499894668, + 0.6042655828254536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9926728946327394, + -0.00043517229201918265, + 0.12083184549833939, + 0.06437010474639013 + ], + [ + 0.0014098974613133974, + 0.9999671540696099, + -0.007981414102379191, + -0.1504568057477748 + ], + [ + -0.12082440337368475, + 0.008093293952485241, + 0.9926409029162518, + 0.6114875067706941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9930283410060341, + -0.0005326677628450659, + 0.11787463774645608, + 0.07058578463967231 + ], + [ + 0.0015484931741045925, + 0.9999624503752685, + -0.008526429990237689, + -0.15307382540123715 + ], + [ + -0.11786566984365539, + 0.008649514699860267, + 0.9929918779968764, + 0.6186469866700351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9934907003578806, + -0.0006729302219443194, + 0.11391126137184449, + 0.07614512231024817 + ], + [ + 0.0017468290193251642, + 0.9999549679614602, + -0.009327949269402348, + -0.15555551883453017 + ], + [ + -0.1138998546565601, + 0.00946621434955359, + 0.9934471369404126, + 0.6248379579250269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9940493700081724, + -0.0011279991389479365, + 0.10892464185985878, + 0.08146933290084674 + ], + [ + 0.0023088673116666404, + 0.9999399203421191, + -0.010715635209072432, + -0.15823268805616533 + ], + [ + -0.1089060104773519, + 0.010903362973841065, + 0.9939922522624449, + 0.6308329272664928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9946732844225364, + -0.0018081006728628828, + 0.1030620591102332, + 0.0865341722549897 + ], + [ + 0.003142642616718802, + 0.999913291525288, + -0.012788011121695607, + -0.16105697509356623 + ], + [ + -0.10303000074477331, + 0.013043780242775502, + 0.994592720033437, + 0.636272822342404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9953410342070925, + -0.002312409787175773, + 0.09638920263458753, + 0.09134763270442985 + ], + [ + 0.0038425977789057772, + 0.9998694814726836, + -0.015692496992390195, + -0.16386140606859206 + ], + [ + -0.09634033457418004, + 0.01598977112165151, + 0.9952200094218424, + 0.6410902063789411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9960335290956208, + -0.0025007056878522597, + 0.08894355169648785, + 0.0960223770282886 + ], + [ + 0.0042744219975227905, + 0.99979567089215, + -0.019757170392105033, + -0.1666183811945523 + ], + [ + -0.0888759710715453, + 0.020058986424501157, + 0.9958406995246336, + 0.6458171598682882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9967165470871334, + -0.00272269753787688, + 0.08092411062729966, + 0.10088127414868538 + ], + [ + 0.004776849835811234, + 0.999670993083249, + -0.02520093834754903, + -0.16932815797684747 + ], + [ + -0.08082887150238029, + 0.025504754577687985, + 0.9964016263663883, + 0.6501358985887868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9973356811624164, + -0.00258033727896424, + 0.07290322996840227, + 0.10589912427999695 + ], + [ + 0.004920292140274272, + 0.9994778244872121, + -0.031935389203265475, + -0.17211347335567317 + ], + [ + -0.07278275761163021, + 0.03220900833363979, + 0.9968275929049166, + 0.6541447656090101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9978774258892221, + -0.0028343002661935703, + 0.06505850937964228, + 0.11077487030216833 + ], + [ + 0.005448376440026811, + 0.9991832948910082, + -0.040038211809672535, + -0.17493412491433546 + ], + [ + -0.06489189544825846, + 0.04030769098757079, + 0.9970778966321452, + 0.6577738468595125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9983126682660858, + -0.0024997332864518523, + 0.058013513192573314, + 0.1144220449573416 + ], + [ + 0.005376081768951695, + 0.9987607597712472, + -0.04947769685398318, + -0.17784736138840018 + ], + [ + -0.05781793946745092, + 0.0497060969565879, + 0.9970889578172454, + 0.6607017063085778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9986525555751178, + -0.002786322722071521, + 0.05181997345594958, + 0.11731728299102782 + ], + [ + 0.005905416798404686, + 0.9981727449415773, + -0.060135657543878396, + -0.1806652893068434 + ], + [ + -0.051557727798303636, + 0.06036064662912391, + 0.9968442170383448, + 0.6635584961035241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9989304001659968, + -0.00298846191998876, + 0.04614243946254264, + 0.11963498984614362 + ], + [ + 0.006348754469149752, + 0.9973226597517958, + -0.07285057077535019, + -0.1837750380659734 + ], + [ + -0.045801189295607676, + 0.07306559683569712, + 0.996274896611448, + 0.6655870188124601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9990947749209282, + -0.0031146711767270647, + 0.04242557659196784, + 0.1205294339153657 + ], + [ + 0.006725386753025565, + 0.9963384028592998, + -0.08523236568817145, + -0.18699500070731584 + ], + [ + -0.04200476042929292, + 0.08544053962400298, + 0.9954574397180611, + 0.6681675516038064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9991970114270307, + -0.003478243907470727, + 0.03991533758608076, + 0.12030232680277399 + ], + [ + 0.007386569692699533, + 0.9951402459076226, + -0.09819027224267991, + -0.18998577391253085 + ], + [ + -0.039379829144697176, + 0.09840626399897949, + 0.9943668519526875, + 0.6713452700660005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9992549896561363, + -0.004221838574937652, + 0.03836198282625932, + 0.11974542378633454 + ], + [ + 0.008479517657667444, + 0.9937268380214045, + -0.11151264132946943, + -0.19278036801305626 + ], + [ + -0.03765054352341215, + 0.1117548543689658, + 0.9930223004028474, + 0.6743896326967754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9992802589841909, + -0.004986967717953203, + 0.03760444332081477, + 0.1189133506032287 + ], + [ + 0.009655942550906117, + 0.9921069656914419, + -0.12502212364207238, + -0.19538115142641482 + ], + [ + -0.03668414886489638, + 0.12529524643616824, + 0.9914410594899516, + 0.6773962413632403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.999290173245842, + -0.00572417305111999, + 0.03723417109559817, + 0.11810060385477769 + ], + [ + 0.010842525379987113, + 0.990267614464789, + -0.13875334729512226, + -0.19782611392257238 + ], + [ + -0.036077545616072355, + 0.13905856890208998, + 0.9896267605098517, + 0.6798586925741976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9992981914617148, + -0.006444253676826247, + 0.0368998121390225, + 0.1177869816690031 + ], + [ + 0.012015045765643188, + 0.9881831730810953, + -0.15280593939578424, + -0.20024217506429753 + ], + [ + -0.03547905320884339, + 0.15314205181440954, + 0.9875670856956895, + 0.6811855826025699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9993099513128345, + -0.006876148411338117, + 0.036501229981544744, + 0.11789645350043516 + ], + [ + 0.01289350660391384, + 0.9858250971404681, + -0.1672801104000159, + -0.20266044400386163 + ], + [ + -0.03483358572692738, + 0.1676353078292635, + 0.9852334874913626, + 0.6816898333595103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9993330155331435, + -0.007092044493639241, + 0.035822157533213154, + 0.11825857110762493 + ], + [ + 0.013517714557003657, + 0.9831189806008797, + -0.18246737071444472, + -0.2049814765920185 + ], + [ + -0.03392337628523243, + 0.18282990151282, + 0.9825591237448376, + 0.6814948565491628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9993706319885153, + -0.0071463265796316445, + 0.03474579018086916, + 0.11894007651415943 + ], + [ + 0.013968602700487413, + 0.9796384820401339, + -0.20028310623888948, + -0.20722846911909204 + ], + [ + -0.032607024664505484, + 0.20064240459713298, + 0.979121753113477, + 0.6802939105609573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999416797710486, + -0.007538411909047279, + 0.03330520680024913, + 0.11956935246675551 + ], + [ + 0.014623050601160804, + 0.9758553910981477, + -0.21792756148729178, + -0.2091883057333188 + ], + [ + -0.030858237882836363, + 0.21828748935880635, + 0.9753965045786229, + 0.6786635267228769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9994776529775647, + -0.00800483083738287, + 0.03131044365261332, + 0.12001656484245897 + ], + [ + 0.015201809404355312, + 0.9714116838732572, + -0.23691400428289744, + -0.21099977499962314 + ], + [ + -0.028518874264112246, + 0.23726622835495992, + 0.9710259577853312, + 0.6764771470538441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9995416049549153, + -0.009253304332567677, + 0.02882631303307662, + 0.12045387132357067 + ], + [ + 0.016360437669395884, + 0.9662390208515619, + -0.257127382172885, + -0.21303563243631835 + ], + [ + -0.025473830560358426, + 0.25748112735255746, + 0.9659474897808049, + 0.672818599948625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996056351939995, + -0.010514938796948203, + 0.026038628045606953, + 0.12057621361989593 + ], + [ + 0.01735287633360935, + 0.960317346843206, + -0.27836930691973966, + -0.21474139576300127 + ], + [ + -0.022078309974984407, + 0.278711372954392, + 0.9601210959116181, + 0.6692921650474872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996660529469668, + -0.011793346717725731, + 0.02299346773820454, + 0.12050624702942997 + ], + [ + 0.018155279092954894, + 0.9537162015753445, + -0.30015961202958985, + -0.21673892476622716 + ], + [ + -0.018389356337002668, + 0.30047682743581494, + 0.9536118223614987, + 0.6656914206332218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9997166299255422, + -0.01314883715947544, + 0.01984358666345697, + 0.1203608241115614 + ], + [ + 0.01884608429986832, + 0.9464402250148761, + -0.3223285987627424, + -0.21823224288428805 + ], + [ + -0.014542522369891214, + 0.3226112343907824, + 0.9464198362713965, + 0.6620652192575205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9997501522552265, + -0.014971331231815939, + 0.016597960922935077, + 0.12037296455084279 + ], + [ + 0.019774651029479763, + 0.9385796699800457, + -0.34449552432043473, + -0.21974395214160547 + ], + [ + -0.010420952082910766, + 0.3447376717756506, + 0.9386412208167666, + 0.6582598013096758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9997642102496018, + -0.017139133513802227, + 0.01333319190540088, + 0.12061084482911018 + ], + [ + 0.02083390511595255, + 0.9301957241807396, + -0.36647218600255216, + -0.2209306271107271 + ], + [ + -0.006121462375092441, + 0.36666355807233664, + 0.9303334686445097, + 0.6544164725743717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9997620709880848, + -0.01932329275421101, + 0.010119870095559796, + 0.12101554249731039 + ], + [ + 0.02173639896149238, + 0.9213653423505896, + -0.38808946761715635, + -0.22191749925742948 + ], + [ + -0.0018249311775467422, + 0.388217099407427, + 0.9215661416056263, + 0.6504953300809098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9997439853308486, + -0.02149395315096337, + 0.007069213020980701, + 0.12143315226707116 + ], + [ + 0.022504093882865207, + 0.9120856857063524, + -0.4093815673526156, + -0.22272938057763503 + ], + [ + 0.002351500223899619, + 0.4094358458995953, + 0.9123358803309117, + 0.6464439783193687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9997068064211493, + -0.023877360418525128, + 0.004021548790055887, + 0.12177708771209389 + ], + [ + 0.02326795519623986, + 0.9013559071732403, + -0.4324536170098373, + -0.22301377521601282 + ], + [ + 0.006701004119736441, + 0.4324203976032457, + 0.9016472127614206, + 0.6421335255950735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9996669011363274, + -0.02577084161449138, + 0.0013966012219135092, + 0.12195249271464924 + ], + [ + 0.02360270389146638, + 0.8909920892203191, + -0.45340490658551835, + -0.22362551259585267 + ], + [ + 0.010440265394328284, + 0.4532868414914464, + 0.8913035623115193, + 0.638203740814931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9996230352970821, + -0.027437545939436456, + -0.0009840611109987766, + 0.1218261696918319 + ], + [ + 0.023687678057584215, + 0.8800181021486051, + -0.47434906324246895, + -0.22366700572825646 + ], + [ + 0.01388096580534328, + 0.4741469402659779, + 0.8803362981410697, + 0.6342887606474766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9995603726660094, + -0.02946033620785138, + -0.0033391595213828193, + 0.12219776100820111 + ], + [ + 0.023942402274938594, + 0.8684668104493259, + -0.49516882022324465, + -0.2236513797313562 + ], + [ + 0.017487789142538734, + 0.4948711829744134, + 0.8687903599214319, + 0.6299009312889566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9994878714618995, + -0.031506697379274404, + -0.0055966794452198465, + 0.12266613235993232 + ], + [ + 0.024105954204711108, + 0.8563450964072309, + -0.5158410402742024, + -0.22364159930301447 + ], + [ + 0.021045136550806545, + 0.5154419500579495, + 0.8566660366490647, + 0.6258201005152675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_045/orbit_left/transforms.json b/spatialvid_eval/camera_controls/scene_045/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7a928d30eab1ce411447bb01a1a9801f89f6c5fe --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_045/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": [ + [ + 0.9999999987930897, + 1.0974241700399624e-05, + 4.788932143218456e-05, + -4.94368018973278e-05 + ], + [ + -1.0978637491440877e-05, + 0.9999999957269105, + 9.179133371441396e-05, + -0.00011823670054394975 + ], + [ + -4.7888313887267015e-05, + -9.179185936312976e-05, + 0.9999999946404821, + -3.455040860072317e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999976774770735, + 0.0015863364545277295, + 0.0014589643970531246, + -0.0053825381756602945 + ], + [ + -0.001586922981673018, + 0.9999986604578416, + 0.0004009463466149307, + -0.003067864289081704 + ], + [ + -0.001458326406902862, + -0.00040326067953897474, + 0.9999988553318024, + 0.014020289217891313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999987533021909, + 0.0035202230791842215, + 0.003541444652877038, + -0.011012611244313224 + ], + [ + -0.003522309542504268, + 0.9999936266495677, + 0.0005830915295417696, + -0.006021400515543383 + ], + [ + -0.0035393694697496586, + -0.0005955583244475252, + 0.9999935590662766, + 0.02855153578967861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999794635828795, + 0.003060878583213738, + 0.0056305803249496475, + -0.01687556931636165 + ], + [ + -0.003065036447755514, + 0.999995036340798, + 0.0007299625608267805, + -0.00789288544200856 + ], + [ + -0.005628318049898821, + -0.0007472055039291347, + 0.9999838817300328, + 0.0430898056133326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999641173052828, + 0.002799944081463589, + 0.007995274542384564, + -0.023385517164565862 + ], + [ + -0.0028111313309211387, + 0.999995085017614, + 0.001388337587057177, + -0.009887260226272343 + ], + [ + -0.007991347978141062, + -0.0014107635365287888, + 0.9999670735097915, + 0.05880721350362708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999404239178334, + 0.0026361949891954522, + 0.010592407233588471, + -0.030539508099317395 + ], + [ + -0.002666349196991142, + 0.9999924304394561, + 0.0028336629561638996, + -0.013473840073525782 + ], + [ + -0.010584856965634503, + -0.002861737194148273, + 0.9999398838246469, + 0.07725701580115224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999036658497544, + 0.0025259201904814783, + 0.013648397247086084, + -0.03693685476965811 + ], + [ + -0.0025840387131844307, + 0.9999876626918107, + 0.004242311645605837, + -0.016584840175748784 + ], + [ + -0.013637513121963006, + -0.004277170952977771, + 0.9998978568056277, + 0.09419058268171537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998528957534984, + 0.00251152067089668, + 0.01696700083290443, + -0.04286138634731115 + ], + [ + -0.0026044691253257948, + 0.9999817115944911, + 0.005458316327171256, + -0.01868851631886452 + ], + [ + -0.016952981859228944, + -0.005501703415479455, + 0.9998411512163365, + 0.11072003265716172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997858324292648, + 0.002614870661571593, + 0.020529289445712206, + -0.048129116115681464 + ], + [ + -0.002749036058982288, + 0.9999750322258363, + 0.006509817638337058, + -0.02091940095267297 + ], + [ + -0.020511754543894912, + -0.006564859203459072, + 0.9997680583761266, + 0.12735784670497816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997005672014213, + 0.002791921612351399, + 0.024310103061636595, + -0.05263317129665111 + ], + [ + -0.0029744020991940884, + 0.9999676497667302, + 0.007473443125799281, + -0.024033233384611476 + ], + [ + -0.024288451356750135, + -0.0075435133533872595, + 0.9996765309523769, + 0.14387241697488187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9995985602355596, + 0.0030588954198939263, + 0.028166674170136016, + -0.056871549615649664 + ], + [ + -0.0032927879864977686, + 0.9999604539419232, + 0.008261240798987523, + -0.027185346900502824 + ], + [ + -0.028140290017560788, + -0.008350671294754215, + 0.9995691023469336, + 0.159810815176437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9994724041374792, + 0.003991492124848307, + 0.032233233754387136, + -0.06120867459210894 + ], + [ + -0.004263447664407792, + 0.999955858660406, + 0.008372797904098134, + -0.029558003221179928 + ], + [ + -0.03219839097937262, + -0.00850580515573266, + 0.9994453036044505, + 0.1761807938781598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993175540573194, + 0.0057203301612652885, + 0.036492519449105684, + -0.06549112334970858 + ], + [ + -0.006002795470288321, + 0.9999528316992163, + 0.007635497577848111, + -0.0313050852332575 + ], + [ + -0.036447120591881106, + -0.007849343893954258, + 0.9993047559183315, + 0.19244184167193007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999178041835316, + 0.005009842283737047, + 0.040226138199378474, + -0.06986999184077254 + ], + [ + -0.0052834299507037155, + 0.9999636116629337, + 0.006697814417964312, + -0.03384316512131818 + ], + [ + -0.04019111944322305, + -0.0069048410780816714, + 0.9991681525587106, + 0.20879618711864806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9989866066448387, + 0.0061358248767905505, + 0.04458824281480366, + -0.07383715758506236 + ], + [ + -0.006376454324436941, + 0.9999658545535408, + 0.005256477647208704, + -0.03636651068695658 + ], + [ + -0.04455446750303388, + -0.005535465661404968, + 0.9989916206082176, + 0.22518947691927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9987695229831587, + 0.00692963252725019, + 0.0491062129778987, + -0.07721536363021618 + ], + [ + -0.00711749051675508, + 0.9999680026474544, + 0.003651713297095995, + -0.03836004673604926 + ], + [ + -0.04907933667784613, + -0.003996732952995774, + 0.9987868865964175, + 0.24151603060850171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9985239291486715, + 0.0071613127355136565, + 0.053839377015372246, + -0.07955344504316358 + ], + [ + -0.007281917278717228, + 0.9999713969672288, + 0.0020442426850166935, + -0.040768526135803826 + ], + [ + -0.05382319758473239, + -0.002433279127739909, + 0.9985475164229501, + 0.2587245620135111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9982348482105069, + 0.0076452732726622055, + 0.058895989801791705, + -0.08116158023352342 + ], + [ + -0.007702373770426867, + 0.9999700605767209, + 0.0007425553783920237, + -0.043337818353781664 + ], + [ + -0.05888854945103569, + -0.0011948835824697058, + 0.9982638483871774, + 0.274709463613929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9978890069390396, + 0.008474285160037051, + 0.06438723725431998, + -0.0828468824894401 + ], + [ + -0.008467278422848173, + 0.9999640791049164, + -0.00038170141047543296, + -0.04563211332994058 + ], + [ + -0.06438815905372419, + -0.00016428902326374905, + 0.9979249160046008, + 0.2902740962895184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9974793304354261, + 0.009108820955383143, + 0.07037055303815934, + -0.08488699202597937 + ], + [ + -0.009026946232077167, + 0.9999581589596592, + -0.0014814086985025124, + -0.047250310916681984 + ], + [ + -0.07038110254760727, + 0.0008424433580865034, + 0.9975198196995243, + 0.3061382128435072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9969858167825641, + 0.00960203918691723, + 0.07698754430332541, + -0.08759266329219109 + ], + [ + -0.00944923514382084, + 0.9999525963545777, + -0.002348829269200928, + -0.04906050023931088 + ], + [ + -0.07700644836375957, + 0.0016142760581696336, + 0.9970292879465517, + 0.32260169215683043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9964008706727532, + 0.010270860803228017, + 0.08414163262583177, + -0.0907248089735775 + ], + [ + -0.010055031610383824, + 0.9999449812252235, + -0.0029884547515308013, + -0.05141085651017566 + ], + [ + -0.08416769725906671, + 0.0021316521405893756, + 0.9964493237477047, + 0.33908887662654996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9957394131229661, + 0.010997838507979791, + 0.09155363838583129, + -0.0935427857657254 + ], + [ + -0.010719168016659222, + 0.9999362996636301, + -0.0035349755356402913, + -0.05360418876712944 + ], + [ + -0.09158668347834087, + 0.0025385356328683187, + 0.9957938718662006, + 0.3547304375772761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9950172804877341, + 0.011503818405754351, + 0.09903672900940251, + -0.09563242060543094 + ], + [ + -0.011164241064895166, + 0.9999297478960933, + -0.003982335232108371, + -0.05526235600596548 + ], + [ + -0.09907558353216654, + 0.0028568224557032943, + 0.9950758098322047, + 0.36975362603857453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.994245172154376, + 0.011941061986065695, + 0.10646101956284806, + -0.0970112404983935 + ], + [ + -0.01153874237814107, + 0.9999237712348418, + -0.004394217088817073, + -0.05703653984130191 + ], + [ + -0.10650537578942704, + 0.0031405028479046903, + 0.9943071669106163, + 0.3856966242107182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9934113138836136, + 0.012059858687904166, + 0.11396719377285838, + -0.09702051139069924 + ], + [ + -0.011637616137712147, + 0.999922733400957, + -0.0043695673229714824, + -0.05958915900672081 + ], + [ + -0.1140110842798354, + 0.0030144711619952205, + 0.9934749043760239, + 0.4029144228294735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9925411259790994, + 0.012208255245726303, + 0.12129745151484841, + -0.09739561522131046 + ], + [ + -0.011769029529435463, + 0.9999213377354318, + -0.004336852005754716, + -0.061568665511234306 + ], + [ + -0.12134085537887511, + 0.002876950684272984, + 0.9926067297629426, + 0.4179205247634516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9916033936452803, + 0.012282042955994533, + 0.12873174096543075, + -0.09815268343030584 + ], + [ + -0.01187677864813055, + 0.9999218030637337, + -0.003915339923349428, + -0.06358202015447245 + ], + [ + -0.1287697629108129, + 0.0023535459628332427, + 0.991671724403441, + 0.43215535717907966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.990594124230632, + 0.011687365835196868, + 0.1363329986451607, + -0.099335963761984 + ], + [ + -0.011347242315887704, + 0.9999302656379071, + -0.0032716896443917972, + -0.06572466083091431 + ], + [ + -0.13636172898424118, + 0.0016939129667624916, + 0.9906576651534521, + 0.44603566282441304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9894669120052698, + 0.010590356010673223, + 0.14437130742056253, + -0.10043260991183393 + ], + [ + -0.010352503940718676, + 0.9999435344481076, + -0.002398661623408722, + -0.06858395218590793 + ], + [ + -0.14438855809555265, + 0.0008787917804616948, + 0.9895206779123383, + 0.46063177433894387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9882307876705794, + 0.008411822110754844, + 0.15273883444875264, + -0.10172220335677809 + ], + [ + -0.008281776416589826, + 0.9999645989511156, + -0.0014876235815923862, + -0.07065474124331063 + ], + [ + -0.15274594095874386, + 0.00020516654675927504, + 0.9882654680941333, + 0.47590798591111194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9868286844148317, + 0.006946050399853713, + 0.16161961514598264, + -0.1024503056903498 + ], + [ + -0.006894812182079889, + 0.9999758451456575, + -0.000877889629675473, + -0.07235936306674504 + ], + [ + -0.16162180911333313, + -0.00024801022305751344, + 0.9868527394246128, + 0.49141811747521497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9853109000068282, + 0.005464263350373908, + 0.17068266506523683, + -0.10207073728477119 + ], + [ + -0.005472079020648146, + 0.9999849378944982, + -0.00042465907297512483, + -0.07412888462579478 + ], + [ + -0.1706824146739372, + -0.0005155678173026111, + 0.9853259600309433, + 0.5057533907246627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9837028251946159, + 0.0032554139846248083, + 0.1797725061958018, + -0.10039537678261737 + ], + [ + -0.0032999628589970723, + 0.9999945537944167, + -5.125070419962813e-05, + -0.07648106043775746 + ], + [ + -0.179771693960034, + -0.0005428271310005792, + 0.983708210492037, + 0.5194616446209475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9819055572671588, + 0.0010134625762083763, + 0.1893685546796972, + -0.09842873331802093 + ], + [ + -0.0010791565102884907, + 0.9999993879915087, + 0.00024379875914836083, + -0.07911306454038401 + ], + [ + -0.18936819170361519, + -0.00044374566508913025, + 0.9819060500173568, + 0.5329150116263881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9798601498732408, + -0.00016064672524094439, + 0.19968490399381744, + -0.09699061264976626 + ], + [ + 0.00013437148031376006, + 0.9999999804399269, + 0.00014513597512934604, + -0.08117841953578217 + ], + [ + -0.19968492340358523, + -0.00011538100219627964, + 0.9798601522934428, + 0.5461703053026374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9775302896820361, + -0.0005874467548122258, + 0.21079418317511814, + -0.09527162680278335 + ], + [ + 0.0007359838070303309, + 0.9999995330986103, + -0.0006262031597212896, + -0.0828600286488577 + ], + [ + -0.21079371689400705, + 0.0007672736615552306, + 0.9775302656230844, + 0.5610248124266852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9753057485675547, + -0.0014236656219353378, + 0.2208544090283895, + -0.09386608692250983 + ], + [ + 0.001754580821695779, + 0.9999976128936094, + -0.0013021725013208814, + -0.08490275611376176 + ], + [ + -0.22085202796719433, + 0.001657523236633014, + 0.9753059183453662, + 0.5745462269339503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9731284364046522, + -0.0019794585446074966, + 0.23025448530812045, + -0.09230602132610444 + ], + [ + 0.0025138355206989482, + 0.9999947849621647, + -0.0020274810601636725, + -0.08730605272537566 + ], + [ + -0.2302492712075592, + 0.0025518213778849283, + 0.9731283375362385, + 0.5867188772600739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9710432470979157, + -0.0020001747662034123, + 0.23889539879713279, + -0.09064889087868364 + ], + [ + 0.002790309026063734, + 0.9999916986762601, + -0.0029693019561786655, + -0.08926867225157191 + ], + [ + -0.2388874765262414, + 0.003549912600690659, + 0.9710407672592598, + 0.5975803420611512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.969115803006446, + -0.001537283897208805, + 0.2466012918080341, + -0.08908961243793004 + ], + [ + 0.0026586510082292052, + 0.9999875851367382, + -0.004214397609577558, + -0.09067818607182317 + ], + [ + -0.24659175156113444, + 0.004739866096690255, + 0.9691078586676498, + 0.6081591747206212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.967544681686916, + -0.0010008280466354675, + 0.2526980159846642, + -0.08598966271881736 + ], + [ + 0.002441518361947743, + 0.9999825055474703, + -0.005387725595476776, + -0.09176912397993532 + ], + [ + -0.2526882029843356, + 0.0058298320923463485, + 0.9675301985624647, + 0.6185341359945312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9663910299103528, + -0.0007267314492208701, + 0.2570755709323789, + -0.0813990372559393 + ], + [ + 0.0024532952359529953, + 0.9999765391536614, + -0.006395505042730169, + -0.09320249829557468 + ], + [ + -0.2570648919072636, + 0.006811240978489164, + 0.9663701404456991, + 0.6299987474153486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9655484044287264, + -0.00035826037918738543, + 0.26022327020203534, + -0.0775246296662489 + ], + [ + 0.0023040197880762232, + 0.9999716245915755, + -0.007172273314747574, + -0.09446048361655944 + ], + [ + -0.2602133167191044, + 0.007524736619044648, + 0.9655218320373999, + 0.6398502511495193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9650616285009971, + -0.00043517229201918265, + 0.26202263989983715, + -0.07469680269674378 + ], + [ + 0.002540581014610101, + 0.9999671540696099, + -0.007696507651739072, + -0.09580888989681338 + ], + [ + -0.262010684215571, + 0.008093293952485241, + 0.9650310357443883, + 0.6477349293337226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9649845071296738, + -0.0005326677628450659, + 0.2623063424028384, + -0.07175564635112058 + ], + [ + 0.0027828201915430684, + 0.9999624503752685, + -0.008206933122075101, + -0.09721479976960448 + ], + [ + -0.26229212132941054, + 0.008649514699860267, + 0.9649497546421651, + 0.6553254794202412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.965172451303469, + -0.0006729302219443194, + 0.26161362045919867, + -0.0695139784869299 + ], + [ + 0.003125956487416622, + 0.9999549679614602, + -0.00896049358205664, + -0.09850083217669031 + ], + [ + -0.2615958096776247, + 0.00946621434955359, + 0.965131091171037, + 0.6617972118634771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9656271879378511, + -0.0011279991389479365, + 0.2599285700595089, + -0.06756777959132584 + ], + [ + 0.003923261734693075, + 0.9999399203421191, + -0.010235415162947159, + -0.10005180706950724 + ], + [ + -0.25990140810045564, + 0.010903362973841065, + 0.9655735988226177, + 0.6679316432474991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9663047476427565, + -0.0018081006728628828, + 0.2573943772793531, + -0.06593149488024239 + ], + [ + 0.00510443714994153, + 0.999913291525288, + -0.012138951867740663, + -0.10181164760617031 + ], + [ + -0.2573501105584598, + 0.013043780242775502, + 0.9662301901682266, + 0.6733890800712035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9671818642754011, + -0.0023124097871757734, + 0.25407458388775533, + -0.06457041296915834 + ], + [ + 0.00629885702721521, + 0.9998694814726838, + -0.014877648325502542, + -0.10355606372164011 + ], + [ + -0.25400701922763974, + 0.015989771121651515, + 0.9670701946614666, + 0.6781127627497434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9682413380561693, + -0.0025007056878522597, + 0.25000491545220044, + -0.06336002261448281 + ], + [ + 0.007435683586332292, + 0.99979567089215, + -0.01879699643346051, + -0.10524334618613113 + ], + [ + -0.24990682641497233, + 0.020058986424501157, + 0.9680620926236182, + 0.6826553733631413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9694237598815839, + -0.00272269753787688, + 0.24537758800503803, + -0.06198982207379014 + ], + [ + 0.008896940402325674, + 0.999670993083249, + -0.02405722426690831, + -0.10693472071861308 + ], + [ + -0.24523135653608902, + 0.025504754577687985, + 0.9691290364370482, + 0.6867424802621495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9705840976602943, + -0.00258033727896424, + 0.24074852279604747, + -0.060438076003149 + ], + [ + 0.010257466047981651, + 0.9994778244872121, + -0.0306408672949085, + -0.10868247901720056 + ], + [ + -0.24054374604056267, + 0.03220900833363979, + 0.970103750133426, + 0.6905607174012472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9716784643545008, + -0.0028343002661935703, + 0.2362899249897889, + -0.05904792684103932 + ], + [ + 0.012276179198683056, + 0.9991832948910082, + -0.03849725490252859, + -0.11057627995665324 + ], + [ + -0.23598783302102852, + 0.04030769098757079, + 0.9709196839663359, + 0.6940792661999791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9725669540966684, + -0.0024997332864518523, + 0.23260969698751985, + -0.05882044610657798 + ], + [ + 0.013990352772229712, + 0.9987607597712472, + -0.04776206413535408, + -0.11250821729523647 + ], + [ + -0.2322020452718661, + 0.0497060969565879, + 0.9713966821525101, + 0.697090940062905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.973243679111926, + -0.0027863227220715214, + 0.22975851991682875, + -0.05935867410267781 + ], + [ + 0.01657531739475669, + 0.9981727449415775, + -0.05810705730856258, + -0.11450044927703079 + ], + [ + -0.2291767874850034, + 0.060360646629123924, + 0.9715114988596731, + 0.7002344414215054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9737944265750953, + -0.00298846191998876, + 0.2274103864528493, + -0.06045316524626017 + ], + [ + 0.019518406036358904, + 0.9973226597517958, + -0.07047371262679215, + -0.11685030298433254 + ], + [ + -0.226590923465794, + 0.07306559683569712, + 0.9712455775765273, + 0.7027626353692785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9738958388060742, + -0.0031146711767270647, + 0.2269739940602758, + -0.06290412304705321 + ], + [ + 0.022415256324044865, + 0.9963384028592998, + -0.08250662562308148, + -0.11931536693936684 + ], + [ + -0.22588592572389413, + 0.08544053962400298, + 0.9703996407401534, + 0.7061687930181559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9737218542797937, + -0.003478243907470727, + 0.2277139704041908, + -0.0664569181901612 + ], + [ + 0.02577917585640688, + 0.9951402459076226, + -0.09503328399608821, + -0.12164982063221536 + ], + [ + -0.22627678756356118, + 0.09840626399897949, + 0.9690794717749822, + 0.7104337212064119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9733264075991164, + -0.004221838574937652, + 0.2293858765252264, + -0.07033875046895148 + ], + [ + 0.029718964061035656, + 0.9937268380214045, + -0.10781351757140875, + -0.1239138555178282 + ], + [ + -0.2274917304987988, + 0.1117548543689658, + 0.9673460420550825, + 0.7147726086192302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9727431060525276, + -0.004986967717953203, + 0.23183179199639858, + -0.07447423854017149 + ], + [ + 0.033861012682820046, + 0.9921069656914419, + -0.12073607765127181, + -0.12604250454151658 + ], + [ + -0.2293998287867173, + 0.12529524643616824, + 0.965234075120188, + 0.7192512032945694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9720623729421399, + -0.00572417305111999, + 0.23465288609556323, + -0.07857790050488986 + ], + [ + 0.03814184407231351, + 0.990267614464789, + -0.1338478668973839, + -0.12806300358422443 + ], + [ + -0.2316029853884873, + 0.13905856890208998, + 0.9628202176803534, + 0.7232938393680847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9713644983860333, + -0.006444253676826247, + 0.23750680594416396, + -0.0821820046264561 + ], + [ + 0.04255979624408996, + 0.9881831730810953, + -0.1472503996023105, + -0.1301032347166073 + ], + [ + -0.23375131019720852, + 0.15314205181440954, + 0.9601603183568677, + 0.7262498116221188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9706751637066104, + -0.006876148411338117, + 0.2402965774749407, + -0.08534494294793737 + ], + [ + 0.04686430254974879, + 0.9858250971404681, + -0.16109815329330215, + -0.13214336818237885 + ], + [ + -0.2357826620209182, + 0.1676353078292635, + 0.957238183452435, + 0.7284280711112988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9700473461363529, + -0.007092044493639243, + 0.24281237439372688, + -0.0882494375728451 + ], + [ + 0.051159419625648676, + 0.9831189806008799, + -0.17566952998700153, + -0.1341048116318786 + ], + [ + -0.23746759786839539, + 0.18282990151282003, + 0.9540347829484137, + 0.7299291735666201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9695115539410776, + -0.0071463265796316445, + 0.2449413741922229, + -0.09083674012027988 + ], + [ + 0.05593585545218804, + 0.9796384820401339, + -0.19282018717171262, + -0.1361151976379669 + ], + [ + -0.23857603997381888, + 0.20064240459713298, + 0.9501705629137809, + 0.7305602989301963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9690586185605491, + -0.007538411909047279, + 0.2467155571491386, + -0.09351750093444787 + ], + [ + 0.06098716803991581, + 0.9758553910981477, + -0.20973035307068102, + -0.13792883707088832 + ], + [ + -0.23917767272049334, + 0.21828748935880635, + 0.9461208236062865, + 0.730680831512033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9687393245388882, + -0.008004830837382872, + 0.2479516964555874, + -0.09640805567368961 + ], + [ + 0.06636772011943907, + 0.9714116838732574, + -0.2279356623274886, + -0.13970004861190902 + ], + [ + -0.2390385885544145, + 0.23726622835495997, + 0.9415759608571821, + 0.7302402567141361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9685333350740033, + -0.009253304332567677, + 0.24871179145621006, + -0.09939310484109443 + ], + [ + 0.07270438096035244, + 0.9662390208515619, + -0.24717651096531604, + -0.14195174221382667 + ], + [ + -0.23802783837106195, + 0.25748112735255746, + 0.9365074571073397, + 0.7282854245772826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9684007771584341, + -0.010514938796948203, + 0.2491773883421961, + -0.10270884304997163 + ], + [ + 0.0792359319970725, + 0.960317346843206, + -0.2674177638687847, + -0.14396872048719103 + ], + [ + -0.23647748704579996, + 0.278711372954392, + 0.9308052259771545, + 0.7264765683103905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9683304852018941, + -0.011793346717725731, + 0.2493932404895125, + -0.10623115941068116 + ], + [ + 0.0858401313745104, + 0.9537162015753445, + -0.2881959033336591, + -0.14634955204313116 + ], + [ + -0.23445157980758227, + 0.30047682743581494, + 0.9245248146479556, + 0.7245795622521004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9682836801364224, + -0.01314883715947544, + 0.24950715994299674, + -0.10984286055522766 + ], + [ + 0.09255970753761025, + 0.9464402250148761, + -0.30932765963350706, + -0.14831213842440036 + ], + [ + -0.2320763135738299, + 0.3226112343907824, + 0.9176396766284887, + 0.7226579319559471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9682522589390589, + -0.014971331231815939, + 0.2495263959996163, + -0.11334439140967652 + ], + [ + 0.09964915886914187, + 0.9385796699800457, + -0.33036078495611654, + -0.15044259281491798 + ], + [ + -0.2292544616710493, + 0.3447376717756506, + 0.9102737662168572, + 0.720498700159243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9682166911567663, + -0.017139133513802227, + 0.24952492674648566, + -0.11665522801775116 + ], + [ + 0.10695915211320597, + 0.9301957241807396, + -0.35113480957474685, + -0.15236526390220778 + ], + [ + -0.2260888735534481, + 0.36666355807233664, + 0.9024642133830391, + 0.7182468066789156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9681634318654168, + -0.019323292754211012, + 0.2495719927309832, + -0.11980355253889415 + ], + [ + 0.11416774412682841, + 0.9213653423505899, + -0.3715530004133624, + -0.1541271054012895 + ], + [ + -0.2227673571230083, + 0.3882170994074271, + 0.894238328594852, + 0.7158887986355353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9680652323125787, + -0.021493953150963373, + 0.24977533097873672, + -0.1229368177513088 + ], + [ + 0.1213012812756221, + 0.9120856857063526, + -0.3916448660335859, + -0.1557593101017462 + ], + [ + -0.21939850762593097, + 0.4094358458995954, + 0.8855656852791877, + 0.7134021622098963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9679568199498558, + -0.023877360418525135, + 0.24997893185627992, + -0.1261670850926014 + ], + [ + 0.12900190329113798, + 0.9013559071732405, + -0.4134199288268155, + -0.15710476916718327 + ], + [ + -0.21544861025271592, + 0.4324203976032458, + 0.8755538224899853, + 0.7107525728201881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.967749400988998, + -0.025770841614491388, + 0.2505932174020611, + -0.1295124988530532 + ], + [ + 0.13590195557468687, + 0.8909920892203194, + -0.4332017490936374, + -0.15861731733362963 + ], + [ + -0.2121126006544913, + 0.4532868414914465, + 0.8657593684011146, + 0.7084633312164533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9674828087976599, + -0.027437545939436456, + 0.2514442199650097, + -0.13313512630139285 + ], + [ + 0.1426893188223944, + 0.8800181021486051, + -0.4529987838667656, + -0.15960176849996638 + ], + [ + -0.208846290306991, + 0.4741469402659779, + 0.8553174299997747, + 0.7062620591146657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9671962969358341, + -0.029460336207851386, + 0.2523160949763828, + -0.1362952494661742 + ], + [ + 0.14973995626358802, + 0.8684668104493262, + -0.47259215465997084, + -0.16067113506413444 + ], + [ + -0.2052054304636927, + 0.4948711829744135, + 0.8443892725335371, + 0.7035331371037555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9668796753374941, + -0.031506697379274404, + 0.2532805192657208, + -0.13936173608893573 + ], + [ + 0.15679404920213202, + 0.8563450964072309, + -0.49202510301212304, + -0.16182302692437067 + ], + [ + -0.2013934446650679, + 0.5154419500579495, + 0.8329227314501609, + 0.7011076007199661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_045/pan_right/transforms.json b/spatialvid_eval/camera_controls/scene_045/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..50039ccaea8ff0c1d193af1a9cf7c2a2efc59ae7 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_045/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": [ + [ + 0.9999999987930897, + 1.0974241700399624e-05, + 4.788932143218456e-05, + -4.94368018973278e-05 + ], + [ + -1.0978637491440877e-05, + 0.9999999957269105, + 9.179133371441396e-05, + -0.00011823670054394975 + ], + [ + -4.7888313887267015e-05, + -9.179185936312976e-05, + 0.9999999946404821, + -3.455040860072317e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999976774770735, + 0.0015863364545277295, + 0.0014589643970531246, + -0.0021465370742666154 + ], + [ + -0.001586922981673018, + 0.9999986604578416, + 0.0004009463466149307, + -0.0030731670752440626 + ], + [ + -0.001458326406902862, + -0.00040326067953897474, + 0.9999988553318024, + 0.013600232034993585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999987533021909, + 0.0035202230791842215, + 0.003541444652877038, + -0.004539645859045858 + ], + [ + -0.003522309542504268, + 0.9999936266495677, + 0.0005830915295417696, + -0.006044682690406481 + ], + [ + -0.0035393694697496586, + -0.0005955583244475252, + 0.9999935590662766, + 0.027719133122618506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999794635828795, + 0.003060878583213738, + 0.0056305803249496475, + -0.00716463583290472 + ], + [ + -0.003065036447755514, + 0.999995036340798, + 0.0007299625608267805, + -0.007923533959056199 + ], + [ + -0.005628318049898821, + -0.0007472055039291347, + 0.9999838817300328, + 0.04185269401356751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999641173052828, + 0.002799944081463589, + 0.007995274542384564, + -0.010436103968707826 + ], + [ + -0.0028111313309211387, + 0.999995085017614, + 0.001388337587057177, + -0.009925828463711713 + ], + [ + -0.007991347978141062, + -0.0014107635365287888, + 0.9999670735097915, + 0.057169508118444165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999404239178334, + 0.0026361949891954522, + 0.010592407233588471, + -0.014351355742689175 + ], + [ + -0.002666349196991142, + 0.9999924304394561, + 0.0028336629561638996, + -0.013522342455099024 + ], + [ + -0.010584856965634503, + -0.002861737194148273, + 0.9999398838246469, + 0.07522087903899016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999036658497544, + 0.0025259201904814783, + 0.013648397247086084, + -0.01751053840857317 + ], + [ + -0.0025840387131844307, + 0.9999876626918107, + 0.004242311645605837, + -0.016644342627474645 + ], + [ + -0.013637513121963006, + -0.004277170952977771, + 0.9998978568056277, + 0.0917514954866229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998528957534984, + 0.00251152067089668, + 0.01696700083290443, + -0.020197482160971683 + ], + [ + -0.0026044691253257948, + 0.9999817115944911, + 0.005458316327171256, + -0.018761099496834705 + ], + [ + -0.016952981859228944, + -0.005501703415479455, + 0.9998411512163365, + 0.10787346214805042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997858324292648, + 0.002614870661571593, + 0.020529289445712206, + -0.022228464269974248 + ], + [ + -0.002749036058982288, + 0.9999750322258363, + 0.006509817638337058, + -0.02100853566522098 + ], + [ + -0.020511754543894912, + -0.006564859203459072, + 0.9997680583761266, + 0.12409720824156081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997005672014213, + 0.002791921612351399, + 0.024310103061636595, + -0.023496824202324688 + ], + [ + -0.0029744020991940884, + 0.9999676497667302, + 0.007473443125799281, + -0.024142365458708858 + ], + [ + -0.024288451356750135, + -0.0075435133533872595, + 0.9996765309523769, + 0.14018949826178242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9995985602355596, + 0.0030588954198939263, + 0.028166674170136016, + -0.024500257634303305 + ], + [ + -0.0032927879864977686, + 0.9999604539419232, + 0.008261240798987523, + -0.027318701448826012 + ], + [ + -0.028140290017560788, + -0.008350671294754215, + 0.9995691023469336, + 0.1556999028093975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9994724041374792, + 0.003991492124848307, + 0.032233233754387136, + -0.02560398232728469 + ], + [ + -0.004263447664407792, + 0.999955858660406, + 0.008372797904098134, + -0.02973882882448532 + ], + [ + -0.03219839097937262, + -0.00850580515573266, + 0.9994453036044505, + 0.17163075165055813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993175540573194, + 0.0057203301612652885, + 0.036492519449105684, + -0.026654899714047907 + ], + [ + -0.006002795470288321, + 0.9999528316992163, + 0.007635497577848111, + -0.03156651380839304 + ], + [ + -0.036447120591881106, + -0.007849343893954258, + 0.9993047559183315, + 0.18744012138657004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999178041835316, + 0.005009842283737047, + 0.040226138199378474, + -0.02779977434390141 + ], + [ + -0.0052834299507037155, + 0.9999636116629337, + 0.006697814417964312, + -0.034091491385863114 + ], + [ + -0.04019111944322305, + -0.0069048410780816714, + 0.9991681525587106, + 0.20335767326458132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9989866066448387, + 0.0061358248767905505, + 0.04458824281480366, + -0.028537489358034792 + ], + [ + -0.006376454324436941, + 0.9999658545535408, + 0.005256477647208704, + -0.03667716732948834 + ], + [ + -0.04455446750303388, + -0.005535465661404968, + 0.9989916206082176, + 0.2192829812775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9987695229831587, + 0.00692963252725019, + 0.0491062129778987, + -0.028688211945223585 + ], + [ + -0.00711749051675508, + 0.9999680026474544, + 0.003651713297095995, + -0.03872187053651051 + ], + [ + -0.04907933667784613, + -0.003996732952995774, + 0.9987868865964175, + 0.23512658838487804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9985239291486715, + 0.0071613127355136565, + 0.053839377015372246, + -0.027801291337763205 + ], + [ + -0.007281917278717228, + 0.9999713969672288, + 0.0020442426850166935, + -0.04115592051213858 + ], + [ + -0.05382319758473239, + -0.002433279127739909, + 0.9985475164229501, + 0.2518326530381737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9982348482105069, + 0.0076452732726622055, + 0.058895989801791705, + -0.026188329651439964 + ], + [ + -0.007702373770426867, + 0.9999700605767209, + 0.0007425553783920237, + -0.04376698477102727 + ], + [ + -0.05888854945103569, + -0.0011948835824697058, + 0.9982638483871774, + 0.2672877825446368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9978890069390396, + 0.008474285160037051, + 0.06438723725431998, + -0.024657967946953338 + ], + [ + -0.008467278422848173, + 0.9999640791049164, + -0.00038170141047543296, + -0.046126552965519124 + ], + [ + -0.06438815905372419, + -0.00016428902326374905, + 0.9979249160046008, + 0.2822856144534135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9974793304354261, + 0.009108820955383143, + 0.07037055303815934, + -0.023488908564487692 + ], + [ + -0.009026946232077167, + 0.9999581589596592, + -0.0014814086985025124, + -0.04780235298853209 + ], + [ + -0.07038110254760727, + 0.0008424433580865034, + 0.9975198196995243, + 0.29753801990549156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9969858167825641, + 0.00960203918691723, + 0.07698754430332541, + -0.022994208686424746 + ], + [ + -0.00944923514382084, + 0.9999525963545777, + -0.002348829269200928, + -0.04966584043986784 + ], + [ + -0.07700644836375957, + 0.0016142760581696336, + 0.9970292879465517, + 0.31333104279150564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9964008706727532, + 0.010270860803228017, + 0.08414163262583177, + -0.022935413792713504 + ], + [ + -0.010055031610383824, + 0.9999449812252235, + -0.0029884547515308013, + -0.05208583369988541 + ], + [ + -0.08416769725906671, + 0.0021316521405893756, + 0.9964493237477047, + 0.32908940807348175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9957394131229661, + 0.010997838507979791, + 0.09155363838583129, + -0.02257015851229183 + ], + [ + -0.010719168016659222, + 0.9999362996636301, + -0.0035349755356402913, + -0.054357436949396626 + ], + [ + -0.09158668347834087, + 0.0025385356328683187, + 0.9957938718662006, + 0.3439583638818584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9950172804877341, + 0.011503818405754351, + 0.09903672900940251, + -0.02148265970526911 + ], + [ + -0.011164241064895166, + 0.9999297478960933, + -0.003982335232108371, + -0.05608234550236511 + ], + [ + -0.09907558353216654, + 0.0028568224557032943, + 0.9950758098322047, + 0.35817660495096193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.994245172154376, + 0.011941061986065695, + 0.10646101956284806, + -0.01968928467791786 + ], + [ + -0.01153874237814107, + 0.9999237712348418, + -0.004394217088817073, + -0.05792095556342509 + ], + [ + -0.10650537578942704, + 0.0031405028479046903, + 0.9943071669106163, + 0.37329161615370404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9934113138836136, + 0.012059858687904166, + 0.11396719377285838, + -0.016532954324353016 + ], + [ + -0.011637616137712147, + 0.999922733400957, + -0.0043695673229714824, + -0.06051990813085391 + ], + [ + -0.1140110842798354, + 0.0030144711619952205, + 0.9934749043760239, + 0.3896479645049644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9925411259790994, + 0.012208255245726303, + 0.12129745151484841, + -0.013746100236181431 + ], + [ + -0.011769029529435463, + 0.9999213377354318, + -0.004336852005754716, + -0.06254927448504743 + ], + [ + -0.12134085537887511, + 0.002876950684272984, + 0.9926067297629426, + 0.40377958260150654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9916033936452803, + 0.012282042955994533, + 0.12873174096543075, + -0.011348703186795869 + ], + [ + -0.01187677864813055, + 0.9999218030637337, + -0.003915339923349428, + -0.0646128080195285 + ], + [ + -0.1287697629108129, + 0.0023535459628332427, + 0.991671724403441, + 0.4171044705346585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.990594124230632, + 0.011687365835196868, + 0.1363329986451607, + -0.00938584816321781 + ], + [ + -0.011347242315887704, + 0.9999302656379071, + -0.0032716896443917972, + -0.0667489042533989 + ], + [ + -0.13636172898424118, + 0.0016939129667624916, + 0.9906576651534521, + 0.43003253224448057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9894669120052698, + 0.010590356010673223, + 0.14437130742056253, + -0.007350235473495486 + ], + [ + -0.010352503940718676, + 0.9999435344481076, + -0.002398661623408722, + -0.06955482113403899 + ], + [ + -0.14438855809555265, + 0.0008787917804616948, + 0.9895206779123383, + 0.44360685845631015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9882307876705794, + 0.008411822110754844, + 0.15273883444875264, + -0.005520725186788628 + ], + [ + -0.008281776416589826, + 0.9999645989511156, + -0.0014876235815923862, + -0.07146028382498201 + ], + [ + -0.15274594095874386, + 0.00020516654675927504, + 0.9882654680941333, + 0.4577975454068696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9868286844148317, + 0.006946050399853713, + 0.16161961514598264, + -0.003149632122819536 + ], + [ + -0.006894812182079889, + 0.9999758451456575, + -0.000877889629675473, + -0.07305390945088744 + ], + [ + -0.16162180911333313, + -0.00024801022305751344, + 0.9868527394246128, + 0.47213615370283823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9853109000068282, + 0.005464263350373908, + 0.17068266506523683, + 0.00031456208279313693 + ], + [ + -0.005472079020648146, + 0.9999849378944982, + -0.00042465907297512483, + -0.07469892775944494 + ], + [ + -0.1706824146739372, + -0.0005155678173026111, + 0.9853259600309433, + 0.48524336606016866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9837028251946159, + 0.0032554139846248083, + 0.1797725061958018, + 0.005062574777449673 + ], + [ + -0.0032999628589970723, + 0.9999945537944167, + -5.125070419962813e-05, + -0.07683619435203408 + ], + [ + -0.179771693960034, + -0.0005428271310005792, + 0.983708210492037, + 0.49768180133273865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9819055572671588, + 0.0010134625762083763, + 0.1893685546796972, + 0.010077499629496922 + ], + [ + -0.0010791565102884907, + 0.9999993879915087, + 0.00024379875914836083, + -0.07923330199089518 + ], + [ + -0.18936819170361519, + -0.00044374566508913025, + 0.9819060500173568, + 0.5097702885222208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9798601498732408, + -0.00016064672524094439, + 0.19968490399381744, + 0.014531497070523433 + ], + [ + 0.00013437148031376006, + 0.9999999804399269, + 0.00014513597512934604, + -0.08116334617987811 + ], + [ + -0.19968492340358523, + -0.00011538100219627964, + 0.9798601522934428, + 0.5215362142894571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9775302896820361, + -0.0005874467548122258, + 0.21079418317511814, + 0.01922837660607787 + ], + [ + 0.0007359838070303309, + 0.9999995330986103, + -0.0006262031597212896, + -0.08277261450744716 + ], + [ + -0.21079371689400705, + 0.0007672736615552306, + 0.9775302656230844, + 0.534761112552791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9753057485675547, + -0.0014236656219353378, + 0.2208544090283895, + 0.023621681857507994 + ], + [ + 0.001754580821695779, + 0.9999976128936094, + -0.0013021725013208814, + -0.08468938049618044 + ], + [ + -0.22085202796719433, + 0.001657523236633014, + 0.9753059183453662, + 0.5467265199145214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9731284364046522, + -0.0019794585446074966, + 0.23025448530812045, + 0.028172338060726825 + ], + [ + 0.0025138355206989482, + 0.9999947849621647, + -0.0020274810601636725, + -0.08699269864640814 + ], + [ + -0.2302492712075592, + 0.0025518213778849283, + 0.9731283375362385, + 0.5573788429087535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9710432470979157, + -0.0020001747662034123, + 0.23889539879713279, + 0.03282886854982572 + ], + [ + 0.002790309026063734, + 0.9999916986762601, + -0.0029693019561786655, + -0.08891233433601575 + ], + [ + -0.2388874765262414, + 0.003549912600690659, + 0.9710407672592598, + 0.56677455296588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.969115803006446, + -0.001537283897208805, + 0.2466012918080341, + 0.03740538314877895 + ], + [ + 0.0026586510082292052, + 0.9999875851367382, + -0.004214397609577558, + -0.09033116247927701 + ], + [ + -0.24659175156113444, + 0.004739866096690255, + 0.9691078586676498, + 0.5759724923564734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.967544681686916, + -0.0010008280466354675, + 0.2526980159846642, + 0.043567452538432395 + ], + [ + 0.002441518361947743, + 0.9999825055474703, + -0.005387725595476776, + -0.09144483545628501 + ], + [ + -0.2526882029843356, + 0.0058298320923463485, + 0.9675301985624647, + 0.5851509351189867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9663910299103528, + -0.0007267314492208701, + 0.2570755709323789, + 0.05127503117952911 + ], + [ + 0.0024532952359529953, + 0.9999765391536614, + -0.006395505042730169, + -0.09287201201605795 + ], + [ + -0.2570648919072636, + 0.006811240978489164, + 0.9663701404456991, + 0.5956349495788055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9655484044287264, + -0.00035826037918738543, + 0.26022327020203534, + 0.05830886341662326 + ], + [ + 0.0023040197880762232, + 0.9999716245915755, + -0.007172273314747574, + -0.09414708912259855 + ], + [ + -0.2602133167191044, + 0.007524736619044648, + 0.9655218320373999, + 0.6046700374187273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9650616285009971, + -0.00043517229201918265, + 0.26202263989983715, + 0.06434617027032907 + ], + [ + 0.002540581014610101, + 0.9999671540696099, + -0.007696507651739072, + -0.09545861227394625 + ], + [ + -0.262010684215571, + 0.008093293952485241, + 0.9650310357443883, + 0.6119326379380807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9649845071296738, + -0.0005326677628450659, + 0.2623063424028384, + 0.07055582207801228 + ], + [ + 0.0027828201915430684, + 0.9999624503752685, + -0.008206933122075101, + -0.0968259375676283 + ], + [ + -0.26229212132941054, + 0.008649514699860267, + 0.9649497546421651, + 0.6191335218719023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.965172451303469, + -0.0006729302219443194, + 0.26161362045919867, + 0.07610642882248637 + ], + [ + 0.003125956487416622, + 0.9999549679614602, + -0.00896049358205664, + -0.0980581081767462 + ], + [ + -0.2615958096776247, + 0.00946621434955359, + 0.965131091171037, + 0.6253822652501263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9656271879378511, + -0.0011279991389479365, + 0.2599285700595089, + 0.08140306295143354 + ], + [ + 0.003923261734693075, + 0.9999399203421191, + -0.010235415162947159, + -0.09948621773606584 + ], + [ + -0.25990140810045564, + 0.010903362973841065, + 0.9655735988226177, + 0.6314734998412059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9663047476427565, + -0.0018081006728628828, + 0.2573943772793531, + 0.08642568621461794 + ], + [ + 0.00510443714994153, + 0.999913291525288, + -0.012138951867740663, + -0.10106217760204894 + ], + [ + -0.2573501105584598, + 0.013043780242775502, + 0.9662301901682266, + 0.6370554491569705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9671818642754011, + -0.0023124097871757734, + 0.25407458388775533, + 0.09120599760496532 + ], + [ + 0.00629885702721521, + 0.9998694814726838, + -0.014877648325502542, + -0.10261940032839018 + ], + [ + -0.25400701922763974, + 0.015989771121651515, + 0.9670701946614666, + 0.6420695798601422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9682413380561693, + -0.0025007056878522597, + 0.25000491545220044, + 0.09586608292279783 + ], + [ + 0.007435683586332292, + 0.99979567089215, + -0.01879699643346051, + -0.10413115176379292 + ], + [ + -0.24990682641497233, + 0.020058986424501157, + 0.9680620926236182, + 0.6470708465198196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9694237598815839, + -0.00272269753787688, + 0.24537758800503803, + 0.10070770218064573 + ], + [ + 0.008896940402325674, + 0.999670993083249, + -0.02405722426690831, + -0.10559913216779035 + ], + [ + -0.24523135653608902, + 0.025504754577687985, + 0.9691290364370482, + 0.6517618266931144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9705840976602943, + -0.00258033727896424, + 0.24074852279604747, + 0.10573140235686428 + ], + [ + 0.010257466047981651, + 0.9994778244872121, + -0.0306408672949085, + -0.10714741476400438 + ], + [ + -0.24054374604056267, + 0.03220900833363979, + 0.970103750133426, + 0.6562383511506967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9716784643545008, + -0.0028343002661935703, + 0.2362899249897889, + 0.110587097909533 + ], + [ + 0.012276179198683056, + 0.9991832948910082, + -0.03849725490252859, + -0.10873823162780615 + ], + [ + -0.23598783302102852, + 0.04030769098757079, + 0.9709196839663359, + 0.660444231387439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9725669540966684, + -0.0024997332864518523, + 0.23260969698751985, + 0.1142533129605061 + ], + [ + 0.013990352772229712, + 0.9987607597712472, + -0.04776206413535408, + -0.11043101010384097 + ], + [ + -0.2322020452718661, + 0.0497060969565879, + 0.9713966821525101, + 0.6640568678531475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.973243679111926, + -0.0027863227220715214, + 0.22975851991682875, + 0.1171257233038854 + ], + [ + 0.01657531739475669, + 0.9981727449415775, + -0.05810705730856258, + -0.11204091309210994 + ], + [ + -0.2291767874850034, + 0.060360646629123924, + 0.9715114988596731, + 0.6677082905592764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9737944265750953, + -0.00298846191998876, + 0.2274103864528493, + 0.11942579751174441 + ], + [ + 0.019518406036358904, + 0.9973226597517958, + -0.07047371262679215, + -0.11396245188334768 + ], + [ + -0.226590923465794, + 0.07306559683569712, + 0.9712455775765273, + 0.6707016105909589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9738958388060742, + -0.0031146711767270647, + 0.2269739940602758, + 0.1203075135940239 + ], + [ + 0.022415256324044865, + 0.9963384028592998, + -0.08250662562308148, + -0.11600588950359071 + ], + [ + -0.22588592572389413, + 0.08544053962400298, + 0.9703996407401534, + 0.6742551900520166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9737218542797937, + -0.003478243907470727, + 0.2277139704041908, + 0.12005015411948236 + ], + [ + 0.02577917585640688, + 0.9951402459076226, + -0.09503328399608821, + -0.11783810608422822 + ], + [ + -0.22627678756356118, + 0.09840626399897949, + 0.9690794717749822, + 0.6784797242059265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9733264075991164, + -0.004221838574937652, + 0.2293858765252264, + 0.11943406319143289 + ], + [ + 0.029718964061035656, + 0.9937268380214045, + -0.10781351757140875, + -0.11949301370897765 + ], + [ + -0.2274917304987988, + 0.1117548543689658, + 0.9673460420550825, + 0.6826315532064866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9727431060525276, + -0.004986967717953203, + 0.23183179199639858, + 0.11853932802438222 + ], + [ + 0.033861012682820046, + 0.9921069656914419, + -0.12073607765127181, + -0.12097312899955667 + ], + [ + -0.2293998287867173, + 0.12529524643616824, + 0.965234075120188, + 0.6867933848459529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9720623729421399, + -0.00572417305111999, + 0.23465288609556323, + 0.1176641356596298 + ], + [ + 0.03814184407231351, + 0.990267614464789, + -0.1338478668973839, + -0.12231820831963222 + ], + [ + -0.2316029853884873, + 0.13905856890208998, + 0.9628202176803534, + 0.6904619084529819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9713644983860333, + -0.006444253676826247, + 0.23750680594416396, + 0.11728755200904907 + ], + [ + 0.04255979624408996, + 0.9881831730810953, + -0.1472503996023105, + -0.12365797915051262 + ], + [ + -0.23375131019720852, + 0.15314205181440954, + 0.9601603183568677, + 0.6930540916181867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9706751637066104, + -0.006876148411338117, + 0.2402965774749407, + 0.11735495681304228 + ], + [ + 0.04686430254974879, + 0.9858250971404681, + -0.16109815329330215, + -0.12502671760404976 + ], + [ + -0.2357826620209182, + 0.1676353078292635, + 0.957238183452435, + 0.6948911138510648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9700473461363529, + -0.007092044493639243, + 0.24281237439372688, + 0.1176912075481338 + ], + [ + 0.051159419625648676, + 0.9831189806008799, + -0.17566952998700153, + -0.12633195814394813 + ], + [ + -0.23746759786839539, + 0.18282990151282003, + 0.9540347829484137, + 0.6961212486701883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9695115539410776, + -0.0071463265796316445, + 0.2449413741922229, + 0.11835943747956436 + ], + [ + 0.05593585545218804, + 0.9796384820401339, + -0.19282018717171262, + -0.12763284245333115 + ], + [ + -0.23857603997381888, + 0.20064240459713298, + 0.9501705629137809, + 0.6965961059344744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9690586185605491, + -0.007538411909047279, + 0.2467155571491386, + 0.11894743348425911 + ], + [ + 0.06098716803991581, + 0.9758553910981477, + -0.20973035307068102, + -0.1286802359677216 + ], + [ + -0.23917767272049334, + 0.21828748935880635, + 0.9461208236062865, + 0.6966722445949785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9687393245388882, + -0.008004830837382872, + 0.2479516964555874, + 0.11934616025982815 + ], + [ + 0.06636772011943907, + 0.9714116838732574, + -0.2279356623274886, + -0.12964404647523786 + ], + [ + -0.2390385885544145, + 0.23726622835495997, + 0.9415759608571821, + 0.696348193678572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9685333350740033, + -0.009253304332567677, + 0.24871179145621006, + 0.11966734045530242 + ], + [ + 0.07270438096035244, + 0.9662390208515619, + -0.24717651096531604, + -0.13090531566393557 + ], + [ + -0.23802783837106195, + 0.25748112735255746, + 0.9365074571073397, + 0.6947044957735924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9684007771584341, + -0.010514938796948203, + 0.2491773883421961, + 0.11966930014865915 + ], + [ + 0.0792359319970725, + 0.960317346843206, + -0.2674177638687847, + -0.13191402459777476 + ], + [ + -0.23647748704579996, + 0.278711372954392, + 0.9308052259771545, + 0.6933310209648036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9683304852018941, + -0.011793346717725731, + 0.2493932404895125, + 0.11947432919162897 + ], + [ + 0.0858401313745104, + 0.9537162015753445, + -0.2881959033336591, + -0.1332887571283845 + ], + [ + -0.23445157980758227, + 0.30047682743581494, + 0.9245248146479556, + 0.6919831430338557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9682836801364224, + -0.01314883715947544, + 0.24950715994299674, + 0.11919386481365796 + ], + [ + 0.09255970753761025, + 0.9464402250148761, + -0.30932765963350706, + -0.13423567291421779 + ], + [ + -0.2320763135738299, + 0.3226112343907824, + 0.9176396766284887, + 0.6906969663097025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9682522589390589, + -0.014971331231815939, + 0.2495263959996163, + 0.11902554473997935 + ], + [ + 0.09964915886914187, + 0.9385796699800457, + -0.33036078495611654, + -0.13527178184340133 + ], + [ + -0.2292544616710493, + 0.3447376717756506, + 0.9102737662168572, + 0.6892861917694844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9682166911567663, + -0.017139133513802227, + 0.24952492674648566, + 0.11904689889597572 + ], + [ + 0.10695915211320597, + 0.9301957241807396, + -0.35113480957474685, + -0.1360502672792346 + ], + [ + -0.2260888735534481, + 0.36666355807233664, + 0.9024642133830391, + 0.6878745222484725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9681634318654168, + -0.019323292754211012, + 0.2495719927309832, + 0.11922813791754587 + ], + [ + 0.11416774412682841, + 0.9213653423505899, + -0.3715530004133624, + -0.13669120508999993 + ], + [ + -0.2227673571230083, + 0.3882170994074271, + 0.894238328594852, + 0.6864054117760967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9680652323125787, + -0.021493953150963373, + 0.24977533097873672, + 0.11941809415916835 + ], + [ + 0.1213012812756221, + 0.9120856857063526, + -0.3916448660335859, + -0.1372213475426645 + ], + [ + -0.21939850762593097, + 0.4094358458995954, + 0.8855656852791877, + 0.6848285888724558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9679568199498558, + -0.023877360418525135, + 0.24997893185627992, + 0.11950873847233401 + ], + [ + 0.12900190329113798, + 0.9013559071732405, + -0.4134199288268155, + -0.13738496403455497 + ], + [ + -0.21544861025271592, + 0.4324203976032458, + 0.8755538224899853, + 0.6832134633673819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.967749400988998, + -0.025770841614491388, + 0.2505932174020611, + 0.11947204920925444 + ], + [ + 0.13590195557468687, + 0.8909920892203194, + -0.4332017490936374, + -0.13786752400839694 + ], + [ + -0.2121126006544913, + 0.4532868414914465, + 0.8657593684011146, + 0.6818325993084827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9674828087976599, + -0.027437545939436456, + 0.2514442199650097, + 0.11915100896273684 + ], + [ + 0.1426893188223944, + 0.8800181021486051, + -0.4529987838667656, + -0.13786524076876744 + ], + [ + -0.208846290306991, + 0.4741469402659779, + 0.8553174299997747, + 0.6805180873234095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9671962969358341, + -0.029460336207851386, + 0.2523160949763828, + 0.11928855280767578 + ], + [ + 0.14973995626358802, + 0.8684668104493262, + -0.47259215465997084, + -0.13789028219948526 + ], + [ + -0.2052054304636927, + 0.4948711829744135, + 0.8443892725335371, + 0.67876946060768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9668796753374941, + -0.031506697379274404, + 0.2532805192657208, + 0.11951546262200488 + ], + [ + 0.15679404920213202, + 0.8563450964072309, + -0.49202510301212304, + -0.13800708966229136 + ], + [ + -0.2013934446650679, + 0.5154419500579495, + 0.8329227314501609, + 0.6773642955210625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_045/pull_out/transforms.json b/spatialvid_eval/camera_controls/scene_045/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ef5a39ddc58b5077c227935f1ca3cd648daa071a --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_045/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": [ + [ + 0.9999999987930897, + 1.0974241700399624e-05, + 4.788932143218456e-05, + -4.94368018973278e-05 + ], + [ + -1.0978637491440877e-05, + 0.9999999957269105, + 9.179133371441396e-05, + -0.00011823670054394975 + ], + [ + -4.7888313887267015e-05, + -9.179185936312976e-05, + 0.9999999946404821, + -3.455040860072317e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999970973325091, + 0.0015863364545277295, + -0.0018135223212168484, + -0.002144270171365094 + ], + [ + -0.001585602392828774, + 0.9999986604578416, + 0.0004061373837527253, + -0.0030736747469737534 + ], + [ + 0.0018141641624646373, + -0.00040326067953897474, + 0.999998273093117, + 0.012350234193627189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999989293488628, + 0.0035202230791842215, + -0.003003487570727617, + -0.004532137140119039 + ], + [ + -0.0035184178026053067, + 0.9999936266495677, + 0.0006061323381490484, + -0.006046198021251854 + ], + [ + 0.003005602149494602, + -0.0005955583244475252, + 0.9999953058219829, + 0.02521914485806355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999865507369823, + 0.003060878583213738, + -0.004186808743160502, + -0.007148935300117868 + ], + [ + -0.003057722464895599, + 0.999995036340798, + 0.0007600178247589412, + -0.007926384025899045 + ], + [ + 0.004189114283551423, + -0.0007472055039291347, + 0.9999909464617439, + 0.03810272796433597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999831028636889, + 0.002799944081463589, + -0.00509453631356454, + -0.010410631287140003 + ], + [ + -0.002792717716949159, + 0.999995085017614, + 0.0014250152170276894, + -0.009932953539796851 + ], + [ + 0.005098501236931205, + -0.0014107635365287888, + 0.9999860074177945, + 0.052169578081355195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999798799268087, + 0.0026361949891954522, + -0.0057697675468056046, + -0.014315294695521641 + ], + [ + -0.002619628641105124, + 0.9999924304394561, + 0.002876909726100658, + -0.013540323140887153 + ], + [ + 0.00577730796720515, + -0.002861737194148273, + 0.9999792163704622, + 0.06897100893667478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999788933352735, + 0.0025259201904814783, + -0.0059860346769367734, + -0.017465643148496145 + ], + [ + -0.002500248372955785, + 0.9999876626918107, + 0.0042922281210591206, + -0.01667653433838259 + ], + [ + 0.005996802651055268, + -0.004277170952977771, + 0.9999728717153299, + 0.08425169894875792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999792069416595, + 0.00251152067089668, + -0.005939524244379986, + -0.020145511323833357 + ], + [ + -0.0024787606524938072, + 0.9999817115944911, + 0.005516540780225239, + -0.018809369228661676 + ], + [ + 0.005953270526153453, + -0.005501703415479455, + 0.9999671443750394, + 0.09912374963476883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999806249433171, + 0.0026148706615715927, + -0.0056490874834951845, + -0.022171973395139297 + ], + [ + -0.0025776868731711517, + 0.9999750322258361, + 0.00657954826123118, + -0.021074331147833292 + ], + [ + 0.005666151106069353, + -0.00656485920345907, + 0.9999623979706846, + 0.11409758426185397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999828936915364, + 0.002791921612351399, + -0.005139795522410724, + -0.02343900150269757 + ], + [ + -0.002753032878364761, + 0.9999676497667302, + 0.007557792665381167, + -0.024227390626194396 + ], + [ + 0.005160730013510763, + -0.0075435133533872595, + 0.9999582302636522, + 0.12893996817131634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999849503927892, + 0.0030588954198939263, + -0.00455435470083926, + -0.024443328200542815 + ], + [ + -0.003020724764659416, + 0.9999604539419232, + 0.008364554630047757, + -0.02742325838170161 + ], + [ + 0.0045797608919110645, + -0.008350671294754215, + 0.9999546450110125, + 0.14320046974675985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999849714648859, + 0.003991492124848307, + -0.003758302141742609, + -0.02555230567283573 + ], + [ + -0.003959351646100797, + 0.999955858660406, + 0.008520813650851266, + -0.029855990012184523 + ], + [ + 0.003792147005836146, + -0.00850580515573266, + 0.9999566345095865, + 0.15788134792605132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999798060292877, + 0.005720330161265288, + -0.0027686380179677336, + -0.02661337014377839 + ], + [ + -0.005698399304391244, + 0.9999528316992161, + 0.007865279530134432, + -0.03168449300134506 + ], + [ + 0.002813499421739951, + -0.007849343893954256, + 0.9999652354064308, + 0.17244064285547359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999847944125667, + 0.005009842283737047, + -0.0023048696164082345, + -0.027762320212634778 + ], + [ + -0.004993794387524336, + 0.9999636116629337, + 0.00691645629181694, + -0.03420388380060514 + ], + [ + 0.002339436101220103, + -0.0069048410780816714, + 0.9999734247510854, + 0.1871081051123762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999804423758457, + 