diff --git a/blenderobj_eval/target/scene_000012__traj000__backward/caption.txt b/blenderobj_eval/target/scene_000012__traj000__backward/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..e8972665d5c29ebf4fee49dfa4ec8bb59a75130c --- /dev/null +++ b/blenderobj_eval/target/scene_000012__traj000__backward/caption.txt @@ -0,0 +1 @@ +Inside a cozy, textured-walled room with framed nature paintings, a plush sofa and armchairs are surrounded by floating household items—mugs, a toaster, a box, and other small objects—suspended mid-air as if caught in a sudden gust of wind, creating a whimsical, chaotic scene. 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 reversed, playing backward so the objects rise back up from where they landed. diff --git a/blenderobj_eval/target/scene_000018__traj000__bullettime_late/caption.txt b/blenderobj_eval/target/scene_000018__traj000__bullettime_late/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..194330d6e672cbf77813ab94aaf78a64e7c4ca79 --- /dev/null +++ b/blenderobj_eval/target/scene_000018__traj000__bullettime_late/caption.txt @@ -0,0 +1 @@ +A collection of colorful, abstract objects—including geometric shapes, a steering wheel, and various containers—floats and tumbles through the air before scattering across a polished wooden floor in a room with white walls and vertical blinds, eventually settling in a disorganized pile. 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_000018__traj000__bullettime_late/transforms.json b/blenderobj_eval/target/scene_000018__traj000__bullettime_late/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5dbb4a492868a2fceb55c6587fbad5cdf4dc979d --- /dev/null +++ b/blenderobj_eval/target/scene_000018__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, + -1.6833839416503906 + ], + [ + 0.7851922512054443, + -0.14981064200401306, + 0.6008577346801758, + -0.09120089560747147 + ], + [ + -4.184979118804222e-08, + -0.970295786857605, + -0.24192188680171967, + 0.6186911463737488 + ], + [ + 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, + -1.672132968902588 + ], + [ + 0.7934746742248535, + -0.14723438024520874, + 0.5905253291130066, + -0.07673537731170654 + ], + [ + -5.137375680419609e-08, + -0.9702958464622498, + -0.24192175269126892, + 0.6186911463737488 + ], + [ + 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, + -1.6610782146453857 + ], + [ + 0.8016127347946167, + -0.14463147521018982, + 0.580085277557373, + -0.06211939826607704 + ], + [ + -1.005577985324635e-07, + -0.9702958464622498, + -0.2419217973947525, + 0.6186911463737488 + ], + [ + 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, + -1.650221586227417 + ], + [ + 0.8096047639846802, + -0.14200222492218018, + 0.5695397257804871, + -0.047355618327856064 + ], + [ + 2.691173506264022e-08, + -0.9702956676483154, + -0.24192194640636444, + 0.6186911463737488 + ], + [ + 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, + -1.639565110206604 + ], + [ + 0.8174497485160828, + -0.13934697210788727, + 0.5588904023170471, + -0.0324467197060585 + ], + [ + -4.7187466378773024e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.6186911463737488 + ], + [ + 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, + -1.6291106939315796 + ], + [ + 0.8251456618309021, + -0.13666662573814392, + 0.5481395125389099, + -0.017395421862602234 + ], + [ + -1.1223676210647682e-07, + -0.9702957272529602, + -0.24192193150520325, + 0.6186911463737488 + ], + [ + 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, + -1.6188602447509766 + ], + [ + 0.832691490650177, + -0.13396114110946655, + 0.5372890830039978, + -0.002204459859058261 + ], + [ + -3.702682960238235e-08, + -0.9702958464622498, + -0.24192187190055847, + 0.6186911463737488 + ], + [ + 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, + -1.6088157892227173 + ], + [ + 0.8400859236717224, + -0.13123127818107605, + 0.5263405442237854, + 0.013123400509357452 + ], + [ + -2.4412486254732357e-08, + -0.9702959060668945, + -0.24192176759243011, + 0.6186911463737488 + ], + [ + 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, + -1.598978877067566 + ], + [ + 0.8473271131515503, + -0.12847794592380524, + 0.5152960419654846, + 0.028585370630025864 + ], + [ + -7.107621513569029e-08, + -0.9702956080436707, + -0.2419220507144928, + 0.6186911463737488 + ], + [ + 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, + -1.5893515348434448 + ], + [ + 0.8544144630432129, + -0.12570060789585114, + 0.504158079624176, + 0.04417863488197327 + ], + [ + -1.5588280888323425e-08, + -0.970295786857605, + -0.24192169308662415, + 0.6186911463737488 + ], + [ + 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, + -1.5799354314804077 + ], + [ + 0.8613462448120117, + -0.12290067225694656, + 0.4929283559322357, + 0.05990035831928253 + ], + [ + 5.447748918641082e-09, + -0.9702958464622498, + -0.24192173779010773, + 0.6186911463737488 + ], + [ + 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, + -1.5707322359085083 + ], + [ + 0.8681212663650513, + -0.12007841467857361, + 0.48160892724990845, + 0.07574767619371414 + ], + [ + -1.1376769748494553e-07, + -0.9702960252761841, + -0.24192170798778534, + 0.6186911463737488 + ], + [ + 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, + -1.5617437362670898 + ], + [ + 0.8747380971908569, + -0.1172342523932457, + 0.470201700925827, + 0.09171770513057709 + ], + [ + -2.7580789208059286e-08, + -0.9702959060668945, + -0.24192164838314056, + 0.6186911463737488 + ], + [ + 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, + -1.552971363067627 + ], + [ + 0.8811956644058228, + -0.11436907947063446, + 0.45870891213417053, + 0.10780753940343857 + ], + [ + -9.074689444332762e-08, + -0.9702957272529602, + -0.24192193150520325, + 0.6186911463737488 + ], + [ + 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, + -1.544416904449463 + ], + [ + 0.8874931931495667, + -0.1114826500415802, + 0.44713255763053894, + 0.12401425093412399 + ], + [ + 1.2146614380981191e-08, + -0.9702957272529602, + -0.24192194640636444, + 0.6186911463737488 + ], + [ + 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, + -1.5360819101333618 + ], + [ + 0.8936290740966797, + -0.1085759848356247, + 0.4354751408100128, + 0.14033488929271698 + ], + [ + 2.5417392635063152e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.6186911463737488 + ], + [ + 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, + -1.5279678106307983 + ], + [ + 0.8996021747589111, + -0.1056496649980545, + 0.4237383306026459, + 0.15676647424697876 + ], + [ + 7.00425175637065e-08, + -0.970295786857605, + -0.2419217824935913, + 0.6186911463737488 + ], + [ + 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, + -1.5200761556625366 + ], + [ + 0.9054117798805237, + -0.10270412266254425, + 0.4119243025779724, + 0.17330604791641235 + ], + [ + -1.804978211339403e-08, + -0.9702958464622498, + -0.24192175269126892, + 0.6186911463737488 + ], + [ + 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, + -1.5124082565307617 + ], + [ + 0.9110565185546875, + -0.09973973780870438, + 0.4000352919101715, + 0.18995055556297302 + ], + [ + 9.147581891966183e-08, + -0.9702959060668945, + -0.24192170798778534, + 0.6186911463737488 + ], + [ + 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, + -1.5049656629562378 + ], + [ + 0.9165353178977966, + -0.09675759822130203, + 0.38807347416877747, + 0.2066970020532608 + ], + [ + -3.316637986472415e-08, + -0.9702957272529602, + -0.24192194640636444, + 0.6186911463737488 + ], + [ + 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, + -1.49774968624115 + ], + [ + 0.9218474626541138, + -0.09375746548175812, + 0.3760412037372589, + 0.22354233264923096 + ], + [ + 1.8987691419170005e-09, + -0.9702958464622498, + -0.24192175269126892, + 0.6186911463737488 + ], + [ + 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, + -1.4907615184783936 + ], + [ + 0.9269918203353882, + -0.09074018895626068, + 0.36394044756889343, + 0.24048346281051636 + ], + [ + 1.6486089293721307e-07, + -0.9702959060668945, + -0.24192169308662415, + 0.6186911463737488 + ], + [ + 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, + -1.4840025901794434 + ], + [ + 0.9319674372673035, + -0.08770686388015747, + 0.35177329182624817, + 0.25751733779907227 + ], + [ + -6.538867580729857e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.6186911463737488 + ], + [ + 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, + -1.4774740934371948 + ], + [ + 0.9367733597755432, + -0.0846572294831276, + 0.3395422399044037, + 0.274640828371048 + ], + [ + 6.411634245750975e-08, + -0.970295786857605, + -0.2419217824935913, + 0.6186911463737488 + ], + [ + 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, + -1.471177101135254 + ], + [ + 0.9414089322090149, + -0.08159217983484268, + 0.3272494375705719, + 0.29185083508491516 + ], + [ + 7.414718083964544e-08, + -0.9702959060668945, + -0.24192169308662415, + 0.6186911463737488 + ], + [ + 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, + -1.4651129245758057 + ], + [ + 0.9458730816841125, + -0.07851239293813705, + 0.3148970603942871, + 0.3091442286968231 + ], + [ + 1.1139042044305825e-07, + -0.9702958464622498, + -0.24192176759243011, + 0.6186911463737488 + ], + [ + 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, + -1.4592825174331665 + ], + [ + 0.9501650929450989, + -0.0754183679819107, + 0.30248722434043884, + 0.32651785016059875 + ], + [ + 5.7866731850708675e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.6186911463737488 + ], + [ + 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, + -1.453687071800232 + ], + [ + 0.9542842507362366, + -0.07231056690216064, + 0.2900224030017853, + 0.34396854043006897 + ], + [ + 8.941256623984373e-09, + -0.9702958464622498, + -0.24192176759243011, + 0.6186911463737488 + ], + [ + 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, + -1.4483275413513184 + ], + [ + 0.9582296013832092, + -0.06918971985578537, + 0.27750492095947266, + 0.36149314045906067 + ], + [ + -4.3831118290427185e-08, + -0.970295786857605, + -0.24192185699939728, + 0.6186911463737488 + ], + [ + 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, + -1.4432049989700317 + ], + [ + 0.9620004892349243, + -0.06605620682239532, + 0.26493680477142334, + 0.37908846139907837 + ], + [ + 3.544565174706804e-08, + -0.9702956676483154, + -0.24192197620868683, + 0.6186911463737488 + ], + [ + 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, + -1.4383201599121094 + ], + [ + 0.9655966758728027, + -0.0629103034734726, + 0.25232064723968506, + 0.3967512547969818 + ], + [ + 1.4524516700475942e-07, + -0.9702958464622498, + -0.2419217973947525, + 0.6186911463737488 + ], + [ + 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, + -1.4336740970611572 + ], + [ + 0.9690167307853699, + -0.0597534216940403, + 0.23965825140476227, + 0.4144783616065979 + ], + [ + 1.069444195422875e-07, + -0.9702957272529602, + -0.24192188680171967, + 0.6186911463737488 + ], + [ + 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, + -1.4292676448822021 + ], + [ + 0.9722606539726257, + -0.05658553168177605, + 0.22695252299308777, + 0.432266503572464 + ], + [ + 1.2969120888328689e-08, + -0.970295786857605, + -0.24192184209823608, + 0.6186911463737488 + ], + [ + 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, + -1.4251015186309814 + ], + [ + 0.9753276109695435, + -0.05340728908777237, + 0.2142053097486496, + 0.4501124918460846 + ], + [ + -1.4380944435288256e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.6186911463737488 + ], + [ + 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, + -1.4211764335632324 + ], + [ + 0.9782170057296753, + -0.050219252705574036, + 0.20141921937465668, + 0.46801307797431946 + ], + [ + 8.229441306184526e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.6186911463737488 + ], + [ + 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, + -1.4174933433532715 + ], + [ + 0.9809284210205078, + -0.04702221229672432, + 0.1885964423418045, + 0.48596495389938354 + ], + [ + -4.303927880755509e-09, + -0.9702959060668945, + -0.24192172288894653, + 0.6186911463737488 + ], + [ + 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, + -1.4140526056289673 + ], + [ + 0.9834612607955933, + -0.043816499412059784, + 0.1757393628358841, + 0.503964900970459 + ], + [ + 9.42291933370143e-08, + -0.9702958464622498, + -0.2419218271970749, + 0.6186911463737488 + ], + [ + 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, + -1.4108551740646362 + ], + [ + 0.9858150482177734, + -0.04060303792357445, + 0.16285015642642975, + 0.5220096111297607 + ], + [ + 2.615125183069722e-08, + -0.970295786857605, + -0.24192191660404205, + 0.6186911463737488 + ], + [ + 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, + -1.4079012870788574 + ], + [ + 0.987989604473114, + -0.03738171234726906, + 0.14993159472942352, + 0.5400958061218262 + ], + [ + 2.3462186504730198e-07, + -0.9702959060668945, + -0.24192173779010773, + 0.6186911463737488 + ], + [ + 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, + -1.4051917791366577 + ], + [ + 0.9899842143058777, + -0.034154195338487625, + 0.13698554039001465, + 0.5582202076911926 + ], + [ + -3.2550246942264494e-08, + -0.9702959060668945, + -0.2419217824935913, + 0.6186911463737488 + ], + [ + 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, + -1.4027270078659058 + ], + [ + 0.9917986989021301, + -0.030919987708330154, + 0.1240147203207016, + 0.5763795375823975 + ], + [ + 1.3762428352492861e-07, + -0.9702959656715393, + -0.24192164838314056, + 0.6186911463737488 + ], + [ + 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, + -1.4005074501037598 + ], + [ + 0.9934325814247131, + -0.027680588886141777, + 0.11102113127708435, + 0.5945704579353333 + ], + [ + -1.9985794352805897e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.6186911463737488 + ], + [ + 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, + -1.3985333442687988 + ], + [ + 0.9948856830596924, + -0.02443588338792324, + 0.0980072170495987, + 0.6127896308898926 + ], + [ + 3.577918761266119e-08, + -0.9702957272529602, + -0.24192199110984802, + 0.6186911463737488 + ], + [ + 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, + -1.3968054056167603 + ], + [ + 0.9961580038070679, + -0.02118641696870327, + 0.08497575670480728, + 0.6310338377952576 + ], + [ + 1.4523865843329986e-07, + -0.9702959656715393, + -0.24192169308662415, + 0.6186911463737488 + ], + [ + 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, + -1.395323634147644 + ], + [ + 0.997248649597168, + -0.017933808267116547, + 0.0719287320971489, + 0.6492996215820312 + ], + [ + -4.8836639621185896e-08, + -0.970295786857605, + -0.2419218271970749, + 0.6186911463737488 + ], + [ + 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, + -1.3940883874893188 + ], + [ + 0.9981580972671509, + -0.014677152037620544, + 0.058868736028671265, + 0.6675838232040405 + ], + [ + 2.1110159309500887e-07, + -0.9702959656715393, + -0.24192167818546295, + 0.6186911463737488 + ], + [ + 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, + -1.3931000232696533 + ], + [ + 0.9988855719566345, + -0.011418580077588558, + 0.045797839760780334, + 0.6858829259872437 + ], + [ + 5.526892721263721e-09, + -0.9702958464622498, + -0.2419218122959137, + 0.6186911463737488 + ], + [ + 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, + -1.3923585414886475 + ], + [ + 0.9994314908981323, + -0.008157425560057163, + 0.032718725502491, + 0.7041937708854675 + ], + [ + 1.1220792117683231e-07, + -0.9702958464622498, + -0.24192184209823608, + 0.6186911463737488 + ], + [ + 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, + -1.3918640613555908 + ], + [ + 0.9997952580451965, + -0.004895282443612814, + 0.019633622840046883, + 0.7225129008293152 + ], + [ + -5.78822962893355e-08, + -0.9702957272529602, + -0.24192185699939728, + 0.6186911463737488 + ], + [ + 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, + -1.391616940498352 + ], + [ + 0.9999772906303406, + -0.0016316778492182493, + 0.006544921081513166, + 0.7408370971679688 + ], + [ + 9.749944496206808e-08, + -0.970295786857605, + -0.24192176759243011, + 0.6186911463737488 + ], + [ + 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, + -1.391616940498352 + ], + [ + 0.9999772906303406, + 0.0016318140551447868, + -0.0065450058318674564, + 0.7591629028320312 + ], + [ + -7.93264121057291e-08, + -0.9702957272529602, + -0.24192193150520325, + 0.6186911463737488 + ], + [ + 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, + -1.3918640613555908 + ], + [ + 0.9997953772544861, + 0.00489544402807951, + -0.019633591175079346, + 0.7774870991706848 + ], + [ + 9.037864856509259e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.6186911463737488 + ], + [ + 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, + -1.3923585414886475 + ], + [ + 0.9994314908981323, + 0.008157973177731037, + -0.03271876275539398, + 0.7958062291145325 + ], + [ + 5.910507994144609e-08, + -0.9702959060668945, + -0.24192173779010773, + 0.6186911463737488 + ], + [ + 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, + -1.3931000232696533 + ], + [ + 0.9988855719566345, + 0.011418910697102547, + -0.04579797759652138, + 0.8141170740127563 + ], + [ + 6.581806388794575e-08, + -0.9702958464622498, + -0.24192175269126892, + 0.6186911463737488 + ], + [ + 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, + -1.3940883874893188 + ], + [ + 0.9981579780578613, + 0.014677795581519604, + -0.058868736028671265, + 0.8324161767959595 + ], + [ + -1.078992184488925e-08, + -0.9702959060668945, + -0.2419218271970749, + 0.6186911463737488 + ], + [ + 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, + -1.395323634147644 + ], + [ + 0.997248649597168, + 0.017933987081050873, + -0.07192880660295486, + 0.8507003784179688 + ], + [ + -1.5078256865308504e-08, + -0.9702959060668945, + -0.24192172288894653, + 0.6186911463737488 + ], + [ + 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, + -1.3968054056167603 + ], + [ + 0.9961579442024231, + 0.02118709497153759, + -0.08497590571641922, + 0.8689661622047424 + ], + [ + 1.2575537056136454e-08, + -0.9702959656715393, + -0.24192169308662415, + 0.6186911463737488 + ], + [ + 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, + -1.3985333442687988 + ], + [ + 0.9948856830596924, + 0.02443585731089115, + -0.09800746291875839, + 0.8872103691101074 + ], + [ + -1.7698397414278588e-07, + -0.970295786857605, + -0.24192187190055847, + 0.6186911463737488 + ], + [ + 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, + -1.4005074501037598 + ], + [ + 0.9934325218200684, + 0.02768070064485073, + -0.11102116107940674, + 0.9054295420646667 + ], + [ + -1.8881383567759258e-08, + -0.9702957272529602, + -0.24192193150520325, + 0.6186911463737488 + ], + [ + 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, + -1.4027270078659058 + ], + [ + 0.9917986392974854, + 0.03092053160071373, + -0.12401468306779861, + 0.9236204624176025 + ], + [ + 9.002424405935017e-08, + -0.970295786857605, + -0.24192187190055847, + 0.6186911463737488 + ], + [ + 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, + -1.4051917791366577 + ], + [ + 0.9899842143058777, + 0.034154441207647324, + -0.1369856745004654, + 0.9417797923088074 + ], + [ + -9.996537642109615e-08, + -0.9702959060668945, + -0.24192176759243011, + 0.6186911463737488 + ], + [ + 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, + -1.4079012870788574 + ], + [ + 0.987989604473114, + 0.03738223761320114, + -0.1499316543340683, + 0.9599041938781738 + ], + [ + -1.0060265509537203e-07, + -0.9702959060668945, + -0.2419217973947525, + 0.6186911463737488 + ], + [ + 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, + -1.4108551740646362 + ], + [ + 0.9858149886131287, + 0.04060309752821922, + -0.1628503054380417, + 0.9779903888702393 + ], + [ + -6.655419326762058e-08, + -0.9702957272529602, + -0.24192185699939728, + 0.6186911463737488 + ], + [ + 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, + -1.4140526056289673 + ], + [ + 0.9834612607955933, + 0.04381681978702545, + -0.17573943734169006, + 0.996035099029541 + ], + [ + -6.788292239434668e-08, + -0.9702958464622498, + -0.24192176759243011, + 0.6186911463737488 + ], + [ + 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, + -1.4174933433532715 + ], + [ + 0.9809284210205078, + 0.04702248051762581, + -0.18859651684761047, + 1.0140351057052612 + ], + [ + -6.180295031299465e-08, + -0.9702959060668945, + -0.24192170798778534, + 0.6186911463737488 + ], + [ + 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, + -1.4211764335632324 + ], + [ + 0.9782171249389648, + 0.050219640135765076, + -0.2014193832874298, + 1.031986951828003 + ], + [ + -6.671234586974606e-08, + -0.9702959656715393, + -0.24192169308662415, + 0.6186911463737488 + ], + [ + 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, + -1.4251015186309814 + ], + [ + 0.9753276705741882, + 0.05340756103396416, + -0.21420539915561676, + 1.0498875379562378 + ], + [ + -4.186853175269789e-08, + -0.9702958464622498, + -0.24192190170288086, + 0.6186911463737488 + ], + [ + 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, + -1.4292676448822021 + ], + [ + 0.9722604751586914, + 0.056585490703582764, + -0.2269524484872818, + 1.0677335262298584 + ], + [ + -8.32212165846613e-09, + -0.9702956080436707, + -0.24192200601100922, + 0.6186911463737488 + ], + [ + 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, + -1.4336740970611572 + ], + [ + 0.9690167307853699, + 0.059753671288490295, + -0.239658385515213, + 1.0855216979980469 + ], + [ + 6.989491652120705e-08, + -0.9702957272529602, + -0.24192194640636444, + 0.6186911463737488 + ], + [ + 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, + -1.4383201599121094 + ], + [ + 0.965596616268158, + 0.06291071325540543, + -0.2523205280303955, + 1.1032487154006958 + ], + [ + 1.5583246693040564e-08, + -0.9702958464622498, + -0.2419218271970749, + 0.6186911463737488 + ], + [ + 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, + -1.4432049989700317 + ], + [ + 0.9620006680488586, + 0.06605635583400726, + -0.26493680477142334, + 1.1209115982055664 + ], + [ + 6.36268850939814e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.6186911463737488 + ], + [ + 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, + -1.4483275413513184 + ], + [ + 0.9582294821739197, + 0.0691896304488182, + -0.27750489115715027, + 1.1385068893432617 + ], + [ + -1.0477280198983863e-07, + -0.9702957272529602, + -0.24192194640636444, + 0.6186911463737488 + ], + [ + 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, + -1.453687071800232 + ], + [ + 0.9542841911315918, + 0.07231086492538452, + -0.2900225818157196, + 1.1560314893722534 + ], + [ + -3.942705717463468e-08, + -0.9702958464622498, + -0.2419217973947525, + 0.6186911463737488 + ], + [ + 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, + -1.4592825174331665 + ], + [ + 0.9501650929450989, + 0.07541865110397339, + -0.3024873435497284, + 1.1734821796417236 + ], + [ + -9.08898130091984e-08, + -0.9702958464622498, + -0.24192190170288086, + 0.6186911463737488 + ], + [ + 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, + -1.4651129245758057 + ], + [ + 0.9458730816841125, + 0.07851283252239227, + -0.3148970603942871, + 1.1908557415008545 + ], + [ + 1.5716700829671026e-08, + -0.9702958464622498, + -0.24192188680171967, + 0.6186911463737488 + ], + [ + 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, + -1.471177101135254 + ], + [ + 0.9414088726043701, + 0.08159247040748596, + -0.3272494673728943, + 1.2081491947174072 + ], + [ + -8.25472596943655e-08, + -0.9702958464622498, + -0.24192173779010773, + 0.6186911463737488 + ], + [ + 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, + -1.4774740934371948 + ], + [ + 0.9367733001708984, + 0.08465734869241714, + -0.33954229950904846, + 1.2253592014312744 + ], + [ + -7.255611933487671e-08, + -0.970295786857605, + -0.2419218271970749, + 0.6186911463737488 + ], + [ + 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, + -1.4840025901794434 + ], + [ + 0.9319673776626587, + 0.0877070426940918, + -0.3517734408378601, + 1.2424826622009277 + ], + [ + -6.51809486384991e-08, + -0.9702959060668945, + -0.24192175269126892, + 0.6186911463737488 + ], + [ + 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, + -1.4907615184783936 + ], + [ + 0.926991879940033, + 0.09074068069458008, + -0.36394041776657104, + 1.2595165967941284 + ], + [ + -7.132626933525898e-08, + -0.9702959060668945, + -0.2419218271970749, + 0.6186911463737488 + ], + [ + 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, + -1.49774968624115 + ], + [ + 0.9218475222587585, + 0.09375786781311035, + -0.3760414719581604, + 1.276457667350769 + ], + [ + -9.002091161391945e-08, + -0.9702959656715393, + -0.24192175269126892, + 0.6186911463737488 + ], + [ + 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, + -1.5049656629562378 + ], + [ + 0.9165353775024414, + 0.09675780683755875, + -0.3880736529827118, + 1.2933030128479004 + ], + [ + 1.3317919211885965e-08, + -0.9702958464622498, + -0.24192185699939728, + 0.6186911463737488 + ], + [ + 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_000018__traj001__forward/caption.txt b/blenderobj_eval/target/scene_000018__traj001__forward/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..f543af61e1b6566812dd7f716f3bbb8eaab53195 --- /dev/null +++ b/blenderobj_eval/target/scene_000018__traj001__forward/caption.txt @@ -0,0 +1 @@ +A collection of colorful, abstract objects—including geometric shapes, a steering wheel, and various containers—floats and tumbles through the air before scattering across a polished wooden floor in a room with white walls and vertical blinds, eventually settling in a disorganized pile. 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 plays forward at normal speed. diff --git a/blenderobj_eval/target/scene_000018__traj001__forward/transforms.json b/blenderobj_eval/target/scene_000018__traj001__forward/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b6cc141aebcfb3f8ac0187af710445f72d8c5721 --- /dev/null +++ b/blenderobj_eval/target/scene_000018__traj001__forward/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + -0.9609764814376831, + 0.23459479212760925, + -0.14659109711647034, + -2.5447723865509033 + ], + [ + 0.27662912011146545, + 0.8149542212486267, + -0.5092400312423706, + 1.4629361629486084 + ], + [ + 3.36789796051562e-09, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -2.5624444484710693 + ], + [ + 0.2528088390827179, + 0.8205007314682007, + -0.5127055644989014, + 1.467787742614746 + ], + [ + 3.84417226939604e-08, + -0.5299193263053894, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -2.580230712890625 + ], + [ + 0.22883419692516327, + 0.8255452513694763, + -0.515857994556427, + 1.4722013473510742 + ], + [ + 3.8334672325390784e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -2.598120927810669 + ], + [ + 0.20472018420696259, + 0.830086886882782, + -0.5186958312988281, + 1.476174235343933 + ], + [ + -7.160296888741868e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -2.616103410720825 + ], + [ + 0.18048107624053955, + 0.8341218829154968, + -0.5212171673774719, + 1.4797040224075317 + ], + [ + -3.262145398252869e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -2.6341679096221924 + ], + [ + 0.1561318337917328, + 0.8376479148864746, + -0.523420512676239, + 1.4827886819839478 + ], + [ + -9.782699983418297e-09, + -0.5299193263053894, + -0.8480480313301086, + 1.4672678709030151 + ], + [ + 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, + -2.6523029804229736 + ], + [ + 0.13168731331825256, + 0.8406624794006348, + -0.52530437707901, + 1.4854260683059692 + ], + [ + 5.004282765952439e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -2.670497417449951 + ], + [ + 0.10716245323419571, + 0.8431648015975952, + -0.5268678069114685, + 1.4876148700714111 + ], + [ + 3.166061901538342e-08, + -0.5299193263053894, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -2.6887407302856445 + ], + [ + 0.08257219940423965, + 0.8451519012451172, + -0.5281096696853638, + 1.4893535375595093 + ], + [ + 4.870696557190968e-08, + -0.5299193263053894, + -0.8480480313301086, + 1.4672678709030151 + ], + [ + 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, + -2.7070212364196777 + ], + [ + 0.05793176591396332, + 0.8466237187385559, + -0.5290291905403137, + 1.4906409978866577 + ], + [ + -5.350313259100403e-08, + -0.5299191474914551, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -2.725327968597412 + ], + [ + 0.03325578570365906, + 0.8475790619850159, + -0.5296260714530945, + 1.4914766550064087 + ], + [ + -2.572702584302533e-08, + -0.5299191474914551, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -2.74364972114563 + ], + [ + 0.008559508249163628, + 0.8480169177055359, + -0.5298997163772583, + 1.491859793663025 + ], + [ + -8.417668340143791e-09, + -0.5299191474914551, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -2.7619755268096924 + ], + [ + -0.016142044216394424, + 0.8479378819465637, + -0.529850423336029, + 1.4917902946472168 + ], + [ + 4.582499713023935e-08, + -0.529919445514679, + -0.8480480313301086, + 1.4672678709030151 + ], + [ + 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, + -2.7802939414978027 + ], + [ + -0.0408334918320179, + 0.8473407626152039, + -0.5294771790504456, + 1.4912681579589844 + ], + [ + -5.862118968025243e-08, + -0.5299191474914551, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -2.798593759536743 + ], + [ + -0.06550022214651108, + 0.8462272882461548, + -0.5287812352180481, + 1.4902938604354858 + ], + [ + -4.3863547460887276e-08, + -0.5299192070960999, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -2.816864013671875 + ], + [ + -0.09012699127197266, + 0.8445966839790344, + -0.5277626514434814, + 1.4888676404953003 + ], + [ + -1.1681868805624163e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -2.8350934982299805 + ], + [ + -0.11469876766204834, + 0.8424513936042786, + -0.526421844959259, + 1.4869908094406128 + ], + [ + 1.0194749933134517e-08, + -0.5299191474914551, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -2.853271007537842 + ], + [ + -0.13920056819915771, + 0.8397918343544006, + -0.5247600674629211, + 1.4846640825271606 + ], + [ + 3.861600106347396e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -2.8713855743408203 + ], + [ + -0.16361738741397858, + 0.8366197347640991, + -0.5227779746055603, + 1.481889247894287 + ], + [ + 5.629031463172396e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -2.8894259929656982 + ], + [ + -0.18793420493602753, + 0.8329370617866516, + -0.5204768776893616, + 1.4786677360534668 + ], + [ + -6.907774263709143e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -2.907381296157837 + ], + [ + -0.21213659644126892, + 0.8287466764450073, + -0.5178583860397339, + 1.4750016927719116 + ], + [ + -1.2286229811309113e-08, + -0.5299193263053894, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -2.9252407550811768 + ], + [ + -0.2362094521522522, + 0.8240500092506409, + -0.5149236917495728, + 1.470893144607544 + ], + [ + -5.7747815418451864e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -2.9429931640625 + ], + [ + -0.26013827323913574, + 0.8188508749008179, + -0.5116748213768005, + 1.4663448333740234 + ], + [ + -4.6331525282994335e-09, + -0.5299192070960999, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -2.960627794265747 + ], + [ + -0.28390827775001526, + 0.8131518959999084, + -0.5081138014793396, + 1.4613593816757202 + ], + [ + 3.46863657796348e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -2.9781339168548584 + ], + [ + -0.3075051009654999, + 0.8069568872451782, + -0.5042427182197571, + 1.4559398889541626 + ], + [ + 5.3966122237625314e-08, + -0.5299191474914551, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -2.9955010414123535 + ], + [ + -0.3309142291545868, + 0.8002695441246033, + -0.5000640153884888, + 1.450089693069458 + ], + [ + 7.075548325019554e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.0127179622650146 + ], + [ + -0.3541213572025299, + 0.7930940389633179, + -0.49558016657829285, + 1.4438122510910034 + ], + [ + -5.070465824985604e-09, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.0297749042510986 + ], + [ + -0.37711256742477417, + 0.7854345440864563, + -0.49079397320747375, + 1.437111496925354 + ], + [ + -2.682788036167949e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.046661138534546 + ], + [ + -0.39987367391586304, + 0.7772956490516663, + -0.4857082664966583, + 1.4299914836883545 + ], + [ + 3.727609865222803e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.063366174697876 + ], + [ + -0.42239072918891907, + 0.768682599067688, + -0.4803261458873749, + 1.4224566221237183 + ], + [ + 3.45857138484007e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.0798799991607666 + ], + [ + -0.4446501135826111, + 0.7596004605293274, + -0.474651038646698, + 1.4145114421844482 + ], + [ + 3.938302839401331e-08, + -0.5299193263053894, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.0961925983428955 + ], + [ + -0.4666379988193512, + 0.750054657459259, + -0.4686862528324127, + 1.4061607122421265 + ], + [ + -4.603305114869727e-08, + -0.5299193263053894, + -0.8480480313301086, + 1.4672678709030151 + ], + [ + 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, + -3.1122941970825195 + ], + [ + -0.4883413314819336, + 0.7400512099266052, + -0.46243542432785034, + 1.3974096775054932 + ], + [ + 4.941899334198752e-09, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.1281745433807373 + ], + [ + -0.5097466111183167, + 0.7295967936515808, + -0.4559025466442108, + 1.3882635831832886 + ], + [ + -2.5172370854420478e-08, + -0.5299192667007446, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -3.1438241004943848 + ], + [ + -0.5308409929275513, + 0.7186967134475708, + -0.44909143447875977, + 1.3787280321121216 + ], + [ + 6.981099254232959e-09, + -0.5299192667007446, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -3.159233331680298 + ], + [ + -0.5516114234924316, + 0.7073580026626587, + -0.44200628995895386, + 1.3688088655471802 + ], + [ + 3.187490449363395e-08, + -0.5299192070960999, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -3.1743929386138916 + ], + [ + -0.572045087814331, + 0.6955881118774414, + -0.4346514344215393, + 1.358512043952942 + ], + [ + -1.2558339790302853e-07, + -0.5299192070960999, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -3.189293384552002 + ], + [ + -0.5921298861503601, + 0.6833932995796204, + -0.4270314574241638, + 1.3478440046310425 + ], + [ + -5.415583714807326e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.2039260864257812 + ], + [ + -0.611853301525116, + 0.670781672000885, + -0.41915085911750793, + 1.3368111848831177 + ], + [ + -2.177709745865286e-08, + -0.5299192070960999, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -3.2182817459106445 + ], + [ + -0.6312035322189331, + 0.6577606201171875, + -0.41101446747779846, + 1.3254202604293823 + ], + [ + -2.325034031969153e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.232351541519165 + ], + [ + -0.6501685380935669, + 0.6443384289741516, + -0.4026273787021637, + 1.31367826461792 + ], + [ + -2.6980673695220503e-08, + -0.5299193263053894, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.246127128601074 + ], + [ + -0.6687366962432861, + 0.6305232048034668, + -0.39399453997612, + 1.3015923500061035 + ], + [ + -9.200478245929844e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.2595999240875244 + ], + [ + -0.6868970990180969, + 0.6163228750228882, + -0.38512131571769714, + 1.2891699075698853 + ], + [ + 6.668759056083218e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.272761821746826 + ], + [ + -0.7046381235122681, + 0.6017470955848694, + -0.3760131895542145, + 1.2764184474945068 + ], + [ + -3.149525085177629e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.28560471534729 + ], + [ + -0.7219492197036743, + 0.5868033766746521, + -0.3666754961013794, + 1.263345718383789 + ], + [ + -3.4659890957300377e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.2981209754943848 + ], + [ + -0.73881995677948, + 0.5715022683143616, + -0.35711416602134705, + 1.2499598264694214 + ], + [ + -5.113593104510983e-08, + -0.5299193263053894, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.310302495956421 + ], + [ + -0.7552397847175598, + 0.555851936340332, + -0.3473348915576935, + 1.2362687587738037 + ], + [ + 7.40288399470046e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.3221423625946045 + ], + [ + -0.7711988091468811, + 0.5398626923561096, + -0.33734366297721863, + 1.2222810983657837 + ], + [ + 5.154747029223472e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.3336329460144043 + ], + [ + -0.7866871356964111, + 0.523544192314148, + -0.32714661955833435, + 1.2080051898956299 + ], + [ + -5.682181125621355e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.3447675704956055 + ], + [ + -0.8016956448554993, + 0.5069054365158081, + -0.3167498707771301, + 1.193449854850769 + ], + [ + 1.0997625565778435e-07, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.355539321899414 + ], + [ + -0.8162148594856262, + 0.48995840549468994, + -0.306160032749176, + 1.1786240339279175 + ], + [ + -5.663068236572144e-09, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.365941286087036 + ], + [ + -0.83023601770401, + 0.47271180152893066, + -0.2953832447528839, + 1.163536548614502 + ], + [ + 1.8160401182854002e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.3759677410125732 + ], + [ + -0.8437506556510925, + 0.45517697930336, + -0.28442633152008057, + 1.148196816444397 + ], + [ + 8.735769085888023e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.3856120109558105 + ], + [ + -0.8567505478858948, + 0.43736475706100464, + -0.2732957601547241, + 1.132614016532898 + ], + [ + -5.502901245790781e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.3948686122894287 + ], + [ + -0.8692277669906616, + 0.4192851781845093, + -0.2619985044002533, + 1.116797924041748 + ], + [ + 1.3816489286000433e-07, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.4037318229675293 + ], + [ + -0.8811742067337036, + 0.4009501338005066, + -0.2505413293838501, + 1.1007578372955322 + ], + [ + -9.980628590255947e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.412195920944214 + ], + [ + -0.892583429813385, + 0.3823698163032532, + -0.2389313280582428, + 1.0845038890838623 + ], + [ + 1.5110390449990518e-07, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.4202561378479004 + ], + [ + -0.903447687625885, + 0.3635569214820862, + -0.2271755039691925, + 1.068045735359192 + ], + [ + -6.162409249554912e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.4279072284698486 + ], + [ + -0.913760781288147, + 0.3445216119289398, + -0.21528111398220062, + 1.0513935089111328 + ], + [ + 8.779080928889016e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.4351446628570557 + ], + [ + -0.9235163927078247, + 0.3252764940261841, + -0.2032553106546402, + 1.0345574617385864 + ], + [ + 2.6520728724221954e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.4419641494750977 + ], + [ + -0.9327085018157959, + 0.30583280324935913, + -0.19110547006130219, + 1.0175477266311646 + ], + [ + -4.699517219819427e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.448361396789551 + ], + [ + -0.9413313269615173, + 0.28620246052742004, + -0.17883913218975067, + 1.000374674797058 + ], + [ + -5.472038822063041e-09, + -0.5299192070960999, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -3.4543325901031494 + ], + [ + -0.949380099773407, + 0.26639747619628906, + -0.1664636731147766, + 0.9830489754676819 + ], + [ + 1.212966651564784e-07, + -0.5299193263053894, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.459873914718628 + ], + [ + -0.9568491578102112, + 0.24642963707447052, + -0.15398643910884857, + 0.9655809998512268 + ], + [ + 3.265495962523346e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.464982271194458 + ], + [ + -0.9637346863746643, + 0.22631168365478516, + -0.14141535758972168, + 0.9479815363883972 + ], + [ + 4.058686542407486e-08, + -0.5299193263053894, + -0.8480480313301086, + 1.4672678709030151 + ], + [ + 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, + -3.469654083251953 + ], + [ + -0.9700321555137634, + 0.20605598390102386, + -0.12875807285308838, + 0.9302612543106079 + ], + [ + 1.8077304986263698e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.4738869667053223 + ], + [ + -0.9757376909255981, + 0.18567410111427307, + -0.11602213233709335, + 0.912431001663208 + ], + [ + 6.762331850040937e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.4776782989501953 + ], + [ + -0.9808477163314819, + 0.1651790291070938, + -0.10321540385484695, + 0.8945015668869019 + ], + [ + 4.4084409012157266e-08, + -0.5299192070960999, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -3.481025457382202 + ], + [ + -0.9853593707084656, + 0.14458328485488892, + -0.09034570306539536, + 0.8764840364456177 + ], + [ + -8.399062778607913e-09, + -0.5299192070960999, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -3.48392653465271 + ], + [ + -0.9892698526382446, + 0.12389932572841644, + -0.07742094993591309, + 0.8583892583847046 + ], + [ + 1.7063834789610155e-08, + -0.5299192070960999, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.486379623413086 + ], + [ + -0.9925766587257385, + 0.10313965380191803, + -0.06444890797138214, + 0.8402284383773804 + ], + [ + 5.414685944060693e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.4883837699890137 + ], + [ + -0.9952778816223145, + 0.0823173001408577, + -0.051437485963106155, + 0.8220124840736389 + ], + [ + -4.876741499515447e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.4899370670318604 + ], + [ + -0.9973717927932739, + 0.06144433841109276, + -0.038394808769226074, + 0.803752601146698 + ], + [ + 1.1521817100401677e-07, + -0.5299192070960999, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -3.4910390377044678 + ], + [ + -0.9988570809364319, + 0.04053403064608574, + -0.025328608229756355, + 0.7854599356651306 + ], + [ + 1.2267574334146047e-07, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.4916887283325195 + ], + [ + -0.9997328519821167, + 0.01959909498691559, + -0.012246966361999512, + 0.7671456336975098 + ], + [ + 4.861670532818607e-08, + -0.5299192070960999, + -0.8480481505393982, + 1.4672678709030151 + ], + [ + 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, + -3.4918861389160156 + ], + [ + -0.9999987483024597, + -0.0013478038599714637, + 0.0008422260289080441, + 0.7488209009170532 + ], + [ + -2.23591634096465e-08, + -0.5299193263053894, + -0.8480480313301086, + 1.4672678709030151 + ], + [ + 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, + -3.4916305541992188 + ], + [ + -0.9996544718742371, + -0.02229391410946846, + 0.013930846005678177, + 0.7304968237876892 + ], + [ + 2.473285576343187e-09, + -0.5299193263053894, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.490922689437866 + ], + [ + -0.9987001419067383, + -0.043226465582847595, + 0.0270109660923481, + 0.7121846675872803 + ], + [ + -3.152493732727635e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.489762544631958 + ], + [ + -0.9971364736557007, + -0.0641326829791069, + 0.04007457569241524, + 0.6938956379890442 + ], + [ + -9.76358549564793e-10, + -0.5299193263053894, + -0.8480480313301086, + 1.4672678709030151 + ], + [ + 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, + -3.4881510734558105 + ], + [ + -0.9949643015861511, + -0.0849997028708458, + 0.05311372131109238, + 0.6756407618522644 + ], + [ + -2.4413829180502944e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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, + -3.4860892295837402 + ], + [ + -0.9921851754188538, + -0.1058148667216301, + 0.0661204382777214, + 0.6574313044548035 + ], + [ + 3.978462359555124e-08, + -0.5299192667007446, + -0.8480480909347534, + 1.4672678709030151 + ], + [ + 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_000020__traj000__forward/caption.txt b/blenderobj_eval/target/scene_000020__traj000__forward/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..bf3fb394ab38e23b77b5427338cc3bbb42213947 --- /dev/null +++ b/blenderobj_eval/target/scene_000020__traj000__forward/caption.txt @@ -0,0 +1 @@ +In a modern living room with light wooden flooring and a peach-colored sectional sofa, various household items—including a newspaper, a box of cereal, a blue cup, a striped towel, and a small white box—suddenly float and scatter through the air before settling on the sofa and floor, while a round glass coffee table remains stationary nearby. A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects. The motion of the scene plays forward at normal speed. diff --git a/blenderobj_eval/target/scene_000020__traj000__forward/extras/blender_meta.json b/blenderobj_eval/target/scene_000020__traj000__forward/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b5e768f2da88cc024349a752517c2a9034e7ddbf --- /dev/null +++ b/blenderobj_eval/target/scene_000020__traj000__forward/extras/blender_meta.json @@ -0,0 +1,376 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000020", + "trajectory_index": 0, + "trajectory_id": "T0", + "trajectory_name": "low_elevation_arc", + "pattern": "forward", + "pattern_params": { + "kind": "time_forward", + "stride": 1, + "cam_start": 0, + "src_frame_range": [ + 0, + 80 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": 1, + "timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "timestamp_range": [ + 0.0, + 2.666666667 + ], + "scene_time_span_seconds": 2.666666667, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "written_at": "2026-09-17T14:34:26" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000020__traj000__forward/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000020__traj000__forward/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..f5efa7fa57b7a94c139536b1e0eadf7b402176f4 --- /dev/null +++ b/blenderobj_eval/target/scene_000020__traj000__forward/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "forward", + "original_pattern": "forward", + "trajectory": { + "dir": "traj000", + "index": 0, + "id": "T0", + "name": "low_elevation_arc" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": 1, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 0.0, + 2.666666667 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000020__traj000__forward/extras/traj_caption.txt b/blenderobj_eval/target/scene_000020__traj000__forward/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..39ee80a3e0474925cbbfc9ce5e29c5785238ee3a --- /dev/null +++ b/blenderobj_eval/target/scene_000020__traj000__forward/extras/traj_caption.txt @@ -0,0 +1 @@ +A steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects. diff --git a/blenderobj_eval/target/scene_000020__traj000__forward/transforms.json b/blenderobj_eval/target/scene_000020__traj000__forward/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..5291e3fdceebf5a174068fdd55c9da140af36eb6 --- /dev/null +++ b/blenderobj_eval/target/scene_000020__traj000__forward/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9288842082023621, + 0.08960070461034775, + -0.3593687117099762, + -0.6188839077949524 + ], + [ + 0.3703702986240387, + -0.22471728920936584, + 0.9012925028800964, + -3.046809434890747 + ], + [ + 3.3972575863572274e-08, + -0.9702958464622498, + -0.24192176759243011, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.9238032698631287, + 0.09262403100728989, + -0.3714946508407593, + -0.60190749168396 + ], + [ + 0.3828674554824829, + -0.22348828613758087, + 0.8963623642921448, + -3.039907217025757 + ], + [ + 5.217032139626099e-09, + -0.9702956676483154, + -0.24192194640636444, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.9185541868209839, + 0.09563051164150238, + -0.38355308771133423, + -0.5850257277488708 + ], + [ + 0.39529502391815186, + -0.222218319773674, + 0.8912692666053772, + -3.0327768325805664 + ], + [ + -5.2307580489241445e-09, + -0.970295786857605, + -0.2419218271970749, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.9131379723548889, + 0.09861957281827927, + -0.3955416679382324, + -0.5682417154312134 + ], + [ + 0.4076506197452545, + -0.22090815007686615, + 0.8860138058662415, + -3.0254194736480713 + ], + [ + -5.153284021730542e-08, + -0.9702956676483154, + -0.24192194640636444, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.9075555205345154, + 0.10159073024988174, + -0.4074583053588867, + -0.5515584945678711 + ], + [ + 0.4199320673942566, + -0.219557523727417, + 0.8805973529815674, + -3.017836093902588 + ], + [ + -3.8327470974763855e-08, + -0.970295786857605, + -0.24192184209823608, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.901807963848114, + 0.10454339534044266, + -0.41930079460144043, + -0.5349790453910828 + ], + [ + 0.4321371018886566, + -0.21816694736480713, + 0.8750206232070923, + -3.010028600692749 + ], + [ + -5.421327742283211e-08, + -0.9702959656715393, + -0.24192173779010773, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.8958962559700012, + 0.10747701674699783, + -0.4310668706893921, + -0.5185064673423767 + ], + [ + 0.44426339864730835, + -0.2167367786169052, + 0.8692843914031982, + -3.001997947692871 + ], + [ + -4.1672976180961996e-09, + -0.9702958464622498, + -0.24192175269126892, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.889821469783783, + 0.11039113253355026, + -0.4427545666694641, + -0.5021437406539917 + ], + [ + 0.45630887150764465, + -0.2152673602104187, + 0.8633899688720703, + -2.993746042251587 + ], + [ + -3.940789383705123e-08, + -0.970295786857605, + -0.24192196130752563, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.88358473777771, + 0.1132851168513298, + -0.45436161756515503, + -0.4858938157558441 + ], + [ + 0.46827128529548645, + -0.21375849843025208, + 0.857338547706604, + -2.985273838043213 + ], + [ + 2.316607705665774e-08, + -0.9702957272529602, + -0.24192191660404205, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.8771872520446777, + 0.11615841835737228, + -0.46588605642318726, + -0.46975964307785034 + ], + [ + 0.4801484942436218, + -0.21221059560775757, + 0.8511311411857605, + -2.976583480834961 + ], + [ + 3.661745040517417e-08, + -0.9702958464622498, + -0.24192170798778534, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.8706300854682922, + 0.11901064217090607, + -0.4773256480693817, + -0.45374417304992676 + ], + [ + 0.4919383227825165, + -0.2106243222951889, + 0.8447688221931458, + -2.9676761627197266 + ], + [ + 5.2573554398804845e-09, + -0.9702959060668945, + -0.24192173779010773, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.863914430141449, + 0.12184111028909683, + -0.4886784553527832, + -0.43785032629966736 + ], + [ + 0.5036386251449585, + -0.2089996337890625, + 0.8382526636123657, + -2.9585535526275635 + ], + [ + -6.187633516674396e-08, + -0.9702959060668945, + -0.24192166328430176, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.8570415377616882, + 0.12464968860149384, + -0.49994224309921265, + -0.42208099365234375 + ], + [ + 0.5152473449707031, + -0.20733702182769775, + 0.8315838575363159, + -2.9492173194885254 + ], + [ + 7.541623858742241e-08, + -0.9702958464622498, + -0.24192184209823608, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.8500127196311951, + 0.1274353563785553, + -0.5111150741577148, + -0.40643903613090515 + ], + [ + 0.5267621278762817, + -0.2056366205215454, + 0.824763834476471, + -2.939669370651245 + ], + [ + 5.821736692723789e-08, + -0.970295786857605, + -0.24192185699939728, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.8428292274475098, + 0.13019786775112152, + -0.5221948027610779, + -0.39092734456062317 + ], + [ + 0.5381811261177063, + -0.20389878749847412, + 0.817793607711792, + -2.9299111366271973 + ], + [ + 9.380482879350893e-08, + -0.9702957272529602, + -0.24192188680171967, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.8354923725128174, + 0.13293655216693878, + -0.5331795811653137, + -0.37554866075515747 + ], + [ + 0.5495021343231201, + -0.2021237462759018, + 0.810674786567688, + -2.9199445247650146 + ], + [ + -1.5817228415926365e-08, + -0.9702959060668945, + -0.24192172288894653, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.8280033469200134, + 0.13565121591091156, + -0.5440673232078552, + -0.3603058457374573 + ], + [ + 0.5607231855392456, + -0.200312077999115, + 0.8034082055091858, + -2.90977144241333 + ], + [ + -9.316998728081671e-09, + -0.9702958464622498, + -0.24192184209823608, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.8203636407852173, + 0.13834109902381897, + -0.5548560619354248, + -0.34520167112350464 + ], + [ + 0.5718421936035156, + -0.1984637975692749, + 0.7959954738616943, + -2.8993935585021973 + ], + [ + -1.323368636896305e-10, + -0.9702958464622498, + -0.24192175269126892, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.8125747442245483, + 0.14100588858127594, + -0.5655436515808105, + -0.33023884892463684 + ], + [ + 0.5828570127487183, + -0.19657963514328003, + 0.7884377837181091, + -2.888813018798828 + ], + [ + 8.883203506115933e-09, + -0.9702957272529602, + -0.24192193150520325, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.8046377897262573, + 0.14364497363567352, + -0.5761285424232483, + -0.31542015075683594 + ], + [ + 0.593765914440155, + -0.19465947151184082, + 0.7807366251945496, + -2.8780312538146973 + ], + [ + 1.062248955463474e-08, + -0.9702957272529602, + -0.24192185699939728, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.7965545654296875, + 0.14625787734985352, + -0.5866084694862366, + -0.30074822902679443 + ], + [ + 0.6045666337013245, + -0.1927040070295334, + 0.7728934288024902, + -2.867050886154175 + ], + [ + -2.797268550125409e-08, + -0.9702957272529602, + -0.24192190170288086, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.7883262634277344, + 0.14884425699710846, + -0.5969817042350769, + -0.2862257659435272 + ], + [ + 0.6152574419975281, + -0.19071336090564728, + 0.7649096250534058, + -2.8558735847473145 + ], + [ + 7.260510415108001e-09, + -0.9702957272529602, + -0.24192187190055847, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.7799544930458069, + 0.15140347182750702, + -0.6072462797164917, + -0.2718554139137268 + ], + [ + 0.6258363127708435, + -0.18868781626224518, + 0.7567866444587708, + -2.844501256942749 + ], + [ + 5.681232551069115e-08, + -0.9702959060668945, + -0.24192164838314056, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.771440863609314, + 0.15393511950969696, + -0.6174002885818481, + -0.2576397955417633 + ], + [ + 0.6363011002540588, + -0.18662822246551514, + 0.7485259175300598, + -2.8329360485076904 + ], + [ + 9.171404968810748e-09, + -0.9702959060668945, + -0.24192166328430176, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.7627866864204407, + 0.15643887221813202, + -0.6274418830871582, + -0.24358147382736206 + ], + [ + 0.6466501951217651, + -0.18453480303287506, + 0.7401286959648132, + -2.8211803436279297 + ], + [ + 1.0471865152794635e-08, + -0.9702957272529602, + -0.24192191660404205, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.7539937496185303, + 0.15891405940055847, + -0.6373694539070129, + -0.2296830266714096 + ], + [ + 0.6568816304206848, + -0.18240739405155182, + 0.7315971255302429, + -2.8092358112335205 + ], + [ + 6.465307933467557e-08, + -0.9702959060668945, + -0.24192170798778534, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.7450636625289917, + 0.16136029362678528, + -0.6471809148788452, + -0.2159469723701477 + ], + [ + 0.6669934391975403, + -0.18024693429470062, + 0.7229322791099548, + -2.797105073928833 + ], + [ + 8.700509113168664e-08, + -0.9702959060668945, + -0.24192164838314056, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.7359979152679443, + 0.1637771874666214, + -0.6568745374679565, + -0.20237582921981812 + ], + [ + 0.6769838929176331, + -0.1780538260936737, + 0.7141358256340027, + -2.7847900390625 + ], + [ + 1.0668209426967223e-08, + -0.9702959060668945, + -0.24192169308662415, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.7267982959747314, + 0.16616424918174744, + -0.6664485931396484, + -0.18897205591201782 + ], + [ + 0.6868509650230408, + -0.17582832276821136, + 0.7052093148231506, + -2.7722930908203125 + ], + [ + 1.8170169369113864e-08, + -0.970295786857605, + -0.2419217973947525, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.7174663543701172, + 0.16852107644081116, + -0.6759014129638672, + -0.17573808133602142 + ], + [ + 0.6965932250022888, + -0.17357073724269867, + 0.6961546540260315, + -2.7596163749694824 + ], + [ + -5.4205667510132116e-08, + -0.9702958464622498, + -0.24192176759243011, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.7080036997795105, + 0.17084729671478271, + -0.6852313280105591, + -0.16267631947994232 + ], + [ + 0.7062087655067444, + -0.17128139734268188, + 0.6869731545448303, + -2.746762275695801 + ], + [ + 3.0978547727045225e-08, + -0.9702959060668945, + -0.24192166328430176, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.6984123587608337, + 0.1731424480676651, + -0.6944363713264465, + -0.14978915452957153 + ], + [ + 0.7156956195831299, + -0.16896118223667145, + 0.6776666045188904, + -2.7337331771850586 + ], + [ + 1.0507402947723676e-08, + -0.970295786857605, + -0.24192184209823608, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.6886938214302063, + 0.1754060685634613, + -0.7035151720046997, + -0.13707894086837769 + ], + [ + 0.7250523567199707, + -0.16660989820957184, + 0.6682369112968445, + -2.720531463623047 + ], + [ + 7.447285810258109e-08, + -0.9702959060668945, + -0.24192170798778534, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.6788499355316162, + 0.1776377409696579, + -0.7124658823013306, + -0.12454795837402344 + ], + [ + 0.734277069568634, + -0.16422858834266663, + 0.6586853265762329, + -2.7071595191955566 + ], + [ + 4.70780712191754e-08, + -0.970295786857605, + -0.24192184209823608, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.6688826084136963, + 0.17983701825141907, + -0.7212868928909302, + -0.11219852417707443 + ], + [ + 0.7433680891990662, + -0.16181738674640656, + 0.6490139961242676, + -2.693619728088379 + ], + [ + -6.265821639317437e-08, + -0.970295786857605, + -0.24192190170288086, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.6587934494018555, + 0.18200363218784332, + -0.7299767136573792, + -0.10003286600112915 + ], + [ + 0.7523239254951477, + -0.159376323223114, + 0.6392247080802917, + -2.6799144744873047 + ], + [ + 8.23567489760535e-08, + -0.9702959060668945, + -0.24192169308662415, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.6485844850540161, + 0.18413709104061127, + -0.7385334968566895, + -0.08805319666862488 + ], + [ + 0.7611427307128906, + -0.1569066047668457, + 0.62931889295578, + -2.666046380996704 + ], + [ + 7.654215039565315e-08, + -0.9702958464622498, + -0.24192175269126892, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.6382573843002319, + 0.18623703718185425, + -0.7469560503959656, + -0.07626170665025711 + ], + [ + 0.7698230743408203, + -0.1544083207845688, + 0.61929851770401, + -2.652017831802368 + ], + [ + 1.2044427677437852e-08, + -0.9702958464622498, + -0.2419217824935913, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.6278142333030701, + 0.18830305337905884, + -0.755242645740509, + -0.06466054171323776 + ], + [ + 0.7783633470535278, + -0.15188199281692505, + 0.609165608882904, + -2.637831687927246 + ], + [ + -1.50562470935256e-07, + -0.9702959060668945, + -0.24192176759243011, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.617256760597229, + 0.19033493101596832, + -0.7633916139602661, + -0.053251802921295166 + ], + [ + 0.7867618203163147, + -0.14932788908481598, + 0.5989216566085815, + -2.623490333557129 + ], + [ + 7.515602362673235e-09, + -0.970295786857605, + -0.24192187190055847, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.6065868139266968, + 0.19233204424381256, + -0.7714019417762756, + -0.04203757271170616 + ], + [ + 0.7950173616409302, + -0.14674638211727142, + 0.5885688066482544, + -2.6089961528778076 + ], + [ + 3.60671137400459e-08, + -0.9702959656715393, + -0.24192163348197937, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.5958066582679749, + 0.194294273853302, + -0.7792716026306152, + -0.031019892543554306 + ], + [ + 0.8031279444694519, + -0.14413860440254211, + 0.5781087279319763, + -2.5943522453308105 + ], + [ + 2.8994218581601672e-08, + -0.970295786857605, + -0.24192185699939728, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.5849180221557617, + 0.19622105360031128, + -0.786999523639679, + -0.02020076848566532 + ], + [ + 0.8110924363136292, + -0.14150448143482208, + 0.5675434470176697, + -2.5795609951019287 + ], + [ + 6.8832051169920305e-09, + -0.9702957272529602, + -0.24192193150520325, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.5739229321479797, + 0.19811202585697174, + -0.7945842146873474, + -0.009582165628671646 + ], + [ + 0.8189093470573425, + -0.13884447515010834, + 0.5568749904632568, + -2.5646250247955322 + ], + [ + -1.0955787388411409e-08, + -0.970295786857605, + -0.2419218122959137, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.5628235340118408, + 0.19996707141399384, + -0.8020241856575012, + 0.0008339799824170768 + ], + [ + 0.8265770673751831, + -0.13615937530994415, + 0.5461052656173706, + -2.5495471954345703 + ], + [ + -2.9908648002674454e-08, + -0.9702957272529602, + -0.24192190170288086, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.5516213774681091, + 0.20178572833538055, + -0.8093185424804688, + 0.011045774444937706 + ], + [ + 0.8340947031974792, + -0.13344910740852356, + 0.5352360010147095, + -2.534330368041992 + ], + [ + 2.5186807306454284e-08, + -0.9702959060668945, + -0.24192170798778534, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.54031902551651, + 0.20356760919094086, + -0.8164653778076172, + 0.021051358431577682 + ], + [ + 0.8414602875709534, + -0.13071484863758087, + 0.5242694020271301, + -2.518976926803589 + ], + [ + 1.2006150740262456e-08, + -0.9702959060668945, + -0.24192169308662415, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.5289182066917419, + 0.2053125500679016, + -0.8234636783599854, + 0.03084891103208065 + ], + [ + 0.8486728668212891, + -0.12795673310756683, + 0.5132072567939758, + -2.5034902095794678 + ], + [ + 4.03802431492295e-08, + -0.9702959060668945, + -0.24192175269126892, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.5174212455749512, + 0.20701995491981506, + -0.8303120732307434, + 0.040436647832393646 + ], + [ + 0.8557308912277222, + -0.1251753568649292, + 0.502051830291748, + -2.487872362136841 + ], + [ + 5.065803776460598e-09, + -0.9702959060668945, + -0.24192166328430176, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.5058300495147705, + 0.2086898684501648, + -0.8370093107223511, + 0.04981282725930214 + ], + [ + 0.862633228302002, + -0.12237127125263214, + 0.4908048212528229, + -2.4721269607543945 + ], + [ + 1.9003891793545336e-09, + -0.9702958464622498, + -0.2419218122959137, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.4941469430923462, + 0.21032164990901947, + -0.8435542583465576, + 0.058975741267204285 + ], + [ + 0.8693785071372986, + -0.1195448711514473, + 0.47946882247924805, + -2.456256151199341 + ], + [ + -4.797639974185586e-08, + -0.9702959060668945, + -0.24192175269126892, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.48237383365631104, + 0.21191534399986267, + -0.849945604801178, + 0.06792371720075607 + ], + [ + 0.8759655952453613, + -0.11669667810201645, + 0.4680454432964325, + -2.440263509750366 + ], + [ + 1.5772776862377214e-08, + -0.9702959060668945, + -0.24192184209823608, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.47051283717155457, + 0.2134702503681183, + -0.8561823964118958, + 0.07665514200925827 + ], + [ + 0.8823932409286499, + -0.11382703483104706, + 0.45653682947158813, + -2.4241514205932617 + ], + [ + 1.4940346204639354e-07, + -0.9702959656715393, + -0.24192164838314056, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.45856621861457825, + 0.21498635411262512, + -0.8622633218765259, + 0.08516840636730194 + ], + [ + 0.8886603116989136, + -0.11093710362911224, + 0.44494491815567017, + -2.4079229831695557 + ], + [ + 1.1678778832902026e-08, + -0.9702958464622498, + -0.2419217824935913, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.44653618335723877, + 0.2164633870124817, + -0.8681873679161072, + 0.09346197545528412 + ], + [ + 0.8947657346725464, + -0.10802669078111649, + 0.4332723915576935, + -2.3915812969207764 + ], + [ + 2.2305352009865942e-10, + -0.9702959656715393, + -0.24192167818546295, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.43442490696907043, + 0.21790102124214172, + -0.8739532232284546, + 0.10153432935476303 + ], + [ + 0.9007081389427185, + -0.10509691387414932, + 0.4215207099914551, + -2.375129222869873 + ], + [ + -9.33094526089917e-08, + -0.9702958464622498, + -0.24192185699939728, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.42223459482192993, + 0.21929903328418732, + -0.879560112953186, + 0.10938400775194168 + ], + [ + 0.9064866900444031, + -0.10214772075414658, + 0.40969252586364746, + -2.358569622039795 + ], + [ + 5.779575928954728e-09, + -0.9702958464622498, + -0.24192187190055847, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.40996745228767395, + 0.22065700590610504, + -0.8850069642066956, + 0.11700958013534546 + ], + [ + 0.9121001958847046, + -0.0991799607872963, + 0.39778977632522583, + -2.3419055938720703 + ], + [ + 6.047205403092448e-08, + -0.9702958464622498, + -0.2419217973947525, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.39762571454048157, + 