0.0061358248767905505, + -0.0012109991286509665, + -0.0285162968732834 + ], + [ + -0.006129022671730625, + 0.9999658545535408, + 0.005542996310358443, + -0.036774169764919616 + ], + [ + 0.0012449686331981124, + -0.005535465661404968, + 0.9999839042069698, + 0.20178326295387805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999759890176387, + 0.00692963252725019, + 3.976471188041994e-05, + -0.028688957533571344 + ], + [ + -0.00692973610891937, + 0.9999680026474544, + 0.003996553355208113, + -0.03879680591192066 + ], + [ + -1.206879338777401e-05, + -0.003996732952995774, + 0.9999920129581268, + 0.21637673814191316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999732220866706, + 0.007161312735513655, + 0.0015068873568800717, + -0.027831429084900806 + ], + [ + -0.007164950268453684, + 0.9999713969672286, + 0.0024225472255273426, + -0.041204371456649125 + ], + [ + -0.0014894956370330678, + -0.0024332791277399085, + 0.9999959302694356, + 0.231832734432785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.99996533146136, + 0.0076452732726622055, + 0.0032993441710075927, + -0.026258440715073876 + ], + [ + -0.007649168762726181, + 0.9999700605767209, + 0.0011696868934346135, + -0.043791840617512755 + ], + [ + -0.003290302814602154, + -0.0011948835824697058, + 0.9999938730615366, + 0.24603791274207915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999488068106621, + 0.008474285160037051, + 0.005529036892603586, + -0.02478237127703692 + ], + [ + -0.008475063930177891, + 0.9999640791049164, + 0.00011743609405481963, + -0.04612919527763536 + ], + [ + -0.005527843097700351, + -0.00016428902326374905, + 0.9999847078629774, + 0.2597859585264965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999244484187085, + 0.009108820955383143, + 0.008253898190803502, + -0.023684938646519275 + ], + [ + -0.009101553395617348, + 0.9999581589596592, + -0.0009176359820415841, + -0.0477805591339586 + ], + [ + -0.008261911420978965, + 0.0008424433580865034, + 0.9999655149598211, + 0.2737888389251958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998864199279908, + 0.00960203918691723, + 0.011616715845650816, + -0.023284626582566016 + ], + [ + -0.009582624390274524, + 0.9999525963545777, + -0.00172579069819883, + -0.04962269567241287 + ], + [ + -0.011632736280884421, + 0.0016142760581696336, + 0.9999310344015868, + 0.288332766931466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9998267748994039, + 0.010270860803228017, + 0.015521907505770762, + -0.023342863864739986 + ], + [ + -0.010236509187990165, + 0.9999449812252235, + -0.002290939137549893, + -0.05202569654752473 + ], + [ + -0.015544583426428041, + 0.0021316521405893756, + 0.9998769034162408, + 0.3028426393588054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997456376627746, + 0.010997838507979791, + 0.019690290053846208, + -0.0231116414887726 + ], + [ + -0.010945680088178386, + 0.9999362996636301, + -0.002754759955822018, + -0.05428168105061152 + ], + [ + -0.01971933218086894, + 0.0025385356328683187, + 0.999802332351341, + 0.3164637997421965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9996473330923621, + 0.01150381840575435, + 0.023934736334785454, + -0.022170783374894195 + ], + [ + -0.011432089112982591, + 0.9999297478960931, + -0.0031315508887463485, + -0.05599231341431365 + ], + [ + -0.02396907966195399, + 0.002856822455703294, + 0.9997086184412015, + 0.3294349821707774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995330814263406, + 0.011941061986065692, + 0.028125258630096985, + -0.02053304243682077 + ], + [ + -0.011847938585470277, + 0.9999237712348416, + -0.003475351891202552, + -0.05781669500668901 + ], + [ + -0.02816461406871808, + 0.0031405028479046895, + 0.9995983652228644, + 0.3433036651970181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9994021122622381, + 0.012059858687904166, + 0.03240336115597636, + -0.017545559360477275 + ], + [ + -0.011955776831852486, + 0.999922733400957, + -0.0034039136748245692, + -0.06041353582851564 + ], + [ + -0.03244190817636648, + 0.0030144711619952205, + 0.9994690768390435, + 0.3584145558537443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999258701716171, + 0.012208255245726303, + 0.036510348510627164, + -0.014932686562776814 + ], + [ + -0.012095009856184445, + 0.9999213377354318, + -0.003321005565087734, + -0.062441341804182086 + ], + [ + -0.03654802020754422, + 0.002876950684272984, + 0.9993277567313285, + 0.37130143050773834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990947757631596, + 0.012282042955994533, + 0.04072812865316953, + -0.012723277528840341 + ], + [ + -0.012175946605776516, + 0.9999218030637337, + -0.0028520312104433503, + -0.06451655196617603 + ], + [ + -0.04075997260812749, + 0.0023535459628332427, + 0.9991661951118972, + 0.3833826114496319 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9989132001886377, + 0.011687365835196868, + 0.045120106036322355, + -0.010965051874489092 + ], + [ + -0.011599004710770834, + 0.9999302656379071, + -0.0022196736301107645, + -0.06667121567634501 + ], + [ + -0.045142901752260184, + 0.0016939129667624916, + 0.9989791034252152, + 0.395068263624598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9986950756302656, + 0.010590356010673223, + 0.04995988662342148, + -0.009161281363594516 + ], + [ + -0.010533216208958236, + 0.9999435344481076, + -0.0014068659216673663, + -0.06950382224437855 + ], + [ + -0.04997196482182056, + 0.0008787917804616948, + 0.9987502342712382, + 0.40740216246397776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984432100869323, + 0.008411822110754844, + 0.05513979942001242, + -0.007588467665039094 + ], + [ + -0.008387710008858696, + 0.9999645989511156, + -0.000668704226235203, + -0.0714352074164982 + ], + [ + -0.05514347243427346, + 0.00020516654675927504, + 0.9984784200745547, + 0.4203546046540738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9981227998979353, + 0.006946050399853713, + 0.06084922931105361, + -0.005507539758622864 + ], + [ + -0.006948270275868237, + 0.9999758451456575, + -0.00017511539491117095, + -0.07304712372933463 + ], + [ + -0.06084897586714159, + -0.00024801022305751344, + 0.9981469534226157, + 0.43345795925771186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9977544604875068, + 0.005464263350373908, + 0.06675461334860518, + -0.002355622451151071 + ], + [ + -0.005486491359530715, + 0.9999849378944982, + 0.0001496552647669618, + -0.07470491397003562 + ], + [ + -0.06675279012779774, + -0.0005155678173026111, + 0.9977694118382162, + 0.44533258958664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.997348589974518, + 0.0032554139846248083, + 0.07269932844001688, + 0.002063727479298976 + ], + [ + -0.0032862628594807312, + 0.9999945537944167, + 0.0003047259815614975, + -0.07684876429877349 + ], + [ + -0.07269794049530658, + -0.0005428271310005792, + 0.9973538563551287, + 0.4565409547580896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9968605028960817, + 0.001013462576208376, + 0.0791714005141875, + 0.006712715107643952 + ], + [ + -0.0010454132346128266, + 0.9999993879915084, + 0.00036211569636879904, + -0.07924869190799085 + ], + [ + -0.07917098506991158, + -0.00044374566508913015, + 0.9968609522961789, + 0.4674036980496332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9962612712683804, + -0.00016064672524094439, + 0.08639128175539702, + 0.010751878493724814 + ], + [ + 0.00015007819878629658, + 0.9999999804399269, + 0.00012882810348490816, + -0.08116898240940558 + ], + [ + -0.08639130076139016, + -0.00011538100219627964, + 0.9962612758910082, + 0.47794978346922545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9955306960908957, + -0.0005874467548122258, + 0.094436688035356, + 0.014978725644486851 + ], + [ + 0.0006572800139179078, + 0.9999995330986103, + -0.0007083682268141767, + -0.08274073793724053 + ], + [ + -0.09443622781411908, + 0.0007672736615552306, + 0.9955306173932413, + 0.48996223477009515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9948412942611836, + -0.0014236656219353378, + 0.10143358619771972, + 0.018930378495863456 + ], + [ + 0.0015844497065096769, + 0.9999976128936094, + -0.0015045684466318953, + -0.08461979420552371 + ], + [ + -0.10143120206258457, + 0.001657523236633014, + 0.9948411751957492, + 0.500715115561718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9941733418657589, + -0.001979458544607496, + 0.10777498813425627, + 0.02305302612434965 + ], + [ + 0.002242945960733319, + 0.9999947849621644, + -0.0023236268830602405, + -0.08688232636946278 + ], + [ + -0.10776982656052729, + 0.002551821377884928, + 0.994172597032713, + 0.5101556445496996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9935523049682936, + -0.0020001747662034123, + 0.11335703151148468, + 0.027302713263640838 + ], + [ + 0.002389678867186299, + 0.9999916986762601, + -0.0033003050585699496, + -0.08875144446441047 + ], + [ + -0.11334948931116898, + 0.003549912600690659, + 0.9935488369443269, + 0.518339047164844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9930128105831431, + -0.0015372838972088046, + 0.1179965879845099, + 0.03150555374955345 + ], + [ + 0.002085816607815699, + 0.999987585136738, + -0.004525366446347898, + -0.09010489415695962 + ], + [ + -0.11798816630003775, + 0.0047398660966902545, + 0.993003688957166, + 0.5263223079086151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9926521936101707, + -0.0010008280466354675, + 0.12099843331273966, + 0.037366282831154486 + ], + [ + 0.0016988590269567184, + 0.9999825055474703, + -0.005665904783034325, + -0.0911544578361545 + ], + [ + -0.12099064591497544, + 0.0058298320923463485, + 0.9926365279692523, + 0.5342783130605626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9924998510715616, + -0.0007267314492208701, + 0.12224368075417638, + 0.04485723793993485 + ], + [ + 0.001553895921648033, + 0.9999765391536614, + -0.0066713229370959325, + -0.09252176756186041 + ], + [ + -0.12223596455378002, + 0.006811240978489164, + 0.9924776954500995, + 0.5435298705676752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9925017557385426, + -0.00035826037918738543, + 0.12222985112242829, + 0.05173900891879274 + ], + [ + 0.0012753115661641781, + 0.9999716245915755, + -0.0074245263885647835, + -0.09374802082921319 + ], + [ + -0.12222372288684177, + 0.007524736619044648, + 0.9924740499894668, + 0.5513245572317934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9926728946327394, + -0.00043517229201918265, + 0.12083184549833939, + 0.057700418767920404 + ], + [ + 0.0014098974613133974, + 0.9999671540696099, + -0.007981414102379191, + -0.0950196344983154 + ], + [ + -0.12082440337368475, + 0.008093293952485241, + 0.9926409029162518, + 0.5573373882776869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9930283410060341, + -0.0005326677628450659, + 0.11787463774645608, + 0.06392537370477412 + ], + [ + 0.0015484931741045925, + 0.9999624503752685, + -0.008526429990237689, + -0.09634632588067743 + ], + [ + -0.11786566984365539, + 0.008649514699860267, + 0.9929918779968764, + 0.563277728734578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9934907003578806, + -0.0006729302219443194, + 0.11391126137184449, + 0.06955653129360531 + ], + [ + 0.0017468290193251642, + 0.9999549679614602, + -0.009327949269402348, + -0.09752175109375558 + ], + [ + -0.1138998546565601, + 0.00946621434955359, + 0.9934471369404126, + 0.5682590548760525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9940493700081724, + -0.0011279991389479365, + 0.10892464185985878, + 0.07500374024216684 + ], + [ + 0.0023088673116666404, + 0.9999399203421191, + -0.010715635209072432, + -0.09885667416753283 + ], + [ + -0.1089060104773519, + 0.010903362973841065, + 0.9939922522624449, + 0.5730764550207873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9946732844225364, + -0.0018081006728628828, + 0.1030620591102332, + 0.08024196266800394 + ], + [ + 0.003142642616718802, + 0.999913291525288, + -0.012788011121695607, + -0.1002948969347472 + ], + [ + -0.10303000074477331, + 0.013043780242775502, + 0.994592720033437, + 0.5773798859549644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9953410342070925, + -0.002312409787175773, + 0.09638920263458753, + 0.08530215894359684 + ], + [ + 0.0038425977789057772, + 0.9998694814726836, + -0.015692496992390195, + -0.10165823488760628 + ], + [ + -0.09634033457418004, + 0.01598977112165151, + 0.9952200094218424, + 0.5811123542830544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9960335290956208, + -0.0025007056878522597, + 0.08894355169648785, + 0.09030711094176734 + ], + [ + 0.0042744219975227905, + 0.99979567089215, + -0.019757170392105033, + -0.10289632861428635 + ], + [ + -0.0888759710715453, + 0.020058986424501157, + 0.9958406995246336, + 0.58483080279953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9967165470871334, + -0.00272269753787688, + 0.08092411062729966, + 0.09554879012815537 + ], + [ + 0.004776849835811234, + 0.999670993083249, + -0.02520093834754903, + -0.1039925723481341 + ], + [ + -0.08082887150238029, + 0.025504754577687985, + 0.9964016263663883, + 0.5882412230122571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9973356811624164, + -0.00258033727896424, + 0.07290322996840227, + 0.10099269240891813 + ], + [ + 0.004920292140274272, + 0.9994778244872121, + -0.031935389203265475, + -0.10507161446579213 + ], + [ + -0.07278275761163021, + 0.03220900833363979, + 0.9968275929049166, + 0.5914445576118772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9978774258892221, + -0.0028343002661935703, + 0.06505850937964228, + 0.1062769716631317 + ], + [ + 0.005448376440026811, + 0.9991832948910082, + -0.040038211809672535, + -0.10608570009541533 + ], + [ + -0.06489189544825846, + 0.04030769098757079, + 0.9970778966321452, + 0.5943878207355594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9983126682660858, + -0.0024997332864518523, + 0.058013513192573314, + 0.1103374008200074 + ], + [ + 0.005376081768951695, + 0.9987607597712472, + -0.04947769685398318, + -0.10709126556619711 + ], + [ + -0.05781793946745092, + 0.0497060969565879, + 0.9970889578172454, + 0.5967533632004834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9986525555751178, + -0.002786322722071521, + 0.05181997345594958, + 0.11356310012878887 + ], + [ + 0.005905416798404686, + 0.9981727449415773, + -0.060135657543878396, + -0.10790658663596829 + ], + [ + -0.051557727798303636, + 0.06036064662912391, + 0.9968442170383448, + 0.5991752506378902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9989304001659968, + -0.00298846191998876, + 0.04614243946254264, + 0.11619582674936643 + ], + [ + 0.006348754469149752, + 0.9973226597517958, + -0.07285057077535019, + -0.10886291192907316 + ], + [ + -0.045801189295607676, + 0.07306559683569712, + 0.996274896611448, + 0.6009623678281575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9990947749209282, + -0.0031146711767270647, + 0.04242557659196784, + 0.1172846912618462 + ], + [ + 0.006725386753025565, + 0.9963384028592998, + -0.08523236568817145, + -0.10993308344830849 + ], + [ + -0.04200476042929292, + 0.08544053962400298, + 0.9954574397180611, + 0.6033288474721048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9991970114270307, + -0.003478243907470727, + 0.03991533758608076, + 0.11715629214449151 + ], + [ + 0.007386569692699533, + 0.9951402459076226, + -0.09819027224267991, + -0.11071931134663393 + ], + [ + -0.039379829144697176, + 0.09840626399897949, + 0.9943668519526875, + 0.6063881274393567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9992549896561363, + -0.004221838574937652, + 0.03836198282625932, + 0.11660486695799627 + ], + [ + 0.008479517657667444, + 0.9937268380214045, + -0.11151264132946943, + -0.11126895641092928 + ], + [ + -0.03765054352341215, + 0.1117548543689658, + 0.9930223004028474, + 0.6093961585517766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9992802589841909, + -0.004986967717953203, + 0.03760444332081477, + 0.1157189947753211 + ], + [ + 0.009655942550906117, + 0.9921069656914419, + -0.12502212364207238, + -0.11159646972640125 + ], + [ + -0.03668414886489638, + 0.12529524643616824, + 0.9914410594899516, + 0.6124353053842064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.999290173245842, + -0.00572417305111999, + 0.03723417109559817, + 0.11482503011359044 + ], + [ + 0.010842525379987113, + 0.990267614464789, + -0.13875334729512226, + -0.11173826558837915 + ], + [ + -0.036077545616072355, + 0.13905856890208998, + 0.9896267605098517, + 0.6150028679641057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9992981914617148, + -0.006444253676826247, + 0.0368998121390225, + 0.11442781656827483 + ], + [ + 0.012015045765643188, + 0.9881831730810953, + -0.15280593939578424, + -0.11181551884733934 + ], + [ + -0.03547905320884339, + 0.15314205181440954, + 0.9875670856956895, + 0.6165176424767707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9993099513128345, + -0.006876148411338117, + 0.036501229981544744, + 0.11448048495199563 + ], + [ + 0.01289350660391384, + 0.9858250971404681, + -0.1672801104000159, + -0.11185340891004851 + ], + [ + -0.03483358572692738, + 0.1676353078292635, + 0.9852334874913626, + 0.61730397671112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9993330155331435, + -0.007092044493639241, + 0.035822157533213154, + 0.11482543494547674 + ], + [ + 0.013517714557003657, + 0.9831189806008797, + -0.18246737071444472, + -0.11173456848679254 + ], + [ + -0.03392337628523243, + 0.18282990151282, + 0.9825591237448376, + 0.6175165187706013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9993706319885153, + -0.0071463265796316445, + 0.03474579018086916, + 0.11553634202736873 + ], + [ + 0.013968602700487413, + 0.9796384820401339, + -0.20028310623888948, + -0.11135984007142138 + ], + [ + -0.032607024664505484, + 0.20064240459713298, + 0.979121753113477, + 0.6170424634940044 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999416797710486, + -0.007538411909047279, + 0.03330520680024913, + 0.11619975392323856 + ], + [ + 0.014623050601160804, + 0.9758553910981477, + -0.21792756148729178, + -0.11070121214502002 + ], + [ + -0.030858237882836363, + 0.21828748935880635, + 0.9753965045786229, + 0.6162020329672421 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9994776529775647, + -0.00800483083738287, + 0.03131044365261332, + 0.11672391060392179 + ], + [ + 0.015201809404355312, + 0.9714116838732572, + -0.23691400428289744, + -0.1098024986165452 + ], + [ + -0.028518874264112246, + 0.23726622835495992, + 0.9710259577853312, + 0.6150247697140505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9995416049549153, + -0.009253304332567677, + 0.02882631303307662, + 0.1172171038474909 + ], + [ + 0.016360437669395884, + 0.9662390208515619, + -0.257127382172885, + -0.10904948817924034 + ], + [ + -0.025473830560358426, + 0.25748112735255746, + 0.9659474897808049, + 0.612598959142224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996056351939995, + -0.010514938796948203, + 0.026038628045606953, + 0.11742346847972554 + ], + [ + 0.01735287633360935, + 0.960317346843206, + -0.27836930691973966, + -0.10790467187594721 + ], + [ + -0.022078309974984407, + 0.278711372954392, + 0.9601210959116181, + 0.6105205764424265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996660529469668, + -0.011793346717725731, + 0.02299346773820454, + 0.11746240076453607 + ], + [ + 0.018155279092954894, + 0.9537162015753445, + -0.30015961202958985, + -0.10702479107579539 + ], + [ + -0.018389356337002668, + 0.30047682743581494, + 0.9536118223614987, + 0.6085421085772245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9997166299255422, + -0.01314883715947544, + 0.01984358666345697, + 0.11743274649727616 + ], + [ + 0.01884608429986832, + 0.9464402250148761, + -0.3223285987627424, + -0.1056290097740244 + ], + [ + -0.014542522369891214, + 0.3226112343907824, + 0.9464198362713965, + 0.606702205840616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9997501522552265, + -0.014971331231815939, + 0.016597960922935077, + 0.1175317282569152 + ], + [ + 0.019774651029479763, + 0.9385796699800457, + -0.34449552432043473, + -0.1042671846545622 + ], + [ + -0.010420952082910766, + 0.3447376717756506, + 0.9386412208167666, + 0.6048084818959754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9997642102496018, + -0.017139133513802227, + 0.01333319190540088, + 0.1178302451346079 + ], + [ + 0.02083390511595255, + 0.9301957241807396, + -0.36647218600255216, + -0.10260968030650172 + ], + [ + -0.006121462375092441, + 0.36666355807233664, + 0.9303334686445097, + 0.6029815932346609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9997620709880848, + -0.01932329275421101, + 0.010119870095559796, + 0.1182920499337066 + ], + [ + 0.02173639896149238, + 0.9213653423505896, + -0.38808946761715635, + -0.10079292933541296 + ], + [ + -0.0018249311775467422, + 0.388217099407427, + 0.9215661416056263, + 0.6011605436775762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9997439853308486, + -0.02149395315096337, + 0.007069213020980701, + 0.11875535543845141 + ], + [ + 0.022504093882865207, + 0.9120856857063524, + -0.4093815673526156, + -0.09884182560335678 + ], + [ + 0.002351500223899619, + 0.4094358458995953, + 0.9123358803309117, + 0.5992971000914328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9997068064211493, + -0.023877360418525128, + 0.004021548790055887, + 0.1191266913372787 + ], + [ + 0.02326795519623986, + 0.9013559071732403, + -0.4324536170098373, + -0.09630187041862043 + ], + [ + 0.006701004119736441, + 0.4324203976032457, + 0.9016472127614206, + 0.5975569781550469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9996669011363274, + -0.02577084161449138, + 0.0013966012219135092, + 0.11933762634164527 + ], + [ + 0.02360270389146638, + 0.8909920892203191, + -0.45340490658551835, + -0.0942273017495408 + ], + [ + 0.010440265394328284, + 0.4532868414914464, + 0.8913035623115193, + 0.596044631435999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9996230352970821, + -0.027437545939436456, + -0.0009840611109987766, + 0.11924695492105922 + ], + [ + 0.023687678057584215, + 0.8800181021486051, + -0.47434906324246895, + -0.09161620710262672 + ], + [ + 0.01388096580534328, + 0.4741469402659779, + 0.8803362981410697, + 0.5946852982546551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9995603726660094, + -0.02946033620785138, + -0.0033391595213828193, + 0.11961829481041233 + ], + [ + 0.023942402274938594, + 0.8684668104493259, + -0.49516882022324465, + -0.08899236120243986 + ], + [ + 0.017487789142538734, + 0.4948711829744134, + 0.8687903599214319, + 0.5929764125654385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9994878714618995, + -0.031506697379274404, + -0.0055966794452198465, + 0.12007513056652687 + ], + [ + 0.024105954204711108, + 0.8563450964072309, + -0.5158410402742024, + -0.08642298563487111 + ], + [ + 0.021045136550806545, + 0.5154419500579495, + 0.8566660366490647, + 0.5916976918561561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_045/tilt_down/transforms.json b/spatialvid_eval/camera_controls/scene_045/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..080babed1c0a9bc8c2196d3fe01b05682f2dc814 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_045/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": [ + [ + 0.9999999987930897, + 1.0974241700399624e-05, + 4.788932143218456e-05, + -4.94368018973278e-05 + ], + [ + -1.0978637491440877e-05, + 0.9999999957269105, + 9.179133371441396e-05, + -0.00011823670054394975 + ], + [ + -4.7888313887267015e-05, + -9.179185936312976e-05, + 0.9999999946404821, + -3.455040860072317e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999970973325091, + 0.001592262687658708, + -0.0018083213458910503, + -0.0021465370742666154 + ], + [ + -0.001585602392828774, + 0.9999919767876025, + 0.003678617331943166, + -0.0030731670752440626 + ], + [ + 0.0018141641624646373, + -0.0036757393754871764, + 0.9999915988389279, + 0.013600232034993585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999989293488628, + 0.003539805321700096, + -0.0029803835993375423, + -0.004539645859045858 + ], + [ + -0.0035184178026053067, + 0.9999682413516503, + 0.007151015609971683, + -0.006044682690406481 + ], + [ + 0.003005602149494602, + -0.00714045281282723, + 0.9999699896943642, + 0.027719133122618506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999865507369823, + 0.003101834314724619, + -0.0041565573539864235, + -0.00716463583290472 + ], + [ + -0.003057722464895599, + 0.9999393842016423, + 0.010577251806031187, + -0.007923533959056199 + ], + [ + 0.004189114283551423, + -0.01056439995099173, + 0.9999354203023288, + 0.04185269401356751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999831028636889, + 0.0028663896234295736, + -0.0050574497166305105, + -0.010436103968707826 + ], + [ + -0.002792717716949159, + 0.9998907601398257, + 0.014514424368729736, + -0.009925828463711713 + ], + [ + 0.005098501236931205, + -0.014500055087096484, + 0.9998818698664401, + 0.057169508118444165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999798799268087, + 0.0027302454907714418, + -0.005725862478732141, + -0.014351355742689175 + ], + [ + -0.002619628641105124, + 0.999811498137443, + 0.01923813239231935, + -0.013522342455099024 + ], + [ + 0.00577730796720515, + -0.01922274568634324, + 0.9997985340862078, + 0.07522087903899016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999788933352735, + 0.002642961259228851, + -0.005935287671578099, + -0.01751053840857317 + ], + [ + -0.002500248372955785, + 0.9997106332651093, + 0.02392485098694916, + -0.016644342627474645 + ], + [ + 0.005996802651055268, + -0.023909506319796853, + 0.9996961407675374, + 0.0917514954866229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999792069416595, + 0.002646909172319045, + -0.00588043843292422, + -0.020197482160971683 + ], + [ + -0.0024787606524938072, + 0.9995929935043876, + 0.0284201175677577, + -0.018761099496834705 + ], + [ + 0.005953270526153453, + -0.028404950427188123, + 0.999578769963264, + 0.10787346214805042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999806249433173, + 0.0027618504817458313, + -0.005578702348163966, + -0.022228464269974248 + ], + [ + -0.002577686873171152, + 0.9994601332625027, + 0.032753588342109445, + -0.02100853566522098 + ], + [ + 0.005666151106069354, + -0.03273857359166656, + 0.9994478878515011, + 0.12409720824156081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999828936915364, + 0.0029420683686881555, + -0.0050553494454560486, + -0.023496824202324688 + ], + [ + -0.002753032878364761, + 0.9993114091109904, + 0.03700173550764793, + -0.024142365458708858 + ], + [ + 0.005160730013510763, + -0.03698718500131168, + 0.9993024141927241, + 0.14018949826178242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999849503927892, + 0.0032062719576341327, + -0.004451831989708697, + -0.024500257634303305 + ], + [ + -0.003020724764659416, + 0.9991513820360359, + 0.041077865053770854, + -0.027318701448826012 + ], + [ + 0.0045797608919110645, + -0.041063799088897325, + 0.9991460304652968, + 0.1556999028093975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999849714648859, + 0.004124166237127511, + -0.003612215001891588, + -0.02560398232728469 + ], + [ + -0.003959351646100797, + 0.9990013892118935, + 0.04450334692188435, + -0.02973882882448532 + ], + [ + 0.003792147005836146, + -0.04448837607235863, + 0.9990027047088164, + 0.17163075165055813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999798060292879, + 0.005824616212508819, + -0.0025419243901810057, + -0.026654899714047907 + ], + [ + -0.005698399304391245, + 0.9988731148797431, + 0.04711717962493029, + -0.03156651380839304 + ], + [ + 0.0028134994217399512, + -0.04710174324180807, + 0.9988861346542894, + 0.18744012138657004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999847944125667, + 0.00510333453285289, + -0.0020897177566247187, + -0.02779977434390141 + ], + [ + -0.004993794387524336, + 0.9987646992344622, + 0.0494382198375809, + -0.034091491385863114 + ], + [ + 0.002339436101220103, + -0.049427032479602076, + 0.9987749974338507, + 0.20335767326458132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999804423758457, + 0.006184848829321893, + -0.0009287145776129445, + -0.028537489358034792 + ], + [ + -0.006129022671730625, + 0.9986627087914067, + 0.05133448305476412, + -0.03667716732948834 + ], + [ + 0.0012449686331981124, + -0.05132778696153661, + 0.9986810844001872, + 0.2192829812775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999759890176387, + 0.006919334319456783, + 0.0003797377655992663, + -0.028688211945223585 + ], + [ + -0.00692973610891937, + 0.9985673958163738, + 0.05305784362340737, + -0.03872187053651051 + ], + [ + -1.206879338777401e-05, + -0.0530592011349662, + 0.9985913683931297, + 0.23512658838487804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999732220866708, + 0.007072634014525286, + 0.0018796163700965749, + -0.027801291337763205 + ], + [ + -0.007164950268453686, + 0.9984741845956733, + 0.05475368648462165, + -0.04115592051213858 + ], + [ + -0.0014894956370330682, + -0.054765687652966015, + 0.9984981226114776, + 0.2518326530381737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.99996533146136, + 0.007449989744142408, + 0.0037193451284625078, + -0.026188329651439964 + ], + [ + -0.007649168762726181, + 0.9983579867863784, + 0.05676989023319573, + -0.04376698477102727 + ], + [ + -0.003290302814602154, + -0.05679637200263703, + 0.9983803614027704, + 0.2672877825446368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999488068106621, + 0.008134088600879023, + 0.006018335365069451, + -0.024657967946953338 + ], + [ + -0.008475063930177891, + 0.9982228380332322, + 0.05898592137331694, + -0.046126552965519124 + ], + [ + -0.005527843097700351, + -0.059033907472848014, + 0.9982406727433895, + 0.2822856144534135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999244484187085, + 0.008578344228501185, + 0.008803945981133503, + -0.023488908564487692 + ], + [ + -0.009101553395617348, + 0.9980828701971599, + 0.06121883651937212, + -0.04780235298853209 + ], + [ + -0.008261911420978965, + -0.06129434092390768, + 0.9980855397160985, + 0.29753801990549156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998864199279908, + 0.008821710916269153, + 0.012219846975124793, + -0.022994208686424746 + ], + [ + -0.009582624390274524, + 0.9979244932000834, + 0.06367793323555564, + -0.04966584043986784 + ], + [ + -0.011632736280884421, + -0.06378779889498261, + 0.9978956840064761, + 0.31333104279150564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9998267748994039, + 0.009180754579125669, + 0.016190550936112443, + -0.022935413792713504 + ], + [ + -0.010236509187990165, + 0.9977419751431331, + 0.06637894935236628, + -0.05208583369988541 + ], + [ + -0.015544583426428041, + -0.06653318557560338, + 0.9976631200677217, + 0.32908940807348175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997456376627746, + 0.009552973707055946, + 0.02043038588975979, + -0.02257015851229183 + ], + [ + -0.010945680088178386, + 0.9975441132096875, + 0.06918044729622438, + -0.054357436949396626 + ], + [ + -0.01971933218086894, + -0.06938647486398718, + 0.9973949393516542, + 0.3439583638818584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9996473330923623, + 0.009671445177131996, + 0.0247320154761799, + -0.02148265970526911 + ], + [ + -0.011432089112982593, + 0.9973341797389172, + 0.07206830969999628, + -0.05608234550236511 + ], + [ + -0.023969079661953996, + -0.07232563219694305, + 0.9970930178009833, + 0.35817660495096193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995330814263408, + 0.009697569317861445, + 0.0289754427695278, + -0.01968928467791786 + ], + [ + -0.01184793858547028, + 0.9971140129225325, + 0.07498847634670015, + -0.05792095556342509 + ], + [ + -0.028164614068718088, + -0.07529676210070362, + 0.996763338075549, + 0.37329161615370404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9994021122622381, + 0.009371483867420453, + 0.0332805242732072, + -0.016532954324353016 + ], + [ + -0.011955776831852486, + 0.9968564026301855, + 0.0783222314260297, + -0.06051990813085391 + ], + [ + -0.03244190817636648, + -0.07867329804532344, + 0.9963724377804457, + 0.3896479645049644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999258701716171, + 0.009061362621481476, + 0.03741575539734936, + -0.013746100236181431 + ], + [ + -0.012095009856184445, + 0.9965863200907277, + 0.08166650074908657, + -0.06254927448504743 + ], + [ + -0.03654802020754422, + -0.08205850544254249, + 0.9959571496321743, + 0.40377958260150654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990947757631596, + 0.008640184495607587, + 0.041653046162842475, + -0.011348703186795869 + ], + [ + -0.012175946605776516, + 0.9962728113538768, + 0.08539456470581969, + -0.0646128080195285 + ], + [ + -0.04075997260812749, + -0.08582442874220024, + 0.9954761634836166, + 0.4171044705346585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9989132001886377, + 0.007509773752468944, + 0.046000236815492895, + -0.00938584816321781 + ], + [ + -0.011599004710770834, + 0.9959385894833279, + 0.0892848759179226, + -0.0667489042533989 + ], + [ + -0.045142901752260184, + -0.08972139809513696, + 0.9949433095132806, + 0.43003253224448057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9986950756302656, + 0.005808507872097123, + 0.0507386159464142, + -0.007350235473495486 + ], + [ + -0.010533216208958236, + 0.9955772606166924, + 0.09335400098152043, + -0.06955482113403899 + ], + [ + -0.04997196482182056, + -0.09376662188253432, + 0.9943392898566286, + 0.44360685845631015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984432100869323, + 0.0029666714306115197, + 0.05569878896282198, + -0.005520725186788628 + ], + [ + -0.008387710008858696, + 0.9952150405650207, + 0.09734818618737386, + -0.07146028382498201 + ], + [ + -0.05514347243427346, + -0.09766382080272668, + 0.9936905834081874, + 0.4577975454068696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9981227998979353, + 0.0007479333040739734, + 0.06123983115325475, + -0.003149632122819536 + ], + [ + -0.006948270275868237, + 0.9948523419447586, + 0.10109668277051882, + -0.07305390945088744 + ], + [ + -0.06084897586714159, + -0.10133241496580493, + 0.9929900018696655, + 0.47213615370283823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9977544604875068, + -0.0015434276053508359, + 0.06696009564293541, + 0.00031456208279313693 + ], + [ + -0.005486491359530715, + 0.9944912725397155, + 0.10467572428647968, + -0.07469892775944494 + ], + [ + -0.06675279012779774, + -0.10480804679777388, + 0.9922496350901773, + 0.48524336606016866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.997348589974518, + -0.00459926310346906, + 0.07262669519361187, + 0.005062574777449673 + ], + [ + -0.0032862628594807312, + 0.9941362435218583, + 0.10808482683830847, + -0.07683619435203408 + ], + [ + -0.07269794049530658, + -0.1080369200558485, + 0.9914852663315714, + 0.49768180133273865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.996860502896082, + -0.007783625092853158, + 0.07879437128491586, + 0.010077499629496922 + ], + [ + -0.0010454132346128268, + 0.9937756462041857, + 0.11139511713994632, + -0.07923330199089518 + ], + [ + -0.07917098506991159, + -0.11112776517084905, + 0.9906475533362977, + 0.5097702885222208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9962612712683804, + -0.010032991523817378, + 0.08580686715988257, + 0.014531497070523433 + ], + [ + 0.00015007819878629658, + 0.9934330362145836, + 0.11441494672466737, + -0.08116334617987811 + ], + [ + -0.08639130076139016, + -0.11397430253595427, + 0.9897203653124443, + 0.5215362142894571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9955306960908957, + -0.011683217378558016, + 0.09371304910449907, + 0.01922837660607787 + ], + [ + 0.0006572800139179078, + 0.9931512530477054, + 0.11683388443750518, + -0.08277261450744716 + ], + [ + -0.09443622781411908, + -0.11625012258685309, + 0.9887202374154085, + 0.534761112552791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9948412942611836, + -0.013665057337118357, + 0.1005189804997374, + 0.023621681857507994 + ], + [ + 0.0015844497065096769, + 0.9928578619596985, + 0.11929273013869765, + -0.08468938049618044 + ], + [ + -0.10143120206258457, + -0.11851806677798059, + 0.9877576520054652, + 0.5467265199145214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9941733418657591, + -0.015331984525058488, + 0.10669721914835584, + 0.028172338060726825 + ], + [ + 0.0022429459607333194, + 0.9925609471249282, + 0.12172812097409182, + -0.08699269864640814 + ], + [ + -0.10776982656052732, + -0.12077953673114196, + 0.9868120226213931, + 0.5573788429087535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9935523049682936, + -0.01641210345062238, + 0.11218048026513863, + 0.03282886854982572 + ], + [ + 0.002389678867186299, + 0.9922785301203557, + 0.12400648409296265, + -0.08891233433601575 + ], + [ + -0.11334948931116898, + -0.12293885277857666, + 0.9859198404284116, + 0.56677455296588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9930128105831433, + -0.016925777544936748, + 0.1167864550034212, + 0.03740538314877895 + ], + [ + 0.0020858166078156996, + 0.992023231572067, + 0.12603792044615802, + -0.09033116247927701 + ], + [ + -0.11798816630003778, + -0.1249136744948799, + 0.9851270814150539, + 0.5759724923564734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9926521936101707, + -0.017177791407642886, + 0.11977706793569438, + 0.043567452538432395 + ], + [ + 0.0016988590269567184, + 0.9917529981503725, + 0.1281526610638812, + -0.09144483545628501 + ], + [ + -0.12099064591497544, + -0.1270075357689574, + 0.9844949717794267, + 0.5851509351189867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9924998510715616, + -0.01746877084828696, + 0.12099127104042803, + 0.05127503117952911 + ], + [ + 0.001553895921648033, + 0.9914601544262215, + 0.13040071929478814, + -0.09287201201605795 + ], + [ + -0.12223596455378002, + -0.12923468663707696, + 0.9840512002631895, + 0.5956349495788055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9925017557385426, + -0.017497850982710696, + 0.12097144318762644, + 0.05830886341662326 + ], + [ + 0.0012753115661641781, + 0.9911288841951696, + 0.1328981132087561, + -0.09414708912259855 + ], + [ + -0.12222372288684177, + -0.1317473344133573, + 0.9837194729386298, + 0.6046700374187273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9926728946327394, + -0.017769147192892076, + 0.11951895945621195, + 0.06434617027032907 + ], + [ + 0.0014098974613133974, + 0.990764154835856, + 0.13558909130730426, + -0.09545861227394625 + ], + [ + -0.12082440337368475, + -0.1344271062711284, + 0.9835297741547856, + 0.6119326379380807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9930283410060341, + -0.017822703961413222, + 0.11652066418583291, + 0.07055582207801228 + ], + [ + 0.0015484931741045925, + 0.9903904538759166, + 0.1382908205209069, + -0.0968259375676283 + ], + [ + -0.11786566984365539, + -0.1371462726251055, + 0.9835133876960428, + 0.6191335218719023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9934907003578806, + -0.017748222369867568, + 0.11252212629131218, + 0.07610642882248637 + ], + [ + 0.0017468290193251642, + 0.9900453993390631, + 0.14073754238273672, + -0.0980581081767462 + ], + [ + -0.1138998546565601, + -0.13962488263295014, + 0.9836319002853403, + 0.6253822652501263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9940493700081724, + -0.017802094052063868, + 0.10746597337630846, + 0.08140306295143354 + ], + [ + 0.0023088673116666404, + 0.9897772618245417, + 0.14260308940149177, + -0.09948621773606584 + ], + [ + -0.1089060104773519, + -0.14150638650772696, + 0.9839285662381355, + 0.6314734998412059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9946732844225364, + -0.017908298036062874, + 0.10151034487940604, + 0.08642568621461794 + ], + [ + 0.003142642616718802, + 0.9896031853243848, + 0.14379033136207514, + -0.10106217760204894 + ], + [ + -0.10303000074477331, + -0.14270539042826424, + 0.9843881300022108, + 0.6370554491569705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9953410342070927, + -0.01767280564383541, + 0.09478342452259585, + 0.09120599760496532 + ], + [ + 0.003842597778905778, + 0.9895478335892178, + 0.14415380494872707, + -0.10261940032839018 + ], + [ + -0.09634033457418006, + -0.14311798272600587, + 0.9850054735657939, + 0.6420695798601422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9960335290956208, + -0.016955806551421624, + 0.08734820857644324, + 0.09586608292279783 + ], + [ + 0.0042744219975227905, + 0.9896600857570276, + 0.14336890867960198, + -0.10413115176379292 + ], + [ + -0.0888759710715453, + -0.1424268769705484, + 0.9858071040941561, + 0.6470708465198196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9967165470871334, + -0.016128252220458997, + 0.07934736443647926, + 0.10070770218064573 + ], + [ + 0.004776849835811234, + 0.9899670054205767, + 0.14121795170679316, + -0.10559913216779035 + ], + [ + -0.08082887150238029, + -0.14037523876713198, + 0.9867935376119578, + 0.6517618266931144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9973356811624164, + -0.014889192863836906, + 0.07141324118230755, + 0.10573140235686428 + ], + [ + 0.004920292140274272, + 0.9904496681343563, + 0.13778695735735563, + -0.10714741476400438 + ], + [ + -0.07278275761163021, + -0.13706847496199429, + 0.9878840536044904, + 0.6562383511506967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9978774258892221, + -0.014019171315099516, + 0.06359328373608204, + 0.110587097909533 + ], + [ + 0.005448376440026811, + 0.9911016830854342, + 0.13299537202243875, + -0.10873823162780615 + ], + [ + -0.06489189544825846, + -0.13236659934007905, + 0.9890743780344707, + 0.660444231387439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9983126682660858, + -0.012659363665498852, + 0.05667059988241629, + 0.1142533129605061 + ], + [ + 0.005376081768951695, + 0.9919046221311116, + 0.1268712668012361, + -0.11043101010384097 + ], + [ + -0.05781793946745092, + -0.12635252710777706, + 0.9902990077593822, + 0.6640568678531475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.998652555575118, + -0.012017961480856444, + 0.05048407516367417, + 0.1171257233038854 + ], + [ + 0.005905416798404688, + 0.9928135650003499, + 0.11952552532297869, + -0.11204091309210994 + ], + [ + -0.05155772779830365, + -0.11906634181472762, + 0.9915467749688541, + 0.6677082905592764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9989304001659968, + -0.011347211551843006, + 0.044825176120115315, + 0.11942579751174441 + ], + [ + 0.006348754469149752, + 0.9938983616733381, + 0.11011693775139639, + -0.11396245188334768 + ], + [ + -0.045801189295607676, + -0.10971457265583354, + 0.9929073288107284, + 0.6707016105909589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9990947749209282, + -0.010928559978002855, + 0.04111200922488778, + 0.1203075135940239 + ], + [ + 0.006725386753025565, + 0.9948617318692317, + 0.10101932307818895, + -0.11600588950359071 + ], + [ + -0.04200476042929292, + -0.10065138369123638, + 0.9940346568718404, + 0.6742551900520166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9991970114270307, + -0.010946484156009949, + 0.038542273413913614, + 0.12005015411948236 + ], + [ + 0.007386569692699533, + 0.9957939099069982, + 0.09132320395336789, + -0.11783810608422822 + ], + [ + -0.039379829144697176, + -0.0909651772754594, + 0.9950751557444187, + 0.6784797242059265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9992549896561363, + -0.011504274944496792, + 0.03683907307895341, + 0.11943406319143289 + ], + [ + 0.008479517657667444, + 0.996658871082636, + 0.08123541390661773, + -0.11949301370897765 + ], + [ + -0.03765054352341215, + -0.08086251511230415, + 0.9960139006169062, + 0.6826315532064866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9992802589841909, + -0.012227407488309588, + 0.03590897534883318, + 0.11853932802438222 + ], + [ + 0.009655942550906117, + 0.9974345148961511, + 0.07093060881829, + -0.12097312899955667 + ], + [ + -0.03668414886489638, + -0.07053282214681691, + 0.9968346875094504, + 0.6867933848459529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.999290173245842, + -0.012993994697201893, + 0.03535966283923725, + 0.1176641356596298 + ], + [ + 0.010842525379987113, + 0.9981171162498088, + 0.060371035211849, + -0.12231820831963222 + ], + [ + -0.036077545616072355, + -0.05994479419411722, + 0.9975495137342033, + 0.6904619084529819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9992981914617148, + -0.013747573943726915, + 0.03484435035996799, + 0.11728755200904907 + ], + [ + 0.012015045765643188, + 0.9987041963240936, + 0.04945267353638367, + -0.12365797915051262 + ], + [ + -0.03547905320884339, + -0.0489993107636057, + 0.9981684749219923, + 0.6930540916181867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9993099513128345, + -0.01420268279459625, + 0.03432062074870512, + 0.11735495681304228 + ], + [ + 0.01289350660391384, + 0.9991918788731678, + 0.03807028606884065, + -0.12502671760404976 + ], + [ + -0.03483358572692738, + -0.03760150256764498, + 0.9986855102133305, + 0.6948911138510648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9993330155331437, + -0.014384911647221105, + 0.03356483848219356, + 0.1176912075481338 + ], + [ + 0.01351771455700366, + 0.9995725716749265, + 0.02592190865522084, + -0.12633195814394813 + ], + [ + -0.03392337628523244, + -0.02545089923904232, + 0.9991003234256983, + 0.6961212486701883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9993706319885153, + -0.014320500195140666, + 0.032454016593277166, + 0.11835943747956436 + ], + [ + 0.013968602700487413, + 0.9998414428550397, + 0.01104388012197477, + -0.12763284245333115 + ], + [ + -0.032607024664505484, + -0.010583592193276762, + 0.999412212012048, + 0.6965961059344744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999416797710486, + -0.014500874214118085, + 0.03091583900113584, + 0.11894743348425911 + ], + [ + 0.014623050601160804, + 0.9998861222595801, + -0.003729464280035315, + -0.1286802359677216 + ], + [ + -0.030858237882836363, + 0.004179373126019493, + 0.999515033401219, + 0.6966722445949785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.999477652977565, + -0.014623350900525646, + 0.028819764171462012, + 0.11934616025982815 + ], + [ + 0.015201809404355315, + 0.9996852869705943, + -0.019955751184915733, + -0.12964404647523786 + ], + [ + -0.028518874264112253, + 0.020383439919716872, + 0.9993854057308158, + 0.696348193678572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9995416049549153, + -0.01538703266762491, + 0.026073342513714706, + 0.11966734045530242 + ], + [ + 0.016360437669395884, + 0.9991611624825846, + -0.03754074407515444, + -0.13090531566393557 + ], + [ + -0.025473830560358426, + 0.03795010687910999, + 0.9989548905453371, + 0.6947044957735924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996056351939995, + -0.01607775329559114, + 0.02302346492965696, + 0.11966930014865915 + ], + [ + 0.01735287633360935, + 0.9982631254833474, + -0.056299289366468504, + -0.13191402459777476 + ], + [ + -0.022078309974984407, + 0.05667661024783508, + 0.9981484409041893, + 0.6933310209648036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996660529469668, + -0.0167065396052219, + 0.01971481980266361, + 0.11947432919162897 + ], + [ + 0.018155279092954894, + 0.9969613764915757, + -0.07575222521536717, + -0.1332887571283845 + ], + [ + -0.018389356337002668, + 0.07608485603878049, + 0.9969317560671187, + 0.6919831430338557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9997166299255422, + -0.017364735165958503, + 0.01628268475813045, + 0.11919386481365796 + ], + [ + 0.01884608429986832, + 0.9952281512261721, + -0.09573793455834478, + -0.13423567291421779 + ], + [ + -0.014542522369891214, + 0.09601767014228046, + 0.9952733906136392, + 0.6906969663097025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9997501522552265, + -0.018432389185048793, + 0.012644370074579575, + 0.11902554473997935 + ], + [ + 0.019774651029479763, + 0.9930675220070894, + -0.11587001299456957, + -0.13527178184340133 + ], + [ + -0.010420952082910766, + 0.11609110113884842, + 0.9931839003900818, + 0.6892861917694844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9997642102496018, + -0.01980737755179781, + 0.008898971767048286, + 0.11904689889597572 + ], + [ + 0.02083390511595255, + 0.9904957929462538, + -0.1359559949152357, + -0.1360502672792346 + ], + [ + -0.006121462375092441, + 0.13610933821855367, + 0.9906749092149745, + 0.6878745222484725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.999762070988085, + -0.021186252453074463, + 0.005190772640999163, + 0.11922813791754587 + ], + [ + 0.021736398961492383, + 0.9875466020836724, + -0.15581796325578176, + -0.13669120508999993 + ], + [ + -0.0018249311775467426, + 0.1558937183467888, + 0.9877721489322372, + 0.6864054117760967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9997439853308488, + -0.022567484962746204, + 0.0016347529623876934, + 0.11941809415916835 + ], + [ + 0.02250409388286521, + 0.9842232276109569, + -0.1754941708136831, + -0.1372213475426645 + ], + [ + 0.0023515002238996196, + 0.17548603036574512, + 0.9844791128272707, + 0.6848285888724558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9997068064211495, + -0.024132593237592183, + -0.0019796815036441304, + 0.11950873847233401 + ], + [ + 0.023267955196239865, + 0.9800718877883471, + -0.19727568787859256, + -0.13738496403455497 + ], + [ + 0.006701004119736443, + 0.19717178477311353, + 0.9803460531022568, + 0.6832134633673819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9996669011363276, + -0.02530520912536416, + -0.0050727865728648356, + 0.11947204920925444 + ], + [ + 0.023602703891466386, + 0.9758993459129822, + -0.21694095744147837, + -0.13786752400839694 + ], + [ + 0.010440265394328286, + 0.2167489631756866, + 0.9761715463076974, + 0.6818325993084827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9996230352970821, + -0.026300077405796277, + -0.007879925881503599, + 0.11915100896273684 + ], + [ + 0.023687678057584215, + 0.9712738599333425, + -0.23678256464196476, + -0.13786524076876744 + ], + [ + 0.01388096580534328, + 0.23650664882542957, + 0.9715307117377587, + 0.6805180873234095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9995603726660096, + -0.027627621153533, + -0.010759923103151652, + 0.11928855280767578 + ], + [ + 0.0239424022749386, + 0.9661988218792221, + -0.25668384828911456, + -0.13789028219948526 + ], + [ + 0.017487789142538738, + 0.25631338464582964, + 0.9664355260866118, + 0.67876946060768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9994878714618995, + -0.028984605469958544, + -0.013560510547636916, + 0.11951546262200488 + ], + [ + 0.024105954204711108, + 0.9606753303042063, + -0.2766257629303259, + -0.13800708966229136 + ], + [ + 0.021045136550806545, + 0.2761572059365015, + 0.9608820426238087, + 0.6773642955210625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_045/tilt_up/transforms.json b/spatialvid_eval/camera_controls/scene_045/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..820ee6d3b24ee3501cc32e43dff938d3c43eeb70 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_045/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": [ + [ + 0.9999999987930897, + 1.0974241700399624e-05, + 4.788932143218456e-05, + -4.94368018973278e-05 + ], + [ + -1.0978637491440877e-05, + 0.9999999957269105, + 9.179133371441396e-05, + -0.00011823670054394975 + ], + [ + -4.7888313887267015e-05, + -9.179185936312976e-05, + 0.9999999946404821, + -3.455040860072317e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999970973325091, + 0.0015803932330077741, + -0.0018187038751755569, + -0.0021465370742666154 + ], + [ + -0.001585602392828774, + 0.9999946349458188, + -0.0028663469138428075, + -0.0030731670752440626 + ], + [ + 0.0018141641624646373, + 0.002869222335007128, + 0.9999942381691926, + 0.013600232034993585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999989293488628, + 0.003500490042027847, + -0.0030264628827065447, + -0.004539645859045858 + ], + [ + -0.0035184178026053067, + 0.9999761755487567, + -0.0059387768983655866, + -0.006044682690406481 + ], + [ + 0.003005602149494602, + 0.005949361675668627, + 0.9999777854789431, + 0.027719133122618506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999865507369823, + 0.0030196278378542656, + -0.004216656598993726, + -0.00716463583290472 + ], + [ + -0.003057722464895599, + 0.9999543068770175, + -0.009057289408613113, + -0.007923533959056199 + ], + [ + 0.004189114283551423, + 0.009070060960355121, + 0.9999500914124139, + 0.04185269401356751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999831028636889, + 0.0027330187834933976, + -0.0051307499879279855, + -0.010436103968707826 + ], + [ + -0.002792717716949159, + 0.9999280658855736, + -0.011664638103695796, + -0.009925828463711713 + ], + [ + 0.005098501236931205, + 0.011678769741108258, + 0.9999188025147201, + 0.057169508118444165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999798799268087, + 0.0025414387144753496, + -0.005812127908588751, + -0.014351355742689175 + ], + [ + -0.002619628641105124, + 0.999905640587147, + -0.013485083158417911, + -0.013522342455099024 + ], + [ + 0.00577730796720515, + 0.013500037454292879, + 0.9998921800381202, + 0.07522087903899016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999788933352735, + 0.0024079053314175853, + -0.006034473951978109, + -0.01751053840857317 + ], + [ + -0.002500248372955785, + 0.9998791778389089, + -0.015342049480477883, + -0.016644342627474645 + ], + [ + 0.005996802651055268, + 0.015356813344663356, + 0.9998640940857221, + 0.0917514954866229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999792069416595, + 0.002374814303865227, + -0.005995493420234574, + -0.020197482160971683 + ], + [ + -0.0024787606524938072, + 0.9998457111255566, + -0.017389930691575458, + -0.018761099496834705 + ], + [ + 0.005953270526153453, + 0.017404430494914414, + 0.9998308078716072, + 0.10787346214805042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999806249433173, + 0.0024660987396616183, + -0.005715601016443433, + -0.022228464269974248 + ], + [ + -0.002577686873171152, + 0.9998045982519496, + -0.01959900111336956, + -0.02100853566522098 + ], + [ + 0.005666151106069354, + 0.019613354411324436, + 0.9997915838115359, + 0.12409720824156081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999828936915364, + 0.0026393531906820427, + -0.005219783428126562, + -0.023496824202324688 + ], + [ + -0.002753032878364761, + 0.9997565354865551, + -0.021892705677730523, + -0.024142365458708858 + ], + [ + 0.005160730013510763, + 0.02190670140974967, + 0.9997466995689819, + 0.14018949826178242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999849503927892, + 0.0029082433403211224, + -0.004652000494882019, + -0.024500257634303305 + ], + [ + -0.003020724764659416, + 0.9996987431474514, + -0.02435771276828244, + -0.027318701448826012 + ], + [ + 0.0045797608919110645, + 0.024371398607372825, + 0.9996924830767178, + 0.1556999028093975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999849714648859, + 0.0038536463399054654, + -0.0038995197471337864, + -0.02560398232728469 + ], + [ + -0.003959351646100797, + 0.9996147112775876, + -0.02747275981709358, + -0.02973882882448532 + ], + [ + 0.003792147005836146, + 0.027487786511687803, + 0.999614946473778, + 0.17163075165055813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999798060292879, + 0.0056072237755308875, + -0.002991082606605643, + -0.026654899714047907 + ], + [ + -0.005698399304391245, + 0.9994906937302365, + -0.03139874825561006, + -0.03156651380839304 + ], + [ + 0.0028134994217399512, + 0.031415158573252236, + 0.9995024622445019, + 0.18744012138657004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999847944125667, + 0.004907284309725925, + -0.0025158506235623814, + -0.02779977434390141 + ], + [ + -0.004993794387524336, + 0.9993530070457178, + -0.03561782315493564, + -0.034091491385863114 + ], + [ + 0.002339436101220103, + 0.03562984520573527, + 0.9993623172650364, + 0.20335767326458132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999804423758457, + 0.006073924053415236, + -0.0014907422317687934, + -0.028537489358034792 + ], + [ + -0.006129022671730625, + 0.9991704346923022, + -0.04026012317275968, + -0.03667716732948834 + ], + [ + 0.0012449686331981124, + 0.04026847257333848, + 0.9991881205107039, + 0.2192829812775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999759890176387, + 0.006923236643321328, + -0.0003003041385123237, + -0.028688211945223585 + ], + [ + -0.00692973610891937, + 0.9989595989733048, + -0.04507436496008057, + -0.03872187053651051 + ], + [ + -1.206879338777401e-05, + 0.04507536370873088, + 0.9989835891749522, + 0.23512658838487804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999732220866708, + 0.007230362796070728, + 0.0011300280701608168, + -0.027801291337763205 + ], + [ + -0.007164950268453686, + 0.9987277572468567, + -0.04991523206712294, + -0.04115592051213858 + ], + [ + -0.0014894956370330682, + 0.049905798846440176, + 0.9987528185913902, + 0.2518326530381737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.99996533146136, + 0.007816901083838593, + 0.002869134506768178, + -0.026188329651439964 + ], + [ + -0.007649168762726181, + 0.9984880645724022, + -0.05443413564756949, + -0.04376698477102727 + ], + [ + -0.003290302814602154, + 0.05441030200158922, + 0.9985132412459458, + 0.2672877825446368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999488068106621, + 0.008785086291448316, + 0.005020559409587998, + -0.024657967946953338 + ], + [ + -0.008475063930177891, + 0.9982366651477016, + -0.058751456545138254, + -0.046126552965519124 + ], + [ + -0.005527843097700351, + 0.05870589930873794, + 0.9982600163970506, + 0.2822856144534135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999244484187085, + 0.009604094110753029, + 0.0076719509157172905, + -0.023488908564487692 + ], + [ + -0.009101553395617348, + 0.9979688313540861, + -0.0630505620240316, + -0.04780235298853209 + ], + [ + -0.008261911420978965, + 0.06297597178346143, + 0.9979808454061633, + 0.29753801990549156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998864199279908, + 0.010341250051635055, + 0.010963840155495102, + -0.022994208686424746 + ], + [ + -0.009582624390274524, + 0.9976987489759664, + -0.06712212453123541, + -0.04966584043986784 + ], + [ + -0.011632736280884421, + 0.06700943843341262, + 0.9976845265951849, + 0.31333104279150564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9998267748994039, + 0.011312479305096811, + 0.014779986678909583, + -0.022935413792713504 + ], + [ + -0.010236509187990165, + 0.9974273455395619, + -0.07095001232944152, + -0.05208583369988541 + ], + [ + -0.015544583426428041, + 0.07078642653698143, + 0.9973703663856389, + 0.32908940807348175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9997456376627746, + 0.012385723317052988, + 0.018848178484023544, + -0.02257015851229183 + ], + [ + -0.010945680088178386, + 0.9971477988248231, + -0.07467569474881028, + -0.054357436949396626 + ], + [ + -0.01971933218086894, + 0.07445039393262903, + 0.997029732145244, + 0.3439583638818584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9996473330923623, + 0.013271051308056189, + 0.023001926843358403, + -0.02148265970526911 + ], + [ + -0.011432089112982593, + 0.9968632178022256, + -0.07831367908294073, + -0.05608234550236511 + ], + [ + -0.023969079661953996, + 0.07802310036246922, + 0.9966633729750419, + 0.35817660495096193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9995330814263408, + 0.0141109340363198, + 0.02710167291861408, + -0.01968928467791786 + ], + [ + -0.01184793858547028, + 0.9965686669890929, + -0.08191775342902423, + -0.05792095556342509 + ], + [ + -0.028164614068718088, + 0.08155840555213249, + 0.9962705360483943, + 0.37329161615370404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9994021122622381, + 0.014667558825835593, + 0.03130943506145564, + -0.016532954324353016 + ], + [ + -0.011955776831852486, + 0.9963000596666557, + -0.08510728822236985, + -0.06051990813085391 + ], + [ + -0.03244190817636648, + 0.08468207500002138, + 0.9958797461378393, + 0.3896479645049644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999258701716171, + 0.015266820447601031, + 0.03534078717194865, + -0.013746100236181431 + ], + [ + -0.012095009856184445, + 0.9960218675227535, + -0.08828448421475663, + -0.06254927448504743 + ], + [ + -0.03654802020754422, + 0.08779159190894946, + 0.9954681705654891, + 0.40377958260150654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9990947757631596, + 0.015828077734036113, + 0.03948545299230254, + -0.011348703186795869 + ], + [ + -0.012175946605776516, + 0.9957694713642615, + -0.0910763757688722, + -0.0646128080195285 + ], + [ + -0.04075997260812749, + 0.09051315845878345, + 0.9950607985338384, + 0.4171044705346585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9989132001886377, + 0.015766899225644643, + 0.043861411031829174, + -0.00938584816321781 + ], + [ + -0.011599004710770834, + 0.9955323820232087, + -0.09370559979486627, + -0.0667489042533989 + ], + [ + -0.045142901752260184, + 0.09309501185350637, + 0.9946333179566132, + 0.43003253224448057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9986950756302656, + 0.015276894283802913, + 0.04873153407086053, + -0.007350235473495486 + ], + [ + -0.010533216208958236, + 0.9953106317054579, + -0.09615507147507994, + -0.06955482113403899 + ], + [ + -0.04997196482182056, + 0.09551629659447598, + 0.9941727414371824, + 0.44360685845631015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9984432100869323, + 0.013775962345601883, + 0.05404978346630766, + -0.005520725186788628 + ], + [ + -0.008387710008858696, + 0.9950839516130571, + -0.0986791546525947, + -0.07146028382498201 + ], + [ + -0.05514347243427346, + 0.0980721780302445, + 0.9936503637317781, + 0.4577975454068696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9981227998979353, + 0.01307274317771266, + 0.05983293164901801, + -0.003149632122819536 + ], + [ + -0.006948270275868237, + 0.9948168729014746, + -0.10144511289709816, + -0.07305390945088744 + ], + [ + -0.06084897586714159, + 0.10083894474031883, + 0.9930402355189739, + 0.47213615370283823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9977544604875068, + 0.012412086693361338, + 0.06581775354112672, + 0.00031456208279313693 + ], + [ + -0.005486491359530715, + 0.9945225590094076, + -0.10437805341134392, + -0.07469892775944494 + ], + [ + -0.06675279012779774, + 0.10378255983206452, + 0.9923574181134831, + 0.48524336606016866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.997348589974518, + 0.011072162258170024, + 0.07192494211863847, + 0.005062574777449673 + ], + [ + -0.0032862628594807312, + 0.9942019317555498, + -0.10747892523630617, + -0.07683619435203408 + ], + [ + -0.07269794049530658, + 0.10695759027045183, + 0.9916022808219428, + 0.49768180133273865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.996860502896082, + 0.00979801667668106, + 0.07856931102520083, + 0.010077499629496922 + ], + [ + -0.0010454132346128268, + 0.993856061460343, + -0.11067536405950568, + -0.07923330199089518 + ], + [ + -0.07917098506991159, + 0.11024576167698559, + 0.9907460962099833, + 0.5097702885222208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9962612712683804, + 0.009713803259022652, + 0.08584358681320188, + 0.014531497070523433 + ], + [ + 0.00015007819878629658, + 0.993462482960483, + -0.11415897873810263, + -0.08116334617987811 + ], + [ + -0.08639130076139016, + 0.1137450525352084, + 0.989746738401556, + 0.5215362142894571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9955306960908957, + 0.010516467693868903, + 0.09385114302991042, + 0.01922837660607787 + ], + [ + 0.0006572800139179078, + 0.9929847335320623, + -0.1182408007214217, + -0.08277261450744716 + ], + [ + -0.09443622781411908, + 0.11777403312913871, + 0.9885398707167743, + 0.534761112552791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9948412942611836, + 0.010838572829163064, + 0.10086289987780565, + 0.023621681857507994 + ], + [ + 0.0015844497065096769, + 0.9924943986320364, + -0.12227983563597189, + -0.08468938049618044 + ], + [ + -0.10143120206258457, + 0.12180884213824417, + 0.987357238908532, + 0.5467265199145214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9941733418657591, + 0.011403638541571602, + 0.10718826125785456, + 0.028172338060726825 + ], + [ + 0.0022429459607333194, + 0.9919845275532961, + -0.12633948823816443, + -0.08699269864640814 + ], + [ + -0.10776982656052732, + 0.12584376870897201, + 0.9861789950917819, + 0.5573788429087535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9935523049682936, + 0.01244428996991775, + 0.11268964876746973, + 0.03282886854982572 + ], + [ + 0.002389678867186299, + 0.9914383978417661, + -0.1305534094532338, + -0.08891233433601575 + ], + [ + -0.11334948931116898, + 0.12998093295594013, + 0.9850161675530005, + 0.56677455296588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9930128105831433, + 0.013877513104216, + 0.11718776663034894, + 0.03740538314877895 + ], + [ + 0.0020858166078156996, + 0.9908418738707827, + -0.1350112230642882, + -0.09033116247927701 + ], + [ + -0.11798816630003778, + 0.1343123062652069, + 0.983889728068586, + 0.5759724923564734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9926521936101707, + 0.01519412538389951, + 0.12004482943773455, + 0.043567452538432395 + ], + [ + 0.0016988590269567184, + 0.9902371421746912, + -0.13938262494194584, + -0.09144483545628501 + ], + [ + -0.12099064591497544, + 0.13856240764189595, + 0.9829352586969083, + 0.5851509351189867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9924998510715616, + 0.016029015063618313, + 0.1211904133956914, + 0.05127503117952911 + ], + [ + 0.001553895921648033, + 0.9896320472707653, + -0.14361753521815857, + -0.09287201201605795 + ], + [ + -0.12223596455378002, + 0.14272869960440554, + 0.9821847521107435, + 0.5956349495788055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9925017557385426, + 0.016788412555328844, + 0.12107193754038281, + 0.05830886341662326 + ], + [ + 0.0012753115661641781, + 0.9890462565386205, + -0.14760039297830735, + -0.09414708912259855 + ], + [ + -0.12222372288684177, + 0.14664805362095207, + 0.9816087356645045, + 0.6046700374187273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9926728946327394, + 0.01690780946828752, + 0.11964384748261143, + 0.06434617027032907 + ], + [ + 0.0014098974613133974, + 0.9884736067623604, + -0.15138672637770753, + -0.09545861227394625 + ], + [ + -0.12082440337368475, + 0.1504461854391609, + 0.9812071182152107, + 0.6119326379380807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9930283410060341, + 0.016768899084169564, + 0.11667698137297158, + 0.07055582207801228 + ], + [ + 0.0015484931741045925, + 0.9878882796401606, + -0.15515910904131164, + -0.0968259375676283 + ], + [ + -0.11786566984365539, + 0.1542580661524992, + 0.9809750929046046, + 0.6191335218719023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9934907003578806, + 0.016417582208141095, + 0.1127239606155107, + 0.07610642882248637 + ], + [ + 0.0017468290193251642, + 0.9872476347632532, + -0.1591824621079217, + -0.0980581081767462 + ], + [ + -0.1138998546565601, + 0.15834320524986734, + 0.9807926653785769, + 0.6253822652501263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9940493700081724, + 0.015572727875356086, + 0.10781159553997927, + 0.08140306295143354 + ], + [ + 0.0023088673116666404, + 0.9864939605362795, + -0.16378136327794698, + -0.09948621773606584 + ], + [ + -0.1089060104773519, + 0.1630556836542837, + 0.9805877446256105, + 0.6314734998412059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9946732844225364, + 0.014336618129645089, + 0.10207604340240241, + 0.08642568621461794 + ], + [ + 0.003142642616718802, + 0.9856022139668829, + -0.16905147033067452, + -0.10106217760204894 + ], + [ + -0.10303000074477331, + 0.16847176975441341, + 0.9803071364334489, + 0.6370554491569705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9953410342070927, + 0.01310731731444296, + 0.09552185015154338, + 0.09120599760496532 + ], + [ + 0.003842597778905778, + 0.9845367226582631, + -0.17513616468232981, + -0.10261940032839018 + ], + [ + -0.09634033457418006, + 0.17468726333120313, + 0.9798994335971372, + 0.6420695798601422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9960335290956208, + 0.012021197366569298, + 0.08816291585012971, + 0.09586608292279783 + ], + [ + 0.0042744219975227905, + 0.9832233785091086, + -0.18235546953607243, + -0.10413115176379292 + ], + [ + -0.0888759710715453, + 0.18200900737877873, + 0.9792720679152866, + 0.6470708465198196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9967165470871334, + 0.010758521041238324, + 0.08025197186180179, + 0.10070770218064573 + ], + [ + 0.004776849835811234, + 0.9815940753991006, + -0.19091949310384979, + -0.10559913216779035 + ], + [ + -0.08082887150238029, + 0.19067596955670651, + 0.9783196656335094, + 0.6517618266931144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9973356811624164, + 0.009803058784443626, + 0.07228719885821902, + 0.10573140235686428 + ], + [ + 0.004920292140274272, + 0.9796331835007593, + -0.20073519001266804, + -0.10714741476400438 + ], + [ + -0.07278275761163021, + 0.2005560416009359, + 0.9769748944429484, + 0.6562383511506967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9978774258892221, + 0.008435619132898276, + 0.0645715357610815, + 0.110587097909533 + ], + [ + 0.005448376440026811, + 0.9772825890934027, + -0.21187037605352707, + -0.10873823162780615 + ], + [ + -0.06489189544825846, + 0.21177247551261213, + 0.9751622739423385, + 0.660444231387439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9983126682660858, + 0.007737755944855125, + 0.05754948750758892, + 0.1142533129605061 + ], + [ + 0.005376081768951695, + 0.9745086320378118, + -0.2242855854231535, + -0.11043101010384097 + ], + [ + -0.05781793946745092, + 0.22421653198801153, + 0.9728227138893332, + 0.6640568678531475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.998652555575118, + 0.006535336518188586, + 0.05148167266009218, + 0.1171257233038854 + ], + [ + 0.005905416798404688, + 0.9712829716717267, + -0.2378539782996653, + -0.11204091309210994 + ], + [ + -0.05155772779830365, + 0.23783750401720619, + 0.9699356279605067, + 0.6677082905592764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9989304001659968, + 0.0054703718540491135, + 0.04591438397692016, + 0.11942579751174441 + ], + [ + 0.006348754469149752, + 0.9673464375780405, + -0.253378300218793, + -0.11396245188334768 + ], + [ + -0.045801189295607676, + 0.25339878598141063, + 0.9662770339412271, + 0.6707016105909589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9990947749209282, + 0.004807276286307461, + 0.042267254706299176, + 0.1203075135940239 + ], + [ + 0.006725386753025565, + 0.9632486659163977, + -0.26852705037538116, + -0.11600588950359071 + ], + [ + -0.04200476042929292, + 0.2685682365898607, + 0.9623443782743736, + 0.6742551900520166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9991970114270307, + 0.004114927017600116, + 0.03985473285483763, + 0.12005015411948236 + ], + [ + 0.007386569692699533, + 0.9587433886554523, + -0.2841769753122789, + -0.11783810608422822 + ], + [ + -0.039379829144697176, + 0.28424317421021833, + 0.9579431334747561, + 0.6784797242059265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9992549896561363, + 0.0032174943266041933, + 0.038459243070727706, + 0.11943406319143289 + ], + [ + 0.008479517657667444, + 0.953864853268214, + -0.300116543162656, + -0.11949301370897765 + ], + [ + -0.03765054352341215, + 0.3002190690643539, + 0.9531269312859252, + 0.6826315532064866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9992802589841909, + 0.002445118425080407, + 0.03785479362479223, + 0.11853932802438222 + ], + [ + 0.009655942550906117, + 0.9486533021752069, + -0.3161703260040846, + -0.12097312899955667 + ], + [ + -0.03668414886489638, + 0.3163082889649952, + 0.947946907560806, + 0.6867933848459529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.999290173245842, + 0.0017729944512826972, + 0.03762985709474815, + 0.1176641356596298 + ], + [ + 0.010842525379987113, + 0.9430878484151017, + -0.3323668903714071, + -0.12231820831963222 + ], + [ + -0.036077545616072355, + 0.3325389701410202, + 0.9423991956914386, + 0.6904619084529819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9992981914617148, + 0.0011234431339299778, + 0.03744145318856182, + 0.11728755200904907 + ], + [ + 0.012015045765643188, + 0.9371217761816611, + -0.34879566408053064, + -0.12365797915051262 + ], + [ + -0.03547905320884339, + 0.34900073707895474, + 0.9364505978970544, + 0.6930540916181867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9993099513128345, + 0.0007416217812551913, + 0.03713584796761663, + 0.11735495681304228 + ], + [ + 0.01289350660391384, + 0.9307041889908311, + -0.3655454418842809, + -0.12502671760404976 + ], + [ + -0.03483358572692738, + 0.36577200903302176, + 0.9300523956817444, + 0.6948911138510648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9993330155331437, + 0.0005107790357198598, + 0.03651387640624819, + 0.1176912075481338 + ], + [ + 0.01351771455700366, + 0.9236983725463043, + -0.38288195040830086, + -0.12633195814394813 + ], + [ + -0.03392337628523244, + 0.3831201582533681, + 0.9230753755145487, + 0.6961212486701883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9993706319885153, + 0.0003499752109036891, + 0.03547136078905751, + 0.11835943747956436 + ], + [ + 0.013968602700487413, + 0.9152772879163047, + -0.40258212126617104, + -0.12763284245333115 + ], + [ + -0.032607024664505484, + 0.4028242343031584, + 0.9146963530049754, + 0.6965961059344744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.999416797710486, + -0.0002256528900825673, + 0.03414694034450266, + 0.11894743348425911 + ], + [ + 0.014623050601160804, + 