0.22197489440441132, + -0.8902926445007324, + 0.12440965324640274 + ], + [ + 0.9175477623939514, + -0.09619435667991638, + 0.3858145773410797, + -2.3251404762268066 + ], + [ + -3.623110700345933e-08, + -0.970295786857605, + -0.24192187190055847, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.38521143794059753, + 0.22325246036052704, + -0.8954164981842041, + 0.13158288598060608 + ], + [ + 0.9228284358978271, + -0.09319097548723221, + 0.3737691640853882, + -2.308276891708374 + ], + [ + 2.318044778348849e-08, + -0.9702958464622498, + -0.24192184209823608, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.37272730469703674, + 0.2244892567396164, + -0.900377094745636, + 0.138527974486351 + ], + [ + 0.9279409050941467, + -0.09017077088356018, + 0.36165574193000793, + -2.291317939758301 + ], + [ + 1.2752039424412942e-07, + -0.9702957272529602, + -0.24192187190055847, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.36017516255378723, + 0.2256852239370346, + -0.9051741361618042, + 0.14524364471435547 + ], + [ + 0.9328847527503967, + -0.08713424950838089, + 0.34947648644447327, + -2.2742669582366943 + ], + [ + -7.679902580548514e-08, + -0.9702958464622498, + -0.2419218122959137, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.3475574553012848, + 0.22684024274349213, + -0.9098062515258789, + 0.15172868967056274 + ], + [ + 0.9376587271690369, + -0.08408161252737045, + 0.33723360300064087, + -2.257127046585083 + ], + [ + 1.0299379482603399e-07, + -0.970295786857605, + -0.24192185699939728, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.33487647771835327, + 0.22795376181602478, + -0.9142729640007019, + 0.15798191726207733 + ], + [ + 0.9422621726989746, + -0.08101373165845871, + 0.324929416179657, + -2.239901065826416 + ], + [ + 5.817940262886623e-08, + -0.9702959060668945, + -0.24192164838314056, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.3221346139907837, + 0.22902598977088928, + -0.9185731410980225, + 0.1640021800994873 + ], + [ + 0.9466939568519592, + -0.07793131470680237, + 0.31256598234176636, + -2.222592353820801 + ], + [ + -1.7222141934780666e-08, + -0.9702958464622498, + -0.24192176759243011, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.3093339800834656, + 0.23005656898021698, + -0.9227061867713928, + 0.1697884202003479 + ], + [ + 0.9509535431861877, + -0.07483457028865814, + 0.30014556646347046, + -2.2052040100097656 + ], + [ + 1.4918541069164348e-08, + -0.9702958464622498, + -0.24192187190055847, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.2964772880077362, + 0.23104512691497803, + -0.9266712069511414, + 0.17533953487873077 + ], + [ + 0.9550399780273438, + -0.07172427326440811, + 0.2876707911491394, + -2.187739133834839 + ], + [ + -9.211618134941091e-09, + -0.9702958464622498, + -0.24192184209823608, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.2835666537284851, + 0.23199166357517242, + -0.9304675459861755, + 0.18065455555915833 + ], + [ + 0.9589525461196899, + -0.06860096752643585, + 0.2751435339450836, + -2.170200824737549 + ], + [ + -1.7126602358530363e-09, + -0.9702957272529602, + -0.24192191660404205, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.2706041634082794, + 0.23289598524570465, + -0.9340947866439819, + 0.18573248386383057 + ], + [ + 0.9626908302307129, + -0.06546494364738464, + 0.2625662386417389, + -2.152592658996582 + ], + [ + -1.3342294380436215e-08, + -0.9702959060668945, + -0.24192175269126892, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.2575925886631012, + 0.233757883310318, + -0.9375518560409546, + 0.19057242572307587 + ], + [ + 0.9662536978721619, + -0.06231730803847313, + 0.24994108080863953, + -2.1349174976348877 + ], + [ + -1.3855628822057042e-07, + -0.9702958464622498, + -0.24192176759243011, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.2445339560508728, + 0.23457737267017365, + -0.9408383965492249, + 0.1951734721660614 + ], + [ + 0.9696409106254578, + -0.05915802717208862, + 0.23727042973041534, + -2.1171786785125732 + ], + [ + -6.000234265002291e-08, + -0.9702959060668945, + -0.24192176759243011, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.2314309924840927, + 0.23535402119159698, + -0.9439536929130554, + 0.1995348036289215 + ], + [ + 0.9728515148162842, + -0.05598798766732216, + 0.22455672919750214, + -2.099379301071167 + ], + [ + 4.841747269779262e-08, + -0.9702959656715393, + -0.24192164838314056, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.21828587353229523, + 0.2360878735780716, + -0.9468970894813538, + 0.20365561544895172 + ], + [ + 0.9758849740028381, + -0.052807968109846115, + 0.21180202066898346, + -2.0815229415893555 + ], + [ + 2.5792765256937855e-08, + -0.9702959060668945, + -0.24192169308662415, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.20510104298591614, + 0.2367788702249527, + -0.9496681690216064, + 0.20753516256809235 + ], + [ + 0.978740930557251, + -0.049618352204561234, + 0.19900883734226227, + -2.063612461090088 + ], + [ + -5.991021367890426e-08, + -0.9702959060668945, + -0.24192176759243011, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.19187898933887482, + 0.23742668330669403, + -0.9522663950920105, + 0.21117274463176727 + ], + [ + 0.9814187288284302, + -0.04641959071159363, + 0.1861795336008072, + -2.0456511974334717 + ], + [ + 1.727541487639428e-08, + -0.9702959060668945, + -0.24192176759243011, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.17862185835838318, + 0.23803125321865082, + -0.9546913504600525, + 0.21456769108772278 + ], + [ + 0.9839178919792175, + -0.043212469667196274, + 0.1733161211013794, + -2.0276427268981934 + ], + [ + -1.61105795370986e-08, + -0.9702958464622498, + -0.2419217824935913, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.1653321385383606, + 0.23859255015850067, + -0.956942617893219, + 0.21771939098834991 + ], + [ + 0.9862380623817444, + -0.039997395128011703, + 0.1604212075471878, + -2.009589910507202 + ], + [ + -5.4287092154936545e-08, + -0.9702959060668945, + -0.24192175269126892, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.1520126312971115, + 0.23911041021347046, + -0.9590195417404175, + 0.22062726318836212 + ], + [ + 0.988378643989563, + -0.03677518293261528, + 0.1474972665309906, + -1.991496205329895 + ], + [ + -6.454832401914246e-08, + -0.970295786857605, + -0.2419218271970749, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.13866515457630157, + 0.23958472907543182, + -0.9609221816062927, + 0.22329077124595642 + ], + [ + 0.990339457988739, + -0.03354594111442566, + 0.1345463991165161, + -1.9733649492263794 + ], + [ + 4.151171850708124e-08, + -0.9702959060668945, + -0.24192167818546295, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.12529256939888, + 0.24001558125019073, + -0.9626497030258179, + 0.2257094532251358 + ], + [ + 0.9921199679374695, + -0.03031083382666111, + 0.12157097458839417, + -1.9551994800567627 + ], + [ + 9.98250158090741e-08, + -0.9702958464622498, + -0.24192184209823608, + -0.16806329786777496 + ], + [ + 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": [ + [ + 0.11189732700586319, + 0.24040251970291138, + -0.9642021656036377, + 0.22788286209106445 + ], + [ + 0.9937198758125305, + -0.027070313692092896, + 0.10857363790273666, + -1.9370030164718628 + ], + [ + -1.8256500311508717e-08, + -0.9702959060668945, + -0.24192170798778534, + -0.16806329786777496 + ], + [ + 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__traj000__zigzag/caption.txt b/blenderobj_eval/target/scene_000027__traj000__zigzag/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..0faed53d6964aa9957bd9b850cbd45d5bdbf00ec --- /dev/null +++ b/blenderobj_eval/target/scene_000027__traj000__zigzag/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 steady orbital camera move. The camera tracks along a smooth horizontal arc at a low elevation of 14°, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). It views the objects from close to their own height, so they slide past one another and the background parallax shifts steadily across the shot, while the framing stays centered on the group of objects. The motion of the scene plays forward and then rewinds back to where it started. diff --git a/blenderobj_eval/target/scene_000027__traj000__zigzag/extras/blender_meta.json b/blenderobj_eval/target/scene_000027__traj000__zigzag/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c2bdc8409e0ec00fc5e5fd4bd185962c454a7af --- /dev/null +++ b/blenderobj_eval/target/scene_000027__traj000__zigzag/extras/blender_meta.json @@ -0,0 +1,376 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000027", + "trajectory_index": 0, + "trajectory_id": "T0", + "trajectory_name": "low_elevation_arc", + "pattern": "zigzag", + "pattern_params": { + "kind": "time_zigzag", + "turn_frame": 40, + "cam_start": 0, + "src_frame_range": [ + 0, + 40 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": null, + "timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.3, + 1.266666667, + 1.233333333, + 1.2, + 1.166666667, + 1.133333333, + 1.1, + 1.066666667, + 1.033333333, + 1.0, + 0.966666667, + 0.933333333, + 0.9, + 0.866666667, + 0.833333333, + 0.8, + 0.766666667, + 0.733333333, + 0.7, + 0.666666667, + 0.633333333, + 0.6, + 0.566666667, + 0.533333333, + 0.5, + 0.466666667, + 0.433333333, + 0.4, + 0.366666667, + 0.333333333, + 0.3, + 0.266666667, + 0.233333333, + 0.2, + 0.166666667, + 0.133333333, + 0.1, + 0.066666667, + 0.033333333, + 0.0 + ], + "timestamp_range": [ + 0.0, + 1.333333333 + ], + "scene_time_span_seconds": 1.333333333, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 39, + 38, + 37, + 36, + 35, + 34, + 33, + 32, + 31, + 30, + 29, + 28, + 27, + 26, + 25, + 24, + 23, + 22, + 21, + 20, + 19, + 18, + 17, + 16, + 15, + 14, + 13, + 12, + 11, + 10, + 9, + 8, + 7, + 6, + 5, + 4, + 3, + 2, + 1, + 0 + ], + "written_at": "2026-09-17T14:34:26" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000027__traj000__zigzag/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000027__traj000__zigzag/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..24be7093839419d3e7fe057a6edcb84af544a711 --- /dev/null +++ b/blenderobj_eval/target/scene_000027__traj000__zigzag/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "zigzag", + "original_pattern": "zigzag", + "trajectory": { + "dir": "traj000", + "index": 0, + "id": "T0", + "name": "low_elevation_arc" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": null, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 39, + 38, + 37, + 36, + 35, + 34, + 33, + 32, + 31, + 30, + 29, + 28, + 27, + 26, + 25, + 24, + 23, + 22, + 21, + 20, + 19, + 18, + 17, + 16, + 15, + 14, + 13, + 12, + 11, + 10, + 9, + 8, + 7, + 6, + 5, + 4, + 3, + 2, + 1, + 0 + ], + "timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.3, + 1.266666667, + 1.233333333, + 1.2, + 1.166666667, + 1.133333333, + 1.1, + 1.066666667, + 1.033333333, + 1.0, + 0.966666667, + 0.933333333, + 0.9, + 0.866666667, + 0.833333333, + 0.8, + 0.766666667, + 0.733333333, + 0.7, + 0.666666667, + 0.633333333, + 0.6, + 0.566666667, + 0.533333333, + 0.5, + 0.466666667, + 0.433333333, + 0.4, + 0.366666667, + 0.333333333, + 0.3, + 0.266666667, + 0.233333333, + 0.2, + 0.166666667, + 0.133333333, + 0.1, + 0.066666667, + 0.033333333, + 0.0 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 0.0, + 1.333333333 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000027__traj000__zigzag/transforms.json b/blenderobj_eval/target/scene_000027__traj000__zigzag/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1cec9d22a80748bbe98efc9fff8cfc215209de4b --- /dev/null +++ b/blenderobj_eval/target/scene_000027__traj000__zigzag/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.370370090007782, + -0.2247174233198166, + 0.9012925028800964, + -0.32780933380126953 + ], + [ + -0.9288843274116516, + -0.08960051834583282, + 0.35936862230300903, + -0.31511610746383667 + ], + [ + -1.1308284086908316e-08, + -0.9702958464622498, + -0.24192176759243011, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.3828675448894501, + -0.22348816692829132, + 0.8963623642921448, + -0.320907324552536 + ], + [ + -0.9238032698631287, + -0.0926240086555481, + 0.37149477005004883, + -0.3320925235748291 + ], + [ + 1.0981963782796811e-08, + -0.970295786857605, + -0.2419218122959137, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.3952949643135071, + -0.22221839427947998, + 0.891269326210022, + -0.3137769401073456 + ], + [ + -0.9185543060302734, + -0.09563038498163223, + 0.3835531175136566, + -0.3489742577075958 + ], + [ + -2.6639554562279955e-08, + -0.9702958464622498, + -0.2419217973947525, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.40765053033828735, + -0.22090809047222137, + 0.8860140442848206, + -0.3064194619655609 + ], + [ + -0.9131381511688232, + -0.09861954301595688, + 0.3955416977405548, + -0.3657582700252533 + ], + [ + 8.497823245079417e-08, + -0.9702959060668945, + -0.2419217973947525, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.4199317693710327, + -0.21955762803554535, + 0.8805975317955017, + -0.29883620142936707 + ], + [ + -0.9075558185577393, + -0.1015905812382698, + 0.40745818614959717, + -0.38244152069091797 + ], + [ + 2.5748818188731093e-08, + -0.9702959060668945, + -0.2419217824935913, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.4321368932723999, + -0.21816709637641907, + 0.8750205039978027, + -0.29102858901023865 + ], + [ + -0.9018080830574036, + -0.10454334318637848, + 0.4193006157875061, + -0.3990209400653839 + ], + [ + 1.6453540752081608e-08, + -0.970295786857605, + -0.24192184209823608, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.444263219833374, + -0.21673692762851715, + 0.869284451007843, + -0.2829980254173279 + ], + [ + -0.8958963751792908, + -0.10747688263654709, + 0.4310668110847473, + -0.41549351811408997 + ], + [ + -1.726676046587272e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.45630887150764465, + -0.2152673602104187, + 0.8633899688720703, + -0.27474597096443176 + ], + [ + -0.889821469783783, + -0.1103910282254219, + 0.4427545964717865, + -0.43185627460479736 + ], + [ + -5.760678334354452e-08, + -0.970295786857605, + -0.24192190170288086, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.4682712256908417, + -0.2137584686279297, + 0.8573386073112488, + -0.26627394556999207 + ], + [ + -0.8835848569869995, + -0.11328501999378204, + 0.45436161756515503, + -0.44810619950294495 + ], + [ + 3.7313931500193576e-08, + -0.970295786857605, + -0.2419218122959137, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.48014822602272034, + -0.21221089363098145, + 0.85113126039505, + -0.25758346915245056 + ], + [ + -0.8771874308586121, + -0.11615827679634094, + 0.4658859372138977, + -0.4642403721809387 + ], + [ + 4.2800785138297215e-09, + -0.9702958464622498, + -0.2419218271970749, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.4919382631778717, + -0.21062444150447845, + 0.8447687029838562, + -0.2486761063337326 + ], + [ + -0.8706300854682922, + -0.11901067197322845, + 0.47732558846473694, + -0.4802558422088623 + ], + [ + 7.462325868345943e-08, + -0.9702957272529602, + -0.24192185699939728, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.5036383867263794, + -0.20899979770183563, + 0.8382526636123657, + -0.2395535260438919 + ], + [ + -0.8639146089553833, + -0.12184098362922668, + 0.4886782765388489, + -0.4961496591567993 + ], + [ + -4.503683470602482e-08, + -0.9702958464622498, + -0.24192172288894653, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.5152471661567688, + -0.2073371857404709, + 0.8315839171409607, + -0.2302173525094986 + ], + [ + -0.8570417165756226, + -0.12464936822652817, + 0.49994224309921265, + -0.5119190216064453 + ], + [ + -1.1956944945268333e-07, + -0.9702958464622498, + -0.2419217824935913, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.5267618894577026, + -0.20563679933547974, + 0.8247639536857605, + -0.22066928446292877 + ], + [ + -0.850013017654419, + -0.1274351179599762, + 0.5111150741577148, + -0.5275609493255615 + ], + [ + 2.1829073659773712e-08, + -0.9702959060668945, + -0.2419217824935913, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.5381810069084167, + -0.2038988620042801, + 0.8177937269210815, + -0.2109110802412033 + ], + [ + -0.8428293466567993, + -0.130197674036026, + 0.5221948027610779, + -0.5430726408958435 + ], + [ + -8.867267808909673e-09, + -0.9702958464622498, + -0.2419218122959137, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.5495019555091858, + -0.20212391018867493, + 0.8106747269630432, + -0.20094451308250427 + ], + [ + -0.8354924321174622, + -0.13293655216693878, + 0.5331794619560242, + -0.5584513545036316 + ], + [ + 1.8604303875235928e-08, + -0.9702957272529602, + -0.24192188680171967, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.5607231259346008, + -0.20031219720840454, + 0.803408145904541, + -0.19077138602733612 + ], + [ + -0.8280034065246582, + -0.13565124571323395, + 0.5440672636032104, + -0.5736941695213318 + ], + [ + 5.347781950604258e-08, + -0.970295786857605, + -0.24192193150520325, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.5718420147895813, + -0.19846390187740326, + 0.7959955334663391, + -0.1803935468196869 + ], + [ + -0.8203638195991516, + -0.1383410096168518, + 0.5548559427261353, + -0.5887983441352844 + ], + [ + 2.701083445799668e-08, + -0.9702958464622498, + -0.24192175269126892, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.5828570127487183, + -0.196579709649086, + 0.7884378433227539, + -0.1698129028081894 + ], + [ + -0.8125748038291931, + -0.14100579917430878, + 0.5655437707901001, + -0.6037611365318298 + ], + [ + -5.612512055108709e-08, + -0.970295786857605, + -0.24192188680171967, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.5937657952308655, + -0.1946595162153244, + 0.7807368040084839, + -0.15903136134147644 + ], + [ + -0.8046379685401917, + -0.1436447948217392, + 0.5761285424232483, + -0.6185798645019531 + ], + [ + -1.851887887482917e-08, + -0.9702958464622498, + -0.24192173779010773, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.6045666337013245, + -0.192703977227211, + 0.772893488407135, + -0.14805090427398682 + ], + [ + -0.7965545654296875, + -0.1462578922510147, + 0.5866084694862366, + -0.6332517862319946 + ], + [ + 7.143501790096707e-09, + -0.9702957272529602, + -0.24192185699939728, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.6152573227882385, + -0.19071346521377563, + 0.7649097442626953, + -0.1368734985589981 + ], + [ + -0.7883264422416687, + -0.14884410798549652, + 0.5969816446304321, + -0.6477742195129395 + ], + [ + -3.8615333153302345e-08, + -0.9702958464622498, + -0.2419218271970749, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.6258360147476196, + -0.18868806958198547, + 0.7567867636680603, + -0.12550121545791626 + ], + [ + -0.779954731464386, + -0.1514032483100891, + 0.6072461605072021, + -0.6621446013450623 + ], + [ + -4.667709418981758e-08, + -0.9702958464622498, + -0.24192170798778534, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.6363009214401245, + -0.18662844598293304, + 0.748525857925415, + -0.11393609642982483 + ], + [ + -0.7714409828186035, + -0.15393505990505219, + 0.6174001693725586, + -0.6763601899147034 + ], + [ + -9.499906639121036e-09, + -0.970295786857605, + -0.2419218271970749, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.6466500163078308, + -0.1845346987247467, + 0.7401288747787476, + -0.10218025743961334 + ], + [ + -0.762786865234375, + -0.15643872320652008, + 0.6274418234825134, + -0.690418541431427 + ], + [ + 7.469174079233198e-08, + -0.970295786857605, + -0.24192170798778534, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.6568814516067505, + -0.18240764737129211, + 0.7315970659255981, + -0.09023584425449371 + ], + [ + -0.7539938688278198, + -0.15891391038894653, + 0.6373693346977234, + -0.7043169736862183 + ], + [ + -5.9264980478701546e-08, + -0.970295786857605, + -0.2419218271970749, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.6669932007789612, + -0.18024717271327972, + 0.7229322195053101, + -0.07810501754283905 + ], + [ + -0.7450637817382812, + -0.1613602340221405, + 0.6471806764602661, + -0.7180530428886414 + ], + [ + 5.1176606064018415e-08, + -0.970295786857605, + -0.2419218122959137, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.676983654499054, + -0.1780540496110916, + 0.7141358256340027, + -0.06578999012708664 + ], + [ + -0.7359981536865234, + -0.16377702355384827, + 0.6568744778633118, + -0.731624186038971 + ], + [ + -1.403202887217958e-09, + -0.9702959060668945, + -0.24192173779010773, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.686850905418396, + -0.17582841217517853, + 0.7052094340324402, + -0.05329300835728645 + ], + [ + -0.726798415184021, + -0.16616414487361908, + 0.6664486527442932, + -0.7450279593467712 + ], + [ + 1.847166686275159e-08, + -0.9702958464622498, + -0.24192173779010773, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.696593165397644, + -0.17357082664966583, + 0.6961545348167419, + -0.040616340935230255 + ], + [ + -0.7174663543701172, + -0.1685212105512619, + 0.6759013533592224, + -0.7582619190216064 + ], + [ + 2.544251032077227e-08, + -0.9702956676483154, + -0.24192196130752563, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.7062085270881653, + -0.17128166556358337, + 0.6869732141494751, + -0.02776229940354824 + ], + [ + -0.7080039381980896, + -0.17084713280200958, + 0.6852312684059143, + -0.7713236808776855 + ], + [ + -6.076537317767361e-08, + -0.9702958464622498, + -0.24192173779010773, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.7156954407691956, + -0.1689613312482834, + 0.6776666641235352, + -0.01473321858793497 + ], + [ + -0.6984125375747681, + -0.17314228415489197, + 0.6944363713264465, + -0.7842108607292175 + ], + [ + -7.866299256420461e-08, + -0.970295786857605, + -0.2419218271970749, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.7250521779060364, + -0.16661010682582855, + 0.6682368516921997, + -0.0015314716147258878 + ], + [ + -0.6886940002441406, + -0.17540593445301056, + 0.7035150527954102, + -0.7969210743904114 + ], + [ + 2.6918911544271396e-08, + -0.970295786857605, + -0.2419218122959137, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.7342768907546997, + -0.1642286777496338, + 0.6586854457855225, + 0.011840538121759892 + ], + [ + -0.6788501739501953, + -0.17763756215572357, + 0.7124658226966858, + -0.8094520568847656 + ], + [ + 3.245372681703884e-08, + -0.9702958464622498, + -0.24192176759243011, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.7433679699897766, + -0.16181731224060059, + 0.6490139961242676, + 0.02538037858903408 + ], + [ + -0.6688826680183411, + -0.1798369139432907, + 0.7212868332862854, + -0.821801483631134 + ], + [ + 5.90034632264036e-10, + -0.970295786857605, + -0.2419217973947525, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.7523236870765686, + -0.15937654674053192, + 0.6392247080802917, + 0.03908558189868927 + ], + [ + -0.6587936878204346, + -0.18200337886810303, + 0.7299766540527344, + -0.8339671492576599 + ], + [ + -6.872067359608991e-09, + -0.9702959060668945, + -0.24192166328430176, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.7611425518989563, + -0.15690679848194122, + 0.6293189525604248, + 0.05295366048812866 + ], + [ + -0.6485847234725952, + -0.18413688242435455, + 0.7385335564613342, + -0.8459467887878418 + ], + [ + 1.2660679615805748e-08, + -0.9702959060668945, + -0.24192170798778534, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.769822895526886, + -0.15440842509269714, + 0.6192986369132996, + 0.06698208302259445 + ], + [ + -0.638257622718811, + -0.1862369179725647, + 0.7469559907913208, + -0.8577383160591125 + ], + [ + 5.2840618991467636e-08, + -0.9702958464622498, + -0.24192175269126892, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.7783631682395935, + -0.15188196301460266, + 0.609165608882904, + 0.08116830140352249 + ], + [ + -0.6278143525123596, + -0.18830303847789764, + 0.7552425265312195, + -0.8693394660949707 + ], + [ + 7.583395955634842e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.7867617607116699, + -0.14932796359062195, + 0.5989216566085815, + 0.09550973027944565 + ], + [ + -0.6172568202018738, + -0.19033467769622803, + 0.7633917331695557, + -0.8807482123374939 + ], + [ + -7.661591894247977e-08, + -0.9702959060668945, + -0.24192170798778534, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.7950171232223511, + -0.1467466503381729, + 0.5885688066482544, + 0.110003761947155 + ], + [ + -0.6065870523452759, + -0.1923319697380066, + 0.7714017629623413, + -0.8919624090194702 + ], + [ + 2.9705525150802714e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.8031277656555176, + -0.14413873851299286, + 0.5781087875366211, + 0.12464775890111923 + ], + [ + -0.5958068370819092, + -0.19429418444633484, + 0.7792714834213257, + -0.9029800891876221 + ], + [ + -2.957029821004653e-08, + -0.9702957272529602, + -0.24192190170288086, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.8110923767089844, + -0.1415044665336609, + 0.5675435662269592, + 0.13943906128406525 + ], + [ + -0.5849181413650513, + -0.19622093439102173, + 0.786999523639679, + -0.9137992262840271 + ], + [ + 3.0044414955909815e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.818909227848053, + -0.13884451985359192, + 0.5568751096725464, + 0.15437495708465576 + ], + [ + -0.5739230513572693, + -0.19811201095581055, + 0.7945841550827026, + -0.9244178533554077 + ], + [ + -2.126526510437543e-09, + -0.970295786857605, + -0.2419218271970749, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.8265771269798279, + -0.13615933060646057, + 0.5461052656173706, + 0.1694527566432953 + ], + [ + -0.5628235340118408, + -0.19996702671051025, + 0.8020243048667908, + -0.9348340034484863 + ], + [ + 1.6189147800105275e-09, + -0.970295786857605, + -0.2419218271970749, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.8340945243835449, + -0.13344928622245789, + 0.5352360606193542, + 0.18466968834400177 + ], + [ + -0.5516215562820435, + -0.2017856389284134, + 0.8093184232711792, + -0.9450457692146301 + ], + [ + 2.0448844395559718e-08, + -0.970295786857605, + -0.2419217824935913, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.8414601683616638, + -0.130715012550354, + 0.5242693424224854, + 0.20002299547195435 + ], + [ + -0.5403191447257996, + -0.2035675346851349, + 0.8164653182029724, + -0.9550513625144958 + ], + [ + -4.102065531697008e-08, + -0.970295786857605, + -0.2419217824935913, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.8486726880073547, + -0.12795697152614594, + 0.5132072567939758, + 0.21550989151000977 + ], + [ + -0.5289183855056763, + -0.2053123563528061, + 0.8234636187553406, + -0.9648489356040955 + ], + [ + -5.5796288478404676e-08, + -0.9702958464622498, + -0.24192176759243011, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.8557307124137878, + -0.12517555058002472, + 0.5020518898963928, + 0.2311275452375412 + ], + [ + -0.5174214839935303, + -0.2070198357105255, + 0.8303119540214539, + -0.9744366407394409 + ], + [ + -2.26169589723213e-08, + -0.9702958464622498, + -0.24192173779010773, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.8626329898834229, + -0.12237139046192169, + 0.4908050298690796, + 0.24687312543392181 + ], + [ + -0.5058303475379944, + -0.20868957042694092, + 0.8370093107223511, + -0.9838128089904785 + ], + [ + -1.734975896283686e-08, + -0.9702959060668945, + -0.24192164838314056, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.8693783283233643, + -0.11954494565725327, + 0.47946882247924805, + 0.2627437710762024 + ], + [ + -0.49414709210395813, + -0.21032169461250305, + 0.8435541987419128, + -0.9929757118225098 + ], + [ + 1.147301418313873e-07, + -0.9702958464622498, + -0.24192188680171967, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.875965416431427, + -0.1166967824101448, + 0.4680453836917877, + 0.27873656153678894 + ], + [ + -0.4823739528656006, + -0.21191513538360596, + 0.8499455451965332, + -1.001923680305481 + ], + [ + 2.0729299166077908e-08, + -0.970295786857605, + -0.2419218122959137, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.8823930621147156, + -0.11382739990949631, + 0.45653679966926575, + 0.29484862089157104 + ], + [ + -0.4705130457878113, + -0.21347014605998993, + 0.8561822772026062, + -1.010655164718628 + ], + [ + 1.612571942644081e-08, + -0.970295786857605, + -0.24192184209823608, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.8886601328849792, + -0.11093726009130478, + 0.4449451267719269, + 0.3110769987106323 + ], + [ + -0.4585665166378021, + -0.214986190199852, + 0.8622632622718811, + -1.0191683769226074 + ], + [ + -1.1052151194235194e-08, + -0.9702958464622498, + -0.24192173779010773, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.8947654366493225, + -0.10802693665027618, + 0.4332723915576935, + 0.3274187445640564 + ], + [ + -0.44653642177581787, + -0.21646328270435333, + 0.8681871294975281, + -1.0274620056152344 + ], + [ + -2.7057112106376735e-08, + -0.9702957272529602, + -0.24192184209823608, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9007079601287842, + -0.10509692132472992, + 0.4215208888053894, + 0.3438708782196045 + ], + [ + -0.43442514538764954, + -0.21790079772472382, + 0.8739532232284546, + -1.035534381866455 + ], + [ + 3.032109674450112e-09, + -0.9702959060668945, + -0.24192170798778534, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9064865112304688, + -0.10214778780937195, + 0.409692645072937, + 0.36043041944503784 + ], + [ + -0.42223480343818665, + -0.21929876506328583, + 0.8795601725578308, + -1.0433839559555054 + ], + [ + 3.594926312189273e-08, + -0.9702959060668945, + -0.24192169308662415, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.912100076675415, + -0.09918013215065002, + 0.3977898359298706, + 0.3770943582057953 + ], + [ + -0.4099676311016083, + -0.22065681219100952, + 0.8850069642066956, + -1.0510095357894897 + ], + [ + -1.4772947309893425e-08, + -0.9702959060668945, + -0.24192172288894653, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9175477027893066, + -0.09619433432817459, + 0.3858145773410797, + 0.3938596248626709 + ], + [ + -0.39762574434280396, + -0.22197480499744415, + 0.8902926445007324, + -1.0584096908569336 + ], + [ + 3.561894246217889e-08, + -0.970295786857605, + -0.2419218122959137, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9228282570838928, + -0.09319115430116653, + 0.3737691640853882, + 0.4107232093811035 + ], + [ + -0.38521161675453186, + -0.2232523411512375, + 0.8954163789749146, + -1.0655828714370728 + ], + [ + -2.9546420421411312e-08, + -0.9702957272529602, + -0.24192188680171967, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9279409050941467, + -0.09017091989517212, + 0.36165571212768555, + 0.4276820421218872 + ], + [ + -0.37272730469703674, + -0.22448915243148804, + 0.9003772139549255, + -1.0725280046463013 + ], + [ + -2.0172478798485827e-08, + -0.9702958464622498, + -0.2419218271970749, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.932884693145752, + -0.08713426440954208, + 0.34947648644447327, + 0.44473302364349365 + ], + [ + -0.360175222158432, + -0.22568519413471222, + 0.9051741361618042, + -1.0792436599731445 + ], + [ + 2.2832129076277852e-08, + -0.9702958464622498, + -0.24192184209823608, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9376586675643921, + -0.0840817466378212, + 0.33723360300064087, + 0.46187302470207214 + ], + [ + -0.34755754470825195, + -0.22684000432491302, + 0.9098063111305237, + -1.085728645324707 + ], + [ + 6.6872090087599645e-09, + -0.9702958464622498, + -0.24192172288894653, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9422619938850403, + -0.0810139924287796, + 0.3249293267726898, + 0.47909897565841675 + ], + [ + -0.3348765969276428, + -0.2279537320137024, + 0.9142728447914124, + -1.0919818878173828 + ], + [ + -2.4525157016341836e-08, + -0.970295786857605, + -0.2419218271970749, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9466938376426697, + -0.07793144881725311, + 0.31256598234176636, + 0.49640771746635437 + ], + [ + -0.32213476300239563, + -0.22902581095695496, + 0.9185731410980225, + -1.0980021953582764 + ], + [ + -1.678736083476906e-08, + -0.9702958464622498, + -0.24192173779010773, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9509533643722534, + -0.07483470439910889, + 0.3001457452774048, + 0.5137960910797119 + ], + [ + -0.30933427810668945, + -0.2300562560558319, + 0.922706127166748, + -1.1037883758544922 + ], + [ + 1.311510899881796e-10, + -0.9702958464622498, + -0.24192170798778534, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9550398588180542, + -0.07172437757253647, + 0.2876707911491394, + 0.5312609076499939 + ], + [ + -0.29647743701934814, + -0.2310449630022049, + 0.9266712069511414, + -1.1093395948410034 + ], + [ + -3.4095073431217315e-09, + -0.970295786857605, + -0.2419217973947525, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9589524865150452, + -0.06860098242759705, + 0.275143563747406, + 0.5487990975379944 + ], + [ + -0.2835666835308075, + -0.23199166357517242, + 0.9304674863815308, + -1.114654541015625 + ], + [ + 2.342553706569106e-08, + -0.9702957272529602, + -0.24192193150520325, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9626906514167786, + -0.06546513736248016, + 0.2625662684440613, + 0.566407322883606 + ], + [ + -0.27060437202453613, + -0.23289582133293152, + 0.9340947866439819, + -1.1197324991226196 + ], + [ + -1.660870196928954e-08, + -0.9702959060668945, + -0.24192176759243011, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9662535786628723, + -0.06231730431318283, + 0.2499411255121231, + 0.5840824842453003 + ], + [ + -0.25759273767471313, + -0.23375782370567322, + 0.9375517964363098, + -1.1245723962783813 + ], + [ + 4.38454694773327e-09, + -0.970295786857605, + -0.2419218122959137, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9696406722068787, + -0.05915815010666847, + 0.2372705638408661, + 0.6018213033676147 + ], + [ + -0.24453426897525787, + -0.23457711935043335, + 0.9408383369445801, + -1.1291735172271729 + ], + [ + 2.4656273467371648e-08, + -0.9702959060668945, + -0.24192170798778534, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9728512763977051, + -0.05598825216293335, + 0.22455675899982452, + 0.6196206212043762 + ], + [ + -0.2314312607049942, + -0.23535382747650146, + 0.9439536333084106, + -1.1335347890853882 + ], + [ + 1.773876334709712e-08, + -0.9702959060668945, + -0.24192169308662415, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9758847951889038, + -0.05280814319849014, + 0.21180211007595062, + 0.6374770998954773 + ], + [ + -0.21828612685203552, + -0.23608757555484772, + 0.9468970894813538, + -1.1376556158065796 + ], + [ + 1.3319910507902932e-08, + -0.9702959656715393, + -0.2419215589761734, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9787407517433167, + -0.04961846396327019, + 0.19900889694690704, + 0.6553875803947449 + ], + [ + -0.20510128140449524, + -0.23677878081798553, + 0.9496679902076721, + -1.1415351629257202 + ], + [ + 2.50697134163147e-08, + -0.970295786857605, + -0.24192185699939728, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9814185500144958, + -0.046419765800237656, + 0.18617947399616241, + 0.6733487248420715 + ], + [ + -0.19187910854816437, + -0.23742668330669403, + 0.9522662162780762, + -1.1451727151870728 + ], + [ + 4.967675160116869e-10, + -0.9702957272529602, + -0.24192193150520325, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.983917772769928, + -0.04321255162358284, + 0.17331619560718536, + 0.6913573741912842 + ], + [ + -0.1786220222711563, + -0.23803111910820007, + 0.9546912908554077, + -1.1485676765441895 + ], + [ + 1.1998256610468161e-08, + -0.970295786857605, + -0.24192175269126892, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9862378835678101, + -0.03999753296375275, + 0.16042135655879974, + 0.7094101309776306 + ], + [ + -0.16533243656158447, + -0.23859235644340515, + 0.956942617893219, + -1.151719331741333 + ], + [ + -8.037487120304831e-09, + -0.9702959060668945, + -0.24192170798778534, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9883785247802734, + -0.03677520900964737, + 0.1474972814321518, + 0.727503776550293 + ], + [ + -0.15201272070407867, + -0.23911042511463165, + 0.9590194821357727, + -1.1546272039413452 + ], + [ + -3.018339356231081e-09, + -0.9702957272529602, + -0.24192190170288086, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9903392791748047, + -0.033546172082424164, + 0.1345464438199997, + 0.7456350326538086 + ], + [ + -0.13866539299488068, + -0.23958458006381989, + 0.960922122001648, + -1.1572908163070679 + ], + [ + 1.2145666694607371e-08, + -0.9702958464622498, + -0.24192172288894653, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.9921197891235352, + -0.030311085283756256, + 0.12157104909420013, + 0.7638005614280701 + ], + [ + -0.1252927929162979, + -0.24001546204090118, + 0.9626496434211731, + -1.1597094535827637 + ], + [ + -1.8473542695573997e-08, + -0.970295786857605, + -0.24192185699939728, + 0.025197967886924744 + ], + [ + 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": [ + [ + 0.993719756603241, + -0.02707042172551155, + 0.1085735559463501, + 0.78199702501297 + ], + [ + -0.11189737915992737, + -0.24040250480175018, + 0.9642020463943481, + -1.1618828773498535 + ], + [ + 1.5591128388336983e-10, + -0.970295786857605, + -0.2419218271970749, + 0.025197967886924744 + ], + [ + 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_000029__traj002__forward/transforms.json b/blenderobj_eval/target/scene_000029__traj002__forward/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2cbbed147e26726fce3bcb88bc83b986f73413ef --- /dev/null +++ b/blenderobj_eval/target/scene_000029__traj002__forward/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9510565400123596, + 0.16375407576560974, + -0.2620612382888794, + -14.74511432647705 + ], + [ + 0.30901697278022766, + -0.503983199596405, + 0.8065416812896729, + -15.254158020019531 + ], + [ + 2.0369292030864017e-08, + -0.8480480909347534, + -0.5299192667007446, + 0.9466845989227295 + ], + [ + 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": [ + [ + 0.947725772857666, + 0.17166249454021454, + -0.2689754366874695, + -14.735434532165527 + ], + [ + 0.31908586621284485, + -0.5098596215248108, + 0.7988913059234619, + -15.243448257446289 + ], + [ + -1.4949772975114684e-08, + -0.8429561853408813, + -0.537982165813446, + 0.9579726457595825 + ], + [ + 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": [ + [ + 0.944267988204956, + 0.1797303408384323, + -0.2757806181907654, + -14.725907325744629 + ], + [ + 0.3291776776313782, + -0.5155683755874634, + 0.791094958782196, + -15.23253345489502 + ], + [ + 7.036483395950199e-09, + -0.8377864360809326, + -0.5459979772567749, + 0.9691945910453796 + ], + [ + 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": [ + [ + 0.9406698942184448, + 0.1879659742116928, + -0.28250476717948914, + -14.716493606567383 + ], + [ + 0.3393230736255646, + -0.5210784077644348, + 0.7831584215164185, + -15.22142219543457 + ], + [ + 4.841236744823618e-09, + -0.8325539827346802, + -0.5539439916610718, + 0.9803192615509033 + ], + [ + 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": [ + [ + 0.9369156956672668, + 0.19637899100780487, + -0.2891785204410553, + -14.70715045928955 + ], + [ + 0.3495553135871887, + -0.5263561010360718, + 0.775087296962738, + -15.210122108459473 + ], + [ + -7.87029641458048e-09, + -0.8272753953933716, + -0.5617966055870056, + 0.9913129210472107 + ], + [ + 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": [ + [ + 0.9329863786697388, + 0.20497994124889374, + -0.2958371341228485, + -14.69782829284668 + ], + [ + 0.35991165041923523, + -0.5313623547554016, + 0.7668883204460144, + -15.198643684387207 + ], + [ + -3.630988842928673e-09, + -0.821971595287323, + -0.5695285201072693, + 1.0021376609802246 + ], + [ + 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": [ + [ + 0.9288583993911743, + 0.21378079056739807, + -0.3025223910808563, + -14.688468933105469 + ], + [ + 0.3704349100589752, + -0.5360512137413025, + 0.7585691213607788, + -15.186996459960938 + ], + [ + 2.8451800915263448e-09, + -0.8166681528091431, + -0.5771075487136841, + 1.0127482414245605 + ], + [ + 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": [ + [ + 0.9245024919509888, + 0.22279483079910278, + -0.30928564071655273, + -14.678999900817871 + ], + [ + 0.3811759948730469, + -0.5403655767440796, + 0.7501398921012878, + -15.175195693969727 + ], + [ + -3.4909986013076377e-09, + -0.8113985061645508, + -0.5844933390617371, + 1.0230883359909058 + ], + [ + 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": [ + [ + 0.9198812246322632, + 0.2320365309715271, + -0.3161923289299011, + -14.669330596923828 + ], + [ + 0.3921970725059509, + -0.544231653213501, + 0.7416154742240906, + -15.163261413574219 + ], + [ + -3.2372618363751826e-08, + -0.8062078356742859, + -0.5916324853897095, + 1.033083200454712 + ], + [ + 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": [ + [ + 0.9149464964866638, + 0.2415199875831604, + -0.3233279883861542, + -14.659340858459473 + ], + [ + 0.4035751223564148, + -0.5475507974624634, + 0.7330178618431091, + -15.151225090026855 + ], + [ + -7.229772336359019e-10, + -0.8011592626571655, + -0.5984511375427246, + 1.0426292419433594 + ], + [ + 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": [ + [ + 0.9096350073814392, + 0.25125566124916077, + -0.3308092951774597, + -14.648866653442383 + ], + [ + 0.41540849208831787, + -0.5501835942268372, + 0.7243852019309998, + -15.139139175415039 + ], + [ + 2.3795623249611708e-08, + -0.7963470816612244, + -0.6048399209976196, + 1.051573634147644 + ], + [ + 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": [ + [ + 0.9038641452789307, + 0.26123878359794617, + -0.33879774808883667, + -14.637682914733887 + ], + [ + 0.4278196096420288, + -0.5519251823425293, + 0.7157855033874512, + -15.127099990844727 + ], + [ + -3.686740157604618e-08, + -0.7919172048568726, + -0.6106284260749817, + 1.0596774816513062 + ], + [ + 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": [ + [ + 0.8975310921669006, + 0.2714196741580963, + -0.34751877188682556, + -14.625473976135254 + ], + [ + 0.4409511685371399, + -0.5524592995643616, + 0.707354724407196, + -15.115296363830566 + ], + [ + 4.0106645116111395e-08, + -0.788111686706543, + -0.6155322194099426, + 1.066542625427246 + ], + [ + 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": [ + [ + 0.8905376195907593, + 0.2816151976585388, + -0.3572613000869751, + -14.611834526062012 + ], + [ + 0.45490962266921997, + -0.5512939691543579, + 0.6993798613548279, + -15.104131698608398 + ], + [ + -2.828596201709388e-08, + -0.7853456735610962, + -0.6190574765205383, + 1.0714781284332275 + ], + [ + 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": [ + [ + 0.8829139471054077, + 0.29129236936569214, + -0.3682548999786377, + -14.596443176269531 + ], + [ + 0.4695347845554352, + -0.5477466583251953, + 0.6924670934677124, + -15.094453811645508 + ], + [ + -5.178458550858522e-09, + -0.7842973470687866, + -0.6203850507736206, + 1.0733367204666138 + ], + [ + 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": [ + [ + 0.8751294016838074, + 0.2993125915527344, + -0.3802110552787781, + -14.579704284667969 + ], + [ + 0.4838888943195343, + -0.5413168668746948, + 0.6876245737075806, + -15.087674140930176 + ], + [ + 6.256375684188242e-08, + -0.7857404351234436, + -0.6185563802719116, + 1.0707764625549316 + ], + [ + 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": [ + [ + 0.8681051135063171, + 0.3044913113117218, + -0.39201855659484863, + -14.5631742477417 + ], + [ + 0.49638041853904724, + -0.5325157642364502, + 0.6855897903442383, + -15.08482551574707 + ], + [ + 8.955965569157343e-08, + -0.789754331111908, + -0.613423228263855, + 1.0635900497436523 + ], + [ + 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": [ + [ + 0.8623946905136108, + 0.3067505657672882, + -0.40271520614624023, + -14.548198699951172 + ], + [ + 0.5062365531921387, + -0.5225620865821838, + 0.6860418319702148, + -15.085458755493164 + ], + [ + 1.9533818118588897e-08, + -0.7955079674720764, + -0.6059431433677673, + 1.0531179904937744 + ], + [ + 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": [ + [ + 0.8579378724098206, + 0.30676764249801636, + -0.41211193799972534, + -14.535043716430664 + ], + [ + 0.5137534737586975, + -0.5122838020324707, + 0.6882025003433228, + -15.088483810424805 + ], + [ + -1.5631247407554838e-09, + -0.8021588921546936, + -0.5971105694770813, + 1.0407524108886719 + ], + [ + 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": [ + [ + 0.8544936180114746, + 0.30518341064453125, + -0.42036139965057373, + -14.523493766784668 + ], + [ + 0.5194618701934814, + -0.5020143985748291, + 0.6914772391319275, + -15.09306812286377 + ], + [ + -2.4280662813680465e-08, + -0.8092246055603027, + -0.5874992609024048, + 1.0272964239120483 + ], + [ + 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": [ + [ + 0.851856529712677, + 0.30242806673049927, + -0.4276420772075653, + -14.513300895690918 + ], + [ + 0.5237752199172974, + -0.49186229705810547, + 0.6955077648162842, + -15.098711013793945 + ], + [ + 3.7252064544190944e-08, + -0.8164611458778381, + -0.5774004459381104, + 1.0131583213806152 + ], + [ + 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": [ + [ + 0.8498837947845459, + 0.2987757921218872, + -0.434085875749588, + -14.504280090332031 + ], + [ + 0.5269701480865479, + -0.48185768723487854, + 0.7000826597213745, + -15.10511589050293 + ], + [ + 9.663965272466157e-08, + -0.823739230632782, + -0.5669689178466797, + 0.9985541105270386 + ], + [ + 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": [ + [ + 0.848481297492981, + 0.2944049537181854, + -0.43977856636047363, + -14.496310234069824 + ], + [ + 0.5292253494262695, + -0.47200512886047363, + 0.7050756812095642, + -15.112106323242188 + ], + [ + 3.170163864751885e-08, + -0.8309854865074158, + -0.5562940835952759, + 0.9836093187332153 + ], + [ + 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": [ + [ + 0.8475890755653381, + 0.2894365191459656, + -0.44476884603500366, + -14.489323616027832 + ], + [ + 0.5306532382965088, + -0.46230408549308777, + 0.7104098796844482, + -15.119573593139648 + ], + [ + 6.765414184428664e-08, + -0.8381536602973938, + -0.5454342365264893, + 0.9684053659439087 + ], + [ + 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": [ + [ + 0.8471719026565552, + 0.2839537262916565, + -0.4490768611431122, + -14.483292579650879 + ], + [ + 0.5313188433647156, + -0.4527556002140045, + 0.7160395383834839, + -15.127455711364746 + ], + [ + 2.6708237399475365e-08, + -0.8452116250991821, + -0.5344318151473999, + 0.9530021548271179 + ], + [ + 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": [ + [ + 0.84721440076828, + 0.2780165672302246, + -0.4526969790458679, + -14.47822380065918 + ], + [ + 0.5312511324882507, + -0.44336774945259094, + 0.7219399213790894, + -15.13571548461914 + ], + [ + 2.4485498073545386e-08, + -0.8521336913108826, + -0.523324191570282, + 0.9374514222145081 + ], + [ + 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": [ + [ + 0.8477178812026978, + 0.27166783809661865, + -0.4555995464324951, + -14.474160194396973 + ], + [ + 0.5304473042488098, + -0.43415746092796326, + 0.7281022667884827, + -15.144343376159668 + ], + [ + 3.646053414740891e-08, + -0.8588968515396118, + -0.5121485590934753, + 0.9218055009841919 + ], + [ + 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": [ + [ + 0.8487008810043335, + 0.2649384140968323, + -0.45772749185562134, + -14.471181869506836 + ], + [ + 0.5288731455802917, + -0.42515575885772705, + 0.7345309257507324, + -15.153343200683594 + ], + [ + 8.871932521969939e-09, + -0.8654768466949463, + -0.5009489059448242, + 0.906126081943512 + ], + [ + 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": [ + [ + 0.8502002954483032, + 0.2578516900539398, + -0.4589901566505432, + -14.469413757324219 + ], + [ + 0.5264593958854675, + -0.41641485691070557, + 0.7412416934967041, + -15.162737846374512 + ], + [ + 8.621207570058687e-08, + -0.8718435764312744, + -0.48978444933891296, + 0.8904960751533508 + ], + [ + 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": [ + [ + 0.8522757887840271, + 0.25042712688446045, + -0.4592518210411072, + -14.469047546386719 + ], + [ + 0.5230926871299744, + -0.40802133083343506, + 0.7482597231864929, + -15.172563552856445 + ], + [ + 1.0579508824548611e-08, + -0.87795490026474, + -0.478743314743042, + 0.8750380277633667 + ], + [ + 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": [ + [ + 0.8550145626068115, + 0.24268831312656403, + -0.45831483602523804, + -14.470358848571777 + ], + [ + 0.5186039805412292, + -0.40011662244796753, + 0.7556167244911194, + -15.182863235473633 + ], + [ + -3.8110488986831115e-08, + -0.8837472200393677, + -0.46796467900276184, + 0.8599480390548706 + ], + [ + 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": [ + [ + 0.8585354685783386, + 0.23468059301376343, + -0.4558967649936676, + -14.47374439239502 + ], + [ + 0.5127541422843933, + -0.392939954996109, + 0.7633355855941772, + -15.193670272827148 + ], + [ + 2.8563675869008875e-08, + -0.8891136646270752, + -0.4576863646507263, + 0.8455584049224854 + ], + [ + 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": [ + [ + 0.8629766702651978, + 0.22651131451129913, + -0.4516236186027527, + -14.479726791381836 + ], + [ + 0.5052437782287598, + -0.38689056038856506, + 0.7713911533355713, + -15.204947471618652 + ], + [ + -4.5315054819639045e-08, + -0.8938725590705872, + -0.44832098484039307, + 0.832446813583374 + ], + [ + 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": [ + [ + 0.8684301972389221, + 0.2184293121099472, + -0.44510412216186523, + -14.48885440826416 + ], + [ + 0.49581149220466614, + -0.3825862407684326, + 0.7796144485473633, + -15.216460227966309 + ], + [ + -4.713741574846608e-08, + -0.897728443145752, + -0.44054919481277466, + 0.8215664029121399 + ], + [ + 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": [ + [ + 0.8747780323028564, + 0.2108922302722931, + -0.4362199306488037, + -14.50129222869873 + ], + [ + 0.48452383279800415, + -0.3807530701160431, + 0.787568211555481, + -15.227595329284668 + ], + [ + -3.3708289493006305e-08, + -0.9003063440322876, + -0.4352567493915558, + 0.8141570687294006 + ], + [ + 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": [ + [ + 0.8815814256668091, + 0.2044087052345276, + -0.42547768354415894, + -14.51633071899414 + ], + [ + 0.47203195095062256, + -0.38176003098487854, + 0.7946352362632751, + -15.237489700317383 + ], + [ + -2.578942925879346e-08, + -0.9013746976852417, + -0.43303999304771423, + 0.8110536336898804 + ], + [ + 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": [ + [ + 0.888319194316864, + 0.1991737186908722, + -0.41378605365753174, + -14.532699584960938 + ], + [ + 0.4592266082763672, + -0.38527774810791016, + 0.8004199266433716, + -15.245587348937988 + ], + [ + 2.206634874823976e-08, + -0.9010499119758606, + -0.43371546268463135, + 0.8119994401931763 + ], + [ + 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": [ + [ + 0.8946959376335144, + 0.19501978158950806, + -0.4018537402153015, + -14.549405097961426 + ], + [ + 0.4466756582260132, + -0.39062654972076416, + 0.8049173355102539, + -15.251884460449219 + ], + [ + -1.3537544418795733e-09, + -0.8996545672416687, + -0.4366025924682617, + 0.8160413503646851 + ], + [ + 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": [ + [ + 0.9006373882293701, + 0.19166108965873718, + -0.39002346992492676, + -14.565966606140137 + ], + [ + 0.43457138538360596, + -0.39721232652664185, + 0.8083130121231079, + -15.256638526916504 + ], + [ + 6.14769390949732e-08, + -0.8974899649620056, + -0.4410347044467926, + 0.8222461342811584 + ], + [ + 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": [ + [ + 0.9061673879623413, + 0.1888468861579895, + -0.37841445207595825, + -14.582220077514648 + ], + [ + 0.4229191839694977, + -0.4046326279640198, + 0.8108093738555908, + -15.260132789611816 + ], + [ + -2.2758882778362022e-08, + -0.8947677612304688, + -0.44653186202049255, + 0.8299422264099121 + ], + [ + 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": [ + [ + 0.9113362431526184, + 0.18639104068279266, + -0.36704856157302856, + -14.598132133483887 + ], + [ + 0.4116628170013428, + -0.41263115406036377, + 0.8125696182250977, + -15.26259708404541 + ], + [ + -2.3705524654360488e-08, + -0.891624391078949, + -0.4527759850025177, + 0.8386841416358948 + ], + [ + 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": [ + [ + 0.9161940813064575, + 0.18416009843349457, + -0.3559121787548065, + -14.613722801208496 + ], + [ + 0.4007348418235779, + -0.42104265093803406, + 0.8137165307998657, + -15.264203071594238 + ], + [ + -5.753129528329737e-08, + -0.8881486654281616, + -0.45955613255500793, + 0.8481760025024414 + ], + [ + 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": [ + [ + 0.920784056186676, + 0.18205764889717102, + -0.34498080611228943, + -14.629026412963867 + ], + [ + 0.3900727331638336, + -0.4297552704811096, + 0.8143423795700073, + -15.265079498291016 + ], + [ + -1.3024280320905746e-08, + -0.8844010829925537, + -0.46672752499580383, + 0.8582159280776978 + ], + [ + 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": [ + [ + 0.9251418709754944, + 0.180012047290802, + -0.3342277407646179, + -14.644081115722656 + ], + [ + 0.3796215355396271, + -0.4386913776397705, + 0.8145166039466858, + -15.265323638916016 + ], + [ + -6.083723746996839e-09, + -0.8804234862327576, + -0.4741882085800171, + 0.8686612248420715 + ], + [ + 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": [ + [ + 0.9292967319488525, + 0.17796865105628967, + -0.3236274719238281, + -14.658921241760254 + ], + [ + 0.369333952665329, + -0.4477945864200592, + 0.8142926096916199, + -15.265009880065918 + ], + [ + -6.988106804328709e-08, + -0.8762460350990295, + -0.48186391592025757, + 0.8794070482254028 + ], + [ + 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": [ + [ + 0.9332725405693054, + 0.17588414251804352, + -0.31315678358078003, + -14.673580169677734 + ], + [ + 0.35916903614997864, + -0.4570211172103882, + 0.8137133121490479, + -15.264198303222656 + ], + [ + -1.033925123294921e-08, + -0.8718924522399902, + -0.4896973967552185, + 0.8903740048408508 + ], + [ + 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": [ + [ + 0.9370890259742737, + 0.17372286319732666, + -0.30279454588890076, + -14.688087463378906 + ], + [ + 0.34909048676490784, + -0.4663369953632355, + 0.812813401222229, + -15.262938499450684 + ], + [ + -6.05187899793691e-09, + -0.8673811554908752, + -0.4976442754268646, + 0.9014996290206909 + ], + [ + 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": [ + [ + 0.9407626390457153, + 0.17145483195781708, + -0.29252153635025024, + -14.702469825744629 + ], + [ + 0.3390657901763916, + -0.4757139980792999, + 0.811622142791748, + -15.261271476745605 + ], + [ + -2.686093303339021e-08, + -0.8627278208732605, + -0.5056684613227844, + 0.9127333760261536 + ], + [ + 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": [ + [ + 0.9443074464797974, + 0.16905343532562256, + -0.28231972455978394, + -14.716752052307129 + ], + [ + 0.32906457781791687, + -0.48512789607048035, + 0.8101650476455688, + -15.259230613708496 + ], + [ + 1.8763300246860126e-08, + -0.8579462766647339, + -0.5137393474578857, + 0.9240327477455139 + ], + [ + 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": [ + [ + 0.9477352499961853, + 0.1664942055940628, + -0.2721719443798065, + -14.730958938598633 + ], + [ + 0.31905779242515564, + -0.49455755949020386, + 0.8084645867347717, + -15.256850242614746 + ], + [ + -3.3957881839796755e-08, + -0.8530489802360535, + -0.5218309164047241, + 0.9353609085083008 + ], + [ + 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": [ + [ + 0.9510565400123596, + 0.16375407576560974, + -0.2620612382888794, + -14.74511432647705 + ], + [ + 0.30901697278022766, + -0.503983199596405, + 0.8065416812896729, + -15.254158020019531 + ], + [ + 2.0369292030864017e-08, + -0.8480480909347534, + -0.5299192667007446, + 0.9466845989227295 + ], + [ + 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": [ + [ + 0.9542802572250366, + 0.16080999374389648, + -0.2519708275794983, + -14.759241104125977 + ], + [ + 0.29891327023506165, + -0.5133858323097229, + 0.8044164180755615, + -15.25118350982666 + ], + [ + -2.464853210426554e-08, + -0.8429561853408813, + -0.5379822254180908, + 0.9579726457595825 + ], + [ + 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": [ + [ + 0.9574146866798401, + 0.15763849020004272, + -0.24188272655010223, + -14.773364067077637 + ], + [ + 0.2887163758277893, + -0.5227463245391846, + 0.8021091222763062, + -15.247952461242676 + ], + [ + -1.7238527050267294e-08, + -0.8377865552902222, + -0.5459977984428406, + 0.9691945910453796 + ], + [ + 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": [ + [ + 0.9604670405387878, + 0.154214546084404, + -0.23177778720855713, + -14.787510871887207 + ], + [ + 0.2783937454223633, + -0.5320450067520142, + 0.7996405363082886, + -15.244497299194336 + ], + [ + -6.718281042594754e-09, + -0.8325538635253906, + -0.5539440512657166, + 0.9803192615509033 + ], + [ + 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": [ + [ + 0.963444173336029, + 0.15051043033599854, + -0.22163458168506622, + -14.801712036132812 + ], + [ + 0.26790907979011536, + -0.5412597060203552, + 0.7970336675643921, + -15.24084758758545 + ], + [ + 2.9905864451507114e-09, + -0.8272753357887268, + -0.5617966651916504, + 0.9913129210472107 + ], + [ + 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": [ + [ + 0.9663525819778442, + 0.14649471640586853, + -0.21142838895320892, + -14.815999984741211 + ], + [ + 0.2572210431098938, + -0.5503653883934021, + 0.7943143248558044, + -15.237039566040039 + ], + [ + 5.822423432277901e-09, + -0.8219715356826782, + -0.5695285201072693, + 1.0021376609802246 + ], + [ + 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": [ + [ + 0.9691984057426453, + 0.14213071763515472, + -0.20113001763820648, + -14.83041763305664 + ], + [ + 0.2462811917066574, + -0.5593317747116089, + 0.7915135025978088, + -15.233119010925293 + ], + [ + -3.763903677622693e-08, + -0.8166681528091431, + -0.5771075487136841, + 1.0127482414245605 + ], + [ + 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": [ + [ + 0.9719878435134888, + 0.13737408816814423, + -0.1907038539648056, + -14.845014572143555 + ], + [ + 0.23503106832504272, + -0.5681204199790955, + 0.7886695265769958, + -15.229137420654297 + ], + [ + 7.902385412705826e-10, + -0.8113985061645508, + -0.5844933390617371, + 1.0230883359909058 + ], + [ + 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": [ + [ + 0.9747271537780762, + 0.13216988742351532, + -0.18010568618774414, + -14.859851837158203 + ], + [ + 0.2233986109495163, + -0.5766803026199341, + 0.7858327031135559, + -15.225165367126465 + ], + [ + -1.227705492823361e-09, + -0.8062078356742859, + -0.5916324853897095, + 1.033083200454712 + ], + [ + 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": [ + [ + 0.9774227738380432, + 0.12644843757152557, + -0.16927926242351532, + -14.875008583068848 + ], + [ + 0.21129286289215088, + -0.5849397778511047, + 0.7830713987350464, + -15.22130012512207 + ], + [ + -2.407281307625908e-08, + -0.8011593222618103, + -0.5984511375427246, + 1.0426292419433594 + ], + [ + 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": [ + [ + 0.9800811409950256, + 0.12011975049972534, + -0.15815259516239166, + -14.890586853027344 + ], + [ + 0.19859756529331207, + -0.5927922129631042, + 0.7804847359657288, + -15.21767807006836 + ], + [ + -4.821076871053265e-09, + -0.7963470816612244, + -0.6048399806022644, + 1.051573634147644 + ], + [ + 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": [ + [ + 0.9827075004577637, + 0.11306677758693695, + -0.14663507044315338, + -14.906710624694824 + ], + [ + 0.18516463041305542, + -0.6000691056251526, + 0.7782230377197266, + -15.21451187133789 + ], + [ + -7.954930048015285e-10, + -0.7919172644615173, + -0.6106283664703369, + 1.0596774816513062 + ], + [ + 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": [ + [ + 0.9853025078773499, + 0.10514430701732635, + -0.13462409377098083, + -14.9235258102417 + ], + [ + 0.1708185374736786, + -0.6064854264259338, + 0.7765284776687622, + -15.212140083312988 + ], + [ + -7.122274325865874e-09, + -0.7881117463111877, + -0.6155322194099426, + 1.066542625427246 + ], + [ + 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": [ + [ + 0.987849235534668, + 0.0962110087275505, + -0.12205467373132706, + -14.941123008728027 + ], + [ + 0.15541525185108185, + -0.6115355491638184, + 0.7758030891418457, + -15.211124420166016 + ], + [ + 1.6053848028718676e-08, + -0.7853456139564514, + -0.6190575957298279, + 1.0714781284332275 + ], + [ + 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": [ + [ + 0.9902780652046204, + 0.08629689365625381, + -0.10909745842218399, + -14.959263801574707 + ], + [ + 0.13910214602947235, + -0.6143537163734436, + 0.7766724228858948, + -15.21234130859375 + ], + [ + -1.441265773394207e-09, + -0.7842973470687866, + -0.6203850507736206, + 1.0733367204666138 + ], + [ + 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": [ + [ + 0.9924173355102539, + 0.07602911442518234, + -0.09657835215330124, + -14.976790428161621 + ], + [ + 0.12291380763053894, + -0.6138660311698914, + 0.7797824740409851, + -15.216695785522461 + ], + [ + 2.334163085038199e-09, + -0.7857404947280884, + -0.6185563206672668, + 1.0707764625549316 + ], + [ + 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": [ + [ + 0.9940768480300903, + 0.06666634976863861, + -0.08582986146211624, + -14.991838455200195 + ], + [ + 0.10867919772863388, + -0.6097899079322815, + 0.7850764989852905, + -15.224106788635254 + ], + [ + 6.226858140223612e-09, + -0.789754331111908, + -0.6134232878684998, + 1.0635900497436523 + ], + [ + 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": [ + [ + 0.9952502846717834, + 0.058987922966480255, + -0.07744185626506805, + -15.003581047058105 + ], + [ + 0.09734894335269928, + -0.6030651330947876, + 0.7917295098304749, + -15.233421325683594 + ], + [ + -6.014003517407218e-09, + -0.7955079674720764, + -0.6059431433677673, + 1.0531179904937744 + ], + [ + 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": [ + [ + 0.9960629940032959, + 0.052932627499103546, + -0.07110973447561264, + -15.012446403503418 + ], + [ + 0.08864793926477432, + -0.5947598814964294, + 0.7990007400512695, + -15.243600845336914 + ], + [ + -3.863376285551112e-09, + -0.8021588325500488, + -0.5971106886863708, + 1.0407524108886719 + ], + [ + 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": [ + [ + 0.996631920337677, + 0.04817799851298332, + -0.06636063009500504, + -15.019095420837402 + ], + [ + 0.08200520277023315, + -0.5855205059051514, + 0.8064991235733032, + -15.254098892211914 + ], + [ + 4.0457739380883595e-09, + -0.8092246651649475, + -0.5874992609024048, + 1.0272964239120483 + ], + [ + 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": [ + [ + 0.9970337152481079, + 0.04444000497460365, + -0.06283945590257645, + -15.024024963378906 + ], + [ + 0.07696565240621567, + -0.5756877660751343, + 0.8140392303466797, + -15.264655113220215 + ], + [ + -1.0694765073537837e-09, + -0.8164610862731934, + -0.5774005055427551, + 1.0131583213806152 + ], + [ + 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": [ + [ + 0.9973157048225403, + 0.04151427373290062, + -0.06031535565853119, + -15.027558326721191 + ], + [ + 0.07322142273187637, + -0.5654470324516296, + 0.8215280175209045, + -15.275138854980469 + ], + [ + 3.3627514106626677e-09, + -0.8237391710281372, + -0.5669689178466797, + 0.9985541105270386 + ], + [ + 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": [ + [ + 0.9975066781044006, + 0.03925909474492073, + -0.058644749224185944, + -15.029897689819336 + ], + [ + 0.07057254016399384, + -0.5549070239067078, + 0.8289135694503784, + -15.285478591918945 + ], + [ + 9.860521288374002e-09, + -0.8309855461120605, + -0.5562940835952759, + 0.9836093187332153 + ], + [ + 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": [ + [ + 0.9976240396499634, + 0.03757654130458832, + -0.05774284154176712, + -15.031160354614258 + ], + [ + 0.06889290362596512, + -0.5441382527351379, + 0.8361623287200928, + -15.29562759399414 + ], + [ + -5.52147527699276e-09, + -0.8381537199020386, + -0.5454341769218445, + 0.9684053659439087 + ], + [ + 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": [ + [ + 0.9976778626441956, + 0.0363997258245945, + -0.05756665766239166, + -15.03140640258789 + ], + [ + 0.0681091770529747, + -0.5331908464431763, + 0.8432488441467285, + -15.305548667907715 + ], + [ + 1.5800107888708226e-08, + -0.8452115058898926, + -0.5344318747520447, + 0.9530021548271179 + ], + [ + 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": [ + [ + 0.997672438621521, + 0.03568490967154503, + -0.058106034994125366, + -15.030651092529297 + ], + [ + 0.06818888336420059, + -0.5221061706542969, + 0.8501502871513367, + -15.315210342407227 + ], + [ + 1.05448876297487e-08, + -0.8521336913108826, + -0.5233242511749268, + 0.9374514222145081 + ], + [ + 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": [ + [ + 0.9976072907447815, + 0.03540747985243797, + -0.05937999114394188, + -15.028867721557617 + ], + [ + 0.06913518160581589, + -0.5109230875968933, + 0.8568418622016907, + -15.324578285217285 + ], + [ + 1.3306964419257383e-09, + -0.8588969111442566, + -0.5121484994888306, + 0.9218055009841919 + ], + [ + 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": [ + [ + 0.9974772930145264, + 0.035560596734285355, + -0.06143713369965553, + -15.02598762512207 + ], + [ + 0.07098645716905594, + -0.4996851682662964, + 0.8632935285568237, + -15.333610534667969 + ], + [ + 9.05822883368046e-09, + -0.8654768466949463, + -0.5009489059448242, + 0.906126081943512 + ], + [ + 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": [ + [ + 0.9972715377807617, + 0.03615622967481613, + -0.06436006724834442, + -15.021896362304688 + ], + [ + 0.07382066547870636, + -0.4884481728076935, + 0.8694647550582886, + -15.34225082397461 + ], + [ + 3.6272753689559067e-09, + -0.8718435764312744, + -0.4897845387458801, + 0.8904960751533508 + ], + [ + 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": [ + [ + 0.9969717860221863, + 0.03722911328077316, + -0.06827349215745926, + -15.016417503356934 + ], + [ + 0.07776423543691635, + -0.4772934913635254, + 0.8752963542938232, + -15.350415229797363 + ], + [ + 8.85149198381896e-09, + -0.8779550194740295, + -0.47874322533607483, + 0.8750380277633667 + ], + [ + 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": [ + [ + 0.9965490698814392, + 0.03884365037083626, + -0.07335590571165085, + -15.009302139282227 + ], + [ + 0.08300553262233734, + -0.46634969115257263, + 0.88069748878479, + -15.357976913452148 + ], + [ + -3.3546276867468805e-09, + -0.8837472796440125, + -0.4679645895957947, + 0.8599480390548706 + ], + [ + 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_000035__traj000__bullettime_late/caption.txt b/blenderobj_eval/target/scene_000035__traj000__bullettime_late/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..b8e6a5dd48e0c123150432845a6969fb2d42c7ac --- /dev/null +++ b/blenderobj_eval/target/scene_000035__traj000__bullettime_late/caption.txt @@ -0,0 +1 @@ +A modern conference room with a long rectangular table surrounded by chairs, illuminated by hanging pendant lights. Various items such as books, a coffee mug, and a small globe float and drift through the air before settling on the table, while the room's industrial-style ceiling and glass partitions remain static. 