0.9064783799958336, + -0.421998949040451, + -0.1286802359677216 + ], + [ + -0.030858237882836363, + 0.42225217072373056, + 0.9059530194628549, + 0.6966722445949785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.999477652977565, + -0.001003028704371968, + 0.032301936967878496, + 0.11934616025982815 + ], + [ + 0.015201809404355315, + 0.8966255824542495, + -0.44252849612133655, + -0.12964404647523786 + ], + [ + -0.028518874264112253, + 0.44278839056822206, + 0.8961724806022062, + 0.696348193678572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9995416049549153, + -0.002663245972571155, + 0.030157703577056764, + 0.11966734045530242 + ], + [ + 0.016360437669395884, + 0.8856664550438867, + -0.4640336911144073, + -0.13090531566393557 + ], + [ + -0.025473830560358426, + 0.4643143735992726, + 0.8853040417990293, + 0.6947044957735924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996056351939995, + -0.004418278091502164, + 0.0277318031708576, + 0.11966930014865915 + ], + [ + 0.01735287633360935, + 0.87361600406338, + -0.4863064415852243, + -0.13191402459777476 + ], + [ + -0.022078309974984407, + 0.4865958859906636, + 0.8733481504907479, + 0.6933310209648036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996660529469668, + -0.006263998148836086, + 0.02507079800532331, + 0.11947432919162897 + ], + [ + 0.018155279092954894, + 0.8606431304645226, + -0.5088848473134996, + -0.1332887571283845 + ], + [ + -0.018389356337002668, + 0.5091700740532757, + 0.8604694458620206, + 0.6919831430338557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9997166299255422, + -0.008226285419637555, + 0.022338041062528024, + 0.11919386481365796 + ], + [ + 0.01884608429986832, + 0.84678806569366, + -0.531596460583921, + -0.13423567291421779 + ], + [ + -0.014542522369891214, + 0.5318668066602621, + 0.8467031445649276, + 0.6906969663097025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9997501522552265, + -0.010682955131207435, + 0.01963434580821668, + 0.11902554473997935 + ], + [ + 0.019774651029479763, + 0.8322257559636598, + -0.5540841581270644, + -0.13527178184340133 + ], + [ + -0.010420952082910766, + 0.5543339837862911, + 0.8322290779450728, + 0.6892861917694844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9997642102496018, + -0.013497412981738047, + 0.017010107195152988, + 0.11904689889597572 + ], + [ + 0.02083390511595255, + 0.817061965098043, + -0.5761733190523005, + -0.1360502672792346 + ], + [ + -0.006121462375092441, + 0.5763918502485311, + 0.8171505140826049, + 0.6878745222484725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.999762070988085, + -0.01633267239178641, + 0.014458396389590625, + 0.11922813791754587 + ], + [ + 0.021736398961492383, + 0.8014154280433073, + -0.5977130086039202, + -0.13669120508999993 + ], + [ + -0.0018249311775467426, + 0.5978850688106416, + 0.8015797615455944, + 0.6864054117760967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9997439853308488, + -0.019132127659521433, + 0.012079962169294505, + 0.11941809415916835 + ], + [ + 0.02250409388286521, + 0.7852800138421195, + -0.6187316588139258, + -0.1372213475426645 + ], + [ + 0.0023515002238996196, + 0.6188451030357602, + 0.7855095218362133, + 0.6848285888724558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9997068064211495, + -0.02215275828209414, + 0.00977530028807606, + 0.11950873847233401 + ], + [ + 0.023267955196239865, + 0.7671721239698063, + -0.6410191373622495, + -0.13738496403455497 + ], + [ + 0.006701004119736443, + 0.6410586459163871, + 0.7674626434163659, + 0.6832134633673819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9996669011363276, + -0.024608797361554344, + 0.007777780204544684, + 0.11947204920925444 + ], + [ + 0.023602703891466386, + 0.7498101045741979, + -0.6612319709810184, + -0.13786752400839694 + ], + [ + 0.010440265394328286, + 0.6611952920059614, + 0.7501411778376439, + 0.6818325993084827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9996230352970821, + -0.026797011689387015, + 0.005975572605844709, + 0.11915100896273684 + ], + [ + 0.023687678057584215, + 0.7317355738658348, + -0.6811768814687401, + -0.13786524076876744 + ], + [ + 0.01388096580534328, + 0.6810616492680794, + 0.7320944943684214, + 0.6805180873234095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9995603726660096, + -0.029334978027971647, + 0.004303540389876882, + 0.11928855280767578 + ], + [ + 0.0239424022749386, + 0.7130123886459518, + -0.7007425311843858, + -0.13789028219948526 + ], + [ + 0.017487789142538738, + 0.7005375027088081, + 0.7134012787551012, + 0.67876946060768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9994878714618995, + -0.03188165992947196, + 0.002748556112438869, + 0.11951546262200488 + ], + [ + 0.024105954204711108, + 0.6936563593672863, + -0.7199026031910171, + -0.13800708966229136 + ], + [ + 0.021045136550806545, + 0.7196001770910454, + 0.6940696559842494, + 0.6773642955210625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 704.2152404785156, + "fy": 704.2152214050293, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_129/move_right/transforms.json b/spatialvid_eval/camera_controls/scene_129/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..21cccbeab2a99171bb9ce21f1961fc74ff88f685 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_129/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": [ + [ + 0.9906153634528143, + 0.09690748719631741, + 0.09638537553251744, + -0.05032537763465718 + ], + [ + -0.0817480272914987, + 0.985239775938895, + -0.1503989492710121, + 0.06444053213641361 + ], + [ + -0.10953749004426394, + 0.14110819548549142, + 0.9839156546379528, + -0.012430764239109552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9906663854558715, + 0.09531870204607223, + 0.09743950825025395, + -0.04952179042556019 + ], + [ + -0.07988154441058404, + 0.9852073807368233, + -0.15160922070991725, + 0.0641314504129601 + ], + [ + -0.11044931683980257, + 0.142410540276837, + 0.9836260399296477, + -0.011082019010523619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9905974173550581, + 0.09440759268590156, + 0.09901496438792343, + -0.04874482251016881 + ], + [ + -0.0786494071077113, + 0.9851720896946172, + -0.15248024281311534, + 0.06374508296953212 + ], + [ + -0.11194207203323658, + 0.14325906648444287, + 0.9833340288929859, + -0.009955504376389854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.990621980328515, + 0.09279978936030459, + 0.10028106094719104, + -0.04829015161532612 + ], + [ + -0.07676146224077854, + 0.9851787259710344, + -0.15339672685147787, + 0.0634047171391646 + ], + [ + -0.11302995180335466, + 0.14426044845616032, + 0.9830631480258828, + -0.00891640895301505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9911948019576676, + 0.08640412097437304, + 0.10033539978863948, + -0.05080537049864845 + ], + [ + -0.07037807535084294, + 0.985634535376108, + -0.1535300921117255, + 0.056988274698486566 + ], + [ + -0.11215966780447989, + 0.14511681691854242, + 0.9830367838313168, + -0.02288257694771346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9914782411483006, + 0.08206059890651451, + 0.10117784064001593, + -0.054288759262327985 + ], + [ + -0.06584538519988758, + 0.9858253366440654, + -0.1543139361123742, + 0.054508908216290716 + ], + [ + -0.11240677282686633, + 0.1463368160707333, + 0.9828276826000221, + -0.033700699084547606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9916600887112502, + 0.080613695241637, + 0.10055695200573495, + -0.05693310557533588 + ], + [ + -0.06438848638417213, + 0.9857690720292948, + -0.15528509088659578, + 0.05482568808470553 + ], + [ + -0.1116440382570896, + 0.14751531706908103, + 0.9827384392358213, + -0.036457658993219295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.991693483847041, + 0.07959219626083189, + 0.10104017215788978, + -0.057997190436808004 + ], + [ + -0.06319595948766107, + 0.9857007651157335, + -0.15620586530182481, + 0.054023013425504945 + ], + [ + -0.11202814289165329, + 0.14852300813219196, + 0.982542930998749, + -0.03450285362703768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.991478589409782, + 0.0793517081016563, + 0.10331269604138114, + -0.05654624066080759 + ], + [ + -0.06256564156089135, + 0.9856729465233486, + -0.15663455234415663, + 0.052597437577325955 + ], + [ + -0.11426174879662636, + 0.1488359799018027, + 0.9822383131646857, + -0.029831278640685906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.991267968757762, + 0.07920389213914508, + 0.10542560213188959, + -0.05488523833634308 + ], + [ + -0.06209934998557415, + 0.9857009784050932, + -0.15664371006399047, + 0.05054418857725823 + ], + [ + -0.11632491068653344, + 0.1487290309295835, + 0.9820123168843237, + -0.024336553549333055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9910115802098736, + 0.0789800553257515, + 0.1079731390238829, + -0.052887699692202646 + ], + [ + -0.061528946476670315, + 0.9857837364131562, + -0.15634773349424705, + 0.04791793327591317 + ], + [ + -0.11878651706065192, + 0.14829894094044735, + 0.981782657964858, + -0.019090007976158403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9906550594017894, + 0.0788791800448794, + 0.11126827147522719, + -0.05093766536507574 + ], + [ + -0.06091472324227062, + 0.9857977815970008, + -0.15649961754186414, + 0.04529914016005756 + ], + [ + -0.12203257669145126, + 0.14825926194973343, + 0.98139046330814, + -0.01452661345208469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9900250828949175, + 0.07852079705948031, + 0.11698213396948992, + -0.04871821784267377 + ], + [ + -0.0596241646897683, + 0.985784863284889, + -0.15707693116253693, + 0.04185293171330666 + ], + [ + -0.1276530227764277, + 0.1485351397735125, + 0.9806334779256234, + -0.008894833401086755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9894648048942166, + 0.07807668035349165, + 0.12191567520474482, + -0.04677376741368752 + ], + [ + -0.05837318166662288, + 0.9857833634800971, + -0.15755548847305378, + 0.03869449354877866 + ], + [ + -0.13248385387572925, + 0.14877900480526757, + 0.9799555276599999, + -0.003950338385284432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9887761982010883, + 0.07770940280534491, + 0.12760438310120412, + -0.04451370346877404 + ], + [ + -0.05707849458163513, + 0.9857815664386967, + -0.15804033892004818, + 0.034662143877636775 + ], + [ + -0.1380712690145798, + 0.14898305939034176, + 0.979152885246935, + 0.002180961244750534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9882212865567044, + 0.07739186334977964, + 0.13201965112611552, + -0.04240109862958297 + ], + [ + -0.056043932789826965, + 0.9857877841261058, + -0.15837146922723103, + 0.03116378090727768 + ], + [ + -0.14240002244965266, + 0.14910715661896132, + 0.9785138166890375, + 0.007713397368325492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.987471391463059, + 0.07716534619941566, + 0.13764359915351934, + -0.03994776345423792 + ], + [ + -0.05489587899541158, + 0.9857808618742829, + -0.15881604085141135, + 0.026810439423305486 + ], + [ + -0.1479415205793543, + 0.14927023048257262, + 0.9776664588602537, + 0.014785237867937923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9867922164802004, + 0.07675373211043136, + 0.1426533774616413, + -0.03777317336665574 + ], + [ + -0.053674434138198994, + 0.9857998974720732, + -0.1591151069634628, + 0.023168621518216612 + ], + [ + -0.15284036317032723, + 0.1493567097628031, + 0.9768993789714437, + 0.020820133765268006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9859808241470759, + 0.07639443313044275, + 0.1483432000495193, + -0.03546170260113382 + ], + [ + -0.052393368771046445, + 0.9858161387462954, + -0.15944113489362283, + 0.018768305755557012 + ], + [ + -0.15841953579995913, + 0.14943370160048774, + 0.9759983706456186, + 0.028423639023308495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9854437884882102, + 0.07604687706534952, + 0.1520441127390716, + -0.033185024187464246 + ], + [ + -0.05153525185359664, + 0.9859159338581931, + -0.15910339148149416, + 0.015100858742882316 + ], + [ + -0.16200202945145553, + 0.14895181721998174, + 0.9754838279543516, + 0.03502688759938868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9848699362368597, + 0.07546852992568638, + 0.155999069508955, + -0.030629842420526774 + ], + [ + -0.05058496085112462, + 0.9861851684234705, + -0.1577338749833446, + 0.010614535333982909 + ], + [ + -0.1657479123020685, + 0.14745614457331704, + 0.9750816965747429, + 0.04324887357058136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9842642848040761, + 0.07493184895392899, + 0.160028233982214, + -0.028062026031524964 + ], + [ + -0.04977327600553312, + 0.9865335030756951, + -0.1558020163697337, + 0.006029471510289314 + ], + [ + -0.169547747418825, + 0.14538523075451412, + 0.9747392964396476, + 0.05175426058108545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9837864873316181, + 0.0744898567744477, + 0.16314229550131465, + -0.02560767192058065 + ], + [ + -0.049182302557839945, + 0.9868449462044947, + -0.15400699096390777, + 0.0021719179409113456 + ], + [ + -0.17246810852683775, + 0.1434862829275689, + 0.9745083058408505, + 0.05901247549197175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9832528290540202, + 0.07379930755980926, + 0.16663593958374773, + -0.022794496781318677 + ], + [ + -0.048448898796865196, + 0.9872890829797137, + -0.15137031028060668, + -0.0025144450943264647 + ], + [ + -0.17568886806692352, + 0.1407619580453778, + 0.9743302791171967, + 0.06787958352459084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9828001628025099, + 0.07310465112308409, + 0.16958640859317767, + -0.020207385778705355 + ], + [ + -0.04786330282756921, + 0.9877653180739601, + -0.14842095759253418, + -0.006426252943960375 + ], + [ + -0.17836183514921697, + 0.13775117565531184, + 0.974274945468569, + 0.07528822938058684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.982208109385847, + 0.07190182507004295, + 0.17348589973907708, + -0.017260263365655767 + ], + [ + -0.04705651463863957, + 0.9885603969336215, + -0.1432969854690054, + -0.011209607491786712 + ], + [ + -0.18180460469070542, + 0.13258381939753353, + 0.9743554877698481, + 0.08454091931463799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9816460432734344, + 0.07080164029442151, + 0.17708239171987097, + -0.014469763300079312 + ], + [ + -0.04639272963924265, + 0.9892938125283894, + -0.13836714613543175, + -0.015182844119571642 + ], + [ + -0.18498313534544333, + 0.12761222599995323, + 0.9744210380595784, + 0.09226438754676825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9807847087547158, + 0.06908347400287422, + 0.18245226414769813, + -0.011468120530993595 + ], + [ + -0.0453029938675026, + 0.9902894257989462, + -0.13143246135348147, + -0.019980377076673078 + ], + [ + -0.18976035892558865, + 0.12064131452569464, + 0.9743904142641922, + 0.10186059263675626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9800444635565164, + 0.06735179588841682, + 0.18702027976351968, + -0.008678878713762932 + ], + [ + -0.04415298729343312, + 0.9911040510974267, + -0.12555187617608696, + -0.024161886311419647 + ], + [ + -0.19381270124861802, + 0.11478891709949432, + 0.974299821074519, + 0.10993650819943675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9790941792646946, + 0.06531563088696953, + 0.1926355535508223, + -0.005496706718860121 + ], + [ + -0.04287570930980228, + 0.9920349297707857, + -0.1184414271522179, + -0.029156392663178998 + ], + [ + -0.1988372743757465, + 0.10770592591176197, + 0.9740960793691321, + 0.11961784857874781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9781665712143381, + 0.06364219341155246, + 0.19783788862741025, + -0.0025167823535644854 + ], + [ + -0.04181432373182688, + 0.9927582486630715, + -0.11261714808270049, + -0.0333382246414026 + ], + [ + -0.2035723981526843, + 0.10188587207850486, + 0.9737440874178223, + 0.12765868362445462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9767485128872824, + 0.061338649331521874, + 0.20542617328536114, + 0.0007786720959351637 + ], + [ + -0.040155285811819985, + 0.9935818872907676, + -0.10574774829322667, + -0.038356974151997875 + ], + [ + -0.21059414900194565, + 0.09504000918508565, + 0.9729427018382147, + 0.1374614555123732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9750972047622751, + 0.058806327891821025, + 0.21383932534657346, + 0.004147307488010614 + ], + [ + -0.03827464943128943, + 0.9943589807279105, + -0.0989205168641123, + -0.0435223946176927 + ], + [ + -0.2184502059411022, + 0.08827249427557182, + 0.9718474542224512, + 0.14738906055133746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9736358828154085, + 0.05654888915328616, + 0.2209873092052793, + 0.0071393190106117665 + ], + [ + -0.03659580053068539, + 0.9949590034331218, + -0.09336663681898119, + -0.047899932033062684 + ], + [ + -0.22515309253434349, + 0.08281790037726508, + 0.9707972395404321, + 0.1556278915826975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9717832933438263, + 0.05383274008713655, + 0.22965031433145833, + 0.010591031575514165 + ], + [ + -0.03461042915423554, + 0.9956133075814195, + -0.08692675054633765, + -0.05311932870000781 + ], + [ + -0.23332241420743627, + 0.0765256679911804, + 0.9693835531753761, + 0.16565621056886515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.970106581850678, + 0.05153338649490766, + 0.23714453383192347, + 0.013781096444077944 + ], + [ + -0.0329529685787269, + 0.9961152999963337, + -0.08166033905797547, + -0.057498771672269855 + ], + [ + -0.24043153227445702, + 0.07140461602431979, + 0.9680361868745281, + 0.17395647890258578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9679044581846542, + 0.04856809516560932, + 0.24658081830964731, + 0.017343466268056235 + ], + [ + -0.030800311531778153, + 0.9966767311207585, + -0.07541110297552131, + -0.06281618209501116 + ], + [ + -0.24942393757579964, + 0.0653959767449312, + 0.9661837638822959, + 0.1838609761370995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9659785373511622, + 0.04605144921193603, + 0.2544891538010799, + 0.020535790781425724 + ], + [ + -0.029019812135643645, + 0.9971050626526093, + -0.07028047051740591, + -0.06725846083980534 + ], + [ + -0.25698894116385856, + 0.060504198680888986, + 0.9645184944113111, + 0.19214185918293492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9635734171679892, + 0.04293214530221816, + 0.2639755682387169, + 0.02412324059081917 + ], + [ + -0.026915845021149475, + 0.9975871661311864, + -0.06399518151506509, + -0.07268386403868012 + ], + [ + -0.26608608947857776, + 0.05455893025067383, + 0.9624040295613377, + 0.20208982233182177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9614930416485058, + 0.04030407272395078, + 0.2718578904195493, + 0.02717658801556066 + ], + [ + -0.02518221911550931, + 0.9979470018232276, + -0.05888664867735111, + -0.07709095394945052 + ], + [ + -0.27367313843693836, + 0.04977311798444806, + 0.9605340441776038, + 0.21019860032356202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9589577083111146, + 0.03698917850553008, + 0.2811261537889734, + 0.03087710377725867 + ], + [ + -0.023031948133808336, + 0.9983399084459953, + -0.05279163351520336, + -0.08243195572238014 + ], + [ + -0.28261217779115083, + 0.044150060900614976, + 0.9582176835597511, + 0.22027046049996823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9564367211854558, + 0.033498719282149876, + 0.2900114380062803, + 0.03455069648041447 + ], + [ + -0.02081811922974844, + 0.9986919776388169, + -0.046700532241132, + -0.08789128958292619 + ], + [ + -0.2911965045802419, + 0.038628611239918405, + 0.9558830608991481, + 0.2301737160244191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9542274661528288, + 0.03061853502407899, + 0.297510416880705, + 0.03800962822833905 + ], + [ + -0.019051822585585812, + 0.9989484626593752, + -0.04170128303347413, + -0.09231587191354147 + ], + [ + -0.2984744057632396, + 0.034124393964579114, + 0.9538073992378289, + 0.23843101060806182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9514042633738691, + 0.027121205967652412, + 0.30674805267659955, + 0.041848919626589494 + ], + [ + -0.01692218588741389, + 0.999213534773143, + -0.03586016663308674, + -0.09779053944004151 + ], + [ + -0.30747937696505356, + 0.02892666785202044, + 0.9511149670929174, + 0.24841827501442756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9489665950589307, + 0.02404491643919867, + 0.3144586514244622, + 0.045221701670792196 + ], + [ + -0.015011456606471012, + 0.9994029981381228, + -0.031117575147868545, + -0.10247009520027428 + ], + [ + -0.3150191385182994, + 0.024809056934175504, + 0.9487610094545545, + 0.2565571042911731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9458675904181012, + 0.02070029269211486, + 0.3238919561815576, + 0.0491716672175027 + ], + [ + -0.01271751728946649, + 0.9995614187333439, + -0.026743876565992995, + -0.10812200121228677 + ], + [ + -0.3243035093097935, + 0.021177064533256837, + 0.9457160069424156, + 0.26627475648641674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9430156602901414, + 0.01820762901039172, + 0.3322498257236097, + 0.05274915881339565 + ], + [ + -0.01068681298792758, + 0.9996439456631748, + -0.024449415680564003, + -0.11285747643850988 + ], + [ + -0.3325766926224839, + 0.019505490118935445, + 0.9428744770007884, + 0.2742349240913913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9391174336517403, + 0.015411950653706902, + 0.34325051724420885, + 0.05685073763902669 + ], + [ + -0.00801200350069168, + 0.9997041357155458, + -0.02296625422524217, + -0.11855471041723772 + ], + [ + -0.34350291645235576, + 0.018817885382828033, + 0.9389630629468044, + 0.2837864628838901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9353319933318724, + 0.013012530967766455, + 0.35353180378523097, + 0.06045706248467152 + ], + [ + -0.0054431008045042265, + 0.9997343435590751, + -0.022396762313721022, + -0.1233124611056201 + ], + [ + -0.35372932434766857, + 0.019024099093471622, + 0.93515434488122, + 0.2915885989101991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9301844510313316, + 0.009919991210514411, + 0.36695841839903814, + 0.06450912425789308 + ], + [ + -0.0019983182839341824, + 0.9997568310027941, + -0.021961001509192772, + -0.1290596913766037 + ], + [ + -0.3670870384303651, + 0.019694482415996355, + 0.9299780823109702, + 0.30091838399289583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9247626400136121, + 0.006921526467718368, + 0.38048147406465305, + 0.0685784210094998 + ], + [ + 0.0013591975815636852, + 0.9997681218600131, + -0.021490814187375303, + -0.13486058007727114 + ], + [ + -0.3805419979673582, + 0.020391051563337637, + 0.9245388000506807, + 0.310133358931118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.92008469386975, + 0.004460660273559194, + 0.39169408805409883, + 0.0721637921105672 + ], + [ + 0.004137351937713784, + 0.9997687233484336, + -0.02110407859127159, + -0.13968563332212972 + ], + [ + -0.3916976364819575, + 0.021038115984254927, + 0.9198534444411681, + 0.31766116684798784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9143809712707731, + 0.001697038379020166, + 0.4048512806434705, + 0.07621659738629025 + ], + [ + 0.007288997947769781, + 0.9997601251775905, + -0.020653392307473827, + -0.14550242438211047 + ], + [ + -0.40478921661382655, + 0.02183602907190645, + 0.9141492645884127, + 0.3265707058292249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9094244467805661, + -0.0007809539584288424, + 0.41586844759944985, + 0.07988257621040462 + ], + [ + 0.010106101878784255, + 0.9997444219486104, + -0.020222697333806126, + -0.15033921694246316 + ], + [ + -0.415746367756445, + 0.022593824234819357, + 0.9091999102528383, + 0.33397556468250034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9036898293920544, + -0.003752072023551315, + 0.4281712440238021, + 0.08399147226820557 + ], + [ + 0.013411356337833226, + 0.9997190210492742, + -0.019545190545529143, + -0.15623423430524047 + ], + [ + -0.4279776019542843, + 0.023405147036740976, + 0.9034862319469231, + 0.34298483872186686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8990880047480979, + -0.005982733685944814, + 0.4377270457896425, + 0.08777189565014135 + ], + [ + 0.015926441647042704, + 0.9996916892341142, + -0.01904927643526003, + -0.16102678833826986 + ], + [ + -0.437478123081084, + 0.024098410194174028, + 0.8989060898956941, + 0.35026715394408986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8934455653689718, + -0.008577117581945647, + 0.4490895843553976, + 0.0922133108596229 + ], + [ + 0.018821231987726422, + 0.9996544270111848, + -0.01835177875313447, + -0.16670456236558528 + ], + [ + -0.44877698576128267, + 0.024848734594045088, + 0.8932982466343994, + 0.3590638111562118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8886035990406329, + -0.010624055730627645, + 0.4585529121179653, + 0.09609462733474078 + ], + [ + 0.021141128696151538, + 0.9996178840389884, + -0.01780838529647891, + -0.171385016566773 + ], + [ + -0.45818849445341453, + 0.025518921396634423, + 0.8884886539519036, + 0.3662835656775467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8827423123608158, + -0.013064330867943116, + 0.4696757745795, + 0.10059805054706986 + ], + [ + 0.023888859085322064, + 0.999568451984682, + -0.01709480062909706, + -0.17701235933343343 + ], + [ + -0.46924975479959713, + 0.026310322231395428, + 0.8826734586270274, + 0.3749283533487535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8779655255647418, + -0.015089099175780551, + 0.4784860029362305, + 0.10461695020706294 + ], + [ + 0.026154266710156783, + 0.9995222329317252, + -0.016469978993072204, + -0.18167368274983664 + ], + [ + -0.4780088809349476, + 0.026974524300563928, + 0.8779407068738057, + 0.38190267834133934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8723454628384154, + -0.017436887281749223, + 0.48857890706328566, + 0.10936624803755528 + ], + [ + 0.02879657812294831, + 0.999461268156936, + -0.015745810316986977, + -0.18718803116021207 + ], + [ + -0.48804113612854405, + 0.027805186855210502, + 0.8723776252462617, + 0.3904189672270131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8667082966116584, + -0.01969776403882377, + 0.498426249987286, + 0.11422832765992431 + ], + [ + 0.03134037320791582, + 0.9993961872180744, + -0.015001399306869034, + -0.19263445137077756 + ], + [ + -0.49782979982289755, + 0.028622701931271262, + 0.8668023023403014, + 0.3989035488553047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8619422427392726, + -0.02157040991898268, + 0.5065474189032257, + 0.11847745815076732 + ], + [ + 0.03340043041393083, + 0.9993400407605695, + -0.014279151964574629, + -0.19722183040557917 + ], + [ + -0.5059051110927395, + 0.029226706085193805, + 0.8620938569678203, + 0.40571743097600566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8560905092495779, + -0.023893618749123605, + 0.5162733142007923, + 0.12345365230241415 + ], + [ + 0.03590301996067639, + 0.9992669352032093, + -0.013287790158207635, + -0.202777108616082 + ], + [ + -0.5155773590165706, + 0.029911322148257098, + 0.8563207925052629, + 0.41395979358314683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8510660332182086, + -0.025891396944213607, + 0.5244199106312619, + 0.127877609005346 + ], + [ + 0.03807731480913336, + 0.999197076948663, + -0.012462724989917044, + -0.20725225603360223 + ], + [ + -0.5236761644367154, + 0.03057510394954227, + 0.8513685675542206, + 0.4207257506855854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8449846047320888, + -0.02805209394684676, + 0.534054395910148, + 0.13294485973083647 + ], + [ + 0.040492478939778, + 0.9991126515833012, + -0.011587432653384524, + -0.21240309586543943 + ], + [ + -0.5332554518381105, + 0.03141638857956735, + 0.8453707078043042, + 0.4288134272638215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8398127979912395, + -0.02993676794106836, + 0.5420500477403988, + 0.13748617092504262 + ], + [ + 0.0426379188732947, + 0.9990312953969404, + -0.010884791760349934, + -0.21638996751988265 + ], + [ + -0.5411991058790474, + 0.032253073384632104, + 0.8402757089509167, + 0.4355319056541361 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8335129032396743, + -0.03188699632303151, + 0.551579060152273, + 0.14260794704666396 + ], + [ + 0.04487714103020749, + 0.998941794869391, + -0.010066413267626464, + -0.22075742555646355 + ], + [ + -0.5506743886780323, + 0.033143776619672556, + 0.8340618728400555, + 0.44347741312867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8280253377531279, + -0.033951389497263444, + 0.5596618114451117, + 0.14713581009083626 + ], + [ + 0.046932771144177605, + 0.9988589105048737, + -0.00884261826299379, + -0.2240852327158176 + ], + [ + -0.5587229680544259, + 0.03358839168852672, + 0.8286739195318212, + 0.44987393184868163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8210524019439172, + -0.03660911776153108, + 0.5696777385143698, + 0.15231868240402324 + ], + [ + 0.04935632610411047, + 0.998757037485615, + -0.006952204431871901, + -0.2278403031850999 + ], + [ + -0.5687151363693682, + 0.03382532438396098, + 0.8218387561405769, + 0.4575459874162372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8150330143086547, + -0.03860742719938396, + 0.5781268478041759, + 0.15683607816778372 + ], + [ + 0.05147199529375842, + 0.998657164582913, + -0.005873783082160234, + -0.2307089824732037 + ], + [ + -0.577123746944646, + 0.03454466952022016, + 0.8159257604220566, + 0.46371925621594223 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.8079224684836948, + -0.04057907938140182, + 0.587889975450995, + 0.16183242923265934 + ], + [ + 0.053779677704317935, + 0.9985403884788292, + -0.004983858201127091, + -0.2338587360684337 + ], + [ + -0.5868296440920766, + 0.0356431044257812, + 0.8089255453511528, + 0.47102396506936395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8013087556411659, + -0.04227944242798864, + 0.5967551649385074, + 0.16677015156030633 + ], + [ + 0.0557713973567029, + 0.9984349375535688, + -0.004150507111463853, + -0.2367720114437383 + ], + [ + -0.5956457247136822, + 0.03660770711721717, + 0.8024126409833865, + 0.4780051741133486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7958450717232454, + -0.043602264656610434, + 0.6039283602635643, + 0.17100152603578414 + ], + [ + 0.057317536506223815, + 0.9983500260936382, + -0.003453318359178413, + -0.23898071381338662 + ], + [ + -0.602781321726777, + 0.03736399223379428, + 0.7970311225176046, + 0.4833827961296373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7891237712402487, + -0.04522504293545251, + 0.6125670323769097, + 0.17573834512493952 + ], + [ + 0.05924369176080473, + 0.9982401107129963, + -0.002620372159707264, + -0.24140884815511854 + ], + [ + -0.6113704757756284, + 0.03835853040968969, + 0.7904142992726603, + 0.4895921643523997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7834221463749332, + -0.04660204205181669, + 0.6197402603074078, + 0.17970728423104262 + ], + [ + 0.0608643054569595, + 0.998144273721987, + -0.0018828587969416423, + -0.24331582478909375 + ], + [ + -0.6185024469559799, + 0.0391951337873466, + 0.7848047302334876, + 0.49441624834306735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7765992204786208, + -0.04812149065292126, + 0.6281544180289901, + 0.18409436993244432 + ], + [ + 0.06265320876000777, + 0.9980348546605123, + -0.0010021551000884733, + -0.245527525438467 + ], + [ + -0.6268717781046401, + 0.04013416275581888, + 0.7780880559395679, + 0.5001683247653237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7711916735581194, + -0.049297170999591265, + 0.6346914144417461, + 0.18782141611731956 + ], + [ + 0.06409318020746708, + 0.9979438512614226, + -0.0003660333493529129, + -0.24722314404595933 + ], + [ + -0.6333683500819411, + 0.040961673073212565, + 0.7727656012359265, + 0.5046022885872341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7652353115322554, + -0.050725063966665436, + 0.6417490832636302, + 0.19204799465044659 + ], + [ + 0.06582565775231113, + 0.9978310676110206, + 0.00037853893667325403, + -0.24914962755546843 + ], + [ + -0.6403763743031184, + 0.04195388415663888, + 0.7669145785800162, + 0.5098350593549275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7604263315782865, + -0.0517935168947545, + 0.6473555636974649, + 0.19572587315596465 + ], + [ + 0.06717853753682436, + 0.9977405511162445, + 0.0009147418576540452, + -0.25061418682230097 + ], + [ + -0.6459402745895345, + 0.04279280624036527, + 0.7621875998711021, + 0.5139538956017697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7547199115688997, + -0.053013937069946504, + 0.6539016574055887, + 0.19997005965368264 + ], + [ + 0.0687061794590206, + 0.9976356836071529, + 0.0015823077556322944, + -0.2523723935268808 + ], + [ + -0.6524395113614572, + 0.04373288545285381, + 0.7565778999841263, + 0.5188182252358476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 679.5177714029948, + "fy": 679.5176696777344, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_154/boom_down/transforms.json b/spatialvid_eval/camera_controls/scene_154/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..203a2aa37a64c1b552bd5ea5bd80deba10313b31 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_154/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": [ + [ + 0.999999997016987, + -3.135307101893862e-05, + 7.059044447092117e-05, + -5.712259112240126e-05 + ], + [ + 3.136244918203199e-05, + 0.9999999906828446, + -0.00013285596557019737, + 3.591142495362158e-05 + ], + [ + -7.058627837069522e-05, + 0.00013285817906311378, + 0.9999999886831408, + -0.00020861387311320285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9992658266895872, + -0.00019230385272168556, + 0.038311494745105576, + -0.00577016605859972 + ], + [ + 0.0002933721638309787, + 0.999996492029009, + -0.0026324631905888145, + 0.003238142638730743 + ], + [ + -0.038310854116679685, + 0.0026417700324866105, + 0.9992623777106521, + 0.015697530090236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9975292554357018, + -0.0006817452799503189, + 0.07024898414402878, + -0.010447944931157865 + ], + [ + 0.0010407549283035352, + 0.9999865852970721, + -0.00507405706324431, + 0.0031394751785730466 + ], + [ + -0.07024458256032243, + 0.005134632340792574, + 0.997516583406838, + 0.033381563537664874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9953496794671151, + -0.0010752877642304464, + 0.0963216452358227, + -0.015000189917877528 + ], + [ + 0.0018352957458257224, + 0.9999678792140757, + -0.0078020657283492615, + 0.004104031649520327 + ], + [ + -0.09631016184306276, + 0.00794256232762604, + 0.9953196815242001, + 0.049408386477999826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9930514173554904, + -0.0011265918770983613, + 0.11767588231661595, + -0.019375233815879543 + ], + [ + 0.002414102654126892, + 0.9999387728401398, + -0.01079919808738513, + 0.008108355230775473 + ], + [ + -0.11765651106771323, + 0.011008240626807771, + 0.9929933353460512, + 0.06316767702316997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9907405467203055, + -0.0010657000729172813, + 0.1357646248759402, + -0.024017819747171043 + ], + [ + 0.0030054431349282843, + 0.9998963074831692, + -0.014083380030610219, + 0.010225617754864679 + ], + [ + -0.13573553844116465, + 0.01436100849099611, + 0.9906410172404577, + 0.0773939856143744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9888985201906739, + -0.000986899683079585, + 0.1485891745508784, + -0.026454636399048367 + ], + [ + 0.0035731753881177264, + 0.9998467214685641, + -0.01713960286032704, + 0.010786688941969418 + ], + [ + -0.14854948395178497, + 0.01748026308667917, + 0.9887504696434178, + 0.08919894291623444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9873495900330633, + -0.0007757019032131947, + 0.1585565682906237, + -0.02697563239859329 + ], + [ + 0.0040114774484220845, + 0.9997901545600921, + -0.020088675749982812, + 0.012567729930772872 + ], + [ + -0.1585077130937882, + 0.020470591864049703, + 0.9871455109346914, + 0.09999014387818234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9860972240740533, + -0.0005365386445220686, + 0.1661685192800657, + -0.0255431962843042 + ], + [ + 0.004392715596273007, + 0.9997294878360335, + -0.02283977234546267, + 0.014176172713068171 + ], + [ + -0.16611131425383668, + 0.0232521671545952, + 0.9858328296417593, + 0.10998068190328668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9850650808642356, + -0.00037309679682513914, + 0.17218201782043704, + -0.022261201404278997 + ], + [ + 0.004833552575861107, + 0.9996634697233912, + -0.02548693920593824, + 0.014901447482418251 + ], + [ + -0.17211456426297425, + 0.025938544665632342, + 0.9847353800230779, + 0.1179025723496061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9841264960662449, + -7.349333922250945e-05, + 0.1774684037768548, + -0.018830006069971015 + ], + [ + 0.005158405516534743, + 0.9995892370986015, + -0.028191273989716027, + 0.01666709654927275 + ], + [ + -0.17739343446955036, + 0.028659233684195838, + 0.9837226325198238, + 0.12315013048808825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9831134077708515, + 0.0006106708192824056, + 0.18299632384923414, + -0.017006152475363905 + ], + [ + 0.005172257991589827, + 0.9995021983827699, + -0.03112239025651171, + 0.018537251154021488 + ], + [ + -0.1829242335188308, + 0.03154334334151434, + 0.9826208537795174, + 0.12746633087098344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9820482325120469, + 0.0014656894080878628, + 0.18862428468923043, + -0.015935241696549196 + ], + [ + 0.005035370269315078, + 0.9994097655164925, + -0.03398184274756669, + 0.01966556363388834 + ], + [ + -0.18856275895896235, + 0.034321601722945155, + 0.9814612134918811, + 0.12977275806006117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9809035877445695, + 0.0022948559063066367, + 0.19448106639516557, + -0.015640588836318553 + ], + [ + 0.0048615895651796205, + 0.9993286634879693, + -0.03631235710124985, + 0.02021058344566827 + ], + [ + -0.19443383578156156, + 0.03656440848308972, + 0.980233914703807, + 0.13134558730220672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9796112719464145, + 0.0028307779395610752, + 0.20088240981177197, + -0.016026647555095613 + ], + [ + 0.004877794239840178, + 0.9992708372879684, + -0.037868203933595246, + 0.020927597794936706 + ], + [ + -0.20084313032534018, + 0.03807598248318053, + 0.9788831679822976, + 0.13313419311182445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9781839092054095, + 0.003300601737656594, + 0.20771457772576404, + -0.01715786803813541 + ], + [ + 0.004937805462197355, + 0.9992218819066916, + -0.03913117422295187, + 0.022327329770458235 + ], + [ + -0.20768210767622855, + 0.03930313914967731, + 0.9774064688777849, + 0.1346190999699709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9764010548369606, + 0.003917526664092774, + 0.21592969480390334, + -0.018611471069959237 + ], + [ + 0.004765699519083494, + 0.9992011581384131, + -0.0396778739721252, + 0.023584628904505123 + ], + [ + -0.21591264025379459, + 0.03977057404275383, + 0.9756023950457202, + 0.13604064215864534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9744105708941097, + 0.004184514259703506, + 0.22473657728599908, + -0.01953881519240842 + ], + [ + 0.004870347472382003, + 0.9991989191099032, + -0.039721527728669784, + 0.02483513474776533 + ], + [ + -0.22472276040782732, + 0.03979962173201597, + 0.97360960916821, + 0.13704060012921007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9720512362010105, + 0.004399001583605814, + 0.23472759314821726, + -0.01946884001898047 + ], + [ + 0.00495674552707282, + 0.9992170088570766, + -0.03925302388984636, + 0.025976141339024532 + ], + [ + -0.23471647763603523, + 0.03931943534417094, + 0.9712683239611742, + 0.1371208390028573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.969191973717168, + 0.0046786886867927185, + 0.24626211229986777, + -0.019258273198747546 + ], + [ + 0.004921878402545066, + 0.9992520468880477, + -0.03835520698728775, + 0.02752747405986661 + ], + [ + -0.24625737185962815, + 0.03838563093423377, + 0.9684440356275472, + 0.1365779393579373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9657559118715465, + 0.004919553611911602, + 0.25940569900720645, + -0.019206375297587595 + ], + [ + 0.004844605890619831, + 0.9993039754021905, + -0.03698776201857746, + 0.02909204232300911 + ], + [ + -0.2594071095381205, + 0.036977868213809696, + 0.9650598887029964, + 0.13628570590761813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.961674513118901, + 0.005154254827243198, + 0.2741451521998901, + -0.019386056708260876 + ], + [ + 0.004666230664277108, + 0.9993708712260115, + -0.03515804369345308, + 0.030454369869646544 + ], + [ + -0.27415389311281513, + 0.035089819066772575, + 0.9610454450695599, + 0.1367592933323549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9571164958014977, + 0.005413516170525028, + 0.2896527357152586, + -0.01960190994916375 + ], + [ + 0.004374531835654371, + 0.9994413361631661, + -0.03313425779468121, + 0.03185260399630149 + ], + [ + -0.28967029004694433, + 0.03298043982509952, + 0.9565581078288252, + 0.1380587025553616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9525205817123739, + 0.005496018532147474, + 0.3044245968948883, + -0.01967127964985278 + ], + [ + 0.004189246974450738, + 0.9995058578071097, + -0.031152695213432325, + 0.03336558328740574 + ], + [ + -0.3044453836472283, + 0.030948893188097137, + 0.952026876924346, + 0.1396378476947637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.948048807671047, + 0.005290395940332595, + 0.3180809173532752, + -0.020195388852228206 + ], + [ + 0.004194000756982397, + 0.9995669680112315, + -0.029125363834374692, + 0.03502821584280892 + ], + [ + -0.31809726284763445, + 0.028946298064325648, + 0.9476160842858329, + 0.14043910659079498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9432977098276958, + 0.00509071938090137, + 0.33190889594888745, + -0.02039318564119553 + ], + [ + 0.004129369297421031, + 0.9996250716463362, + -0.02706777503347933, + 0.03666749043464252 + ], + [ + -0.33192224833992373, + 0.02690354460368458, + 0.9429230193100219, + 0.1413039546697729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9392059692735575, + 0.004930203069672048, + 0.3433188610877781, + -0.020349089709599057 + ], + [ + 0.003988469614356814, + 0.9996727858027801, + -0.02526684458819966, + 0.038121021482682704 + ], + [ + -0.3433310929570065, + 0.025100088107428593, + 0.9388789837811615, + 0.14165953641841023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9354748758079703, + 0.004779929255293301, + 0.3533608764540539, + -0.01983211859416395 + ], + [ + 0.0038692558075772462, + 0.9997100502334193, + -0.023766453706642945, + 0.03944740224705576 + ], + [ + -0.35337202151777425, + 0.023600163953008117, + 0.9351851403170568, + 0.14139914681942883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9322423261962167, + 0.004799983184800165, + 0.36180271614471404, + -0.01953914456050821 + ], + [ + 0.0037092438637078384, + 0.9997326914035928, + -0.02282076354745167, + 0.04015553127340325 + ], + [ + -0.3618155424497771, + 0.022616496199782777, + 0.9319753255003156, + 0.14167091885435967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9295343807198487, + 0.004871312498744275, + 0.3687032755133964, + -0.019718300510323698 + ], + [ + 0.0036896986167808915, + 0.999739794753622, + -0.022510639931014393, + 0.04094287781290451 + ], + [ + -0.36871699334840163, + 0.02228481771354732, + 0.9292745373223078, + 0.14151638326338556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.927364822594691, + 0.0052769323159269025, + 0.37412115657798695, + -0.020381898877882276 + ], + [ + 0.003581201445307516, + 0.9997295548738182, + -0.022978078858024525, + 0.04201009319715815 + ], + [ + -0.3741412311014727, + 0.022648865250395937, + 0.9270951235405911, + 0.14113236665590895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9258255275379312, + 0.0058829880636862624, + 0.3779053889673364, + -0.021089397857472693 + ], + [ + 0.0035421088999160405, + 0.9996998819484874, + -0.02424045166083849, + 0.04324920247386133 + ], + [ + -0.3779345790261225, + 0.023781010988240953, + 0.9255268324001874, + 0.14059357847662335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9250122401485016, + 0.006718574116135674, + 0.3798778966158692, + -0.021245869086836504 + ], + [ + 0.0035463398301138122, + 0.9996474012291988, + -0.026315331833720115, + 0.04466112029236057 + ], + [ + -0.37992075364378336, + 0.02568918016510933, + 0.9246622556226595, + 0.14031373314555012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9250056786084649, + 0.0077354033522351005, + 0.3798745293871014, + -0.02113591298712056 + ], + [ + 0.0036409350838439193, + 0.9995663735063762, + -0.02922000251586232, + 0.045936017633974084 + ], + [ + -0.3799358342323198, + 0.02841176675763047, + 0.924576407538015, + 0.14030309544655606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9258835595155666, + 0.008806101977941948, + 0.37770634994230506, + -0.021293218699475182 + ], + [ + 0.003858287185124586, + 0.9994558021578012, + -0.032759932129110075, + 0.04702239204968232 + ], + [ + -0.37778929026480096, + 0.03178918213891138, + 0.9253457192099381, + 0.14048530981161514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9277039356884452, + 0.009900486747809259, + 0.3731854606898901, + -0.0217758636204367 + ], + [ + 0.004044489923743741, + 0.9993230582599006, + -0.03656593129315708, + 0.04809423227035833 + ], + [ + -0.37329485639294013, + 0.03543170320822303, + 0.9270358917530316, + 0.14074770833507563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9308080117358761, + 0.011085042890395918, + 0.3653403442167638, + -0.02217035158028837 + ], + [ + 0.004074517885745959, + 0.9991632144470831, + -0.04069728737607894, + 0.04922524215408575 + ], + [ + -0.3654857638709121, + 0.03936994691246739, + 0.929983958833595, + 0.1407967337203571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9344771098461884, + 0.011944884537204423, + 0.35582278019669855, + -0.022213313850812367 + ], + [ + 0.004093860677860006, + 0.9990104165594693, + -0.044288010910699824, + 0.05050565154636805 + ], + [ + -0.35599967904236296, + 0.042842821324801314, + 0.933503466079621, + 0.1406322408025139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9385587289440717, + 0.012572364079594825, + 0.3448904869438104, + -0.022392249137382095 + ], + [ + 0.004031857188574505, + 0.998868612544163, + -0.0473839529979264, + 0.05176754169791808 + ], + [ + -0.345096010481865, + 0.045863171887134804, + 0.9374461653950864, + 0.14053057357377968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9429917652036482, + 0.013053105683989484, + 0.3325599903628069, + -0.0223695708473986 + ], + [ + 0.003768472925302262, + 0.9987477620536892, + -0.049886936211383695, + 0.05294013603563096 + ], + [ + -0.33279472557406753, + 0.04829621335829552, + 0.9417617248568404, + 0.14040681945887817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9475592599071122, + 0.013199108468839716, + 0.3193074263150069, + -0.02288460516254809 + ], + [ + 0.0035622507297081146, + 0.9986484294696183, + -0.05185194969915291, + 0.05416878019312567 + ], + [ + -0.31956025931586746, + 0.05027024819406199, + 0.9462315482018568, + 0.14001148982830056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9520807056994837, + 0.012977696961307291, + 0.3055714469912953, + -0.02336580027928008 + ], + [ + 0.0034572001833326474, + 0.9985788712055818, + -0.053181629804649265, + 0.05553370576805942 + ], + [ + -0.30582736568473706, + 0.05168962529721869, + 0.95068280989769, + 0.13967206938670665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9562490279332512, + 0.01283272994092289, + 0.29227233467944874, + -0.023787718984566632 + ], + [ + 0.0031498493874202544, + 0.9985279680641882, + -0.054147718718708306, + 0.05685671920814505 + ], + [ + -0.2925369635200806, + 0.05269931722391787, + 0.954800977659001, + 0.13948441491022626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9599887944105818, + 0.012694217321796247, + 0.27975055219374434, + -0.02348155465767425 + ], + [ + 0.0028029257800777554, + 0.9984864538860169, + -0.05492672403483309, + 0.05820472659315693 + ], + [ + -0.2800243886042594, + 0.05351315962185697, + 0.9585002261523451, + 0.13962905228229602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9632240325040166, + 0.01244717771817439, + 0.26841112304365017, + -0.02285743374631666 + ], + [ + 0.0025312644371858276, + 0.9984618113392421, + -0.05538595487584316, + 0.05939940019672059 + ], + [ + -0.26868765492119356, + 0.054028502329900654, + 0.961710905121148, + 0.13983042019303793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9661367659090555, + 0.012246164911897357, + 0.2577397544108048, + -0.022444500720750275 + ], + [ + 0.00214791342808907, + 0.9984568321317774, + -0.055491808740403575, + 0.06058691353049548 + ], + [ + -0.2580215805445289, + 0.0541662793103487, + 0.9646195509935391, + 0.14015993795530915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.968274069311889, + 0.012037016681220643, + 0.2496005547421947, + -0.022074168180978418 + ], + [ + 0.0018492085494699849, + 0.9984666979111356, + -0.05532480085977492, + 0.061730439223225304 + ], + [ + -0.2498837872410611, + 0.05403113354214587, + 0.9667671537046628, + 0.13989129124038716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9699010784329146, + 0.011937331918738468, + 0.24320649284369714, + -0.021152750498629167 + ], + [ + 0.0014966399462777967, + 0.9984864781814703, + -0.054977385874883544, + 0.06292732681667822 + ], + [ + -0.2434946778135831, + 0.05368661840185604, + 0.9684152461010892, + 0.13970889065731962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9710835264924473, + 0.011950586590358442, + 0.23844070133921896, + -0.01985963960216949 + ], + [ + 0.0011008869110370268, + 0.9985115988522189, + -0.05452866223918185, + 0.06417617002910869 + ], + [ + -0.2387374554254137, + 0.0532143818693031, + 0.9696250084126681, + 0.13972730513647455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9719286020817954, + 0.011958866708958387, + 0.2349718663209802, + -0.01866852664395187 + ], + [ + 0.0007532104448228771, + 0.9985440921161384, + -0.05393634001286084, + 0.06536330848885845 + ], + [ + -0.23527478642930064, + 0.05259925481406072, + 0.9705045560241604, + 0.13954499901239703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9724707482765472, + 0.011990210107119564, + 0.23271630498965776, + -0.017863696595637357 + ], + [ + 0.0004033667820955598, + 0.9985872218285281, + -0.05313565371782944, + 0.06653454550711144 + ], + [ + -0.23302463612607868, + 0.051766738958225936, + 0.9710920263785197, + 0.13938612915654947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9727541274129337, + 0.012011067956362552, + 0.23152784248908426, + -0.017781835093620052 + ], + [ + 0.00012457437759427151, + 0.9986298528655375, + -0.052329737692633015, + 0.06781969227936324 + ], + [ + -0.23183915131471433, + 0.050932810763818746, + 0.971419814861407, + 0.13921215307544652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9729180371080344, + 0.011987597657666504, + 0.2308393176481157, + -0.017960882355316315 + ], + [ + -0.00012044096965377424, + 0.9986804880984937, + -0.05135433949850169, + 0.06922631667273176 + ], + [ + -0.23115033758102663, + 0.0499357606706101, + 0.9716357039767658, + 0.13880857197268878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9729675975382405, + 0.011937633377702664, + 0.230632927072446, + -0.018240021113353017 + ], + [ + -0.00033577258912791206, + 0.9987351884647314, + -0.050278331108798244, + 0.07030433446281982 + ], + [ + -0.23094142416949157, + 0.04884174681209834, + 0.9717409852274989, + 0.138462652831915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9730068087254904, + 0.012046959739007334, + 0.2304617559051472, + -0.018757379809995582 + ], + [ + -0.0007292285844842624, + 0.9987920669804254, + -0.04913120355375968, + 0.07148195734722837 + ], + [ + -0.23077525517158134, + 0.04763693627864971, + 0.9718402666603578, + 0.1380444313102481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.972899288813985, + 0.012025919982207678, + 0.23091632916237018, + -0.01941937012593423 + ], + [ + -0.0008641734512560926, + 0.9988287648824773, + -0.04837718106288624, + 0.07286042239603868 + ], + [ + -0.2312276519568728, + 0.04686657328978376, + 0.9717701874818886, + 0.13822382549292367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9727849531238572, + 0.011869019959221627, + 0.23140562080689106, + -0.019656765664283198 + ], + [ + -0.0009186533567584615, + 0.9988769165367681, + -0.04737152822116265, + 0.07403201643314568 + ], + [ + -0.23170798659481975, + 0.04586972830970216, + 0.97170333794475, + 0.1382671285445619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9726669493573702, + 0.011670801683291456, + 0.23191118562047974, + -0.019851097941972817 + ], + [ + -0.0008942270339775066, + 0.9989169848775601, + -0.046519433370759145, + 0.075216970894632 + ], + [ + -0.23220294138067898, + 0.04504053409090612, + 0.9716239726884919, + 0.13809773278479603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9725573498084756, + 0.011664001234999864, + 0.232370721926633, + -0.019926675855163202 + ], + [ + -0.0010340451427285789, + 0.9989494035771421, + -0.04581506131737648, + 0.07648310597625439 + ], + [ + -0.23266098100918742, + 0.04431749279981991, + 0.9715476456395644, + 0.138216698354775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.97246928167638, + 0.011580590923852899, + 0.23274317629026126, + -0.01979188077627036 + ], + [ + -0.0010691779268383033, + 0.998975636351968, + -0.045238643146555936, + 0.07789515006261341 + ], + [ + -0.23302865286137242, + 0.043744346938033564, + 0.9714855012075985, + 0.13858231696890821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9723706687377305, + 0.011482817084158284, + 0.23315966094149057, + -0.01961437581253327 + ], + [ + -0.001010524960800569, + 0.9989871716967271, + -0.04498454873262294, + 0.07929386462679593 + ], + [ + -0.23344005958241762, + 0.04350604207677241, + 0.9713974278764442, + 0.1389521789061705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9722582089305235, + 0.011707680124272162, + 0.2336170057879324, + -0.019563673724673405 + ], + [ + -0.001269053864337814, + 0.9989959309029858, + -0.04478302738278068, + 0.08047655130456786 + ], + [ + -0.2339067435314778, + 0.043244193429698714, + 0.9712968521853218, + 0.13922882697827252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9721476956309408, + 0.012134228731165545, + 0.23405473371105162, + -0.01981882265386801 + ], + [ + -0.0017973270771331727, + 0.9990154453434943, + -0.04432730062295328, + 0.08163795104714441 + ], + [ + -0.23436217163789325, + 0.04267201024371393, + 0.9712123722682547, + 0.13962498509319687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9720331831754461, + 0.012176628706068667, + 0.23452765406059112, + -0.020428180253832216 + ], + [ + -0.0019301754662626232, + 0.9990353909645638, + -0.04386983044132234, + 0.08299448963911427 + ], + [ + -0.2348356132031068, + 0.04219025140521776, + 0.9711190542142015, + 0.1399718851558811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.971914524806777, + 0.011800895080110226, + 0.2350380721179558, + -0.020942216684163635 + ], + [ + -0.0015791470152288697, + 0.999046484904115, + -0.04363057752811085, + 0.08415291497025994 + ], + [ + -0.23532883963577744, + 0.04203403235522887, + 0.9710064249837065, + 0.13958539704557713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9717824693377565, + 0.01178877721586757, + 0.23558407632853065, + -0.0210358801489336 + ], + [ + -0.0015922798927932233, + 0.9990554110302935, + -0.04342522695201674, + 0.08525969056305799 + ], + [ + -0.23587347653467808, + 0.04182475849118314, + 0.9708833053691874, + 0.13985341101767193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9716686415519321, + 0.011855754249401782, + 0.23604976618459314, + -0.02108272855966525 + ], + [ + -0.0017664540300500915, + 0.9990774686755205, + -0.042907938951602935, + 0.08601503710987222 + ], + [ + -0.23634070886071026, + 0.0412753276921281, + 0.9707931894379589, + 0.13953800278894538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.971564610140587, + 0.011799959664709363, + 0.23648037820140663, + -0.020938294834185595 + ], + [ + -0.0017083662045731538, + 0.9990807562330887, + -0.04283367845084938, + 0.08748001215450775 + ], + [ + -0.2367684307657593, + 0.04121169101882278, + 0.9706916640808702, + 0.1399920816502705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9714857859004309, + 0.011881348022580167, + 0.2367999184176143, + -0.02106698783509374 + ], + [ + -0.001860544869895466, + 0.999094895251759, + -0.042496219298475364, + 0.08827750320139341 + ], + [ + -0.23709050205820045, + 0.040843896129572836, + 0.9706285952838745, + 0.13984694222072777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9713589767699848, + 0.011858044058649965, + 0.2373207218922762, + -0.021006982177977737 + ], + [ + -0.001812347123526967, + 0.9990946906433057, + -0.04250311195972593, + 0.08975442184078926 + ], + [ + -0.23760987699645786, + 0.04085567181506467, + 0.9705010872916464, + 0.14025646034692307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9712209976036376, + 0.011887587781598947, + 0.23788328875843678, + -0.020842778274619448 + ], + [ + -0.0017911081981749214, + 0.9990899965154497, + -0.042614208829697645, + 0.09096971727682535 + ], + [ + -0.23817339428495676, + 0.04096173970296464, + 0.9703584750674821, + 0.14030408922739407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9710894213953497, + 0.012038459915118604, + 0.23841227136394932, + -0.02051449678334053 + ], + [ + -0.001877515752323501, + 0.9990818733361805, + -0.042800529268552226, + 0.09237793039378014 + ], + [ + -0.2387086311565736, + 0.04111551840778006, + 0.9702204407027378, + 0.1400619148100088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.970979959843655, + 0.012173379514983963, + 0.23885084553586622, + -0.020158138986746742 + ], + [ + -0.001977323128527886, + 0.999078220464114, + -0.04288122651586156, + 0.09367993484035174 + ], + [ + -0.23915268715876775, + 0.04116452629927143, + 0.970109001091783, + 0.1398494476848533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9708624390306183, + 0.012271615940252237, + 0.23932307018282659, + -0.019893841966521476 + ], + [ + -0.002058065404494414, + 0.9990781044574707, + -0.042880130135743606, + 0.09492166850587773 + ], + [ + -0.23962864779969448, + 0.04113816519829768, + 0.9699926610638906, + 0.1398595067800053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.97072698777109, + 0.012402354053043685, + 0.239865163845876, + -0.01976087115390239 + ], + [ + -0.002189033988248803, + 0.9990813019143675, + -0.04279906886009044, + 0.09615332558848874 + ], + [ + -0.24017560938418428, + 0.04102113819770756, + 0.9698623319203094, + 0.14000754907436117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9705968660064309, + 0.012559020079506437, + 0.24038301669031728, + -0.0197615914746207 + ], + [ + -0.002384351403246, + 0.9990905972300864, + -0.042571039390830366, + 0.09735252012048887 + ], + [ + -0.24069906224761375, + 0.0407461598322142, + 0.9697441476451649, + 0.14015277634400872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9704674673472247, + 0.012642257769378426, + 0.24090053578013473, + -0.019853158413123788 + ], + [ + -0.0025134951843108896, + 0.9991015219316004, + -0.042306396867592105, + 0.09860709924461025 + ], + [ + -0.2412189403065643, + 0.040451479484097386, + 0.96962729986574, + 0.14028599304814746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9703470289553612, + 0.012701060318586555, + 0.24138211711783392, + -0.01987988289133213 + ], + [ + -0.0025632433859523237, + 0.9991030744149013, + -0.04226673015549102, + 0.09984857987543302 + ], + [ + -0.2417024476103799, + 0.04039467491484921, + 0.9695092557875226, + 0.1403600753032433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9702294118677726, + 0.01294751394898052, + 0.2418413741055426, + -0.01989836324185278 + ], + [ + -0.0028039202339287285, + 0.9991035441550704, + -0.04224033721573496, + 0.1010969979374913 + ], + [ + -0.24217148134749025, + 0.040304713611663254, + 0.9693959478369217, + 0.14035926951457967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9700968280005353, + 0.013036990960315433, + 0.24236786331937785, + -0.02026002668550236 + ], + [ + -0.002929265106431527, + 0.9991125705445715, + -0.042017743701382074, + 0.10229261877232032 + ], + [ + -0.24270056388322672, + 0.040051320159508394, + 0.9692741243034627, + 0.14035886722835111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9699815982055289, + 0.012896345358495952, + 0.24283612461708104, + -0.020343428215638403 + ], + [ + -0.0027617476180866957, + 0.9991125920021356, + -0.042028576621963035, + 0.10352649540071908 + ], + [ + -0.24316264493696826, + 0.040096293833328606, + 0.9691564452285758, + 0.13991060607718833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_154/pan_left/transforms.json b/spatialvid_eval/camera_controls/scene_154/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..736724ca18ec222457bd272e166d5d52e5fe0ee0 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_154/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": [ + [ + 0.999999997016987, + -3.135307101893862e-05, + 7.059044447092117e-05, + -5.712259112240126e-05 + ], + [ + 3.136244918203199e-05, + 0.9999999906828446, + -0.00013285596557019737, + 3.591142495362158e-05 + ], + [ + -7.058627837069522e-05, + 0.00013285817906311378, + 0.9999999886831408, + -0.00020861387311320285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9993858498720849, + -0.00019230385272168556, + 0.03504120566816596, + -0.005769925678783818 + ], + [ + 0.000284755892670758, + 0.999996492029009, + -0.002633409151253407, + 0.0019881470236944817 + ], + [ + -0.0350405763299074, + 0.0026417700324866105, + 0.9993823988151699, + 0.015694227877695394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9979676652625601, + -0.0006817452799503189, + 0.06371871243024645, + -0.010446240567957989 + ], + [ + 0.001007523248343184, + 0.9999865852970721, + -0.005080760061830864, + 0.0006395087153303661 + ], + [ + -0.06371439387845752, + 0.005134632340792574, + 0.9979549646970178, + 0.033368726956812894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9962473328805888, + -0.0010752877642304464, + 0.08654533774004138, + -0.014996157588761664 + ], + [ + 0.0017586119302691547, + 0.9999678792140757, + -0.007819707423097304, + 0.00035415210246754177 + ], + [ + -0.08653414940006313, + 0.00794256232762604, + 0.996217223647172, + 0.049378601869271226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9945066699394556, + -0.0011265918770983613, + 0.10466715930356328, + -0.01936960085649405 + ], + [ + 0.0022725386966372095, + 0.9999387728401398, + -0.010829872521296436, + 0.003108661366574772 + ], + [ + -0.10464854998425599, + 0.011008240626807771, + 0.994448339344229, + 0.06311263582003593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9928292684762304, + -0.0010657000729172813, + 0.11953622020253032, + -0.02401115912171531 + ], + [ + 0.0027746123355728816, + 0.9998963074831692, + -0.014130669053911247, + 0.003976265833094871 + ], + [ + -0.11950876613596392, + 0.01436100849099611, + 0.992729276415167, + 0.07730422931130568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9916252547447457, + -0.000986899683079585, + 0.12914480315302745, + -0.02644723465142527 + ], + [ + 0.0032359729330954487, + 0.9998467214685641, + -0.01720645366542027, + 0.0032878385309551856 + ], + [ + -0.12910802698358823, + 0.01748026308667917, + 0.9914764534626256, + 0.08906784094308434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9907223534110671, + -0.0007757019032131947, + 0.13589928895396802, + -0.026968845006940176 + ], + [ + 0.0035502849628273113, + 0.9997901545600921, + -0.020175289871272453, + 0.003819566078372065 + ], + [ + -0.1358551210971433, + 0.020470591864049703, + 0.9905172088057916, + 0.0998110261993719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9901090979232812, + -0.0005365386445220687, + 0.14029856141753613, + -0.02553783089785898 + ], + [ + 0.0037933347822979176, + 0.9997294878360338, + -0.022946933615010753, + 0.004178877834707833 + ], + [ + -0.1402482970334279, + 0.023252167154595202, + 0.9898432966393411, + 0.10974816023174072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9897083124046692, + -0.00037309679682513914, + 0.14309897678139466, + -0.022257004065314716 + ], + [ + 0.0040809125039071486, + 0.9996634697233912, + -0.02561822503075222, + 0.0036552334480301004 + ], + [ + -0.14304126156545666, + 0.025938544665632342, + 0.9893767681679169, + 0.11761076372211775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.989406185816834, + -7.349333922250945e-05, + 0.14517366863902748, + -0.018829087403230735 + ], + [ + 0.004233251013098304, + 0.9995892370986015, + -0.028344958325888535, + 0.004172231085540235 + ], + [ + -0.1451119535160531, + 0.028659233684195838, + 0.9890000855770388, + 0.1227918900670358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9890624827009872, + 0.0006106708192824056, + 0.14749587246601095, + -0.017014549199129037 + ], + [ + 0.004048823527895302, + 0.9995021983827699, + -0.031288375733651334, + 0.004794095926258399 + ], + [ + -0.14744155568020587, + 0.03154334334151434, + 0.9885676532991762, + 0.12703260990003762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9886964635795035, + 0.0014656894080878633, + 0.14992382952667357, + -0.015957227037670513 + ], + [ + 0.0036973672958997856, + 0.9994097655164927, + -0.03415333168738687, + 0.004674417151140949 + ], + [ + -0.14988539748909258, + 0.03432160172294516, + 0.9881074816408935, + 0.12925793403421698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9882872705156761, + 0.0022948559063066367, + 0.15258769469732472, + -0.015677880244796036 + ], + [ + 0.0033128419408536116, + 0.9993286634879693, + -0.03648626330036929, + 0.003971492663988767 + ], + [ + -0.15256898772342173, + 0.03656440848308972, + 0.9876161946917091, + 0.1307514156643565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9877835343345474, + 0.0028307779395610752, + 0.15580653386108967, + -0.016076186169037932 + ], + [ + 0.0031383550463369076, + 0.9992708372879684, + -0.038051865570635404, + 0.00344035814239726 + ], + [ + -0.15580064192792376, + 0.03807598248318053, + 0.9870543954275203, + 0.1324678634183688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.987197715100281, + 0.003300601737656594, + 0.15946716693085758, + -0.01721975432071647 + ], + [ + 0.0030117819464465425, + 0.9992218819066916, + -0.03932632564016854, + 0.0035919194847077655 + ], + [ + -0.15947288318172365, + 0.03930313914967731, + 0.9864196180037628, + 0.13388216611091444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9863638181845186, + 0.003917526664092775, + 0.16453288778020778, + -0.01868982160324109 + ], + [ + 0.0026825888175042623, + 0.9992011581384134, + -0.039872914266331785, + 0.0036006057417368553 + ], + [ + -0.1645576552266546, + 0.03977057404275384, + 0.9855653603625768, + 0.13524523067779026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9853992588100209, + 0.004184514259703506, + 0.1702080802343771, + -0.01962773612042712 + ], + [ + 0.0026541496244133975, + 0.9991989191099032, + -0.03993088453030369, + 0.0036021577166798833 + ], + [ + -0.17023882114968092, + 0.03979962173201597, + 0.9845987679677217, + 0.13619485816740473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9841839224847541, + 0.004399001583605814, + 0.17709504653600958, + -0.0195678175546116 + ], + [ + 0.002637291535979132, + 0.9992170088570766, + -0.03947675143766592, + 0.0034937586397403068 + ], + [ + -0.17713004097520618, + 0.03931943534417094, + 0.9834017137407977, + 0.13623615170761344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9826211803161936, + 0.0046786886867927185, + 0.18556326647853263, + -0.019369392055058873 + ], + [ + 0.0025290784477285584, + 0.9992520468880477, + -0.038586922036518555, + 0.003795237946275474 + ], + [ + -0.1856050100514964, + 0.03838563093423377, + 0.9818743929757844, + 0.13566628062324926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9806540987866611, + 0.004919553611911602, + 0.19568683278437893, + -0.019329364137885385 + ], + [ + 0.0024151178382945016, + 0.9993039754021905, + -0.03722542076599674, + 0.004109442937954349 + ], + [ + -0.1957337623884779, + 0.036977868213809696, + 0.9799596581102782, + 0.13536125920227288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9782295980734417, + 0.005154254827243198, + 0.2074615316396001, + -0.01952135589747601 + ], + [ + 0.0022409746103818555, + 0.9993708712260115, + -0.0353954767980122, + 0.004220884499963739 + ], + [ + -0.20751344892769868, + 0.035089819066772575, + 0.977602615131523, + 0.13583818558185212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9754725670020613, + 0.005413516170525028, + 0.22005445887116476, + -0.019750781643853188 + ], + [ + 0.00197976449948895, + 0.9994413361631661, + -0.03336309489409083, + 0.004367967251814423 + ], + [ + -0.22011213405656732, + 0.03298043982509952, + 0.9749168882679217, + 0.13715174046017137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9727153560356083, + 0.005496018532147475, + 0.23193669376106538, + -0.019829290182652018 + ], + [ + 0.0018348194759095385, + 0.9995058578071099, + -0.031379509982865844, + 0.004629789875451333 + ], + [ + -0.2319945464229941, + 0.030948893188097144, + 0.972224612134676, + 0.1387480670156059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9700826307361129, + 0.0052903959403325955, + 0.24271732788348266, + -0.020354100730438186 + ], + [ + 0.001895922343136094, + 0.9995669680112317, + -0.029364637564646832, + 0.005041206802471968 + ], + [ + -0.242767574075642, + 0.028946298064325655, + 0.9696525237453878, + 0.1395707176488652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9672665562195868, + 0.00509071938090137, + 0.2537114380458357, + -0.020552270621848695 + ], + [ + 0.001903549895172722, + 0.9996250716463362, + -0.027314696298039235, + 0.005429206945694513 + ], + [ + -0.2537553658878913, + 0.02690354460368458, + 0.9668942101237654, + 0.14046321890090777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9649843492684258, + 0.004930203069672048, + 0.26226112705600235, + -0.0205093213093634 + ], + [ + 0.0018268097434523995, + 0.9996727858027801, + -0.025514389890219, + 0.005631655944092353 + ], + [ + -0.26230110261520834, + 0.025100088107428593, + 0.9646595861462454, + 0.1408437835549188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9630070208110225, + 0.004779929255293301, + 0.2694339068213084, + -0.0199934412065301 + ], + [ + 0.0017569537553943752, + 0.9997100502334193, + -0.024015173865618338, + 0.005707188051677855 + ], + [ + -0.26947057535504787, + 0.023600163953008117, + 0.9627193990354672, + 0.14060264128601482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9614370362839145, + 0.004799983184800165, + 0.27498324571331345, + -0.019707143971976218 + ], + [ + 0.0016055465133297453, + 0.9997326914035928, + -0.02306443060911515, + 0.005164887074277499 + ], + [ + -0.275020449206957, + 0.022616496199782777, + 0.961172329302945, + 0.14087934148736728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9602899032126461, + 0.004871312498744275, + 0.27896159610668086, + -0.019894885588403178 + ], + [ + 0.0015399898607453024, + 0.999739794753622, + -0.0227589810232193, + 0.004702310253085708 + ], + [ + -0.2789998749445529, + 0.02228481771354732, + 0.9600325289699293, + 0.14070855862126946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.95956959340387, + 0.0052769323159269025, + 0.2814220129983882, + -0.020579783839729537 + ], + [ + 0.0013117114015757374, + 0.9997295548738182, + -0.023218452252388458, + 0.0045202348893899616 + ], + [ + -0.2814684259875889, + 0.022648865250395937, + 0.9593031606718174, + 0.1402830342090191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.959337265919378, + 0.0058829880636862624, + 0.2822009933890652, + -0.021317363644940534 + ], + [ + 0.0010689860345097111, + 0.9996998819484874, + -0.02447454393933287, + 0.00451083204835744 + ], + [ + -0.2822602832266536, + 0.023781010988240953, + 0.9590430626563056, + 0.139672064300829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9596529790739456, + 0.006718574116135674, + 0.2811067777844347, + -0.021514612051481932 + ], + [ + 0.0007762114125076636, + 0.9996474012291988, + -0.026541867145183057, + 0.00467522424319261 + ], + [ + -0.2811859833817195, + 0.02568918016510933, + 0.9593093915792237, + 0.13928616593894574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9605608724109153, + 0.0077354033522351005, + 0.2779621807515545, + -0.021454998375400255 + ], + [ + 0.0004703209829471399, + 0.9995663735063762, + -0.029442210404192915, + 0.004703904726836061 + ], + [ + -0.278069396358813, + 0.02841176675763047, + 0.9601407096453913, + 0.1391311100678038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9620970645026803, + 0.00880610197794195, + 0.27256502167974606, + -0.021667478033537715 + ], + [ + 0.0001969201477450457, + 0.9994558021578014, + -0.032985765953850575, + 0.004545520457975761 + ], + [ + -0.2727071684018991, + 0.03178918213891139, + 0.9615717592572892, + 0.1391342695707114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9642756481692853, + 0.009900486747809259, + 0.2647157998870887, + -0.022209009915653357 + ], + [ + -0.00016101977667141263, + 0.9993230582599006, + -0.036788575709188163, + 0.004373848471487665 + ], + [ + -0.26490082751916094, + 0.03543170320822303, + 0.9636244839082433, + 0.13919757131971588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9672972291814186, + 0.011085042890395918, + 0.253403220662384, + -0.022669178510356186 + ], + [ + -0.0007371780521450402, + 0.9991632144470831, + -0.04089410060499991, + 0.004262897503967003 + ], + [ + -0.25364448936744166, + 0.03936994691246739, + 0.9664959804849887, + 0.13902508610929606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9706139491975379, + 0.011944884537204423, + 0.2403453377050466, + -0.022765764760658072 + ], + [ + -0.00128550950735663, + 0.9990104165594693, + -0.04445823962981993, + 0.004301419780492581 + ], + [ + -0.2406385444779504, + 0.042842821324801314, + 0.9696688009689005, + 0.13865076031624185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9740893983040201, + 0.012572364079594828, + 0.22581359519117183, + -0.02298943643116285 + ], + [ + -0.0018765197846652378, + 0.9988686125441633, + -0.04751813914282123, + 0.004321282602070327 + ], + [ + -0.22615552786790344, + 0.04586317188713481, + 0.9730109180678506, + 0.13835207290914078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9776506974488639, + 0.013053105683989484, + 0.20983024140898415, + -0.023005909749493087 + ], + [ + -0.0026118365001136902, + 0.9987477620536892, + -0.049960845697846985, + 0.004251182635513608 + ], + [ + -0.21021962821736379, + 0.04829621335829552, + 0.9764605387251466, + 0.13805237905766127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.98113074158656, + 0.01319910846883972, + 0.1928944049199847, + -0.023544560585990075 + ], + [ + -0.0032362623725218638, + 0.9986484294696185, + -0.05187331610492036, + 0.004236358719644748 + ], + [ + -0.1933183760527266, + 0.050270248194062006, + 0.9798473899678686, + 0.13749797741859746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9844000795185294, + 0.012977696961307291, + 0.17546527526976338, + -0.02403090724854708 + ], + [ + -0.003687977450920219, + 0.9985788712055818, + -0.0531661245917727, + 0.004356538618773346 + ], + [ + -0.17590589036821616, + 0.05168962529721869, + 0.983048981674056, + 0.13702297609022418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9872758858829397, + 0.01283272994092289, + 0.1584980952450856, + -0.024461437306465085 + ], + [ + -0.004298761508193272, + 0.9985279680641882, + -0.05406863825823119, + 0.004434000884775163 + ], + [ + -0.15895862922016085, + 0.05269931722391787, + 0.985877749094978, + 0.13671770075597056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.989735863194444, + 0.012694217321796247, + 0.14234387220156797, + -0.0241638688387208 + ], + [ + -0.004928429891455022, + 0.9984864538860169, + -0.05477692931273483, + 0.004536079696783525 + ], + [ + -0.1428237784318645, + 0.05351315962185697, + 0.9883004148849335, + 0.1367527199526212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9917710154027655, + 0.01244717771817439, + 0.12741789816905524, + -0.023542028520816254 + ], + [ + -0.0054424065259516125, + 0.9984618113392421, + -0.05517600482425468, + 0.004484000573062264 + ], + [ + -0.12790869094074034, + 0.054028502329900654, + 0.9903132270740476, + 0.13685885256489339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9934980707012858, + 0.012246164911897357, + 0.11318840469665518, + -0.0231333474970445 + ], + [ + -0.006017673916361972, + 0.9984568321317774, + -0.05520635805785808, + 0.004423716723083003 + ], + [ + -0.11368980215243367, + 0.0541662793103487, + 0.9920386298286041, + 0.13711308474410203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9947556818019262, + 0.012037016681220643, + 0.10156891134693301, + -0.022766296640148606 + ], + [ + -0.006468584962986865, + 0.9984666979111356, + -0.05497645469662267, + 0.0043186040933349944 + ], + [ + -0.1020749280252587, + 0.05403113354214587, + 0.993308283302213, + 0.13678450106171378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9957109609947333, + 0.011937331918738468, + 0.09174520293512244, + -0.02185406874885505 + ], + [ + -0.0069436420841198845, + 0.9984864781814703, + -0.05455766420377872, + 0.004266246223516833 + ], + [ + -0.09225761751504624, + 0.05368661840185604, + 0.9942868192906015, + 0.13655480182621058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.996428220418418, + 0.011950586590358442, + 0.08359416865984717, + -0.020576674797590996 + ], + [ + -0.007442828940400783, + 0.9985115988522189, + -0.05402954057688814, + 0.004265474097975555 + ], + [ + -0.08411543170636743, + 0.0532143818693031, + 0.9950340816831952, + 0.13653444222431638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9969768255503664, + 0.01195886670895839, + 0.07677365969232101, + -0.01940100722987557 + ], + [ + -0.007868242580427945, + 0.9985440921161386, + -0.05336465926671569, + 0.004202482846744963 + ], + [ + -0.07730006516304168, + 0.052599254814060734, + 0.9956194143942733, + 0.13632329465503581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.997390212102578, + 0.011990210107119564, + 0.07119690768257883, + -0.018613084727332332 + ], + [ + -0.008257578320557646, + 0.9985872218285281, + -0.05249164505958864, + 0.004122844142828434 + ], + [ + -0.07172570809866137, + 0.051766738958225936, + 0.9960801310815193, + 0.13615070797166035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9976998725693623, + 0.012011067956362552, + 0.0667135557561291, + -0.018547540675838164 + ], + [ + -0.00857034938938314, + 0.9986298528655375, + -0.05162330943575033, + 0.004157039159185207 + ], + [ + -0.06724219944664515, + 0.050932810763818746, + 0.9964358159968332, + 0.13596518638925306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9979577903512707, + 0.011987597657666504, + 0.06274190130692013, + -0.01874007620306464 + ], + [ + -0.008815533241966735, + 0.9986804880984937, + -0.050592183833219936, + 0.004312084946329658 + ], + [ + -0.06326559136583784, + 0.0499357606706101, + 0.9967466502353436, + 0.13556274752909914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9981709679590243, + 0.011937633377702664, + 0.059263915100877175, + -0.019030889324625818 + ], + [ + -0.009007458313881457, + 0.9987351884647314, + -0.04946603902720781, + 0.004138128227031349 + ], + [ + -0.059779464855986314, + 0.04884174681209834, + 0.9970159975395956, + 0.13522688710561348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9983680727969964, + 0.012046959739007334, + 0.0558216981169351, + -0.019570549592378576 + ], + [ + -0.009354954806225384, + 0.9987920669804254, + -0.048237866428179406, + 0.004063492826049643 + ], + [ + -0.056335388879326834, + 0.04763693627864971, + 0.9972748098000866, + 0.13482893811143926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9985209959331027, + 0.012025919982207681, + 0.0530207311279925, + -0.02024615212471101 + ], + [ + -0.009510544709735773, + 0.9988287648824775, + -0.04744099474788922, + 0.004190944810368355 + ], + [ + -0.05352915299245314, + 0.04686657328978377, + 0.9974658661267485, + 0.13500174857925104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9986659040729845, + 0.011869019959221627, + 0.05025473517287909, + -0.020487597061428713 + ], + [ + -0.009536045760132525, + 0.9988769165367681, + -0.04641087632504854, + 0.004110632275571907 + ], + [ + -0.0507491465282843, + 0.04586972830970216, + 0.9976575024282857, + 0.13505624756288276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9988028158990496, + 0.011670801683291456, + 0.047505024367940046, + -0.020682642561907334 + ], + [ + -0.009505848161694487, + 0.9989169848775601, + -0.045546637349552, + 0.004044135722105839 + ], + [ + -0.047985141480005114, + 0.04504053409090612, + 0.9978320382138218, + 0.13488859473081896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9989319953178791, + 0.011664001234999864, + 0.04470816262642779, + -0.020772315944700692 + ], + [ + -0.009659263413705009, + 0.9989494035771421, + -0.04479718432197304, + 0.004059274216911568 + ], + [ + -0.04518370680395593, + 0.04431749279981991, + 0.9979951865973063, + 0.13500368012678807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9990579880274151, + 0.011580590923852899, + 0.04182136382840562, + -0.02064594935690451 + ], + [ + -0.009729686907445405, + 0.998975636351968, + -0.04419288594178657, + 0.00422069688165576 + ], + [ + -0.042290303277425, + 0.043744346938033564, + 0.9981472648660961, + 0.13535617138222825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9991740323280585, + 0.011482817084158284, + 0.038979456552140156, + -0.02047558709384514 + ], + [ + -0.009767158105030874, + 0.9989871716967271, + -0.04392303960253046, + 0.004369826749541385 + ], + [ + -0.039444337284834055, + 0.04350604207677241, + 0.9982741950781733, + 0.1356892257504126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9992767063355484, + 0.011707680124272162, + 0.03618002765734574, + -0.020456384334149157 + ], + [ + -0.010124276834181052, + 0.9989959309029858, + -0.04364205606822781, + 0.004303111573215182 + ], + [ + -0.03665464764205823, + 0.043244193429698714, + 0.9983918952700147, + 0.13593145722925798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9993697123821101, + 0.012134228731165545, + 0.033360732402000236, + -0.02075922538053334 + ], + [ + -0.01069264626073751, + 0.9990154453434943, + -0.04305586233119255, + 0.004214254033023594 + ], + [ + -0.033850336619313665, + 0.04267201024371393, + 0.9985155252936828, + 0.13631790429930904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9994582576454933, + 0.012176628706068667, + 0.030576476866852064, + -0.021387089764435124 + ], + [ + -0.010869875221044602, + 0.9990353909645638, + -0.04254566268093441, + 0.004320452600654846 + ], + [ + -0.03106504525851389, + 0.04219025140521776, + 0.9986265296142752, + 0.1366494028577202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9995430235386765, + 0.01180089508011023, + 0.027829534140361566, + -0.021886288290572452 + ], + [ + -0.010615946009376931, + 0.9990464849041152, + -0.04234882160176588, + 0.004229196177930735 + ], + [ + -0.028302752259936035, + 0.04203403235522888, + 0.9987152218417785, + 0.13622267445715883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9996149317591936, + 0.01178877721586757, + 0.025119970856220523, + -0.021993718297722842 + ], + [ + -0.01072396012205323, + 0.9990554110302935, + -0.04211035941893357, + 0.004086438416846636 + ], + [ + -0.025592672454500313, + 0.04182475849118314, + 0.9987971288974508, + 0.1364551493902633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996804024895513, + 0.011855754249401782, + 0.02232787427201706, + -0.022060828285240898 + ], + [ + -0.010920976083959609, + 0.9990774686755205, + -0.04153244353861625, + 0.0035911459441417657 + ], + [ + -0.022799674552563078, + 0.0412753276921281, + 0.9988876424124011, + 0.1361327882543448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9997402364740845, + 0.011799959664709366, + 0.019499244258511864, + -0.021926541456105005 + ], + [ + -0.01098398281370366, + 0.9990807562330889, + -0.04143663410881667, + 0.0038069988199865724 + ], + [ + -0.01997027031089307, + 0.041211691018822785, + 0.9989508420473348, + 0.1365406025274441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9997923353692307, + 0.011881348022580167, + 0.01655656081759016, + -0.022076902417013055 + ], + [ + -0.011193474748098781, + 0.999094895251759, + -0.04103774366288526, + 0.0033544371049938774 + ], + [ + -0.017029159110299785, + 0.040843896129572836, + 0.999020412148297, + 0.1363752110497141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9998341746140154, + 0.011858044058649965, + 0.013820639095704678, + -0.022029738478036298 + ], + [ + -0.011282279218162893, + 0.9990946906433057, + -0.041018402016662764, + 0.003582504772804142 + ], + [ + -0.014294525160144853, + 0.04085567181506467, + 0.9990628011446457, + 0.13673265865287373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9998674196065416, + 0.011887587781598947, + 0.011127823960274185, + -0.021882942205509355 + ], + [ + -0.01142099433481159, + 0.9990899965154497, + -0.04109427881302763, + 0.0035493425817234928 + ], + [ + -0.011606209448406242, + 0.04096173970296464, + 0.9990933048433196, + 0.13671993700338467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9998922454098368, + 0.012038459915118604, + 0.008400776877604536, + -0.021582910100807307 + ], + [ + -0.011682401845853738, + 0.9990818733361805, + -0.0412181010986728, + 0.0037094141351941075 + ], + [ + -0.008889266358210078, + 0.04111551840778006, + 0.9991148558047132, + 0.13641291255131832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.999910328804325, + 0.012173379514983963, + 0.005580607638133502, + -0.021253743143095298 + ], + [ + -0.011933113059669946, + 0.999078220464114, + -0.041234817896583155, + 0.003762894998581471 + ], + [ + -0.006077430635701221, + 0.04116452629927143, + 0.9991338982395827, + 0.13614464031791887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9999207945522133, + 0.012271615940252237, + 0.002795007027840545, + -0.021013626921069492 + ], + [ + -0.012146179372821987, + 0.9990781044574707, + -0.04117537516903419, + 0.0037557914741335125 + ], + [ + -0.003297718713590459, + 0.04113816519829768, + 0.9991480252772377, + 0.13610564920566065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9999230845260098, + 0.012402354053043688, + 8.152259575345222e-05, + -0.020908088903808932 + ], + [ + -0.012388568417486498, + 0.9990813019143677, + -0.04102530362663667, + 0.0037383051614097267 + ], + [ + -0.000590258041811932, + 0.041021138197707564, + 0.9991581045142, + 0.13621309379107321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9999176029200179, + 0.01255902007950644, + -0.002656762188993192, + -0.02093899960707443 + ], + [ + -0.012656814189599784, + 0.9990905972300866, + -0.04071588855716817, + 0.003687776630168267 + ], + [ + 0.002142994460155122, + 0.040746159832214204, + 0.9991672322657865, + 0.13633282385973863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9999055263924896, + 0.01264225776937843, + -0.005395517422001552, + -0.021054172901214738 + ], + [ + -0.012850016129182462, + 0.9991015219316006, + -0.040385962405760645, + 0.0036924546611081972 + ], + [ + 0.004880099920932183, + 0.04045147948409739, + 0.9991695864228002, + 0.13644310249715821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9998859502468819, + 0.012701060318586558, + -0.008171264631289506, + -0.021102359946996087 + ], + [ + -0.01302039714804064, + 0.9991030744149015, + -0.04029287719684482, + 0.003684908962998765 + ], + [ + 0.007652173351292542, + 0.040394674914849216, + 0.9991544998054737, + 0.13647208784268905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9998560082399065, + 0.01294751394898052, + -0.010969260189302055, + -0.021160745851878382 + ], + [ + -0.013378400030652991, + 0.9991035441550704, + -0.04016374570924707, + 0.00368440238237192 + ], + [ + 0.010439406074077017, + 0.040304713611663254, + 0.9991328984982439, + 0.1364295599374425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9998211803492314, + 0.013036990960315437, + -0.013698328064808722, + -0.02154742954283351 + ], + [ + -0.013574035557782863, + 0.9991125705445717, + -0.039872508555329665, + 0.0036302524310438773 + ], + [ + 0.013166354231392962, + 0.0400513201595084, + 0.9991108741624898, + 0.13640379936259966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9997808906216561, + 0.012896345358495952, + -0.01648802669098277, + -0.021633062751488 + ], + [ + -0.013545439418316856, + 0.9991125920021356, + -0.0398816947199957, + 0.0036152362005055045 + ], + [ + 0.015959066975637055, + 0.040096293833328606, + 0.9990683637279776, + 0.13590097669385548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_154/tilt_up/transforms.json b/spatialvid_eval/camera_controls/scene_154/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9664128dc6af8650e2383e730d512024309810c0 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_154/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": [ + [ + 0.999999997016987, + -3.135307101893862e-05, + 7.059044447092117e-05, + -5.712259112240126e-05 + ], + [ + 3.136244918203199e-05, + 0.9999999906828446, + -0.00013285596557019737, + 3.591142495362158e-05 + ], + [ + -7.058627837069522e-05, + 0.00013285817906311378, + 0.9999999886831408, + -0.00020861387311320285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9992658266895872, + -6.692897341357828e-05, + 0.03831191891420399, + -0.005769925678783818 + ], + [ + 0.0002933721638309787, + 0.999982522749219, + -0.005904924121544771, + 0.0019881470236944817 + ], + [ + -0.038310854116679685, + 0.005911828534407097, + 0.9992483819052348, + 0.015694227877695394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9975292554357018, + -0.00022195543460878204, + 0.07025194150825861, + -0.010446240567957989 + ], + [ + 0.0010407549283035352, + 0.9999319578598002, + -0.011618798554339246, + 0.0006395087153303661 + ], + [ + -0.07024458256032243, + 0.011663206525315046, + 0.9974616124114623, + 0.033368726956812894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9953496794671151, + -0.00012961559463435868, + 0.09632755983886034, + -0.014996157588761664 + ], + [ + 0.0018352957458257224, + 0.9998430943505932, + -0.017618693735819257, + 0.00035415210246754177 + ], + [ + -0.09631016184306276, + 0.017713550723355, + 0.9951937413622206, + 0.049378601869271226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9930514173554904, + 0.0004138343487864792, + 0.11768054737034221, + -0.01936960085649405 + ], + [ + 0.002414102654126892, + 0.9997117485241674, + -0.023887067026470095, + 0.003108661366574772 + ], + [ + -0.11765651106771323, + 0.024005178688847575, + 0.9927641697802604, + 0.06311263582003593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9907405467203055, + 0.0011557869405130444, + 0.13576388783803414, + -0.02401115912171531 + ], + [ + 0.0030054431349282843, + 0.9995320307887733, + -0.030441529837273603, + 0.003976265833094871 + ], + [ + -0.13573553844116465, + 0.030567688558656936, + 0.9902734369962006, + 0.07730422931130568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9888985201906739, + 0.0019306447073381395, + 0.14857990905808866, + -0.02644723465142527 + ], + [ + 0.0035731753881177264, + 0.9993174778050679, + -0.03676698207582335, + 0.0032878385309551856 + ], + [ + -0.14854948395178497, + 0.036889716240873865, + 0.9882166764699565, + 0.08906784094308434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9873495900330633, + 0.002856310055700634, + 0.15853273653856975, + -0.026968845006940176 + ], + [ + 0.0040114774484220845, + 0.9990677055202442, + -0.042984041634024105, + 0.003819566078372065 + ], + [ + -0.1585077130937882, + 0.043076226382778936, + 0.9864176314373122, + 0.0998110261993719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9860972240740535, + 0.0038134299534611613, + 0.16612562242302267, + -0.02553783089785898 + ], + [ + 0.004392715596273008, + 0.9987890299693026, + -0.04900181285085628, + 0.004178877834707833 + ], + [ + -0.1661113142538367, + 0.04905029423938381, + 0.9848863385751138, + 0.10974816023174072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9850650808642356, + 0.004697510903043679, + 0.1721183309623147, + -0.022257004065314716 + ], + [ + 0.004833552575861107, + 0.9984793803744355, + -0.05491414878316953, + 0.0036552334480301004 + ], + [ + -0.17211456426297425, + 0.05492595341365936, + 0.9835444659038896, + 0.11761076372211775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9841264960662449, + 0.005733149411455035, + 0.17737578960557615, + -0.018829087403230735 + ], + [ + 0.005158405516534743, + 0.998131651874048, + -0.060881823064949894, + 0.004172231085540235 + ], + [ + -0.17739343446955036, + 0.06083039145863532, + 0.9822582312620683, + 0.1227918900670358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9831134077708515, + 0.00719624738686469, + 0.18285579423340773, + -0.017014549199129037 + ], + [ + 0.005172257991589827, + 0.9977346001814914, + -0.06707395431870679, + 0.004794095926258399 + ], + [ + -0.1829242335188308, + 0.06688708114596251, + 0.980849041987258, + 0.12703260990003762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9820482325120471, + 0.008869914079257165, + 0.18842131950549396, + -0.015957227037670513 + ], + [ + 0.005035370269315079, + 0.9973051359211889, + -0.07319228724032634, + 0.004674417151140949 + ], + [ + -0.1885627589589624, + 0.07282712742821959, + 0.979357082704944, + 0.12925793403421698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9809035877445695, + 0.010563975487646109, + 0.1942075023569582, + -0.015677880244796036 + ], + [ + 0.0048615895651796205, + 0.9968801305611334, + -0.07878051941512623, + 0.003971492663988767 + ], + [ + -0.19443383578156156, + 0.07822025130561622, + 0.9777919389056932, + 0.1307514156643565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9796112719464145, + 0.012027994308357146, + 0.20054197373229857, + -0.016076186169037932 + ], + [ + 0.004877794239840178, + 0.9964879629377749, + -0.0835939402317986, + 0.00344035814239726 + ], + [ + -0.20084313032534018, + 0.08286776860180237, + 0.9761121707714112, + 0.1324678634183688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9781839092054095, + 0.01348869727121925, + 0.2073024235689214, + -0.01721975432071647 + ], + [ + 0.004937805462197355, + 0.9960981996763637, + -0.08811353289208458, + 0.0035919194847077655 + ], + [ + -0.20768210767622855, + 0.0872148590977041, + 0.9743006263488323, + 0.13388216611091444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9764010548369608, + 0.015213044888760907, + 0.21542874315764662, + -0.01868982160324109 + ], + [ + 0.004765699519083495, + 0.9957552082019769, + -0.09191764491506481, + 0.0036006057417368553 + ], + [ + -0.21591264025379464, + 0.09077515411086162, + 0.9721839348470974, + 0.13524523067779026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9744105708941097, + 0.01667422068315603, + 0.22415621716656647, + -0.01962773612042712 + ], + [ + 0.004870347472382003, + 0.9954444142061725, + -0.09521920993806209, + 0.0036021577166798833 + ], + [ + -0.22472276040782732, + 0.09387432338152903, + 0.9698903506914307, + 0.13619485816740473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9720512362010105, + 0.018209974047806676, + 0.2340615112428051, + -0.0195678175546116 + ], + [ + 0.00495674552707282, + 0.9951731199915217, + -0.09800965217834609, + 0.0034937586397403068 + ], + [ + -0.23471647763603523, + 0.09643058690850505, + 0.9672689993143656, + 0.13623615170761344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.969191973717168, + 0.019971710184048426, + 0.2454955170151687, + -0.019369392055058873 + ], + [ + 0.004921878402545066, + 0.9949378142162888, + -0.10037191318045281, + 0.003795237946275474 + ], + [ + -0.24625737185962815, + 0.09848795172424989, + 0.9641874455571131, + 0.13566628062324926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9657559118715465, + 0.02187496492520061, + 0.25852853729265385, + -0.019329364137885385 + ], + [ + 0.004844605890619831, + 0.994745273503651, + -0.10226617542428859, + 0.004109442937954349 + ], + [ + -0.2594071095381205, + 0.10001663237516069, + 0.9605751531084956, + 0.13536125920227288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.961674513118901, + 0.02396715874571326, + 0.27314411236411973, + -0.01952135589747601 + ], + [ + 0.004666230664277108, + 0.9945976638543054, + -0.10370011256959333, + 0.004220884499963739 + ], + [ + -0.27415389311281513, + 0.10100030869861908, + 0.9563673878452104, + 0.13583818558185212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9571164958014977, + 0.026234982184090507, + 0.28851297921317587, + -0.019750781643853188 + ], + [ + 0.004374531835654371, + 0.9944688396504768, + -0.1049408901975469, + 0.004367967251814423 + ], + [ + -0.28967029004694433, + 0.10170276630473334, + 0.9517077652252736, + 0.13715174046017137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9525205817123741, + 0.028372054281077207, + 0.30314941522324035, + -0.019829290182652018 + ], + [ + 0.004189246974450739, + 0.9943334421182543, + -0.10622361364146679, + 0.004629789875451333 + ], + [ + -0.30444538364722834, + 0.10245014602789086, + 0.9470042111599906, + 0.1387480670156059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9480488076710473, + 0.0302304285590503, + 0.3166853003576939, + -0.020354100730438186 + ], + [ + 0.004194000756982398, + 0.9942004869282745, + -0.10746070048735706, + 0.005041206802471968 + ], + [ + -0.3180972628476345, + 0.1032061673579597, + 0.9424237997780641, + 0.1395707176488652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9432977098276958, + 0.03219764363429114, + 0.3303827210648639, + -0.020552270621848695 + ], + [ + 0.004129369297421031, + 0.9940695573509913, + -0.10866767438944304, + 0.005429206945694513 + ], + [ + -0.33192224833992373, + 0.10387024064862703, + 0.9375705808975485, + 0.14046321890090777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9392059692735575, + 0.03408835226786398, + 0.34165791593431477, + -0.0205093213093634 + ], + [ + 0.003988469614356814, + 0.9939092095493506, + -0.11012981105550186, + 0.005631655944092353 + ], + [ + -0.3433310929570065, + 0.10479726815450487, + 0.9333495021674894, + 0.1408437835549188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9354748758079703, + 0.03594268429767025, + 0.35156063513644525, + -0.0199934412065301 + ], + [ + 0.0038692558075772462, + 0.9937130063555679, + -0.11189052622664263, + 0.005707188051677855 + ], + [ + -0.35337202151777425, + 0.10603105415517418, + 0.929454479769281, + 0.14060264128601482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9322423261962167, + 0.03788538107175637, + 0.35984572131583653, + -0.019707143971976218 + ], + [ + 0.0037092438637078384, + 0.9934506035534497, + -0.11420218828571709, + 0.005164887074277499 + ], + [ + -0.3618155424497771, + 0.1077988691978475, + 0.9259961755004387, + 0.14087934148736728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9295343807198487, + 0.03978767304677793, + 0.3665825638697108, + -0.019894885588403178 + ], + [ + 0.0036896986167808915, + 0.993108017569244, + -0.11714457547750105, + 0.004702310253085708 + ], + [ + -0.36871699334840163, + 0.11024248960001454, + 0.922981241576938, + 0.14070855862126946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.927364822594691, + 0.041921808349055456, + 0.37180243113603034, + -0.020579783839729537 + ], + [ + 0.003581201445307516, + 0.9926633382332872, + -0.12085806519945153, + 0.0045202348893899616 + ], + [ + -0.3741412311014727, + 0.11341101759658014, + 0.9204109301163165, + 0.1402830342090191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9258255275379312, + 0.044124483978252416, + 0.37536665072001835, + -0.021317363644940534 + ], + [ + 0.0035421088999160405, + 0.992105151450995, + -0.12535877284394356, + 0.00451083204835744 + ], + [ + -0.3779345790261225, + 0.11738994155399879, + 0.9183599814878131, + 0.139672064300829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9250122401485016, + 0.04638982182675682, + 0.3770946035232177, + -0.021514612051481932 + ], + [ + 0.0035463398301138122, + 0.9914205269734746, + -0.13066278035250797, + 0.00467522424319261 + ], + [ + -0.37992075364378336, + 0.12220197677010036, + 0.9169116085120854, + 0.13928616593894574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9250056786084649, + 0.04863415320093667, + 0.3768278302945808, + -0.021454998375400255 + ], + [ + 0.0036409350838439193, + 0.9905939978727496, + -0.1367855071643134, + 0.004703904726836061 + ], + [ + -0.3799358342323198, + 0.12789937654621705, + 0.9161279994330926, + 0.1391311100678038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9258835595155668, + 0.05069039022097977, + 0.3743930001456087, + -0.021667478033537715 + ], + [ + 0.003858287185124587, + 0.9896381201100124, + -0.1435322432247138, + 0.004545520457975761 + ], + [ + -0.37778929026480107, + 0.1343386599768142, + 0.9160940871967533, + 0.1391342695707114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9277039356884452, + 0.05248585024282445, + 0.3696087705026179, + -0.022209009915653357 + ], + [ + 0.004044489923743741, + 0.988596263442536, + -0.15053594258087555, + 0.004373848471487665 + ], + [ + -0.37329485639294013, + 0.1411476653428732, + 0.9169123659100855, + 0.13919757131971588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9308080117358761, + 0.05394935968403364, + 0.3615050648026777, + -0.022669178510356186 + ], + [ + 0.004074517885745959, + 0.9874540183753111, + -0.1578542362385314, + 0.004262897503967003 + ], + [ + -0.3654857638709121, + 0.14840494662959894, + 0.9189102938935673, + 0.13902508610929606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9344771098461884, + 0.05483604364528962, + 0.35177484203798187, + -0.022765764760658072 + ], + [ + 0.004093860677860006, + 0.9863467647358048, + -0.16463079906251338, + 0.004301419780492581 + ], + [ + -0.35599967904236296, + 0.15528383049288577, + 0.9214939828936441, + 0.13865076031624185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9385587289440719, + 0.05525358153770272, + 0.3406678060077662, + -0.02298943643116285 + ], + [ + 0.004031857188574506, + 0.985278018705853, + -0.17091217037613235, + 0.004321282602070327 + ], + [ + -0.34509601048186506, + 0.16178463333186374, + 0.9245185103431814, + 0.13835207290914078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9429917652036482, + 0.0552755100860485, + 0.3281937670688381, + -0.023005909749493087 + ], + [ + 0.003768472925302262, + 0.9842749853747391, + -0.17660280795437094, + 0.004251182635513608 + ], + [ + -0.33279472557406753, + 0.167771782938265, + 0.9279549016411287, + 0.13805237905766127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9475592599071124, + 0.05476417077062925, + 0.3148528776493732, + -0.023544560585990075 + ], + [ + 0.0035622507297081154, + 0.9833368161632633, + -0.18175812594664253, + 0.004236358719644748 + ], + [ + -0.3195602593158675, + 0.17334818019726145, + 0.9315748220557883, + 0.13749797741859746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9520807056994837, + 0.05373734604918363, + 0.30108906900510984, + -0.02403090724854708 + ], + [ + 0.0034572001833326474, + 0.9824899453868865, + -0.18628353384173668, + 0.004356538618773346 + ], + [ + -0.30582736568473706, + 0.17839788354479819, + 0.9352239397839808, + 0.13702297609022418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9562490279332512, + 0.052756625816957683, + 0.28775777141394787, + -0.024461437306465085 + ], + [ + 0.0031498493874202544, + 0.9816922850014215, + -0.19044772515712705, + 0.004434000884775163 + ], + [ + -0.2925369635200806, + 0.18302184569361535, + 0.9385761178366695, + 0.13671770075597056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9599887944105818, + 0.051804662761986475, + 0.27520499908656226, + -0.0241638688387208 + ], + [ + 0.0028029257800777554, + 0.9809134289706795, + -0.1944247630114421, + 0.004536079696783525 + ], + [ + -0.2800243886042594, + 0.18741697303366336, + 0.9415206954739286, + 0.1367527199526212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9632240325040166, + 0.0508333825079126, + 0.2638473619908025, + -0.023542028520816254 + ], + [ + 0.0025312644371858276, + 0.9801816403917408, + -0.19808469032033993, + 0.004484000573062264 + ], + [ + -0.26868765492119356, + 0.19146780163191976, + 0.9440058395111703, + 0.13685885256489339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9661367659090555, + 0.049931895118709595, + 0.25315322515947836, + -0.0231333474970445 + ], + [ + 0.00214791342808907, + 0.979507705133737, + -0.2013952384033587, + 0.004423716723083003 + ], + [ + -0.2580215805445289, + 0.19511909551218826, + 0.946231157032894, + 0.13711308474410203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.968274069311889, + 0.049332675918113626, + 0.24497267967051692, + -0.022766296640148606 + ], + [ + 0.0018492085494699849, + 0.9788781969009495, + -0.20443594610460963, + 0.0043186040933349944 + ], + [ + -0.2498837872410611, + 0.19840303102196968, + 0.9477311486678908, + 0.13678450106171378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9699010784329146, + 0.04905599413773185, + 0.2385066193920585, + -0.02185406874885505 + ], + [ + 0.0014966399462777967, + 0.9782767127629274, + -0.20729793374424316, + 0.004266246223516833 + ], + [ + -0.2434946778135831, + 0.20141544802949013, + 0.9487582195541389, + 0.13655480182621058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9710835264924473, + 0.04910379859638781, + 0.23363561701589433, + -0.020576674797590996 + ], + [ + 0.0011008869110370268, + 0.9776881020286, + -0.21005895172480274, + 0.004265474097975555 + ], + [ + -0.2387374554254137, + 0.20424199400495305, + 0.9493627521984837, + 0.13653444222431638 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9719286020817957, + 0.04932242456129512, + 0.23004801866289262, + -0.01940100722987557 + ], + [ + 0.0007532104448228774, + 0.977122101844698, + -0.21267776273185207, + 0.004202482846744963 + ], + [ + -0.2352747864293007, + 0.20688087519632042, + 0.9496557683437995, + 0.13632329465503581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9724707482765472, + 0.049738493520416024, + 0.2276548396339771, + -0.018613084727332332 + ], + [ + 0.0004033667820955598, + 0.9765938664557846, + -0.21509127666221278, + 0.004122844142828434 + ], + [ + -0.23302463612607868, + 0.20926180316355153, + 0.9496889052184656, + 0.13615070797166035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9727541274129337, + 0.050306361205138164, + 0.22631543832315268, + -0.018547540675838164 + ], + [ + 0.00012457437759427151, + 0.9760606740576996, + -0.21749837939454578, + 0.004157039159185207 + ], + [ + -0.23183915131471433, + 0.21160063936653759, + 0.9494607824114409, + 0.13596518638925306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9729180371080344, + 0.05090697341761942, + 0.2254749944612651, + -0.01874007620306464 + ], + [ + -0.00012044096965377424, + 0.9755587741939833, + -0.21973862561485552, + 0.004312084946329658 + ], + [ + -0.23115033758102663, + 0.21376051588305683, + 0.9491448589575707, + 0.13556274752909914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9729675975382405, + 0.051559732453661064, + 0.22511252326330386, + -0.019030889324625818 + ], + [ + -0.00033577258912791206, + 0.9750740293292469, + -0.22187952718625306, + 0.004138128227031349 + ], + [ + -0.23094142416949157, + 0.21580600389454813, + 0.94873274808327, + 0.13522688710561348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9730068087254904, + 0.05237366658705223, + 0.22475486473503795, + -0.019570549592378576 + ], + [ + -0.0007292285844842624, + 0.974600363919501, + -0.223949991903657, + 0.004063492826049643 + ], + [ + -0.23077525517158134, + 0.21774096926441003, + 0.9483309822547648, + 0.13482893811143926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9728992888139852, + 0.05316956980626293, + 0.2250332657005615, + -0.02024615212471101 + ], + [ + -0.0008641734512560928, + 0.9740333598234121, + -0.2264028868088085, + 0.004190944810368355 + ], + [ + -0.23122765195687286, + 0.220072739787855, + 0.9476823107839352, + 0.13500174857925104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9727849531238572, + 0.053840597032459594, + 0.22536775520691366, + -0.020487597061428713 + ], + [ + -0.0009186533567584615, + 0.9735178548983784, + -0.2286091473893164, + 0.004110632275571907 + ], + [ + -0.23170798659481975, + 0.22218050388197516, + 0.9470729816877507, + 0.13505624756288276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9726669493573702, + 0.05447679996293531, + 0.22572391077071488, + -0.020682642561907334 + ], + [ + -0.0008942270339775066, + 0.972961917934791, + -0.23096386428760873, + 0.004044135722105839 + ], + [ + -0.23220294138067898, + 0.22444906886519173, + 0.9464166151857805, + 0.13488859473081896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9725573498084756, + 0.05529520771388852, + 0.22599699408928564, + -0.020772315944700692 + ], + [ + -0.0010340451427285789, + 0.9723656102187964, + -0.2334610263287447, + 0.004059274216911568 + ], + [ + -0.23266098100918742, + 0.22682054595584136, + 0.9457384986602464, + 0.13500368012678807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.97246928167638, + 0.05602408974557099, + 0.22619636947573998, + -0.02064594935690451 + ], + [ + -0.0010691779268383033, + 0.9717327537913917, + -0.23608115568075208, + 0.00422069688165576 + ], + [ + -0.23302865286137242, + 0.2293398277168162, + 0.9450401527810526, + 0.13535617138222825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9723706687377305, + 0.05674937130795187, + 0.22643937695262126, + -0.02047558709384514 + ], + [ + -0.001010524960800569, + 0.9710158632138071, + -0.23901291225883411, + 0.004369826749541385 + ], + [ + -0.23344005958241762, + 0.23218032268755623, + 0.9442446909243705, + 0.1356892257504126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9722582089305235, + 0.057801175835656096, + 0.226656125527696, + -0.020456384334149157 + ], + [ + -0.001269053864337814, + 0.9702770440048544, + -0.2419934862336007, + 0.004303111573215182 + ], + [ + -0.2339067435314778, + 0.23499251466635707, + 0.9434331737761197, + 0.13593145722925798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9721476956309408, + 0.05904859894651057, + 0.22680855548657256, + -0.02075922538053334 + ], + [ + -0.0017973270771331727, + 0.9695908736592829, + -0.24472496262540552, + 0.004214254033023594 + ], + [ + -0.23436217163789325, + 0.23750115932155463, + 0.9426916631784159, + 0.13631790429930904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9720331831754461, + 0.059928824099336656, + 0.2270683307902723, + -0.021387089764435124 + ], + [ + -0.0019301754662626232, + 0.9688979945184596, + -0.247452926110758, + 0.004320452600654846 + ], + [ + -0.2348356132031068, + 0.24009417373226197, + 0.9419166749300828, + 0.1366494028577202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9719145248067772, + 0.06041018018971184, + 0.227448382274009, + -0.021886288290572452 + ], + [ + -0.0015791470152288702, + 0.9681436150852776, + -0.25039058860970553, + 0.004229196177930735 + ], + [ + -0.2353288396357775, + 0.2429990755107045, + 0.9410482381560586, + 0.13622267445715883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9717824693377565, + 0.061257601524360744, + 0.22778572945488695, + -0.021993718297722842 + ], + [ + -0.0015922798927932233, + 0.9673711080703521, + -0.25335864681412035, + 0.004086438416846636 + ], + [ + -0.23587347653467808, + 0.24584679279222219, + 0.9401718234137965, + 0.1364551493902633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9716686415519321, + 0.06216792172036401, + 0.2280245612507433, + -0.022060828285240898 + ], + [ + -0.0017664540300500915, + 0.9666692201421861, + -0.25602245696395015, + 0.0035911459441417657 + ], + [ + -0.23634070886071026, + 0.24836619805977764, + 0.9393919847414861, + 0.1361327882543448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9715646101405873, + 0.06295299734478596, + 0.2282523350322543, + -0.021926541456105005 + ], + [ + -0.0017083662045731542, + 0.965845574822285, + -0.2591127304497437, + 0.0038069988199865724 + ], + [ + -0.23676843076575935, + 0.25135482036658424, + 0.9384889261313648, + 0.1365406025274441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9714857859004309, + 0.06384951615918076, + 0.2283387988924812, + -0.022076902417013055 + ], + [ + -0.001860544869895466, + 0.9650807269457754, + -0.26194604186855214, + 0.0033544371049938774 + ], + [ + -0.23709050205820045, + 0.2540520217673, + 0.9376810033640108, + 0.1363752110497141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9713589767699848, + 0.06469029919247911, + 0.22864142983885388, + -0.022029738478036298 + ], + [ + -0.001812347123526967, + 0.9642166018397864, + -0.26510952479011124, + 0.003582504772804142 + ], + [ + -0.23760987699645786, + 0.2571021390944119, + 0.9367176930253885, + 0.13673265865287373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9712209976036376, + 0.06559469632923026, + 0.22896966966668555, + -0.021882942205509355 + ], + [ + -0.0017911081981749214, + 0.9633140725394538, + -0.26837061981311267, + 0.0035493425817234928 + ], + [ + -0.23817339428495676, + 0.26023707164992443, + 0.9357083417357434, + 0.13671993700338467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9710894213953497, + 0.0666122678648335, + 0.2292338138755908, + -0.021582910100807307 + ], + [ + -0.001877515752323501, + 0.962379867723369, + -0.2717010583993936, + 0.0037094141351941075 + ], + [ + -0.2387086311565736, + 0.2634156334970546, + 0.9346819744922338, + 0.13641291255131832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.970979959843655, + 0.06759565061336661, + 0.22940955865039653, + -0.021253743143095298 + ], + [ + -0.001977323128527886, + 0.9614631861771601, + -0.2749265935105386, + 0.003762894998581471 + ], + [ + -0.23915268715876775, + 0.2664945959005908, + 0.9336951443487972, + 0.13614464031791887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9708624390306183, + 0.06855321565201762, + 0.22962269291881224, + -0.021013626921069492 + ], + [ + -0.002058065404494414, + 0.9605584910805628, + -0.2780704039983818, + 0.0037557914741335125 + ], + [ + -0.23962864779969448, + 0.26949553212771526, + 0.9327112464835458, + 0.13610564920566065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9707269877710902, + 0.0695612055545626, + 0.22989204835022437, + -0.020908088903808932 + ], + [ + -0.0021890339882488035, + 0.9596659090455277, + -0.28113440050271216, + 0.0037383051614097267 + ], + [ + -0.24017560938418434, + 0.2724015082513622, + 0.9317258689975926, + 0.13621309379107321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9705968660064311, + 0.07059095062772165, + 0.23012744596846632, + -0.02093899960707443 + ], + [ + -0.0023843514032460002, + 0.9588051852761335, + -0.2840544517447073, + 0.003687776630168267 + ], + [ + -0.2406990622476138, + 0.2751536559398674, + 0.9307816215719159, + 0.13633282385973863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9704674673472249, + 0.07155172717329086, + 0.23037631206177067, + -0.021054172901214738 + ], + [ + -0.00251349518431089, + 0.9579462180860188, + -0.2869367972161334, + 0.0036924546611081972 + ], + [ + -0.24121894030656435, + 0.2778837771321186, + 0.9298354850424699, + 0.13644310249715821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9703470289553614, + 0.0724822626655535, + 0.23059263864309673, + -0.021102359946996087 + ], + [ + -0.002563243385952324, + 0.9570134851820832, + -0.29003209988376794, + 0.003684908962998765 + ], + [ + -0.24170244761037996, + 0.2808407213680475, + 0.928820981697026, + 0.13647208784268905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9702294118677726, + 0.0735909126807766, + 0.2307363558642772, + -0.021160745851878382 + ], + [ + -0.0028039202339287285, + 0.9560663531411119, + -0.2931369414160837, + 0.00368440238237192 + ], + [ + -0.24217148134749025, + 0.28376311592993375, + 0.927810038563766, + 0.1364295599374425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9700968280005355, + 0.07456670420531764, + 0.23098041243199965, + -0.02154742954283351 + ], + [ + -0.0029292651064315276, + 0.9551675810445986, + -0.2960511974766304, + 0.0036302524310438773 + ], + [ + -0.24270056388322678, + 0.286521724735433, + 0.9268234662250395, + 0.13640379936259966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9699815982055289, + 0.07530752693630403, + 0.2312238645325909, + -0.021633062751488 + ], + [ + -0.0027617476180866957, + 0.9541908599171609, + -0.2991858546132202, + 0.0036152362005055045 + ], + [ + -0.24316264493696826, + 0.28956619146110063, + 0.9257555556786959, + 0.13590097669385548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 682.2263590494791, + "fy": 682.2261428833008, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_158/move_left/transforms.json b/spatialvid_eval/camera_controls/scene_158/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..03862ffea0f4c171f2015dfcd28fe8224bffc149 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_158/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": [ + [ + 0.9999999627556808, + -0.00023478142864435844, + -0.00013916291763938513, + 0.001024249647790318 + ], + [ + 0.00023478179935191998, + 0.9999999724352483, + 2.6475081962397287e-06, + 4.908002540090722e-06 + ], + [ + 0.0001391622922176372, + -2.6801810178415262e-06, + 0.9999999903133364, + -0.0007454029732899392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999953895872566, + 0.0008860906369677374, + -0.00290441863612971, + 0.0013265866861833025 + ], + [ + -0.0008743898945534655, + 0.9999915077191918, + 0.004027397647351855, + 2.6280603075238723e-05 + ], + [ + 0.0029079626103377314, + -0.004024839485081434, + 0.9999876721343, + -0.0013943557453271521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999873965360458, + 0.0016395114481241153, + -0.0047453947436138484, + 0.0011114999487452952 + ], + [ + -0.0016076404839862855, + 0.9999761804570277, + 0.006712228441310163, + 4.2726459028316724e-05 + ], + [ + 0.004756286485851785, + -0.00670451495527862, + 0.9999662130382602, + -0.00183282338746172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999679907736487, + 0.0027788808138975354, + -0.007503016029197724, + 0.0014139197500612822 + ], + [ + -0.0026982001185534843, + 0.9999386638138491, + 0.01074189584266592, + 6.910522142988275e-05 + ], + [ + 0.007532406271071932, + -0.010721307364150957, + 0.999914154527363, + -0.0024944970135379004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999396860378513, + 0.0039293105294132226, + -0.010255964376256262, + 0.0017164325606502627 + ], + [ + -0.003777555954376472, + 0.9998837171397843, + 0.014774378827539642, + 9.815436392414571e-05 + ], + [ + 0.01031282490567691, + -0.014734745246916866, + 0.9998382533815025, + -0.0031631324333240562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999907445372452, + 0.004871446911046957, + -0.012703137160942393, + 0.002228773856602806 + ], + [ + -0.004640865647169334, + 0.9998250802924382, + 0.018118255552468588, + -7.09188915608758e-05 + ], + [ + 0.012789177251949715, + -0.01805762507121261, + 0.9997551495851401, + -0.004119137466029381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998839641075639, + 0.005430690825770996, + -0.014232565394152267, + 0.0022236863002559936 + ], + [ + -0.005143785072315753, + 0.9997843792615123, + 0.020118063023121833, + -0.00024729667087691553 + ], + [ + 0.014338751538183358, + -0.020042519348309657, + 0.999696302695223, + -0.004859276604558664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998437682839226, + 0.006275242924571543, + -0.01652453781632605, + 0.0028411140199015392 + ], + [ + -0.005892345532140679, + 0.9997153542074553, + 0.023119057636332346, + -0.0005132431711084521 + ], + [ + 0.016664911879018047, + -0.023018077419711014, + 0.9995961428616883, + -0.005966350236690086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997976042879245, + 0.007126607296982146, + -0.018813875957950213, + 0.0034587019108297534 + ], + [ + -0.00663391366724658, + 0.9996367618693925, + 0.026121552571217795, + -0.0007773881934376166 + ], + [ + 0.018993200087980312, + -0.0259914560521333, + 0.9994817169727057, + -0.007079260548354871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997635129754587, + 0.007697961878555774, + -0.02033862104189877, + 0.0034539590736171796 + ], + [ + -0.007124402335787569, + 0.9995790523922591, + 0.028124027271200402, + -0.0009495285608960717 + ], + [ + 0.020546557237831595, + -0.027972475784415318, + 0.9993975082939535, + -0.007833008176218266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999723021997892, + 0.008193584727802133, + -0.022062285845100338, + 0.0034653743047643043 + ], + [ + -0.007525926521491754, + 0.9995162302651545, + 0.030177240870032884, + -0.0011063696921479018 + ], + [ + 0.022298872558846876, + -0.030002843295981196, + 0.99930105057323, + -0.008183383808665677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9996793071772476, + 0.008692706086072567, + -0.023784862045426357, + 0.0034769350911976575 + ], + [ + -0.007923847530172244, + 0.9994490352974281, + 0.03223101741117678, + -0.0012622565566195467 + ], + [ + 0.024051932187194227, + -0.032032213534848857, + 0.9991973988427517, + -0.008538150463641443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9996483730983344, + 0.009027395451312233, + -0.02493263510379933, + 0.003068208958507703 + ], + [ + -0.00818712498224001, + 0.9994018095406204, + 0.033600507011936086, + -0.0013622463764210592 + ], + [ + 0.025221045703514373, + -0.03338456557002969, + 0.9991243013936364, + -0.008787611077878522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9995992859366117, + 0.009532339436598551, + -0.0266533686404146, + 0.0030800596436596425 + ], + [ + -0.008579034164823215, + 0.9993273276262633, + 0.03565518801170968, + -0.0015164096324691487 + ], + [ + 0.026975317010466522, + -0.035412240316266885, + 0.9990086613778523, + -0.009150432788133317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9995583839769111, + 0.009841091041661799, + -0.028039078953769, + 0.0033596233126401594 + ], + [ + -0.008794458283333292, + 0.9992687873162605, + 0.03720951758613569, + -0.0013300441847062957 + ], + [ + 0.02838475867377911, + -0.03694649675679623, + 0.9989140412730374, + -0.00982271719700053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995338773652027, + 0.00998145057561753, + -0.028851319617834183, + 0.0032187773286961145 + ], + [ + -0.008879330594526195, + 0.9992352858728292, + 0.03807887806696214, + -0.0010886661275367425 + ], + [ + 0.029209339045535253, + -0.03780494823501235, + 0.9988581482880695, + -0.010386629562680199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994958364047699, + 0.0101932982253247, + -0.03006941437440418, + 0.0036323345467846185 + ], + [ + -0.009005293092066852, + 0.9991836090040715, + 0.0393829937146137, + -0.0007318572716219918 + ], + [ + 0.030446308575195213, + -0.039092354353363286, + 0.9987716506415546, + -0.011217336430130842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994562583022139, + 0.010406715286423063, + -0.03128718615481732, + 0.00404601953154432 + ], + [ + -0.009129640066119736, + 0.9991302226393985, + 0.04068719553876202, + -0.0003747678393375046 + ], + [ + 0.031683393328397855, + -0.04037943146570644, + 0.9986819634406665, + -0.012051138169905917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994226030678784, + 0.010547826497912518, + -0.03229866612100222, + 0.004344929586643984 + ], + [ + -0.009193295678091481, + 0.9990835870935648, + 0.04180274291036988, + 2.6825539557934235e-05 + ], + [ + 0.03270999528586372, + -0.04148167494720083, + 0.9986036885832005, + -0.012597871792694119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.999409649762388, + 0.01054389641802113, + -0.03269829063035692, + 0.003974620250109168 + ], + [ + -0.009156457192493318, + 0.9990632161622951, + 0.04229479167856895, + 0.00035735314324840243 + ], + [ + 0.033113611302654423, + -0.04197042243982718, + 0.9985699636914378, + -0.012590465770635639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9993899161880412, + 0.01053836802679441, + -0.03329772095792453, + 0.0040438434417068014 + ], + [ + -0.00910082657603449, + 0.9990322074567674, + 0.04303281793807614, + 0.0008472742965162637 + ], + [ + 0.033718991344536285, + -0.04270352752865388, + 0.9985186219391787, + -0.01256017319096412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9993698182903048, + 0.010533279714330199, + -0.03389714307818428, + 0.004113125530729275 + ], + [ + -0.009044748538808187, + 0.999000656005943, + 0.04377078733088316, + 0.0013370446284478314 + ], + [ + 0.03432431811810606, + -0.0434366126459621, + 0.9984663749308595, + -0.012531392663104116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.999356217298924, + 0.010530131996518921, + -0.03429675299677252, + 0.003742948561423997 + ], + [ + -0.009007114638679384, + 0.9989793201943482, + 0.04426273500274763, + 0.00166722652999361 + ], + [ + 0.034727839435695164, + -0.043925324633674157, + 0.9984310406953275, + -0.01252751550042086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9993437301492422, + 0.010428196240288406, + -0.03468950467465305, + 0.003941049539255993 + ], + [ + -0.008870303035186678, + 0.9989581962117197, + 0.044764270858481905, + 0.002250516891426375 + ], + [ + 0.035120175618335095, + -0.044427186998521634, + 0.9983951113261401, + -0.012879149855756349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9993351998466441, + 0.01027763646335206, + -0.03497897277215851, + 0.004203535694279854 + ], + [ + -0.008693331234259081, + 0.9989425018498513, + 0.04514758011246593, + 0.00288030964520042 + ], + [ + 0.03540599298875383, + -0.044813482197741006, + 0.9983677516195089, + -0.013420451480000229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9993265598716055, + 0.0101271884295885, + -0.03526849571068838, + 0.004466046602323977 + ], + [ + -0.00851624948659554, + 0.998926632385473, + 0.04553083137502428, + 0.0035096565336366478 + ], + [ + 0.03569173895827012, + -0.04519981377760801, + 0.9983401607691663, + -0.013962465416391954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9993207389602136, + 0.010026951839148179, + -0.03546154143334143, + 0.0042246841878596855 + ], + [ + -0.008398133929223657, + 0.9989159554654042, + 0.04578629995037635, + 0.003932472442552232 + ], + [ + 0.03588219656765748, + -0.045457388326370154, + 0.9983216384592823, + -0.014339154551467146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9993180215461306, + 0.009790701741845355, + -0.03560384772085501, + 0.0044309371125427904 + ], + [ + -0.00814386659271701, + 0.9989032262683626, + 0.04610880596563757, + 0.0044334828512442035 + ], + [ + 0.036016235922811723, + -0.045787407767409305, + 0.9983017299593815, + -0.014783189321688518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9993273498717845, + 0.009382488974061987, + -0.035451610667048467, + 0.00452457968392149 + ], + [ + -0.007735579587981703, + 0.9988971625640093, + 0.04631003595344632, + 0.00467862737296621 + ], + [ + 0.03584701670536029, + -0.04600464674598746, + 0.9982978332497285, + -0.015028607765590465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9993334617620594, + 0.00911032785633891, + -0.03535016448347224, + 0.004170610000365456 + ], + [ + -0.007463406486170931, + 0.9988930031497175, + 0.04644422269949875, + 0.004844600394941777 + ], + [ + 0.035734154058557316, + -0.046149433202244954, + 0.9982951968475211, + -0.015206872479931712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999342469105625, + 0.008702057342466773, + -0.03519806301320638, + 0.004264221987488423 + ], + [ + -0.007055174256990801, + 0.998886588612289, + 0.046645552914588086, + 0.005087875678102082 + ], + [ + 0.03556478536525591, + -0.04636655355439482, + 0.9982911843512448, + -0.015451509668115336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9993512838570838, + 0.00829375230967276, + -0.0350460429410305, + 0.004357818919196614 + ], + [ + -0.006646975021867821, + 0.9988799635770228, + 0.04684694320256757, + 0.00533013165920915 + ], + [ + 0.03539532703984272, + -0.04658360266222144, + 0.9982871023842546, + -0.015695719961321377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9993669609579042, + 0.007957863654917087, + -0.034674915310816574, + 0.0037414199209644186 + ], + [ + -0.006329798750841936, + 0.9988836806155513, + 0.04681160377196126, + 0.005719856703807968 + ], + [ + 0.03500872739098627, + -0.04656248496353054, + 0.9983017199226316, + -0.015804580112005324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9993900070464687, + 0.007454043871659845, + -0.03411819229705213, + 0.003441386354546702 + ], + [ + -0.005854007484551004, + 0.9988890547888146, + 0.046758815419977215, + 0.006299297627505797 + ], + [ + 0.03442883111623277, + -0.04653056471898927, + 0.9983233755326488, + -0.01594454026666808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9994124896482695, + 0.006950240180366512, + -0.033561431681068954, + 0.0031413191210950472 + ], + [ + -0.005378184225779637, + 0.9988941872979501, + 0.04670629204723372, + 0.00687754771335748 + ], + [ + 0.03384893897127966, + -0.04649835205470331, + 0.9983447062947325, + -0.01608305085616047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9994271649949749, + 0.0066143801335429376, + -0.03319023720247499, + 0.0025248286532383174 + ], + [ + -0.005060951079240422, + 0.9988974747114192, + 0.04667142369077119, + 0.0072644948701411334 + ], + [ + 0.03346234666428967, + -0.04647671449875664, + 0.9983587463257485, + -0.01618852859428216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9994531352377759, + 0.006064330949258289, + -0.03250622022810852, + 0.0021526736084300432 + ], + [ + -0.004546326128707216, + 0.9989046347974914, + 0.046571037124183534, + 0.007903987168583981 + ], + [ + 0.03275303622737681, + -0.04639778518667152, + 0.9983859394781459, + -0.016311301644555642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9994869103686651, + 0.005421847556382147, + -0.0315676982178861, + 0.0016364362347977696 + ], + [ + -0.0039540644987167, + 0.998916298414045, + 0.04637449877597507, + 0.008668940542973624 + ], + [ + 0.0317849237161294, + -0.04622588378666521, + 0.9984252031536973, + -0.016405820062492058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.999519394113246, + 0.0047795239893207424, + -0.03062902123681346, + 0.0011201757641879015 + ], + [ + -0.0033616110649039277, + 0.9989275470789607, + 0.04617851511102386, + 0.009432404152606735 + ], + [ + 0.03081688437428381, + -0.046053358588123094, + 0.9984635235201212, + -0.016497921674696946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995403324847825, + 0.0043513974907758496, + -0.030003151102643122, + 0.0003595165394129837 + ], + [ + -0.00296653593937726, + 0.9989348156528269, + 0.046048167620148156, + 0.009941787965478987 + ], + [ + 0.030171566096759854, + -0.04593799534731732, + 0.9984885463452943, + -0.016570551731667098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995706638239542, + 0.0037093421931230822, + -0.02906421860353565, + -0.00015678429793301862 + ], + [ + -0.0023737645788234666, + 0.9989453726987979, + 0.04585310900456246, + 0.01070252013449134 + ], + [ + 0.029203651557024746, + -0.045764430993450365, + 0.9985252944175135, + -0.016658222788598683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9996064485132046, + 0.002922172527189627, + -0.027899982052672734, + -0.0004926376392599061 + ], + [ + -0.0016505213650900138, + 0.998963265702573, + 0.04549362104816491, + 0.011586390515850012 + ], + [ + 0.028003997393970453, + -0.04542966744949813, + 0.9985749453322903, + -0.016864394449905746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9996292109249371, + 0.0023976088928995007, + -0.027123645352063568, + -0.001133044757332606 + ], + [ + -0.001168118973938601, + 0.9989748106391338, + 0.04525442748029831, + 0.012175107135580248 + ], + [ + 0.02720434089719056, + -0.04520596398821226, + 0.9986072023855256, + -0.01701151706237881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9996617134179903, + 0.0016110888749021337, + -0.02595887360508888, + -0.0014688843262132337 + ], + [ + -0.0004441561351864068, + 0.9989915524182138, + 0.04489633528891516, + 0.013055623672053724 + ], + [ + 0.02600502742808378, + -0.04486961766813128, + 0.9986543225554978, + -0.017212208762253125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9996922465014731, + 0.0008249608390920937, + -0.024793783988174292, + -0.0018046968338001484 + ], + [ + 0.00028023646009900187, + 0.9990076034153652, + 0.04453908155558744, + 0.013934306664820992 + ], + [ + 0.02480592171971674, + -0.04453232261967483, + 0.9986999241462537, + -0.017409913605295358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9997257356848696, + -7.019732553619027e-05, + -0.023418976956346864, + -0.002470572825420063 + ], + [ + 0.0011025206746217448, + 0.999027809161694, + 0.044070636139588566, + 0.01457699144260046 + ], + [ + 0.023393115600715726, + -0.04408436904302324, + 0.9987538888778207, + -0.01737926053799885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9997481157685131, + -0.0007030686616852923, + -0.02243235858675608, + -0.003441041751355081 + ], + [ + 0.0016835993127448752, + 0.9990423325434643, + 0.04372165687011673, + 0.01492550003370694 + ], + [ + 0.02238013652018187, + -0.043748411177676576, + 0.9987918732192242, + -0.01729101571921093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9997791188286262, + -0.001651751967292825, + -0.020951975317245023, + -0.004271835678126487 + ], + [ + 0.0025558788699256377, + 0.9990632071719788, + 0.04319925414219975, + 0.01544709725604439 + ], + [ + 0.020860993204019986, + -0.043243262951338894, + 0.9988467545984536, + -0.017140881345799473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9998070413188609, + -0.002599684012860367, + -0.019471049593162842, + -0.005102522278355483 + ], + [ + 0.0034289497522838955, + 0.9990829892057025, + 0.042678132379416686, + 0.015966466299978242 + ], + [ + 0.019342244772064095, + -0.04273666251395844, + 0.9988991216556085, + -0.016986972807149968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9998239448380734, + -0.003231219776639599, + -0.0184834668606371, + -0.00607284132207523 + ], + [ + 0.004011435189632843, + 0.999095570198238, + 0.04233143037953005, + 0.0163098016433921 + ], + [ + 0.01832996770735268, + -0.042398122942091165, + 0.9989326360945641, + -0.016889908726743355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9998495533928387, + -0.0042822016934368, + -0.016808727756667786, + -0.00687037063216777 + ], + [ + 0.004977806103158662, + 0.9991235156723259, + 0.04156226506064048, + 0.016886377736585793 + ], + [ + 0.016616017168395184, + -0.041639682746489645, + 0.9989945168989824, + -0.016558313596737435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.999871271253232, + -0.005331905929613095, + -0.015133132577345143, + -0.007667715931881022 + ], + [ + 0.005945489958779555, + 0.9991498606116073, + 0.04079469559827363, + 0.017460454202437116 + ], + [ + 0.014902753825914177, + -0.04087941803601797, + 0.999052942095383, + -0.0162224773991595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999883588281228, + -0.006030996610452294, + -0.01401559723095724, + -0.008615788190682053 + ], + [ + 0.006591339802548823, + 0.999166534659925, + 0.04028387090740222, + 0.01783903447966104 + ], + [ + 0.013760963827546345, + -0.040371562956636006, + 0.9990899723142933, + -0.016001965704244468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9998988214435598, + -0.007078560939622824, + -0.012338591929567082, + -0.009412800717410193 + ], + [ + 0.00756120226587679, + 0.9991902117826627, + 0.039518968837919166, + 0.018408530485988478 + ], + [ + 0.012048862854013718, + -0.0396082649549557, + 0.9991426375904411, + -0.0156583545385771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999107810015194, + -0.008184882182495402, + -0.01055640756082362, + -0.010235510881458763 + ], + [ + 0.008586111281117782, + 0.9992201622174892, + 0.03854018826008678, + 0.018801236273348808 + ], + [ + 0.010232728375160104, + -0.03862738823313503, + 0.9992012891045963, + -0.015202065264293171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999164711089036, + -0.00894140799241731, + -0.009332846737754074, + -0.011209103638217796 + ], + [ + 0.009288340872184404, + 0.9992415183860263, + 0.03781685678941463, + 0.018999567808824325 + ], + [ + 0.00898763199955248, + -0.03790038465111037, + 0.9992411036953688, + -0.014862956417062029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999211505367296, + -0.01007451655296068, + -0.00749645419697539, + -0.012044296415488459 + ], + [ + 0.010343364052081042, + 0.9992715694668358, + 0.036733435387571824, + 0.01930011944858544 + ], + [ + 0.007120921947988642, + -0.0368080775307665, + 0.9992969818322779, + -0.014344072180636398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9999212030624703, + -0.011205603074802672, + -0.005658809577306651, + -0.012879171224555105 + ], + [ + 0.011400396332143209, + 0.9992992405870121, + 0.0356519105475599, + 0.019597890382010024 + ], + [ + 0.005255342954774719, + -0.03571361395814109, + 0.9993482471833715, + -0.013820601756989287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9999166662897154, + -0.012333804921950025, + -0.003812837815759264, + -0.013739436731894768 + ], + [ + 0.012457907353387, + 0.9993288675829717, + 0.034447277972431745, + 0.019883405522898703 + ], + [ + 0.003385412890096077, + -0.03449190733321132, + 0.9993992431996739, + -0.01332870118900615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9999111006348871, + -0.013083427087001982, + -0.002571918114544148, + -0.014763681765536996 + ], + [ + 0.013162233222940968, + 0.9993527612588878, + 0.033478563004127396, + 0.020054074558589947 + ], + [ + 0.0021322391314593436, + -0.033509438967185376, + 0.9994361265515624, + -0.013047310520198639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9998988444877301, + -0.014205557641072576, + -0.0007091714941577947, + -0.015674790932029323 + ], + [ + 0.014220984181999146, + 0.9993858265143211, + 0.03202707247287445, + 0.020315493624275777 + ], + [ + 0.00025377351574105674, + -0.0320339178745527, + 0.999486750139595, + -0.012619289592603083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998818992194931, + -0.015324918148571415, + 0.0011552042934502222, + -0.016585511912671415 + ], + [ + 0.015282443294558683, + 0.9994155612604745, + 0.03057748906238166, + 0.020574059315859483 + ], + [ + -0.0016231266643788997, + -0.03055622349294916, + 0.9995317316952379, + -0.012186691865432607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998679973625962, + -0.016069615794174087, + 0.0023990202873670555, + -0.017609046560609937 + ], + [ + 0.0159915836516108, + 0.9994335340403689, + 0.02961216452562136, + 0.020738183336832326 + ], + [ + -0.002873517430798404, + -0.0295698915081974, + 0.9995585847831875, + -0.011894556802483951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9998435615289248, + -0.01716935373227959, + 0.004250383696895481, + -0.01872309231387246 + ], + [ + 0.017044436333190346, + 0.9994664616100033, + 0.027861789369378578, + 0.02105468473872821 + ], + [ + -0.0047264848713181, + -0.027784985319334852, + 0.99960274856143, + -0.011390986138460932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9998147231934058, + -0.01825813606004026, + 0.006095880027237939, + -0.01993872256576569 + ], + [ + 0.018094087724188843, + 0.9994991829143095, + 0.02596126620673731, + 0.021399872537662092 + ], + [ + -0.006566831437061514, + -0.02584615679827041, + 0.9996443632130562, + -0.010851664587837425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997813452196025, + -0.019343314232005648, + 0.007943421517462591, + -0.02115391187620952 + ], + [ + 0.01914721365968561, + 0.9995270761789181, + 0.024062589102043078, + 0.02174215390137799 + ], + [ + -0.008405115106442542, + -0.023905233312923373, + 0.9996788953760615, + -0.010307909781129002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9997565713498714, + -0.020064759627713202, + 0.00917624453858038, + -0.02238034995803028 + ], + [ + 0.01985122364164242, + 0.9995429893294193, + 0.022797837668036763, + 0.021960449364545446 + ], + [ + -0.009629484029751173, + -0.022610128338661623, + 0.9996979819594668, + -0.009938935804889727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9997171103753746, + -0.021091671903687575, + 0.010992752113032795, + -0.023606509634380657 + ], + [ + 0.020860504399970503, + 0.9995673399624962, + 0.020735771904577458, + 0.022242599423845648 + ], + [ + -0.011425348086172347, + -0.020500591616025344, + 0.9997245556474559, + -0.009387424931514034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996765403973545, + -0.022010038465912842, + 0.012742558059739522, + -0.024855748296902472 + ], + [ + 0.02177443144398891, + 0.9995946345775081, + 0.01834231880514686, + 0.022412383140430314 + ], + [ + -0.013141107809763323, + -0.0180589238491017, + 0.9997505621678564, + -0.008832463897611161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996473598261051, + -0.022619896680077644, + 0.013910293558385255, + -0.02610485429658506 + ], + [ + 0.02238598633194069, + 0.999609117806588, + 0.01674751366266926, + 0.02251478058925695 + ], + [ + -0.014283683301025914, + -0.016430212175067647, + 0.9997629841713678, + -0.008454263861867612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996003884045179, + -0.023531098194972424, + 0.015663681536463057, + -0.02735334421966311 + ], + [ + 0.02330671736813787, + 0.9996252727228985, + 0.014356568503400006, + 0.022679777286500967 + ], + [ + -0.015995637750927865, + -0.01398576245363985, + 0.9997742435277734, + -0.007891773471084985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995495767125646, + -0.02443798889776695, + 0.017419196088383927, + -0.028601375890192175 + ], + [ + 0.024231518916894467, + 0.9996347435921029, + 0.011967158999981912, + 0.022842110898164843 + ], + [ + -0.017705286914171597, + -0.011539675133351107, + 0.9997766544149266, + -0.007325207788368519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9995186265403276, + -0.024909015116735093, + 0.01849476047023649, + -0.030207900388183398 + ], + [ + 0.024730122048918383, + 0.9996457430390038, + 0.009839181238476056, + 0.022983861410564126 + ], + [ + -0.018733292886803452, + -0.009377067234068488, + 0.9997805430931855, + -0.006837042626963875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9994696882886966, + -0.025611177842226857, + 0.020109941860419325, + -0.031992642619800234 + ], + [ + 0.025482114874528144, + 0.9996531718680145, + 0.006648142277309029, + 0.02320970070205742 + ], + [ + -0.020273233921034126, + -0.006132172840993674, + 0.9997756710595789, + -0.006112836868644228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9994177350300162, + -0.026308080300407582, + 0.02172730582422889, + -0.03377698361763592 + ], + [ + 0.02623900450690576, + 0.9996497162098698, + 0.0034582544749277248, + 0.02343320705686066 + ], + [ + -0.021810675137621104, + -0.002886137979044823, + 0.999757953035437, + -0.005385012490871046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.999381424861844, + -0.02676975496200169, + 0.022806750324958824, + -0.035382724750759126 + ], + [ + 0.026746313046227686, + 0.9996413655173005, + 0.0013323232115929164, + 0.02356976231859315 + ], + [ + -0.0228342370037585, + -0.000721502585819733, + 0.9997390044679036, + -0.0048882772067735765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9993282795178767, + -0.027401572675277958, + 0.024334000303320148, + -0.037260889180663746 + ], + [ + 0.027462584944262715, + 0.9996204624290693, + -0.0021765847726758765, + 0.023788931634267648 + ], + [ + -0.02426512279012162, + 0.0028433972664666366, + 0.9997015149073074, + -0.004137548988171193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9992804825911569, + -0.027915273640795595, + 0.025675953924716267, + -0.03932778931757135 + ], + [ + 0.02808635106647544, + 0.999585479900421, + -0.006326551668626611, + 0.024005767446928512 + ], + [ + -0.025488703304706265, + 0.007043143460459317, + 0.999650298921598, + -0.0033512331879003918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9992307216354055, + -0.028423323044696393, + 0.02701998606742511, + -0.04139437846933162 + ], + [ + 0.02871518162703869, + 0.9995327412601005, + -0.010475566485656885, + 0.024220550061544666 + ], + [ + -0.026709610332485118, + 0.011243391666488762, + 0.9995800032312175, + -0.002562119101306694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9991964570130302, + -0.02875887801692873, + 0.027917149349741897, + -0.04318826006772101 + ], + [ + 0.029137209554626287, + 0.9994877181513607, + -0.013241007663942922, + 0.024350448515397704 + ], + [ + -0.027522051376635707, + 0.014043795775865371, + 0.9995225402602126, + -0.002023027020444965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9991434248405753, + -0.02925748629344616, + 0.029264587706561523, + -0.045254292663448874 + ], + [ + 0.029774453675748543, + 0.9994053884363894, + -0.01738825674473681, + 0.02456150412444636 + ], + [ + -0.028738449960930838, + 0.018244699506952462, + 0.9994204482767723, + -0.0012287698255402809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_158/move_right/transforms.json b/spatialvid_eval/camera_controls/scene_158/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..211ad5968a439623dce9738ae36ea9509fb03f84 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_158/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": [ + [ + 0.9999999627556808, + -0.00023478142864435844, + -0.00013916291763938513, + 0.001024249647790318 + ], + [ + 0.00023478179935191998, + 0.9999999724352483, + 2.6475081962397287e-06, + 4.908002540090722e-06 + ], + [ + 0.0001391622922176372, + -2.6801810178415262e-06, + 0.9999999903133364, + -0.0007454029732899392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999953895872566, + 0.0008860906369677374, + -0.00290441863612971, + 0.0038265751601514447 + ], + [ + -0.0008743898945534655, + 0.9999915077191918, + 0.004027397647351855, + 2.409462833885506e-05 + ], + [ + 0.0029079626103377314, + -0.004024839485081434, + 0.9999876721343, + -0.0013870858388013078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999873965360458, + 0.0016395114481241153, + -0.0047453947436138484, + 0.006111436931425526 + ], + [ + -0.0016076404839862855, + 0.9999761804570277, + 0.006712228441310163, + 3.468825660838529e-05 + ], + [ + 0.004756286485851785, + -0.00670451495527862, + 0.9999662130382602, + -0.0018090419550324608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999679907736487, + 0.0027788808138975354, + -0.007503016029197724, + 0.00891367968086365 + ], + [ + -0.0026982001185534843, + 0.9999386638138491, + 0.01074189584266592, + 4.8868720540731613e-05 + ], + [ + 0.007532406271071932, + -0.010721307364150957, + 0.999914154527363, + -0.002438003966504861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999396860378513, + 0.0039293105294132226, + -0.010255964376256262, + 0.011715829421028778 + ], + [ + -0.003777555954376472, + 0.9998837171397843, + 0.014774378827539642, + 6.037880438038099e-05 + ], + [ + 0.01031282490567691, + -0.014734745246916866, + 0.9998382533815025, + -0.003060004184267287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999907445372452, + 0.004871446911046957, + -0.012703137160942393, + 0.014727616923758458 + ], + [ + -0.004640865647169334, + 0.9998250802924382, + 0.018118255552468588, + -0.00012892971215049248 + ], + [ + 0.012789177251949715, + -0.01805762507121261, + 0.9997551495851401, + -0.003959272750380009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998839641075639, + 0.005430690825770996, + -0.014232565394152267, + 0.017221945761869455 + ], + [ + -0.005143785072315753, + 