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_000035__traj000__bullettime_late/extras/blender_meta.json b/blenderobj_eval/target/scene_000035__traj000__bullettime_late/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..377cf364d317f1f1b0560a940ebf20dd80837e96 --- /dev/null +++ b/blenderobj_eval/target/scene_000035__traj000__bullettime_late/extras/blender_meta.json @@ -0,0 +1,377 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000035", + "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_000035__traj000__bullettime_late/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000035__traj000__bullettime_late/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..6969fce494d371dc4294a9762dae028eb2a188c6 --- /dev/null +++ b/blenderobj_eval/target/scene_000035__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_000035__traj000__bullettime_late/transforms.json b/blenderobj_eval/target/scene_000035__traj000__bullettime_late/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..24cc1bedf710f2036bd6f068ffbd6351e4306488 --- /dev/null +++ b/blenderobj_eval/target/scene_000035__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": [ + [ + -0.370370477437973, + 0.22471749782562256, + -0.9012924432754517, + 1.5118093490600586 + ], + [ + 0.9288843274116516, + 0.0896008238196373, + -0.35936877131462097, + -2.2468838691711426 + ], + [ + -1.7511432304218033e-08, + -0.9702958464622498, + -0.24192185699939728, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.3828674554824829, + 0.22348818182945251, + -0.8963623642921448, + 1.5049073696136475 + ], + [ + 0.9238032698631287, + 0.09262409061193466, + -0.3714946508407593, + -2.229907512664795 + ], + [ + 1.0221943114174792e-07, + -0.9702957272529602, + -0.24192188680171967, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.39529505372047424, + 0.22221843898296356, + -0.8912692666053772, + 1.497776985168457 + ], + [ + 0.9185543060302734, + 0.09563060849905014, + -0.38355302810668945, + -2.2130258083343506 + ], + [ + 2.5013861204570276e-08, + -0.970295786857605, + -0.24192191660404205, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.4076506793498993, + 0.2209080308675766, + -0.8860138654708862, + 1.4904195070266724 + ], + [ + 0.9131379127502441, + 0.09861963242292404, + -0.3955417275428772, + -2.196241617202759 + ], + [ + 2.779995611490449e-08, + -0.9702957272529602, + -0.24192187190055847, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.41993197798728943, + 0.21955765783786774, + -0.8805972933769226, + 1.4828362464904785 + ], + [ + 0.9075555801391602, + 0.10159063339233398, + -0.40745824575424194, + -2.179558515548706 + ], + [ + -1.4116019997345575e-07, + -0.9702957272529602, + -0.24192193150520325, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.4321371018886566, + 0.2181672304868698, + -0.8750205039978027, + 1.47502863407135 + ], + [ + 0.9018080830574036, + 0.10454332828521729, + -0.41930073499679565, + -2.1629791259765625 + ], + [ + -2.1494398083632404e-07, + -0.9702958464622498, + -0.2419218271970749, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.4442635476589203, + 0.2167370319366455, + -0.8692843914031982, + 1.4669979810714722 + ], + [ + 0.8958963751792908, + 0.10747699439525604, + -0.43106693029403687, + -2.1465065479278564 + ], + [ + -2.177091857902269e-07, + -0.9702958464622498, + -0.24192176759243011, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.45630913972854614, + 0.21526731550693512, + -0.8633901476860046, + 1.4587459564208984 + ], + [ + 0.8898216485977173, + 0.11039141565561295, + -0.4427545964717865, + -2.130143642425537 + ], + [ + 1.008982124517388e-07, + -0.9702959060668945, + -0.2419217824935913, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.46827152371406555, + 0.21375858783721924, + -0.8573386073112488, + 1.4502739906311035 + ], + [ + 0.8835848569869995, + 0.11328529566526413, + -0.4543617069721222, + -2.113893747329712 + ], + [ + 3.4706957308117126e-09, + -0.9702958464622498, + -0.24192184209823608, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.4801488518714905, + 0.21221080422401428, + -0.8511310815811157, + 1.441583514213562 + ], + [ + 0.8771873116493225, + 0.11615867912769318, + -0.4658862054347992, + -2.09775972366333 + ], + [ + 3.926824376776494e-08, + -0.9702959060668945, + -0.24192176759243011, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.49193844199180603, + 0.21062447130680084, + -0.8447687029838562, + 1.432676076889038 + ], + [ + 0.870630145072937, + 0.11901068687438965, + -0.4773256778717041, + -2.0817441940307617 + ], + [ + -4.4984361124988936e-08, + -0.9702958464622498, + -0.24192176759243011, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.503638744354248, + 0.20899982750415802, + -0.838252604007721, + 1.423553466796875 + ], + [ + 0.8639145493507385, + 0.12184127420186996, + -0.4886784255504608, + -2.065850257873535 + ], + [ + -2.628891593303706e-08, + -0.9702958464622498, + -0.2419217973947525, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.5152474045753479, + 0.20733708143234253, + -0.8315838575363159, + 1.4142173528671265 + ], + [ + 0.8570416569709778, + 0.12464982271194458, + -0.49994224309921265, + -2.0500810146331787 + ], + [ + 1.403987681669605e-07, + -0.9702958464622498, + -0.2419218271970749, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.5267623662948608, + 0.20563670992851257, + -0.8247638940811157, + 1.4046692848205566 + ], + [ + 0.8500128984451294, + 0.1274355798959732, + -0.5111150741577148, + -2.0344390869140625 + ], + [ + 8.595339551220604e-08, + -0.9702959060668945, + -0.2419217824935913, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.5381811857223511, + 0.20389874279499054, + -0.817793607711792, + 1.3949110507965088 + ], + [ + 0.8428292274475098, + 0.13019786775112152, + -0.5221948623657227, + -2.0189273357391357 + ], + [ + 8.767824510869104e-08, + -0.970295786857605, + -0.2419218122959137, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.5495023131370544, + 0.202123761177063, + -0.8106746673583984, + 1.3849445581436157 + ], + [ + 0.8354923725128174, + 0.13293679058551788, + -0.5331796407699585, + -2.0035486221313477 + ], + [ + 1.3805346554818243e-07, + -0.9702958464622498, + -0.24192175269126892, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.5607233643531799, + 0.20031219720840454, + -0.803408145904541, + 1.3747713565826416 + ], + [ + 0.8280034065246582, + 0.13565132021903992, + -0.5440673828125, + -1.9883058071136475 + ], + [ + -3.203848564226064e-08, + -0.9702958464622498, + -0.24192184209823608, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.57184237241745, + 0.19846400618553162, + -0.7959954738616943, + 1.3643935918807983 + ], + [ + 0.8203638195991516, + 0.13834130764007568, + -0.5548560619354248, + -1.9732016324996948 + ], + [ + -2.2309677660814486e-08, + -0.9702958464622498, + -0.2419218271970749, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.582857072353363, + 0.1965797394514084, + -0.7884379625320435, + 1.3538129329681396 + ], + [ + 0.8125749230384827, + 0.14100606739521027, + -0.5655435919761658, + -1.9582388401031494 + ], + [ + 4.6838763978485076e-08, + -0.970295786857605, + -0.24192191660404205, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.5937660336494446, + 0.19465965032577515, + -0.7807366847991943, + 1.343031406402588 + ], + [ + 0.8046379089355469, + 0.14364495873451233, + -0.5761286020278931, + -1.943420171737671 + ], + [ + -1.7706258859107038e-07, + -0.9702958464622498, + -0.24192184209823608, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.6045665144920349, + 0.19270417094230652, + -0.7728935480117798, + 1.3320509195327759 + ], + [ + 0.7965546250343323, + 0.1462576985359192, + -0.586608350276947, + -1.9287482500076294 + ], + [ + -2.4110730123538815e-07, + -0.9702957272529602, + -0.24192193150520325, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.6152573823928833, + 0.1907135546207428, + -0.7649096250534058, + 1.320873498916626 + ], + [ + 0.7883263230323792, + 0.14884407818317413, + -0.5969816446304321, + -1.9142258167266846 + ], + [ + -2.3041449992433627e-07, + -0.9702957272529602, + -0.24192191660404205, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.6258364319801331, + 0.18868815898895264, + -0.7567865252494812, + 1.3095011711120605 + ], + [ + 0.7799545526504517, + 0.15140371024608612, + -0.6072462797164917, + -1.899855375289917 + ], + [ + 2.965637335705651e-08, + -0.970295786857605, + -0.24192193150520325, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.6363012194633484, + 0.18662844598293304, + -0.7485259175300598, + 1.2979360818862915 + ], + [ + 0.7714410424232483, + 0.15393538773059845, + -0.6174002289772034, + -1.8856397867202759 + ], + [ + 6.428182786066827e-08, + -0.9702959060668945, + -0.2419217973947525, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.6466503143310547, + 0.18453481793403625, + -0.7401286959648132, + 1.2861802577972412 + ], + [ + 0.7627867460250854, + 0.15643908083438873, + -0.627441942691803, + -1.8715814352035522 + ], + [ + 1.146132859730642e-07, + -0.970295786857605, + -0.24192193150520325, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.6568820476531982, + 0.18240761756896973, + -0.7315973043441772, + 1.2742358446121216 + ], + [ + 0.7539941668510437, + 0.15891462564468384, + -0.6373694539070129, + -1.8576830625534058 + ], + [ + 2.0293472857702e-07, + -0.9702960252761841, + -0.24192170798778534, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.6669937372207642, + 0.1802472472190857, + -0.7229322195053101, + 1.2621049880981445 + ], + [ + 0.7450637817382812, + 0.16136057674884796, + -0.64718097448349, + -1.843946933746338 + ], + [ + 2.0481103035763226e-08, + -0.9702959656715393, + -0.24192173779010773, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.6769838929176331, + 0.1780540645122528, + -0.7141357660293579, + 1.2497899532318115 + ], + [ + 0.7359980344772339, + 0.16377753019332886, + -0.656874418258667, + -1.8303757905960083 + ], + [ + 1.7080076020192791e-07, + -0.970295786857605, + -0.2419220209121704, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.6868510246276855, + 0.1758282482624054, + -0.7052093148231506, + 1.237293004989624 + ], + [ + 0.7267982959747314, + 0.16616447269916534, + -0.6664485335350037, + -1.816972017288208 + ], + [ + 2.2144952538383222e-07, + -0.970295786857605, + -0.2419218271970749, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.6965931057929993, + 0.17357072234153748, + -0.6961545348167419, + 1.224616289138794 + ], + [ + 0.7174663543701172, + 0.16852118074893951, + -0.6759012937545776, + -1.8037381172180176 + ], + [ + 1.2413083538831415e-07, + -0.9702956676483154, + -0.24192191660404205, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.7062090039253235, + 0.17128174006938934, + -0.6869731545448303, + 1.2117623090744019 + ], + [ + 0.7080039381980896, + 0.17084771394729614, + -0.6852313280105591, + -1.7906763553619385 + ], + [ + 4.36994440633498e-08, + -0.9702959060668945, + -0.24192188680171967, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.7156957983970642, + 0.1689612865447998, + -0.6776667237281799, + 1.1987332105636597 + ], + [ + 0.6984125375747681, + 0.17314264178276062, + -0.6944364309310913, + -1.7777891159057617 + ], + [ + 2.649920816111262e-08, + -0.9702959060668945, + -0.2419217973947525, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.7250527739524841, + 0.1666102409362793, + -0.668237030506134, + 1.185531497001648 + ], + [ + 0.688694179058075, + 0.17540641129016876, + -0.7035152912139893, + -1.7650789022445679 + ], + [ + -2.164813750482608e-08, + -0.9702960252761841, + -0.24192167818546295, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.7342774868011475, + 0.1642289161682129, + -0.6586854457855225, + 1.1721594333648682 + ], + [ + 0.6788502335548401, + 0.17763814330101013, + -0.7124660015106201, + -1.7525479793548584 + ], + [ + -6.986171285916498e-08, + -0.9702960252761841, + -0.2419218271970749, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.7433682084083557, + 0.1618174910545349, + -0.6490139961242676, + 1.1586196422576904 + ], + [ + 0.6688827276229858, + 0.17983707785606384, + -0.7212868928909302, + -1.7401984930038452 + ], + [ + -1.2934658855101588e-07, + -0.9702958464622498, + -0.24192184209823608, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.7523242235183716, + 0.1593765765428543, + -0.6392247080802917, + 1.1449143886566162 + ], + [ + 0.6587936878204346, + 0.18200401961803436, + -0.7299767136573792, + -1.7280328273773193 + ], + [ + 1.3417141531135712e-07, + -0.9702959656715393, + -0.2419217973947525, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.7611427903175354, + 0.15690699219703674, + -0.62931889295578, + 1.1310462951660156 + ], + [ + 0.6485846638679504, + 0.18413716554641724, + -0.7385334968566895, + -1.7160532474517822 + ], + [ + -1.3393446351983584e-07, + -0.970295786857605, + -0.24192191660404205, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.7698233723640442, + 0.15440846979618073, + -0.6192985773086548, + 1.1170178651809692 + ], + [ + 0.6382575035095215, + 0.18623733520507812, + -0.7469561100006104, + -1.7042616605758667 + ], + [ + 4.5983359342471886e-08, + -0.9702959060668945, + -0.2419217973947525, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.7783637046813965, + 0.15188199281692505, + -0.6091655492782593, + 1.1028317213058472 + ], + [ + 0.6278142929077148, + 0.1883033663034439, + -0.7552427649497986, + -1.6926605701446533 + ], + [ + 1.5017356247426505e-08, + -0.9702959656715393, + -0.24192169308662415, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.7867618203163147, + 0.1493280678987503, + -0.5989216566085815, + 1.0884902477264404 + ], + [ + 0.6172568202018738, + 0.1903350055217743, + -0.7633915543556213, + -1.6812517642974854 + ], + [ + -4.995430913368182e-08, + -0.9702957272529602, + -0.24192199110984802, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.7950174808502197, + 0.14674687385559082, + -0.5885688662528992, + 1.0739961862564087 + ], + [ + 0.6065871119499207, + 0.192332461476326, + -0.7714018225669861, + -1.6700376272201538 + ], + [ + -2.9504114706924156e-08, + -0.9702958464622498, + -0.24192196130752563, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.803128182888031, + 0.14413876831531525, + -0.5781087875366211, + 1.0593522787094116 + ], + [ + 0.5958068370819092, + 0.1942945420742035, + -0.7792716026306152, + -1.659019947052002 + ], + [ + 2.9027475534348923e-08, + -0.9702958464622498, + -0.24192190170288086, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.8110923767089844, + 0.1415044665336609, + -0.5675435066223145, + 1.0445609092712402 + ], + [ + 0.5849180221557617, + 0.19622109830379486, + -0.7869994640350342, + -1.6482007503509521 + ], + [ + 7.14870651563615e-08, + -0.9702957272529602, + -0.24192196130752563, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.8189092874526978, + 0.1388445645570755, + -0.5568749308586121, + 1.0296250581741333 + ], + [ + 0.5739229321479797, + 0.19811199605464935, + -0.7945842146873474, + -1.6375821828842163 + ], + [ + -7.91115866149994e-08, + -0.9702957272529602, + -0.24192187190055847, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.8265771269798279, + 0.1361592710018158, + -0.5461052656173706, + 1.0145472288131714 + ], + [ + 0.562823474407196, + 0.19996722042560577, + -0.802024245262146, + -1.6271660327911377 + ], + [ + 1.0923648829930244e-07, + -0.9702957272529602, + -0.24192194640636444, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.8340947031974792, + 0.1334492713212967, + -0.5352360010147095, + 0.9993302822113037 + ], + [ + 0.5516214966773987, + 0.20178595185279846, + -0.8093184232711792, + -1.6169542074203491 + ], + [ + 1.213546028111523e-07, + -0.970295786857605, + -0.24192193150520325, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.8414604663848877, + 0.13071495294570923, + -0.5242693424224854, + 0.9839770197868347 + ], + [ + 0.5403190851211548, + 0.20356778800487518, + -0.8164653778076172, + -1.6069486141204834 + ], + [ + 5.499519062368563e-08, + -0.9702958464622498, + -0.2419217824935913, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.8486732840538025, + 0.1279570311307907, + -0.5132073760032654, + 0.9684901237487793 + ], + [ + 0.5289185047149658, + 0.2053127884864807, + -0.8234637975692749, + -1.5971510410308838 + ], + [ + -9.67284847774863e-08, + -0.9702960252761841, + -0.24192163348197937, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.855731189250946, + 0.1251756101846695, + -0.502051830291748, + 0.9528724551200867 + ], + [ + 0.5174214243888855, + 0.20702031254768372, + -0.8303120732307434, + -1.587563395500183 + ], + [ + -1.5710611478425562e-08, + -0.9702959060668945, + -0.24192176759243011, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.8626335859298706, + 0.12237153202295303, + -0.4908049702644348, + 0.937126874923706 + ], + [ + 0.5058302879333496, + 0.20869024097919464, + -0.8370093703269958, + -1.5781872272491455 + ], + [ + -4.491693772479266e-08, + -0.9702959656715393, + -0.2419218271970749, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.8693785667419434, + 0.11954506486654282, + -0.47946879267692566, + 0.9212562441825867 + ], + [ + 0.49414709210395813, + 0.21032173931598663, + -0.8435541987419128, + -1.5690242052078247 + ], + [ + -8.980714483186603e-08, + -0.9702958464622498, + -0.2419217824935913, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.8759655356407166, + 0.11669685691595078, + -0.46804529428482056, + 0.9052634239196777 + ], + [ + 0.4823738634586334, + 0.21191523969173431, + -0.849945604801178, + -1.5600762367248535 + ], + [ + -7.024938497579569e-08, + -0.970295786857605, + -0.24192184209823608, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.8823935389518738, + 0.11382750421762466, + -0.45653679966926575, + 0.889151394367218 + ], + [ + 0.47051307559013367, + 0.213470458984375, + -0.8561824560165405, + -1.551344871520996 + ], + [ + -9.280830681746011e-08, + -0.9702959656715393, + -0.24192172288894653, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.8886605501174927, + 0.1109374538064003, + -0.4449450671672821, + 0.8729230165481567 + ], + [ + 0.45856648683547974, + 0.21498654782772064, + -0.8622633218765259, + -1.542831540107727 + ], + [ + -1.8415489932976925e-07, + -0.9702959060668945, + -0.2419217973947525, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.8947654962539673, + 0.10802696645259857, + -0.4332723021507263, + 0.8565812706947327 + ], + [ + 0.4465363323688507, + 0.21646347641944885, + -0.8681871294975281, + -1.5345380306243896 + ], + [ + 1.3270735621517815e-09, + -0.9702957272529602, + -0.24192199110984802, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9007081389427185, + 0.1050969734787941, + -0.42152082920074463, + 0.8401291370391846 + ], + [ + 0.43442511558532715, + 0.21790127456188202, + -0.8739531636238098, + -1.526465654373169 + ], + [ + 5.6239173318317626e-08, + -0.970295786857605, + -0.24192200601100922, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9064867496490479, + 0.10214788466691971, + -0.40969258546829224, + 0.8235695958137512 + ], + [ + 0.42223477363586426, + 0.2192990928888321, + -0.879560112953186, + -1.518615961074829 + ], + [ + -3.04390965766288e-08, + -0.970295786857605, + -0.24192187190055847, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9121004343032837, + 0.0991801843047142, + -0.3977898061275482, + 0.8069056272506714 + ], + [ + 0.4099676012992859, + 0.22065727412700653, + -0.8850069642066956, + -1.5109903812408447 + ], + [ + -2.655998088130218e-09, + -0.9702958464622498, + -0.24192187190055847, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9175475239753723, + 0.09619441628456116, + -0.3858145773410797, + 0.7901403903961182 + ], + [ + 0.39762577414512634, + 0.22197474539279938, + -0.8902925252914429, + -1.5035903453826904 + ], + [ + -3.7102640959574273e-08, + -0.9702956676483154, + -0.24192196130752563, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9228286743164062, + 0.09319121390581131, + -0.3737691640853882, + 0.7732768058776855 + ], + [ + 0.38521161675453186, + 0.2232525497674942, + -0.8954164981842041, + -1.4964171648025513 + ], + [ + -9.762695185600023e-08, + -0.9702959060668945, + -0.24192175269126892, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9279412627220154, + 0.0901709571480751, + -0.3616558015346527, + 0.7563179731369019 + ], + [ + 0.3727274239063263, + 0.22448936104774475, + -0.9003772735595703, + -1.4894720315933228 + ], + [ + -6.898943638589117e-08, + -0.9702959060668945, + -0.24192167818546295, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9328848719596863, + 0.0871342122554779, + -0.3494763970375061, + 0.7392669916152954 + ], + [ + 0.36017513275146484, + 0.22568540275096893, + -0.9051741361618042, + -1.4827563762664795 + ], + [ + 5.385794565881952e-08, + -0.970295786857605, + -0.24192185699939728, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9376590847969055, + 0.08408171683549881, + -0.33723363280296326, + 0.7221269607543945 + ], + [ + 0.34755757451057434, + 0.22684043645858765, + -0.9098063707351685, + -1.4762712717056274 + ], + [ + 7.237820653926974e-08, + -0.9702959656715393, + -0.24192172288894653, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9422622919082642, + 0.08101390302181244, + -0.3249293267726898, + 0.7049010396003723 + ], + [ + 0.3348765969276428, + 0.22795401513576508, + -0.9142729043960571, + -1.4700180292129517 + ], + [ + 8.8475118786846e-08, + -0.9702958464622498, + -0.2419218122959137, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9466940760612488, + 0.07793142646551132, + -0.31256598234176636, + 0.6875922679901123 + ], + [ + 0.32213473320007324, + 0.22902606427669525, + -0.9185731410980225, + -1.4639978408813477 + ], + [ + 1.3146141952802282e-09, + -0.9702958464622498, + -0.24192173779010773, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9509536623954773, + 0.07483484596014023, + -0.3001457154750824, + 0.6702039241790771 + ], + [ + 0.30933427810668945, + 0.23005668818950653, + -0.922706127166748, + -1.4582115411758423 + ], + [ + -8.855381850025879e-08, + -0.9702958464622498, + -0.24192187190055847, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9550402164459229, + 0.07172442972660065, + -0.2876707911491394, + 0.6527390480041504 + ], + [ + 0.29647746682167053, + 0.23104529082775116, + -0.9266712665557861, + -1.4526604413986206 + ], + [ + -3.376532120569209e-08, + -0.9702959060668945, + -0.2419218122959137, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9589528441429138, + 0.06860107183456421, + -0.2751435339450836, + 0.6352009177207947 + ], + [ + 0.2835667133331299, + 0.23199179768562317, + -0.9304676651954651, + -1.447345495223999 + ], + [ + -7.648309718888413e-08, + -0.9702958464622498, + -0.2419218122959137, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9626908302307129, + 0.06546523422002792, + -0.2625662386417389, + 0.6175926923751831 + ], + [ + 0.27060437202453613, + 0.23289614915847778, + -0.9340946674346924, + -1.4422675371170044 + ], + [ + -8.665976025667987e-08, + -0.970295786857605, + -0.24192193150520325, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9662536978721619, + 0.06231725588440895, + -0.24994106590747833, + 0.5999175310134888 + ], + [ + 0.25759264826774597, + 0.2337581068277359, + -0.9375517964363098, + -1.4374275207519531 + ], + [ + 8.069835644164414e-08, + -0.970295786857605, + -0.24192196130752563, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9696409702301025, + 0.05915817990899086, + -0.23727047443389893, + 0.5821787118911743 + ], + [ + 0.2445341944694519, + 0.23457756638526917, + -0.9408383369445801, + -1.4328265190124512 + ], + [ + 1.4320853836125025e-08, + -0.9702958464622498, + -0.24192185699939728, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9728518128395081, + 0.05598827823996544, + -0.22455671429634094, + 0.5643793940544128 + ], + [ + 0.23143120110034943, + 0.23535434901714325, + -0.9439536929130554, + -1.4284652471542358 + ], + [ + -2.136378185468857e-09, + -0.9702959656715393, + -0.24192169308662415, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9758849740028381, + 0.0528082437813282, + -0.21180208027362823, + 0.5465229153633118 + ], + [ + 0.21828611195087433, + 0.23608800768852234, + -0.9468969106674194, + -1.4243444204330444 + ], + [ + -4.9209390340365644e-08, + -0.970295786857605, + -0.24192187190055847, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9787410497665405, + 0.04961855337023735, + -0.19900889694690704, + 0.5286124348640442 + ], + [ + 0.20510129630565643, + 0.23677922785282135, + -0.9496680498123169, + -1.4204648733139038 + ], + [ + -1.2526347070718202e-08, + -0.9702958464622498, + -0.24192200601100922, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9814189076423645, + 0.046419840306043625, + -0.18617944419384003, + 0.5106512308120728 + ], + [ + 0.19187909364700317, + 0.23742686212062836, + -0.9522663950920105, + -1.4168272018432617 + ], + [ + -8.402811602081783e-08, + -0.9702959060668945, + -0.2419217973947525, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9839180707931519, + 0.043212711811065674, + -0.17331618070602417, + 0.4926426410675049 + ], + [ + 0.1786220520734787, + 0.23803141713142395, + -0.9546913504600525, + -1.4134323596954346 + ], + [ + -1.3309252722137899e-07, + -0.9702959060668945, + -0.24192176759243011, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.986238420009613, + 0.03999743238091469, + -0.16042132675647736, + 0.47458985447883606 + ], + [ + 0.1653323769569397, + 0.23859287798404694, + -0.9569426774978638, + -1.4102805852890015 + ], + [ + 9.715317617065011e-08, + -0.9702959656715393, + -0.24192170798778534, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9883785247802734, + 0.0367751345038414, + -0.147497296333313, + 0.4564962089061737 + ], + [ + 0.15201270580291748, + 0.23911042511463165, + -0.9590194821357727, + -1.4073727130889893 + ], + [ + 6.99758686550922e-08, + -0.9702957272529602, + -0.24192190170288086, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9903393387794495, + 0.033546123653650284, + -0.1345463991165161, + 0.43836498260498047 + ], + [ + 0.1386653333902359, + 0.2395847886800766, + -0.9609220027923584, + -1.4047092199325562 + ], + [ + 5.985793194440703e-08, + -0.970295786857605, + -0.24192185699939728, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.992120087146759, + 0.030311038717627525, + -0.12157106399536133, + 0.420199453830719 + ], + [ + 0.1252927929162979, + 0.24001556634902954, + -0.9626497626304626, + -1.4022905826568604 + ], + [ + 1.738013999386112e-08, + -0.9702958464622498, + -0.24192170798778534, + 1.5606780052185059 + ], + [ + 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": [ + [ + -0.9937199950218201, + 0.02707044593989849, + -0.1085735484957695, + 0.4020029604434967 + ], + [ + 0.11189737915992737, + 0.2404027283191681, + -0.9642021656036377, + -1.4001171588897705 + ], + [ + -1.7896974568998303e-08, + -0.9702958464622498, + -0.2419218271970749, + 1.5606780052185059 + ], + [ + 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__traj002__bullettime_late/extras/blender_meta.json b/blenderobj_eval/target/scene_000040__traj002__bullettime_late/extras/blender_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8aa825280bee6a6168e32f27a2c44cf556eae1e0 --- /dev/null +++ b/blenderobj_eval/target/scene_000040__traj002__bullettime_late/extras/blender_meta.json @@ -0,0 +1,377 @@ +{ + "format_version": "blender6d-eval-video-v1", + "scene_name": "scene_000040", + "trajectory_index": 2, + "trajectory_id": "T4", + "trajectory_name": "spherical_figure_eight", + "pattern": "bullettime_70", + "pattern_params": { + "kind": "bullettime", + "bullet_frame": 70, + "stride": 0, + "cam_start": 0, + "src_frame_range": [ + 70, + 70 + ] + }, + "frame_count": 81, + "resolution": [ + 832, + 480 + ], + "resolution_order": "width_height", + "files": { + "preview": { + "file": "rgb.mp4", + "encoding": "libx264 crf17 yuv420p (lossy, \uc5b4\ub514\uc11c\ub098 \uc7ac\uc0dd)" + }, + "lossless": { + "file": "rgb_lossless.mkv", + "encoding": "ffv1 level3 gbrp (bit-exact, \uc9c0\ud45c \uce21\uc815\uc6a9)" + } + }, + "metric_reference": "rgb_lossless.mkv", + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0, + "timestamps": [ + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333 + ], + "timestamp_range": [ + 2.333333333, + 2.333333333 + ], + "scene_time_span_seconds": 0.0, + "playback_timestamps": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "playback_duration_seconds": 2.7, + "source_cam_index": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_frame_index": [ + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70 + ], + "written_at": "2026-09-17T14:34:27" +} \ No newline at end of file diff --git a/blenderobj_eval/target/scene_000040__traj002__bullettime_late/extras/temporal_mapping.json b/blenderobj_eval/target/scene_000040__traj002__bullettime_late/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..2628be1194b8ad60fc1bb3789285018654abd63c --- /dev/null +++ b/blenderobj_eval/target/scene_000040__traj002__bullettime_late/extras/temporal_mapping.json @@ -0,0 +1,350 @@ +{ + "pattern": "bullettime_late", + "original_pattern": "bullettime_70", + "trajectory": { + "dir": "traj002", + "index": 2, + "id": "T4", + "name": "spherical_figure_eight" + }, + "source_fps": 30, + "playback_fps": 30, + "time_stride": 0, + "source_cam_idx": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80 + ], + "source_motion_frame": [ + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70, + 70 + ], + "timestamps_seconds": [ + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333, + 2.333333333 + ], + "playback_timestamps_seconds": [ + 0.0, + 0.033333333, + 0.066666667, + 0.1, + 0.133333333, + 0.166666667, + 0.2, + 0.233333333, + 0.266666667, + 0.3, + 0.333333333, + 0.366666667, + 0.4, + 0.433333333, + 0.466666667, + 0.5, + 0.533333333, + 0.566666667, + 0.6, + 0.633333333, + 0.666666667, + 0.7, + 0.733333333, + 0.766666667, + 0.8, + 0.833333333, + 0.866666667, + 0.9, + 0.933333333, + 0.966666667, + 1.0, + 1.033333333, + 1.066666667, + 1.1, + 1.133333333, + 1.166666667, + 1.2, + 1.233333333, + 1.266666667, + 1.3, + 1.333333333, + 1.366666667, + 1.4, + 1.433333333, + 1.466666667, + 1.5, + 1.533333333, + 1.566666667, + 1.6, + 1.633333333, + 1.666666667, + 1.7, + 1.733333333, + 1.766666667, + 1.8, + 1.833333333, + 1.866666667, + 1.9, + 1.933333333, + 1.966666667, + 2.0, + 2.033333333, + 2.066666667, + 2.1, + 2.133333333, + 2.166666667, + 2.2, + 2.233333333, + 2.266666667, + 2.3, + 2.333333333, + 2.366666667, + 2.4, + 2.433333333, + 2.466666667, + 2.5, + 2.533333333, + 2.566666667, + 2.6, + 2.633333333, + 2.666666667 + ], + "scene_time_range_seconds": [ + 2.333333333, + 2.333333333 + ], + "metric_reference": "extras/rgb_lossless.mkv" +} diff --git a/blenderobj_eval/target/scene_000040__traj002__bullettime_late/extras/traj_caption.txt b/blenderobj_eval/target/scene_000040__traj002__bullettime_late/extras/traj_caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..c378e2e338d77cb23b8b1bf8d641615119c75209 --- /dev/null +++ b/blenderobj_eval/target/scene_000040__traj002__bullettime_late/extras/traj_caption.txt @@ -0,0 +1 @@ +A weaving figure-eight camera move. The camera traces a figure-eight path over the sphere surrounding the scene, rising above and dipping below its 32° center elevation as it advances in azimuth, holding 1.4 m from the look-at point and sweeping 60° of arc over 81 frames (2.7 s at 30 fps, 0.75° between consecutive frames). The viewing height rises and falls smoothly through the shot, so the objects are seen from alternating high and low angles while staying centered in frame. diff --git a/blenderobj_eval/target/scene_000045__traj000__backward/caption.txt b/blenderobj_eval/target/scene_000045__traj000__backward/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..574dea2e1a2814d5acb8173f493d1b5152c9a9de --- /dev/null +++ b/blenderobj_eval/target/scene_000045__traj000__backward/caption.txt @@ -0,0 +1 @@ +A collection of colorful, floating objects—including cups, bottles, and a small lamp—drifts downward in a modern living room, eventually settling on a pink sofa beneath a large wall-mounted TV displaying a vibrant cosmic scene, with a wooden door and vertical blinds visible in the background. 