0.9997843792615123, + 0.020118063023121833, + -0.0003244534469616518 + ], + [ + 0.014338751538183358, + -0.020042519348309657, + 0.999696302695223, + -0.004644195331485913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998437682839226, + 0.006275242924571543, + -0.01652453781632605, + 0.020338379964870187 + ], + [ + -0.005892345532140679, + 0.9997153542074553, + 0.023119057636332346, + -0.0006163592179209139 + ], + [ + 0.016664911879018047, + -0.023018077419711014, + 0.9995961428616883, + -0.00567471427880727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997976042879245, + 0.007126607296982146, + -0.018813875957950213, + 0.02345465399658825 + ], + [ + -0.00663391366724658, + 0.9996367618693925, + 0.026121552571217795, + -0.0009100664667825481 + ], + [ + 0.018993200087980312, + -0.0259914560521333, + 0.9994817169727057, + -0.006699396546595264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997635129754587, + 0.007697961878555774, + -0.02033862104189877, + 0.025948638115565005 + ], + [ + -0.007124402335787569, + 0.9995790523922591, + 0.028124027271200402, + -0.001109827613451292 + ], + [ + 0.020546557237831595, + -0.027972475784415318, + 0.9993975082939535, + -0.007370710638367055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999723021997892, + 0.008193584727802133, + -0.022062285845100338, + 0.028458449854711604 + ], + [ + -0.007525926521491754, + 0.9995162302651545, + 0.030177240870032884, + -0.0012945178551851955 + ], + [ + 0.022298872558846876, + -0.030002843295981196, + 0.99930105057323, + -0.007625911994694505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9996793071772476, + 0.008692706086072567, + -0.023784862045426357, + 0.030968116038571972 + ], + [ + -0.007923847530172244, + 0.9994490352974281, + 0.03223101741117678, + -0.0014801623636992835 + ], + [ + 0.024051932187194227, + -0.032032213534848857, + 0.9991973988427517, + -0.0078767223284936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9996483730983344, + 0.009027395451312233, + -0.02493263510379933, + 0.03305766015145774 + ], + [ + -0.00818712498224001, + 0.9994018095406204, + 0.033600507011936086, + -0.0016078601258882597 + ], + [ + 0.025221045703514373, + -0.03338456557002969, + 0.9991243013936364, + -0.00803097970677309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9995992859366117, + 0.009532339436598551, + -0.0266533686404146, + 0.035567036436599524 + ], + [ + -0.008579034164823215, + 0.9993273276262633, + 0.03565518801170968, + -0.001795228242825903 + ], + [ + 0.026975317010466522, + -0.035412240316266885, + 0.9990086613778523, + -0.008273734985293156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9995583839769111, + 0.009841091041661799, + -0.028039078953769, + 0.038344166751832054 + ], + [ + -0.008794458283333292, + 0.9992687873162605, + 0.03720951758613569, + -0.001637850224622961 + ], + [ + 0.02838475867377911, + -0.03694649675679623, + 0.9989140412730374, + -0.008829250643418262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995338773652027, + 0.00998145057561753, + -0.028851319617834183, + 0.04070129772989123 + ], + [ + -0.008879330594526195, + 0.9992352858728292, + 0.03807887806696214, + -0.0014216410248314747 + ], + [ + 0.029209339045535253, + -0.03780494823501235, + 0.9988581482880695, + -0.009291279348472625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994958364047699, + 0.0101932982253247, + -0.03006941437440418, + 0.043612168002975425 + ], + [ + -0.009005293092066852, + 0.9991836090040715, + 0.0393829937146137, + -0.0010920689953046658 + ], + [ + 0.030446308575195213, + -0.039092354353363286, + 0.9987716506415546, + -0.009999484087123034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994562583022139, + 0.010406715286423063, + -0.03128718615481732, + 0.04652291050938842 + ], + [ + -0.009129640066119736, + 0.9991302226393985, + 0.04068719553876202, + -0.0007627775421475935 + ], + [ + 0.031683393328397855, + -0.04037943146570644, + 0.9986819634406665, + -0.010704593953449007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994226030678784, + 0.010547826497912518, + -0.03229866612100222, + 0.049318946724698526 + ], + [ + -0.009193295678091481, + 0.9990835870935648, + 0.04180274291036988, + -0.0003868727659561825 + ], + [ + 0.03270999528586372, + -0.04148167494720083, + 0.9986036885832005, + -0.01112592200483025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.999409649762388, + 0.01054389641802113, + -0.03269829063035692, + 0.051446578613822604 + ], + [ + -0.009156457192493318, + 0.9990632161622951, + 0.04229479167856895, + -7.757857339503026e-05 + ], + [ + 0.033113611302654423, + -0.04197042243982718, + 0.9985699636914378, + -0.011017569233759553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9993899161880412, + 0.01053836802679441, + -0.03329772095792453, + 0.05401333925110886 + ], + [ + -0.00910082657603449, + 0.9990322074567674, + 0.04303281793807614, + 0.0003922329677145391 + ], + [ + 0.033718991344536285, + -0.04270352752865388, + 0.9985186219391787, + -0.010874223623737307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9993698182903048, + 0.010533279714330199, + -0.03389714307818428, + 0.05658004099097028 + ], + [ + -0.009044748538808187, + 0.999000656005943, + 0.04377078733088316, + 0.0008621953301604017 + ], + [ + 0.03432431811810606, + -0.0434366126459621, + 0.9984663749308595, + -0.010729365961903548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.999356217298924, + 0.010530131996518921, + -0.03429675299677252, + 0.05870754051286482 + ], + [ + -0.009007114638679384, + 0.9989793201943482, + 0.04426273500274763, + 0.0011718352248662439 + ], + [ + 0.034727839435695164, + -0.043925324633674157, + 0.9984310406953275, + -0.010617484331457625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9993437301492422, + 0.010428196240288406, + -0.03468950467465305, + 0.06140331402283743 + ], + [ + -0.008870303035186678, + 0.9989581962117197, + 0.044764270858481905, + 0.0017404744669031413 + ], + [ + 0.035120175618335095, + -0.044427186998521634, + 0.9983951113261401, + -0.01085973975770208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9993351998466441, + 0.01027763646335206, + -0.03497897277215851, + 0.06416364768507851 + ], + [ + -0.008693331234259081, + 0.9989425018498513, + 0.04514758011246593, + 0.002358709771144875 + ], + [ + 0.03540599298875383, + -0.044813482197741006, + 0.9983677516195089, + -0.011296091900675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9993265598716055, + 0.0101271884295885, + -0.03526849571068838, + 0.06692395659429931 + ], + [ + -0.00851624948659554, + 0.998926632385473, + 0.04553083137502428, + 0.002977390940724426 + ], + [ + 0.03569173895827012, + -0.04519981377760801, + 0.9983401607691663, + -0.011731731731500073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9993207389602136, + 0.010026951839148179, + -0.03546154143334143, + 0.06918053222027357 + ], + [ + -0.008398133929223657, + 0.9989159554654042, + 0.04578629995037635, + 0.003386593737152694 + ], + [ + 0.03588219656765748, + -0.045457388326370154, + 0.9983216384592823, + -0.012006811774569411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9993180215461306, + 0.009790701741845355, + -0.03560384772085501, + 0.0718849035669066 + ], + [ + -0.00814386659271701, + 0.9989032262683626, + 0.04610880596563757, + 0.0038837718562358048 + ], + [ + 0.036016235922811723, + -0.045787407767409305, + 0.9983017299593815, + -0.012352093396898727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9993273498717845, + 0.009382488974061987, + -0.035451610667048467, + 0.07447749417494641 + ], + [ + -0.007735579587981703, + 0.9988971625640093, + 0.04631003595344632, + 0.004137136801807491 + ], + [ + 0.03584701670536029, + -0.04600464674598746, + 0.9982978332497285, + -0.012519316596215243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9993334617620594, + 0.00911032785633891, + -0.03535016448347224, + 0.07662228597811477 + ], + [ + -0.007463406486170931, + 0.9988930031497175, + 0.04644422269949875, + 0.004303503424694385 + ], + [ + 0.035734154058557316, + -0.046149433202244954, + 0.9982951968475211, + -0.012616146310686305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999342469105625, + 0.008702057342466773, + -0.03519806301320638, + 0.07921490717041031 + ], + [ + -0.007055174256990801, + 0.998886588612289, + 0.046645552914588086, + 0.004558737608827771 + ], + [ + 0.03556478536525591, + -0.04636655355439482, + 0.9982911843512448, + -0.012784150765721144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9993512838570838, + 0.00829375230967276, + -0.0350460429410305, + 0.08180754341812063 + ], + [ + -0.006646975021867821, + 0.9988799635770228, + 0.04684694320256757, + 0.004814991095014394 + ], + [ + 0.03539532703984272, + -0.04658360266222144, + 0.9982871023842546, + -0.012952582115733566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9993669609579042, + 0.007957863654917087, + -0.034674915310816574, + 0.08369077679759676 + ], + [ + -0.006329798750841936, + 0.9988836806155513, + 0.04681160377196126, + 0.005213472803740613 + ], + [ + 0.03500872739098627, + -0.04656248496353054, + 0.9983017199226316, + -0.013003881920726422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9993900070464687, + 0.007454043871659845, + -0.03411819229705213, + 0.08589106193588039 + ], + [ + -0.005854007484551004, + 0.9988890547888146, + 0.046758815419977215, + 0.005816342010030339 + ], + [ + 0.03442883111623277, + -0.04653056471898927, + 0.9983233755326488, + -0.013104161699578877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9994124896482695, + 0.006950240180366512, + -0.033561431681068954, + 0.08809138074119796 + ], + [ + -0.005378184225779637, + 0.9988941872979501, + 0.04670629204723372, + 0.006420402054166212 + ], + [ + 0.03384893897127966, + -0.04649835205470331, + 0.9983447062947325, + -0.013205891043601698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9994271649949749, + 0.0066143801335429376, + -0.03319023720247499, + 0.08997470559029863 + ], + [ + -0.005060951079240422, + 0.9988974747114192, + 0.04667142369077119, + 0.006821661650707596 + ], + [ + 0.03346234666428967, + -0.04647671449875664, + 0.9983587463257485, + -0.013260573261156813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9994531352377759, + 0.006064330949258289, + -0.03250622022810852, + 0.0921034557798299 + ], + [ + -0.004546326128707216, + 0.9989046347974914, + 0.046571037124183534, + 0.007494817817000332 + ], + [ + 0.03275303622737681, + -0.04639778518667152, + 0.9983859394781459, + -0.013363528384091727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9994869103686651, + 0.005421847556382147, + -0.0315676982178861, + 0.0940889754438993 + ], + [ + -0.0039540644987167, + 0.998916298414045, + 0.04637449877597507, + 0.00830318957684233 + ], + [ + 0.0317849237161294, + -0.04622588378666521, + 0.9984252031536973, + -0.01346571461875009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.999519394113246, + 0.0047795239893207424, + -0.03062902123681346, + 0.09607451820494628 + ], + [ + -0.0033616110649039277, + 0.9989275470789607, + 0.04617851511102386, + 0.009113051101440863 + ], + [ + 0.03081688437428381, + -0.046053358588123094, + 0.9984635235201212, + -0.013570317659139982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995403324847825, + 0.0043513974907758496, + -0.030003151102643122, + 0.0978146989566793 + ], + [ + -0.00296653593937726, + 0.9989348156528269, + 0.046048167620148156, + 0.009652550711389705 + ], + [ + 0.030171566096759854, + -0.04593799534731732, + 0.9984885463452943, + -0.013628824037233013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995706638239542, + 0.0037093421931230822, + -0.02906421860353565, + 0.09980028208446241 + ], + [ + -0.0023737645788234666, + 0.9989453726987979, + 0.04585310900456246, + 0.010465143676608992 + ], + [ + 0.029203651557024746, + -0.045764430993450365, + 0.9985252944175135, + -0.013737857632896207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9996064485132046, + 0.002922172527189627, + -0.027899982052672734, + 0.10196702333334359 + ], + [ + -0.0016505213650900138, + 0.998963265702573, + 0.04549362104816491, + 0.011417212075928286 + ], + [ + 0.028003997393970453, + -0.04542966744949813, + 0.9985749453322903, + -0.013993984717023775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9996292109249371, + 0.0023976088928995007, + -0.027123645352063568, + 0.1038280223897858 + ], + [ + -0.001168118973938601, + 0.9989748106391338, + 0.04525442748029831, + 0.012052454643316694 + ], + [ + 0.02720434089719056, + -0.04520596398821226, + 0.9986072023855256, + -0.014155061268173801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9996617134179903, + 0.0016110888749021337, + -0.02595887360508888, + 0.1059947498662207 + ], + [ + -0.0004441561351864068, + 0.9989915524182138, + 0.04489633528891516, + 0.013007876887521187 + ], + [ + 0.02600502742808378, + -0.04486961766813128, + 0.9986543225554978, + -0.014416668313734119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9996922465014731, + 0.0008249608390920937, + -0.024793783988174292, + 0.10816145028136191 + ], + [ + 0.00028023646009900187, + 0.9990076034153652, + 0.04453908155558744, + 0.013965132675431884 + ], + [ + 0.02480592171971674, + -0.04453232261967483, + 0.9986999241462537, + -0.014681262216126516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9997257356848696, + -7.019732553619027e-05, + -0.023418976956346864, + 0.10999857243912775 + ], + [ + 0.0011025206746217448, + 0.999027809161694, + 0.044070636139588566, + 0.014701025018495406 + ], + [ + 0.023393115600715726, + -0.04408436904302324, + 0.9987538888778207, + -0.01474753503291833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9997481157685131, + -0.0007030686616852923, + -0.02243235858675608, + 0.11152999156202394 + ], + [ + 0.0016835993127448752, + 0.9990423325434643, + 0.04372165687011673, + 0.0151191139546726 + ], + [ + 0.02238013652018187, + -0.043748411177676576, + 0.9987918732192242, + -0.014717300019390017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9997791188286262, + -0.001651751967292825, + -0.020951975317245023, + 0.1132022107842371 + ], + [ + 0.0025558788699256377, + 0.9990632071719788, + 0.04319925414219975, + 0.015747413023260652 + ], + [ + 0.020860993204019986, + -0.043243262951338894, + 0.9988467545984536, + -0.014689714644327122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9998070413188609, + -0.002599684012860367, + -0.019471049593162842, + 0.11487432267990785 + ], + [ + 0.0034289497522838955, + 0.9990829892057025, + 0.042678132379416686, + 0.016377940270252307 + ], + [ + 0.019342244772064095, + -0.04273666251395844, + 0.9988991216556085, + -0.014665903434502275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9998239448380734, + -0.003231219776639599, + -0.0184834668606371, + 0.11640559192058877 + ], + [ + 0.004011435189632843, + 0.999095570198238, + 0.04233143037953005, + 0.01680120245412212 + ], + [ + 0.01832996770735268, + -0.042398122942091165, + 0.9989326360945641, + -0.014644487682592652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9998495533928387, + -0.0042822016934368, + -0.016808727756667786, + 0.11811082354193705 + ], + [ + 0.004977806103158662, + 0.9991235156723259, + 0.04156226506064048, + 0.017508603499480628 + ], + [ + 0.016616017168395184, + -0.041639682746489645, + 0.9989945168989824, + -0.01448131145068804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.999871271253232, + -0.005331905929613095, + -0.015133132577345143, + 0.11981587115290608 + ], + [ + 0.005945489958779555, + 0.9991498606116073, + 0.04079469559827363, + 0.01821850417218151 + ], + [ + 0.014902753825914177, + -0.04087941803601797, + 0.999052942095383, + -0.01432237628635544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999883588281228, + -0.006030996610452294, + -0.01401559723095724, + 0.1213690782858776 + ], + [ + 0.006591339802548823, + 0.999166534659925, + 0.04028387090740222, + 0.01869590865399239 + ], + [ + 0.013760963827546345, + -0.040371562956636006, + 0.9990899723142933, + -0.014213040406663444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9998988214435598, + -0.007078560939622824, + -0.012338591929567082, + 0.12307379312386152 + ], + [ + 0.00756120226587679, + 0.9991902117826627, + 0.039518968837919166, + 0.019410389786217154 + ], + [ + 0.012048862854013718, + -0.0396082649549557, + 0.9991426375904411, + -0.01406188021042028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999107810015194, + -0.008184882182495402, + -0.01055640756082362, + 0.12475244455374637 + ], + [ + 0.008586111281117782, + 0.9992201622174892, + 0.03854018826008678, + 0.01996036129629971 + ], + [ + 0.010232728375160104, + -0.03862738823313503, + 0.9992012891045963, + -0.013820646933646558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999164711089036, + -0.00894140799241731, + -0.009332846737754074, + 0.12627941113925645 + ], + [ + 0.009288340872184404, + 0.9992415183860263, + 0.03781685678941463, + 0.02027671467874968 + ], + [ + 0.00898763199955248, + -0.03790038465111037, + 0.9992411036953688, + -0.013627157017123562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999211505367296, + -0.01007451655296068, + -0.00749645419697539, + 0.1279446646596537 + ], + [ + 0.010343364052081042, + 0.9992715694668358, + 0.036733435387571824, + 0.020748190415876788 + ], + [ + 0.007120921947988642, + -0.0368080775307665, + 0.9992969818322779, + -0.013347143107917986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9999212030624703, + -0.011205603074802672, + -0.005658809577306651, + 0.12960960021184692 + ], + [ + 0.011400396332143209, + 0.9992992405870121, + 0.0356519105475599, + 0.021222446859340435 + ], + [ + 0.005255342954774719, + -0.03571361395814109, + 0.9993482471833715, + -0.013071715385933888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9999166662897154, + -0.012333804921950025, + -0.003812837815759264, + 0.13124847988011398 + ], + [ + 0.012457907353387, + 0.9993288675829717, + 0.034447277972431745, + 0.02168980208913982 + ], + [ + 0.003385412890096077, + -0.03449190733321132, + 0.9993992431996739, + -0.012837816319942217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9999111006348871, + -0.013083427087001982, + -0.002571918114544148, + 0.13272320557810888 + ], + [ + 0.013162233222940968, + 0.9993527612588878, + 0.033478563004127396, + 0.021995503958973737 + ], + [ + 0.0021322391314593436, + -0.033509438967185376, + 0.9994361265515624, + -0.012732805248308386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9998988444877301, + -0.014205557641072576, + -0.0007091714941577947, + 0.1343100357411302 + ], + [ + 0.014220984181999146, + 0.9993858265143211, + 0.03202707247287445, + 0.02244864125157565 + ], + [ + 0.00025377351574105674, + -0.0320339178745527, + 0.999486750139595, + -0.012581223565241925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998818992194931, + -0.015324918148571415, + 0.0011552042934502222, + 0.13589647771830132 + ], + [ + 0.015282443294558683, + 0.9994155612604745, + 0.03057748906238166, + 0.022904631918279683 + ], + [ + -0.0016231266643788997, + -0.03055622349294916, + 0.9995317316952379, + -0.01243421868175039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998679973625962, + -0.016069615794174087, + 0.0023990202873670555, + 0.1373704930305925 + ], + [ + 0.0159915836516108, + 0.9994335340403689, + 0.02961216452562136, + 0.023216878802832 + ], + [ + -0.002873517430798404, + -0.0295698915081974, + 0.9995585847831875, + -0.012339952004257703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9998435615289248, + -0.01716935373227959, + 0.004250383696895481, + 0.13875226862693324 + ], + [ + 0.017044436333190346, + 0.9994664616100033, + 0.027861789369378578, + 0.023739183461205692 + ], + [ + -0.0047264848713181, + -0.027784985319334852, + 0.99960274856143, + -0.012135407505693533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9998147231934058, + -0.01825813606004026, + 0.006095880027237939, + 0.14003163314517925 + ], + [ + 0.018094087724188843, + 0.9994991829143095, + 0.02596126620673731, + 0.02429492657353231 + ], + [ + -0.006566831437061514, + -0.02584615679827041, + 0.9996443632130562, + -0.011902357617767267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997813452196025, + -0.019343314232005648, + 0.007943421517462591, + 0.1413105567219759 + ], + [ + 0.01914721365968561, + 0.9995270761789181, + 0.024062589102043078, + 0.024853576121076904 + ], + [ + -0.008405115106442542, + -0.023905233312923373, + 0.9996788953760615, + -0.011673740985925916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9997565713498714, + -0.020064759627713202, + 0.00917624453858038, + 0.14257948431469852 + ], + [ + 0.01985122364164242, + 0.9995429893294193, + 0.022797837668036763, + 0.025235901265416447 + ], + [ + -0.009629484029751173, + -0.022610128338661623, + 0.9996979819594668, + -0.011527800669798673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9997171103753746, + -0.021091671903687575, + 0.010992752113032795, + 0.1438461063534946 + ], + [ + 0.020860504399970503, + 0.9995673399624962, + 0.020735771904577458, + 0.025736733910840706 + ], + [ + -0.011425348086172347, + -0.020500591616025344, + 0.9997245556474559, + -0.011301170735947903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996765403973545, + -0.022010038465912842, + 0.012742558059739522, + 0.14508926357064783 + ], + [ + 0.02177443144398891, + 0.9995946345775081, + 0.01834231880514686, + 0.026114036485908432 + ], + [ + -0.013141107809763323, + -0.0180589238491017, + 0.9997505621678564, + -0.011066452225270928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996473598261051, + -0.022619896680077644, + 0.013910293558385255, + 0.14633431527341806 + ], + [ + 0.02238598633194069, + 0.999609117806588, + 0.01674751366266926, + 0.02637636323151672 + ], + [ + -0.014283683301025914, + -0.016430212175067647, + 0.9997629841713678, + -0.01091819923129458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996003884045179, + -0.023531098194972424, + 0.015663681536463057, + 0.14757672375112757 + ], + [ + 0.02330671736813787, + 0.9996252727228985, + 0.014356568503400006, + 0.026758452825925094 + ], + [ + -0.015995637750927865, + -0.01398576245363985, + 0.9997742435277734, + -0.01069101007749736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995495767125646, + -0.02443798889776695, + 0.017419196088383927, + 0.14881867397628806 + ], + [ + 0.024231518916894467, + 0.9996347435921029, + 0.011967158999981912, + 0.02714320550591361 + ], + [ + -0.017705286914171597, + -0.011539675133351107, + 0.9997766544149266, + -0.010467896215633979 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9995186265403276, + -0.024909015116735093, + 0.01849476047023649, + 0.14970545238907562 + ], + [ + 0.024730122048918383, + 0.9996457430390038, + 0.009839181238476056, + 0.027435283379369436 + ], + [ + -0.018733292886803452, + -0.009377067234068488, + 0.9997805430931855, + -0.010209035346588496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9994696882886966, + -0.025611177842226857, + 0.020109941860419325, + 0.15041057549288694 + ], + [ + 0.025482114874528144, + 0.9996531718680145, + 0.006648142277309029, + 0.027860186666658807 + ], + [ + -0.020273233921034126, + -0.006132172840993674, + 0.9997756710595789, + -0.009812702059232957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9994177350300162, + -0.026308080300407582, + 0.02172730582422889, + 0.1511152973629171 + ], + [ + 0.02623900450690576, + 0.9996497162098698, + 0.0034582544749277248, + 0.028287422890638222 + ], + [ + -0.021810675137621104, + -0.002886137979044823, + 0.999757953035437, + -0.009419987391330951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.999381424861844, + -0.02676975496200169, + 0.022806750324958824, + 0.15200129241083662 + ], + [ + 0.026746313046227686, + 0.9996413655173005, + 0.0013323232115929164, + 0.02858469601476084 + ], + [ + -0.0228342370037585, + -0.000721502585819733, + 0.9997390044679036, + -0.009169696644978294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9993282795178767, + -0.027401572675277958, + 0.024334000303320148, + 0.15261148392773285 + ], + [ + 0.027462584944262715, + 0.9996204624290693, + -0.0021765847726758765, + 0.029006822773677565 + ], + [ + -0.02426512279012162, + 0.0028433972664666366, + 0.9997015149073074, + -0.008747922318294302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9992804825911569, + -0.027915273640795595, + 0.025675953924716267, + 0.15303370358122634 + ], + [ + 0.02808635106647544, + 0.999585479900421, + -0.006326551668626611, + 0.02941239002722503 + ], + [ + -0.025488703304706265, + 0.007043143460459317, + 0.999650298921598, + -0.008257808574056348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9992307216354055, + -0.028423323044696393, + 0.02701998606742511, + 0.1534556122495725 + ], + [ + 0.02871518162703869, + 0.9995327412601005, + -0.010475566485656885, + 0.02982001047881721 + ], + [ + -0.026709610332485118, + 0.011243391666488762, + 0.9995800032312175, + -0.007770493116141293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9991964570130302, + -0.02875887801692873, + 0.027917149349741897, + 0.15415304019235246 + ], + [ + 0.029137209554626287, + 0.9994877181513607, + -0.013241007663942922, + 0.030105047402436396 + ], + [ + -0.027522051376635707, + 0.014043795775865371, + 0.9995225402602126, + -0.007458632167330517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9991434248405753, + -0.02925748629344616, + 0.029264587706561523, + 0.15457439230466619 + ], + [ + 0.029774453675748543, + 0.9994053884363894, + -0.01738825674473681, + 0.03051639485959607 + ], + [ + -0.028738449960930838, + 0.018244699506952462, + 0.9994204482767723, + -0.006976459817726448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_158/orbit_left/transforms.json b/spatialvid_eval/camera_controls/scene_158/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..637068489590f9e0d247f47b31af7e4aae5657ff --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_158/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": [ + [ + 0.9999999627556808, + -0.00023478142864435844, + -0.00013916291763938513, + 0.001024249647790318 + ], + [ + 0.00023478179935191998, + 0.9999999724352483, + 2.6475081962397287e-06, + 4.908002540090722e-06 + ], + [ + 0.0001391622922176372, + -2.6801810178415262e-06, + 0.9999999903133364, + -0.0007454029732899392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999999539684436, + 0.0008860906369677374, + 0.00036806833487852534, + -0.0006598792956455479 + ], + [ + -0.0008875648170041955, + 0.9999915077191918, + 0.004024514653123874, + 2.973185326447797e-05 + ], + [ + -0.0003644991243863966, + -0.004024839485081434, + 0.9999918338704109, + -0.0009742068227755688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999970367843478, + 0.0016395114481241153, + 0.0017995623733067143, + -0.002862968522185489 + ], + [ + -0.00165153716977351, + 0.9999761804570277, + 0.006701562769305471, + 5.482739813910459e-05 + ], + [ + -0.0017885322196728318, + -0.00670451495527862, + 0.9999759250260547, + -0.00099988254820644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999993460779885, + 0.0027788808138975354, + 0.0023143506413056945, + -0.004551191018662167 + ], + [ + -0.002803526711255681, + 0.9999386638138491, + 0.010714889087327097, + 9.890072610182923e-05 + ], + [ + -0.002284433288156125, + -0.010721307364150957, + 0.9999399156614139, + -0.0012616860500595675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999882652049812, + 0.0039293105294132226, + 0.002833720363065356, + -0.006241513919768517 + ], + [ + -0.003970622965663865, + 0.9998837171397843, + 0.014723666390972038, + 0.0001533229929309512 + ], + [ + -0.002775536992574873, + -0.014734745246916866, + 0.9998875855199482, + -0.0015415929670877188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999814409926114, + 0.004871446911046957, + 0.0036587805800631446, + -0.007723550803850284 + ], + [ + -0.004936690446081956, + 0.9998250802924382, + 0.018039897606671674, + 1.3732510787023745e-05 + ], + [ + -0.0035702601837624263, + -0.01805762507121261, + 0.9998305733568101, + -0.0021169708587443167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999706647685259, + 0.005430690825770996, + 0.005401592315893904, + -0.009722732147129928 + ], + [ + -0.0055377854210843635, + 0.9997843792615123, + 0.020013193580798287, + -0.000134613865308782 + ], + [ + -0.005291742153796123, + -0.020042519348309657, + 0.9997851243558039, + -0.0024752847058869183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999599470553832, + 0.006275242924571543, + 0.006381662105822676, + -0.011102649074076397 + ], + [ + -0.0064203518500211875, + 0.9997153542074553, + 0.02297802524117607, + -0.0003624299668917668 + ], + [ + -0.006235652902239494, + -0.023018077419711014, + 0.9997156019312607, + -0.00321765085482606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999474884778595, + 0.007126607296982148, + 0.007364221293233958, + -0.012484094897806563 + ], + [ + -0.007315422922096666, + 0.9996367618693928, + 0.02593894575240557, + -0.0005830219780540593 + ], + [ + -0.007176689647182904, + -0.025991456052133308, + 0.9996364035678164, + -0.003975257373993461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999288592759584, + 0.007697961878555774, + 0.009111408782221294, + -0.014486923095004543 + ], + [ + -0.00794951377057911, + 0.9995790523922591, + 0.027902029485411498, + -0.0007144267621551679 + ], + [ + -0.008892784597178233, + -0.027972475784415318, + 0.9995691366686942, + -0.004369081459605593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999096155295523, + 0.008193584727802133, + 0.010659546934626481, + -0.01647547693036791 + ], + [ + -0.008509268689539488, + 0.9995162302651545, + 0.029914842184175047, + -0.0008284290657507537 + ], + [ + -0.010409280374377475, + -0.030002843295981196, + 0.9994956109339573, + -0.004369774816154438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998876865919147, + 0.008692706086072567, + 0.012208647049148773, + -0.018465117251956466 + ], + [ + -0.009078696946404369, + 0.9994490352974281, + 0.03192496052928407, + -0.0009382098687606383 + ], + [ + -0.011924406216867994, + -0.032032213534848857, + 0.9994157022142657, + -0.0043819488485761825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998565310912187, + 0.009027395451312235, + 0.014332598005982267, + -0.0208737048904969 + ], + [ + -0.009499962720285937, + 0.9994018095406206, + 0.03325317722033734, + -0.0009954692437438933 + ], + [ + -0.014023834801816409, + -0.033384565570029695, + 0.99934418637382, + -0.004281798186471394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998284133352845, + 0.009532339436598551, + 0.015883273979671278, + -0.02286527463982086 + ], + [ + -0.010087671709571434, + 0.9993273276262633, + 0.03525806487644326, + -0.0010975764313246655 + ], + [ + -0.015536497897780789, + -0.035412240316266885, + 0.9992520154940172, + -0.004315050194277512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9997936867777227, + 0.009841091041661799, + 0.017768984397499875, + -0.024588632077379324 + ], + [ + -0.010489383839017423, + 0.9992687873162605, + 0.036767696721007576, + -0.0008637372539867877 + ], + [ + -0.017394157239907605, + -0.03694649675679623, + 0.9991658519341589, + -0.004655119395097076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997455621904267, + 0.00998145057561753, + 0.02022823583396121, + -0.026730241576405616 + ], + [ + -0.010737077039699495, + 0.9992352858728292, + 0.03759732228881489, + -0.0005809699190098733 + ], + [ + -0.019837491202049865, + -0.03780494823501235, + 0.9990882142392415, + -0.004874829552294031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.999699773652979, + 0.010193298225324702, + 0.02228136507203084, + -0.02832037840732143 + ], + [ + -0.011054098286623454, + 0.9991836090040718, + 0.038857720065245696, + -0.00017742626785425945 + ], + [ + -0.021867086437227793, + -0.03909235435336329, + 0.9989963054795842, + -0.005377963416789818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9996497009132734, + 0.010406715286423063, + 0.024334661307504283, + -0.02991121985447373 + ], + [ + -0.011377873478003253, + 0.9991302226393985, + 0.04011660757921717, + 0.00022795510894371587 + ], + [ + -0.023896013456687022, + -0.04037943146570644, + 0.9988986345247373, + -0.005889204178482492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995906631153576, + 0.010547826497912518, + 0.026594164186334618, + -0.031616346525815776 + ], + [ + -0.011638311989656024, + 0.9990835870935648, + 0.04118902395404295, + 0.0006758300215616549 + ], + [ + -0.026135338272752794, + -0.04148167494720083, + 0.9987973842261221, + -0.006110756091969857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9995101849784614, + 0.01054389641802113, + 0.02946551157961098, + -0.033987249950558754 + ], + [ + -0.011766847478475909, + 0.9990632161622951, + 0.04164410416697414, + 0.001045005861555719 + ], + [ + -0.028998817643835637, + -0.04197042243982718, + 0.9986979284125317, + -0.005758451879525807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994279208097974, + 0.01053836802679441, + 0.03213679985837424, + -0.035920342683836044 + ], + [ + -0.011895821960484255, + 0.9990322074567674, + 0.042345458834958015, + 0.0015751973715518498 + ], + [ + -0.0316594460736417, + -0.04270352752865388, + 0.9985860444703399, + -0.005393053448365049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9993385128465451, + 0.010533279714330199, + 0.03480785486230685, + -0.037853793533278474 + ], + [ + -0.012029062611319157, + 0.999000656005943, + 0.04304638140876232, + 0.0021056267094372895 + ], + [ + -0.03431965026553596, + -0.0434366126459621, + 0.9984665353868882, + -0.0050316203279951455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9992344327986585, + 0.010530131996518921, + 0.03767843719794092, + -0.04022554569728019 + ], + [ + -0.01216771759490285, + 0.9989793201943482, + 0.04350016635104359, + 0.0024753738335419623 + ], + [ + -0.037181917084437445, + -0.043925324633674157, + 0.9983426620643597, + -0.0046885661345391245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9991228617908754, + 0.010428196240288408, + 0.04055563795560034, + -0.042029289994164706 + ], + [ + -0.01221129552234545, + 0.9989581962117199, + 0.04397051834005963, + 0.003094064488665742 + ], + [ + -0.04005485374430473, + -0.04442718699852164, + 0.9982093135945592, + -0.004702150842025016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989990015099718, + 0.010277636463352061, + 0.04353579183622899, + -0.04376806683715493 + ], + [ + -0.012208770905241003, + 0.9989425018498516, + 0.044326334282719745, + 0.0037560195610300143 + ], + [ + -0.0430341828673861, + -0.04481348219774101, + 0.9980680392229028, + -0.004901828420391722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.998866231029411, + 0.0101271884295885, + 0.04651550885040018, + -0.04550702678322748 + ], + [ + -0.012208593116245468, + 0.998926632385473, + 0.04468258458438588, + 0.004417146555134039 + ], + [ + -0.04601307165601979, + -0.04519981377760801, + 0.9979177190887273, + -0.005103375366002222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9987192667186923, + 0.010026951839148179, + 0.049591193993428706, + -0.047749149488730984 + ], + [ + -0.012258772904068491, + 0.9989159554654042, + 0.0449069749986067, + 0.004872994476098238 + ], + [ + -0.04908715485506319, + -0.045457388326370154, + 0.9977595286815262, + -0.005135736713181301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.998561483095624, + 0.009790701741845355, + 0.052717232830172295, + -0.049543381036810906 + ], + [ + -0.012180847980207741, + 0.9989032262683626, + 0.04521030295341822, + 0.005400258546918068 + ], + [ + -0.052216773362124165, + -0.045787407767409305, + 0.9975855461410766, + -0.00523320752346338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9983789790227106, + 0.009382488974061987, + 0.05613718149517124, + -0.05144749024316331 + ], + [ + -0.01194057152145885, + 0.9988971625640093, + 0.04540794394500169, + 0.00566091412355647 + ], + [ + -0.05564923177646854, + -0.04600464674598746, + 0.997389961589982, + -0.005115563077722977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9981863962942161, + 0.00911032785633891, + 0.05950563149413804, + -0.053799561245379914 + ], + [ + -0.01183087162346864, + 0.9988930031497175, + 0.045527999463708675, + 0.005847956751202387 + ], + [ + -0.05902498394574235, + -0.046149433202244954, + 0.9971891902168396, + -0.004933325328877991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9979803754504939, + 0.008702057342466773, + 0.06292411631242706, + -0.0557035136076932 + ], + [ + -0.011593265370347236, + 0.998886588612289, + 0.045729413822580875, + 0.006104089944870068 + ], + [ + -0.062456115903441654, + -0.04636655355439482, + 0.9969700979957943, + -0.004813666426106589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9977624871954565, + 0.00829375230967276, + 0.0663417878728252, + -0.057607376442748666 + ], + [ + -0.011357147115558908, + 0.9988799635770228, + 0.04593292472466214, + 0.006357757287901869 + ], + [ + -0.06588652635351701, + -0.04658360266222144, + 0.996739150233438, + -0.00469290697316639 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9975168397916618, + 0.007957863654917087, + 0.06997733017274713, + -0.0602185902926576 + ], + [ + -0.011188268456364453, + 0.9988836806155513, + 0.04589352077230051, + 0.006760000428573151 + ], + [ + -0.06953399874165325, + -0.04656248496353054, + 0.9964923271219989, + -0.004422078685575434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9972454054768989, + 0.007454043871659845, + 0.07379727965972054, + -0.06251105891920447 + ], + [ + -0.010859685271272092, + 0.9988890547888146, + 0.04585546269440092, + 0.0073400334271218485 + ], + [ + -0.07337348629460473, + -0.04653056471898927, + 0.9962184690397522, + -0.004168040626938893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9969590885194307, + 0.006950240180366514, + 0.07761617086626767, + -0.06480313989099269 + ], + [ + -0.010530975568442543, + 0.9988941872979503, + 0.04582031357318258, + 0.007916943179844732 + ], + [ + -0.07721187973416595, + -0.04649835205470332, + 0.995929831305456, + -0.003910237074437915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9966719088323582, + 0.0066143801335429376, + 0.08124872995876797, + -0.06741348292887159 + ], + [ + -0.010361725973697469, + 0.9988974747114192, + 0.04578722147058004, + 0.008311898577093605 + ], + [ + -0.0808562970912582, + -0.04647671449875664, + 0.9956415892428819, + -0.0036306198550236143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9963460793361447, + 0.006064330949258289, + 0.08519221843355967, + -0.06977524321263506 + ], + [ + -0.009988651573938011, + 0.9989046347974914, + 0.045713864634540725, + 0.0089429979210931 + ], + [ + -0.08482167783784958, + -0.04639778518667152, + 0.995315291000065, + -0.003343485147035221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9959821209084723, + 0.005421847556382147, + 0.08938802156741639, + -0.0722771687328044 + ], + [ + -0.009526531514283905, + 0.998916298414045, + 0.045557369986537644, + 0.009690211525165715 + ], + [ + -0.08904414651154167, + -0.04622588378666521, + 0.9949544249060723, + -0.003006056120916676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9956000713476865, + 0.004779523989320743, + 0.09358233852024336, + -0.07477835204006113 + ], + [ + -0.00906337919938898, + 0.9989275470789609, + 0.04540496497409537, + 0.010433410889953245 + ], + [ + -0.09326496174861168, + -0.0460533585881231, + 0.9945756557812905, + -0.002662353762026823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9952296000639506, + 0.0043513974907758496, + 0.09746337002395611, + -0.07752756565358956 + ], + [ + -0.008803465184281033, + 0.9989348156528269, + 0.045296060285658725, + 0.010936383353489188 + ], + [ + -0.09716245240471477, + -0.04593799534731732, + 0.9942078044484319, + -0.002320510962509608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9948128400124389, + 0.003709342193123083, + 0.10165458241948953, + -0.08002738308517428 + ], + [ + -0.008338488413602194, + 0.9989453726987981, + 0.04515099084888599, + 0.011672223047048678 + ], + [ + -0.10137989424616053, + -0.04576443099345037, + 0.9937946135386747, + -0.001965308647124608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.994354573107149, + 0.002922172527189627, + 0.106068109479809, + -0.08234258300317915 + ], + [ + -0.007721368076390169, + 0.998963265702573, + 0.044863952700130584, + 0.01251519004974794 + ], + [ + -0.1058270448228066, + -0.04542966744949813, + 0.9933462547870706, + -0.0017056448368509836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9939183223186859, + 0.0023976088928995007, + 0.11009368751570447, + -0.0849673403403521 + ], + [ + -0.007357517922126465, + 0.9989748106391338, + 0.04466760166532833, + 0.01308205868623899 + ], + [ + -0.10987372519958756, + -0.04520596398821226, + 0.9929170082794746, + -0.001415789446832065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9934215384029783, + 0.0016110888749021337, + 0.11450349963951784, + -0.08728067650775898 + ], + [ + -0.006736622114061269, + 0.9989915524182138, + 0.04439027055041964, + 0.013915809636779658 + ], + [ + -0.11431651219116264, + -0.04486961766813128, + 0.9924305781518239, + -0.0011419116207876806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9929045432166005, + 0.0008249608390920937, + 0.11891125892634473, + -0.0895929444623773 + ], + [ + -0.006113693192115803, + 0.9990076034153652, + 0.04411837569359863, + 0.014744525697991026 + ], + [ + -0.11875685586688, + -0.04453232261967483, + 0.9919242316965095, + -0.0008602915602731031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9923414917467962, + -7.019732553619027e-05, + 0.12352472962965166, + -0.09223064913501133 + ], + [ + -0.005375917797225089, + 0.999027809161694, + 0.04375541143017006, + 0.015323186634825556 + ], + [ + -0.12340771153206162, + -0.04408436904302324, + 0.9913763690649974, + -0.00032626235039160886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.991806112178104, + -0.0007030686616852923, + 0.12775030935622522, + -0.09517849972561773 + ], + [ + -0.004892235473093645, + 0.9990423325434643, + 0.043479694320336534, + 0.015628375258870546 + ], + [ + -0.12765853625288867, + -0.043748411177676576, + 0.990852852163831, + 0.00023418841048920835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9911865805248548, + -0.001651751967292825, + 0.13246295445476283, + -0.09797684382788154 + ], + [ + -0.004092480863872042, + 0.9990632071719788, + 0.04308085045143533, + 0.0160734055369234 + ], + [ + -0.1324100229885369, + -0.043243262951338894, + 0.99025128428167, + 0.0009081496028638461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9905437007824383, + -0.002599684012860367, + 0.13717295098985535, + -0.10077363798748123 + ], + [ + -0.0032895971168728153, + 0.9990829892057025, + 0.04268909966967405, + 0.01651225004257352 + ], + [ + -0.13715814008304664, + -0.04273666251395844, + 0.9896268096035636, + 0.001591874400541142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9899485036427562, + -0.0032312197766396, + 0.14139136944744357, + -0.10371813831544999 + ], + [ + -0.002798909741616301, + 0.9990955701982382, + 0.0424288547396216, + 0.01680305781949126 + ], + [ + -0.1414005878337382, + -0.04239812294209117, + 0.9890441208213419, + 0.0021751681956116604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9892329606081717, + -0.0042822016934368, + 0.14628674716134826, + -0.10647530489808835 + ], + [ + -0.001858985642311496, + 0.9991235156723259, + 0.04181799377006577, + 0.017277396128765103 + ], + [ + -0.14633760220385322, + -0.041639682746489645, + 0.9883579528703145, + 0.0030672943563829352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9884920028154728, + -0.005331905929613095, + 0.1511791359580185, + -0.10923054999712797 + ], + [ + -0.0009140754114851258, + 0.9991498606116073, + 0.0412155371910627, + 0.01774464437525447 + ], + [ + -0.1512703699869786, + -0.04087941803601797, + 0.9876467730646614, + 0.0039703748574734694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9878148632205069, + -0.006030996610452294, + 0.1555166328099208, + -0.11214657048017292 + ], + [ + -0.00032591867157405593, + 0.999166534659925, + 0.04081825318036565, + 0.018050810538740386 + ], + [ + -0.15563318983324395, + -0.040371562956636006, + 0.9869895881551981, + 0.00470551468331438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9870262451949859, + -0.007078560939622824, + 0.1604028842362614, + -0.11489830543384266 + ], + [ + 0.0006278191768467945, + 0.9991902117826627, + 0.04023091498834087, + 0.01850506553754384 + ], + [ + -0.1605577688539817, + -0.0396082649549557, + 0.9862314070277267, + 0.005628678684136674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9861945157160728, + -0.008184882182495402, + 0.1653885874998624, + -0.11767159987813211 + ], + [ + 0.0016771743376157422, + 0.9992201622174892, + 0.03944939168473847, + 0.018767207548849002 + ], + [ + -0.16558249985364462, + -0.03862738823313503, + 0.9854391714461652, + 0.006682653885472163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9854345632909615, + -0.008941407992417312, + 0.16981982420985378, + -0.12060670800148897 + ], + [ + 0.002368442062998931, + 0.9992415183860265, + 0.03886873313838778, + 0.018871289053505942 + ], + [ + -0.17003856019664107, + -0.037900384651110376, + 0.9847083064997226, + 0.007563917705418624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9845434987121489, + -0.01007451655296068, + 0.17485023094026914, + -0.12338766686749521 + ], + [ + 0.003476026563943279, + 0.9992715694668358, + 0.03800325899990101, + 0.01902637622813275 + ], + [ + -0.17510572915518238, + -0.0368080775307665, + 0.9838613464536156, + 0.008699424465977155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9836252881628058, + -0.011205603074802672, + 0.1798769772549213, + -0.12616620803448925 + ], + [ + 0.004590910237451123, + 0.9992992405870121, + 0.03714769582912006, + 0.019173389532387335 + ], + [ + -0.1801671891045347, + -0.03571361395814109, + 0.9829874474011455, + 0.009846736764026085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9826786470770246, + -0.012333804921950025, + 0.18490687882016765, + -0.12896784056160818 + ], + [ + 0.005735114008959606, + 0.9993288675829717, + 0.036179039271929135, + 0.019299932471052782 + ], + [ + -0.18522900703230344, + -0.03449190733321132, + 0.9820898753588413, + 0.01097042445922934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9818247104615734, + -0.013083427087001982, + 0.18933848489598418, + -0.13194694636948778 + ], + [ + 0.006493803000727828, + 0.9993527612588878, + 0.03538204469535582, + 0.019353701089979195 + ], + [ + -0.18967885609533672, + -0.033509438967185376, + 0.9812741966700588, + 0.011818475484455021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9808244210609245, + -0.014205557641072576, + 0.1943750425919143, + -0.13479514901703277 + ], + [ + 0.007699560076584984, + 0.9993858265143211, + 0.03418605763925524, + 0.019440043301293404 + ], + [ + -0.19474129460679213, + -0.0320339178745527, + 0.9803314012518813, + 0.012892996216338541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9797967670357579, + -0.015324918148571415, + 0.19940772851125113, + -0.13764071784856713 + ], + [ + 0.008915476439793566, + 0.9994155612604745, + 0.03300076044976778, + 0.019517813528458345 + ], + [ + -0.19979692086248163, + -0.03055622349294916, + 0.9793607647949355, + 0.013979259112312754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.978874709280094, + -0.016069615794174087, + 0.2038285332823622, + -0.14061420691076926 + ], + [ + 0.009696546248084439, + 0.9994335340403689, + 0.032227131836973844, + 0.019551845881234348 + ], + [ + -0.20423094898342453, + -0.0295698915081974, + 0.9784760298512801, + 0.01485495736113122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9777995314564438, + -0.01716935373227959, + 0.20883795051660184, + -0.14365947227680462 + ], + [ + 0.010979906234269563, + 0.9994664616100033, + 0.030760913118216188, + 0.01967056398787397 + ], + [ + -0.20925467245116758, + -0.027784985319334852, + 0.9774663557627745, + 0.016022907500948508 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9766989679464788, + -0.018258136060040262, + 0.21383584002663494, + -0.14680424859940464 + ], + [ + 0.012301037742069611, + 0.9994991829143097, + 0.029155922624672696, + 0.01980861090576385 + ], + [ + -0.2142610801866539, + -0.025846156798270417, + 0.9764344144365293, + 0.01723233027572953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9755713001625006, + -0.019343314232005648, + 0.21882978429311298, + -0.14994625496669667 + ], + [ + 0.013635782739354603, + 0.9995270761789181, + 0.02756246386498371, + 0.01993756755547196 + ], + [ + -0.21925944387490726, + -0.023905233312923373, + 0.9753736904858166, + 0.018453066530615785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9745615553255098, + -0.020064759627713202, + 0.2232200266611522, + -0.1531162115712568 + ], + [ + 0.014504212673275129, + 0.9995429893294193, + 0.02652244892797541, + 0.020000303070438406 + ], + [ + -0.22365017928955885, + -0.022610128338661623, + 0.9744071938364668, + 0.01942547742231684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9733922376657095, + -0.02109167190368758, + 0.22817250717045334, + -0.15626613099845954 + ], + [ + 0.015850967048525857, + 0.9995673399624965, + 0.024776596294212815, + 0.02005966313157091 + ], + [ + -0.22859636588487126, + -0.020500591616025347, + 0.9733054131399987, + 0.02066153156886208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9722145867896806, + -0.022010038465912842, + 0.23305440446406497, + -0.1594392075042851 + ], + [ + 0.01718942177969111, + 0.9995946345775081, + 0.02269560095565874, + 0.02000416734592707 + ], + [ + -0.23345946331697678, + -0.0180589238491017, + 0.9721988244475315, + 0.02189735874170712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9711568317373885, + -0.022619896680077644, + 0.2373662748664615, + -0.1626291662762776 + ], + [ + 0.018068146986162336, + 0.999609117806588, + 0.021334330606362178, + 0.01994050850754102 + ], + [ + -0.23775607297035417, + -0.016430212175067647, + 0.9711859234428794, + 0.022884344624423604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9699309564751808, + -0.023531098194972424, + 0.24224001958569868, + -0.16579746486394029 + ], + [ + 0.01943783958160362, + 0.9996252727228985, + 0.019273933850434376, + 0.01986896019717225 + ], + [ + -0.24260278247279227, + -0.01398576245363985, + 0.9700248906007771, + 0.024139258043117773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9686793610021404, + -0.02443798889776695, + 0.2471094499753456, + -0.16896301946621162 + ], + [ + 0.020824803025702908, + 0.9996347435921029, + 0.017225184541575674, + 0.019788529016623695 + ], + [ + -0.24744014053387917, + -0.011539675133351107, + 0.9688344609634769, + 0.02540446109976484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9675843312376112, + -0.024909015116735093, + 0.2513167382196796, + -0.17250906052166504 + ], + [ + 0.021749915563871354, + 0.9996457430390038, + 0.015340456217545977, + 0.019750744252017772 + ], + [ + -0.2516098231715709, + -0.009377067234068488, + 0.9677833267284875, + 0.026500667000503443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9663269769302314, + -0.025611177842226857, + 0.256039530593254, + -0.176212895183524 + ], + [ + 0.023185317835673493, + 0.9996531718680145, + 0.012489075669431776, + 0.019723480585020048 + ], + [ + -0.25627058881919873, + -0.006132172840993674, + 0.9665856308483534, + 0.027910916936720806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9650456283035688, + -0.02630808030040759, + 0.2607581642117415, + -0.17991424668497188 + ], + [ + 0.02464407720031301, + 0.99964971620987, + 0.009649577217256268, + 0.019687496816086857 + ], + [ + -0.26092068670597063, + -0.0028861379790448235, + 0.9653559268251534, + 0.029330123511216197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9638896276811165, + -0.026769754962001697, + 0.264953139003926, + -0.18345492701707175 + ], + [ + 0.025621031428923687, + 0.9996413655173008, + 0.007791219110323075, + 0.019629987863470602 + ], + [ + -0.26506668669841826, + -0.0007215025858197331, + 0.9642298123563395, + 0.030447777999865328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9625899631455668, + -0.027401572675277965, + 0.2695732120711148, + -0.18724993121704284 + ], + [ + 0.027153359697777702, + 0.9996204624290695, + 0.004650392479844203, + 0.019574972131959023 + ], + [ + -0.26959832697652236, + 0.002843397266466637, + 0.9629686688482889, + 0.031884329385241716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9613217657191497, + -0.0279152736407956, + 0.27400948934694913, + -0.19123905374604197 + ], + [ + 0.02877674905231488, + 0.9995854799004212, + 0.0008758345878093454, + 0.01950490619998899 + ], + [ + -0.27392035606832227, + 0.007043143460459319, + 0.9617265893493843, + 0.03332997816291656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.960032420419814, + -0.028423323044696393, + 0.2784418547021453, + -0.1952261591839333 + ], + [ + 0.030429775981373287, + 0.9995327412601005, + -0.00288580713019347, + 0.019426022663392856 + ], + [ + -0.27822972608367563, + 0.011243391666488762, + 0.9604487522336821, + 0.03478219193792969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9588535909053351, + -0.028758878016928738, + 0.2824406453454474, + -0.1989566812766931 + ], + [ + 0.031554063259280014, + 0.999487718151361, + -0.005351855418091557, + 0.01933521232415178 + ], + [ + -0.2821420427723857, + 0.014043795775865375, + 0.9592698470714235, + 0.03592554193097656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9575242055748909, + -0.02925748629344616, + 0.28686476819916923, + -0.20294013067199904 + ], + [ + 0.03326032577572324, + 0.9994053884363894, + -0.009089570595079892, + 0.019240263342364297 + ], + [ + -0.2864282571037066, + 0.018244699506952462, + 0.9579279641353176, + 0.03738986931982129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_158/orbit_right/transforms.json b/spatialvid_eval/camera_controls/scene_158/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d24450df3fc4bac824c00985689e30107b410faf --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_158/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": [ + [ + 0.9999999627556808, + -0.00023478142864435844, + -0.00013916291763938513, + 0.001024249647790318 + ], + [ + 0.00023478179935191998, + 0.9999999724352483, + 2.6475081962397287e-06, + 4.908002540090722e-06 + ], + [ + 0.0001391622922176372, + -2.6801810178415262e-06, + 0.9999999903133364, + -0.0007454029732899392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999805303428438, + 0.0008860906369677374, + -0.006176874503147741, + 0.005810567000351876 + ], + [ + -0.0008612056080894434, + 0.9999915077191918, + 0.0040302375113866135, + 2.407413432558743e-05 + ], + [ + 0.006180393203118539, + -0.004024839485081434, + 0.9999728013336032, + -0.0009553909201255326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999349201558927, + 0.0016395114481241153, + -0.011290148583617494, + 0.010077820632115268 + ], + [ + -0.0015636749322313701, + 0.9999761804570277, + 0.006722606583788459, + 3.402299939243036e-05 + ], + [ + 0.011300901447893499, + -0.00670451495527862, + 0.999913665826045, + -0.0009383316718813308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998461417711844, + 0.0027788808138975354, + -0.01731965954339989, + 0.01485961601922199 + ], + [ + -0.002592613467707979, + 0.9999386638138491, + 0.010767867271725845, + 4.6524807738365144e-05 + ], + [ + 0.017348519841306056, + -0.010721307364150957, + 0.9997920195859334, + -0.0011154712851793368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997197723532225, + 0.0039293105294132226, + -0.023343891808879857, + 0.019638829550274593 + ], + [ + -0.0035838416783232087, + 0.9998837171397843, + 0.014822559750353861, + 5.555265043764521e-05 + ], + [ + 0.023399419754471674, + -0.014734745246916866, + 0.9996176041055214, + -0.0012746774176480395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9995657503505279, + 0.004871446911046957, + -0.029061653964956954, + 0.024625835471424582 + ], + [ + -0.004343798376302765, + 0.9998250802924382, + 0.018191762803138806, + -0.0001364105411191586 + ], + [ + 0.029145190715657993, + -0.01805762507121261, + 0.9994120671849702, + -0.0017032105282447532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9994117891447768, + 0.005430690825770996, + -0.03386123617930972, + 0.029095619773416497 + ], + [ + -0.004747801696485339, + 0.9997843792615123, + 0.020215176569185124, + -0.0003343102964031866 + ], + [ + 0.03396371736849425, + -0.020042519348309657, + 0.9992220790798638, + -0.0019186134087256805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999202943336163, + 0.006275242924571543, + -0.03942206684822627, + 0.03418360756374001 + ], + [ + -0.005361247334657644, + 0.9997153542074553, + 0.02324795881101869, + -0.000629313934599249 + ], + [ + 0.039556732111804084, + -0.023018077419711014, + 0.9989521675518479, + -0.0024628414534581663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9989625087610156, + 0.007126607296982148, + -0.04497907911832689, + 0.03926923734971115 + ], + [ + -0.005947857859340347, + 0.9996367618693928, + 0.026286256982698382, + -0.0009264186181839236 + ], + [ + 0.04515007283253475, + -0.025991456052133308, + 0.9986420355340081, + -0.0029920969919510257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9987309888038255, + 0.007697961878555774, + -0.04977100949196587, + 0.04373359040024167 + ], + [ + -0.006293111315553608, + 0.9995790523922591, + 0.02832163075395643, + -0.001129311239286977 + ], + [ + 0.049968077338467864, + -0.027972475784415318, + 0.9983590195143165, + -0.0031725673866066246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9984659000139452, + 0.008193584727802133, + -0.054760493776544225, + 0.048211362549757275 + ], + [ + -0.006534525402820902, + 0.9995162302651545, + 0.03040732501050963, + -0.0013153923447018117 + ], + [ + 0.05498314730080936, + -0.030002843295981196, + 0.998036413617787, + -0.0029269315905185505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9981756692518226, + 0.008692706086072567, + -0.059747553712082, + 0.05268729476344384 + ], + [ + -0.006758731390524204, + 0.9994490352974281, + 0.032495313401038936, + -0.0015021915978673539 + ], + [ + 0.05999710712749165, + -0.032032213534848857, + 0.9976844613565908, + -0.002670046865147129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9978988297700923, + 0.009027395451312235, + -0.06415942389740431, + 0.05674470631858291 + ], + [ + -0.00686166329088613, + 0.9994018095406206, + 0.033896027257135766, + -0.001631164404755399 + ], + [ + 0.0644270371844282, + -0.033384565570029695, + 0.9973638391586781, + -0.002323492096830206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9975613007698537, + 0.009532339436598551, + -0.06914177978055731, + 0.06121720847834366 + ], + [ + -0.007054872146608443, + 0.9993273276262633, + 0.03598779012868917, + -0.0018192120962181356 + ], + [ + 0.06943831784650767, + -0.035412240316266885, + 0.9969575182777001, + -0.002045989312531824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9972253706856703, + 0.009841091041661799, + -0.07378829844858471, + 0.0659580291854137 + ], + [ + -0.007081076349618306, + 0.9992687873162605, + 0.037573249170401904, + -0.0016603979072669847 + ], + [ + 0.07410410527466452, + -0.03694649675679623, + 0.9965658723631076, + -0.002083838747702524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9969142278805784, + 0.00998145057561753, + -0.07786136971359307, + 0.07028165980632507 + ], + [ + -0.007000193064213177, + 0.9992352858728292, + 0.038468698492530276, + -0.0014427723686191985 + ], + [ + 0.07818580143692375, + -0.03780494823501235, + 0.9962217455680307, + -0.002039854587353577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9965523505430794, + 0.010193298225324702, + -0.08233777564613834, + 0.0751550447775697 + ], + [ + -0.006931805015095145, + 0.9991836090040718, + 0.03980032131568829, + -0.001109722811437087 + ], + [ + 0.08267625237211058, + -0.03909235435336329, + 0.9958094321328831, + -0.002225929611858333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9961703356841884, + 0.010406715286423063, + -0.08681222598113257, + 0.08002706376362113 + ], + [ + -0.006853158064925037, + 0.9991302226393985, + 0.041131890706403315, + -0.0007762878987744846 + ], + [ + 0.08716476654812455, + -0.04037943146570644, + 0.9953752081437018, + -0.0024040912955654997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.995787766252548, + 0.010547826497912518, + -0.091079459473204, + 0.084784975175141 + ], + [ + -0.006716389849740984, + 0.9990835870935648, + 0.04227145736358744, + -0.0003948999823752906 + ], + [ + 0.09144186507911665, + -0.04148167494720083, + 0.9949460568063113, + -0.002301069706632016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9954466180445615, + 0.01054389641802113, + -0.094735721203626, + 0.08887921937787059 + ], + [ + -0.006510679231513929, + 0.9990632161622951, + 0.042782019206622786, + -8.06802543088144e-05 + ], + [ + 0.09509806349021753, + -0.04197042243982718, + 0.9945827476689072, + -0.0016874960823325038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9950723705160367, + 0.01053836802679441, + -0.09858965582112235, + 0.0934102292126025 + ], + [ + -0.006266860055001831, + 0.9990322074567674, + 0.043535903908265026, + 0.00039746374952540466 + ], + [ + 0.09895303886514324, + -0.04270352752865388, + 0.9941753893735064, + -0.0010294948775585282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9946831972538783, + 0.010533279714330199, + -0.10244211594486959, + 0.09794057605566411 + ], + [ + -0.006017735099299252, + 0.999000656005943, + 0.044288555677176204, + 0.0008766262899337431 + ], + [ + 0.10280624477665297, + -0.0434366126459621, + 0.9937525530617608, + -0.0003676320274553814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9943003199232215, + 0.010530131996518921, + -0.10609425112000828, + 0.1020332863359359 + ], + [ + -0.0057998456654619925, + 0.9989793201943482, + 0.044795977657537456, + 0.0011932067880903988 + ], + [ + 0.10645767041804133, + -0.043925324633674157, + 0.9933465308063395, + 0.0002549582981320325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9939058185797442, + 0.010428196240288408, + -0.10973821812159514, + 0.10669399423652569 + ], + [ + -0.005479082492099547, + 0.9989581962117199, + 0.045304545869838966, + 0.0017739775558969625 + ], + [ + 0.11009633712514473, + -0.04442718699852164, + 0.9929275006801983, + 0.0005244670904629191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9935101643635867, + 0.010277636463352061, + -0.11327808038171688, + 0.11142012245983221 + ], + [ + -0.005124294285391974, + 0.9989425018498516, + 0.04569047609772494, + 0.0024060197477435022 + ], + [ + 0.1136278791244307, + -0.04481348219774101, + 0.9925121948364147, + 0.0005964187573617649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9931018723242988, + 0.0101271884295885, + -0.11681657091562203, + 0.11614593944899498 + ], + [ + -0.004766936223913655, + 0.998926632385473, + 0.04607449869565565, + 0.0030395418301493574 + ], + [ + 0.1171577889216508, + -0.04519981377760801, + 0.9920841845979906, + 0.0006701882560152216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9926920687107154, + 0.010026951839148179, + -0.12025771058712395, + 0.12036895612700713 + ], + [ + -0.004476733976847093, + 0.9989159554654042, + 0.046334358412948314, + 0.003460156423365153 + ], + [ + 0.12059193825352342, + -0.045457388326370154, + 0.9916608342950752, + 0.0009008105905030355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.992277947250555, + 0.009790701741845355, + -0.12364714941974023, + 0.12504033082414817 + ], + [ + -0.004043347299664512, + 0.9989032262683626, + 0.04664757114010421, + 0.003977501798813766 + ], + [ + 0.12396824893027905, + -0.045787407767409305, + 0.9912292300709771, + 0.0010589317346038542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9918912195021913, + 0.009382488974061987, + -0.12674295868058183, + 0.12960397506389026 + ], + [ + -0.0034656850212574507, + 0.9988971625640093, + 0.04682358005220149, + 0.004259433397963286 + ], + [ + 0.12704250352456653, + -0.04600464674598746, + 0.9908298414843931, + 0.0013789603656958454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9914868411176845, + 0.00911032785633891, + -0.12988782012500386, + 0.13371917468100328 + ], + [ + -0.0030287730433647096, + 0.9988930031497175, + 0.046942462572709585, + 0.004447494739729415 + ], + [ + 0.13017169594165673, + -0.046149433202244954, + 0.9904168614228982, + 0.0017719674035840838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9910803484871056, + 0.008702057342466773, + -0.13298126575080418, + 0.13828313408054171 + ], + [ + -0.002449137958788985, + 0.998886588612289, + 0.04711246983297481, + 0.0047345798467003835 + ], + [ + 0.13324317830919677, + -0.04636655355439482, + 0.9899981808799203, + 0.002089966414527142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9906640272648701, + 0.00829375230967276, + -0.13607350497424237, + 0.1428472609398995 + ], + [ + -0.0018684539197699641, + 0.9988799635770228, + 0.04727924750157962, + 0.005024475398717264 + ], + [ + 0.13631322006063484, + -0.04658360266222144, + 0.9895699439654125, + 0.0024068562046298415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9902678085689105, + 0.007957863654917087, + -0.13894725516604245, + 0.1467055717410487 + ], + [ + -0.0014019784456096493, + 0.9988836806155513, + 0.047216809044738545, + 0.0054493824538659206 + ], + [ + 0.13916789058028295, + -0.04656248496353054, + 0.9891735101717268, + 0.0028266616292961892 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9898907198762132, + 0.007454043871659845, + -0.1416361533398575, + 0.15088440411052959 + ], + [ + -0.0007801246814182935, + 0.9988890547888146, + 0.04711738138511223, + 0.006090052309702886 + ], + [ + 0.14183001836153622, + -0.04653056471898927, + 0.9887968206049706, + 0.003183400057698049 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.989506080674969, + 0.006950240180366514, + -0.14432397745592127, + 0.15506379840816065 + ], + [ + -0.00015888047066093763, + 0.9988941872979503, + 0.04701465026312496, + 0.006733763149998266 + ], + [ + 0.14449114527976478, + -0.04649835205470332, + 0.9884129765396341, + 0.0035364004785001756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9890854858795571, + 0.0066143801335429376, + -0.14719426482662262, + 0.1589234535029574 + ], + [ + 0.00030614475490255334, + 0.9988974747114192, + 0.046944022947964195, + 0.007165761867158975 + ], + [ + 0.14734248504009279, + -0.04647671449875664, + 0.9879929691610216, + 0.003947486179199737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9887046862825384, + 0.006064330949258289, + -0.14975402236028917, + 0.16303451226563045 + ], + [ + 0.0009590254270397337, + 0.9989046347974914, + 0.04678259131686635, + 0.007883989712472124 + ], + [ + 0.14987369213166937, + -0.04639778518667152, + 0.9876158777260488, + 0.00428591345748492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9883562128505232, + 0.005421847556382147, + -0.1520611721934526, + 0.16700761042122575 + ], + [ + 0.0016763018838978612, + 0.998916298414045, + 0.04651256577288514, + 0.008743578367171455 + ], + [ + 0.15214856730106116, + -0.04622588378666521, + 0.9872760410018956, + 0.004603496713583519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9880019636525397, + 0.004779523989320743, + -0.15436734100567254, + 0.17098157034848727 + ], + [ + 0.002392074381798607, + 0.9989275470789609, + 0.04623887614294585, + 0.009606864372419968 + ], + [ + 0.15442278911766238, + -0.0460533585881231, + 0.9869309450837358, + 0.004914842995420759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9875919377105035, + 0.0043513974907758496, + -0.15698162283875972, + 0.17470500688169874 + ], + [ + 0.0029186487721641606, + 0.9989348156528269, + 0.04605122762747615, + 0.010187782254374556 + ], + [ + 0.15701479566766335, + -0.04593799534731732, + 0.9865272700361161, + 0.005293240565741094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9872255564440974, + 0.003709342193123083, + -0.1592857227881306, + 0.17868054163823432 + ], + [ + 0.0036315750260308057, + 0.9989453726987981, + 0.04577066775228732, + 0.0110578475654594 + ], + [ + 0.15928751478528747, + -0.04576443099345037, + 0.9861709306653554, + 0.00559315256237128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9868902128442336, + 0.002922172527189627, + -0.16136656623967935, + 0.18284253314139332 + ], + [ + 0.004449993773483447, + 0.998963265702573, + 0.045305533130806555, + 0.012077324027023188 + ], + [ + 0.16133166257024517, + -0.04542966744949813, + 0.9858540662632318, + 0.005723522224323952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.986485773989411, + 0.0023976088928995007, + -0.1638293904893427, + 0.18669189137923536 + ], + [ + 0.0050433122389784875, + 0.9989748106391338, + 0.04498769509729326, + 0.012764610676968019 + ], + [ + 0.16376929723905215, + -0.04520596398821226, + 0.9854623473789973, + 0.005977262163504965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9861399065151732, + 0.0016110888749021337, + -0.1659080744595708, + 0.19085567534156453 + ], + [ + 0.005857090219484019, + 0.9989915524182138, + 0.04451485921810758, + 0.013792231864985384 + ], + [ + 0.16581248225753736, + -0.04486961766813128, + 0.9851359998182533, + 0.006093479473523938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9857890930695085, + 0.0008249608390920937, + -0.16798566434315276, + 0.19502038743711825 + ], + [ + 0.006668365994864628, + 0.9990076034153652, + 0.04403795196472437, + 0.014824309284297335 + ], + [ + 0.1678552855293957, + -0.04453232261967483, + 0.9848052981995693, + 0.00620197790935036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9854689365466683, + -7.019732553619027e-05, + -0.1698557334149013, + 0.1988609186736583 + ], + [ + 0.0075570929033977954, + 0.999027809161694, + 0.04343186466680187, + 0.015644209151563365 + ], + [ + 0.16968755242629893, + -0.04408436904302324, + 0.9845114031628331, + 0.006485144471577282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9850778961047425, + -0.0007030686616852923, + -0.17210765322992216, + 0.20238843084057087 + ], + [ + 0.008221354583423613, + 0.9990423325434643, + 0.0429747264671658, + 0.016129484960299416 + ], + [ + 0.17191261714797956, + -0.043748411177676576, + 0.9841402992382545, + 0.0068954548084193615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.984766835338633, + -0.001651751967292825, + -0.173872228180847, + 0.20606836146929947 + ], + [ + 0.0091438942095318, + 0.9990632071719788, + 0.04229772185265993, + 0.016850679937924842 + ], + [ + 0.17363948057921294, + -0.043243262951338894, + 0.9838594162752637, + 0.0072522358534855315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9844518143286818, + -0.002599684012860367, + -0.17563560831448863, + 0.2097492864776277 + ], + [ + 0.010063064498507595, + 0.9990829892057025, + 0.041616287829377326, + 0.01757722304328229 + ], + [ + 0.17536635936765657, + -0.04273666251395844, + 0.9835752221763735, + 0.007599243986994967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9840461477033418, + -0.0032312197766396, + -0.1778840588950239, + 0.2132793730597413 + ], + [ + 0.010718855697540774, + 0.9990955701982382, + 0.04114787652835712, + 0.018074896705448748 + ], + [ + 0.1775902174184957, + -0.04239812294209117, + 0.9831907820195627, + 0.007986745500613561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9837568292780053, + -0.0042822016934368, + -0.17945518548524086, + 0.21699982842105706 + ], + [ + 0.011681624042497315, + 0.9991235156723259, + 0.04019626960678477, + 0.018887834906671383 + ], + [ + 0.17912576729386318, + -0.041639682746489645, + 0.9829446049051578, + 0.00844297147754685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9834640686041202, + -0.005331905929613095, + -0.18102485062495735, + 0.2207212527581585 + ], + [ + 0.012639829874941683, + 0.9991498606116073, + 0.039240167437694325, + 0.019706622068346856 + ], + [ + 0.1806617293877231, + -0.04087941803601797, + 0.9826953814461903, + 0.008888198413615302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9830677943460863, + -0.006030996610452294, + -0.18314294635449588, + 0.22427901971224534 + ], + [ + 0.013318188430999389, + 0.999166534659925, + 0.03858577292984171, + 0.020268564094474886 + ], + [ + 0.18275759239067862, + -0.040371562956636006, + 0.9823287633618395, + 0.009335594056111016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9827676094093883, + -0.007078560939622824, + -0.18470982613488654, + 0.22800223163499178 + ], + [ + 0.01426769768679167, + 0.9991902117826627, + 0.03762118393187867, + 0.021098068211666494 + ], + [ + 0.18429394645097352, + -0.0396082649549557, + 0.9820727705464518, + 0.009760658295579034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9824829613587454, + -0.008184882182495402, + -0.18617260363278199, + 0.23170293738268202 + ], + [ + 0.015227617785801622, + 0.9992201622174892, + 0.03643057884009267, + 0.021767243864794898 + ], + [ + 0.18572923920675444, + -0.03862738823313503, + 0.9818414202823016, + 0.010258027617722912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9820930894314243, + -0.008941407992417312, + -0.18818399218359158, + 0.23523975307120798 + ], + [ + 0.015908152074576777, + 0.9992415183860265, + 0.035543193879575954, + 0.02217678838680348 + ], + [ + 0.18772345188764528, + -0.037900384651110376, + 0.9814904311579841, + 0.010762401911722045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9818112581723215, + -0.01007451655296068, + -0.18959208169727804, + 0.2389304254361272 + ], + [ + 0.016864300365915273, + 0.9992715694668358, + 0.034233402233125855, + 0.022774259678083046 + ], + [ + 0.18910909205866178, + -0.0368080775307665, + 0.981265976547255, + 0.01127966677233636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9815264103604882, + -0.011205603074802672, + -0.19099827283141813, + 0.2426218695755198 + ], + [ + 0.017814363445449562, + 