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 reversed, playing backward so the objects rise back up from where they landed. diff --git a/blenderobj_eval/target/scene_000045__traj000__backward/transforms.json b/blenderobj_eval/target/scene_000045__traj000__backward/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8e458859d17ea3fc917804dbaea8a9a63cd3ce67 --- /dev/null +++ b/blenderobj_eval/target/scene_000045__traj000__backward/transforms.json @@ -0,0 +1,2849 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "world_frame": "blender_right_handed_z_up_meters", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9288842082023621, + 0.08960070461034775, + -0.3593687117099762, + -3.096883773803711 + ], + [ + 0.3703702986240387, + -0.22471728920936584, + 0.9012925028800964, + -1.5928093194961548 + ], + [ + 3.3972575863572274e-08, + -0.9702958464622498, + -0.24192176759243011, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.9238032698631287, + 0.09262403100728989, + -0.3714946508407593, + -3.0799074172973633 + ], + [ + 0.3828674554824829, + -0.22348828613758087, + 0.8963623642921448, + -1.5859073400497437 + ], + [ + 5.217032139626099e-09, + -0.9702956676483154, + -0.24192194640636444, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.9185541868209839, + 0.09563051164150238, + -0.38355308771133423, + -3.063025712966919 + ], + [ + 0.39529502391815186, + -0.222218319773674, + 0.8912692666053772, + -1.5787769556045532 + ], + [ + -5.2307580489241445e-09, + -0.970295786857605, + -0.2419218271970749, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.9131379723548889, + 0.09861957281827927, + -0.3955416679382324, + -3.0462417602539062 + ], + [ + 0.4076506197452545, + -0.22090815007686615, + 0.8860138058662415, + -1.5714194774627686 + ], + [ + -5.153284021730542e-08, + -0.9702956676483154, + -0.24192194640636444, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.9075555205345154, + 0.10159073024988174, + -0.4074583053588867, + -3.0295584201812744 + ], + [ + 0.4199320673942566, + -0.219557523727417, + 0.8805973529815674, + -1.5638362169265747 + ], + [ + -3.8327470974763855e-08, + -0.970295786857605, + -0.24192184209823608, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.901807963848114, + 0.10454339534044266, + -0.41930079460144043, + -3.012979030609131 + ], + [ + 0.4321371018886566, + -0.21816694736480713, + 0.8750206232070923, + -1.5560286045074463 + ], + [ + -5.421327742283211e-08, + -0.9702959656715393, + -0.24192173779010773, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.8958962559700012, + 0.10747701674699783, + -0.4310668706893921, + -2.996506452560425 + ], + [ + 0.44426339864730835, + -0.2167367786169052, + 0.8692843914031982, + -1.547998070716858 + ], + [ + -4.1672976180961996e-09, + -0.9702958464622498, + -0.24192175269126892, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.889821469783783, + 0.11039113253355026, + -0.4427545666694641, + -2.9801437854766846 + ], + [ + 0.45630887150764465, + -0.2152673602104187, + 0.8633899688720703, + -1.5397459268569946 + ], + [ + -3.940789383705123e-08, + -0.970295786857605, + -0.24192196130752563, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.88358473777771, + 0.1132851168513298, + -0.45436161756515503, + -2.9638938903808594 + ], + [ + 0.46827128529548645, + -0.21375849843025208, + 0.857338547706604, + -1.5312739610671997 + ], + [ + 2.316607705665774e-08, + -0.9702957272529602, + -0.24192191660404205, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.8771872520446777, + 0.11615841835737228, + -0.46588605642318726, + -2.9477596282958984 + ], + [ + 0.4801484942436218, + -0.21221059560775757, + 0.8511311411857605, + -1.5225834846496582 + ], + [ + 3.661745040517417e-08, + -0.9702958464622498, + -0.24192170798778534, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.8706300854682922, + 0.11901064217090607, + -0.4773256480693817, + -2.93174409866333 + ], + [ + 0.4919383227825165, + -0.2106243222951889, + 0.8447688221931458, + -1.5136761665344238 + ], + [ + 5.2573554398804845e-09, + -0.9702959060668945, + -0.24192173779010773, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.863914430141449, + 0.12184111028909683, + -0.4886784553527832, + -2.9158504009246826 + ], + [ + 0.5036386251449585, + -0.2089996337890625, + 0.8382526636123657, + -1.5045535564422607 + ], + [ + -6.187633516674396e-08, + -0.9702959060668945, + -0.24192166328430176, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.8570415377616882, + 0.12464968860149384, + -0.49994224309921265, + -2.900080919265747 + ], + [ + 0.5152473449707031, + -0.20733702182769775, + 0.8315838575363159, + -1.4952173233032227 + ], + [ + 7.541623858742241e-08, + -0.9702958464622498, + -0.24192184209823608, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.8500127196311951, + 0.1274353563785553, + -0.5111150741577148, + -2.884438991546631 + ], + [ + 0.5267621278762817, + -0.2056366205215454, + 0.824763834476471, + -1.4856692552566528 + ], + [ + 5.821736692723789e-08, + -0.970295786857605, + -0.24192185699939728, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.8428292274475098, + 0.13019786775112152, + -0.5221948027610779, + -2.868927240371704 + ], + [ + 0.5381811261177063, + -0.20389878749847412, + 0.817793607711792, + -1.4759111404418945 + ], + [ + 9.380482879350893e-08, + -0.9702957272529602, + -0.24192188680171967, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.8354923725128174, + 0.13293655216693878, + -0.5331795811653137, + -2.853548765182495 + ], + [ + 0.5495021343231201, + -0.2021237462759018, + 0.810674786567688, + -1.465944528579712 + ], + [ + -1.5817228415926365e-08, + -0.9702959060668945, + -0.24192172288894653, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.8280033469200134, + 0.13565121591091156, + -0.5440673232078552, + -2.838305950164795 + ], + [ + 0.5607231855392456, + -0.200312077999115, + 0.8034082055091858, + -1.4557713270187378 + ], + [ + -9.316998728081671e-09, + -0.9702958464622498, + -0.24192184209823608, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.8203636407852173, + 0.13834109902381897, + -0.5548560619354248, + -2.8232016563415527 + ], + [ + 0.5718421936035156, + -0.1984637975692749, + 0.7959954738616943, + -1.4453935623168945 + ], + [ + -1.323368636896305e-10, + -0.9702958464622498, + -0.24192175269126892, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.8125747442245483, + 0.14100588858127594, + -0.5655436515808105, + -2.8082387447357178 + ], + [ + 0.5828570127487183, + -0.19657963514328003, + 0.7884377837181091, + -1.4348129034042358 + ], + [ + 8.883203506115933e-09, + -0.9702957272529602, + -0.24192193150520325, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.8046377897262573, + 0.14364497363567352, + -0.5761285424232483, + -2.7934200763702393 + ], + [ + 0.593765914440155, + -0.19465947151184082, + 0.7807366251945496, + -1.424031376838684 + ], + [ + 1.062248955463474e-08, + -0.9702957272529602, + -0.24192185699939728, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.7965545654296875, + 0.14625787734985352, + -0.5866084694862366, + -2.7787482738494873 + ], + [ + 0.6045666337013245, + -0.1927040070295334, + 0.7728934288024902, + -1.413050889968872 + ], + [ + -2.797268550125409e-08, + -0.9702957272529602, + -0.24192190170288086, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.7883262634277344, + 0.14884425699710846, + -0.5969817042350769, + -2.764225721359253 + ], + [ + 0.6152574419975281, + -0.19071336090564728, + 0.7649096250534058, + -1.4018734693527222 + ], + [ + 7.260510415108001e-09, + -0.9702957272529602, + -0.24192187190055847, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.7799544930458069, + 0.15140347182750702, + -0.6072462797164917, + -2.7498555183410645 + ], + [ + 0.6258363127708435, + -0.18868781626224518, + 0.7567866444587708, + -1.3905012607574463 + ], + [ + 5.681232551069115e-08, + -0.9702959060668945, + -0.24192164838314056, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.771440863609314, + 0.15393511950969696, + -0.6174002885818481, + -2.735639810562134 + ], + [ + 0.6363011002540588, + -0.18662822246551514, + 0.7485259175300598, + -1.3789360523223877 + ], + [ + 9.171404968810748e-09, + -0.9702959060668945, + -0.24192166328430176, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.7627866864204407, + 0.15643887221813202, + -0.6274418830871582, + -2.72158145904541 + ], + [ + 0.6466501951217651, + -0.18453480303287506, + 0.7401286959648132, + -1.3671802282333374 + ], + [ + 1.0471865152794635e-08, + -0.9702957272529602, + -0.24192191660404205, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.7539937496185303, + 0.15891405940055847, + -0.6373694539070129, + -2.7076830863952637 + ], + [ + 0.6568816304206848, + -0.18240739405155182, + 0.7315971255302429, + -1.3552358150482178 + ], + [ + 6.465307933467557e-08, + -0.9702959060668945, + -0.24192170798778534, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.7450636625289917, + 0.16136029362678528, + -0.6471809148788452, + -2.6939470767974854 + ], + [ + 0.6669934391975403, + -0.18024693429470062, + 0.7229322791099548, + -1.3431049585342407 + ], + [ + 8.700509113168664e-08, + -0.9702959060668945, + -0.24192164838314056, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.7359979152679443, + 0.1637771874666214, + -0.6568745374679565, + -2.680375814437866 + ], + [ + 0.6769838929176331, + -0.1780538260936737, + 0.7141358256340027, + -1.3307900428771973 + ], + [ + 1.0668209426967223e-08, + -0.9702959060668945, + -0.24192169308662415, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.7267982959747314, + 0.16616424918174744, + -0.6664485931396484, + -2.6669721603393555 + ], + [ + 0.6868509650230408, + -0.17582832276821136, + 0.7052093148231506, + -1.3182929754257202 + ], + [ + 1.8170169369113864e-08, + -0.970295786857605, + -0.2419217973947525, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.7174663543701172, + 0.16852107644081116, + -0.6759014129638672, + -2.653738021850586 + ], + [ + 0.6965932250022888, + -0.17357073724269867, + 0.6961546540260315, + -1.3056163787841797 + ], + [ + -5.4205667510132116e-08, + -0.9702958464622498, + -0.24192176759243011, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.7080036997795105, + 0.17084729671478271, + -0.6852313280105591, + -2.640676259994507 + ], + [ + 0.7062087655067444, + -0.17128139734268188, + 0.6869731545448303, + -1.292762279510498 + ], + [ + 3.0978547727045225e-08, + -0.9702959060668945, + -0.24192166328430176, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.6984123587608337, + 0.1731424480676651, + -0.6944363713264465, + -2.627789258956909 + ], + [ + 0.7156956195831299, + -0.16896118223667145, + 0.6776666045188904, + -1.2797331809997559 + ], + [ + 1.0507402947723676e-08, + -0.970295786857605, + -0.24192184209823608, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.6886938214302063, + 0.1754060685634613, + -0.7035151720046997, + -2.615078926086426 + ], + [ + 0.7250523567199707, + -0.16660989820957184, + 0.6682369112968445, + -1.2665314674377441 + ], + [ + 7.447285810258109e-08, + -0.9702959060668945, + -0.24192170798778534, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.6788499355316162, + 0.1776377409696579, + -0.7124658823013306, + -2.6025478839874268 + ], + [ + 0.734277069568634, + -0.16422858834266663, + 0.6586853265762329, + -1.2531594038009644 + ], + [ + 4.70780712191754e-08, + -0.970295786857605, + -0.24192184209823608, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.6688826084136963, + 0.17983701825141907, + -0.7212868928909302, + -2.590198516845703 + ], + [ + 0.7433680891990662, + -0.16181738674640656, + 0.6490139961242676, + -1.2396196126937866 + ], + [ + -6.265821639317437e-08, + -0.970295786857605, + -0.24192190170288086, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.6587934494018555, + 0.18200363218784332, + -0.7299767136573792, + -2.578032970428467 + ], + [ + 0.7523239254951477, + -0.159376323223114, + 0.6392247080802917, + -1.2259143590927124 + ], + [ + 8.23567489760535e-08, + -0.9702959060668945, + -0.24192169308662415, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.6485844850540161, + 0.18413709104061127, + -0.7385334968566895, + -2.5660531520843506 + ], + [ + 0.7611427307128906, + -0.1569066047668457, + 0.62931889295578, + -1.2120463848114014 + ], + [ + 7.654215039565315e-08, + -0.9702958464622498, + -0.24192175269126892, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.6382573843002319, + 0.18623703718185425, + -0.7469560503959656, + -2.5542616844177246 + ], + [ + 0.7698230743408203, + -0.1544083207845688, + 0.61929851770401, + -1.198017954826355 + ], + [ + 1.2044427677437852e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.6278142333030701, + 0.18830305337905884, + -0.755242645740509, + -2.5426604747772217 + ], + [ + 0.7783633470535278, + -0.15188199281692505, + 0.609165608882904, + -1.1838316917419434 + ], + [ + -1.50562470935256e-07, + -0.9702959060668945, + -0.24192176759243011, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.617256760597229, + 0.19033493101596832, + -0.7633916139602661, + -2.531251907348633 + ], + [ + 0.7867618203163147, + -0.14932788908481598, + 0.5989216566085815, + -1.1694902181625366 + ], + [ + 7.515602362673235e-09, + -0.970295786857605, + -0.24192187190055847, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.6065868139266968, + 0.19233204424381256, + -0.7714019417762756, + -2.5200376510620117 + ], + [ + 0.7950173616409302, + -0.14674638211727142, + 0.5885688066482544, + -1.1549962759017944 + ], + [ + 3.60671137400459e-08, + -0.9702959656715393, + -0.24192163348197937, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.5958066582679749, + 0.194294273853302, + -0.7792716026306152, + -2.5090198516845703 + ], + [ + 0.8031279444694519, + -0.14413860440254211, + 0.5781087279319763, + -1.1403522491455078 + ], + [ + 2.8994218581601672e-08, + -0.970295786857605, + -0.24192185699939728, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.5849180221557617, + 0.19622105360031128, + -0.786999523639679, + -2.4982006549835205 + ], + [ + 0.8110924363136292, + -0.14150448143482208, + 0.5675434470176697, + -1.125560998916626 + ], + [ + 6.8832051169920305e-09, + -0.9702957272529602, + -0.24192193150520325, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.5739229321479797, + 0.19811202585697174, + -0.7945842146873474, + -2.487582206726074 + ], + [ + 0.8189093470573425, + -0.13884447515010834, + 0.5568749904632568, + -1.1106250286102295 + ], + [ + -1.0955787388411409e-08, + -0.970295786857605, + -0.2419218122959137, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.5628235340118408, + 0.19996707141399384, + -0.8020241856575012, + -2.477165937423706 + ], + [ + 0.8265770673751831, + -0.13615937530994415, + 0.5461052656173706, + -1.0955471992492676 + ], + [ + -2.9908648002674454e-08, + -0.9702957272529602, + -0.24192190170288086, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.5516213774681091, + 0.20178572833538055, + -0.8093185424804688, + -2.466954231262207 + ], + [ + 0.8340947031974792, + -0.13344910740852356, + 0.5352360010147095, + -1.0803302526474 + ], + [ + 2.5186807306454284e-08, + -0.9702959060668945, + -0.24192170798778534, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.54031902551651, + 0.20356760919094086, + -0.8164653778076172, + -2.456948757171631 + ], + [ + 0.8414602875709534, + -0.13071484863758087, + 0.5242694020271301, + -1.0649770498275757 + ], + [ + 1.2006150740262456e-08, + -0.9702959060668945, + -0.24192169308662415, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.5289182066917419, + 0.2053125500679016, + -0.8234636783599854, + -2.4471511840820312 + ], + [ + 0.8486728668212891, + -0.12795673310756683, + 0.5132072567939758, + -1.0494900941848755 + ], + [ + 4.03802431492295e-08, + -0.9702959060668945, + -0.24192175269126892, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.5174212455749512, + 0.20701995491981506, + -0.8303120732307434, + -2.437563419342041 + ], + [ + 0.8557308912277222, + -0.1251753568649292, + 0.502051830291748, + -1.0338724851608276 + ], + [ + 5.065803776460598e-09, + -0.9702959060668945, + -0.24192166328430176, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.5058300495147705, + 0.2086898684501648, + -0.8370093107223511, + -2.428187131881714 + ], + [ + 0.862633228302002, + -0.12237127125263214, + 0.4908048212528229, + -1.0181268453598022 + ], + [ + 1.9003891793545336e-09, + -0.9702958464622498, + -0.2419218122959137, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.4941469430923462, + 0.21032164990901947, + -0.8435542583465576, + -2.4190242290496826 + ], + [ + 0.8693785071372986, + -0.1195448711514473, + 0.47946882247924805, + -1.0022562742233276 + ], + [ + -4.797639974185586e-08, + -0.9702959060668945, + -0.24192175269126892, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.48237383365631104, + 0.21191534399986267, + -0.849945604801178, + -2.410076379776001 + ], + [ + 0.8759655952453613, + -0.11669667810201645, + 0.4680454432964325, + -0.9862634539604187 + ], + [ + 1.5772776862377214e-08, + -0.9702959060668945, + -0.24192184209823608, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.47051283717155457, + 0.2134702503681183, + -0.8561823964118958, + -2.4013447761535645 + ], + [ + 0.8823932409286499, + -0.11382703483104706, + 0.45653682947158813, + -0.9701513648033142 + ], + [ + 1.4940346204639354e-07, + -0.9702959656715393, + -0.24192164838314056, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.45856621861457825, + 0.21498635411262512, + -0.8622633218765259, + -2.392831563949585 + ], + [ + 0.8886603116989136, + -0.11093710362911224, + 0.44494491815567017, + -0.9539229869842529 + ], + [ + 1.1678778832902026e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.44653618335723877, + 0.2164633870124817, + -0.8681873679161072, + -2.384537935256958 + ], + [ + 0.8947657346725464, + -0.10802669078111649, + 0.4332723915576935, + -0.9375812411308289 + ], + [ + 2.2305352009865942e-10, + -0.9702959656715393, + -0.24192167818546295, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.43442490696907043, + 0.21790102124214172, + -0.8739532232284546, + -2.3764655590057373 + ], + [ + 0.9007081389427185, + -0.10509691387414932, + 0.4215207099914551, + -0.9211291074752808 + ], + [ + -9.33094526089917e-08, + -0.9702958464622498, + -0.24192185699939728, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.42223459482192993, + 0.21929903328418732, + -0.879560112953186, + -2.3686161041259766 + ], + [ + 0.9064866900444031, + -0.10214772075414658, + 0.40969252586364746, + -0.9045695662498474 + ], + [ + 5.779575928954728e-09, + -0.9702958464622498, + -0.24192187190055847, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.40996745228767395, + 0.22065700590610504, + -0.8850069642066956, + -2.360990524291992 + ], + [ + 0.9121001958847046, + -0.0991799607872963, + 0.39778977632522583, + -0.8879056572914124 + ], + [ + 6.047205403092448e-08, + -0.9702958464622498, + -0.2419217973947525, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.39762571454048157, + 0.22197489440441132, + -0.8902926445007324, + -2.353590250015259 + ], + [ + 0.9175477623939514, + -0.09619435667991638, + 0.3858145773410797, + -0.8711403608322144 + ], + [ + -3.623110700345933e-08, + -0.970295786857605, + -0.24192187190055847, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.38521143794059753, + 0.22325246036052704, + -0.8954164981842041, + -2.346417188644409 + ], + [ + 0.9228284358978271, + -0.09319097548723221, + 0.3737691640853882, + -0.8542767763137817 + ], + [ + 2.318044778348849e-08, + -0.9702958464622498, + -0.24192184209823608, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.37272730469703674, + 0.2244892567396164, + -0.900377094745636, + -2.3394720554351807 + ], + [ + 0.9279409050941467, + -0.09017077088356018, + 0.36165574193000793, + -0.837317943572998 + ], + [ + 1.2752039424412942e-07, + -0.9702957272529602, + -0.24192187190055847, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.36017516255378723, + 0.2256852239370346, + -0.9051741361618042, + -2.332756280899048 + ], + [ + 0.9328847527503967, + -0.08713424950838089, + 0.34947648644447327, + -0.8202669620513916 + ], + [ + -7.679902580548514e-08, + -0.9702958464622498, + -0.2419218122959137, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.3475574553012848, + 0.22684024274349213, + -0.9098062515258789, + -2.3262712955474854 + ], + [ + 0.9376587271690369, + -0.08408161252737045, + 0.33723360300064087, + -0.8031269907951355 + ], + [ + 1.0299379482603399e-07, + -0.970295786857605, + -0.24192185699939728, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.33487647771835327, + 0.22795376181602478, + -0.9142729640007019, + -2.3200180530548096 + ], + [ + 0.9422621726989746, + -0.08101373165845871, + 0.324929416179657, + -0.7859010100364685 + ], + [ + 5.817940262886623e-08, + -0.9702959060668945, + -0.24192164838314056, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.3221346139907837, + 0.22902598977088928, + -0.9185731410980225, + -2.313997745513916 + ], + [ + 0.9466939568519592, + -0.07793131470680237, + 0.31256598234176636, + -0.7685922980308533 + ], + [ + -1.7222141934780666e-08, + -0.9702958464622498, + -0.24192176759243011, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.3093339800834656, + 0.23005656898021698, + -0.9227061867713928, + -2.3082115650177 + ], + [ + 0.9509535431861877, + -0.07483457028865814, + 0.30014556646347046, + -0.7512038946151733 + ], + [ + 1.4918541069164348e-08, + -0.9702958464622498, + -0.24192187190055847, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.2964772880077362, + 0.23104512691497803, + -0.9266712069511414, + -2.3026604652404785 + ], + [ + 0.9550399780273438, + -0.07172427326440811, + 0.2876707911491394, + -0.7337390780448914 + ], + [ + -9.211618134941091e-09, + -0.9702958464622498, + -0.24192184209823608, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.2835666537284851, + 0.23199166357517242, + -0.9304675459861755, + -2.2973453998565674 + ], + [ + 0.9589525461196899, + -0.06860096752643585, + 0.2751435339450836, + -0.7162009477615356 + ], + [ + -1.7126602358530363e-09, + -0.9702957272529602, + -0.24192191660404205, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.2706041634082794, + 0.23289598524570465, + -0.9340947866439819, + -2.2922675609588623 + ], + [ + 0.9626908302307129, + -0.06546494364738464, + 0.2625662386417389, + -0.6985926628112793 + ], + [ + -1.3342294380436215e-08, + -0.9702959060668945, + -0.24192175269126892, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.2575925886631012, + 0.233757883310318, + -0.9375518560409546, + -2.2874276638031006 + ], + [ + 0.9662536978721619, + -0.06231730803847313, + 0.24994108080863953, + -0.680917501449585 + ], + [ + -1.3855628822057042e-07, + -0.9702958464622498, + -0.24192176759243011, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.2445339560508728, + 0.23457737267017365, + -0.9408383965492249, + -2.2828264236450195 + ], + [ + 0.9696409106254578, + -0.05915802717208862, + 0.23727042973041534, + -0.6631786823272705 + ], + [ + -6.000234265002291e-08, + -0.9702959060668945, + -0.24192176759243011, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.2314309924840927, + 0.23535402119159698, + -0.9439536929130554, + -2.2784652709960938 + ], + [ + 0.9728515148162842, + -0.05598798766732216, + 0.22455672919750214, + -0.6453794240951538 + ], + [ + 4.841747269779262e-08, + -0.9702959656715393, + -0.24192164838314056, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.21828587353229523, + 0.2360878735780716, + -0.9468970894813538, + -2.2743444442749023 + ], + [ + 0.9758849740028381, + -0.052807968109846115, + 0.21180202066898346, + -0.627522885799408 + ], + [ + 2.5792765256937855e-08, + -0.9702959060668945, + -0.24192169308662415, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.20510104298591614, + 0.2367788702249527, + -0.9496681690216064, + -2.2704648971557617 + ], + [ + 0.978740930557251, + -0.049618352204561234, + 0.19900883734226227, + -0.6096124053001404 + ], + [ + -5.991021367890426e-08, + -0.9702959060668945, + -0.24192176759243011, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.19187898933887482, + 0.23742668330669403, + -0.9522663950920105, + -2.266827344894409 + ], + [ + 0.9814187288284302, + -0.04641959071159363, + 0.1861795336008072, + -0.5916512608528137 + ], + [ + 1.727541487639428e-08, + -0.9702959060668945, + -0.24192176759243011, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.17862185835838318, + 0.23803125321865082, + -0.9546913504600525, + -2.263432264328003 + ], + [ + 0.9839178919792175, + -0.043212469667196274, + 0.1733161211013794, + -0.5736426115036011 + ], + [ + -1.61105795370986e-08, + -0.9702958464622498, + -0.2419217824935913, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.1653321385383606, + 0.23859255015850067, + -0.956942617893219, + -2.2602806091308594 + ], + [ + 0.9862380623817444, + -0.039997395128011703, + 0.1604212075471878, + -0.5555898547172546 + ], + [ + -5.4287092154936545e-08, + -0.9702959060668945, + -0.24192175269126892, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.1520126312971115, + 0.23911041021347046, + -0.9590195417404175, + -2.2573728561401367 + ], + [ + 0.988378643989563, + -0.03677518293261528, + 0.1474972665309906, + -0.5374962091445923 + ], + [ + -6.454832401914246e-08, + -0.970295786857605, + -0.2419218271970749, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.13866515457630157, + 0.23958472907543182, + -0.9609221816062927, + -2.254709243774414 + ], + [ + 0.990339457988739, + -0.03354594111442566, + 0.1345463991165161, + -0.5193649530410767 + ], + [ + 4.151171850708124e-08, + -0.9702959060668945, + -0.24192167818546295, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.12529256939888, + 0.24001558125019073, + -0.9626497030258179, + -2.2522904872894287 + ], + [ + 0.9921199679374695, + -0.03031083382666111, + 0.12157097458839417, + -0.50119948387146 + ], + [ + 9.98250158090741e-08, + -0.9702958464622498, + -0.24192184209823608, + 0.5397654175758362 + ], + [ + 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": [ + [ + 0.11189732700586319, + 0.24040251970291138, + -0.9642021656036377, + -2.250117063522339 + ], + [ + 0.9937198758125305, + -0.027070313692092896, + 0.10857363790273666, + -0.4830029606819153 + ], + [ + -1.8256500311508717e-08, + -0.9702959060668945, + -0.24192170798778534, + 0.5397654175758362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 416.0, + "fy": 416.0, + "cx": 415.5, + "cy": 239.5 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_005__slowmo/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_005__slowmo/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..2394b680733d0185d4a9872ebe435284a847746b --- /dev/null +++ b/camxtime_eval/target/eval_scene_005__slowmo/extras/temporal_mapping.json @@ -0,0 +1,261 @@ +{ + "pattern": "slowmo", + "source_cam_idx": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 60, + 61, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119 + ], + "source_motion_frame": [ + 0, + 0, + 1, + 2, + 3, + 3, + 4, + 5, + 6, + 6, + 7, + 8, + 9, + 9, + 10, + 11, + 12, + 12, + 13, + 14, + 15, + 15, + 16, + 17, + 18, + 18, + 19, + 20, + 21, + 21, + 22, + 23, + 24, + 24, + 25, + 26, + 27, + 27, + 28, + 29, + 30, + 30, + 31, + 32, + 32, + 33, + 34, + 35, + 35, + 36, + 37, + 38, + 38, + 39, + 40, + 41, + 41, + 42, + 43, + 44, + 44, + 45, + 46, + 47, + 47, + 48, + 49, + 50, + 50, + 51, + 52, + 53, + 53, + 54, + 55, + 56, + 56, + 57, + 58, + 59, + 59 + ], + "timestamps_seconds": [ + 0.0, + 0.0, + 0.03333333507180214, + 0.06666667014360428, + 0.10000000149011612, + 0.10000000149011612, + 0.13333334028720856, + 0.1666666716337204, + 0.20000000298023224, + 0.20000000298023224, + 0.23333333432674408, + 0.2666666805744171, + 0.30000001192092896, + 0.30000001192092896, + 0.3333333432674408, + 0.36666667461395264, + 0.4000000059604645, + 0.4000000059604645, + 0.4333333373069763, + 0.46666666865348816, + 0.5, + 0.5, + 0.5333333611488342, + 0.5666666626930237, + 0.6000000238418579, + 0.6000000238418579, + 0.6333333253860474, + 0.6666666865348816, + 0.699999988079071, + 0.699999988079071, + 0.7333333492279053, + 0.7666666507720947, + 0.800000011920929, + 0.800000011920929, + 0.8333333134651184, + 0.8666666746139526, + 0.8999999761581421, + 0.8999999761581421, + 0.9333333373069763, + 0.9666666388511658, + 1.0, + 1.0, + 1.0333333015441895, + 1.0666667222976685, + 1.0666667222976685, + 1.100000023841858, + 1.1333333253860474, + 1.1666666269302368, + 1.1666666269302368, + 1.2000000476837158, + 1.2333333492279053, + 1.2666666507720947, + 1.2666666507720947, + 1.2999999523162842, + 1.3333333730697632, + 1.3666666746139526, + 1.3666666746139526, + 1.399999976158142, + 1.4333332777023315, + 1.4666666984558105, + 1.4666666984558105, + 1.5, + 1.5333333015441895, + 1.5666667222976685, + 1.5666667222976685, + 1.600000023841858, + 1.6333333253860474, + 1.6666666269302368, + 1.6666666269302368, + 1.7000000476837158, + 1.7333333492279053, + 1.7666666507720947, + 1.7666666507720947, + 1.7999999523162842, + 1.8333333730697632, + 1.8666666746139526, + 1.8666666746139526, + 1.899999976158142, + 1.9333332777023315, + 1.9666666984558105, + 1.9666666984558105 + ], + "preprocessed_latent": "CamxTime_latents/eval/EvalScene005_traj01_slowmo.safetensors", + "pattern_parameters": null, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.00046182671366290506, + "max_input_determinant_error": 0.00045865026218661065, + "max_rotation_element_change": 0.00022074571104746532, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_009__slowmo/caption.txt b/camxtime_eval/target/eval_scene_009__slowmo/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..c8d4c9fa8b8315e5226f745bd59e170ddbaec72d --- /dev/null +++ b/camxtime_eval/target/eval_scene_009__slowmo/caption.txt @@ -0,0 +1 @@ +A person wearing a red and yellow "ONE" t-shirt and black shorts sits on a gray ottoman in a modern, brightly lit living room with light wood floors and beige walls. They gesture with their right hand while looking forward, then raise their right arm in a fist, and finally gesture with both hands before returning to a resting pose. The room contains a white sofa, a wall-mounted TV, and recessed ceiling lights. The camera sweeps along an arc around the scene. Scene time advances in slow motion at half speed. diff --git a/camxtime_eval/target/eval_scene_009__slowmo/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_009__slowmo/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..ca90b74568653373ad0eca87f51002978008a747 --- /dev/null +++ b/camxtime_eval/target/eval_scene_009__slowmo/extras/temporal_mapping.json @@ -0,0 +1,261 @@ +{ + "pattern": "slowmo", + "source_cam_idx": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 60, + 61, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119 + ], + "source_motion_frame": [ + 0, + 0, + 1, + 2, + 3, + 3, + 4, + 5, + 6, + 6, + 7, + 8, + 9, + 9, + 10, + 11, + 12, + 12, + 13, + 14, + 15, + 15, + 16, + 17, + 18, + 18, + 19, + 20, + 21, + 21, + 22, + 23, + 24, + 24, + 25, + 26, + 27, + 27, + 28, + 29, + 30, + 30, + 31, + 32, + 32, + 33, + 34, + 35, + 35, + 36, + 37, + 38, + 38, + 39, + 