0.9992992405870121, + 0.03291923779880979, + 0.023378051094165044 + ], + [ + 0.19049554908156854, + -0.03571361395814109, + 0.9810382171751316, + 0.011784997318494585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9812399340019418, + -0.012333804921950025, + -0.19239560591659205, + 0.24628850072763195 + ], + [ + 0.018733240762505075, + 0.9993288675829717, + 0.03147824813850945, + 0.023975230814562758 + ], + [ + 0.1918782364167425, + -0.03449190733321132, + 0.9808124442104709, + 0.012240927989893366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9808377128593389, + -0.013083427087001982, + -0.19438674072199622, + 0.24977720710476692 + ], + [ + 0.019341514296229708, + 0.9993527612588878, + 0.03033091474000019, + 0.024378490125392123 + ], + [ + 0.1938640937811595, + -0.033509438967185376, + 0.9804559299848793, + 0.01263247502595846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9805477160706046, + -0.014205557641072576, + -0.19576613251741737, + 0.2533941471771095 + ], + [ + 0.020195903840518892, + 0.9993858265143211, + 0.028637304872350274, + 0.02496103562089801 + ], + [ + 0.19523908926438213, + -0.0320339178745527, + 0.9802323837380712, + 0.012991518344863156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9802549184800822, + -0.015324918148571415, + -0.19714320094628598, + 0.25701171166764114 + ], + [ + 0.021042440351861882, + 0.9994155612604745, + 0.026939777550117346, + 0.025549779283463272 + ], + [ + 0.19661513293652258, + -0.03055622349294916, + 0.9800044932071502, + 0.013338612569946399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9798415399926372, + -0.016069615794174087, + -0.19912891290087623, + 0.2605023575634639 + ], + [ + 0.02163056376307351, + 0.9994335340403689, + 0.02578235340054404, + 0.02596718181733418 + ], + [ + 0.19860180063672314, + -0.0295698915081974, + 0.9796340879634828, + 0.013702189752967948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9795397201723517, + -0.01716935373227959, + -0.20051720598763287, + 0.2639167531819366 + ], + [ + 0.022387057899425373, + 0.9994664616100033, + 0.023782593537870766, + 0.02661855794717955 + ], + [ + 0.20000189059926088, + -0.027784985319334852, + 0.9794014694432134, + 0.014096203226737963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9792337773934494, + -0.018258136060040262, + -0.20191049918062712, + 0.26722949849876876 + ], + [ + 0.023096339247695035, + 0.9994991829143097, + 0.02163197787959077, + 0.027301562116605126 + ], + [ + 0.2014144193574838, + -0.025846156798270417, + 0.9791650564913187, + 0.014512936608706367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9789251962576868, + -0.019343314232005648, + -0.2033009993245765, + 0.27054273129001144 + ], + [ + 0.023795563817571065, + 0.9995270761789181, + 0.019478067866893684, + 0.02799052083360434 + ], + [ + 0.2028280830517645, + -0.023905233312923373, + 0.9789225242815703, + 0.01491803524864816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9784946617162718, + -0.020064759627713202, + -0.20529394149326757, + 0.27383125629612065 + ], + [ + 0.024275783237978067, + 0.9995429893294193, + 0.018013851076084813, + 0.02847779640306509 + ], + [ + 0.2048386763795885, + -0.022610128338661623, + 0.9785345669702056, + 0.015313192550990055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9781741828614768, + -0.02109167190368758, + -0.20671335070476193, + 0.2771331307005501 + ], + [ + 0.024871212735869334, + 0.9995673399624965, + 0.01570209085908574, + 0.029103148645409384 + ], + [ + 0.2062927307500917, + -0.020500591616025347, + 0.9782755414417064, + 0.015708392952136788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9778390865484748, + -0.022010038465912842, + -0.20819769216966336, + 0.28041084941067407 + ], + [ + 0.025285627204976225, + 0.9995946345775081, + 0.013084478618178996, + 0.029584751187699043 + ], + [ + 0.2078253061465226, + -0.0180589238491017, + 0.9779992420214431, + 0.016115371484356347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9773855286772396, + -0.022619896680077644, + -0.21025191701027562, + 0.283676245787521 + ], + [ + 0.025567283266999436, + 0.999609117806588, + 0.011310421047871722, + 0.029935019828082443 + ], + [ + 0.20991389272427455, + -0.016430212175067647, + 0.9775818153838708, + 0.01650721062932945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.977044657012502, + -0.023531098194972424, + -0.21173102186751314, + 0.2869548666552505 + ], + [ + 0.025957911433101732, + 0.9996252727228985, + 0.00868912928332424, + 0.030425349281139862 + ], + [ + 0.21144721572381603, + -0.01398576245363985, + 0.9772893498914416, + 0.016894300588241058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9767013204782543, + -0.02443798889776695, + -0.21320721206063167, + 0.29023385941862867 + ], + [ + 0.026335968067704205, + 0.9996347435921029, + 0.006065986274920762, + 0.030920581009355068 + ], + [ + 0.2129810962549761, + -0.011539675133351107, + 0.9769881721575985, + 0.017270584921768948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9762193634124156, + -0.024909015116735093, + -0.21534924068724368, + 0.29314096114836613 + ], + [ + 0.026343738052391832, + 0.9996457430390038, + 0.0037941915377245733, + 0.0312718720851635 + ], + [ + 0.21517844214531598, + -0.009377067234068488, + 0.9765297274768457, + 0.017773307642644478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9758440544271665, + -0.025611177842226857, + -0.2169618607236838, + 0.29588137217200106 + ], + [ + 0.02633156687522597, + 0.9996531718680145, + 0.0004296046013423957, + 0.03175982395122811 + ], + [ + 0.2168756095669701, + -0.006132172840993674, + 0.9761799866987662, + 0.018334961180358503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9754662381867188, + -0.02630808030040759, + -0.21857150561946287, + 0.2986221894171649 + ], + [ + 0.026302686926314725, + 0.99964971620987, + -0.002934883640461936, + 0.03225113188428532 + ], + [ + 0.21857215471854566, + -0.0028861379790448235, + 0.9758165213754368, + 0.01888684000371949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9749728042750511, + -0.026769754962001697, + -0.22070661780589618, + 0.3015305968753139 + ], + [ + 0.02626848769620797, + 0.9996413655173008, + -0.005206428801119761, + 0.03260959136841637 + ], + [ + 0.2207668396254241, + -0.0007215025858197331, + 0.9753263463865935, + 0.019366649093070166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9745697517600282, + -0.027401572675277965, + -0.2224026815695319, + 0.30417593177560465 + ], + [ + 0.026081812679075844, + 0.9996204624290695, + -0.008869618958393222, + 0.033079868153468805 + ], + [ + 0.222561312904491, + 0.002843397266466637, + 0.9749145486093714, + 0.019951805156555796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.974125016983467, + -0.0279152736407956, + -0.22427926516849436, + 0.3066291253195794 + ], + [ + 0.025622029625429664, + 0.9995854799004212, + -0.01312935528191362, + 0.03349827513460971 + ], + [ + 0.22455280645058506, + 0.007043143460459319, + 0.9744364685526511, + 0.02063082660123239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9736770582059976, + -0.028423323044696393, + -0.22615282671329046, + 0.30908272617708454 + ], + [ + 0.025139791377192, + 0.9995327412601005, + -0.017386490116768846, + 0.03391849264627128 + ], + [ + 0.22654133665365797, + 0.011243391666488762, + 0.9739366555023011, + 0.021301928047366955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9731280023408431, + -0.028758878016928738, + -0.2284618523853133, + 0.3118001876493273 + ], + [ + 0.02478375914090546, + 0.999487718151361, + -0.020250099936355525, + 0.0342292102130656 + ], + [ + 0.22892718567913, + 0.014043795775865375, + 0.9733422396347752, + 0.021857160594263896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9726726708659534, + -0.02925748629344616, + -0.23032992607623054, + 0.31425456360340076 + ], + [ + 0.02425950176238275, + 0.9994053884363894, + -0.024501961932692846, + 0.03465265467997725 + ], + [ + 0.23090983505414828, + 0.018244699506952462, + 0.9728040804885469, + 0.0225137529665919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_158/pan_right/transforms.json b/spatialvid_eval/camera_controls/scene_158/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..cc15ddd675c8ed6b733b98502dd7665bff882d06 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_158/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": [ + [ + 0.9999999627556808, + -0.00023478142864435844, + -0.00013916291763938513, + 0.001024249647790318 + ], + [ + 0.00023478179935191998, + 0.9999999724352483, + 2.6475081962397287e-06, + 4.908002540090722e-06 + ], + [ + 0.0001391622922176372, + -2.6801810178415262e-06, + 0.9999999903133364, + -0.0007454029732899392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999999539684436, + 0.0008860906369677374, + 0.00036806833487852534, + 0.0025765809231673735 + ], + [ + -0.0008875648170041955, + 0.9999915077191918, + 0.004024514653123874, + 2.5187615707046892e-05 + ], + [ + -0.0003644991243863966, + -0.004024839485081434, + 0.9999918338704109, + -0.00139072079206423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999970367843478, + 0.0016395114481241153, + 0.0017995623733067143, + 0.0036114684400854104 + ], + [ + -0.00165153716977351, + 0.9999761804570277, + 0.006701562769305471, + 3.8707357818351006e-05 + ], + [ + -0.0017885322196728318, + -0.00670451495527862, + 0.9999759250260547, + -0.0018209326712470904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999993460779885, + 0.0027788808138975354, + 0.0023143506413056945, + 0.0051637997154624655 + ], + [ + -0.002803526711255681, + 0.9999386638138491, + 0.010714889087327097, + 5.898697098530718e-05 + ], + [ + -0.002284433288156125, + -0.010721307364150957, + 0.9999399156614139, + -0.002466250490021381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999882652049812, + 0.0039293105294132226, + 0.002833720363065356, + 0.0067161309908395205 + ], + [ + -0.003970622965663865, + 0.9998837171397843, + 0.014723666390972038, + 7.926658415226335e-05 + ], + [ + -0.002775536992574873, + -0.014734745246916866, + 0.9998875855199482, + -0.0031115683087956716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999814409926114, + 0.004871446911046957, + 0.0036587805800631446, + 0.008478195390180632 + ], + [ + -0.004936690446081956, + 0.9998250802924382, + 0.018039897606671674, + -9.992430185568414e-05 + ], + [ + -0.0035702601837624263, + -0.01805762507121261, + 0.9998305733568101, + -0.004039205108204695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999706647685259, + 0.005430690825770996, + 0.005401592315893904, + 0.009722816031062724 + ], + [ + -0.0055377854210843635, + 0.9997843792615123, + 0.020013193580798287, + -0.0002858750589192837 + ], + [ + -0.005291742153796123, + -0.020042519348309657, + 0.9997851243558039, + -0.004751735968022288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999599470553832, + 0.006275242924571543, + 0.006381662105822676, + 0.011589746992385862 + ], + [ + -0.0064203518500211875, + 0.9997153542074553, + 0.02297802524117607, + -0.000564801194514683 + ], + [ + -0.006235652902239494, + -0.023018077419711014, + 0.9997156019312607, + -0.005820532257748678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999474884778595, + 0.007126607296982148, + 0.007364221293233958, + 0.013456677953709001 + ], + [ + -0.007315422922096666, + 0.9996367618693928, + 0.02593894575240557, + -0.0008437273301100823 + ], + [ + -0.007176689647182904, + -0.025991456052133308, + 0.9996364035678164, + -0.006889328547475067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999288592759584, + 0.007697961878555774, + 0.009111408782221294, + 0.014701298594591091 + ], + [ + -0.00794951377057911, + 0.9995790523922591, + 0.027902029485411498, + -0.001029678087173682 + ], + [ + -0.008892784597178233, + -0.027972475784415318, + 0.9995691366686942, + -0.00760185940729266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999096155295523, + 0.008193584727802133, + 0.010659546934626481, + 0.015961912079737954 + ], + [ + -0.008509268689539488, + 0.9995162302651545, + 0.029914842184175047, + -0.0012004437736665486 + ], + [ + -0.010409280374377475, + -0.030002843295981196, + 0.9994956109339573, + -0.00790464790168009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9998876865919147, + 0.008692706086072567, + 0.012208647049148773, + 0.017222525564884815 + ], + [ + -0.009078696946404369, + 0.9994490352974281, + 0.03192496052928407, + -0.001371209460159415 + ], + [ + -0.011924406216867994, + -0.032032213534848857, + 0.9994157022142657, + -0.008207436396067521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9998565310912187, + 0.009027395451312235, + 0.014332598005982267, + 0.018062934554982722 + ], + [ + -0.009499962720285937, + 0.9994018095406206, + 0.03325317722033734, + -0.0014850532511546594 + ], + [ + -0.014023834801816409, + -0.033384565570029695, + 0.99934418637382, + -0.008409295392325806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998284133352845, + 0.009532339436598551, + 0.015883273979671278, + 0.019323548040129583 + ], + [ + -0.010087671709571434, + 0.9993273276262633, + 0.03525806487644326, + -0.001655818937647526 + ], + [ + -0.015536497897780789, + -0.035412240316266885, + 0.9992520154940172, + -0.008712083886713236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9997936867777227, + 0.009841091041661799, + 0.017768984397499875, + 0.020851895032236105 + ], + [ + -0.010489383839017423, + 0.9992687873162605, + 0.036767696721007576, + -0.0014839472046646283 + ], + [ + -0.017394157239907605, + -0.03694649675679623, + 0.9991658519341589, + -0.009325983920209396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9997455621904267, + 0.00998145057561753, + 0.02022823583396121, + 0.02196003752929367 + ], + [ + -0.010737077039699495, + 0.9992352858728292, + 0.03759732228881489, + -0.0012551535761841086 + ], + [ + -0.019837491202049865, + -0.03780494823501235, + 0.9990882142392415, + -0.009838954455576412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.999699773652979, + 0.010193298225324702, + 0.02228136507203084, + 0.023622251274880022 + ], + [ + -0.011054098286623454, + 0.9991836090040718, + 0.038857720065245696, + -0.0009119631334633288 + ], + [ + -0.021867086437227793, + -0.03909235435336329, + 0.9989963054795842, + -0.010608410258626938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9996497009132734, + 0.010406715286423063, + 0.024334661307504283, + 0.02528446502046637 + ], + [ + -0.011377873478003253, + 0.9991302226393985, + 0.04011660757921717, + -0.000568772690742549 + ], + [ + -0.023896013456687022, + -0.04037943146570644, + 0.9988986345247373, + -0.011377866061677462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9995906631153576, + 0.010547826497912518, + 0.026594164186334618, + 0.026831938155671253 + ], + [ + -0.011638311989656024, + 0.9990835870935648, + 0.04118902395404295, + -0.00018002361319912412 + ], + [ + -0.026135338272752794, + -0.04148167494720083, + 0.9987973842261221, + -0.011861896898762185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9995101849784614, + 0.01054389641802113, + 0.02946551157961098, + 0.027710599431965886 + ], + [ + -0.011766847478475909, + 0.9990632161622951, + 0.04164410416697414, + 0.00013988728492668608 + ], + [ + -0.028998817643835637, + -0.04197042243982718, + 0.9986979284125317, + -0.011804017502197596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9994279208097974, + 0.01053836802679441, + 0.03213679985837424, + 0.029028591346407832 + ], + [ + -0.011895821960484255, + 0.9990322074567674, + 0.042345458834958015, + 0.0006197536321154014 + ], + [ + -0.0316594460736417, + -0.04270352752865388, + 0.9985860444703399, + -0.011717198407350714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9993385128465451, + 0.010533279714330199, + 0.03480785486230685, + 0.03034658326084978 + ], + [ + -0.012029062611319157, + 0.999000656005943, + 0.04304638140876232, + 0.0010996199793041166 + ], + [ + -0.03431965026553596, + -0.0434366126459621, + 0.9984665353868882, + -0.011630379312503832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9992344327986585, + 0.010530131996518921, + 0.03767843719794092, + 0.03122524453714441 + ], + [ + -0.01216771759490285, + 0.9989793201943482, + 0.04350016635104359, + 0.001419530877429927 + ], + [ + -0.037181917084437445, + -0.043925324633674157, + 0.9983426620643597, + -0.011572499915939243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9991228617908754, + 0.010428196240288408, + 0.04055563795560034, + 0.03267218178104671 + ], + [ + -0.01221129552234545, + 0.9989581962117199, + 0.04397051834005963, + 0.001995495679164758 + ], + [ + -0.04005485374430473, + -0.04442718699852164, + 0.9982093135945592, + -0.011869444806729215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989990015099718, + 0.010277636463352061, + 0.04353579183622899, + 0.03418359168967918 + ], + [ + -0.012208770905241003, + 0.9989425018498516, + 0.044326334282719745, + 0.0026195097081726476 + ], + [ + -0.0430341828673861, + -0.04481348219774101, + 0.9980680392229028, + -0.012358271690337614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.998866231029411, + 0.0101271884295885, + 0.04651550885040018, + 0.03569500159831165 + ], + [ + -0.012208593116245468, + 0.998926632385473, + 0.04468258458438588, + 0.003243523737180537 + ], + [ + -0.04601307165601979, + -0.04519981377760801, + 0.9979177190887273, + -0.012847098573946013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9987192667186923, + 0.010026951839148179, + 0.049591193993428706, + 0.03670260820406663 + ], + [ + -0.012258772904068491, + 0.9989159554654042, + 0.0449069749986067, + 0.003659533089852463 + ], + [ + -0.04908715485506319, + -0.045457388326370154, + 0.9977595286815262, + -0.013172983163018279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.998561483095624, + 0.009790701741845355, + 0.052717232830172295, + 0.0381579203397247 + ], + [ + -0.012180847980207741, + 0.9989032262683626, + 0.04521030295341822, + 0.004158627353740004 + ], + [ + -0.052216773362124165, + -0.045787407767409305, + 0.9975855461410766, + -0.013567641359293623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9983789790227106, + 0.009382488974061987, + 0.05613718149517124, + 0.03950103692943395 + ], + [ + -0.01194057152145885, + 0.9988971625640093, + 0.04540794394500169, + 0.0044078820873868505 + ], + [ + -0.05564923177646854, + -0.04600464674598746, + 0.997389961589982, + -0.013773962180902854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9981863962942161, + 0.00911032785633891, + 0.05950563149413804, + 0.040396447989240115 + ], + [ + -0.01183087162346864, + 0.9988930031497175, + 0.045527999463708675, + 0.004574051909818081 + ], + [ + -0.05902498394574235, + -0.046149433202244954, + 0.9971891902168396, + -0.013911509395309008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9979803754504939, + 0.008702057342466773, + 0.06292411631242706, + 0.04173956457894937 + ], + [ + -0.011593265370347236, + 0.998886588612289, + 0.045729413822580875, + 0.004823306643464927 + ], + [ + -0.062456115903441654, + -0.04636655355439482, + 0.9969700979957943, + -0.01411783021691824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9977624871954565, + 0.00829375230967276, + 0.0663417878728252, + 0.04308268116865862 + ], + [ + -0.011357147115558908, + 0.9988799635770228, + 0.04593292472466214, + 0.005072561377111772 + ], + [ + -0.06588652635351701, + -0.04658360266222144, + 0.996739150233438, + -0.014324151038527471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9975168397916618, + 0.007957863654917087, + 0.06997733017274713, + 0.04371609835928059 + ], + [ + -0.011188268456364453, + 0.9988836806155513, + 0.04589352077230051, + 0.005466664753774291 + ], + [ + -0.06953399874165325, + -0.04656248496353054, + 0.9964923271219989, + -0.014404231016365874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9972454054768989, + 0.007454043871659845, + 0.07379727965972054, + 0.04466622414521355 + ], + [ + -0.010859685271272092, + 0.9988890547888146, + 0.04585546269440092, + 0.006057819818768068 + ], + [ + -0.07337348629460473, + -0.04653056471898927, + 0.9962184690397522, + -0.014524350983123479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9969590885194307, + 0.006950240180366514, + 0.07761617086626767, + 0.04561634993114651 + ], + [ + -0.010530975568442543, + 0.9988941872979503, + 0.04582031357318258, + 0.006648974883761846 + ], + [ + -0.07721187973416595, + -0.04649835205470332, + 0.995929831305456, + -0.014644470949881083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9966719088323582, + 0.0066143801335429376, + 0.08124872995876797, + 0.046249767121768474 + ], + [ + -0.010361725973697469, + 0.9988974747114192, + 0.04578722147058004, + 0.007043078260424365 + ], + [ + -0.0808562970912582, + -0.04647671449875664, + 0.9956415892428819, + -0.014724550927719486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9963460793361447, + 0.006064330949258289, + 0.08519221843355967, + 0.047128064694129966 + ], + [ + -0.009988651573938011, + 0.9989046347974914, + 0.045713864634540725, + 0.007699402492792157 + ], + [ + -0.08482167783784958, + -0.04639778518667152, + 0.995315291000065, + -0.014837415014323684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9959821209084723, + 0.005421847556382147, + 0.08938802156741639, + 0.047862705839348534 + ], + [ + -0.009526531514283905, + 0.998916298414045, + 0.045557369986537644, + 0.008486065059907977 + ], + [ + -0.08904414651154167, + -0.04622588378666521, + 0.9949544249060723, + -0.014935767340621074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9956000713476865, + 0.004779523989320743, + 0.09358233852024336, + 0.048597346984567094 + ], + [ + -0.00906337919938898, + 0.9989275470789609, + 0.04540496497409537, + 0.009272727627023799 + ], + [ + -0.09326496174861168, + -0.0460533585881231, + 0.9945756557812905, + -0.015034119666918463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9952296000639506, + 0.0043513974907758496, + 0.09746337002395611, + 0.04908710774804614 + ], + [ + -0.008803465184281033, + 0.9989348156528269, + 0.045296060285658725, + 0.009797169338434346 + ], + [ + -0.09716245240471477, + -0.04593799534731732, + 0.9942078044484319, + -0.015099687884450055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9948128400124389, + 0.003709342193123083, + 0.10165458241948953, + 0.0498217488932647 + ], + [ + -0.008338488413602194, + 0.9989453726987981, + 0.04515099084888599, + 0.010583831905550166 + ], + [ + -0.10137989424616053, + -0.04576443099345037, + 0.9937946135386747, + -0.015198040210747445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.994354573107149, + 0.002922172527189627, + 0.106068109479809, + 0.05073719284704184 + ], + [ + -0.007721368076390169, + 0.998963265702573, + 0.044863952700130584, + 0.011501801295889149 + ], + [ + -0.1058270448228066, + -0.04542966744949813, + 0.9933462547870706, + -0.01542918958346476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9939183223186859, + 0.0023976088928995007, + 0.11009368751570447, + 0.0513474888162266 + ], + [ + -0.007357517922126465, + 0.9989748106391338, + 0.04466760166532833, + 0.01211378088944847 + ], + [ + -0.10987372519958756, + -0.04520596398821226, + 0.9929170082794746, + -0.015583289165276305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9934215384029783, + 0.0016110888749021337, + 0.11450349963951784, + 0.05226293277000374 + ], + [ + -0.006736622114061269, + 0.9989915524182138, + 0.04439027055041964, + 0.013031750279787455 + ], + [ + -0.11431651219116264, + -0.04486961766813128, + 0.9924305781518239, + -0.015814438537993622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9929045432166005, + 0.0008249608390920937, + 0.11891125892634473, + 0.05317837672378088 + ], + [ + -0.006113693192115803, + 0.9990076034153652, + 0.04411837569359863, + 0.013949719670126438 + ], + [ + -0.11875685586688, + -0.04453232261967483, + 0.9919242316965095, + -0.016045587910710937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9923414917467962, + -7.019732553619027e-05, + 0.12352472962965166, + 0.05376399980685385 + ], + [ + -0.005375917797225089, + 0.999027809161694, + 0.04375541143017006, + 0.014639008230547933 + ], + [ + -0.12340771153206162, + -0.04408436904302324, + 0.9913763690649974, + -0.01606339778545859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.991806112178104, + -0.0007030686616852923, + 0.12775030935622522, + 0.05404447490533443 + ], + [ + -0.004892235473093645, + 0.9990423325434643, + 0.043479694320336534, + 0.01502230699418977 + ], + [ + -0.12765853625288867, + -0.043748411177676576, + 0.990852852163831, + -0.016004157869300473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9911865805248548, + -0.001651751967292825, + 0.13246295445476283, + 0.05446518755305531 + ], + [ + -0.004092480863872042, + 0.9990632071719788, + 0.04308085045143533, + 0.015597255139652521 + ], + [ + -0.1324100229885369, + -0.043243262951338894, + 0.99025128428167, + -0.015915297995063298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9905437007824383, + -0.002599684012860367, + 0.13717295098985535, + 0.05488590020077618 + ], + [ + -0.0032895971168728153, + 0.9990829892057025, + 0.04268909966967405, + 0.016172203285115275 + ], + [ + -0.13715814008304664, + -0.04273666251395844, + 0.9896268096035636, + -0.01582643812082612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9899485036427562, + -0.0032312197766396, + 0.14139136944744357, + 0.05516637529925677 + ], + [ + -0.002798909741616301, + 0.9990955701982382, + 0.0424288547396216, + 0.01655550204875711 + ], + [ + -0.1414005878337382, + -0.04239812294209117, + 0.9890441208213419, + -0.015767198204668004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9892329606081717, + -0.0042822016934368, + 0.14628674716134826, + 0.055620226454884646 + ], + [ + -0.001858985642311496, + 0.9991235156723259, + 0.04181799377006577, + 0.01719749061803321 + ], + [ + -0.14633760220385322, + -0.041639682746489645, + 0.9883579528703145, + -0.015519812523712737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9884920028154728, + -0.005331905929613095, + 0.1511791359580185, + 0.05607407761051253 + ], + [ + -0.0009140754114851258, + 0.9991498606116073, + 0.0412155371910627, + 0.017839479187309312 + ], + [ + -0.1512703699869786, + -0.04087941803601797, + 0.9876467730646614, + -0.01527242684275747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9878148632205069, + -0.006030996610452294, + 0.1555166328099208, + 0.056376645047597776 + ], + [ + -0.00032591867157405593, + 0.999166534659925, + 0.04081825318036565, + 0.018267471566826714 + ], + [ + -0.15563318983324395, + -0.040371562956636006, + 0.9869895881551981, + -0.015107503055453957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9870262451949859, + -0.007078560939622824, + 0.1604028842362614, + 0.05683049620322566 + ], + [ + 0.0006278191768467945, + 0.9991902117826627, + 0.04023091498834087, + 0.018909460136102816 + ], + [ + -0.1605577688539817, + -0.0396082649549557, + 0.9862314070277267, + -0.01486011737449869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9861945157160728, + -0.008184882182495402, + 0.1653885874998624, + 0.05725846683614381 + ], + [ + 0.0016771743376157422, + 0.9992201622174892, + 0.03944939168473847, + 0.01938079878482426 + ], + [ + -0.16558249985364462, + -0.03862738823313503, + 0.9854391714461652, + -0.014511356098969865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9854345632909615, + -0.008941407992417312, + 0.16981982420985378, + 0.05753515375051933 + ], + [ + 0.002368442062998931, + 0.9992415183860265, + 0.03886873313838778, + 0.019638141243787002 + ], + [ + -0.17003856019664107, + -0.037900384651110376, + 0.9847083064997226, + -0.014245056717092796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9845434987121489, + -0.01007451655296068, + 0.17485023094026914, + 0.057950184122082624 + ], + [ + 0.003476026563943279, + 0.9992715694668358, + 0.03800325899990101, + 0.020024154932231114 + ], + [ + -0.17510572915518238, + -0.0368080775307665, + 0.9838613464536156, + -0.013845607644277192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9836252881628058, + -0.011205603074802672, + 0.1798769772549213, + 0.058365214493645914 + ], + [ + 0.004590910237451123, + 0.9992992405870121, + 0.03714769582912006, + 0.02041016862067523 + ], + [ + -0.1801671891045347, + -0.03571361395814109, + 0.9829874474011455, + -0.013446158571461588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9826786470770246, + -0.012333804921950025, + 0.18490687882016765, + 0.058754521574109604 + ], + [ + 0.005735114008959606, + 0.9993288675829717, + 0.036179039271929135, + 0.020786603806019262 + ], + [ + -0.18522900703230344, + -0.03449190733321132, + 0.9820898753588413, + -0.013083258754474183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9818247104615734, + -0.013083427087001982, + 0.18933848489598418, + 0.05897976190628594 + ], + [ + 0.006493803000727828, + 0.9993527612588878, + 0.03538204469535582, + 0.021024789258781842 + ], + [ + -0.18967885609533672, + -0.033509438967185376, + 0.9812741966700588, + -0.012890057884253512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9808244210609245, + -0.014205557641072576, + 0.1943750425919143, + 0.05931762240455045 + ], + [ + 0.007699560076584984, + 0.9993858265143211, + 0.03418605763925524, + 0.021382067437925714 + ], + [ + -0.19474129460679213, + -0.0320339178745527, + 0.9803314012518813, + -0.012600256578922504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9797967670357579, + -0.015324918148571415, + 0.19940772851125113, + 0.05965548290281495 + ], + [ + 0.008915476439793566, + 0.9994155612604745, + 0.03300076044976778, + 0.021739345617069583 + ], + [ + -0.19979692086248163, + -0.03055622349294916, + 0.9793607647949355, + -0.012310455273591498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.978874709280094, + -0.016069615794174087, + 0.2038285332823622, + 0.05988072323499129 + ], + [ + 0.009696546248084439, + 0.9994335340403689, + 0.032227131836973844, + 0.021977531069832162 + ], + [ + -0.20423094898342453, + -0.0295698915081974, + 0.9784760298512801, + -0.012117254403370827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9777995314564438, + -0.01716935373227959, + 0.20883795051660184, + 0.06001458815653039 + ], + [ + 0.010979906234269563, + 0.9994664616100033, + 0.030760913118216188, + 0.02239693409996695 + ], + [ + -0.20925467245116758, + -0.027784985319334852, + 0.9774663557627745, + -0.011763196822077233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9766989679464788, + -0.018258136060040262, + 0.21383584002663494, + 0.060046455289706785 + ], + [ + 0.012301037742069611, + 0.9994991829143097, + 0.029155922624672696, + 0.0228473995555972 + ], + [ + -0.2142610801866539, + -0.025846156798270417, + 0.9764344144365293, + -0.011377011102802346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9755713001625006, + -0.019343314232005648, + 0.21882978429311298, + 0.06007832242288319 + ], + [ + 0.013635782739354603, + 0.9995270761789181, + 0.02756246386498371, + 0.023297865011227447 + ], + [ + -0.21925944387490726, + -0.023905233312923373, + 0.9753736904858166, + -0.010990825383527459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9745615553255098, + -0.020064759627713202, + 0.2232200266611522, + 0.060099567178334125 + ], + [ + 0.014504212673275129, + 0.9995429893294193, + 0.02652244892797541, + 0.023598175314980947 + ], + [ + -0.22365017928955885, + -0.022610128338661623, + 0.9744071938364668, + -0.0107333682373442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9733922376657095, + -0.02109167190368758, + 0.22817250717045334, + 0.06011979835955697 + ], + [ + 0.015850967048525857, + 0.9995673399624965, + 0.024776596294212815, + 0.023989666667343177 + ], + [ + -0.22859636588487126, + -0.020500591616025347, + 0.9733054131399987, + -0.010344297833730969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9722145867896806, + -0.022010038465912842, + 0.23305440446406497, + 0.060116757636872686 + ], + [ + 0.01718942177969111, + 0.9995946345775081, + 0.02269560095565874, + 0.024263209813169373 + ], + [ + -0.23345946331697678, + -0.0180589238491017, + 0.9721988244475315, + -0.009949458061441045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9711568317373885, + -0.022619896680077644, + 0.2373662748664615, + 0.06011473048841651 + ], + [ + 0.018068146986162336, + 0.999609117806588, + 0.021334330606362178, + 0.024445571910386835 + ], + [ + -0.23775607297035417, + -0.016430212175067647, + 0.9711859234428794, + -0.009686231546581096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9699309564751808, + -0.023531098194972424, + 0.24224001958569868, + 0.060111689765732224 + ], + [ + 0.01943783958160362, + 0.9996252727228985, + 0.019273933850434376, + 0.02471911505621303 + ], + [ + -0.24260278247279227, + -0.01398576245363985, + 0.9700248906007771, + -0.009291391774291172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9686793610021404, + -0.02443798889776695, + 0.2471094499753456, + 0.06010864904304795 + ], + [ + 0.020824803025702908, + 0.9996347435921029, + 0.017225184541575674, + 0.024992658202039227 + ], + [ + -0.24744014053387917, + -0.011539675133351107, + 0.9688344609634769, + -0.008896552002001248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9675843312376112, + -0.024909015116735093, + 0.2513167382196796, + 0.059748776000446105 + ], + [ + 0.021749915563871354, + 0.9996457430390038, + 0.015340456217545977, + 0.02520957239496678 + ], + [ + -0.2516098231715709, + -0.009377067234068488, + 0.9677833267284875, + -0.008523038986776185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9663269769302314, + -0.025611177842226857, + 0.256039530593254, + 0.05920896643654335 + ], + [ + 0.023185317835673493, + 0.9996531718680145, + 0.012489075669431776, + 0.025534943684358113 + ], + [ + -0.25627058881919873, + -0.006132172840993674, + 0.9665856308483534, + -0.007962769463938592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9650456283035688, + -0.02630808030040759, + 0.2607581642117415, + 0.05866915687264059 + ], + [ + 0.02464407720031301, + 0.99964971620987, + 0.009649577217256268, + 0.02586031497374944 + ], + [ + -0.26092068670597063, + -0.0028861379790448235, + 0.9653559268251534, + -0.007402499941100998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9638896276811165, + -0.026769754962001697, + 0.264953139003926, + 0.05830928383003875 + ], + [ + 0.025621031428923687, + 0.9996413655173008, + 0.007791219110323075, + 0.026077229166676996 + ], + [ + -0.26506668669841826, + -0.0007215025858197331, + 0.9642298123563395, + -0.007028986925875936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9625899631455668, + -0.027401572675277965, + 0.2695732120711148, + 0.05767529737353456 + ], + [ + 0.027153359697777702, + 0.9996204624290695, + 0.004650392479844203, + 0.026397877203972606 + ], + [ + -0.26959832697652236, + 0.002843397266466637, + 0.9629686688482889, + -0.006442735653232747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9613217657191497, + -0.0279152736407956, + 0.27400948934694913, + 0.056852957131827496 + ], + [ + 0.02877674905231488, + 0.9995854799004212, + 0.0008758345878093454, + 0.026709078737076772 + ], + [ + -0.27392035606832227, + 0.007043143460459319, + 0.9617265893493843, + -0.00580452088097837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.960032420419814, + -0.028423323044696393, + 0.2784418547021453, + 0.056030616890120434 + ], + [ + 0.030429775981373287, + 0.9995327412601005, + -0.00288580713019347, + 0.027020280270180937 + ], + [ + -0.27822972608367563, + 0.011243391666488762, + 0.9604487522336821, + -0.005166306108723993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9588535909053351, + -0.028758878016928738, + 0.2824406453454474, + 0.05548239006231572 + ], + [ + 0.031554063259280014, + 0.999487718151361, + -0.005351855418091557, + 0.02722774795891705 + ], + [ + -0.2821420427723857, + 0.014043795775865375, + 0.9592698470714235, + -0.004740829593887741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9575242055748909, + -0.02925748629344616, + 0.28686476819916923, + 0.05466004982060866 + ], + [ + 0.03326032577572324, + 0.9994053884363894, + -0.009089570595079892, + 0.027538949492021216 + ], + [ + -0.2864282571037066, + 0.018244699506952462, + 0.9579279641353176, + -0.004102614821633365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_158/push_in/transforms.json b/spatialvid_eval/camera_controls/scene_158/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ff1df02d033a277d2206ecfb5cb766adb61eb931 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_158/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": [ + [ + 0.9999999627556808, + -0.00023478142864435844, + -0.00013916291763938513, + 0.001024249647790318 + ], + [ + 0.00023478179935191998, + 0.9999999724352483, + 2.6475081962397287e-06, + 4.908002540090722e-06 + ], + [ + 0.0001391622922176372, + -2.6801810178415262e-06, + 0.9999999903133364, + -0.0007454029732899392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999953895872566, + 0.0008860906369677374, + -0.00290441863612971, + 0.0025729503998722114 + ], + [ + -0.0008743898945534655, + 0.9999915077191918, + 0.004027397647351855, + 3.022186276623671e-05 + ], + [ + 0.0029079626103377314, + -0.004024839485081434, + 0.9999876721343, + -0.0001407362018963547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999873965360458, + 0.0016395114481241153, + -0.0047453947436138484, + 0.0035996049532263756 + ], + [ + -0.0016076404839862855, + 0.9999761804570277, + 0.006712228441310163, + 5.548792892162642e-05 + ], + [ + 0.004756286485851785, + -0.00670451495527862, + 0.9999662130382602, + 0.0006789828613485605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999679907736487, + 0.0027788808138975354, + -0.007503016029197724, + 0.005135663405352974 + ], + [ + -0.0026982001185534843, + 0.9999386638138491, + 0.01074189584266592, + 9.926908039530439e-05 + ], + [ + 0.007532406271071932, + -0.010721307364150957, + 0.999914154527363, + 0.001283427589456231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999396860378513, + 0.0039293105294132226, + -0.010255964376256262, + 0.006664851168958239 + ], + [ + -0.003777555954376472, + 0.9998837171397843, + 0.014774378827539642, + 0.00015313847828996157 + ], + [ + 0.01031282490567691, + -0.014734745246916866, + 0.9998382533815025, + 0.0018876229581118419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999907445372452, + 0.004871446911046957, + -0.012703137160942393, + 0.008398800782924742 + ], + [ + -0.004640865647169334, + 0.9998250802924382, + 0.018118255552468588, + 1.3314795347244541e-05 + ], + [ + 0.012789177251949715, + -0.01805762507121261, + 0.9997551495851401, + 0.0022092645767024313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998839641075639, + 0.005430690825770996, + -0.014232565394152267, + 0.009616071790606582 + ], + [ + -0.005143785072315753, + 0.9997843792615123, + 0.020118063023121833, + -0.0001349895862458699 + ], + [ + 0.014338751538183358, + -0.020042519348309657, + 0.999696302695223, + 0.002745986302191886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998437682839226, + 0.006275242924571543, + -0.01652453781632605, + 0.011445157286493009 + ], + [ + -0.005892345532140679, + 0.9997153542074553, + 0.023119057636332346, + -0.00036250944019677493 + ], + [ + 0.016664911879018047, + -0.023018077419711014, + 0.9995961428616883, + 0.002925933992291095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997976042879245, + 0.007126607296982146, + -0.018813875957950213, + 0.013268539194129498 + ], + [ + -0.00663391366724658, + 0.9996367618693925, + 0.026121552571217795, + -0.0005825118043979044 + ], + [ + 0.018993200087980312, + -0.0259914560521333, + 0.9994817169727057, + 0.0031054886222519913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997635129754587, + 0.007697961878555774, + -0.02033862104189877, + 0.01447248910786973 + ], + [ + -0.007124402335787569, + 0.9995790523922591, + 0.028124027271200402, + -0.0007132827803726774 + ], + [ + 0.020546557237831595, + -0.027972475784415318, + 0.9993975082939535, + 0.003641362561014317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999723021997892, + 0.008193584727802133, + -0.022062285845100338, + 0.0156861335066742 + ], + [ + -0.007525926521491754, + 0.9995162302651545, + 0.030177240870032884, + -0.0008232282627911376 + ], + [ + 0.022298872558846876, + -0.030002843295981196, + 0.99930105057323, + 0.004586615230485286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9996793071772476, + 0.008692706086072567, + -0.023784862045426357, + 0.016895483711760202 + ], + [ + -0.007923847530172244, + 0.9994490352974281, + 0.03223101741117678, + -0.0009280329707557343 + ], + [ + 0.024051932187194227, + -0.032032213534848857, + 0.9991973988427517, + 0.005531527838020318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9996483730983344, + 0.009027395451312233, + -0.02493263510379933, + 0.01768894502842573 + ], + [ + -0.00818712498224001, + 0.9994018095406204, + 0.033600507011936086, + -0.0009810456459756179 + ], + [ + 0.025221045703514373, + -0.03338456557002969, + 0.9991243013936364, + 0.006577569128578743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9995992859366117, + 0.009532339436598551, + -0.0266533686404146, + 0.018890430799722847 + ], + [ + -0.008579034164823215, + 0.9993273276262633, + 0.03565518801170968, + -0.0010764221324572436 + ], + [ + 0.026975317010466522, + -0.035412240316266885, + 0.9990086613778523, + 0.007521806860676862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9995583839769111, + 0.009841091041661799, + -0.028039078953769, + 0.020361211150545146 + ], + [ + -0.008794458283333292, + 0.9992687873162605, + 0.03720951758613569, + -0.0008327806469072537 + ], + [ + 0.02838475867377911, + -0.03694649675679623, + 0.9989140412730374, + 0.00815501180206876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995338773652027, + 0.00998145057561753, + -0.028851319617834183, + 0.02141907528645928 + ], + [ + -0.008879330594526195, + 0.9992352858728292, + 0.03807887806696214, + -0.0005411746124285684 + ], + [ + 0.029209339045535253, + -0.03780494823501235, + 0.9988581482880695, + 0.008889635824824894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994958364047699, + 0.0101932982253247, + -0.03006941437440418, + 0.02302086298739194 + ], + [ + -0.009005293092066852, + 0.9991836090040715, + 0.0393829937146137, + -0.0001243032591710547 + ], + [ + 0.030446308575195213, + -0.039092354353363286, + 0.9987716506415546, + 0.009367022754204157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994562583022139, + 0.010406715286423063, + -0.03128718615481732, + 0.024619612314676503 + ], + [ + -0.009129640066119736, + 0.9991302226393985, + 0.04068719553876202, + 0.000295830214456144 + ], + [ + 0.031683393328397855, + -0.04037943146570644, + 0.9986819634406665, + 0.009844125661436706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994226030678784, + 0.010547826497912518, + -0.03229866612100222, + 0.026105218167948703 + ], + [ + -0.009193295678091481, + 0.9990835870935648, + 0.04180274291036988, + 0.0007605381022841983 + ], + [ + 0.03270999528586372, + -0.04148167494720083, + 0.9986036885832005, + 0.010606686094359828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.999409649762388, + 0.01054389641802113, + -0.03269829063035692, + 0.02693401502949491 + ], + [ + -0.009156457192493318, + 0.9990632161622951, + 0.04229479167856895, + 0.001144388587292699 + ], + [ + 0.033113611302654423, + -0.04197042243982718, + 0.9985699636914378, + 0.011912019135474055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9993899161880412, + 0.01053836802679441, + -0.03329772095792453, + 0.02819614832245972 + ], + [ + -0.00910082657603449, + 0.9990322074567674, + 0.04303281793807614, + 0.001695574080567305 + ], + [ + 0.033718991344536285, + -0.04270352752865388, + 0.9985186219391787, + 0.013245767141128757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9993698182903048, + 0.010533279714330199, + -0.03389714307818428, + 0.029456783255047442 + ], + [ + -0.009044748538808187, + 0.999000656005943, + 0.04377078733088316, + 0.0022486031467397996 + ], + [ + 0.03432431811810606, + -0.0434366126459621, + 0.9984663749308595, + 0.014579363029431233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.999356217298924, + 0.010530131996518921, + -0.03429675299677252, + 0.030282083829733165 + ], + [ + -0.009007114638679384, + 0.9989793201943482, + 0.04426273500274763, + 0.002636756090005487 + ], + [ + 0.034727839435695164, + -0.043925324633674157, + 0.9984310406953275, + 0.015884353703182266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9993437301492422, + 0.010428196240288406, + -0.03468950467465305, + 0.03167485852165043 + ], + [ + -0.008870303035186678, + 0.9989581962117197, + 0.044764270858481905, + 0.003282468466346113 + ], + [ + 0.035120175618335095, + -0.044427186998521634, + 0.9983951113261401, + 0.01683441464389732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9993351998466441, + 0.01027763646335206, + -0.03497897277215851, + 0.033134222506514426 + ], + [ + -0.008693331234259081, + 0.9989425018498513, + 0.04514758011246593, + 0.0039739371115466255 + ], + [ + 0.03540599298875383, + -0.044813482197741006, + 0.9983677516195089, + 0.017592760858247656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9993265598716055, + 0.0101271884295885, + -0.03526849571068838, + 0.034592861107352636 + ], + [ + -0.00851624948659554, + 0.998926632385473, + 0.04553083137502428, + 0.004666362217650046 + ], + [ + 0.03569173895827012, + -0.04519981377760801, + 0.9983401607691663, + 0.018351031450090434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9993207389602136, + 0.010026951839148179, + -0.03546154143334143, + 0.03555010810748303 + ], + [ + -0.008398133929223657, + 0.9989159554654042, + 0.04578629995037635, + 0.005147587838239695 + ], + [ + 0.03588219656765748, + -0.045457388326370154, + 0.9983216384592823, + 0.019272470086908397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9993180215461306, + 0.009790701741845355, + -0.03560384772085501, + 0.036956290479145844 + ], + [ + -0.00814386659271701, + 0.9989032262683626, + 0.04610880596563757, + 0.005714799555080272 + ], + [ + 0.036016235922811723, + -0.045787407767409305, + 0.9983017299593815, + 0.02012504202683551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9993273498717845, + 0.009382488974061987, + -0.035451610667048467, + 0.03826023055608725 + ], + [ + -0.007735579587981703, + 0.9988971625640093, + 0.04631003595344632, + 0.006028733345757472 + ], + [ + 0.03584701670536029, + -0.04600464674598746, + 0.9982978332497285, + 0.02116646198283765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9993334617620594, + 0.00911032785633891, + -0.03535016448347224, + 0.039115004526714243 + ], + [ + -0.007463406486170931, + 0.9988930031497175, + 0.04644422269949875, + 0.006257654982674911 + ], + [ + 0.035734154058557316, + -0.046149433202244954, + 0.9982951968475211, + 0.022276691490413635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999342469105625, + 0.008702057342466773, + -0.03519806301320638, + 0.04041963721595413 + ], + [ + -0.007055174256990801, + 0.998886588612289, + 0.046645552914588086, + 0.00657251487776198 + ], + [ + 0.03556478536525591, + -0.04636655355439482, + 0.9982911843512448, + 0.023318089196253444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9993512838570838, + 0.00829375230967276, + -0.0350460429410305, + 0.04172464700469369 + ], + [ + -0.006646975021867821, + 0.9988799635770228, + 0.04684694320256757, + 0.006887880426211266 + ], + [ + 0.03539532703984272, + -0.04658360266222144, + 0.9982871023842546, + 0.024359474178862396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9993669609579042, + 0.007957863654917087, + -0.034674915310816574, + 0.04232910174684793 + ], + [ + -0.006329798750841936, + 0.9988836806155513, + 0.04681160377196126, + 0.007339128904652742 + ], + [ + 0.03500872739098627, + -0.04656248496353054, + 0.9983017199226316, + 0.025527837780539398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9993900070464687, + 0.007454043871659845, + -0.03411819229705213, + 0.043258848712960145 + ], + [ + -0.005854007484551004, + 0.9988890547888146, + 0.046758815419977215, + 0.007986620954842129 + ], + [ + 0.03442883111623277, + -0.04653056471898927, + 0.9983233755326488, + 0.026656488257598296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9994124896482695, + 0.006950240180366512, + -0.033561431681068954, + 0.04418998908470108 + ], + [ + -0.005378184225779637, + 0.9988941872979501, + 0.04670629204723372, + 0.00863399229576928 + ], + [ + 0.03384893897127966, + -0.04649835205470331, + 0.9983447062947325, + 0.027785179067645056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9994271649949749, + 0.0066143801335429376, + -0.03319023720247499, + 0.04479769424416019 + ], + [ + -0.005060951079240422, + 0.9988974747114192, + 0.04667142369077119, + 0.009084953046895605 + ], + [ + 0.03346234666428967, + -0.04647671449875664, + 0.9983587463257485, + 0.028953644224032016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9994531352377759, + 0.006064330949258289, + -0.03250622022810852, + 0.045665284783865084 + ], + [ + -0.004546326128707216, + 0.9989046347974914, + 0.046571037124183534, + 0.009795099163380417 + ], + [ + 0.03275303622737681, + -0.04639778518667152, + 0.9983859394781459, + 0.030089952262192885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9994869103686651, + 0.005421847556382147, + -0.0315676982178861, + 0.0464026997967713 + ], + [ + -0.0039540644987167, + 0.998916298414045, + 0.04637449877597507, + 0.010630885628296824 + ], + [ + 0.0317849237161294, + -0.04622588378666521, + 0.9984252031536973, + 0.03124139830523743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.999519394113246, + 0.0047795239893207424, + -0.03062902123681346, + 0.047142468475818454 + ], + [ + -0.0033616110649039277, + 0.9989275470789607, + 0.04617851511102386, + 0.011466207094797433 + ], + [ + 0.03081688437428381, + -0.046053358588123094, + 0.9984635235201212, + 0.032392897700287304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995403324847825, + 0.0043513974907758496, + -0.030003151102643122, + 0.04762445413179228 + ], + [ + -0.00296653593937726, + 0.9989348156528269, + 0.046048167620148156, + 0.01204201750991657 + ], + [ + 0.030171566096759854, + -0.04593799534731732, + 0.9984885463452943, + 0.03357662874988305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995706638239542, + 0.0037093421931230822, + -0.02906421860353565, + 0.04836853796308792 + ], + [ + -0.0023737645788234666, + 0.9989453726987979, + 0.04585310900456246, + 0.01287648735577829 + ], + [ + 0.029203651557024746, + -0.045764430993450365, + 0.9985252944175135, + 0.03472822451012823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9996064485132046, + 0.002922172527189627, + -0.027899982052672734, + 0.04930731876684236 + ], + [ + -0.0016505213650900138, + 0.998963265702573, + 0.04549362104816491, + 0.0138333493746076 + ], + [ + 0.028003997393970453, + -0.04542966744949813, + 0.9985749453322903, + 0.03574777636481513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9996292109249371, + 0.0023976088928995007, + -0.027123645352063568, + 0.04992349743524326 + ], + [ + -0.001168118973938601, + 0.9989748106391338, + 0.04525442748029831, + 0.014489638332164132 + ], + [ + 0.02720434089719056, + -0.04520596398821226, + 0.9986072023855256, + 0.03684358895996379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9996617134179903, + 0.0016110888749021337, + -0.02595887360508888, + 0.05086764331373021 + ], + [ + -0.0004441561351864068, + 0.9989915524182138, + 0.04489633528891516, + 0.015444928301566645 + ], + [ + 0.02600502742808378, + -0.04486961766813128, + 0.9986543225554978, + 0.037863231299364385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9996922465014731, + 0.0008249608390920937, + -0.024793783988174292, + 0.05181471860443129 + ], + [ + 0.00028023646009900187, + 0.9990076034153652, + 0.04453908155558744, + 0.016399369155683748 + ], + [ + 0.02480592171971674, + -0.04453232261967483, + 0.9986999241462537, + 0.03888290791733302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9997257356848696, + -7.019732553619027e-05, + -0.023418976956346864, + 0.05244668235305933 + ], + [ + 0.0011025206746217448, + 0.999027809161694, + 0.044070636139588566, + 0.01711798151339979 + ], + [ + 0.023393115600715726, + -0.04408436904302324, + 0.9987538888778207, + 0.04011650846391883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9997481157685131, + -0.0007030686616852923, + -0.02243235858675608, + 0.052754614286595954 + ], + [ + 0.0016835993127448752, + 0.9990423325434643, + 0.04372165687011673, + 0.01753630226422148 + ], + [ + 0.02238013652018187, + -0.043748411177676576, + 0.9987918732192242, + 0.04142637484080493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9997791188286262, + -0.001651751967292825, + -0.020951975317245023, + 0.05323425900316716 + ], + [ + 0.0025558788699256377, + 0.9990632071719788, + 0.04319925414219975, + 0.01813521132050676 + ], + [ + 0.020860993204019986, + -0.043243262951338894, + 0.9988467545984536, + 0.04276694883759586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9998070413188609, + -0.002599684012860367, + -0.019471049593162842, + 0.05371763722518641 + ], + [ + 0.0034289497522838955, + 0.9990829892057025, + 0.042678132379416686, + 0.018732891227880275 + ], + [ + 0.019342244772064095, + -0.04273666251395844, + 0.9988991216556085, + 0.044107509178510404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9998239448380734, + -0.003231219776639599, + -0.0184834668606371, + 0.05403426295404275 + ], + [ + 0.004011435189632843, + 0.999095570198238, + 0.04233143037953005, + 0.019148302159503326 + ], + [ + 0.01832996770735268, + -0.042398122942091165, + 0.9989326360945641, + 0.04541742575612405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9998495533928387, + -0.0042822016934368, + -0.016808727756667786, + 0.05456968097009291 + ], + [ + 0.004977806103158662, + 0.9991235156723259, + 0.04156226506064048, + 0.01979513218432324 + ], + [ + 0.016616017168395184, + -0.041639682746489645, + 0.9989945168989824, + 0.04691734478247367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.999871271253232, + -0.005331905929613095, + -0.015133132577345143, + 0.055109340408706776 + ], + [ + 0.005945489958779555, + 0.9991498606116073, + 0.04079469559827363, + 0.020440141031699256 + ], + [ + 0.014902753825914177, + -0.04087941803601797, + 0.999052942095383, + 0.048417198215823215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999883588281228, + -0.006030996610452294, + -0.01401559723095724, + 0.055465631227585556 + ], + [ + 0.006591339802548823, + 0.999166534659925, + 0.04028387090740222, + 0.02088592317580786 + ], + [ + 0.013760963827546345, + -0.040371562956636006, + 0.9990899723142933, + 0.049833345144975116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9998988214435598, + -0.007078560939622824, + -0.012338591929567082, + 0.05601306448789184 + ], + [ + 0.00756120226587679, + 0.9991902117826627, + 0.039518968837919166, + 0.021527591821614962 + ], + [ + 0.012048862854013718, + -0.0396082649549557, + 0.9991426375904411, + 0.051333082365868046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999107810015194, + -0.008184882182495402, + -0.01055640756082362, + 0.056545909325788214 + ], + [ + 0.008586111281117782, + 0.9992201622174892, + 0.03854018826008678, + 0.021982261492380115 + ], + [ + 0.010232728375160104, + -0.03862738823313503, + 0.9992012891045963, + 0.052934730915590394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999164711089036, + -0.00894140799241731, + -0.009332846737754074, + 0.05689352053729874 + ], + [ + 0.009288340872184404, + 0.9992415183860263, + 0.03781685678941463, + 0.022238050148059258 + ], + [ + 0.00898763199955248, + -0.03790038465111037, + 0.9992411036953688, + 0.054452769161963815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999211505367296, + -0.01007451655296068, + -0.00749645419697539, + 0.05742543232829435 + ], + [ + 0.010343364052081042, + 0.9992715694668358, + 0.036733435387571824, + 0.022595495409361142 + ], + [ + 0.007120921947988642, + -0.0368080775307665, + 0.9992969818322779, + 0.05610518108398226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9999212030624703, + -0.011205603074802672, + -0.005658809577306651, + 0.057962024311262815 + ], + [ + 0.011400396332143209, + 0.9992992405870121, + 0.0356519105475599, + 0.022950367247188873 + ], + [ + 0.005255342954774719, + -0.03571361395814109, + 0.9993482471833715, + 0.057757404040353635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9999166662897154, + -0.012333804921950025, + -0.003812837815759264, + 0.05847809083246706 + ], + [ + 0.012457907353387, + 0.9993288675829717, + 0.034447277972431745, + 0.023284031459020565 + ], + [ + 0.003385412890096077, + -0.03449190733321132, + 0.9993992431996739, + 0.059373186377502184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9999111006348871, + -0.013083427087001982, + -0.002571918114544148, + 0.05879008294533831 + ], + [ + 0.013162233222940968, + 0.9993527612588878, + 0.033478563004127396, + 0.02349383328033624 + ], + [ + 0.0021322391314593436, + -0.033509438967185376, + 0.9994361265515624, + 0.06081835644892422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9998988444877301, + -0.014205557641072576, + -0.0007091714941577947, + 0.059264434542488614 + ], + [ + 0.014220984181999146, + 0.9993858265143211, + 0.03202707247287445, + 0.023784097873391297 + ], + [ + 0.00025377351574105674, + -0.0320339178745527, + 0.999486750139595, + 0.062361249681547125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998818992194931, + -0.015324918148571415, + 0.0011552042934502222, + 0.05974356723019053 + ], + [ + 0.015282443294558683, + 0.9994155612604745, + 0.03057748906238166, + 0.024070879158076184 + ], + [ + -0.0016231266643788997, + -0.03055622349294916, + 0.9995317316952379, + 0.0639038392681704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998679973625962, + -0.016069615794174087, + 0.0023990202873670555, + 0.06006664730726224 + ], + [ + 0.0159915836516108, + 0.9994335340403689, + 0.02961216452562136, + 0.024272473820567818 + ], + [ + -0.002873517430798404, + -0.0295698915081974, + 0.9995585847831875, + 0.06534853591732621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9998435615289248, + -0.01716935373227959, + 0.004250383696895481, + 0.06034930587266091 + ], + [ + 0.017044436333190346, + 0.9994664616100033, + 0.027861789369378578, + 0.024591050012805517 + ], + [ + -0.0047264848713181, + -0.027784985319334852, + 0.99960274856143, + 0.0669555196271354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9998147231934058, + -0.01825813606004026, + 0.006095880027237939, + 0.06053412569188582 + ], + [ + 0.018094087724188843, + 0.9994991829143095, + 0.02596126620673731, + 0.024924300852136184 + ], + [ + -0.006566831437061514, + -0.02584615679827041, + 0.9996443632130562, + 0.06859453795424217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997813452196025, + -0.019343314232005648, + 0.007943421517462591, + 0.06072372542117702 + ], + [ + 0.01914721365968561, + 0.9995270761789181, + 0.024062589102043078, + 0.025252950375768447 + ], + [ + -0.008405115106442542, + -0.023905233312923373, + 0.9996788953760615, + 0.07023308486577755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9997565713498714, + -0.020064759627713202, + 0.00917624453858038, + 0.060856607352767 + ], + [ + 0.01985122364164242, + 0.9995429893294193, + 0.022797837668036763, + 0.02547899692259398 + ], + [ + -0.009629484029751173, + -0.022610128338661623, + 0.9996979819594668, + 0.07174171527431183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9997171103753746, + -0.021091671903687575, + 0.010992752113032795, + 0.061040441349023464 + ], + [ + 0.020860504399970503, + 0.9995673399624962, + 0.020735771904577458, + 0.025726287564351538 + ], + [ + -0.011425348086172347, + -0.020500591616025344, + 0.9997245556474559, + 0.07338263370174347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996765403973545, + -0.022010038465912842, + 0.012742558059739522, + 0.061199875071950544 + ], + [ + 0.02177443144398891, + 0.9995946345775081, + 0.01834231880514686, + 0.025822306911606856 + ], + [ + -0.013141107809763323, + -0.0180589238491017, + 0.9997505621678564, + 0.07502933972282677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996473598261051, + -0.022619896680077644, + 0.013910293558385255, + 0.061314493307827234 + ], + [ + 0.02238598633194069, + 0.999609117806588, + 0.01674751366266926, + 0.025890044963792058 + ], + [ + -0.014283683301025914, + -0.016430212175067647, + 0.9997629841713678, + 0.0765433258381994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996003884045179, + -0.023531098194972424, + 0.015663681536463057, + 0.06148226190017274 + ], + [ + 0.02330671736813787, + 0.9996252727228985, + 0.014356568503400006, + 0.02597531480026053 + ], + [ + -0.015995637750927865, + -0.01398576245363985, + 0.9997742435277734, + 0.07818885453438902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995495767125646, + -0.02443798889776695, + 0.017419196088383927, + 0.06165460269589202 + ], + [ + 0.024231518916894467, + 0.9996347435921029, + 0.011967158999981912, + 0.026054743563287623 + ], + [ + -0.017705286914171597, + -0.011539675133351107, + 0.9997766544149266, + 0.0798336260773235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9995186265403276, + -0.024909015116735093, + 0.01849476047023649, + 0.06141330444276739 + ], + [ + 0.024730122048918383, + 0.9996457430390038, + 0.009839181238476056, + 0.026095098706429627 + ], + [ + -0.018733292886803452, + -0.009377067234068488, + 0.9997805430931855, + 0.08145720989161052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9994696882886966, + -0.025611177842226857, + 0.020109941860419325, + 0.06104399863130661 + ], + [ + 0.025482114874528144, + 0.9996531718680145, + 0.006648142277309029, + 0.026141586667162563 + ], + [ + -0.020273233921034126, + -0.006132172840993674, + 0.9997756710595789, + 0.08326676052024799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9994177350300162, + -0.026308080300407582, + 0.02172730582422889, + 0.06067893266138177 + ], + [ + 0.02623900450690576, + 0.9996497162098698, + 0.0034582544749277248, + 0.026180203512680255 + ], + [ + -0.021810675137621104, + -0.002886137979044823, + 0.999757953035437, + 0.08507511071467694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.999381424861844, + -0.02676975496200169, + 0.022806750324958824, + 0.06044741667300364 + ], + [ + 0.026746313046227686, + 0.9996413655173005, + 0.0013323232115929164, + 0.026202134467763833 + ], + [ + -0.0228342370037585, + -0.000721502585819733, + 0.9997390044679036, + 0.08669654474299003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9993282795178767, + -0.027401572675277958, + 0.024334000303320148, + 0.05998702740234997 + ], + [ + 0.027462584944262715, + 0.9996204624290693, + -0.0021765847726758765, + 0.0261911016505684 + ], + [ + -0.02426512279012162, + 0.0028433972664666366, + 0.9997015149073074, + 0.08852890826296146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9992804825911569, + -0.027915273640795595, + 0.025675953924716267, + 0.059324267697081434 + ], + [ + 0.02808635106647544, + 0.999585479900421, + -0.006326551668626611, + 0.02610014813897146 + ], + [ + -0.025488703304706265, + 0.007043143460459317, + 0.999650298921598, + 0.09041182039022544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9992307216354055, + -0.028423323044696393, + 0.02701998606742511, + 0.058665065531694385 + ], + [ + 0.02871518162703869, + 0.9995327412601005, + -0.010475566485656885, + 0.02599891253782939 + ], + [ + -0.026709610332485118, + 0.011243391666488762, + 0.9995800032312175, + 0.09229274420631974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9991964570130302, + -0.02875887801692873, + 0.027917149349741897, + 0.05823920856060273 + ], + [ + 0.029137209554626287, + 0.9994877181513607, + -0.013241007663942922, + 0.025920198452102687 + ], + [ + -0.027522051376635707, + 0.014043795775865371, + 0.9995225402602126, + 0.09396202125680825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9991434248405753, + -0.02925748629344616, + 0.029264587706561523, + 0.05758650859126481 + ], + [ + 0.029774453675748543, + 0.9994053884363894, + -0.01738825674473681, + 0.025800123817547534 + ], + [ + -0.028738449960930838, + 0.018244699506952462, + 0.9994204482767723, + 0.09583943000604388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_158/tilt_down/transforms.json b/spatialvid_eval/camera_controls/scene_158/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..cf24e14ce687f863ba1bdea4f240d2fca14d3356 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_158/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": [ + [ + 0.9999999627556808, + -0.00023478142864435844, + -0.00013916291763938513, + 0.001024249647790318 + ], + [ + 0.00023478179935191998, + 0.9999999724352483, + 2.6475081962397287e-06, + 4.908002540090722e-06 + ], + [ + 0.0001391622922176372, + -2.6801810178415262e-06, + 0.9999999903133364, + -0.0007454029732899392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999953895872566, + 0.0008955905631043548, + -0.0029015033644815714, + 0.0025765809231673735 + ], + [ + -0.0008743898945534655, + 0.9999729735619035, + 0.007299834797907515, + 2.5187615707046892e-05 + ], + [ + 0.0029079626103377314, + -0.007297264097435222, + 0.9999691463691012, + -0.00139072079206423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999873965360458, + 0.0016705346467448057, + -0.004734562604430655, + 0.0036114684400854104 + ], + [ + -0.0016076404839862855, + 0.9999108315125609, + 0.01325686674646766, + 3.8707357818351006e-05 + ], + [ + 0.004756286485851785, + -0.013249088189508623, + 0.9999009147915664, + -0.0018209326712470904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999679907736487, + 0.0028524064010895965, + -0.007475373290697187, + 0.0051637997154624655 + ], + [ + -0.0026982001185534843, + 0.9997850191072579, + 0.02055809535974972, + 5.898697098530718e-05 + ], + [ + 0.007532406271071932, + -0.020537267257922806, + 0.999760713125568, + -0.002466250490021381 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999396860378513, + 0.0040632203217269985, + -0.010203652637203006, + 0.0067161309908395205 + ], + [ + -0.003777555954376472, + 0.9996046640323558, + 0.027861186546395286, + 7.926658415226335e-05 + ], + [ + 0.01031282490567691, + -0.02782096125906845, + 0.9995597229566058, + -0.0031115683087956716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999907445372452, + 0.005078640130021775, + -0.012621731385455677, + 0.008478195390180632 + ], + [ + -0.004640865647169334, + 0.9993947955822281, + 0.03447469984208071, + -9.992430185568414e-05 + ], + [ + 0.012789177251949715, + -0.03441293328948243, + 0.9993258662556633, + -0.004039205108204695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998839641075639, + 0.005709081820299932, + -0.014123197418185966, + 0.009722816031062724 + ], + [ + -0.005143785072315753, + 0.9991966694442272, + 0.0397436441043524, + -0.0002858750589192837 + ], + [ + 0.014338751538183358, + -0.039666385723087054, + 0.999110093056813, + -0.004751735968022288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998437682839226, + 0.006652098385859076, + -0.016376465151870412, + 0.011589746992385862 + ], + [ + -0.005892345532140679, + 0.9989235125528647, + 0.046011915121808605, + -0.000564801194514683 + ], + [ + 0.016664911879018047, + -0.04590823081007924, + 0.9988066454804719, + -0.005820532257748678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997976042879247, + 0.0076166550450744615, + -0.018620876081722852, + 0.013456677953709001 + ], + [ + -0.006633913667246582, + 0.9986104287862072, + 0.05228004120965677, + -0.0008437273301100823 + ], + [ + 0.018993200087980316, + -0.05214593066915416, + 0.9984588425493892, + -0.006889328547475067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997635129754587, + 0.008293558574003785, + -0.02010310943981636, + 0.014701298594591091 + ], + [ + -0.007124402335787569, + 0.9983173422281663, + 0.05754760722956606, + -0.001029678087173682 + ], + [ + 0.020546557237831595, + -0.05739077532731325, + 0.9981403397784314, + -0.00760185940729266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999723021997892, + 0.008911055537728947, + -0.021782386843642674, + 0.015961912079737954 + ], + [ + -0.007525926521491754, + 0.9979937051145354, + 0.06286433791709739, + -0.0012004437736665486 + ], + [ + 0.022298872558846876, + -0.06268299323552931, + 0.9977843467611822, + -0.00790464790168009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9996793071772476, + 0.009543083299381194, + -0.023456605951413308, + 0.017222525564884815 + ], + [ + -0.007923847530172244, + 0.9976415724427556, + 0.0681799499432594, + -0.001371209460159415 + ], + [ + 0.024051932187194227, + -0.06797221855352263, + 0.9973972538878255, + -0.008207436396067521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9996483730983347, + 0.009999286317141858, + -0.024558999063508252, + 0.018062934554982722 + ], + [ + -0.008187124982240012, + 0.9973121572498089, + 0.0728109331505811, + -0.0014850532511546594 + ], + [ + 0.02522104570351438, + -0.0725842632729783, + 0.9970433408727731, + -0.008409295392325806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9995992859366117, + 0.010657270940124626, + -0.026223846611913047, + 0.019323548040129583 + ], + [ + -0.008579034164823215, + 0.9969067450262922, + 0.07812388811293461, + -0.001655818937647526 + ], + [ + 0.026975317010466522, + -0.07786760749626448, + 0.9965986995651724, + -0.008712083886713236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9995583839769111, + 0.011114922647408895, + -0.02755894620641516, + 0.020851895032236105 + ], + [ + -0.008794458283333292, + 0.9965160822055207, + 0.08293585116982062, + -0.0014839472046646283 + ], + [ + 0.02838475867377911, + -0.08265685936631056, + 0.9961737544598981, + -0.009325983920209396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995338773652027, + 0.011385094636187428, + -0.028326800373656313, + 0.02196003752929367 + ], + [ + -0.008879330594526195, + 0.9961632212219151, + 0.08706316197434501, + -0.0012551535761841086 + ], + [ + 0.029209339045535253, + -0.0867710568386889, + 0.9957999790156756, + -0.009838954455576412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9994958364047701, + 0.011753040219320394, + -0.029494729277161878, + 0.023622251274880022 + ], + [ + -0.009005293092066853, + 0.995753115958368, + 0.09162225032997078, + -0.0009119631334633288 + ], + [ + 0.03044630857519522, + -0.09131044904502932, + 0.9953569330593623, + -0.010608410258626938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9994562583022139, + 0.012130297867225139, + -0.030660130694295115, + 0.02528446502046637 + ], + [ + -0.009129640066119736, + 0.9953221293330262, + 0.09617956400522051, + -0.000568772690742549 + ], + [ + 0.031683393328397855, + -0.09584735120817685, + 0.9948916764420008, + -0.011377866061677462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9994226030678784, + 0.012430980886465989, + -0.031621688620729275, + 0.026831938155671253 + ], + [ + -0.009193295678091481, + 0.9948898256255347, + 0.10054709434572608, + -0.00018002361319912412 + ], + [ + 0.03270999528586372, + -0.10019833122858621, + 0.9944296609752775, + -0.011861896898762185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.999409649762388, + 0.012555304975123471, + -0.03197993556595894, + 0.027710599431965886 + ], + [ + -0.009156457192493318, + 0.9945045532324285, + 0.10429215163016858, + 0.00013988728492668608 + ], + [ + 0.033113611302654423, + -0.10393775982264424, + 0.9940324093456647, + -0.011804017502197596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9993899161880412, + 0.012693579718789578, + -0.03253718573544281, + 0.029028591346407832 + ], + [ + -0.00910082657603449, + 0.994078721860754, + 0.10828051394098158, + 0.0006197536321154014 + ], + [ + 0.033718991344536285, + -0.1079183384676251, + 0.9935877725923836, + -0.011717198407350714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9993698182903048, + 0.01283607422263053, + -0.033093828562956215, + 0.03034658326084978 + ], + [ + -0.009044748538808187, + 0.993636900399232, + 0.11226710421524458, + 0.0010996199793041166 + ], + [ + 0.03432431811810606, + -0.11189703018202932, + 0.9931268276620913, + -0.011630379312503832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.999356217298924, + 0.012969910036081627, + -0.03345044662843361, + 0.03122524453714441 + ], + [ + -0.009007114638679384, + 0.9932075196468582, + 0.1160073049545659, + 0.001419530877429927 + ], + [ + 0.034727839435695164, + -0.11563132945094039, + 0.9926849312936792, + -0.011572499915939243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9993437301492424, + 0.013007193035827083, + -0.03380712854898317, + 0.03267218178104671 + ], + [ + -0.00887030303518668, + 0.9927637912748642, + 0.11975546942675422, + 0.001995495679164758 + ], + [ + 0.0351201756183351, + -0.1193769980477271, + 0.9922276480735913, + -0.011869444806729215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9993351998466443, + 0.01299037251331578, + -0.03406477020960982, + 0.03418359168967918 + ], + [ + -0.008693331234259083, + 0.9923208571869298, + 0.12338453056947278, + 0.0026195097081726476 + ], + [ + 0.03540599298875384, + -0.12300636818377736, + 0.9917740917400081, + -0.012358271690337614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9993265598716055, + 0.012975494760376814, + -0.034322926316190897, + 0.03569500159831165 + ], + [ + -0.00851624948659554, + 0.9918646334062912, + 0.12701189901928953, + 0.003243523737180537 + ], + [ + 0.03569173895827012, + -0.12663406150608758, + 0.9913071745108111, + -0.012847098573946013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9993207389602136, + 0.013004278059173823, + -0.0344811460971482, + 0.03670260820406663 + ], + [ + -0.008398133929223657, + 0.9914113290721092, + 0.13051071961330052, + 0.003659533089852463 + ], + [ + 0.03588219656765748, + -0.1301324914832357, + 0.9908471136506611, + -0.013172983163018279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9993180215461306, + 0.01289427646244227, + -0.034601003564025616, + 0.0381579203397247 + ], + [ + -0.00814386659271701, + 0.9909377876576357, + 0.13407452565312658, + 0.004158627353740004 + ], + [ + 0.036016235922811723, + -0.13370130375841882, + 0.9903669987046478, + -0.013567641359293623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9993273498717845, + 0.012587008513545536, + -0.034444375664487104, + 0.03950103692943395 + ], + [ + -0.007735579587981703, + 0.9904692733714876, + 0.13751646925148825, + 0.0044078820873868505 + ], + [ + 0.03584701670536029, + -0.1371575215715035, + 0.9899004018938917, + -0.013773962180902854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9993334617620594, + 0.01241911040528376, + -0.03432780067816608, + 0.040396447989240115 + ], + [ + -0.007463406486170931, + 0.9899970927978838, + 0.14089021901949147, + 0.004574051909818081 + ], + [ + 0.035734154058557316, + -0.14054010797092575, + 0.9894299107492354, + -0.013911509395309008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999342469105625, + 0.012110168039542747, + -0.03417562394349611, + 0.04173956457894937 + ], + [ + -0.007055174256990801, + 0.9895046129588649, + 0.14432894875710464, + 0.004823306643464927 + ], + [ + 0.03556478536525591, + -0.1439929330320814, + 0.9889394224515181, + -0.01411783021691824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9993512838570838, + 0.011800341092738519, + -0.03402592251936431, + 0.04308268116865862 + ], + [ + -0.006646975021867821, + 0.9890000135803437, + 0.14776600035576173, + 0.005072561377111772 + ], + [ + 0.03539532703984272, + -0.14744397270887455, + 0.9884368698786826, + -0.014324151038527471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9993669609579042, + 0.011538785256546122, + -0.033653139237905666, + 0.04371609835928059 + ], + [ + -0.006329798750841936, + 0.9885185462928378, + 0.1509669410264007, + 0.005466664753774291 + ], + [ + 0.03500872739098627, + -0.15065835545995523, + 0.9879658136477018, + -0.014404231016365874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9993900070464687, + 0.011087963155211671, + -0.033116021631952194, + 0.04466622414521355 + ], + [ + -0.005854007484551004, + 0.9880302484202913, + 0.15414914467134877, + 0.006057819818768068 + ], + [ + 0.03442883111623277, + -0.1538612533408144, + 0.9874924659501783, + -0.014524350983123479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9994124896482697, + 0.010633767028724733, + -0.03258218123187346, + 0.04561634993114651 + ], + [ + -0.0053781842257796374, + 0.9875314396402392, + 0.15733000621785612, + 0.006648974883761846 + ], + [ + 0.03384893897127967, + -0.15706234023742252, + 0.9870084450548856, + -0.014644470949881083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9994271649949749, + 0.010364252729659148, + -0.032216830003327694, + 0.046249767121768474 + ], + [ + -0.005060951079240422, + 0.987018542355891, + 0.1605265829070874, + 0.007043078260424365 + ], + [ + 0.03346234666428967, + -0.1602715798605861, + 0.9865055965602583, + -0.014724550927719486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9994531352377759, + 0.009842992305047127, + -0.03156811628626591, + 0.047128064694129966 + ], + [ + -0.004546326128707216, + 0.9865068458229802, + 0.16365687905837245, + 0.007699402492792157 + ], + [ + 0.03275303622737681, + -0.1634238619262135, + 0.9860121094444078, + -0.014837415014323684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9994869103686651, + 0.009195105528066308, + -0.030681688937017483, + 0.047862705839348534 + ], + [ + -0.0039540644987167, + 0.9860013159612553, + 0.16669064249865148, + 0.008486065059907977 + ], + [ + 0.0317849237161294, + -0.1664837978813583, + 0.9855317669498833, + -0.014935767340621074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9995193941132462, + 0.008541669932556993, + -0.029799675606504754, + 0.048597346984567094 + ], + [ + -0.0033616110649039286, + 0.9854860139700526, + 0.1697233508992384, + 0.009272727627023799 + ], + [ + 0.03081688437428382, + -0.16954160593842724, + 0.9850410973625828, + -0.015034119666918463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9995403324847825, + 0.00813483743666075, + -0.029205276168697124, + 0.04908710774804614 + ], + [ + -0.00296653593937726, + 0.9849491199284378, + 0.17281906959799426, + 0.009797169338434346 + ], + [ + 0.030171566096759854, + -0.17265299178431603, + 0.9845205031014813, + -0.015099687884450055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9995706638239544, + 0.007471250040619636, + -0.028331403872211, + 0.0498217488932647 + ], + [ + -0.002373764578823467, + 0.9844142248355529, + 0.17584936503480106, + 0.010583831905550166 + ], + [ + 0.029203651557024753, + -0.17570661445787672, + 0.9840093151853226, + -0.015198040210747445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9996064485132046, + 0.006628089362413642, + -0.027258329409961677, + 0.05073719284704184 + ], + [ + -0.0016505213650900138, + 0.9838993099052038, + 0.17871604222141718, + 0.011501801295889149 + ], + [ + 0.028003997393970453, + -0.17860071780221895, + 0.983523034672036, + -0.01542918958346476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9996292109249371, + 0.0060912720243185715, + -0.026539349477965435, + 0.0513474888162266 + ], + [ + -0.001168118973938601, + 0.9833534042140019, + 0.1816995264682791, + 0.01211378088944847 + ], + [ + 0.02720434089719056, + -0.18160115315123937, + 0.9829959028452202, + -0.015583289165276305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9996617134179903, + 0.005235980277138965, + -0.025476326986934857, + 0.05226293277000374 + ], + [ + -0.0004441561351864068, + 0.9828203293881491, + 0.18456435968706847, + 0.013031750279787455 + ], + [ + 0.02600502742808378, + -0.18449060857373586, + 0.9824901800509546, + -0.015814438537993622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9996922465014731, + 0.004374148712025457, + -0.024418826914562652, + 0.05317837672378088 + ], + [ + 0.00028023646009900187, + 0.9822782305699209, + 0.18742838423235647, + 0.013949719670126438 + ], + [ + 0.02480592171971674, + -0.187377545537, + 0.9819747052119852, + -0.016045587910710937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9997257356848696, + 0.0033668400545812088, + -0.02317580197950624, + 0.05376399980685385 + ], + [ + 0.0011025206746217448, + 0.9817483362740141, + 0.1901814624808819, + 0.014639008230547933 + ], + [ + 0.023393115600715726, + -0.19015485429315743, + 0.9814753657281672, + -0.01606339778545859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9997481157685131, + 0.0026689903504913143, + -0.022284108862973127, + 0.05404447490533443 + ], + [ + 0.0016835993127448752, + 0.9811874075625007, + 0.19305034766643983, + 0.01502230699418977 + ], + [ + 0.02238013652018187, + -0.1930392388383464, + 0.9809357684160823, + -0.016004157869300473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9997791188286262, + 0.0015776195881893967, + -0.02095768762747602, + 0.05446518755305531 + ], + [ + 0.0025558788699256377, + 0.9806510600886762, + 0.19574719877985003, + 0.015597255139652521 + ], + [ + 0.020860993204019986, + -0.1957575272202599, + 0.9804304205292446, + -0.015915297995063298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9998070413188609, + 0.0004782656381444693, + -0.019638008840142093, + 0.05488590020077618 + ], + [ + 0.0034289497522838955, + 0.98010628891772, + 0.1984437066967145, + 0.016172203285115275 + ], + [ + 0.019342244772064095, + -0.19847275300633765, + 0.9799155289519926, + -0.01582643812082612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9998239448380736, + -0.00023858888341779812, + -0.018762260092481567, + 0.05516637529925677 + ], + [ + 0.004011435189632844, + 0.9795194125428495, + 0.2013097832680538, + 0.01655550204875711 + ], + [ + 0.018329967707352682, + -0.20134960523193515, + 0.9793479201779068, + -0.015767198204668004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9998495533928387, + -0.0014869400823888349, + -0.017281770433969796, + 0.055620226454884646 + ], + [ + 0.004977806103158662, + 0.9790082498248982, + 0.20375982975353457, + 0.01719749061803321 + ], + [ + 0.016616017168395184, + -0.203815200080812, + 0.9788683630547461, + -0.015519812523712737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.999871271253232, + -0.0027438518618394473, + -0.015808611558452194, + 0.05607407761051253 + ], + [ + 0.005945489958779555, + 0.9784896964433052, + 0.2062100024330494, + 0.017839479187309312 + ], + [ + 0.014902753825914177, + -0.2062774472191482, + 0.9783800502346496, + -0.01527242684275747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.999883588281228, + -0.0035703508143796153, + -0.01483450305598277, + 0.056376645047597776 + ], + [ + 0.006591339802548823, + 0.9779125786908651, + 0.20891036996231122, + 0.018267471566826714 + ], + [ + 0.013760963827546345, + -0.20898382959751854, + 0.9778222716022028, + -0.015107503055453957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9998988214435598, + -0.004843040479512066, + -0.013375045222134369, + 0.05683049620322566 + ], + [ + 0.00756120226587679, + 0.9773790099491241, + 0.21136011717248004, + 0.018909460136102816 + ], + [ + 0.012048862854013718, + -0.21143986348317528, + 0.9773167393604498, + -0.01486011737449869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9999107810015194, + -0.006201638298470365, + -0.011830879905843453, + 0.05725846683614381 + ], + [ + 0.008586111281117782, + 0.9768836533338948, + 0.21359917261565245, + 0.01938079878482426 + ], + [ + 0.010232728375160104, + -0.2136816967628205, + 0.9768497447092682, + -0.014511356098969865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9999164711089038, + -0.007126231610935624, + -0.010782746781065247, + 0.05753515375051933 + ], + [ + 0.009288340872184405, + 0.9763299218148115, + 0.21608704378774493, + 0.019638141243787002 + ], + [ + 0.008987631999552482, + -0.216169148104238, + 0.9763145609274345, + -0.014245056717092796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9999211505367296, + -0.008539697572119259, + -0.009206860196612583, + 0.057950184122082624 + ], + [ + 0.010343364052081042, + 0.9758445377664156, + 0.21822111018766518, + 0.020024154932231114 + ], + [ + 0.007120921947988642, + -0.21829913347704277, + 0.9758559221492603, + -0.013845607644277192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9999212030624703, + -0.009961783707174328, + -0.0076387519578607, + 0.058365214493645914 + ], + [ + 0.011400396332143209, + 0.975352949191518, + 0.2203557475240395, + 0.02041016862067523 + ], + [ + 0.005255342954774719, + -0.22042546896577006, + 0.975389662648548, + -0.013446158571461588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9999166662897154, + -0.011392947156475933, + -0.006071345085872613, + 0.058754521574109604 + ], + [ + 0.012457907353387, + 0.9748829846578966, + 0.2223689878757511, + 0.020786603806019262 + ], + [ + 0.003385412890096077, + -0.22242609329752944, + 0.9749436763218492, + -0.013083258754474183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9999111006348871, + -0.012346818050857562, + -0.005034571595263634, + 0.05897976190628594 + ], + [ + 0.013162233222940968, + 0.9743593914426357, + 0.2246119585510124, + 0.021024789258781842 + ], + [ + 0.0021322391314593436, + -0.2246582568960149, + 0.9744352832100912, + -0.012890057884253512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9998988444877301, + -0.013794249339123718, + -0.003466911777367051, + 0.05931762240455045 + ], + [ + 0.014220984181999146, + 0.9739347362068957, + 0.22638218396883616, + 0.021382067437925714 + ], + [ + 0.00025377351574105674, + -0.22640858706059436, + 0.9740323851413916, + -0.012600256578922504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998818992194931, + -0.015249665489287112, + -0.0019066503834906593, + 0.05965548290281495 + ], + [ + 0.015282443294558683, + 0.9735052835694108, + 0.22815325943187942, + 0.021739345617069583 + ], + [ + -0.0016231266643788997, + -0.22815545263023349, + 0.9736233639836944, + -0.012310455273591498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998679973625962, + -0.016223401863812544, + -0.0008883029195109055, + 0.05988072323499129 + ], + [ + 0.0159915836516108, + 0.9729655645204897, + 0.23039591903859405, + 0.021977531069832162 + ], + [ + -0.002873517430798404, + -0.23037971154007922, + 0.9730965683878886, + -0.012117254403370827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9998435615289248, + -0.01767584841706927, + 0.0006456406831727179, + 0.06001458815653039 + ], + [ + 0.017044436333190346, + 0.9725969360016475, + 0.23187213560557662, + 0.02239693409996695 + ], + [ + -0.0047264848713181, + -0.23182485730167915, + 0.972746059296987, + -0.011763196822077233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.999814723193406, + -0.019126556704485008, + 0.002166590483580244, + 0.060046455289706785 + ], + [ + 0.018094087724188846, + 0.9722600769502184, + 0.23320151534281475, + 0.0228473995555972 + ], + [ + -0.006566831437061516, + -0.2331191060324868, + 0.9724260173028547, + -0.011377011102802346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9997813452196025, + -0.02058430217876348, + 0.0036807953889822723, + 0.06007832242288319 + ], + [ + 0.01914721365968561, + 0.9719198193523112, + 0.23453197854288774, + 0.023297865011227447 + ], + [ + -0.008405115106442542, + -0.23441022002887282, + 0.972101436469499, + -0.010990825383527459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9997565713498714, + -0.0215651258166357, + 0.004662980941673269, + 0.060099567178334125 + ], + [ + 0.01985122364164242, + 0.9714337036080981, + 0.23647936149732698, + 0.023598175314980947 + ], + [ + -0.009629484029751173, + -0.23632922976806453, + 0.9716253229483856, + -0.0107333682373442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9997171103753748, + -0.022977695688257627, + 0.0061420455525189495, + 0.06011979835955697 + ], + [ + 0.020860504399970507, + 0.9711269026114749, + 0.2376496967816757, + 0.023989666667343177 + ], + [ + -0.011425348086172349, + -0.2374543419798876, + 0.9713315072085374, + -0.010344297833730969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9996765403973545, + -0.024279571871222125, + 0.007570797113049258, + 0.060116757636872686 + ], + [ + 0.02177443144398891, + 0.970898847744043, + 0.23849801169942958, + 0.024263209813169373 + ], + [ + -0.013141107809763323, + -0.23825601742461905, + 0.9711134750617418, + -0.009949458061441045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996473598261051, + -0.025160036099711673, + 0.008492854417629416, + 0.06011473048841651 + ], + [ + 0.02238598633194069, + 0.9704843408260703, + 0.2401229098343897, + 0.024445571910386835 + ], + [ + -0.014283683301025914, + -0.23984811192679728, + 0.9707053412835983, + -0.009686231546581096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9996003884045179, + -0.0264732450978586, + 0.009911145015883565, + 0.060111689765732224 + ], + [ + 0.02330671736813787, + 0.9702520050829081, + 0.2409727029315112, + 0.02471911505621303 + ], + [ + -0.015995637750927865, + -0.24064541118954527, + 0.9704812855724504, + -0.009291391774291172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9995495767125646, + -0.027792287140690868, + 0.011323977623712416, + 0.06010864904304795 + ], + [ + 0.024231518916894467, + 0.9700176365506051, + 0.24182352712620533, + 0.024992658202039227 + ], + [ + -0.017705286914171597, + -0.24144020700013444, + 0.970254167349473, + -0.008896552002001248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9995186265403276, + -0.0285382931336464, + 0.01216885466899948, + 0.059748776000446105 + ], + [ + 0.024730122048918383, + 0.9697285403404521, + 0.24292998808838245, + 0.02520957239496678 + ], + [ + -0.018733292886803452, + -0.24251211077839827, + 0.9699674942303083, + -0.008523038986776185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9994696882886966, + -0.02964237878231742, + 0.013478559723547437, + 0.05920896643654335 + ], + [ + 0.025482114874528144, + 0.9696906639453096, + 0.24300345281256008, + 0.025534943684358113 + ], + [ + -0.020273233921034126, + -0.24253112302842778, + 0.969931776131163, + -0.007962769463938592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9994177350300164, + -0.030750747250209386, + 0.014784534183598898, + 0.05866915687264059 + ], + [ + 0.026239004506905767, + 0.9696518406315008, + 0.24307781182664417, + 0.02586031497374944 + ], + [ + -0.021810675137621107, + -0.2425483446727613, + 0.9698941153273097, + -0.007402499941100998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9993814248618442, + -0.031509087250468686, + 0.015618740722381425, + 0.05830928383003875 + ], + [ + 0.026746313046227693, + 0.9693596384042104, + 0.24418543398673972, + 0.026077229166676996 + ], + [ + -0.022834237003758504, + -0.243616643219427, + 0.9696027685433635, + -0.007028986925875936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.999328279517877, + -0.03254834551868617, + 0.016840277902598483, + 0.05767529737353456 + ], + [ + 0.027462584944262722, + 0.9693988236709644, + 0.2439502553668057, + 0.026397877203972606 + ], + [ + -0.024265122790121628, + -0.24332391142127152, + 0.9696415203293606, + -0.006442735653232747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9992804825911571, + -0.033435340138542165, + 0.017905170823106983, + 0.056852957131827496 + ], + [ + 0.028086351066475446, + 0.9695961166158812, + 0.24309365998967067, + 0.026709078737076772 + ], + [ + -0.025488703304706272, + -0.24241585895568574, + 0.9698375520315874, + -0.00580452088097837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9992307216354055, + -0.03432470047300245, + 0.018967864334860727, + 0.056030616890120434 + ], + [ + 0.02871518162703869, + 0.9697919655297262, + 0.24223744949556547, + 0.027020280270180937 + ], + [ + -0.026709610332485118, + -0.24150643579712136, + 0.9700315655608625, + -0.005166306108723993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9991964570130304, + -0.0349403582315313, + 0.01963699720580122, + 0.05548239006231572 + ], + [ + 0.029137209554626294, + 0.9696575305244322, + 0.24272473404379474, + 0.02722774795891705 + ], + [ + -0.027522051376635714, + -0.2419575269833806, + 0.9698964335557223, + -0.004740829593887741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9991434248405753, + -0.03583479426866929, + 0.020695026396899522, + 0.05466004982060866 + ], + [ + 0.029774453675748543, + 0.9698518876298369, + 0.24186938204153377, + 0.027538949492021216 + ], + [ + -0.028738449960930838, + -0.24104601963227862, + 0.9700880980165042, + -0.004102614821633365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 673.7600708007812, + "fy": 673.7603187561035, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/source/scene_004/caption.txt b/spatialvid_eval/source/scene_004/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..01fdc02ee6377e9ba1313c65b2f3d15ac837492c --- /dev/null +++ b/spatialvid_eval/source/scene_004/caption.txt @@ -0,0 +1 @@ +A cyclist rides along a green bike lane in a bustling city, navigating past parked cars and pedestrians on a tree-lined street adorned with festive lights. diff --git a/spatialvid_eval/source/scene_004/transforms.json b/spatialvid_eval/source/scene_004/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..f09232ff2f795d11e0b3f4f1c67bf4e36a680fa1 --- /dev/null +++ b/spatialvid_eval/source/scene_004/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": [ + [ + 0.9999996471671831, + 0.0007494622069697834, + 0.0003794363052287155, + -0.0011364457904765055 + ], + [ + -0.0007493237998539951, + 0.9999996527241984, + -0.0003647812025876766, + -0.0006017572634506877 + ], + [ + -0.0003797095631848208, + 0.0003644967532268608, + 0.9999998614813728, + 0.0017122257871486724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9991426526845777, + 0.007753629633444848, + -0.04066744169397187, + 0.017741839146695842 + ], + [ + -0.007337346392763148, + 0.999919252208253, + 0.01037556799412538, + -0.007878832545067509 + ], + [ + 0.04074460619932215, + -0.010068281422143466, + 0.999118865188155, + 0.013796910728452206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9976080882883033, + 0.012658107533855049, + -0.06795494459874456, + 0.030327362438144077 + ], + [ + -0.011481214056558033, + 0.9997777492494538, + 0.01768145439391172, + -0.012730216066145389 + ], + [ + 0.06816365531237724, + -0.01685895665092736, + 0.9975316995840773, + 0.021853367355987894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9938645390892468, + 0.020357307963012317, + -0.10871457102623373, + 0.04920564737531643 + ], + [ + -0.0173162896696251, + 0.9994339313066487, + 0.028843769951490968, + -0.020007291347762208 + ], + [ + 0.10924021261878146, + -0.026784267125235545, + 0.9936544565298177, + 0.033938052297291424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9904106926613632, + 0.025712285118743555, + -0.13574070228200352, + 0.061791170666764664 + ], + [ + -0.020947865255071762, + 0.9991172847778281, + 0.03641206118082077, + -0.024858674868840087 + ], + [ + 0.1365571191966733, + -0.03321941679429241, + 0.9900750595508165, + 0.04199450892482711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9865087399345726, + 0.030619842661953424, + -0.16081956121087815, + 0.07408940629651865 + ], + [ + -0.02390676468023155, + 0.9987667533235497, + 0.043513665187616624, + -0.029593765190275192 + ], + [ + 0.16195361260319635, + -0.03908193560832399, + 0.986024152682824, + 0.050200249448168005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9871281306180701, + 0.02938202599847576, + -0.15720925637728803, + 0.07351483097313016 + ], + [ + -0.022978820743420156, + 0.9988366643105075, + 0.04239447872424979, + -0.029361178790989644 + ], + [ + 0.15827200491469343, + -0.03823629921009614, + 0.9866549335421173, + 0.05049881723977843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9880297014275017, + 0.027531061209821284, + -0.15178718577582112, + 0.07265296798804743 + ], + [ + -0.021579037414654004, + 0.9989374672057029, + 0.040722005806600695, + -0.029012299192061317 + ], + [ + 0.15274702694762843, + -0.03695912987770318, + 0.987573981267907, + 0.05094666892719406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9886123912478901, + 0.026300953376914994, + -0.14816814678801385, + 0.07207839266465894 + ], + [ + -0.020640625174477775, + 0.999001958523902, + 0.03961125418129899, + -0.028779712792775768 + ], + [ + 0.14906208258150624, + -0.03610189353585358, + 0.9881685831980243, + 0.05124523671880448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9894588667844222, + 0.024461643465010396, + -0.14273324399269438, + 0.07121652967957622 + ], + [ + -0.01922520900936256, + 0.9990946270249442, + 0.037951516286363125, + -0.028430833193847444 + ], + [ + 0.1435323736312949, + -0.034807387849111505, + 0.9890333176748335, + 0.05169308840622012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9902794787285069, + 0.022542312225119782, + -0.13725304429681084, + 0.0702915919036936 + ], + [ + -0.017688829342657583, + 0.9991778452172527, + 0.03647929472309409, + -0.02814151179960985 + ], + [ + 0.13796252870139575, + -0.03369685128544266, + 0.9898640628327526, + 0.052127442695129186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.99081005544383, + 0.021236998917406887, + -0.13358302253047252, + 0.06965394178950522 + ], + [ + -0.01662284281015007, + 0.9992291968907618, + 0.0355625249096899, + -0.027968483605015033 + ], + [ + 0.13423529762437195, + -0.03301517769186365, + 0.9903993552671928, + 0.052412513088233054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9915773451057298, + 0.019283733834955706, + -0.12807226976381364, + 0.06869746661822267 + ], + [ + -0.015017367576905255, + 0.9993023555376244, + 0.03419474942174116, + -0.027708941313122803 + ], + [ + 0.1286423233004309, + -0.03198343049671403, + 0.9911751675811543, + 0.05284011867788885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9920698093084865, + 0.017984724156931586, + -0.124394707104533, + 0.06805981650403428 + ], + [ + -0.013942745499482581, + 0.9993485475858258, + 0.03328783991245844, + -0.027535913118527985 + ], + [ + 0.12491234249088491, + -0.031289457251602884, + 0.9916742794679815, + 0.053125189070992715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9927798925087232, + 0.016041012291163628, + -0.11887291935105729, + 0.06710334133275173 + ], + [ + -0.012324397589135894, + 0.9994139632314238, + 0.031934923236534095, + -0.027276370826635758 + ], + [ + 0.11931552394568418, + -0.03023931253737693, + 0.9923957828018184, + 0.05355279466064851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9931717296023442, + 0.01529545577494019, + -0.11565450510604836, + 0.06651574966906669 + ], + [ + -0.011783130617026771, + 0.9994501732411131, + 0.03099208029757491, + -0.027096957662624842 + ], + [ + 0.11606495315792018, + -0.02941768585300505, + 0.9928058855624818, + 0.053934919803599914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9937389341185374, + 0.014182114726855257, + -0.11082327570879398, + 0.06563436217353913 + ], + [ + -0.010965439383823857, + 0.9995022357655506, + 0.029581072306209443, + -0.02682783791660847 + ], + [ + 0.11118763400699168, + -0.02818063735155438, + 0.9933997995381252, + 0.054508107518027024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9941033631894577, + 0.013443229317418127, + -0.107600106323967, + 0.0650467705098541 + ], + [ + -0.010416460783024845, + 0.9995354418563136, + 0.028642587485424333, + -0.026648424752597554 + ], + [ + 0.10793516869012341, + -0.027352880261935688, + 0.9937815752474038, + 0.05489023266097842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.994629435107918, + 0.012339935989963724, + -0.10276192289300475, + 0.06416538301432653 + ], + [ + -0.009587232450048241, + 0.9995829966220828, + 0.027238168770422868, + -0.026379305006581182 + ], + [ + 0.10305518808314794, + -0.026106681975710654, + 0.9943329771084566, + 0.05546342037540553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9949664292109827, + 0.011607776319016883, + -0.09953423668303397, + 0.0635777913506415 + ], + [ + -0.009030582810935099, + 0.999613196338727, + 0.026304111457495616, + -0.026199891842570266 + ], + [ + 0.09980106871793208, + -0.02527285568354276, + 0.9946863975386199, + 0.05584554551835694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9953234961474018, + 0.0106439224811007, + -0.09600960853544517, + 0.06278949277559964 + ], + [ + -0.008213894511284825, + 0.9996367236772842, + 0.025670072315883315, + -0.026166308300703062 + ], + [ + 0.09624796077772553, + -0.02476141332722171, + 0.9950493467442547, + 0.05648663493548448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9956671768884668, + 0.009681878326163837, + -0.09248315575837618, + 0.062001194200557774 + ], + [ + -0.007394940521576773, + 0.9996591255369727, + 0.025038921409233035, + -0.02613272475883586 + ], + [ + 0.09269405440282052, + -0.02424652475578233, + 0.99539937628855, + 0.05712772435261203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9958888582604039, + 0.009041527484969334, + -0.09013119755960285, + 0.061475661817196534 + ], + [ + -0.0068477180514591954, + 0.99967343469094, + 0.024619763010777347, + -0.02611033573092439 + ], + [ + 0.0903243641011512, + -0.023901354646916242, + 0.995625549338588, + 0.05755511729736373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.996210218240107, + 0.008082528923273694, + -0.08660181176051036, + 0.06068736324215467 + ], + [ + -0.006025013011507741, + 0.9996939600740095, + 0.02399344514145696, + -0.026076752189057185 + ], + [ + 0.08676923586277334, + -0.023380738178025655, + 0.9959540354805744, + 0.05819620671449127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9963780031793108, + 0.00755242763569389, + -0.08469849831736757, + 0.06022103232791789 + ], + [ + -0.005555261352096788, + 0.9997015272262787, + 0.02379066062042038, + -0.026074104640480027 + ], + [ + 0.08485289536438582, + -0.023233968629008013, + 0.996122567182386, + 0.05868076552215154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9965654827989957, + 0.006919772775631975, + -0.08251881748024728, + 0.05961033816024938 + ], + [ + -0.00497022635276961, + 0.9997042052347276, + 0.02380753842807059, + -0.02609974553661576 + ], + [ + 0.08265915160226953, + -0.0233156338265861, + 0.9963050967829371, + 0.05949335252800481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9966875964722925, + 0.006497902815906106, + -0.08106548153979999, + 0.059203208715137054 + ], + [ + -0.004580223236166603, + 0.999705783177015, + 0.02381950120254441, + -0.026116839467372914 + ], + [ + 0.08119640751530509, + -0.023369303400533246, + 0.9964241160596136, + 0.060035077198573664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.99686645716821, + 0.005864950229917366, + -0.07888516293766573, + 0.05859251454746855 + ], + [ + -0.003995251135020301, + 0.9997078389863278, + 0.023838511649320604, + -0.026142480363508646 + ], + [ + 0.07900192745287674, + -0.02344864661525836, + 0.9965986436026507, + 0.060847664204426936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9969828240216345, + 0.005442884827980393, + -0.07743141229885833, + 0.05818538510235621 + ], + [ + -0.003605292762134492, + 0.9997090021185129, + 0.023851896094576313, + -0.0261595742942658 + ], + [ + 0.07753870304529054, + -0.023500767816318362, + 0.9967123273252406, + 0.06138938887499579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.997090421850643, + 0.0049566521885881995, + -0.07606656461802351, + 0.0576538069905863 + ], + [ + -0.0031106115556341074, + 0.9996982150974381, + 0.024368069819871142, + -0.026304481905816062 + ], + [ + 0.07616439292383638, + -0.02406055548148303, + 0.9968049332344145, + 0.062266111972236575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.997140205230607, + 0.004681138958188984, + -0.07542876142902762, + 0.057325793601372556 + ], + [ + -0.002811230461828419, + 0.9996865537901105, + 0.02487752307893942, + -0.026440842551987746 + ], + [ + 0.07552157371210909, + -0.024594330836735543, + 0.9968408151729843, + 0.06287197273419294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9972139554546519, + 0.004267228268198264, + -0.07447226201341658, + 0.05683377351755194 + ], + [ + -0.002362774645790329, + 0.9996683963298645, + 0.02564204896747539, + -0.02664538352124527 + ], + [ + 0.07455698721421816, + -0.025394647904318047, + 0.9968933581458725, + 0.0637807638771275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9972865957506312, + 0.0038525491999358646, + -0.07351601050641404, + 0.05634175343373132 + ], + [ + -0.0019150585071516014, + 0.999649440298467, + 0.02640698888316732, + -0.026849924490502795 + ], + [ + 0.0735919729796076, + -0.026194548585986546, + 0.9969443651164016, + 0.06468955502006205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9973344059259339, + 0.003575669964265992, + -0.07287864804365728, + 0.056013740044517576 + ], + [ + -0.0016169923948639504, + 0.9996363593096597, + 0.026917178190218837, + -0.02698628513667448 + ], + [ + 0.07294839334734916, + -0.026727583699909848, + 0.9969775163852016, + 0.06529541578201842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9973621875653027, + 0.0034453344301733036, + -0.0725037687683803, + 0.05554398345481994 + ], + [ + -0.0014584030357867757, + 0.9996223982753988, + 0.02743964151962951, + -0.027182046610585084 + ], + [ + 0.07257092996193246, + -0.027261521175547598, + 0.996990606569418, + 0.06630183195765883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9973806185329928, + 0.0033583325093418945, + -0.072253881400944, + 0.05523081239502152 + ], + [ + -0.0013527866871386894, + 0.9996129241747849, + 0.027787979252097014, + -0.02731255425985882 + ], + [ + 0.07231923494426697, + -0.02761744784538519, + 0.99699909971453, + 0.06697277607475244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9974081297876396, + 0.0032276623236847015, + -0.07187909869668262, + 0.05476105580532388 + ], + [ + -0.0011945270521612848, + 0.9995984629118596, + 0.028310528948949334, + -0.027508315733769426 + ], + [ + 0.0719416134003459, + -0.028151290204392224, + 0.997011488961478, + 0.06797919225039285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9974263804875555, + 0.0031404373552726883, + -0.0716292758633773, + 0.054447884745525456 + ], + [ + -0.0010891305844103088, + 0.999588655331336, + 0.028658924045778623, + -0.027638823383043163 + ], + [ + 0.07168981309826591, + -0.028507153244566773, + 0.9970195148099292, + 0.06865013636748646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9974400724346829, + 0.0028564952599134863, + -0.07145027877009895, + 0.05400550325521823 + ], + [ + -0.0007646286510862184, + 0.9995707376213542, + 0.029287468892483588, + -0.02789014548170419 + ], + [ + 0.07150326736954542, + -0.029157862163271635, + 0.9970140930947502, + 0.06967939667123366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9974309557862137, + 0.002463301882621867, + -0.07159204273685266, + 0.05374708239420063 + ], + [ + -0.0003261866629462465, + 0.9995544058599884, + 0.029847668722137673, + -0.028131774380478765 + ], + [ + 0.07163366556069278, + -0.029747636371998214, + 0.9969873098934701, + 0.07039602904454084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9974169223982792, + 0.00187366844873944, + -0.07180509926244417, + 0.05335945110267423 + ], + [ + 0.0003316135884069035, + 0.9995289625348971, + 0.030687832871358102, + -0.02849421772864063 + ], + [ + 0.07182877519471738, + -0.030632375364255074, + 0.9969464803255841, + 0.07147097760450163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9974024589267932, + 0.001284223590450992, + -0.07201864825554863, + 0.052971819811147826 + ], + [ + 0.0009895778742258243, + 0.9995023844168835, + 0.03152783342691561, + -0.028856661076802494 + ], + [ + 0.07202329944134434, + -0.03151720664548532, + 0.9969048650813419, + 0.07254592616446241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9973925776855523, + 0.0008913654585684003, + -0.07216128771986444, + 0.052713398950130226 + ], + [ + 0.0014283114791143476, + 0.9994840352464285, + 0.03208774242347045, + -0.02909828997557707 + ], + [ + 0.07215265694406836, + -0.032107144923453186, + 0.9968766851224761, + 0.0732625585377696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9973924828282642, + 0.0002492701868337745, + -0.07216767324810053, + 0.05223064353385793 + ], + [ + 0.0021219463465884983, + 0.9994603876252716, + 0.03277851295657279, + -0.029375085898000385 + ], + [ + 0.07213690138460932, + -0.03284617835176516, + 0.9968537485641067, + 0.07425927531473867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9973971836164665, + -0.00019645660042011902, + -0.07210283987988968, + 0.051877098548094434 + ], + [ + 0.0025961536691531378, + 0.9994457088554282, + 0.03318938138316145, + -0.029531067371036408 + ], + [ + 0.0720563536412092, + -0.03329018556984854, + 0.9968448452214909, + 0.07489767590505415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9974038285735358, + -0.0008651007140373459, + -0.07200593272507391, + 0.0513467810694492 + ], + [ + 0.0033074012298218544, + 0.9994229503550491, + 0.033805730294054405, + -0.029765039580590447 + ], + [ + 0.07193513636574461, + -0.03395611733346359, + 0.9968311382835502, + 0.07585527679052737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9974079877255065, + -0.0013108991514129184, + -0.07194155659124048, + 0.0509932360836857 + ], + [ + 0.0037815237113767997, + 0.9994072844665763, + 0.03421666017547946, + -0.02992102105362647 + ], + [ + 0.07185406112236194, + -0.034400018874395574, + 0.9968217657142451, + 0.07649367738084284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9974138202201885, + -0.001979649903840703, + -0.07184533540897295, + 0.05046291860504046 + ], + [ + 0.004492643120949173, + 0.9993830453172132, + 0.0348331004976707, + -0.03015499326318051 + ], + [ + 0.07173205274880531, + -0.0350657912893929, + 0.9968073549536498, + 0.07745127826631606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9974128158587064, + -0.002580472346543918, + -0.07184021104698184, + 0.05018100384700056 + ], + [ + 0.005141950435132158, + 0.9993566916146259, + 0.03549314399700709, + -0.03036472512724248 + ], + [ + 0.0717024065602321, + -0.0357707155021864, + 0.9967844404914901, + 0.07812206530397826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9974105770572281, + -0.003481710487265169, + -0.07183326852128019, + 0.04975813170994072 + ], + [ + 0.006115870366715668, + 0.9993155524733555, + 0.03648318399660512, + -0.03067932292333543 + ], + [ + 0.0716570785339802, + -0.03682803656123257, + 0.9967491955447066, + 0.07912824586047157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.997408596351941, + -0.004082538146509461, + -0.07182913618813133, + 0.04947621695190083 + ], + [ + 0.006765122148288937, + 0.9992870540219246, + 0.03714319300358745, + -0.030889054787397396 + ], + [ + 0.07162628739205706, + -0.03753287287785618, + 0.9967251167739103, + 0.07979903289813378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9974048930418106, + -0.004983781693777835, + -0.07182368172325694, + 0.04905334481484099 + ], + [ + 0.007738956167734233, + 0.9992426978700786, + 0.038133178608153795, + -0.031203652583490348 + ], + [ + 0.07157924205863621, + -0.038590059255671466, + 0.9966881254599934, + 0.08080521345462709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9974256664127146, + -0.006000807328928633, + -0.07145649230513353, + 0.04861044427542233 + ], + [ + 0.008814200605494244, + 0.9991955610168815, + 0.03912212560490538, + -0.031491705504889084 + ], + [ + 0.07116424557907318, + -0.039651244060697075, + 0.9966761906434811, + 0.08176906581278488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9974721762641224, + -0.006833586344584557, + -0.07072877544950566, + 0.048288472712664815 + ], + [ + 0.009665919590960935, + 0.9991616883285442, + 0.03978053009845364, + -0.03164834761956261 + ], + [ + 0.07039763900427744, + -0.040363630586507035, + 0.9967020365929325, + 0.08235519645377609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9975395634721668, + -0.008083719770317327, + -0.06963815608152066, + 0.047805515368528534 + ], + [ + 0.010942534388461832, + 0.9991086667160097, + 0.040769265802992546, + -0.0318833107915729 + ], + [ + 0.0692465179551765, + -0.041430973529869033, + 0.9967388796387201, + 0.08323439241526288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9975829031174491, + -0.00891778320678313, + -0.06891171562542162, + 0.04748354380577101 + ], + [ + 0.011792966305994954, + 0.999071844010692, + 0.04142917390898776, + -0.03203995290624643 + ], + [ + 0.06847829841247394, + -0.04214170912234459, + 0.9967621576879713, + 0.08382052305625408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9976455346566615, + -0.010169836461049266, + -0.0678230167861902, + 0.04700058646163473 + ], + [ + 0.01306764356046802, + 0.999014397667507, + 0.04242015965086691, + -0.03227491607825672 + ], + [ + 0.0673247641763481, + -0.04320656986366762, + 0.9967951486886437, + 0.08469971901774088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9977070662029948, + -0.011064103989775193, + -0.06676972106813661, + 0.04677015638236369 + ], + [ + 0.01396567152349939, + 0.9989711086998446, + 0.043147236318229906, + -0.032450996584904496 + ], + [ + 0.0662236367735195, + -0.04398078655398173, + 0.9968350517244978, + 0.08535731205443411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9978266045308658, + -0.012495815727990568, + -0.06469870075739702, + 0.04656182348868685 + ], + [ + 0.015384126081397588, + 0.9988981057588536, + 0.04433850444123869, + -0.03274427493283752 + ], + [ + 0.06407336385047037, + -0.04523747230633233, + 0.99691934234632, + 0.08645089520302701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9979026903766054, + -0.013451724899808115, + -0.06331880949885901, + 0.04642293489290229 + ], + [ + 0.01632831592368359, + 0.9988474772572398, + 0.04513428049658432, + -0.032939793831459535 + ], + [ + 0.06263869920607626, + -0.04607350946116275, + 0.9969722288447673, + 0.08717995063542228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9980114089096463, + -0.014887732180226777, + -0.06125016829946555, + 0.04621460199922546 + ], + [ + 0.017742422499994758, + 0.9987685951434122, + 0.04633033346617387, + -0.03323307217939256 + ], + [ + 0.06048499094828976, + -0.04732492774199482, + 0.9970465972481931, + 0.08827353378401517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9981136343907564, + -0.01632630147492877, + -0.05918297663539027, + 0.04600626910554863 + ], + [ + 0.019153905197625734, + 0.9986861863589156, + 0.04752924459283778, + -0.03352635052732558 + ], + [ + 0.05832924445726841, + -0.04857317218419209, + 0.9971150115132201, + 0.08936711693260807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9982559210899847, + -0.017522018207322194, + -0.05637459433759589, + 0.04570373805067685 + ], + [ + 0.020262462905271297, + 0.9986218661343345, + 0.04841281932910066, + -0.033638347339976636 + ], + [ + 0.05544861229822378, + -0.04947067167849965, + 0.9972352300424807, + 0.0900004426923475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9984516671292223, + -0.01932027546758801, + -0.05216316097336591, + 0.045249941468369186 + ], + [ + 0.021920450651242224, + 0.9985214236804961, + 0.04974394731343418, + -0.03380634255895322 + ], + [ + 0.05112496699385948, + -0.050810367120616026, + 0.9973988892829915, + 0.09095043133195664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9985703732012888, + -0.02052221718941266, + -0.049356340689617854, + 0.04494741041349741 + ], + [ + 0.023022526774447723, + 0.9984518216327034, + 0.0506351966447865, + -0.03391833937160427 + ], + [ + 0.04824078176770034, + -0.05169911488572059, + 0.9974968814459895, + 0.09158375709169606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9987307423410492, + -0.022329754341863295, + -0.045147385017619335, + 0.04449361383118974 + ], + [ + 0.024670739200486763, + 0.9983434597239944, + 0.051977793851096035, + -0.03408633459058085 + ], + [ + 0.043911945188054316, + -0.05302563999950881, + 0.9976271961872551, + 0.0925337457313052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9988258601929774, + -0.023537844171500778, + -0.04234230628481364, + 0.04419108277631797 + ], + [ + 0.025766263245488318, + 0.9982685803050512, + 0.052876660769207225, + -0.034198331403231905 + ], + [ + 0.041024391380287656, + -0.053905579187091275, + 0.9977029557159692, + 0.09316707149104463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.998932896300144, + -0.025224074589000053, + -0.038688690214768603, + 0.04400038239060465 + ], + [ + 0.027312045659597824, + 0.9981442587073165, + 0.05442509505283098, + -0.034510521249343104 + ], + [ + 0.03724407135765119, + -0.05542368510619089, + 0.9977680563527558, + 0.09416612010727711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9989951202958847, + -0.026351274562297522, + -0.0362541025809925, + 0.043873248800129105 + ], + [ + 0.028339263308683887, + 0.9980586278851575, + 0.05546044950338537, + -0.03471864781341724 + ], + [ + 0.034722266344980976, + -0.05643213298236109, + 0.9978024747348191, + 0.09483215251809876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9990747548759432, + -0.028046620514980598, + -0.0326040066136502, + 0.043682548414415795 + ], + [ + 0.029875112380975243, + 0.9979260588054338, + 0.05701805694057162, + -0.03503083765952845 + ], + [ + 0.030937224015712465, + -0.05793934962305701, + 0.9978406285251463, + 0.09583120113433125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9991187096732684, + -0.029179868037651692, + -0.030171829280449494, + 0.04355541482394025 + ], + [ + 0.03089568101654233, + 0.997834931931719, + 0.05805949975108209, + -0.03523896422360258 + ], + [ + 0.02841233667524412, + -0.05894051168871093, + 0.9978570815535288, + 0.09649723354515291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9991813751550341, + -0.03029641837411237, + -0.026808703381470744, + 0.04328701081450203 + ], + [ + 0.03184727633609113, + 0.9977231547866852, + 0.05944962062517277, + -0.035512805479916115 + ], + [ + 0.02494655353485897, + -0.060254737873507214, + 0.9978712522317332, + 0.09746059350925315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9992541617059632, + -0.03024089011916175, + -0.024012681610223716, + 0.04286319955761399 + ], + [ + 0.031646423908418785, + 0.9976671328040729, + 0.06048798208164441, + -0.03570994955663431 + ], + [ + 0.022127452793348146, + -0.06120278332969392, + 0.9978800504798044, + 0.0983525761690889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9992982936445214, + -0.030205347044865726, + -0.022148528823548945, + 0.042580658719688635 + ], + [ + 0.03151089284394085, + 0.9976292329333187, + 0.061179876013735694, + -0.03584137894111311 + ], + [ + 0.020248060433681887, + -0.06183486562431923, + 0.9978809876142027, + 0.09894723127564609 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9993579024729985, + -0.030154246428291172, + -0.01935211066294874, + 0.042156847462800594 + ], + [ + 0.031305153417978654, + 0.9975715556783297, + 0.06221718951378535, + -0.036038523017831316 + ], + [ + 0.01742900267502259, + -0.06278306080352686, + 0.9978750007600626, + 0.09983921393548184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9993932487432508, + -0.030121655543604735, + -0.017487716652656592, + 0.041874306624875235 + ], + [ + 0.03116636603878127, + 0.9975325527641652, + 0.0629083762605974, + -0.036169952402310114 + ], + [ + 0.015549662194011734, + -0.06341523510262041, + 0.9978660811764932, + 0.10043386904203902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994456035895605, + -0.029132339120882898, + -0.01611807317409376, + 0.04145240207171928 + ], + [ + 0.030107098094261434, + 0.9974980368616918, + 0.06396271649495328, + -0.03643061941225551 + ], + [ + 0.014214362801127754, + -0.06441252420466942, + 0.9978221177222627, + 0.1013450130920869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9994804656487762, + -0.028159146057299845, + -0.015679964280221982, + 0.041171767937526006 + ], + [ + 0.029117402185123497, + 0.9974817416117877, + 0.06467110669460134, + -0.036625571729961504 + ], + [ + 0.013819394939545943, + -0.06509406765933744, + 0.9977834367632419, + 0.1019588295888562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9995306256325988, + -0.026699867708646467, + -0.015021500818727353, + 0.040750816736236095 + ], + [ + 0.027632281000189832, + 0.9974545872264639, + 0.06573281880165785, + -0.0369180002065205 + ], + [ + 0.013228207332544983, + -0.06611704383308295, + 0.9977241858577659, + 0.10287955433401015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9995626434727167, + -0.025727358608443593, + -0.014581659468914418, + 0.04047018260204282 + ], + [ + 0.02664181767125213, + 0.9974346766720876, + 0.0664400430705749, + -0.0371129525242265 + ], + [ + 0.012834925983682018, + -0.0667994669969801, + 0.9976838657029153, + 0.10349337083077945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9996085368794232, + -0.024269113599814065, + -0.01392060066443705, + 0.04004923140075291 + ], + [ + 0.02515555288549914, + 0.997402099475017, + 0.0675000009026197, + -0.03740538100078549 + ], + [ + 0.012246271138769598, + -0.06782375754783956, + 0.9976221563073306, + 0.1044140955759334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 555.0148518880208, + "fy": 555.0150489807129, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/source/scene_021/extras/temporal_mapping.json b/spatialvid_eval/source/scene_021/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..cd5ae5569d40f9c1ef3fab05f4bc893820a7649e --- /dev/null +++ b/spatialvid_eval/source/scene_021/extras/temporal_mapping.json @@ -0,0 +1,182 @@ +{ + "original_scene_id": "b0710ed1-f159-5fb8-a0b1-7e5854aa3076", + "original_video_path": "videos/group_0012/b0710ed1-f159-5fb8-a0b1-7e5854aa3076.mp4", + "original_video_num_frames": 450, + "original_annotation_num_frames": 75, + "source_frame_indices": [ + 0, + 6, + 11, + 17, + 22, + 28, + 33, + 39, + 44, + 50, + 56, + 61, + 67, + 72, + 78, + 83, + 89, + 94, + 100, + 105, + 111, + 117, + 122, + 128, + 133, + 139, + 144, + 150, + 155, + 161, + 166, + 172, + 178, + 183, + 189, + 194, + 200, + 205, + 211, + 216, + 222, + 228, + 233, + 239, + 244, + 250, + 255, + 261, + 266, + 272, + 278, + 283, + 289, + 294, + 300, + 305, + 311, + 316, + 322, + 327, + 333, + 339, + 344, + 350, + 355, + 361, + 366, + 372, + 377, + 383, + 388, + 394, + 400, + 405, + 411, + 416, + 422, + 427, + 433, + 438, + 444 + ], + "sampling": { + "method": "81 uniformly spaced integer frames over the annotated source-frame range", + "pose_interpolation": "linear camera-center interpolation and quaternion SLERP in c2w", + "intrinsic_interpolation": "linear interpolation of normalized fx, fy, cx, cy", + "annotated_source_frame_range": [ + 0, + 444 + ], + "timing": "variable timestamps; use timestamps_seconds instead of a scalar output FPS" + }, + "timestamps_seconds": [ + 0.0, + 0.2, + 0.36666666666666664, + 0.5666666666666667, + 0.7333333333333333, + 0.9333333333333333, + 1.1, + 1.3, + 1.4666666666666666, + 1.6666666666666667, + 1.8666666666666667, + 2.033333333333333, + 2.2333333333333334, + 2.4, + 2.6, + 2.7666666666666666, + 2.966666666666667, + 3.1333333333333333, + 3.3333333333333335, + 3.5, + 3.7, + 3.9, + 4.066666666666666, + 4.266666666666667, + 4.433333333333334, + 4.633333333333334, + 4.8, + 5.0, + 5.166666666666667, + 5.366666666666666, + 5.533333333333333, + 5.733333333333333, + 5.933333333333334, + 6.1, + 6.3, + 6.466666666666667, + 6.666666666666667, + 6.833333333333333, + 7.033333333333333, + 7.2, + 7.4, + 7.6, + 7.766666666666667, + 7.966666666666667, + 8.133333333333333, + 8.333333333333334, + 8.5, + 8.7, + 8.866666666666667, + 9.066666666666666, + 9.266666666666667, + 9.433333333333334, + 9.633333333333333, + 9.8, + 10.0, + 10.166666666666666, + 10.366666666666667, + 10.533333333333333, + 10.733333333333333, + 10.9, + 11.1, + 11.3, + 11.466666666666667, + 11.666666666666666, + 11.833333333333334, + 12.033333333333333, + 12.2, + 12.4, + 12.566666666666666, + 12.766666666666667, + 12.933333333333334, + 13.133333333333333, + 13.333333333333334, + 13.5, + 13.7, + 13.866666666666667, + 14.066666666666666, + 14.233333333333333, + 14.433333333333334, + 14.6, + 14.8 + ] +} diff --git a/spatialvid_eval/source/scene_052/caption.txt b/spatialvid_eval/source/scene_052/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..0b0a93de5870fe4fc7963303e4dfa271c3a47b0a --- /dev/null +++ b/spatialvid_eval/source/scene_052/caption.txt @@ -0,0 +1 @@ +Inside a bustling, modern café with a two-level layout, a man browses merchandise at a wooden display while a woman walks down a staircase, carrying a bag, and a man with a backpack stands nearby, observing the scene. The café is filled with patrons, and the upper level features a bar area with the sign "ARRIVIAMO" prominently displayed. The atmosphere is lively, with people moving about and engaging in various activities, creating a dynamic and inviting environment. diff --git a/spatialvid_eval/source/scene_052/transforms.json b/spatialvid_eval/source/scene_052/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5744aab1ee049e1b6f2395ee9120082305b0c91e --- /dev/null +++ b/spatialvid_eval/source/scene_052/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, + 0.00222208933408645 + ], + [ + 0.0008105414280049092, + 0.9999992053715807, + 0.0009655458564294232, + -2.4214928933510743e-05 + ], + [ + -0.004300343903756973, + -0.00096205163924221, + 0.9999902907023414, + 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, + -0.001144015985310554, + 0.006416694031802606, + 0.0033094944333154413 + ], + [ + 0.0011345582691327954, + 0.9999982650762126, + 0.0014773699938410829, + 2.5401721582911217e-06 + ], + [ + -0.0064183730342166675, + -0.0014700584988746293, + 0.9999783214728225, + 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, + -0.0018058987698508961, + 0.010650357252551984, + 0.005484304631773425 + ], + [ + 0.0017793354932570825, + 0.9999952842940345, + 0.0025030690952359564, + 5.605037434189485e-05 + ], + [ + -0.01065482731799869, + -0.002483972489006429, + 0.999940150476766, + 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, + -0.002472067228115251, + 0.014883147436116007, + 0.007659114830231408 + ], + [ + 0.0024197603558845605, + 0.9999908366410982, + 0.003531486040898561, + 0.00010956057652549858 + ], + [ + -0.01489174112740271, + -0.0034950704508851533, + 0.9998830034202694, + 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, + -0.002806754548635844, + 0.01699918947153534, + 0.008746519929460399 + ], + [ + 0.0027383367649352827, + 0.9999880627639534, + 0.004046707471284559, + 0.00013631567761730046 + ], + [ + -0.017010344662800037, + -0.003999557288008074, + 0.9998473142015001, + 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, + -0.003479327254569387, + 0.02123051610477395, + 0.010921330127918382 + ], + [ + 0.0033722098113984703, + 0.9999814149755907, + 0.0050791637504031635, + 0.0001898258798009042 + ], + [ + -0.021247793607981118, + -0.0050063944382272045, + 0.9997617052485666, + 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, + -0.004156153162854427, + 0.02546076440237406, + 0.013096140326376366 + ], + [ + 0.004001699588073383, + 0.9999733005855915, + 0.006114287886992962, + 0.00024333608198450792 + ], + [ + -0.025485496531814256, + -0.006010366614867239, + 0.9996571236977616, + 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": [ + [ + 0.9995777539565995, + -0.004569126204660821, + 0.02869558991910636, + 0.014149529196859873 + ], + [ + 0.0043785310983552195, + 0.9999679600617167, + 0.0067012920716484035, + 0.0003389295984537593 + ], + [ + -0.028725289563386006, + -0.006572817944739023, + 0.999565733608233, + 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, + -0.005400519296211359, + 0.03516357289004943, + 0.016256306937826884 + ], + [ + 0.005126474318895107, + 0.9999558198360786, + 0.007878936286933352, + 0.000530116631392262 + ], + [ + -0.035204569705086286, + -0.007693683596762668, + 0.999350511834858, + 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, + -0.005818930221330161, + 0.03839665935747673, + 0.01730969580831039 + ], + [ + 0.005497577820398796, + 0.9999490202675556, + 0.008469563392795547, + 0.0006257101478615133 + ], + [ + -0.038443985704443726, + -0.008252085617297832, + 0.999226682513093, + 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, + -0.006661157869788876, + 0.04486084483933693, + 0.019416473549277405 + ], + [ + 0.0062340282414214, + 0.9999339625922301, + 0.009654395190061997, + 0.000816897180800016 + ], + [ + -0.044922191795931696, + -0.009364797404881834, + 0.9989465937945908, + 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": [ + [ + 0.9986539085171235, + -0.007510562404569714, + 0.05132214391312582, + 0.02152325129024442 + ], + [ + 0.0069627763129251246, + 0.9999169607589554, + 0.010843953734215721, + 0.0010080842137385187 + ], + [ + -0.05139932635247959, + -0.01047201217248654, + 0.9986232754205014, + 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, + -0.007937944363747049, + 0.054551622400162675, + 0.022576640160727926 + ], + [ + 0.0073242519567809, + 0.9999077310129996, + 0.011440489225052763, + 0.00110367773020777 + ], + [ + -0.05463740294418709, + -0.011023542974607285, + 0.9984454094740491, + 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, + -0.008798044212920552, + 0.061008060055604676, + 0.024683417901694937 + ], + [ + 0.008041386624580543, + 0.9998878143689367, + 0.012637039909124858, + 0.001294864763146273 + ], + [ + -0.06111239706372831, + -0.01212242115001341, + 0.9980572738227936, + 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, + -0.009752508147947059, + 0.0673829157415922, + 0.026791395438819927 + ], + [ + 0.008841826036973493, + 0.9998656809750154, + 0.01380007683677615, + 0.0008379061988344503 + ], + [ + -0.06750845029584211, + -0.01317226606143583, + 0.9976317459591294, + 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": [ + [ + 0.9974567349461407, + -0.010275844123667626, + 0.07052991520008184, + 0.027845984105461415 + ], + [ + 0.009284827163488921, + 0.999853715745387, + 0.014364508160296264, + 0.00028535411805337657 + ], + [ + -0.07066720523077721, + -0.013673117336188013, + 0.9974062321678074, + 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, + -0.011327235528916032, + 0.07682087806055017, + 0.029955161438744382 + ], + [ + 0.010165449412540042, + 0.999828230248954, + 0.015497536432800461, + -0.000819750043508771 + ], + [ + -0.07698322680274285, + -0.014669823874789725, + 0.9969244600562874, + 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, + -0.012384882675364592, + 0.08310757245460916, + 0.03206433877202735 + ], + [ + 0.011038867501079812, + 0.9998006722716039, + 0.016636079151736406, + -0.0019248542050709187 + ], + [ + -0.08329704269945158, + -0.01565983417430366, + 0.9964017122983878, + 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, + -0.012916038265942247, + 0.08624923637214794, + 0.03311892743866884 + ], + [ + 0.011472863497944722, + 0.9997861164612508, + 0.017207403478957706, + -0.0024774062858519924 + ], + [ + -0.08645304056204998, + -0.016152315216179807, + 0.9961249793528589, + 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, + -0.013982985567594565, + 0.09252903254207348, + 0.035228104771951804 + ], + [ + 0.012335406588754327, + 0.9997554519621519, + 0.0183541280436801, + -0.00358251044741414 + ], + [ + -0.09276305025626189, + -0.017132203202452685, + 0.9955408098719933, + 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, + -0.015056076954840314, + 0.09880389982819596, + 0.03733728210523478 + ], + [ + 0.013190654287618316, + 0.9997227180419506, + 0.01950624695525227, + -0.0046876146089762875 + ], + [ + -0.09907019084464708, + -0.018105291423909153, + 0.9949157229175045, + 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, + -0.015594912591866907, + 0.10193940268954939, + 0.03839187077187626 + ], + [ + 0.013615531116438874, + 0.9997055754756117, + 0.020084314162880743, + -0.0052401666897573616 + ], + [ + -0.10222260235323381, + -0.018589272826768623, + 0.9945878435331413, + 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": [ + [ + 0.9938677725734153, + -0.01672668951444906, + 0.10930264634420035, + 0.04092392320928567 + ], + [ + 0.01447180133278864, + 0.9996664481576117, + 0.021390638001921432, + -0.005616002456411042 + ], + [ + -0.10962398280550846, + -0.01967765956185258, + 0.9937783314743914, + 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": [ + [ + 0.9930113861669612, + -0.017866478411982707, + 0.11665837257533168, + 0.043455975646695094 + ], + [ + 0.015318307724062553, + 0.9996248859271952, + 0.0227032350891507, + -0.005991838223064721 + ], + [ + -0.11702023923767063, + -0.020757562096654653, + 0.9929125778358144, + 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, + -0.018439356852943883, + 0.12033328423554489, + 0.044722001865399805 + ], + [ + 0.01573788422603414, + 0.999603192462481, + 0.02336186248792766, + -0.006179756106391562 + ], + [ + -0.12071631280051005, + -0.02129431233138763, + 0.9924586258812925, + 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, + -0.019591040471703774, + 0.1276769400496805, + 0.04725405430280922 + ], + [ + 0.016569653632916206, + 0.9995579823959808, + 0.02468372757428469, + -0.0065555918730452415 + ], + [ + -0.12810408450045152, + -0.022361372089216267, + 0.9915086043865625, + 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, + -0.02075057107770517, + 0.13501202007395574, + 0.04978610674021864 + ], + [ + 0.017391538377628066, + 0.9995103436647333, + 0.026011676225612207, + -0.006931427639698922 + ], + [ + -0.13548566771935922, + -0.023419793063895647, + 0.9905024720491532, + 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, + -0.021333258146782857, + 0.13867621211261788, + 0.051052132958923344 + ], + [ + 0.01779875918533118, + 0.999485614401872, + 0.026677907998473343, + -0.0071193455230257625 + ], + [ + -0.13917400576445177, + -0.023945744936316803, + 0.989978382298786, + 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, + -0.022504433863314608, + 0.14599763641922384, + 0.053584185396332765 + ], + [ + 0.01860572835131791, + 0.9994343378621938, + 0.028014838469549854, + -0.007495181289679442 + ], + [ + -0.14654550916362172, + -0.024991093582508634, + 0.9888881933694653, + 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, + -0.023635086047212345, + 0.15315357845499047, + 0.056293900946968276 + ], + [ + 0.01938634674047872, + 0.9993862736070125, + 0.029176114990652858, + -0.007318050247509977 + ], + [ + -0.1537491640500396, + -0.02585457084213035, + 0.9877716009890564, + 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, + -0.024202740669172544, + 0.15672804514604632, + 0.05764875872228603 + ], + [ + 0.0197734697884916, + 0.9993615064427063, + 0.029758853020381854, + -0.007229484726425245 + ], + [ + -0.15734822110123764, + -0.026283203470388868, + 0.9871933602550265, + 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, + -0.02534266810240317, + 0.16386972510935618, + 0.060358474272921535 + ], + [ + 0.02054131708274819, + 0.999310503736619, + 0.030928488714631084, + -0.00705235368425578 + ], + [ + -0.16454054797061582, + -0.027134227372757492, + 0.985997029294923, + 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, + -0.02591492530209882, + 0.1674368405746205, + 0.06171333204823929 + ], + [ + 0.020922030813142287, + 0.999284268893332, + 0.03151537036071493, + -0.006963788163171048 + ], + [ + -0.16813371928818494, + -0.02755660699189475, + 0.9853789554528837, + 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": [ + [ + 0.9842739291321742, + -0.027063987481772345, + 0.1745633782106038, + 0.0644230475988748 + ], + [ + 0.021677012370712397, + 0.9992303340227283, + 0.03269322106349914, + -0.0067866571210015835 + ], + [ + -0.17531383164311887, + -0.02839507264321245, + 0.9841030333680487, + 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, + -0.028219060878523758, + 0.18167933284843196, + 0.0671327631495103 + ], + [ + 0.02242336497435027, + 0.9991744480467247, + 0.033876467846430044, + -0.006609526078832119 + ], + [ + -0.18248530922883693, + -0.029225108616689473, + 0.9827741372980867, + 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, + -0.028798832022387085, + 0.18523321970188045, + 0.06848762092482806 + ], + [ + 0.022793292623118643, + 0.9991457743467385, + 0.03447009452341548, + -0.006520960557747387 + ], + [ + -0.1860676871957505, + -0.02963695124675689, + 0.9820898466547863, + 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, + -0.02999442352978182, + 0.19249250916780772, + 0.07134427815696921 + ], + [ + 0.02355323528319705, + 0.999086242885229, + 0.03566404891724707, + -0.006905660718180055 + ], + [ + -0.19338634035602628, + -0.030446901888262802, + 0.9806501463463461, + 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": [ + [ + 0.9793186738911709, + -0.031227597819033323, + 0.19989940495782174, + 0.074347877070616 + ], + [ + 0.02433072873828169, + 0.9990239639034796, + 0.03686645067867741, + -0.007852192081214855 + ], + [ + -0.2008555466177189, + -0.031240305392743934, + 0.9791226137271396, + 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, + -0.03184641237397958, + 0.2035979956069992, + 0.0758496765274394 + ], + [ + 0.024716023034315353, + 0.9989920569936181, + 0.037469831451810674, + -0.008325457762732254 + ], + [ + -0.20458606013521163, + -0.03163346459947674, + 0.9783372976207059, + 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": [ + [ + 0.9769290689137242, + -0.03308845008557666, + 0.21098518616788814, + 0.0788532754410862 + ], + [ + 0.025479677985935315, + 0.9989267107190316, + 0.038680907716718047, + -0.009271989125767054 + ], + [ + -0.2120386293133804, + -0.032412668557070645, + 0.9767236244690268, + 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, + -0.03433630405153521, + 0.2183586879987676, + 0.081856874354733 + ], + [ + 0.026234050116572916, + 0.9988593244377922, + 0.039897676601007896, + -0.010218520488801855 + ], + [ + -0.21947955033429364, + -0.033182347833720253, + 0.975052644105588, + 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, + -0.03496238884298064, + 0.22204016792713457, + 0.0833586738115564 + ], + [ + 0.026607741016378198, + 0.9988248675481832, + 0.040508173068648026, + -0.010691786170319253 + ], + [ + -0.22319550381834138, + -0.033563601322659314, + 0.9741956947870024, + 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, + -0.03621882728085722, + 0.22939231084190698, + 0.08636227272520319 + ], + [ + 0.02734810457418327, + 0.9987544288445542, + 0.041733344457255864, + -0.011638317533354054 + ], + [ + -0.23061811919099112, + -0.034318907526141695, + 0.9724389418811971, + 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, + -0.037483644307890515, + 0.23671616778104612, + 0.08918306084157862 + ], + [ + 0.028105562376177076, + 0.9986852738696443, + 0.04286958268321123, + -0.01263046178755892 + ], + [ + -0.2380118590387119, + -0.03496712978374707, + 0.9706326054649221, + 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, + -0.0381191426234658, + 0.24036575153876177, + 0.09050204950113067 + ], + [ + 0.0284943672812748, + 0.9986516666621871, + 0.04339262271488097, + -0.013149340360246385 + ], + [ + -0.24169574795676835, + -0.0352388938317885, + 0.9697120117752128, + 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, + -0.039393150255338724, + 0.24765354378407678, + 0.09314002682023474 + ], + [ + 0.029265980292862023, + 0.9985831552528266, + 0.04444304718183724, + -0.014187097505621317 + ], + [ + -0.24905340879688664, + -0.03577515560091256, + 0.9678287750466925, + 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, + -0.040671109909896225, + 0.25492581088473004, + 0.09577800413933882 + ], + [ + 0.03002955969562016, + 0.9985129178956499, + 0.04549921252068524, + -0.015224854650996246 + ], + [ + -0.25639721874666893, + -0.03630170263517177, + 0.9658895654290715, + 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, + -0.04131154819919402, + 0.2585559884262399, + 0.09709699279889085 + ], + [ + 0.0304083227007391, + 0.9984771532772819, + 0.04602942856285719, + -0.015743733223683713 + ], + [ + -0.2600637942432817, + -0.03656132339892974, + 0.9648990064017617, + 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": [ + [ + 0.9630855555821036, + -0.04259529448331948, + 0.26580416384434286, + 0.09973497011799493 + ], + [ + 0.031159767392855843, + 0.9984043347978558, + 0.04709408830070176, + -0.016781490369058644 + ], + [ + -0.2673860159491032, + -0.03707324027827173, + 0.962876052942504, + 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, + -0.043238583548372234, + 0.26942205484130494, + 0.10105395877754696 + ], + [ + 0.03153243799925379, + 0.9983672820105594, + 0.04762851629719031, + -0.017300368941746108 + ], + [ + -0.27104155418681447, + -0.0373255288452681, + 0.9618436883404794, + 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, + -0.044527946095766345, + 0.27664517666963495, + 0.10369193609665103 + ], + [ + 0.03227164825631091, + 0.998291892072643, + 0.04870152914276397, + -0.01833812608712104 + ], + [ + -0.2783412159147508, + -0.037822747633072216, + 0.9597372595062583, + 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, + -0.04567747017332266, + 0.28376840729656494, + 0.10602813098966053 + ], + [ + 0.03289176055593254, + 0.9982243348363887, + 0.04966195151200837, + -0.018085240293154798 + ], + [ + -0.28553296193013367, + -0.03823278774841155, + 0.9576059636366047, + 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, + -0.04625335138697908, + 0.28732368545255776, + 0.10719622843616528 + ], + [ + 0.03319909954152884, + 0.9981900679694752, + 0.050143872972939874, + -0.017958797396171677 + ], + [ + -0.28912297128765013, + -0.03843456377490592, + 0.9565200948130852, + 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, + -0.04740731100069882, + 0.2944213133222648, + 0.10953242332917479 + ], + [ + 0.033808321216043, + 0.9981205601874339, + 0.05111110200021067, + -0.017705911602205436 + ], + [ + -0.29629100609245135, + -0.03883161334281776, + 0.9543079930053593, + 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": [ + [ + 0.9522281505046911, + -0.04856414518976812, + 0.3015013651518055, + 0.11186861822218427 + ], + [ + 0.03441023884070983, + 0.9980497569943966, + 0.052082799716904764, + -0.0174530258082392 + ], + [ + -0.30344272087057966, + -0.03921997406186078, + 0.9520421780495055, + 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, + -0.04914361958408548, + 0.3050346734931503, + 0.11303671566868903 + ], + [ + 0.034708447861888224, + 0.9980138708810997, + 0.05257030697972456, + -0.017326582911256078 + ], + [ + -0.3070123304134814, + -0.039410889143719915, + 0.9508891685107076, + 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, + -0.05030464155209942, + 0.31208760247203204, + 0.11537291056169853 + ], + [ + 0.03529934500628529, + 0.9979411321860485, + 0.053548603467831836, + -0.017073697117289836 + ], + [ + -0.31413879865523386, + -0.039786175105715325, + 0.9485430277272107, + 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, + -0.05146837241720526, + 0.3191219451980868, + 0.11770910545470803 + ], + [ + 0.03588285283951626, + 0.9978671083402453, + 0.05453122926154375, + -0.016820811323323595 + ], + [ + -0.3212479262787302, + -0.040152717634069184, + 0.9461435034540027, + 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, + -0.05202721677206733, + 0.3226382159269486, + 0.11877687683904932 + ], + [ + 0.036173203561502595, + 0.9978338964793172, + 0.05494555833733377, + -0.01704929848204704 + ], + [ + -0.32479801262580116, + -0.04025771667463977, + 0.9449262231743145, + 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, + -0.05314602364796276, + 0.3296564563713157, + 0.12091241960773189 + ], + [ + 0.03674920460213963, + 0.997766693536116, + 0.05577742582009888, + -0.017506272799493926 + ], + [ + -0.331884580868098, + -0.040461406802244734, + 0.9424518552910756, + 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, + -0.054266268210171005, + 0.3366552952328309, + 0.12304796237641447 + ], + [ + 0.03731891108992429, + 0.9976984548324223, + 0.05661353283499951, + -0.017963247116940813 + ], + [ + -0.33895267302209764, + -0.04065667669078507, + 0.9399245289339118, + 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, + -0.054826909653699483, + 0.3401473142425646, + 0.12411573376075576 + ], + [ + 0.03760139370501552, + 0.997663948284729, + 0.05703316126926824, + -0.018191734275664256 + ], + [ + -0.3424796645058584, + -0.04075115054511975, + 0.9386410512699751, + 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, + -0.05594919088245687, + 0.34711630238039654, + 0.12625127652943832 + ], + [ + 0.038161597531842326, + 0.9975941632585454, + 0.05787553806488941, + -0.018648708593111147 + ], + [ + -0.3495192867531893, + -0.040933769336346036, + 0.9360345585048988, + 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": [ + [ + 0.9334777731230721, + -0.05707274986732924, + 0.35406489279194575, + 0.1283868192981209 + ], + [ + 0.03871542622400992, + 0.9975233523153071, + 0.0587220346882267, + -0.019105682910558034 + ], + [ + -0.3565394267924432, + -0.041107940938623085, + 0.9333754733944444, + 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, + -0.05763498848891542, + 0.3575314149165831, + 0.1294545906824622 + ], + [ + 0.038989940006025015, + 0.9974875633850135, + 0.05914681285205048, + -0.019334170069281478 + ], + [ + -0.3600420657766226, + -0.04119185591972643, + 0.9320262560020458, + 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, + -0.05866465573499176, + 0.36392029896731404, + 0.1315433830903226 + ], + [ + 0.039519823131855286, + 0.9974254044682784, + 0.05983933573259389, + -0.020005417923956444 + ], + [ + -0.36649380542185317, + -0.04124343206846529, + 0.9295059278448001, + 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": [ + [ + 0.9272122034657905, + -0.059598596520615756, + 0.36976416407879026, + 0.1335854251373608 + ], + [ + 0.040031205788290315, + 0.9973727165677034, + 0.06037521684843118, + -0.020890939315859492 + ], + [ + -0.37239096700544344, + -0.0411785325033856, + 0.9271619578874116, + 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, + -0.06006539456687743, + 0.3726803597544559, + 0.1346064461608799 + ], + [ + 0.040285608289437724, + 0.9973461442303617, + 0.060644359618850834, + -0.021333700011811015 + ], + [ + -0.3753339472202526, + -0.04114385694554961, + 0.9259760316010932, + 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, + -0.06099862220053173, + 0.3785011288753747, + 0.1366484882079181 + ], + [ + 0.040791822685372514, + 0.9972925441344291, + 0.06118503588201108, + -0.022219221403714063 + ], + [ + -0.3812085566619686, + -0.04107005604469822, + 0.9235763567914589, + 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, + -0.06193132688263097, + 0.38430620418917716, + 0.1386905302549563 + ], + [ + 0.041294565772472015, + 0.9972383386320081, + 0.06172888141004409, + -0.02310474279561711 + ], + [ + -0.38706783212429297, + -0.0409903246270265, + 0.921139667271783, + 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, + -0.06239747124444092, + 0.387202782755762, + 0.13971155127847543 + ], + [ + 0.041544629170712694, + 0.9972110095423354, + 0.06200198573130065, + -0.023547503491568634 + ], + [ + -0.389991645011242, + -0.04094823597977828, + 0.9199074729512583, + 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, + -0.06332932027709376, + 0.39298387423678316, + 0.14175359332551363 + ], + [ + 0.042042126945269806, + 0.9971559000774523, + 0.06255054358392109, + -0.024433024883471682 + ], + [ + -0.39582747223863624, + -0.04085961495128748, + 0.9174154479226978, + 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, + -0.06379501545939938, + 0.39586832828535184, + 0.14277461434903274 + ], + [ + 0.04228955625582345, + 0.9971281202633933, + 0.06282599152960379, + -0.024875785579423205 + ], + [ + -0.3987394271558679, + -0.04081308347242707, + 0.9161556425896658, + 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": [ + [ + 