40, + 41, + 41, + 42, + 43, + 44, + 44, + 45, + 46, + 47, + 47, + 48, + 49, + 50, + 50, + 51, + 52, + 53, + 53, + 54, + 55, + 56, + 56, + 57, + 58, + 59, + 59 + ], + "timestamps_seconds": [ + 0.0, + 0.0, + 0.03333333507180214, + 0.06666667014360428, + 0.10000000149011612, + 0.10000000149011612, + 0.13333334028720856, + 0.1666666716337204, + 0.20000000298023224, + 0.20000000298023224, + 0.23333333432674408, + 0.2666666805744171, + 0.30000001192092896, + 0.30000001192092896, + 0.3333333432674408, + 0.36666667461395264, + 0.4000000059604645, + 0.4000000059604645, + 0.4333333373069763, + 0.46666666865348816, + 0.5, + 0.5, + 0.5333333611488342, + 0.5666666626930237, + 0.6000000238418579, + 0.6000000238418579, + 0.6333333253860474, + 0.6666666865348816, + 0.699999988079071, + 0.699999988079071, + 0.7333333492279053, + 0.7666666507720947, + 0.800000011920929, + 0.800000011920929, + 0.8333333134651184, + 0.8666666746139526, + 0.8999999761581421, + 0.8999999761581421, + 0.9333333373069763, + 0.9666666388511658, + 1.0, + 1.0, + 1.0333333015441895, + 1.0666667222976685, + 1.0666667222976685, + 1.100000023841858, + 1.1333333253860474, + 1.1666666269302368, + 1.1666666269302368, + 1.2000000476837158, + 1.2333333492279053, + 1.2666666507720947, + 1.2666666507720947, + 1.2999999523162842, + 1.3333333730697632, + 1.3666666746139526, + 1.3666666746139526, + 1.399999976158142, + 1.4333332777023315, + 1.4666666984558105, + 1.4666666984558105, + 1.5, + 1.5333333015441895, + 1.5666667222976685, + 1.5666667222976685, + 1.600000023841858, + 1.6333333253860474, + 1.6666666269302368, + 1.6666666269302368, + 1.7000000476837158, + 1.7333333492279053, + 1.7666666507720947, + 1.7666666507720947, + 1.7999999523162842, + 1.8333333730697632, + 1.8666666746139526, + 1.8666666746139526, + 1.899999976158142, + 1.9333332777023315, + 1.9666666984558105, + 1.9666666984558105 + ], + "preprocessed_latent": "CamxTime_latents/eval/EvalScene009_traj01_slowmo.safetensors", + "pattern_parameters": null, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.004696044704533442, + "max_input_determinant_error": 0.004030157618199692, + "max_rotation_element_change": 0.0022525163849711483, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_009__slowmo/transforms.json b/camxtime_eval/target/eval_scene_009__slowmo/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..83a90986bc4a59ebdf3bc89eb2973100c9aa26e7 --- /dev/null +++ b/camxtime_eval/target/eval_scene_009__slowmo/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": [ + [ + 0.999999873340168, + -0.0004882392240820216, + 0.00012223791323238907, + 0.00042724612285383046 + ], + [ + 0.0004883230430874438, + 0.9999996450497662, + -0.0006866155736436401, + 6.107616354711354e-05 + ], + [ + -0.00012190263718897716, + 0.0006866751782670336, + 0.9999997568084439, + 0.0002441304677631706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999486202520071, + 0.0029179848654543408, + 0.009707843243062493, + -0.00464440044015646 + ], + [ + -0.002941232978470332, + 0.9999928391062588, + 0.002381361957307917, + -0.0011161700822412968 + ], + [ + -0.009700824948077802, + -0.00240979263222675, + 0.9999500421995078, + -0.00022694197832606733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9996442835451056, + 0.008099477102899334, + 0.025410723056477676, + -0.010693780146539211 + ], + [ + -0.008254411705797255, + 0.9999479414516459, + 0.005998255913862211, + -0.0029761851765215397 + ], + [ + -0.025360817474690843, + -0.006205872805383078, + 0.9996590999334419, + -0.0017864450346678495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9994218881831921, + 0.010716303214129834, + 0.032265310563613425, + -0.013612794689834118 + ], + [ + -0.011005335892165121, + 0.999900771169784, + 0.008793770293365808, + -0.004268443211913109 + ], + [ + -0.032167872205730766, + -0.009143777091262871, + 0.9994406532347291, + -0.002149654785171151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.998702758618951, + 0.01574229787019012, + 0.04842499338838175, + -0.021014325320720673 + ], + [ + -0.016458706061919622, + 0.9997603975008745, + 0.014431167092883095, + -0.006698695942759514 + ], + [ + -0.0481862109079544, + -0.015209459117982434, + 0.9987225647954865, + -0.0025839710142463446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.998345086152873, + 0.017482071352418454, + 0.054785638041749116, + -0.023147063329815865 + ], + [ + -0.018375934232934234, + 0.9997054356864886, + 0.01585455454922116, + -0.007539495825767517 + ], + [ + -0.05449232969399959, + -0.016835053908921177, + 0.99837225871135, + -0.0003807331377174705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9972287039689565, + 0.02241156290846362, + 0.07094105883334288, + -0.03030824474990368 + ], + [ + -0.023913294938168333, + 0.9995060668156058, + 0.020390603816417732, + -0.008841004222631454 + ], + [ + -0.07044903339007567, + -0.022030529880098525, + 0.9972720739334913, + 0.00023229444923345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9966411836609151, + 0.024047867294897128, + 0.07828186960935679, + -0.03308553993701935 + ], + [ + -0.025913985942726866, + 0.9994016106011185, + 0.02291039197504076, + -0.010560098104178905 + ], + [ + -0.07768408050256807, + -0.024862035444767085, + 0.9966679802371566, + 0.00018371213809587061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9953312216289969, + 0.02912867824878942, + 0.09201782085013499, + -0.03881825879216194 + ], + [ + -0.031867224149476445, + 0.9990876063412923, + 0.028432989294712465, + -0.012884711846709251 + ], + [ + -0.09110564897708627, + -0.031232594492048044, + 0.9953513378530011, + 0.0011379830539226532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9944524674650483, + 0.030073265239258972, + 0.10079627309839655, + -0.04246166720986366 + ], + [ + -0.033335563334185164, + 0.9989683351845446, + 0.0308383773213268, + -0.01343496609479189 + ], + [ + -0.09976487442917929, + -0.034027400965532896, + 0.9944290350817705, + 0.002140843076631427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.992727818351246, + 0.0340197383116235, + 0.11547352976671119, + -0.04886424541473389 + ], + [ + -0.03844645120823515, + 0.9986001491403798, + 0.03632647142656342, + -0.01598726212978363 + ], + [ + -0.11407606699508756, + -0.04050184615571072, + 0.9926460856704732, + 0.0017686904175207019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.991705026043845, + 0.03640811174170735, + 0.12327039676572486, + -0.051611196249723434 + ], + [ + -0.04137198745308335, + 0.9984228324120176, + 0.037950051021640493, + -0.015877025201916695 + ], + [ + -0.12169428899318889, + -0.04273519764510985, + 0.991647216962098, + 0.0020777438767254353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9895965050058158, + 0.04061771736420442, + 0.13801796374529152, + -0.05801818147301674 + ], + [ + -0.046955473943949305, + 0.9979720148774043, + 0.04297721475658552, + -0.018072450533509254 + ], + [ + -0.13599242900608116, + -0.049010800418440345, + 0.9894968421856486, + 0.0023692415561527014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9885231490346692, + 0.042675353865589905, + 0.14491652078016565, + -0.06049368157982826 + ], + [ + -0.04975201896972422, + 0.9977217601847523, + 0.04556342680567935, + -0.01926293782889843 + ], + [ + -0.14264193083037596, + -0.05225039163764187, + 0.9883942412533049, + 0.0034466120414435863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 647.7714233398438, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9861712537125626, + 0.04472870225709655, + 0.159579452140269, + -0.06558527797460556 + ], + [ + -0.05341043169302869, + 0.9972931517660657, + 0.05053409964441731, + -0.020601719617843628 + ], + [ + -0.15688717008524494, + -0.05835848382971909, + 0.9858908170927143, + 0.005610797554254532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9848335096084473, + 0.045710120599461, + 0.16737246854573046, + -0.0692344456911087 + ], + [ + -0.05526292573914211, + 0.9970712387197026, + 0.052867324092558406, + -0.02172026038169861 + ], + [ + -0.16446570278042472, + -0.06131500462970104, + 0.9844752423581817, + 0.0054033063352108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9820532364866392, + 0.04934843821539459, + 0.1820334374553733, + -0.07539356499910355 + ], + [ + -0.06077542098380619, + 0.9964802336958613, + 0.05773640149579222, + -0.02418840490281582 + ], + [ + -0.17854352105399707, + -0.06776337874651464, + 0.9815958107034167, + 0.009294535964727402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9805418135221652, + 0.05008502765365486, + 0.18981370324504143, + -0.07828012853860855 + ], + [ + -0.06284503950651954, + 0.9961075243306642, + 0.061808583394707454, + -0.02542775124311447 + ], + [ + -0.1859791734148963, + -0.07253475013239569, + 0.9798726739118421, + 0.010697572492063046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9773330793432575, + 0.05271912579787362, + 0.2050384007851558, + -0.0851953998208046 + ], + [ + -0.06800648847609947, + 0.9953486385789084, + 0.06823639208123121, + -0.02798505499958992 + ], + [ + -0.20048733013977763, + -0.08063362483617677, + 0.9763723925834867, + 0.010686193592846394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9754049386587211, + 0.05354667069353336, + 0.21381758509957663, + -0.08898621052503586 + ], + [ + -0.07052984884148458, + 0.9948640836615861, + 0.07260162162507357, + -0.030105166137218475 + ], + [ + -0.20883186074584933, + -0.08589650224445243, + 0.9741719790876738, + 0.010780379176139832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9726385024794896, + 0.05570854232945471, + 0.22554578649574233, + -0.09236007928848267 + ], + [ + -0.07515186499465899, + 0.9940732743620215, + 0.07855267269160045, + -0.032613229006528854 + ], + [ + -0.21983298360864822, + -0.0933535404293616, + 0.9710605417825515, + 0.013476463966071606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9707266675935001, + 0.057152149996699285, + 0.23328816638135375, + -0.0960647314786911 + ], + [ + -0.07815661670617284, + 0.9935793484572061, + 0.08180233238972401, + -0.03365272283554077 + ], + [ + -0.22711512518514415, + -0.09764071932400592, + 0.96896078859881, + 0.013739603571593761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.966728034124373, + 0.059665691837008955, + 0.24875070503545563, + -0.10247280448675156 + ], + [ + -0.08363548415281892, + 0.9926978773675609, + 0.086925428158069, + -0.03653854876756668 + ], + [ + -0.2417478310731014, + -0.10483763392766522, + 0.9646590364910805, + 0.014958913438022137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 644.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.965218201948708, + 0.059751667002264405, + 0.2545261497712041, + -0.10481321811676025 + ], + [ + -0.08513787628500778, + 0.9923041280109921, + 0.08991139835428681, + -0.037166375666856766 + ], + [ + -0.24719499317053661, + -0.10845393410473896, + 0.9628771362581123, + 0.016370253637433052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9615024689370468, + 0.06006827811428562, + 0.26815071171329813, + -0.10924886912107468 + ], + [ + -0.08885944426026979, + 0.9913537742817763, + 0.09654891704743776, + -0.03966426104307175 + ], + [ + -0.26003269293248427, + -0.11665974533514897, + 0.9585267353728942, + 0.019115028902888298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9593799487822734, + 0.05976679867993643, + 0.2757136986986237, + -0.11246885359287262 + ], + [ + -0.09030490295941171, + 0.9909393003902531, + 0.09941995495657173, + -0.04090229049324989 + ], + [ + -0.2672735272637659, + -0.12027981009973183, + 0.9560845302097287, + 0.021207481622695923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 641.82861328125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9552801830727174, + 0.0617460817981531, + 0.28918366691625447, + -0.11791801452636719 + ], + [ + -0.09593886906692055, + 0.9897712576878822, + 0.10558688771390023, + -0.04326013848185539 + ], + [ + -0.2797061051008998, + -0.12860901538198363, + 0.9514327175012224, + 0.022322505712509155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9535231100576734, + 0.061822835199957835, + 0.2949095041428485, + -0.11968052387237549 + ], + [ + -0.09779080495911886, + 0.989241165430063, + 0.10880659485535753, + -0.04432300850749016 + ], + [ + -0.28500988939226185, + -0.13258904052148945, + 0.9493100174770102, + 0.026051200926303864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9485724277230716, + 0.061840590563567416, + 0.310461093733672, + -0.12458040565252304 + ], + [ + -0.10241743776087807, + 0.9879388406286206, + 0.1161357637417299, + -0.04706086590886116 + ], + [ + -0.2995346687881978, + -0.14195981310260813, + 0.943465099332147, + 0.027324384078383446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9466010540230658, + 0.06225493437534572, + 0.31633963973606344, + -0.12820284068584442 + ], + [ + -0.1048484839971804, + 0.9872887143048957, + 0.1194478547721916, + -0.04827184975147247 + ], + [ + -0.30488233783857327, + -0.14623719688269132, + 0.9410958730766907, + 0.028718741610646248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9427616796558641, + 0.061787778356897693, + 0.32769297492954036, + -0.13336580991744995 + ], + [ + -0.1087619243553042, + 0.9859211606333204, + 0.127005152753648, + -0.05114015191793442 + ], + [ + -0.3152320719453917, + -0.15537610968603008, + 0.9362088470826636, + 0.030847694724798203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9401669138848008, + 0.06115111642442707, + 0.3351816149438627, + -0.13559578359127045 + ], + [ + -0.11083564806368995, + 0.9851464176251479, + 0.13115637597402782, + -0.05281658470630646 + ], + [ + -0.3221826083987643, + -0.16045895674715369, + 0.9329797908020218, + 0.031708478927612305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.93451811647754, + 0.06052545683133095, + 0.35073146287527307, + -0.14068451523780823 + ], + [ + -0.11537310142703742, + 0.9837390181381537, + 0.13764661877317436, + -0.05587991327047348 + ], + [ + -0.33669710043654505, + -0.1690982355553712, + 0.926304944005851, + 0.03456440195441246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9331419466376945, + 0.05919795069004592, + 0.3546007756045007, + -0.14378990232944489 + ], + [ + -0.11641427925251278, + 0.9829612491560221, + 0.14224942264821575, + -0.05755514279007912 + ], + [ + -0.3401379470322777, + -0.1740194968724237, + 0.9241338602696771, + 0.03586947172880173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9279515867222373, + 0.0601748548358446, + 0.36781087469672225, + -0.15038219094276428 + ], + [ + -0.12270249912156275, + 0.9811884165368656, + 0.14904156454895712, + -0.06026366725564003 + ], + [ + -0.3519232152174758, + -0.18343466984014503, + 0.917878953071499, + 0.038073595613241196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.924760466059587, + 0.05912823164258629, + 0.3759280950342434, + -0.15280304849147797 + ], + [ + -0.1246779030784514, + 0.9804083379846793, + 0.15249561073709453, + -0.06209639832377434 + ], + [ + -0.35954624305812866, + -0.18789183865442347, + 0.9140148554973521, + 0.03844268620014191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 641.82861328125, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9203058140840392, + 0.05676864633372516, + 0.3870588189882125, + -0.15658067166805267 + ], + [ + -0.1277014088775863, + 0.9788095663189958, + 0.16007555420206637, + -0.06429936736822128 + ], + [ + -0.36976960223062316, + -0.19674641972817625, + 0.9080535708813389, + 0.041883789002895355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9172559461289931, + 0.056039218687207584, + 0.39433632252169426, + -0.15970531105995178 + ], + [ + -0.13028972229348929, + 0.9778001074027135, + 0.16410831248882055, + -0.06623369455337524 + ], + [ + -0.376385596902554, + -0.20190729539115299, + 0.9041942968810069, + 0.04376322031021118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9119656258827774, + 0.05492442001008486, + 0.40657349310400115, + -0.16302500665187836 + ], + [ + -0.13489979809420288, + 0.9760390427900425, + 0.17073321710680803, + -0.06791558861732483 + ], + [ + -0.3874541801069863, + -0.2105495073279746, + 0.8975233497138498, + 0.04846898093819618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9096949062949234, + 0.05240953790282247, + 0.41195681545264273, + -0.16462917625904083 + ], + [ + -0.13553695685005687, + 0.9751521876346879, + 0.1752368234108022, + -0.0696040689945221 + ], + [ + -0.3925365088611452, + -0.21524741877220166, + 0.8941944072308933, + 0.05075065419077873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9041007031194629, + 0.050410779136064274, + 0.42433556528505595, + -0.17164115607738495 + ], + [ + -0.13979616876688963, + 0.9732673194023179, + 0.18222995412808715, + -0.07393492013216019 + ], + [ + -0.40380558418252754, + -0.2240747159550149, + 0.8869789015826063, + 0.04991065338253975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9009009149932403, + 0.04922816932943047, + 0.4312239890228913, + -0.1724664568901062 + ], + [ + -0.14253881858737044, + 0.9719973570316581, + 0.1868256489863962, + -0.07539281994104385 + ], + [ + -0.4099514929355159, + -0.22977755605790665, + 0.8826902334182686, + 0.05218194052577019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8984700886328482, + 0.04749841121856261, + 0.43645778806637675, + -0.1755756288766861 + ], + [ + -0.1437191632435674, + 0.9711760387137561, + 0.1901628353407309, + -0.07702182233333588 + ], + [ + -0.4148449131285701, + -0.23358296761529798, + 0.8793990534969776, + 0.05375256389379501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8935129196395192, + 0.0446142610583739, + 0.44681565566515047, + -0.1784670501947403 + ], + [ + -0.14710123260089256, + 0.9692263192568696, + 0.19738685221432214, + -0.07937317341566086 + ], + [ + -0.42425922477249817, + -0.24209483631419318, + 0.872579051103935, + 0.05656692385673523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.889256543476251, + 0.041699213029781274, + 0.45550408946283577, + -0.18290360271930695 + ], + [ + -0.14894212095133155, + 0.9679605924931501, + 0.2021596794289817, + -0.08153810352087021 + ], + [ + -0.43248010878095805, + -0.24761556294588336, + 0.8669760599323401, + 0.05832747370004654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8838766932578547, + 0.03982432581007696, + 0.4660214739572995, + -0.1871645748615265 + ], + [ + -0.15394366196959877, + 0.9656234819012093, + 0.20945796747886145, + -0.08406518399715424 + ], + [ + -0.44165975598298624, + -0.2568760679291839, + 0.8596227926656496, + 0.061609428375959396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8813026476332161, + 0.03759020799031023, + 0.47105479462364896, + -0.18929006159305573 + ], + [ + -0.15556386508613307, + 0.9643467699116833, + 0.21409154873643788, + -0.08632316440343857 + ], + [ + -0.44621242380075665, + -0.2619585532563279, + 0.8557290396040708, + 0.06311961263418198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.87505829085825, + 0.032762814875446106, + 0.48290742959875393, + -0.1926828920841217 + ], + [ + -0.15802898107731697, + 0.9623702423452501, + 0.22106641035673041, + -0.08910778164863586 + ], + [ + -0.4574929821755775, + -0.26975936426708624, + 0.8473075336914656, + 0.067919060587883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.872327035139536, + 0.029804628862132074, + 0.4880135529501788, + -0.194956436753273 + ], + [ + -0.15986995880646526, + 0.9606603060522193, + 0.22709771607586768, + -0.0904620960354805 + ], + [ + -0.4620466859916705, + -0.2761221839585635, + 0.8427748213432027, + 0.06902415305376053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8656729825501337, + 0.026171362659027916, + 0.4999253414854313, + -0.19921156764030457 + ], + [ + -0.16437528921214517, + 0.9581244164201174, + 0.23447466165032083, + -0.09325877577066422 + ], + [ + -0.47285415465995395, + -0.2851537522744151, + 0.8337243465226637, + 0.07225483655929565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8619166482580334, + 0.023610451283205307, + 0.50649998819925, + -0.20090347528457642 + ], + [ + -0.16574908026096438, + 0.9571571675257552, + 0.23743925338224237, + -0.09490183740854263 + ], + [ + -0.47919404613192074, + -0.28860475263632734, + 0.8289031082746897, + 0.07463673502206802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8557120209050648, + 0.018364625965540365, + 0.5171263653999054, + -0.20430351793766022 + ], + [ + -0.16850365041792267, + 0.9547874673068218, + 0.24492327792527047, + -0.09829702228307724 + ], + [ + -0.4892478483084056, + -0.29672147341736266, + 0.8201176196977021, + 0.07931218296289444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8539383964918006, + 0.01529972842400385, + 0.520149145252747, + -0.20754386484622955 + ], + [ + -0.16847402374066778, + 0.9538602482210365, + 0.24852993821335082, + -0.10033121705055237 + ], + [ + -0.49234715224284653, + -0.2998608763641147, + 0.8171154976528745, + 0.08049159497022629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.848180359357261, + 0.009812461436247798, + 0.5296166477756808, + -0.2117990404367447 + ], + [ + -0.1726544801336222, + 0.9503483935835421, + 0.2588983609507194, + -0.1033354252576828 + ], + [ + -0.5007799002459822, + -0.3110331918200093, + 0.8077610074123914, + 0.08289085328578949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.8442050514036887, + 0.006982515235821901, + 0.535974883427831, + -0.213712677359581 + ], + [ + -0.17305282652995377, + 0.9499210864051508, + 0.26019732672118573, + -0.10537677258253098 + ], + [ + -0.507317011753488, + -0.31241186610600985, + 0.8031365235759559, + 0.08477035164833069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.837543103986916, + 0.002243041595797949, + 0.5463666513691705, + -0.21794162690639496 + ], + [ + -0.17760797239696752, + 0.9468002894939358, + 0.26837402995677095, + -0.10770053416490555 + ], + [ + -0.516698129573738, + -0.32181389121447107, + 0.7933844353882932, + 0.08867966383695602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8358670725768058, + -0.0013003189018899537, + 0.5489303654860378, + -0.21924105286598206 + ], + [ + -0.17836649801732077, + 0.9450907561257238, + 0.2738409302327618, + -0.10951172560453415 + ], + [ + -0.5191450947152624, + -0.32680540365247995, + 0.7897383103133727, + 0.09088676422834396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8271013211411054, + -0.008731891664057516, + 0.561985016379089, + -0.22399847209453583 + ], + [ + -0.1816730132819199, + 0.9420524255784898, + 0.2820144388267226, + -0.11362968385219574 + ], + [ + -0.5318818673462229, + -0.33535202627932775, + 0.7775864567098913, + 0.09449812024831772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.825043894461677, + -0.011498969305143063, + 0.564951631483996, + -0.22540006041526794 + ], + [ + -0.1834392358710749, + 0.9401942504029863, + 0.28702755660772933, + -0.11556320637464523 + ], + [ + -0.5344647967402023, + -0.3404446287050016, + 0.7735921637603161, + 0.09573527425527573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8182031437287064, + -0.018699457565935926, + 0.5746250480784857, + -0.23008981347084045 + ], + [ + -0.18755610808051665, + 0.9361106742383489, + 0.29752228807051295, + -0.11900236457586288 + ], + [ + -0.5434761465916895, + -0.3512081090518317, + 0.7624214990555326, + 0.10118929296731949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8160405182777621, + -0.02074616377556107, + 0.5776222547803701, + -0.2299869954586029 + ], + [ + -0.18908887696260285, + 0.9347824999326986, + 0.30071094830184464, + -0.12082282453775406 + ], + [ + -0.5461897739229312, + -0.35461426156906084, + 0.7588975269124592, + 0.10247106850147247 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.807209438098112, + -0.03021421752208105, + 0.5894913265730538, + -0.23161043226718903 + ], + [ + -0.19221043642099986, + 0.9308014926626054, + 0.31090791142702456, + -0.12386449426412582 + ], + [ + -0.5580932459510498, + -0.3642741856302673, + 0.7455442619370275, + 0.10967841744422913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8050624120038747, + -0.032528113460967775, + 0.592297589572315, + -0.2344924658536911 + ], + [ + -0.19360860551323628, + 0.929405835214581, + 0.3141981879965372, + -0.12528946995735168 + ], + [ + -0.5607051102404218, + -0.3676230614416856, + 0.7419319807411723, + 0.10996153205633163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7976893114882472, + -0.042034087862800565, + 0.6016019429780363, + -0.2370055764913559 + ], + [ + -0.1942652232009679, + 0.9264837133532637, + 0.32231809124811095, + -0.1297157108783722 + ], + [ + -0.5709227490581227, + -0.373980032018676, + 0.7308803939491239, + 0.11292724311351776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7959293280933448, + -0.04451192463953976, + 0.6037509364346861, + -0.2387111634016037 + ], + [ + -0.1950555075680173, + 0.9252542713169727, + 0.32535808331295607, + -0.13060857355594635 + ], + [ + -0.5731054472331063, + -0.3767269859919533, + 0.7277547144314209, + 0.11449921131134033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7860850960425553, + -0.05359425863438964, + 0.6157904491149542, + -0.24194347858428955 + ], + [ + -0.19980290749416726, + 0.9207202622388504, + 0.33519098564803235, + -0.13318555057048798 + ], + [ + -0.5849350561700368, + -0.38652536028603923, + 0.7130561870702079, + 0.12049304693937302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7835488372913868, + -0.055890477681433785, + 0.618811339653579, + -0.24343916773796082 + ], + [ + -0.20158941105988767, + 0.9192008978273738, + 0.33827713310520685, + -0.13517527282238007 + ], + [ + -0.5877184095532858, + -0.3898024678447937, + 0.7089718662501814, + 0.12165665626525879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.779825748586538, + -0.06367191798916069, + 0.6227501013255852, + -0.24618332087993622 + ], + [ + -0.20248427086455617, + 0.9156785443945094, + 0.34717851803935246, + -0.1377958506345749 + ], + [ + -0.5923444284315451, + -0.3968358479209425, + 0.701177144458497, + 0.12530583143234253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7752463209062633, + -0.06664285758601154, + 0.6281336413965369, + -0.2475060224533081 + ], + [ + -0.2058505700776968, + 0.9134765632138, + 0.3509787903247042, + -0.13987722992897034 + ], + [ + -0.5971755895211973, + -0.4013966840818146, + 0.6944508746399088, + 0.12879003584384918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7667767162529194, + -0.0757809762627036, + 0.6374250630851145, + -0.25082600116729736 + ], + [ + -0.20823234483995992, + 0.9099430888922303, + 0.35866818306021925, + -0.14380080997943878 + ], + [ + -0.6072007559076674, + -0.40775092717728817, + 0.6819431232963786, + 0.13315218687057495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7639615179496975, + -0.08327190830875984, + 0.6398660706574546, + -0.2522919476032257 + ], + [ + -0.2076217032788612, + 0.907179926752961, + 0.3659478225431558, + -0.1452808976173401 + ], + [ + -0.6109468286353389, + -0.41242013746070894, + 0.6757614984573411, + 0.13663466274738312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7571014032761966, + -0.09172896837689055, + 0.6468255263343627, + -0.25614574551582336 + ], + [ + -0.20962908788361764, + 0.9036270990877172, + 0.37351534280053295, + -0.14932508766651154 + ], + [ + -0.6187512510454395, + -0.4183824352847863, + 0.6649082847843565, + 0.13963593542575836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7534581560428183, + -0.09390750290362802, + 0.6507550906377622, + -0.25774967670440674 + ], + [ + -0.21349409972308536, + 0.9011747570199227, + 0.3772324571050489, + -0.15111003816127777 + ], + [ + -0.6218690187458977, + -0.4231612437457955, + 0.6589487729069124, + 0.14145050942897797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7449380486976116, + -0.10690312719353062, + 0.6585127371576335, + -0.2598719298839569 + ], + [ + -0.21409107476448602, + 0.8965627682507622, + 0.38773730062081635, + -0.15425655245780945 + ], + [ + -0.6318483325203776, + -0.42982196777593146, + 0.6449967137191044, + 0.14699460566043854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.742277989064222, + -0.10933723615850556, + 0.6611117573754026, + -0.2604491114616394 + ], + [ + -0.21609862798537313, + 0.8948282524930118, + 0.3906197403142107, + -0.15642298758029938 + ], + [ + -0.6342907613497251, + -0.4328137790430445, + 0.640583689096799, + 0.14843347668647766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7337739098811156, + -0.12080756456176231, + 0.6685666619884925, + -0.26205378770828247 + ], + [ + -0.2195071883908464, + 0.8891293806438395, + 0.40157880760897585, + -0.1593768447637558 + ], + [ + -0.6429560198198058, + -0.44142324000958194, + 0.6259018131919065, + 0.15272469818592072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7310227224045025, + -0.12336466525970763, + 0.6711087383529356, + -0.2627492845058441 + ], + [ + -0.2201608139780113, + 0.8882784716352954, + 0.4031011942649169, + -0.15987835824489594 + ], + [ + -0.6458598883015176, + -0.44242797853958427, + 0.6221916814684423, + 0.15599963068962097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 632.