0.9139866533565892, + -0.0645029045034529, + 0.400584289253386, + 0.14477081553658608 + ], + [ + 0.04267077413984681, + 0.9970886125787888, + 0.06319417457339162, + -0.02491069391448334 + ], + [ + -0.40349424100020087, + -0.040665390399263965, + 0.9140780729802828, + 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": [ + [ + 0.9118598029392051, + -0.06520999806793099, + 0.4052892250426287, + 0.14676701672413944 + ], + [ + 0.04305005744580259, + 0.9970487803303124, + 0.06356431542736413, + -0.02494560224954348 + ], + [ + -0.4082381563959782, + -0.04051401971931175, + 0.9119759985156386, + 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": [ + [ + 0.9107870854386682, + -0.06556324053542253, + 0.4076375184997456, + 0.1477651173179161 + ], + [ + 0.04323897040670368, + 0.9970287428327822, + 0.0637501168896979, + -0.02496305641707355 + ], + [ + -0.4106059868490769, + -0.04043695655926974, + 0.9109157898005278, + 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": [ + [ + 0.9086231023187396, + -0.06626910483315634, + 0.4123256767135433, + 0.14976131850546945 + ], + [ + 0.043615332522642984, + 0.996988425772271, + 0.06412317556912023, + -0.024997964752133686 + ], + [ + -0.41533331277614677, + -0.04028007721865825, + 0.9087770654443532, + 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, + -0.06697412562064042, + 0.41700249044912074, + 0.1517575196930228 + ], + [ + 0.04398973437386113, + 0.9969477868724032, + 0.06449816679514675, + -0.025032873087193826 + ], + [ + -0.4200494182987705, + -0.040119530749600084, + 0.9066139803903844, + 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": [ + [ + 0.9053308679968238, + -0.06732631370569611, + 0.41933660338076845, + 0.15275562028679948 + ], + [ + 0.04417619701635488, + 0.9969273470777285, + 0.0646863839284183, + -0.025050327254723892 + ], + [ + -0.4224032233178268, + -0.040037883702372844, + 0.9055233209582985, + 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, + -0.06803003328652196, + 0.42399616202839246, + 0.15475182147435282 + ], + [ + 0.04454763939669601, + 0.9968862274937061, + 0.06506425483742198, + -0.02508523558978403 + ], + [ + -0.4271022578586468, + -0.03987184475794625, + 0.9033238053586568, + 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/source/scene_076/caption.txt b/spatialvid_eval/source/scene_076/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..6d718023c85ed3fde836db62c861504e08a6e0f9 --- /dev/null +++ b/spatialvid_eval/source/scene_076/caption.txt @@ -0,0 +1 @@ +A lively park scene in Seoul during cherry blossom season, where people stroll along a path beside a serene lake, while others sit on benches and the ground, enjoying the blossoms and the tranquil atmosphere. diff --git a/spatialvid_eval/source/scene_076/extras/temporal_mapping.json b/spatialvid_eval/source/scene_076/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..4d26545c6d92def1f5f6a0ebeeb6c275793c957c --- /dev/null +++ b/spatialvid_eval/source/scene_076/extras/temporal_mapping.json @@ -0,0 +1,182 @@ +{ + "original_scene_id": "2c518371-ab49-50b7-bbe8-1b57c73024f3", + "original_video_path": "videos/group_0016/2c518371-ab49-50b7-bbe8-1b57c73024f3.mp4", + "original_video_num_frames": 294, + "original_annotation_num_frames": 25, + "source_frame_indices": [ + 0, + 4, + 7, + 11, + 14, + 18, + 22, + 25, + 29, + 32, + 36, + 40, + 43, + 47, + 50, + 54, + 58, + 61, + 65, + 68, + 72, + 76, + 79, + 83, + 86, + 90, + 94, + 97, + 101, + 104, + 108, + 112, + 115, + 119, + 122, + 126, + 130, + 133, + 137, + 140, + 144, + 148, + 151, + 155, + 158, + 162, + 166, + 169, + 173, + 176, + 180, + 184, + 187, + 191, + 194, + 198, + 202, + 205, + 209, + 212, + 216, + 220, + 223, + 227, + 230, + 234, + 238, + 241, + 245, + 248, + 252, + 256, + 259, + 263, + 266, + 270, + 274, + 277, + 281, + 284, + 288 + ], + "sampling": { + "method": "81 uniformly spaced integer frames over the annotated source-frame range", + "pose_interpolation": "linear camera-center interpolation and quaternion SLERP in c2w", + "intrinsic_interpolation": "linear interpolation of normalized fx, fy, cx, cy", + "annotated_source_frame_range": [ + 0, + 288 + ], + "timing": "variable timestamps; use timestamps_seconds instead of a scalar output FPS" + }, + "timestamps_seconds": [ + 0.0, + 0.06666666666666667, + 0.11666666666666667, + 0.18333333333333332, + 0.23333333333333334, + 0.3, + 0.36666666666666664, + 0.4166666666666667, + 0.48333333333333334, + 0.5333333333333333, + 0.6, + 0.6666666666666666, + 0.7166666666666667, + 0.7833333333333333, + 0.8333333333333334, + 0.9, + 0.9666666666666667, + 1.0166666666666666, + 1.0833333333333333, + 1.1333333333333333, + 1.2, + 1.2666666666666666, + 1.3166666666666667, + 1.3833333333333333, + 1.4333333333333333, + 1.5, + 1.5666666666666667, + 1.6166666666666667, + 1.6833333333333333, + 1.7333333333333334, + 1.8, + 1.8666666666666667, + 1.9166666666666667, + 1.9833333333333334, + 2.033333333333333, + 2.1, + 2.1666666666666665, + 2.216666666666667, + 2.283333333333333, + 2.3333333333333335, + 2.4, + 2.466666666666667, + 2.5166666666666666, + 2.5833333333333335, + 2.6333333333333333, + 2.7, + 2.7666666666666666, + 2.816666666666667, + 2.8833333333333333, + 2.933333333333333, + 3.0, + 3.066666666666667, + 3.1166666666666667, + 3.183333333333333, + 3.2333333333333334, + 3.3, + 3.3666666666666667, + 3.4166666666666665, + 3.4833333333333334, + 3.533333333333333, + 3.6, + 3.6666666666666665, + 3.716666666666667, + 3.783333333333333, + 3.8333333333333335, + 3.9, + 3.966666666666667, + 4.016666666666667, + 4.083333333333333, + 4.133333333333334, + 4.2, + 4.266666666666667, + 4.316666666666666, + 4.383333333333334, + 4.433333333333334, + 4.5, + 4.566666666666666, + 4.616666666666666, + 4.683333333333334, + 4.733333333333333, + 4.8 + ] +} diff --git a/spatialvid_eval/source/scene_076/transforms.json b/spatialvid_eval/source/scene_076/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..00bb5cc51e97ec23a4d5a72f095e8d6dadf8adcb --- /dev/null +++ b/spatialvid_eval/source/scene_076/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": [ + [ + 0.9999999946804592, + 8.41884353141778e-05, + 5.959353238079402e-05, + -0.0001167730615706382 + ], + [ + -8.419302656022122e-05, + 0.9999999934878493, + 7.704437444001276e-05, + -9.871179746227361e-05 + ], + [ + -5.95870457473781e-05, + -7.70493913900266e-05, + 0.9999999952563876, + 0.00020452122996422007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999172736954992, + -0.00020696144890346594, + -0.01286090713437121, + 0.010702067594376691 + ], + [ + 0.00021234635106480998, + 0.9999998903685839, + 0.0004173390077266383, + 0.0004397924489764345 + ], + [ + 0.012860819351326026, + -0.0004200354495141721, + 0.999917208020661, + 0.005369398125398062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9997456259250124, + -0.0004224023191242303, + -0.022550055877669128, + 0.018816198086337187 + ], + [ + 0.0004376227178285975, + 0.9999996797730221, + 0.0006700300068837711, + 0.0008436706338054655 + ], + [ + 0.02254976563430409, + -0.0006797279853609284, + 0.9997454906323429, + 0.009243055796973442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9993706502050248, + -0.0007057229108788333, + -0.035465553202498674, + 0.029635038742284518 + ], + [ + 0.0007417800488061588, + 0.9999992213417679, + 0.0010035328680602445, + 0.0013821748802441737 + ], + [ + 0.03546481737081691, + -0.0010292089346409668, + 0.9993703955280163, + 0.014407932692407284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9990076742056269, + -0.0008731282961543212, + -0.0445298161375327, + 0.037811689444550295 + ], + [ + 0.0009283840632910032, + 0.999998824599891, + 0.001220205666038902, + 0.0016507950173238009 + ], + [ + 0.044528698401087814, + -0.0012603355961254153, + 0.9990073105702931, + 0.017990587908043913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9984191020341083, + -0.0010651761480511932, + -0.056197527464995185, + 0.04875557052110818 + ], + [ + 0.0011505079740562602, + 0.9999982339247847, + 0.0014860951226431537, + 0.0019187831682637017 + ], + [ + 0.05619584526285639, + -0.0015484014613573677, + 0.9984185642445297, + 0.02257345989160025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9976942273754411, + -0.0012538455558404283, + -0.06785761956511548, + 0.05969945159766607 + ], + [ + 0.0013757227326485415, + 0.9999975235402894, + 0.0017493713874869993, + 0.0021867713192036025 + ], + [ + 0.06785525807691485, + -0.0018386910046506906, + 0.9976934815697178, + 0.027156331875156585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.997057733877831, + -0.0013805705827007067, + -0.07664182499960698, + 0.06769769105801224 + ], + [ + 0.0015375141669867161, + 0.9999968403856934, + 0.001988785764319619, + 0.0019515039140622576 + ], + [ + 0.07663883718187872, + -0.002100772119061622, + 0.99705670620678, + 0.030623633181418544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9960781460151608, + -0.0015117835433150842, + -0.08846491700961727, + 0.07780288674628111 + ], + [ + 0.0017328717628433317, + 0.9999955645175783, + 0.0024224162779235927, + 0.0004744579916170766 + ], + [ + 0.08846086245596892, + -0.0025662142716793225, + 0.9960763476550671, + 0.035327094439353696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9952514357497853, + -0.0016065645158743287, + -0.09732419323296393, + 0.08538178351248277 + ], + [ + 0.0018827580937716916, + 0.9999944570596786, + 0.0027461012142475996, + -0.0006333264502168092 + ], + [ + 0.0973192419820012, + -0.002916299088723315, + 0.9952489439028175, + 0.038854690382805056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9940265875334233, + -0.0017280865269498717, + -0.10912450226055267, + 0.09548697920075164 + ], + [ + 0.002087074784652391, + 0.9999927798736804, + 0.003175581734529321, + -0.0021103723726619904 + ], + [ + 0.1091182266878511, + -0.003384363672063392, + 0.9940230171817122, + 0.04355815164074021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9926699787849753, + -0.0015251329899206455, + -0.12084695771263755, + 0.1052240162792079 + ], + [ + 0.0019592393164593095, + 0.999992048193555, + 0.003473460948385544, + -0.001463354855455058 + ], + [ + 0.12084069927113876, + -0.0036847685167694126, + 0.9926650733659568, + 0.04912240407239896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9915617750775735, + -0.0013705991478025817, + -0.1296278043592035, + 0.11252679408805008 + ], + [ + 0.0018656743907839964, + 0.9999914225499226, + 0.0036978487868039043, + -0.0009780917175498584 + ], + [ + 0.12962162421478707, + -0.0039084887819382545, + 0.991555827097679, + 0.05329559339614303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9899633391236468, + -0.001161485473326803, + -0.1413196311297734, + 0.12226383116650634 + ], + [ + 0.0017440173368909228, + 0.999990485940284, + 0.003998303695786924, + -0.00033107420034292605 + ], + [ + 0.1413136426347031, + -0.004204637964244994, + 0.9899559462041235, + 0.058859845827801786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9887368793600635, + -0.001243246882499492, + -0.14965907166126852, + 0.12958496693210123 + ], + [ + 0.0019025662033099048, + 0.9999891061143098, + 0.004262381323400782, + 3.935364531453437e-05 + ], + [ + 0.14965214210015698, + -0.004499109900103371, + 0.9887284735330228, + 0.06350144256930666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9870372043808787, + -0.0015087765524995954, + -0.1604845187589579, + 0.13935871992406287 + ], + [ + 0.0022824705667532246, + 0.999986645338864, + 0.00463675231570086, + 0.0004567005780259885 + ], + [ + 0.16047537971941858, + -0.004942948233582818, + 0.9870274665715584, + 0.07000250983648704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9852189260654706, + -0.0017694265398997477, + -0.1712907961687402, + 0.14913247291602452 + ], + [ + 0.0026664533530121534, + 0.9999839101743576, + 0.005006937079550973, + 0.0008740475107374425 + ], + [ + 0.17127918072234355, + -0.005389668090176851, + 0.9852077921580608, + 0.0765035771036674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9838025499787566, + -0.0018800682109786056, + -0.17924566382152304, + 0.1564673611854014 + ], + [ + 0.002879606754893585, + 0.9999817220379715, + 0.005316338487194706, + 0.0006278301101157195 + ], + [ + 0.17923239249709735, + -0.0057463843845781985, + 0.9837899819302245, + 0.08144453905760707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.98188472731855, + -0.0018052548255025286, + -0.1894706397138928, + 0.1662594082789855 + ], + [ + 0.0029614667167037886, + 0.9999786820093315, + 0.005819384998972001, + -0.0011917333577940814 + ], + [ + 0.18945609510771258, + -0.006275076246182553, + 0.9818691417111763, + 0.08820625233900495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9803766178764732, + -0.001745537507046369, + -0.19712595014330123, + 0.1736034435991736 + ], + [ + 0.003026293245009365, + 0.9999762246948429, + 0.006196095080314461, + -0.002556405958726432 + ], + [ + 0.19711044789732227, + -0.006671067670214471, + 0.9803585916315808, + 0.09327753730005336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9782729903403034, + -0.001661111638836797, + -0.20731424716783065, + 0.1833954906927577 + ], + [ + 0.0031172965036733043, + 0.9999727121699635, + 0.006697565076639785, + -0.004375969426636233 + ], + [ + 0.20729746460858905, + -0.007198306993381126, + 0.9782514735707175, + 0.10003925058145124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9758915238195545, + -0.0015862090733974872, + -0.21825035550468963, + 0.193117696942875 + ], + [ + 0.0032093837621942436, + 0.999969765609664, + 0.007082917648869769, + -0.0046327859736826895 + ], + [ + 0.21823252185000958, + -0.007612608444493807, + 0.9758671090879413, + 0.10573603001204328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9740251858882039, + -0.0015269916116574917, + -0.22643455026136797, + 0.20040935163046297 + ], + [ + 0.003281276248041405, + 0.9999674484811107, + 0.007371241710954757, + -0.004825398383967533 + ], + [ + 0.2264159236485678, + -0.007922769389248152, + 0.973998490370273, + 0.11000861458498731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9714300016149464, + -0.0014439888894010725, + -0.23732186342280534, + 0.21013155788058024 + ], + [ + 0.003380892641235579, + 0.9999642163427613, + 0.007754714627615687, + -0.00508221493101399 + ], + [ + 0.2373021734568266, + -0.008335522184878633, + 0.9714001222681474, + 0.11570539401557935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9695355906001879, + -0.001475855621879649, + -0.2449460357093549, + 0.2177468733402219 + ], + [ + 0.0035666176151102433, + 0.9999608965916462, + 0.008092251010619831, + -0.005095828883979329 + ], + [ + 0.24492451449034816, + -0.008719354208578672, + 0.9695029422667334, + 0.11926100904241635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9670080219661283, + -0.0015782691198813895, + -0.2547410342283732, + 0.2281164011344466 + ], + [ + 0.0038905773792293806, + 0.9999556783340916, + 0.008573492582557652, + -0.004994648516386778 + ], + [ + 0.25471621240276837, + -0.009281725808930755, + 0.9669713029377841, + 0.12352384938079432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9643814832507986, + -0.001674988302597902, + -0.2645100171584736, + 0.23848592892867126 + ], + [ + 0.004219386968533353, + 0.9999501329515154, + 0.009051429934367545, + -0.0048934681487942285 + ], + [ + 0.2644816657853614, + -0.009845101545091047, + 0.964340459816432, + 0.1277866897191723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9624289989552592, + -0.0016899878286932945, + -0.27152820463280947, + 0.2462892510678255 + ], + [ + 0.0044150392630863036, + 0.9999458330398843, + 0.009425413225824028, + -0.005128029059505319 + ], + [ + 0.27149756794174673, + -0.010270098700158664, + 0.9623843284646763, + 0.13094735177642317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9599725761169234, + -0.0015619205903791363, + -0.2800896526248467, + 0.2567634840359932 + ], + [ + 0.004535828314845518, + 0.9999400126591216, + 0.009969821702232932, + -0.006268633437534786 + ], + [ + 0.280057278721579, + -0.010841193999989982, + 0.9599220745184052, + 0.1350643193286707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9580802779809711, + -0.0014625346487888555, + -0.28649614645978433, + 0.26461915876211894 + ], + [ + 0.004629599137964814, + 0.9999354360230746, + 0.01037740801768023, + -0.007124086721056886 + ], + [ + 0.2864624718104046, + -0.01126875227098149, + 0.9580251914571601, + 0.13815204499285635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.955490733662664, + -0.0013255811762707614, + -0.29501813625492446, + 0.2750933917302866 + ], + [ + 0.0047588576261368585, + 0.9999290524309319, + 0.010919861659966655, + -0.008264691099086353 + ], + [ + 0.2949827302722622, + -0.011837775936541764, + 0.9554292521699332, + 0.14226901254510388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9532693238258355, + -0.0010907168720777356, + -0.30211985467582103, + 0.2854949725223937 + ], + [ + 0.004742203805239232, + 0.9999243077179734, + 0.011352988056069546, + -0.007890306010869376 + ], + [ + 0.30208460363895384, + -0.012255169172094207, + 0.9532023410970304, + 0.14716841623607296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.951568608348311, + -0.0009125338395905038, + -0.3074351165498995, + 0.293296158116474 + ], + [ + 0.004731828887836159, + 0.9999206150009271, + 0.011677906128415147, + -0.007609517194706644 + ], + [ + 0.30740005432893946, + -0.012567059248664305, + 0.9514973860292028, + 0.15084296900429975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9492548780219064, + -0.0006722539837411218, + -0.3145071137926728, + 0.3036977389085811 + ], + [ + 0.004720816879130483, + 0.9999155126879665, + 0.012111208608351909, + -0.007235132106489667 + ], + [ + 0.3144724001237782, + -0.012981354341618012, + 0.949177851616781, + 0.15574237269526883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9477022994368857, + -0.0006172410796464254, + -0.3191550887194024, + 0.3116703472049595 + ], + [ + 0.004845442887877378, + 0.9999107021311815, + 0.012454294309537626, + -0.006912310904921133 + ], + [ + 0.31911890154809125, + -0.013349411109777828, + 0.9476206624476707, + 0.1596552573278258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.945744178824639, + -0.0006259024394730472, + -0.32491161331267593, + 0.32241477340166275 + ], + [ + 0.005101330249584235, + 0.9999034864222799, + 0.012922626290912015, + -0.006453861045892555 + ], + [ + 0.3248721666271124, + -0.01387898003118944, + 0.9456560946053804, + 0.16503132474745513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9437510929536632, + -0.0006313433393252644, + -0.3306561294673879, + 0.333159199598366 + ], + [ + 0.005360059055640542, + 0.9998959915905007, + 0.013389390134335629, + -0.0059954111868639765 + ], + [ + 0.3306132851469919, + -0.014408587954316968, + 0.943656318941105, + 0.1704073921670845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9423525531653126, + -0.0005867645454941629, + -0.3346211607925967, + 0.34134123818088696 + ], + [ + 0.005510183879310819, + 0.999890084517693, + 0.013764329145183739, + -0.006157617452061082 + ], + [ + 0.3345763043259831, + -0.01481467483844726, + 0.9422522072104678, + 0.17423088348431287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.940784156277428, + -0.0004007545537812714, + -0.33900591542501934, + 0.3525805401175644 + ], + [ + 0.005590629762965179, + 0.9998816523368629, + 0.01433269615104698, + -0.00772334223090666 + ], + [ + 0.3389600509738887, + -0.015379230016239843, + 0.9406750571413522, + 0.17877271391396757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9395944707500589, + -0.0002595226788467881, + -0.3422895896516521, + 0.3610100165700725 + ], + [ + 0.005652700451378065, + 0.9998751057983037, + 0.014758718861690676, + -0.008897635815040845 + ], + [ + 0.34224300944434827, + -0.015802071155725066, + 0.9394785878526799, + 0.18217908673620858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9379904009356991, + -6.891766582318298e-05, + -0.3466612222369875, + 0.3722493185067499 + ], + [ + 0.005737774940666852, + 0.9998660806972579, + 0.015326402377434972, + -0.010463360593886422 + ], + [ + 0.34661374134794043, + -0.016365082384764407, + 0.9378651813492828, + 0.18672091716586328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9366104728094148, + 0.00023516254920700032, + -0.35037232613649794, + 0.38442427573563803 + ], + [ + 0.005740984044411104, + 0.9998552250927609, + 0.016017801250694515, + -0.0106918754183245 + ], + [ + 0.35032536780245704, + -0.017013922336733062, + 0.9364735250506515, + 0.19028850119572646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9355658782985515, + 0.00046490749163460724, + -0.3531519095580323, + 0.39355549365730413 + ], + [ + 0.00574518777995227, + 0.9998467594976331, + 0.016536333918247, + -0.01086326153665306 + ], + [ + 0.3531054802475225, + -0.017499753801322494, + 0.9354198407325238, + 0.19296418921812386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9341602391495171, + 0.0007734764784152132, + -0.3568529799879138, + 0.4057304508861923 + ], + [ + 0.00575318856486413, + 0.9998350403283697, + 0.017227679846818927, + -0.011091776361091137 + ], + [ + 0.3568074388426539, + -0.01814645600949984, + 0.9340016904271861, + 0.19653177324798704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9334169017879249, + 0.000986364731011003, + -0.35879230000273, + 0.41501425758185473 + ], + [ + 0.005856599150137934, + 0.9998211061448437, + 0.01798488125332714, + -0.011150063861564788 + ], + [ + 0.35874585391754177, + -0.018888694817776375, + 0.9332441424970505, + 0.19905205613973698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9326343526734263, + 0.0012589508457593645, + -0.36082070236640734, + 0.42749439235873543 + ], + [ + 0.006060468125225643, + 0.9997981910594941, + 0.019153273356451932, + -0.011152381450293052 + ], + [ + 0.3607719985524413, + -0.020049743063984864, + 0.9324385088913617, + 0.20230882990830523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9318474379024274, + 0.001534060786331685, + -0.36284707403007377, + 0.43997452713561624 + ], + [ + 0.006266874473640675, + 0.9997738621653571, + 0.020321191286371807, + -0.011154699039021315 + ], + [ + 0.36279619452113, + -0.021210167101404973, + 0.9316270981742196, + 0.20556560367687352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9314399594989339, + 0.0017618389326243458, + -0.3638907772563085, + 0.44925682676077827 + ], + [ + 0.006350801790331982, + 0.9997572741997817, + 0.021096445227642986, + -0.011567444198872621 + ], + [ + 0.3638396201147488, + -0.021961070288091918, + 0.9312026858995613, + 0.20797973524622027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9313903885524967, + 0.002119005347510373, + -0.36401573307807317, + 0.46142575570766503 + ], + [ + 0.006269959697161752, + 0.9997413292902202, + 0.021862344668861392, + -0.013213789660821321 + ], + [ + 0.3639678992952892, + -0.02264474167133172, + 0.9311361790614805, + 0.21112271398647076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9313531795817903, + 0.002386940264825136, + -0.36410926574183977, + 0.47055245241783006 + ], + [ + 0.006209397250744377, + 0.9997289806813227, + 0.022436768298174325, + -0.014448548757282848 + ], + [ + 0.36406414032237777, + -0.023157454567712506, + 0.931085943417294, + 0.21347994804165862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9313035266307639, + 0.0027442667869399875, + -0.3642337302954033, + 0.4827213813647168 + ], + [ + 0.006128739526547116, + 0.9997119959752626, + 0.023202664824811637, + -0.016094894219231548 + ], + [ + 0.3641925038175803, + -0.023841017238341786, + 0.9310184885705134, + 0.21662292678190911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9312854175670655, + 0.0031348616089079675, + -0.3642768777587036, + 0.4948794160913084 + ], + [ + 0.005980020388061919, + 0.9996966786438943, + 0.02389121312375534, + -0.015993719491174157 + ], + [ + 0.3642412804489558, + -0.024427921546036832, + 0.9309841922749525, + 0.22000694758774905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9312717959733245, + 0.0034278254012222115, + -0.36430906115225503, + 0.503997942136252 + ], + [ + 0.005868504479076047, + 0.9996848646650989, + 0.02440762206160686, + -0.015917838445131113 + ], + [ + 0.3642779195611475, + -0.024868079389890756, + 0.9309582031152959, + 0.22254496319212902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9312535807943246, + 0.003818467202227322, + -0.3643517360545627, + 0.5161559768628436 + ], + [ + 0.005719847919848913, + 0.9996686780593244, + 0.025096163987681476, + -0.01581666371707372 + ], + [ + 0.36432684720937325, + -0.025454929097294986, + 0.9309231949989911, + 0.22592898399796896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9312620406969342, + 0.003977834290763673, + -0.36432840733510913, + 0.5252651008904596 + ], + [ + 0.005733778040558527, + 0.999656573583101, + 0.025570660560023308, + -0.015441697822865244 + ], + [ + 0.3643050031860166, + -0.025901963756625623, + 0.9309194126921981, + 0.22881054689103586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9312880930765028, + 0.004101206410198129, + -0.3642604395208355, + 0.5374043315823958 + ], + [ + 0.005835922191623709, + 0.9996403310115692, + 0.026175382084202257, + -0.014742353398476984 + ], + [ + 0.3642367769818207, + -0.026502617249275825, + 0.9309292033086265, + 0.23288166227424967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9313141534996396, + 0.00422453470826292, + -0.3641923953046636, + 0.5495435622743319 + ], + [ + 0.005938022084925407, + 0.9996237122495599, + 0.026780100861047478, + -0.014043008974088722 + ], + [ + 0.36416848763308524, + -0.027103269450522376, + 0.93093862601147, + 0.23695277765746348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9313226425550003, + 0.004336300319993621, + -0.3641693726329906, + 0.5586734571542517 + ], + [ + 0.006002684643317192, + 0.9996105196196853, + 0.02725393261046356, + -0.014054681089739111 + ], + [ + 0.36414571704393833, + -0.027568198439463332, + 0.9309338812146426, + 0.2399772263777205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.931304471146998, + 0.004536791469097603, + -0.3642133983597757, + 0.5709145752900587 + ], + [ + 0.00605722255610123, + 0.9995912548173734, + 0.027939816526511983, + -0.015500058401117194 + ], + [ + 0.3641912850090136, + -0.02822659766594651, + 0.930896324575239, + 0.24393279049232103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9312908481280365, + 0.004687180271977706, + -0.36424632672692936, + 0.580095413891914 + ], + [ + 0.006098148061361529, + 0.9995764953307859, + 0.02845421888658552, + -0.016584091384650758 + ], + [ + 0.364225436760236, + -0.0287203816708969, + 0.9308678589861688, + 0.24689946357827142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9312726914924184, + 0.004887725853899325, + -0.364290109962437, + 0.592336532027721 + ], + [ + 0.006152744808411482, + 0.9995564015097206, + 0.02914007433520385, + -0.01802946869602884 + ], + [ + 0.36427094011434663, + -0.02937873953926146, + 0.9308295074025612, + 0.25085502769287193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9313155494760758, + 0.005319728478101127, + -0.3641744743841812, + 0.6042325333634481 + ], + [ + 0.005897924539025479, + 0.9995419352209549, + 0.02968390508138188, + -0.018336273951044788 + ], + [ + 0.3641655691992412, + -0.029792955940420005, + 0.9308575712675518, + 0.2549165590394026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9313476124993334, + 0.005643696239845505, + -0.36408759026440873, + 0.6131545343652434 + ], + [ + 0.005706768498390044, + 0.9995308495564669, + 0.030091752661377084, + -0.01856637789230675 + ], + [ + 0.3640866071212966, + -0.030103645587869675, + 0.9308784630859297, + 0.2579627075493006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9313902558982368, + 0.006075607517696612, + -0.36397153489127165, + 0.6250505357009704 + ], + [ + 0.005451839402354163, + 0.9995157540776877, + 0.030635515299118878, + -0.0188731831473227 + ], + [ + 0.36398141252672256, + -0.03051793478927623, + 0.9309061107282782, + 0.26202423889583126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9314048732275865, + 0.006264977879708451, + -0.36393091676865075, + 0.6339776343454002 + ], + [ + 0.005429843122218358, + 0.9995014449220102, + 0.03110270731756513, + -0.018653174192533935 + ], + [ + 0.3639443349354018, + -0.030945300951530353, + 0.9309064987513234, + 0.2652152703756385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9314128344324888, + 0.006427767310144594, + -0.3639077021194304, + 0.6458838309663963 + ], + [ + 0.005513323034526638, + 0.9994801521340027, + 0.03176521303734852, + -0.01805975365544843 + ], + [ + 0.3639227048750248, + -0.03159286782800535, + 0.9308932031005748, + 0.2695665676619877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9314208088628909, + 0.006590540649093596, + -0.36388437942724466, + 0.6577900275873926 + ], + [ + 0.005596787615314549, + 0.9994584132613528, + 0.03242770620146092, + -0.017466333118362928 + ], + [ + 0.3639010205888235, + -0.03224042392791773, + 0.9308794778484275, + 0.27391786494833686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9314221584648095, + 0.006792742251841431, + -0.3638772064494497, + 0.6665383721906184 + ], + [ + 0.0055635094810100455, + 0.999443220087111, + 0.03289828542889784, + -0.017420705766000383 + ], + [ + 0.36389807650358647, + -0.03266662631198038, + 0.9308657698306364, + 0.27727755563026696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9314114970083867, + 0.0072760304946662795, + -0.3638951533351835, + 0.6777193573615297 + ], + [ + 0.005263502161128824, + 0.9994263435162036, + 0.0334556337681882, + -0.018425037430721214 + ], + [ + 0.36392982673256646, + -0.033076324857396554, + 0.9308388893618122, + 0.282013723785289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9314034051899791, + 0.007638501087421048, + -0.363908436425496, + 0.6861050962397132 + ], + [ + 0.005038508625791309, + 0.9994134228202008, + 0.033873643406615896, + -0.019178286179261834 + ], + [ + 0.36395371990314873, + -0.03338358261104122, + 0.9308185785536902, + 0.2855658499015555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9313924884674625, + 0.00812180093601063, + -0.3639259111082144, + 0.6972860814106244 + ], + [ + 0.004738533281562702, + 0.9993958442073254, + 0.034430987256642016, + -0.020182617843982665 + ], + [ + 0.3639856847854427, + -0.0337932379431646, + 0.9307912968762596, + 0.2903020180565775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9313462728171503, + 0.008577078468382392, + -0.3640337262322674, + 0.7076698603205464 + ], + [ + 0.004489213741630239, + 0.9993761169789206, + 0.03503175376878576, + -0.0195016084253711 + ], + [ + 0.36410708187233076, + -0.03426091850902554, + 0.9307267173522707, + 0.29600136447808784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9313115267185162, + 0.00891857144091741, + -0.36411440411590423, + 0.7154576945029879 + ], + [ + 0.004302275166178148, + 0.9993610428333576, + 0.03548234061359187, + -0.018990851361412427 + ], + [ + 0.36419820239756984, + -0.03461163316686626, + 0.9306780883957145, + 0.3002758742942206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9312650861221932, + 0.009373941674223459, + -0.36422172997682706, + 0.7258414734129098 + ], + [ + 0.004053091926417306, + 0.9993405723473708, + 0.03608313880838926, + -0.018309841942800862 + ], + [ + 0.3643197933350046, + -0.03507919152314849, + 0.9306129907251575, + 0.30597522071573097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9311756752980007, + 0.009648586222335062, + -0.3644430909171176, + 0.7332833751893159 + ], + [ + 0.003952032967444705, + 0.999323839943533, + 0.03655467625265029, + -0.0176399323764472 + ], + [ + 0.3645493700018373, + -0.03547911645492332, + 0.9305079199699707, + 0.31022383955518473 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9310199677937872, + 0.009970350988050289, + -0.36483203213318655, + 0.7429752892871668 + ], + [ + 0.0038746885361545438, + 0.999300426902108, + 0.03719735987960037, + -0.016640617953045656 + ], + [ + 0.3649476761920853, + -0.03604509528964788, + 0.9303300192660435, + 0.31587140402333713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9308640652804023, + 0.01029235195066152, + -0.3652206996611318, + 0.7526672033850179 + ], + [ + 0.003797619136798105, + 0.9992765922749522, + 0.037840061049773006, + -0.01564130352964411 + ], + [ + 0.36534595941180836, + -0.036610922177438214, + 0.9301515845918786, + 0.32151896849148953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9307091436866853, + 0.010589714223847354, + -0.3656068213404314, + 0.7597979924863899 + ], + [ + 0.003694876168918329, + 0.99925757007859, + 0.03834913989554767, + -0.015594617701731891 + ], + [ + 0.36574149032902076, + -0.037042767084670816, + 0.9299790296875611, + 0.32564226774308824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9304010565510085, + 0.01113511352250457, + -0.366373966345329, + 0.7689373206961759 + ], + [ + 0.003438026621819741, + 0.9992293822844285, + 0.03910014772896935, + -0.0174065032368861 + ], + [ + 0.3665270166600478, + -0.03763842220817052, + 0.9296457901975164, + 0.3308403358131783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9301694682882051, + 0.011544484167278896, + -0.36694888629037864, + 0.7757918168535154 + ], + [ + 0.0032458055513221113, + 0.999207820800642, + 0.03966352981209762, + -0.018765417388251757 + ], + [ + 0.367116092007366, + -0.03808484916792499, + 0.9293951362327519, + 0.33473888686574577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.929859987056757, + 0.01209073933151215, + -0.3677148603105743, + 0.7849311450633014 + ], + [ + 0.002990065854055114, + 0.9991785113357731, + 0.040414873388603084, + -0.02057730292340597 + ], + [ + 0.36790143242041906, + -0.038679665293870236, + 0.9290599655112463, + 0.3399369549358358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 518.9398701985676, + "fy": 518.9401817321777, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/source/scene_078/extras/temporal_mapping.json b/spatialvid_eval/source/scene_078/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..498ace4a94f1b27f0df6a953618de8c99ef2fc10 --- /dev/null +++ b/spatialvid_eval/source/scene_078/extras/temporal_mapping.json @@ -0,0 +1,182 @@ +{ + "original_scene_id": "2cb67352-68b2-51ae-9520-93879bb0414d", + "original_video_path": "videos/group_0023/2cb67352-68b2-51ae-9520-93879bb0414d.mp4", + "original_video_num_frames": 754, + "original_annotation_num_frames": 69, + "source_frame_indices": [ + 0, + 9, + 19, + 28, + 37, + 47, + 56, + 65, + 75, + 84, + 94, + 103, + 112, + 122, + 131, + 140, + 150, + 159, + 168, + 178, + 187, + 196, + 206, + 215, + 224, + 234, + 243, + 252, + 262, + 271, + 280, + 290, + 299, + 309, + 318, + 327, + 337, + 346, + 355, + 365, + 374, + 383, + 393, + 402, + 411, + 421, + 430, + 439, + 449, + 458, + 468, + 477, + 486, + 496, + 505, + 514, + 524, + 533, + 542, + 552, + 561, + 570, + 580, + 589, + 598, + 608, + 617, + 626, + 636, + 645, + 654, + 664, + 673, + 683, + 692, + 701, + 711, + 720, + 729, + 739, + 748 + ], + "sampling": { + "method": "81 uniformly spaced integer frames over the annotated source-frame range", + "pose_interpolation": "linear camera-center interpolation and quaternion SLERP in c2w", + "intrinsic_interpolation": "linear interpolation of normalized fx, fy, cx, cy", + "annotated_source_frame_range": [ + 0, + 748 + ], + "timing": "variable timestamps; use timestamps_seconds instead of a scalar output FPS" + }, + "timestamps_seconds": [ + 0.0, + 0.15014999210567864, + 0.3169833166675438, + 0.46713330877322246, + 0.6172833008789012, + 0.7841166254407663, + 0.9342666175464449, + 1.0844166096521235, + 1.2512499342139887, + 1.4013999263196675, + 1.5682332508815326, + 1.7183832429872112, + 1.8685332350928898, + 2.035366559654755, + 2.1855165517604336, + 2.3356665438661124, + 2.5024998684279773, + 2.652649860533656, + 2.802799852639335, + 2.9696331772012, + 3.1197831693068787, + 3.269933161412557, + 3.4367664859744225, + 3.5869164780801013, + 3.7370664701857796, + 3.903899794747645, + 4.054049786853324, + 4.204199778959002, + 4.371033103520867, + 4.521183095626546, + 4.671333087732225, + 4.83816641229409, + 4.988316404399768, + 5.155149728961634, + 5.305299721067312, + 5.455449713172991, + 5.6222830377348565, + 5.772433029840535, + 5.922583021946213, + 6.089416346508078, + 6.239566338613757, + 6.389716330719436, + 6.556549655281301, + 6.70669964738698, + 6.856849639492658, + 7.023682964054523, + 7.173832956160203, + 7.323982948265881, + 7.490816272827746, + 7.640966264933424, + 7.80779958949529, + 7.957949581600968, + 8.108099573706648, + 8.274932898268512, + 8.42508289037419, + 8.57523288247987, + 8.742066207041734, + 8.892216199147413, + 9.042366191253093, + 9.209199515814957, + 9.359349507920635, + 9.509499500026314, + 9.67633282458818, + 9.826482816693858, + 9.976632808799536, + 10.143466133361402, + 10.29361612546708, + 10.443766117572759, + 10.610599442134625, + 10.760749434240303, + 10.910899426345981, + 11.077732750907847, + 11.227882743013526, + 11.394716067575391, + 11.54486605968107, + 11.695016051786748, + 11.861849376348614, + 12.011999368454292, + 12.16214936055997, + 12.328982685121836, + 12.479132677227515 + ] +} diff --git a/spatialvid_eval/source/scene_102/rgb_video/00007.png b/spatialvid_eval/source/scene_102/rgb_video/00007.png new file mode 100644 index 0000000000000000000000000000000000000000..dc6e9a48fb78d8a5bd780f3782fd65111f25e06d --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00007.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67a53f810bc1968976ecb4543d30a190eab72c6a2519483c6c1eb9c1b5ae174b +size 953853 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00012.png b/spatialvid_eval/source/scene_102/rgb_video/00012.png new file mode 100644 index 0000000000000000000000000000000000000000..0af746ee58be524d06e0222f043fa2f7a5d22fdf --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00012.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:357e1a4c23da16a0f2584a7d16a52fd66691c3b29ad16d2cb3957a78e82c6dd7 +size 971041 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00013.png b/spatialvid_eval/source/scene_102/rgb_video/00013.png new file mode 100644 index 0000000000000000000000000000000000000000..4adb860febe5dd8ff876c9f48f6e2a9df12fde2b --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00013.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c555eaeb02aa96cf9c47cdda1d2f135ee9aa465cfc7450acc1cef189e2c22de +size 971820 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00017.png b/spatialvid_eval/source/scene_102/rgb_video/00017.png new file mode 100644 index 0000000000000000000000000000000000000000..c4161b025b33e676ef745772ec1ea7a3824ccec4 --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00017.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6a43373c54b82410d61a4260a81a8db71ec8127a8861fd623f729226e78abd4 +size 982222 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00022.png b/spatialvid_eval/source/scene_102/rgb_video/00022.png new file mode 100644 index 0000000000000000000000000000000000000000..ede5c5eebe3f445b4e1492be05f64861e5223c32 --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00022.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2352ff0a7f19686940d2c20180c41f34b318af291791d00762b9ff023cf4b01 +size 988389 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00025.png b/spatialvid_eval/source/scene_102/rgb_video/00025.png new file mode 100644 index 0000000000000000000000000000000000000000..d9bd93aabd69ccfb5d7bbd7d6387dcc6b0f6db6b --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00025.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c1b19469d5b2b0026af0e59833d9eab42e77b3d58608c4b6c38adf98cff3e58 +size 984791 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00027.png b/spatialvid_eval/source/scene_102/rgb_video/00027.png new file mode 100644 index 0000000000000000000000000000000000000000..bfa7c782aa6ddd934abb75d2d64d154add67e853 --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00027.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5c2914b20094778e1dec51b98843a3c1dbaa5e1af7fbf8b622dc8ec4e48fbbc +size 991231 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00065.png b/spatialvid_eval/source/scene_102/rgb_video/00065.png new file mode 100644 index 0000000000000000000000000000000000000000..f4a5e8f94dd6a722b3ffb663f66e99edc6a4bc5f --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00065.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:778a8b26c0a0230a62ce1cecb21bfdd224de4e0b4588c5351a765f5ff8de533a +size 1018772 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00066.png b/spatialvid_eval/source/scene_102/rgb_video/00066.png new file mode 100644 index 0000000000000000000000000000000000000000..0a6440a6a65aa5fd07185a3bccb3cb284c2b933d --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00066.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be47439e8d75a3ba1ca6a671aa61d84f6980df2e7a96f2c8a628d3e14c45f316 +size 1011618 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00072.png b/spatialvid_eval/source/scene_102/rgb_video/00072.png new file mode 100644 index 0000000000000000000000000000000000000000..6fcf17265fe43ddb856599c5c9d24fe204c87ea5 --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00072.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3a1e7216877a23be614184b6521bd198fe1cd832590c6521c9003f8e68ca2755 +size 1010095 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00077.png b/spatialvid_eval/source/scene_102/rgb_video/00077.png new file mode 100644 index 0000000000000000000000000000000000000000..7302202d29b9a5a364b413ddbe283cfca1c50b26 --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00077.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f53be3056e5aaeefab6c108ec5a88c317147f4a5ac86484ccad764007ada341 +size 1003218 diff --git a/spatialvid_eval/source/scene_102/rgb_video/00078.png b/spatialvid_eval/source/scene_102/rgb_video/00078.png new file mode 100644 index 0000000000000000000000000000000000000000..b9a73d00544f4963e3ca32bab5f58199f56dee2c --- /dev/null +++ b/spatialvid_eval/source/scene_102/rgb_video/00078.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7eb5b92fc81eb8a9bbbcf1bdfe0e43e6e0a5f593f7cf9202533318eaaaf3481e +size 894405 diff --git a/spatialvid_eval/source/scene_164/extras/temporal_mapping.json b/spatialvid_eval/source/scene_164/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..0cbf03e57ec808f66ebd2fbb0d7233db8ffeb96d --- /dev/null +++ b/spatialvid_eval/source/scene_164/extras/temporal_mapping.json @@ -0,0 +1,182 @@ +{ + "original_scene_id": "97c68e1b-48c7-56da-86ce-303da0446e14", + "original_video_path": "videos/group_0013/97c68e1b-48c7-56da-86ce-303da0446e14.mp4", + "original_video_num_frames": 267, + "original_annotation_num_frames": 25, + "source_frame_indices": [ + 0, + 3, + 7, + 10, + 13, + 16, + 20, + 23, + 26, + 30, + 33, + 36, + 40, + 43, + 46, + 50, + 53, + 56, + 59, + 63, + 66, + 69, + 73, + 76, + 79, + 82, + 86, + 89, + 92, + 96, + 99, + 102, + 106, + 109, + 112, + 116, + 119, + 122, + 125, + 129, + 132, + 135, + 139, + 142, + 145, + 148, + 152, + 155, + 158, + 162, + 165, + 168, + 172, + 175, + 178, + 182, + 185, + 188, + 191, + 195, + 198, + 201, + 205, + 208, + 211, + 214, + 218, + 221, + 224, + 228, + 231, + 234, + 238, + 241, + 244, + 248, + 251, + 254, + 257, + 261, + 264 + ], + "sampling": { + "method": "81 uniformly spaced integer frames over the annotated source-frame range", + "pose_interpolation": "linear camera-center interpolation and quaternion SLERP in c2w", + "intrinsic_interpolation": "linear interpolation of normalized fx, fy, cx, cy", + "annotated_source_frame_range": [ + 0, + 264 + ], + "timing": "variable timestamps; use timestamps_seconds instead of a scalar output FPS" + }, + "timestamps_seconds": [ + 0.0, + 0.05004999736855955, + 0.11678332719330561, + 0.16683332456186517, + 0.21688332193042473, + 0.2669333192989843, + 0.33366664912373034, + 0.38371664649228987, + 0.43376664386084945, + 0.5004999736855955, + 0.550549971054155, + 0.6005999684227146, + 0.6673332982474607, + 0.7173832956160202, + 0.7674332929845797, + 0.8341666228093259, + 0.8842166201778854, + 0.9342666175464449, + 0.9843166149150044, + 1.0510499447397506, + 1.10109994210831, + 1.1511499394768696, + 1.2178832693016157, + 1.2679332666701753, + 1.3179832640387348, + 1.3680332614072943, + 1.4347665912320404, + 1.4848165886006, + 1.5348665859691595, + 1.6015999157939056, + 1.6516499131624651, + 1.7016999105310247, + 1.7684332403557708, + 1.8184832377243303, + 1.8685332350928898, + 1.935266564917636, + 1.9853165622861955, + 2.035366559654755, + 2.0854165570233145, + 2.152149886848061, + 2.20219988421662, + 2.25224988158518, + 2.318983211409926, + 2.3690332087784856, + 2.419083206147045, + 2.4691332035156046, + 2.5358665333403505, + 2.5859165307089103, + 2.6359665280774696, + 2.702699857902216, + 2.752749855270775, + 2.802799852639335, + 2.869533182464081, + 2.9195831798326406, + 2.9696331772012, + 3.0363665070259462, + 3.0864165043945055, + 3.1364665017630653, + 3.1865164991316246, + 3.253249828956371, + 3.3032998263249302, + 3.35334982369349, + 3.420083153518236, + 3.4701331508867956, + 3.520183148255355, + 3.5702331456239147, + 3.6369664754486606, + 3.6870164728172203, + 3.7370664701857796, + 3.803799800010526, + 3.8538497973790853, + 3.903899794747645, + 3.970633124572391, + 4.020683121940951, + 4.07073311930951, + 4.137466449134256, + 4.187516446502816, + 4.237566443871375, + 4.287616441239935, + 4.354349771064681, + 4.40439976843324 + ] +} diff --git a/spatialvid_eval/source/scene_183/caption.txt b/spatialvid_eval/source/scene_183/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..dabab098d4a698d2ef8101c3e70ee1c56213cdfd --- /dev/null +++ b/spatialvid_eval/source/scene_183/caption.txt @@ -0,0 +1 @@ +A scenic street in a mountain town bustles with pedestrians and passing cars, flanked by charming shops and vibrant flower boxes, with towering peaks rising majestically in the background. diff --git a/spatialvid_eval/source/scene_183/transforms.json b/spatialvid_eval/source/scene_183/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ae7373a37cc8e5152b31ef4e1bc61835f16e5ed1 --- /dev/null +++ b/spatialvid_eval/source/scene_183/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": [ + [ + 0.9999999969303077, + 6.914836137156789e-05, + -3.684954119973866e-05, + 0.0003652695905309955 + ], + [ + -6.915011379885418e-05, + 0.9999999964782905, + -4.7557133144978325e-05, + 0.00011037812777256928 + ], + [ + 3.6846252572136775e-05, + 4.755968114895996e-05, + 0.9999999981902152, + -1.7927738354989268e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9998653307831269, + -0.00025805836330775034, + -0.016408951941853066, + 0.012844328893798952 + ], + [ + 0.00027110854340270363, + 0.9999996487548652, + 0.0007930890898812977, + -0.004554794166996557 + ], + [ + 0.016408741515016034, + -0.0007974308922543732, + 0.9998650495471206, + 0.0210372589802159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999462528944638, + -0.0005713868113040374, + -0.032776924088455006, + 0.02532338819706691 + ], + [ + 0.0006250844204110517, + 0.9999984793580932, + 0.0016280512794491194, + -0.009219966461765683 + ], + [ + 0.03277594399946146, + -0.0016476645936064596, + 0.999461366285026, + 0.042076310734267305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9992435883557389, + -0.00020236913649080855, + -0.03888714667700753, + 0.031758513188504 + ], + [ + 0.000337193658153105, + 0.9999939554490662, + 0.0034605441433176146, + -0.009786475235244058 + ], + [ + 0.0388862113143387, + -0.003471039046675286, + 0.9992376166145633, + 0.05278475590968147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9986933323324152, + 0.0005690732979539084, + -0.05110092083669008, + 0.044628763171378184 + ], + [ + -0.00020494650194761543, + 0.9999745559623077, + 0.007130597795214436, + -0.010919492782200807 + ], + [ + 0.0511036784557379, + -0.0071108075186530955, + 0.998668038171206, + 0.0742016462605098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9982547709992475, + 0.0008459144166539569, + -0.05904825658763759, + 0.05735173539742735 + ], + [ + -0.00047649784392242347, + 0.9999802299486122, + 0.006269980998788168, + -0.010335791424186119 + ], + [ + 0.05905239306788953, + -0.006230902079163528, + 0.9982354385275225, + 0.0958222122553378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9981441045410303, + 0.0007153819277675817, + -0.06089199289465116, + 0.06363958263203942 + ], + [ + -0.0004988001950750451, + 0.9999934961853401, + 0.003571944202488832, + -0.009185581292693056 + ], + [ + 0.060894152168744546, + -0.00353494210952938, + 0.9981379696294156, + 0.10673433307475161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9979125821233517, + 0.0004393815349906099, + -0.06457774681553652, + 0.07621527710126356 + ], + [ + -0.0005583386967801958, + 0.9999981805640251, + -0.0018240412657280066, + -0.006885161029706929 + ], + [ + 0.06457682787040955, + 0.00185628998438017, + 0.9979110118090136, + 0.12855857471357926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9979081019852591, + 0.0009851234210088247, + -0.06464092762347265, + 0.08784179822450514 + ], + [ + -0.0009762341720299246, + 0.9999995091854585, + 0.00016910258243915162, + -0.010077539116923927 + ], + [ + 0.0646410624836799, + -0.00010564415462491253, + 0.997908573908599, + 0.15176812358805342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.99790338973256, + 0.0015309882276073623, + -0.06470302029514287, + 0.0994683193477467 + ], + [ + -0.0013940003076760186, + 0.9999966906660065, + 0.002162271994408719, + -0.013269917204140926 + ], + [ + 0.06470611658420665, + -0.002067542522545246, + 0.9979022215350104, + 0.17497767246252757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.99785279371458, + 0.0019713113803510483, + -0.06546690772787297, + 0.11159028827595104 + ], + [ + -0.0016511697908342053, + 0.9999864157765485, + 0.004943875068623927, + -0.016404795939166453 + ], + [ + 0.06547576432795552, + -0.004825162568662652, + 0.9978424936290579, + 0.19708338666659037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9978272321579805, + 0.0021922640450516835, + -0.06584837691470069, + 0.1176512727400532 + ], + [ + -0.0017789496663092332, + 0.9999783529866069, + 0.006334737269852264, + -0.017972235306679216 + ], + [ + 0.06586083891075523, + -0.006203832408285275, + 0.9978095321059133, + 0.20813624376862178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9977680098436843, + 0.0023718901423177233, + -0.06673359476100753, + 0.1293454388245167 + ], + [ + -0.002020012519370942, + 0.9999837026245384, + 0.005339853438101661, + -0.019041703392617616 + ], + [ + 0.06674517272428905, + -0.005193132240911787, + 0.9977565400915863, + 0.23039025064351792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9977002995006394, + 0.002284562987284811, + -0.06774136954839151, + 0.1406118020652394 + ], + [ + -0.0022512308509471534, + 0.9999973044458054, + 0.0005683843586733054, + -0.01804576082946889 + ], + [ + 0.06774248545772706, + -0.0004145757838670846, + 0.99770275322409, + 0.25279255018924734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9976660746918247, + 0.0022390896946750142, + -0.06824507224954703, + 0.14624498368560077 + ], + [ + -0.0023686278916391764, + 0.99999554354918, + -0.0018172736973861812, + -0.017547789547894526 + ], + [ + 0.06824069907993062, + 0.001974679497909178, + 0.9976669322123306, + 0.2639936999621121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9975161530720466, + 0.0025836473921494467, + -0.07039068920317763, + 0.15892034274036865 + ], + [ + -0.0022991906268813715, + 0.9999888620361581, + 0.004121835281861427, + -0.01790255013511051 + ], + [ + 0.07040055456320334, + -0.003949755661123381, + 0.9975109830710692, + 0.28703766434167766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9973616119903955, + 0.002940940433687618, + -0.07253389412740287, + 0.17159570179513656 + ], + [ + -0.0022168963098022957, + 0.9999469330812668, + 0.010060635771173311, + -0.018257310722326493 + ], + [ + 0.07255963270766584, + -0.00987329178815902, + 0.9973152048427791, + 0.3100816287212432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.996677685501199, + 0.0024563633329885296, + -0.08140981208152642, + 0.18262568773162247 + ], + [ + -0.002464782246594987, + 0.9999969624153662, + -2.9184838737254316e-06, + -0.02242265677411329 + ], + [ + 0.08140955762347543, + 0.00020356624726961765, + 0.9966807124091109, + 0.33198173748800874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9959151909121958, + 0.0018821237664051124, + -0.09027397255273802, + 0.19365567366810835 + ], + [ + -0.0028019720044653628, + 0.9999454322594806, + -0.010063868852821333, + -0.026588002825900087 + ], + [ + 0.09025010505927823, + 0.010275705013697506, + 0.9958661197285812, + 0.35388184625477437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9955682523618533, + 0.0019538709475420716, + -0.09402147242776833, + 0.19825934161839792 + ], + [ + -0.0030289080150929697, + 0.9999316490690563, + -0.011292604051938654, + -0.026619256880923762 + ], + [ + 0.09399298168162, + 0.011527340472030257, + 0.9955061224403599, + 0.364341873677714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9948320644861519, + 0.0020832300213259655, + -0.10151267715364108, + 0.20746667751897704 + ], + [ + -0.003496627596168254, + 0.9998993860359837, + -0.01374741431385545, + -0.02668176499097111 + ], + [ + 0.1014738245345805, + 0.014031320591495632, + 0.994739254768195, + 0.3852619285235932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9939099825320095, + 0.0018700740313088442, + -0.11017916974790688, + 0.2171800432016623 + ], + [ + -0.003973438809501791, + 0.9998139759028194, + -0.01887393370295323, + -0.025092645885396725 + ], + [ + 0.1101233781140399, + 0.019196781306087565, + 0.9937325219495629, + 0.4068526186279862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9933528524168913, + 0.0015799340809032525, + -0.11509828149684144, + 0.22228974093405796 + ], + [ + -0.004228742054434068, + 0.9997317201763148, + -0.022772909650372868, + -0.023472272724798668 + ], + [ + 0.11503142325409703, + 0.023108255702388815, + 0.9930930370224788, + 0.4179832813094396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9921658241744571, + 0.0009415788755322352, + -0.12492434018013403, + 0.2325091363988493 + ], + [ + -0.00479711185166958, + 0.9995212476525485, + -0.030565719506924074, + -0.020231526403602547 + ], + [ + 0.12483575232321577, + 0.03092553831891272, + 0.9916953393162552, + 0.44024460667234644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9908724021119798, + 0.0011733105577795698, + -0.1347980195521075, + 0.2409287578502011 + ], + [ + -0.005583737516631998, + 0.9994611539766008, + -0.03234537937800484, + -0.020483411397535997 + ], + [ + 0.13468743300019012, + 0.03280282052044775, + 0.9903450259165857, + 0.462979513214078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9894806351076288, + 0.001386326903864977, + -0.14465873926147427, + 0.2493483793015529 + ], + [ + -0.00638801247902363, + 0.9993974300480174, + -0.03411700616974104, + -0.020735296391469447 + ], + [ + 0.14452427492837117, + 0.034682198764408374, + 0.9888932596824062, + 0.48571441975580953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9884801903809098, + 0.002485939080821841, + -0.15132988247998702, + 0.2592397321662131 + ], + [ + -0.007183092249134546, + 0.9995089429972779, + -0.03050042711511849, + -0.02314608526526631 + ], + [ + 0.15117974867772688, + 0.031236084507355825, + 0.9880126469911145, + 0.5067823824194826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9879628449697044, + 0.003044458250172949, + -0.1546613986530931, + 0.2641854085985432 + ], + [ + -0.007571492702054168, + 0.9995596812170393, + -0.02869000145614933, + -0.02435147970216474 + ], + [ + 0.1545059528226365, + 0.029515673111993632, + 0.9875508774656198, + 0.5173163637513191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.986974449556394, + 0.003580168813783127, + -0.16083724168897626, + 0.2738684739310505 + ], + [ + -0.008082826256768151, + 0.999593251576426, + -0.027349576277726093, + -0.02508414648630816 + ], + [ + 0.16067390529440753, + 0.028293352472499138, + 0.9866019371374206, + 0.5386088159755154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9860305567982663, + 0.0035186610431865327, + -0.16652735536410887, + 0.2833432517314049 + ], + [ + -0.008344964646065853, + 0.9995648898885899, + -0.028291208299879994, + -0.024138691180798134 + ], + [ + 0.1663553504554541, + 0.02928566076554274, + 0.9856308880348509, + 0.5601257577602352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9855463168170534, + 0.003485760226473909, + -0.169370324685241, + 0.28808064063158206 + ], + [ + -0.0084780671078207, + 0.99955034979148, + -0.02876144311131361, + -0.02366596352804312 + ], + [ + 0.16919391178897575, + 0.02978166730345319, + 0.9851327182193123, + 0.570884228652595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9836456536839295, + 0.0031490090913494796, + -0.18008695602529903, + 0.29727912668082823 + ], + [ + -0.008266328449998726, + 0.9995828653940624, + -0.027672423539558906, + -0.023016589304923462 + ], + [ + 0.17992469481055715, + 0.02870851706965357, + 0.9832613717852388, + 0.5949727323873281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9816282540663511, + 0.0028239629626239183, + -0.19078258843991264, + 0.30647761273007434 + ], + [ + -0.008042729078644888, + 0.999614181987563, + -0.026585742011514, + -0.022367215081803803 + ], + [ + 0.1906339039300588, + 0.02763172818556575, + 0.9812722365734518, + 0.6190612361220611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9787766708990636, + 0.003638777504638444, + -0.20489750560223458, + 0.3173436889323116 + ], + [ + -0.008591805489623332, + 0.9996918605104999, + -0.023288729194261237, + -0.02531643582900224 + ], + [ + 0.20474962608555475, + 0.024554904343672256, + 0.9785063348238981, + 0.6423057545920656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9757218519733151, + 0.004497820592194747, + -0.21896720574479822, + 0.3282097651345488 + ], + [ + -0.00909332790292864, + 0.9997589481813277, + -0.019983916508416095, + -0.028265656576200678 + ], + [ + 0.21882453923043954, + 0.021489884627097344, + 0.9755275526038719, + 0.6655502730620703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9750187972145389, + 0.00523092347895136, + -0.22206076312097897, + 0.33288330090894674 + ], + [ + -0.009947909299591128, + 0.9997479055574241, + -0.02012869678124425, + -0.028344205847850343 + ], + [ + 0.22189949116408828, + 0.021834898055670418, + 0.9748250371466756, + 0.6760120322275986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9735815394911187, + 0.0066938166870038765, + -0.22824149224070522, + 0.3422303724577426 + ], + [ + -0.011658400200434165, + 0.9997237162158263, + -0.02041011857839771, + -0.028501304391149673 + ], + [ + 0.22804181122519973, + 0.022531845325639156, + 0.9733905938929921, + 0.6969355505586553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9720612633153688, + 0.006831936864474607, + -0.23462784361709732, + 0.3507720424958513 + ], + [ + -0.01224721528251899, + 0.9996910066226192, + -0.021630926833536606, + -0.02679440489099829 + ], + [ + 0.23440756404082375, + 0.02390012377654169, + 0.9718445750241718, + 0.7198388896758822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9712638133748482, + 0.006236836029942771, + -0.23792374136450448, + 0.35464017675956205 + ], + [ + -0.011983816818083361, + 0.9996701319805378, + -0.0227159714845075, + -0.025008956119197238 + ], + [ + 0.23770358214174778, + 0.024914435621742333, + 0.9710181656048622, + 0.7322804696275806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9696348705828824, + 0.005036325886936876, + -0.24450532340069273, + 0.36237644528698354 + ], + [ + -0.011468066279884375, + 0.9996244492626877, + -0.02488862977482997, + -0.021438058575595137 + ], + [ + 0.24428815199578743, + 0.026936886565246242, + 0.9693284804113897, + 0.7571636295309776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9683909702127395, + 0.006598755668392986, + -0.2493499252738166, + 0.3722545913162639 + ], + [ + -0.012358379783083179, + 0.9996915996760513, + -0.021540101816722786, + -0.02120520284899725 + ], + [ + 0.24913088780712472, + 0.02394080117219461, + 0.9681738680524625, + 0.7811478201049167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9671215670550454, + 0.008176131905045578, + -0.2541830549113473, + 0.38213273734554437 + ], + [ + -0.013231921941348668, + 0.9997470436329562, + -0.01818694556274444, + -0.020972347122399364 + ], + [ + 0.2539700588233419, + 0.02095231763398669, + 0.966985113436103, + 0.8051320106788556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9672209987817354, + 0.0084759767616948, + -0.2537945967383813, + 0.38979809678504174 + ], + [ + -0.01360200797805167, + 0.9997372650952729, + -0.01844955714343742, + -0.023180708467373995 + ], + [ + 0.25357153802157567, + 0.02129691521697811, + 0.9670821663683048, + 0.8275827216599339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9672706133537591, + 0.008625950730355391, + -0.2536003815380426, + 0.3936307765047904 + ], + [ + -0.013787009822932905, + 0.99973229809056, + -0.018580918026582724, + -0.02428488913986131 + ], + [ + 0.253372214148248, + 0.02146916692761311, + 0.9671305992310704, + 0.8388080771504729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9672507082942045, + 0.008499069494058365, + -0.25368057300884356, + 0.4019003778842046 + ], + [ + -0.014035984554990177, + 0.9997009636037764, + -0.020024347860874907, + -0.024606520362825346 + ], + [ + 0.2534345249604562, + 0.022929221256213977, + 0.9670807579363017, + 0.8612615413209904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9671116293689433, + 0.007944195914655769, + -0.25422821655083355, + 0.4107742212035356 + ], + [ + -0.014165050665196952, + 0.9996431403750264, + -0.022648250281376684, + -0.023041421463778793 + ], + [ + 0.2539575706274581, + 0.02550454179994305, + 0.9668790362132044, + 0.8837177586809475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9670420027932682, + 0.0076662128860676155, + -0.2545014617120506, + 0.41521114286320115 + ], + [ + -0.014230116182729185, + 0.999611632909696, + -0.023960115714192747, + -0.022258872014255512 + ], + [ + 0.2542189383720475, + 0.026792023656248293, + 0.9667755266044918, + 0.894945867360926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9666080931251086, + 0.007315442519182684, + -0.2561547942276115, + 0.4268744535293224 + ], + [ + -0.014216255969700362, + 0.9995838903583515, + -0.025098689253968177, + -0.019985530287774826 + ], + [ + 0.25586459772943465, + 0.027902158282323484, + 0.966309876381248, + 0.9172880212282584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9661713524729325, + 0.006962773813084064, + -0.257806977100024, + 0.43853776419544366 + ], + [ + -0.014204334098677315, + 0.9995548226671124, + -0.026237251680212074, + -0.01771218856129414 + ], + [ + 0.2575095232286325, + 0.029011657376742012, + 0.9658401364526207, + 0.9396301750955909 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9655765221320057, + 0.00656581700539924, + -0.26003628584201877, + 0.4491768260777781 + ], + [ + -0.014035460879912183, + 0.9995401570344867, + -0.026878993905317287, + -0.020546259657331197 + ], + [ + 0.25974022742992453, + 0.029603454570796956, + 0.9652246628283624, + 0.9636889758720582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9649764672897367, + 0.006167494427748988, + -0.2622639502285886, + 0.4598158879601125 + ], + [ + -0.01386806968211909, + 0.9995250196786015, + -0.027521113345637845, + -0.023380330753368254 + ], + [ + 0.2619696437000131, + 0.030194321469031907, + 0.9646036536996494, + 0.9877477766485253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9650313090973296, + 0.006973060100321955, + -0.26204188385586824, + 0.46439049279657474 + ], + [ + -0.014104330756380623, + 0.9995793051555589, + -0.025343254697164048, + -0.023456196465587234 + ], + [ + 0.26175492414816126, + 0.028152959659119497, + 0.9647236757469069, + 0.9989168298646294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9651402636543276, + 0.008582767931745868, + -0.2615924455481948, + 0.4735397024694992 + ], + [ + -0.01457829589464795, + 0.9996734486627239, + -0.020987361139141215, + -0.0236079278900252 + ], + [ + 0.2613268925351227, + 0.0240693193382455, + 0.9649502179410762, + 1.0212549362968375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9649963077253503, + 0.008497248466197455, + -0.26212577676555415, + 0.48261900330463925 + ], + [ + -0.014735099918057395, + 0.999652869431335, + -0.02184072956893771, + -0.02134351760356154 + ], + [ + 0.2618491987897734, + 0.024938672903791616, + 0.9647865358134678, + 1.0437031087282111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9647975766706449, + 0.007605302898442908, + -0.26288361572809044, + 0.4871236993033171 + ], + [ + -0.014656512290918189, + 0.9995831989087491, + -0.024871974324899633, + -0.0190032416048789 + ], + [ + 0.2625848866517598, + 0.02784937750067743, + 0.9645069152032595, + 1.0549822279434808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.964398133678656, + 0.005814571603350351, + -0.26439067781257936, + 0.49613309130067274 + ], + [ + -0.014506270432615442, + 0.9994161595425122, + -0.03093393223358845, + -0.014322689607513622 + ], + [ + 0.2640564482743443, + 0.03366794918562649, + 0.9639194267792165, + 1.0775404663740198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.964270999649576, + 0.008289374645866206, + -0.2647880765872745, + 0.5043009816550711 + ], + [ + -0.014990199160900879, + 0.9996162287416154, + -0.023295689848284635, + -0.01469938055257626 + ], + [ + 0.264493351833131, + 0.026432584141007017, + 0.9640251995314774, + 1.1014335995501703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.964142516626284, + 0.010767079180844338, + -0.26516650927190905, + 0.5124688720094694 + ], + [ + -0.015470633894253794, + 0.9997577465186634, + -0.015655917821521738, + -0.015076071497638897 + ], + [ + 0.2649337032550709, + 0.01919682999449921, + 0.9640755232852438, + 1.1253267327263208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9640753502265472, + 0.011254641116378807, + -0.2653903768769733, + 0.5208391892751161 + ], + [ + -0.016010713276173767, + 0.9997475376639025, + -0.01576445353801535, + -0.018545838586747763 + ], + [ + 0.2651459525354829, + 0.019447210296225193, + 0.9640121523433954, + 1.1487936953149656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9640416495370435, + 0.011498399128331518, + -0.26550232536718354, + 0.5250243479079395 + ], + [ + -0.01628076028768681, + 0.9997423199961116, + -0.015818674193723178, + -0.020280722131302196 + ], + [ + 0.2652520212973901, + 0.0195724404783325, + 0.9639804379609428, + 1.160527176609288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.963459907258191, + 0.011244652614772583, + -0.2676164510892617, + 0.5323738976174538 + ], + [ + -0.01664052965488735, + 0.999701239528981, + -0.017903196838096935, + -0.021587187695038597 + ], + [ + 0.2673351826431436, + 0.021702291855744578, + 0.9633591804977857, + 1.183414579580686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9623517439327729, + 0.010237190998738339, + -0.27161428694014966, + 0.5387026797708359 + ], + [ + -0.016832460909961766, + 0.9996170731080398, + -0.021963046478809263, + -0.02073035173340254 + ], + [ + 0.271285438623722, + 0.025708112948465853, + 0.9621555506878103, + 1.2057224229348373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9617915532731387, + 0.009727227120373393, + -0.27360992143011176, + 0.5418670708475268 + ], + [ + -0.0169346730300021, + 0.9995686947073023, + -0.023992528222490428, + -0.02030193375258451 + ], + [ + 0.2732585312516522, + 0.02770930554324219, + 0.9615414548965121, + 1.216876344611913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9581681618942106, + 0.011289084297178585, + -0.2859830940947413, + 0.5487449110585131 + ], + [ + -0.017555334661451635, + 0.9996585028607456, + -0.01935685623074155, + -0.019600489675648685 + ], + [ + 0.28566691050451554, + 0.02356765227901072, + 0.9580391338608572, + 1.2413013523893452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9543845095330726, + 0.012904178208055464, + -0.29830134117715823, + 0.5556227512694993 + ], + [ + -0.018115998509094917, + 0.9997276291987146, + -0.014713191860913747, + -0.01889904559871286 + ], + [ + 0.2980302309520547, + 0.019446069049870573, + 0.9543583351326549, + 1.2657263601667772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9492620606532054, + 0.013887208987245785, + -0.31417938447799953, + 0.5617478550448417 + ], + [ + -0.01913511734487775, + 0.9997240578899644, + -0.0136255407313142, + -0.02312020937539091 + ], + [ + 0.31390346842401706, + 0.018946068261449487, + 0.9492658526507759, + 1.2897216399356557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9438745309917594, + 0.014878428250706677, + -0.3299689411412457, + 0.5678729588201841 + ], + [ + -0.020135936282030885, + 0.9997188443650736, + -0.012521033959217904, + -0.02734137315206896 + ], + [ + 0.32968987520870624, + 0.018462518629658014, + 0.9439087464319406, + 1.3137169197045344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9421228745719217, + 0.015496634457280691, + -0.33490945571726827, + 0.5701403447470756 + ], + [ + -0.021108915015937552, + 0.9996910396964229, + -0.013123980247442487, + -0.028451188303866476 + ], + [ + 0.33460260446563983, + 0.019433977235315352, + 0.9421589131423787, + 1.3243697967215118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9385405252365852, + 0.016717703129506094, + -0.3447639785283679, + 0.574675116600859 + ], + [ + -0.023064183105445724, + 0.999631501216981, + -0.014314511251307338, + -0.03067081860746151 + ], + [ + 0.344397627672308, + 0.021386448437247227, + 0.9385802543613027, + 1.3456755507554663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9352453007211122, + 0.01721047700324377, + -0.3535817118579483, + 0.5778390894113113 + ], + [ + -0.024487325380876546, + 0.9995702188386291, + -0.01611671513014634, + -0.031002878416986585 + ], + [ + 0.3531523727440712, + 0.023731352515523125, + 0.9352647884599401, + 1.3676152217646358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9337645329295096, + 0.017094735670212857, + -0.3574794638231693, + 0.5787356762948721 + ], + [ + -0.024933255863141664, + 0.9995389044665408, + -0.01732948960271787, + -0.030225123074714144 + ], + [ + 0.35701838859503887, + 0.025094789702110414, + 0.9337602056924513, + 1.3789020157568277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9307547099861481, + 0.016846198747006606, + -0.36525590402672237, + 0.5805288500619936 + ], + [ + -0.025840147318838807, + 0.9994709858492347, + -0.01974930966135615, + -0.028669612390169262 + ], + [ + 0.36472997768917015, + 0.027820029355408324, + 0.9306976358310587, + 1.4014756037412117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.927656699502231, + 0.019301230499550945, + -0.3729349948313126, + 0.5820371862975886 + ], + [ + -0.02707849507842345, + 0.9995111608256693, + -0.015626723559701752, + -0.02890118943345947 + ], + [ + 0.3724510746029816, + 0.024594753223538247, + 0.9277258728422733, + 1.4250570743627264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9244921000423624, + 0.021782753415312342, + -0.38057833439767724, + 0.5835455225331836 + ], + [ + -0.02828245148895986, + 0.9995338887730599, + -0.011493830170090839, + -0.02913276647674968 + ], + [ + 0.38015057529489177, + 0.021389643471828992, + 0.9246772535620797, + 1.4486385449842412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9249233816025294, + 0.0231638023629967, + -0.37944719846775826, + 0.5859942436376923 + ], + [ + -0.028980647794293574, + 0.9995336395829301, + -0.009624208825920307, + -0.03230530372152411 + ], + [ + 0.3790473060428809, + 0.019898281387844628, + 0.9251633359463859, + 1.472480651463573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9251381546495837, + 0.023853633149281923, + -0.3788804547573586, + 0.5872186041899465 + ], + [ + -0.02933057057305113, + 0.9995319937894055, + -0.008689707776183844, + -0.033891572343911325 + ], + [ + 0.3784958552499917, + 0.01915196013351327, + 0.9254048249180582, + 1.484401704703239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9256112509144145, + 0.02532686289317126, + -0.37762727946567026, + 0.5903274640329532 + ], + [ + -0.029986905587949527, + 0.9995293853822753, + -0.006464769956492816, + -0.03581178183244669 + ], + [ + 0.3772858302055781, + 0.017307737383074527, + 0.9259351189758203, + 1.5080865085175454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.926126871043532, + 0.02689212594968427, + -0.37625235187706607, + 0.5940964626144576 + ], + [ + -0.030601361763980955, + 0.9995241218475958, + -0.003884134779179378, + -0.03647966356474297 + ], + [ + 0.37596884896132976, + 0.015111035924091513, + 0.9265090831740366, + 1.5316140096668258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9263835878764782, + 0.027673522695358038, + -0.3755630762664684, + 0.5959809619052099 + ], + [ + -0.03090995338791661, + 0.9995188068089691, + -0.0025941504836232664, + -0.036813604430891114 + ], + [ + 0.37531056858908257, + 0.014011815614129529, + 0.9267932056983021, + 1.5433777602414662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9266742644861412, + 0.028348933256085545, + -0.3747948045561886, + 0.6012545044395018 + ], + [ + -0.03143963990676475, + 0.9995033762831479, + -0.0021330356587357406, + -0.03508200880686958 + ], + [ + 0.3745482032817706, + 0.01376004294435449, + 0.9271053363219129, + 1.5664073405704348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9269639559520095, + 0.029024124068326534, + -0.37402596779885167, + 0.6065280469737937 + ], + [ + -0.031969693472961226, + 0.9994874395964952, + -0.0016723600352341588, + -0.033350413182848045 + ], + [ + 0.3737857181127259, + 0.013507713015493653, + 0.9274167232824978, + 1.5894369208994032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 340.41748046875, + "fy": 340.41741371154785, + "cx": 416.0, + "cy": 240.0 + } + } + ] +}