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.7237102646574537, + -0.1319267405480883, + 0.6773764005025547, + -0.267556369304657 + ], + [ + -0.2219590629308951, + 0.8849039054208551, + 0.40948657188454823, + -0.1634870171546936 + ], + [ + -0.65343525097157, + -0.44669946641928854, + 0.6111317038809596, + 0.1596117913722992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7197353586763636, + -0.13809066075888982, + 0.6803763538529096, + -0.26796895265579224 + ], + [ + -0.22390597199411955, + 0.8814789373686543, + 0.4157655573526947, + -0.16384023427963257 + ], + [ + -0.6571507659406441, + -0.4515815013777701, + 0.6035122355321586, + 0.16413100063800812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.7131968462730647, + -0.1462996006627697, + 0.6855265752048337, + -0.2684805691242218 + ], + [ + -0.22736548846410443, + 0.8768190541136627, + 0.4236664737723544, + -0.16775815188884735 + ], + [ + -0.6630649991679802, + -0.45802267759264476, + 0.5920811039792019, + 0.1700260043144226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.7086178671862915, + -0.15239078762946062, + 0.6889395954291088, + -0.26968687772750854 + ], + [ + -0.2284110736978203, + 0.8742813568210087, + 0.4283228811625932, + -0.16955506801605225 + ], + [ + -0.6675995054795655, + -0.4608786792214286, + 0.5847236469671386, + 0.17233939468860626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 638.857177734375, + "fy": 638.857177734375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/camxtime_eval/target/eval_scene_019__backward/caption.txt b/camxtime_eval/target/eval_scene_019__backward/caption.txt new file mode 100644 index 0000000000000000000000000000000000000000..8bd22b0bbcca70052549910c97f3acf185fba9e0 --- /dev/null +++ b/camxtime_eval/target/eval_scene_019__backward/caption.txt @@ -0,0 +1 @@ +A person in a white t-shirt and black shorts walks from right to left across a modern interior space with a light-colored wall and a wood-paneled ceiling. Large, soft, circular light patterns are cast on the floor and wall, and a textured brown wall is visible on the right. The person pauses briefly, then continues walking until they exit the frame on the left, leaving the space empty. The camera sweeps along an arc around the scene. Scene time is reversed, playing backward. diff --git a/camxtime_eval/target/eval_scene_019__backward/extras/temporal_mapping.json b/camxtime_eval/target/eval_scene_019__backward/extras/temporal_mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..5ff26e4e4641ce017ff7cdee8255e3b65080e1c0 --- /dev/null +++ b/camxtime_eval/target/eval_scene_019__backward/extras/temporal_mapping.json @@ -0,0 +1,261 @@ +{ + "pattern": "backward", + "source_cam_idx": [ + 0, + 1, + 3, + 4, + 6, + 7, + 9, + 10, + 12, + 13, + 15, + 16, + 18, + 19, + 21, + 22, + 24, + 25, + 27, + 28, + 30, + 31, + 33, + 34, + 36, + 37, + 39, + 40, + 42, + 43, + 45, + 46, + 48, + 49, + 51, + 52, + 54, + 55, + 57, + 58, + 60, + 61, + 62, + 64, + 65, + 67, + 68, + 70, + 71, + 73, + 74, + 76, + 77, + 79, + 80, + 82, + 83, + 85, + 86, + 88, + 89, + 91, + 92, + 94, + 95, + 97, + 98, + 100, + 101, + 103, + 104, + 106, + 107, + 109, + 110, + 112, + 113, + 115, + 116, + 118, + 119 + ], + "source_motion_frame": [ + 119, + 118, + 116, + 115, + 113, + 112, + 110, + 109, + 107, + 106, + 104, + 103, + 101, + 100, + 98, + 97, + 95, + 94, + 92, + 91, + 89, + 88, + 86, + 85, + 83, + 82, + 80, + 79, + 77, + 76, + 74, + 73, + 71, + 70, + 68, + 67, + 65, + 64, + 62, + 61, + 59, + 58, + 57, + 55, + 54, + 52, + 51, + 49, + 48, + 46, + 45, + 43, + 42, + 40, + 39, + 37, + 36, + 34, + 33, + 31, + 30, + 28, + 27, + 25, + 24, + 22, + 21, + 19, + 18, + 16, + 15, + 13, + 12, + 10, + 9, + 7, + 6, + 4, + 3, + 1, + 0 + ], + "timestamps_seconds": [ + 3.9666666984558105, + 3.933333396911621, + 3.866666555404663, + 3.8333332538604736, + 3.7666666507720947, + 3.7333333492279053, + 3.6666667461395264, + 3.633333444595337, + 3.566666603088379, + 3.5333333015441895, + 3.4666666984558105, + 3.433333396911621, + 3.366666555404663, + 3.3333332538604736, + 3.2666666507720947, + 3.2333333492279053, + 3.1666667461395264, + 3.133333444595337, + 3.066666603088379, + 3.0333333015441895, + 2.9666666984558105, + 2.933333396911621, + 2.866666555404663, + 2.8333332538604736, + 2.7666666507720947, + 2.7333333492279053, + 2.6666667461395264, + 2.633333444595337, + 2.566666603088379, + 2.5333333015441895, + 2.4666666984558105, + 2.433333396911621, + 2.366666555404663, + 2.3333332538604736, + 2.2666666507720947, + 2.2333333492279053, + 2.1666667461395264, + 2.133333444595337, + 2.066666603088379, + 2.0333333015441895, + 1.9666666984558105, + 1.9333332777023315, + 1.899999976158142, + 1.8333333730697632, + 1.7999999523162842, + 1.7333333492279053, + 1.7000000476837158, + 1.6333333253860474, + 1.600000023841858, + 1.5333333015441895, + 1.5, + 1.4333332777023315, + 1.399999976158142, + 1.3333333730697632, + 1.2999999523162842, + 1.2333333492279053, + 1.2000000476837158, + 1.1333333253860474, + 1.100000023841858, + 1.0333333015441895, + 1.0, + 0.9333333373069763, + 0.8999999761581421, + 0.8333333134651184, + 0.800000011920929, + 0.7333333492279053, + 0.699999988079071, + 0.6333333253860474, + 0.6000000238418579, + 0.5333333611488342, + 0.5, + 0.4333333373069763, + 0.4000000059604645, + 0.3333333432674408, + 0.30000001192092896, + 0.23333333432674408, + 0.20000000298023224, + 0.13333334028720856, + 0.10000000149011612, + 0.03333333507180214, + 0.0 + ], + "preprocessed_latent": "CamxTime_latents/eval/EvalScene019_traj01_backward.safetensors", + "pattern_parameters": null, + "rotation_projection": { + "method": "nearest_proper_rotation_svd", + "max_input_orthonormal_error": 0.0009656076418149695, + "max_input_determinant_error": 0.0005065643079180671, + "max_rotation_element_change": 0.0004979096688864648, + "translation_changed": false + } +} diff --git a/camxtime_eval/target/eval_scene_019__backward/transforms.json b/camxtime_eval/target/eval_scene_019__backward/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..55d79ffa1c540fee13468200ee3a0471e64d2667 --- /dev/null +++ b/camxtime_eval/target/eval_scene_019__backward/transforms.json @@ -0,0 +1,2848 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 81, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 0.9999995455147397, + 0.0006103290643408665, + -0.000732440268609597, + 3.0385315767489374e-05 + ], + [ + -0.0006103736804897332, + 0.9999998118801837, + -6.069240036106954e-05, + -6.10616261838004e-05 + ], + [ + 0.0007324030884871102, + 6.113943503973903e-05, + 0.9999997299238061, + 0.00012971828982699662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 760.6857299804688, + "fy": 766.6286010742188, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999999903142633, + 0.00024386093753902549, + -0.0003663967370394277, + 0.0007472482975572348 + ], + [ + -0.0002444197303850444, + 0.9999988060452031, + -0.0015258332686832949, + 0.0008516424568369985 + ], + [ + 0.00036602420844678946, + 0.0015259226754870537, + 0.999998768792376, + 0.001748706679791212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 760.6857299804688, + "fy": 766.6286010742188, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999823276324037, + 0.0019369523803396307, + -0.005620732902073743, + 0.003862428478896618 + ], + [ + -0.0019691680492852433, + 0.9999816347388483, + -0.005731715468759247, + 0.0035118930973112583 + ], + [ + 0.005609527615925471, + 0.005742682343420244, + 0.9999677768805493, + 0.0036125092301517725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 760.6857299804688, + "fy": 760.6857299804688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999646481522533, + 0.0013128010982667116, + -0.008305359656076039, + 0.006010116543620825 + ], + [ + -0.001372582704993901, + 0.9999731638878956, + -0.00719635468479744, + 0.003865597303956747 + ], + [ + 0.008295689390179613, + 0.007207500073384786, + 0.9999396149169376, + 0.004564086440950632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 760.6857299804688, + "fy": 760.6857299804688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999315039593323, + 0.0015208828476409, + -0.011604925893424385, + 0.007770244963467121 + ], + [ + -0.0016525261014638463, + 0.9999343051881904, + -0.011342595174605766, + 0.006284201517701149 + ], + [ + 0.011586912751553019, + 0.011360995694688899, + 0.99986832694596, + 0.004587092436850071 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 760.6857299804688, + "fy": 760.6857299804688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998914628456689, + 0.0014994671531302851, + -0.014656538698004339, + 0.009386173449456692 + ], + [ + -0.0016737943776063441, + 0.9999279207871541, + -0.011889139693914497, + 0.006679590791463852 + ], + [ + 0.01463765489178233, + 0.011912381312592757, + 0.9998219012557855, + 0.0017355319578200579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 760.6857299804688, + "fy": 766.6286010742188, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998433421936129, + -0.00037309623639291583, + -0.017696097600984784, + 0.011659238487482071 + ], + [ + 0.00011601040878902663, + 0.9998944762392522, + -0.014526628232876251, + 0.007645980454981327 + ], + [ + 0.017699650072536603, + 0.01452229959164563, + 0.9997378782470334, + 0.0034158246126025915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 760.6857299804688, + "fy": 760.6857299804688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998140252394689, + -0.00027434323236444797, + -0.019283144718666313, + 0.011600865982472897 + ], + [ + -2.9324865562767496e-05, + 0.9998760267006618, + -0.015745804817447473, + 0.008378698490560055 + ], + [ + 0.019285073878583626, + 0.01574344197079363, + 0.9996900669509573, + 0.003072645515203476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 760.6857299804688, + "fy": 760.6857299804688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997246636446795, + -0.0014575241907420493, + -0.02341949025416855, + 0.014743026345968246 + ], + [ + 0.0009827090456867506, + 0.9997939968058022, + -0.02027309137775412, + 0.010083939880132675 + ], + [ + 0.023444214285474003, + 0.020244494913745047, + 0.9995201494928572, + 0.0035269041545689106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 760.6857299804688, + "fy": 760.6857299804688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996983263571517, + -0.0014925163770184511, + -0.024515886147036956, + 0.014940191060304642 + ], + [ + 0.0009475502632361344, + 0.9997525296915684, + -0.022225695125420983, + 0.011504936963319778 + ], + [ + 0.024542991407096034, + 0.022195760184635566, + 0.9994523449382756, + 0.005263569299131632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 760.6857299804688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996119231094008, + -0.001684868333129897, + -0.02780583385237755, + 0.016920622438192368 + ], + [ + 0.000998819271937237, + 0.9996951917992928, + -0.024668316793765712, + 0.012827491387724876 + ], + [ + 0.027838921271989385, + 0.024630970587363278, + 0.9993089160766739, + 0.005856927018612623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 760.6857299804688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995414648581088, + -0.0013711025365001576, + -0.030248638103878765, + 0.019571006298065186 + ], + [ + 0.000584278636888487, + 0.9996616316988985, + -0.02600539804674489, + 0.013771197758615017 + ], + [ + 0.030274058990817594, + 0.02597580002482271, + 0.9992040528166858, + 0.006784406490623951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 760.6857299804688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993988976364956, + -0.0014913658609571646, + -0.0346355197857081, + 0.021388838067650795 + ], + [ + 0.0004635369793123705, + 0.9995597995693667, + -0.029664662787831943, + 0.015961358323693275 + ], + [ + 0.0346645140803415, + 0.02963077644469896, + 0.9989596531146081, + 0.0064395698718726635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999329098876872, + -0.0018000722641427743, + -0.0365802115601195, + 0.023172317072749138 + ], + [ + 0.0006384669571377139, + 0.9994958943069798, + -0.03174192217612914, + 0.01690613478422165 + ], + [ + 0.03661890902093991, + 0.03169727122852453, + 0.9988264806755885, + 0.00737445754930377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9991890873706996, + -0.0011951855141698283, + -0.04024598378591405, + 0.025346187874674797 + ], + [ + -0.00022001750239615552, + 0.9993823381249869, + -0.03514105627514079, + 0.019422095268964767 + ], + [ + 0.04026312545752011, + 0.035121414769634464, + 0.9985716634037695, + 0.007786775007843971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9990773935380999, + -0.001395533968697776, + -0.04292335268893902, + 0.027476858347654343 + ], + [ + -0.00017677427990215778, + 0.9993297963173571, + -0.03660501254150552, + 0.01998811960220337 + ], + [ + 0.04294566883832155, + 0.036578828265159014, + 0.9984075614951929, + 0.008944404311478138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9989465954212846, + -0.0023819027509421067, + -0.045826041019369795, + 0.02880900353193283 + ], + [ + 0.0005347096912744292, + 0.9991883323188452, + -0.040278910653475435, + 0.022469790652394295 + ], + [ + 0.04588478595100915, + 0.040211977036322, + 0.9981370563810665, + 0.011034953407943249 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9987852189806635, + -0.0011561781027506208, + -0.049262050281554615, + 0.0314323790371418 + ], + [ + -0.0009125486691531358, + 0.9991192460525332, + -0.041951155196787125, + 0.022975457832217216 + ], + [ + 0.049267165543332395, + 0.041945147748138914, + 0.9979044798875857, + 0.012364771217107773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9986366859932764, + -0.0016655834124441294, + -0.052172744036162025, + 0.03267375007271767 + ], + [ + -0.0006913456111175629, + 0.9989811139975489, + -0.045124892437134995, + 0.02459314465522766 + ], + [ + 0.052194745229885806, + 0.04509944243683336, + 0.9976180375586011, + 0.011325301602482796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9985450126253786, + -0.002832716104771128, + -0.05385010195396363, + 0.03313004970550537 + ], + [ + 0.00033308694192347483, + 0.9989242453635716, + -0.046370692014544926, + 0.025116760283708572 + ], + [ + 0.0539235274631735, + 0.04628528647732916, + 0.9974717667391096, + 0.011155813932418823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 751.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9982840521061409, + -0.0034147381417840655, + -0.058457598941156166, + 0.035342928022146225 + ], + [ + 0.00047227417290017076, + 0.9987353009652253, + -0.05027499938344493, + 0.027600567787885666 + ], + [ + 0.05855534363017278, + 0.050161122089949835, + 0.9970231359216438, + 0.010136937722563744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9981792205097842, + -0.00485854381270002, + -0.06012186203453315, + 0.036168888211250305 + ], + [ + 0.0017276120271187596, + 0.9986445897464231, + -0.05201921497756385, + 0.02889801189303398 + ], + [ + 0.06029310988133787, + 0.051820632205891795, + 0.9968346718381227, + 0.01183317694813013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9979233989156542, + -0.0043253720812238, + -0.06426648467892616, + 0.03853696957230568 + ], + [ + 0.0007755501152210066, + 0.9984773070145372, + -0.05515855236513488, + 0.029900604858994484 + ], + [ + 0.06440720781594618, + 0.05499416817588457, + 0.9964072224989117, + 0.01283932663500309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 751.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9978611131395143, + -0.0040464937061079065, + -0.06524434667199383, + 0.04007035493850708 + ], + [ + 0.0003315512453807501, + 0.9983827054774441, + -0.05684948088866484, + 0.030787156894803047 + ], + [ + 0.06536886841410541, + 0.05670625443657397, + 0.9962486194469903, + 0.011886254884302616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9976005713860564, + -0.003293306572316112, + -0.06915384372567365, + 0.04303458705544472 + ], + [ + -0.0008621424520323293, + 0.9981995513195913, + -0.05997426494555506, + 0.032500509172677994 + ], + [ + 0.06922684941990793, + 0.05988998144254126, + 0.9958016034543256, + 0.015059493482112885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 751.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9975311333111834, + -0.004329742147520727, + -0.0700920209998415, + 0.0437353178858757 + ], + [ + 3.05293246780765e-05, + 0.9981241799449232, + -0.06122189540706516, + 0.03351754695177078 + ], + [ + 0.07022561600204373, + 0.06106860684680238, + 0.9956600765898589, + 0.01494819950312376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 751.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9971425478026301, + -0.003562937620372823, + -0.07545889501703852, + 0.04672078415751457 + ], + [ + -0.001376629047370936, + 0.9978642441553981, + -0.06530738954085705, + 0.03523942455649376 + ], + [ + 0.07553041939606178, + 0.06522465570387254, + 0.9950079899348377, + 0.017388535663485527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 751.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9969928885300324, + -0.004194995078563326, + -0.0773794690911828, + 0.04750191420316696 + ], + [ + -0.0010226978985724373, + 0.997734460910179, + -0.06726737397344258, + 0.03678465262055397 + ], + [ + 0.07748634918197332, + 0.06714422930204447, + 0.9947298719561423, + 0.016307426616549492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 751.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.996798160945223, + -0.005829982454830903, + -0.07974608229121682, + 0.04917323589324951 + ], + [ + 0.00025436070904293317, + 0.9975645160041686, + -0.06974934917257862, + 0.037848856300115585 + ], + [ + 0.07995849946597876, + 0.06950573871231748, + 0.9943719578956383, + 0.01586756855249405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 751.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9964769623225609, + -0.006745757278353069, + -0.08359520512052694, + 0.051165658980607986 + ], + [ + 0.0007768073892988381, + 0.9974595612673524, + -0.07123075323637118, + 0.03898876905441284 + ], + [ + 0.08386334199566188, + 0.070914867235879, + 0.9939507138053864, + 0.017598705366253853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 751.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9961455903329793, + -0.006438512096175502, + -0.08747861694235808, + 0.05474722012877464 + ], + [ + -0.0001483109929482591, + 0.9971773448925804, + -0.07508209398273821, + 0.03960476443171501 + ], + [ + 0.08771511194777006, + 0.07480567087441138, + 0.9933328599925705, + 0.01850729249417782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 751.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9958836516430838, + -0.0070909007362602436, + -0.09036299860443858, + 0.05565647780895233 + ], + [ + 0.00019721247889527619, + 0.9971024261768291, + -0.07607044642645355, + 0.040842290967702866 + ], + [ + 0.09064057312967227, + 0.07573949325833994, + 0.9929994036572704, + 0.018705030903220177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 751.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9955679079162285, + -0.00783218404210138, + -0.09371871542245046, + 0.05822204798460007 + ], + [ + 0.0004060828500816862, + 0.9968748329585739, + -0.07899621833058801, + 0.041773468255996704 + ], + [ + 0.0940445417024423, + 0.07860804225361233, + 0.9924597724185253, + 0.019525179639458656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9954298077841011, + -0.00799650249711549, + -0.0951606731939278, + 0.059020210057497025 + ], + [ + 0.0002696154033155427, + 0.9967192973598792, + -0.080935589069106, + 0.0428418405354023 + ], + [ + 0.09549568096224154, + 0.08054004108667027, + 0.9921662545658947, + 0.021276002749800682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 751.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.995092470913996, + -0.009736834784184275, + -0.0984691239864716, + 0.06206280365586281 + ], + [ + 0.0014474414942184917, + 0.996472622126811, + -0.08390600851451695, + 0.04387439042329788 + ], + [ + 0.0989387651196352, + 0.08335170904128363, + 0.991596497249006, + 0.02171732857823372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9948553211863134, + -0.008846075140081257, + -0.10091896185501488, + 0.062457576394081116 + ], + [ + 0.00010726683739304507, + 0.996271701771655, + -0.08627099595365756, + 0.04514315724372864 + ], + [ + 0.1013058655809411, + 0.08581633413066712, + 0.991147152745378, + 0.02285337820649147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 751.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9944516284526899, + -0.009833742166826143, + -0.10473421686721968, + 0.0657312348484993 + ], + [ + 0.0004034863891483426, + 0.9959702888662245, + -0.08968289075661617, + 0.04756077006459236 + ], + [ + 0.10519408665189864, + 0.08914303792627833, + 0.9904482434346317, + 0.023669026792049408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9942450113506899, + -0.010077265042724118, + -0.10665508020495264, + 0.06722448021173477 + ], + [ + 0.0003694025333305918, + 0.995882562930669, + -0.09065199607515749, + 0.048106130212545395 + ], + [ + 0.10712945881518594, + 0.09009089620988753, + 0.9901549926521932, + 0.02319849282503128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9938756901392397, + -0.010597447656785518, + -0.10999457556357894, + 0.06905444711446762 + ], + [ + 0.00010009428262620829, + 0.995476792626857, + -0.09500497525119644, + 0.04996899142861366 + ], + [ + 0.11050385754074209, + 0.09441212551631116, + 0.989381245033535, + 0.023943403735756874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9935985653142272, + -0.01172003127366794, + -0.11235894211166876, + 0.06998970359563828 + ], + [ + 0.0009377611593965309, + 0.9954252493221318, + -0.09553896386280886, + 0.0515500009059906 + ], + [ + 0.11296464760940499, + 0.09482201157387135, + 0.9890640901941428, + 0.023661311715841293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 754.7428588867188, + "fy": 757.7142944335938, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9929902293767554, + -0.011855129970174677, + -0.11760042625641239, + 0.07201579213142395 + ], + [ + 0.00013452900431241489, + 0.9950699344964172, + -0.09917563896059987, + 0.05290784314274788 + ], + [ + 0.11819638854147134, + 0.0984646198118214, + 0.9880963173603408, + 0.02697007544338703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 748.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9929141077662019, + -0.014621896610028981, + -0.11793122885127669, + 0.07241549342870712 + ], + [ + 0.0026220504111564226, + 0.9948552604312894, + -0.10127258090831967, + 0.05434348061680794 + ], + [ + 0.11880530059929129, + 0.10024575268666738, + 0.9878441626176647, + 0.02650693617761135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 748.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9927305023595888, + -0.015753931323161358, + -0.11932293716106236, + 0.0734570175409317 + ], + [ + 0.0034301293501379573, + 0.9946971717923713, + -0.10278993453105624, + 0.05476924404501915 + ], + [ + 0.12030953369338197, + 0.10163341023562415, + 0.9875202610713152, + 0.02544976957142353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 751.7714233398438, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.99219132819637, + -0.016381972370561805, + -0.12364464902765593, + 0.0751226618885994 + ], + [ + 0.0032446164445539523, + 0.9943914183147209, + -0.1057127222531229, + 0.05679808929562569 + ], + [ + 0.12468296080880432, + 0.10448606683806376, + 0.9866796953017032, + 0.027309570461511612 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 748.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9919485092471454, + -0.016480034717724985, + -0.12556497703606573, + 0.07687737792730331 + ], + [ + 0.0027661226619603812, + 0.9940797141904323, + -0.10861800219340591, + 0.05832711234688759 + ], + [ + 0.12661162493145833, + 0.10739613722462377, + 0.9861214763615308, + 0.028859395533800125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 748.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9914343885645668, + -0.01817905781180657, + -0.12933435362918486, + 0.07948189228773117 + ], + [ + 0.0036619173654249817, + 0.9937455131761825, + -0.11160844682825045, + 0.0594855472445488 + ], + [ + 0.13055437002572118, + 0.11017884052430633, + 0.9853000454520976, + 0.030509501695632935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 748.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9914282161904253, + -0.018772426026512076, + -0.12929689927662966, + 0.07982867956161499 + ], + [ + 0.004191772121723739, + 0.9936847302373084, + -0.1121297727621352, + 0.0606776624917984 + ], + [ + 0.13058530234276444, + 0.11062663745358874, + 0.9852457692869131, + 0.031368743628263474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 748.7999877929688, + "fy": 748.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9907861797652739, + -0.018905745708495666, + -0.13410935375781832, + 0.08180884271860123 + ], + [ + 0.0032549424892634343, + 0.9932469818804769, + -0.11597343805680285, + 0.06198205053806305 + ], + [ + 0.13539627519073574, + 0.11446836141279024, + 0.9841569198557438, + 0.034562595188617706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 742.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9905105168648229, + -0.02011589007759835, + -0.13595685693103957, + 0.08383462578058243 + ], + [ + 0.00397363385801317, + 0.9930087732336541, + -0.1179736687356826, + 0.0626889318227768 + ], + [ + 0.13737949706613306, + 0.11631391682588998, + 0.9836655664088669, + 0.033487316220998764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 742.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9898200929170595, + -0.021480838392604982, + -0.1406938422235112, + 0.08588171005249023 + ], + [ + 0.004282894087961509, + 0.9925925211108335, + -0.121415583238195, + 0.06497977674007416 + ], + [ + 0.14225976407928895, + 0.11957700705733725, + 0.9825800216304597, + 0.0354732871055603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 742.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9898321684217565, + -0.020680989243405126, + -0.1407287285574512, + 0.08633624017238617 + ], + [ + 0.003205162358308325, + 0.9923654370228522, + -0.12329057683659224, + 0.06526508927345276 + ], + [ + 0.14220409730995573, + 0.12158592059262867, + 0.9823415183233901, + 0.03626886382699013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 742.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9892546837327364, + -0.022668540007134683, + -0.14443444189939025, + 0.08891689777374268 + ], + [ + 0.004220498365474472, + 0.9919228578257776, + -0.1267723610109391, + 0.06818219274282455 + ], + [ + 0.1461415687146902, + 0.12480056657197426, + 0.98136000554176, + 0.03768230974674225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 742.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9888359868065348, + -0.022085614602968658, + -0.14736219604754625, + 0.09058131277561188 + ], + [ + 0.0029787586697293178, + 0.9916870249196564, + -0.1286389194714733, + 0.06875061988830566 + ], + [ + 0.14897824738240792, + 0.1267638364582339, + 0.9806816056056399, + 0.036560628563165665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 742.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.988255876962048, + -0.022111776649835085, + -0.1511998379078538, + 0.09208305180072784 + ], + [ + 0.002214002791206133, + 0.9914432330650217, + -0.13051978317947122, + 0.06984154880046844 + ], + [ + 0.15279208042831935, + 0.12865218592376731, + 0.9798485572859825, + 0.039382919669151306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 748.7999877929688, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9877960293673302, + -0.023289173595224283, + -0.15400200894594676, + 0.09332434087991714 + ], + [ + 0.0027102724821552082, + 0.9911782071635151, + -0.13250817358635836, + 0.07080152630805969 + ], + [ + 0.155729440984062, + 0.13047366032027882, + 0.9791450174378769, + 0.04020507633686066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 742.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9871772274534005, + -0.024144193071756328, + -0.1577915699216225, + 0.09516362845897675 + ], + [ + 0.002742215045605022, + 0.9909142658083575, + -0.13446708918589714, + 0.07232192903757095 + ], + [ + 0.15960451702273415, + 0.13231014986915415, + 0.9782742061342218, + 0.040440138429403305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 742.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9870350361318312, + -0.023546604234178366, + -0.1587683686295025, + 0.09605825692415237 + ], + [ + 0.0017059086374816713, + 0.9906636737122567, + -0.13631792054846167, + 0.07308638840913773 + ], + [ + 0.1604958794609859, + 0.1342797193025638, + 0.977859923332616, + 0.041314754635095596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 742.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9863894259964024, + -0.025212058871497803, + -0.16248154470569623, + 0.09830806404352188 + ], + [ + 0.0023655380517585735, + 0.9902481165709486, + -0.13929490966081728, + 0.07414556294679642 + ], + [ + 0.16440895508522263, + 0.13701466970784362, + 0.97682991138306, + 0.041785724461078644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 742.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9860820705774085, + -0.024747907084899372, + -0.16440708981272134, + 0.09880737960338593 + ], + [ + 0.0013143305439377402, + 0.989989032428659, + -0.14113818833394842, + 0.07558991760015488 + ], + [ + 0.16625409053912754, + 0.13895775173010325, + 0.9762429618763573, + 0.044811297208070755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 742.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9854317412659701, + -0.02525575463326497, + -0.16818570142381856, + 0.10007763653993607 + ], + [ + 0.0007850756027555847, + 0.989577254373237, + -0.14400083778722422, + 0.07791947573423386 + ], + [ + 0.1700695944659584, + 0.14177095783350263, + 0.9751806645710088, + 0.04565300792455673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9850704849930493, + -0.027743194422998725, + -0.16990130887890584, + 0.10204732418060303 + ], + [ + 0.0026626178944237724, + 0.9892662789462926, + -0.14609975977291495, + 0.0783240795135498 + ], + [ + 0.17213090966327335, + 0.14346617895156621, + 0.9745708827148132, + 0.04461377114057541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 742.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9845681115850645, + -0.0280830089171997, + -0.17273383646517573, + 0.10443613678216934 + ], + [ + 0.0022434410656187545, + 0.9889846124449835, + -0.14800136255869797, + 0.0793139636516571 + ], + [ + 0.17498742989714086, + 0.14532990386428515, + 0.9737857148370944, + 0.04485691338777542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 742.857177734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9839805789859469, + -0.029125800362337126, + -0.17588037960993566, + 0.10493797808885574 + ], + [ + 0.00207483697740258, + 0.9883681731606441, + -0.15206593745677768, + 0.08094431459903717 + ], + [ + 0.1782636116261508, + 0.14926500606754603, + 0.972595518565481, + 0.04699385538697243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 739.8857421875, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9830778514555419, + -0.031067079793794104, + -0.18053469065706063, + 0.10660413652658463 + ], + [ + 0.0027455512725939888, + 0.9879025878089299, + -0.15505140743839835, + 0.08209986984729767 + ], + [ + 0.18316768253642396, + 0.1519319372400177, + 0.9712704497310366, + 0.05045808479189873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9826833325570832, + -0.033303210626270265, + -0.18227551694204258, + 0.10684111714363098 + ], + [ + 0.004499516051673756, + 0.9877143117922781, + -0.1562056101297508, + 0.0827178955078125 + ], + [ + 0.1852382851081471, + 0.15268049791210808, + 0.9707602398571461, + 0.04785875603556633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 736.914306640625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9821097054390843, + -0.03520375073092649, + -0.18498979003401386, + 0.10966673493385315 + ], + [ + 0.005399176115769059, + 0.9872304913772245, + -0.1592068019663527, + 0.08497174829244614 + ], + [ + 0.18823223788614035, + 0.15535975292706058, + 0.969758718337101, + 0.050569191575050354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9819447428107546, + -0.03443772555427163, + -0.18600689536941656, + 0.1106543242931366 + ], + [ + 0.004292567648720687, + 0.9870928070098021, + -0.16009173686511782, + 0.08483146131038666 + ], + [ + 0.18911926377104374, + 0.1564027922006433, + 0.9694184187761962, + 0.05094509571790695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9811593975290709, + -0.03737703972647876, + -0.1895499763694934, + 0.11237013339996338 + ], + [ + 0.0060608348428304966, + 0.9865794355135376, + -0.16316949378728368, + 0.08661434799432755 + ], + [ + 0.19310490133965647, + 0.15894645111821762, + 0.9682182206277294, + 0.05086936801671982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9807782627490714, + -0.038104351180115126, + -0.19136890484103242, + 0.11246685683727264 + ], + [ + 0.005904860862702678, + 0.9860941022364039, + -0.16608297369920946, + 0.08779177814722061 + ], + [ + 0.19503623237005427, + 0.16176056366037656, + 0.9673646613905071, + 0.05262361094355583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9800153681074061, + -0.038750422904372125, + -0.1951109504821194, + 0.1150742769241333 + ], + [ + 0.00533621423630431, + 0.985610819845728, + -0.16894625364492724, + 0.09049361944198608 + ], + [ + 0.19885020264241146, + 0.1645287711245795, + 0.966120530980119, + 0.051728371530771255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9796431173414911, + -0.038555739317373154, + -0.19700968913009445, + 0.11564565449953079 + ], + [ + 0.004429622570274494, + 0.9852956747845523, + -0.17080050261852, + 0.09104364365339279 + ], + [ + 0.20069813424476723, + 0.16645085826316738, + 0.9654089137221205, + 0.05389899015426636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.978659199600183, + -0.03939775808611562, + -0.20167793061145298, + 0.1177728995680809 + ], + [ + 0.003652142782735023, + 0.9846282966817974, + -0.17462468103506185, + 0.09283534437417984 + ], + [ + 0.20545761823554923, + 0.17016149397349115, + 0.9637594269721493, + 0.05530161038041115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9782458465617615, + -0.040370325325299015, + -0.20348292438873522, + 0.11940038204193115 + ], + [ + 0.004093115821762024, + 0.9844471490485307, + -0.17563330302960742, + 0.09326092153787613 + ], + [ + 0.20740855837581024, + 0.17097967002936298, + 0.963196575133611, + 0.0565153993666172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9773964124344156, + -0.04281743279308931, + -0.20703362144671886, + 0.121697798371315 + ], + [ + 0.005260143876938537, + 0.9838984486361294, + -0.17865098280673494, + 0.0941971093416214 + ], + [ + 0.21134943540669288, + 0.17352380303701212, + 0.9618840397536725, + 0.05872012674808502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9771591298126283, + -0.044312687749514634, + -0.20783748634026694, + 0.12238775193691254 + ], + [ + 0.006378375344148275, + 0.9836928770551125, + -0.17974326123391515, + 0.09423822164535522 + ], + [ + 0.21241316190809756, + 0.17431210323855378, + 0.9615071187010293, + 0.05955757573246956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 733.94287109375, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9758421453185417, + -0.0476375697531608, + -0.21322000227023363, + 0.12484819442033768 + ], + [ + 0.008035070479841876, + 0.9831041034094419, + -0.18287088205042534, + 0.09604653716087341 + ], + [ + 0.218328983560337, + 0.176739876110428, + 0.9597371885729865, + 0.06009756028652191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9758400371836254, + -0.048091712751221476, + -0.21312768237400365, + 0.12619231641292572 + ], + [ + 0.008287251047527129, + 0.9829196109845009, + -0.18384874166594645, + 0.09693694859743118 + ], + [ + 0.21832897952295613, + 0.1776407202944493, + 0.9595708578285052, + 0.058431144803762436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 733.94287109375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9747392704977518, + -0.05023188741453374, + -0.21762378554810044, + 0.12725386023521423 + ], + [ + 0.008687964853775501, + 0.9821705912973923, + -0.18779097118133917, + 0.0990065336227417 + ], + [ + 0.22317677705400177, + 0.18115652645517574, + 0.9577966585379616, + 0.061712052673101425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 728.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9744948069641378, + -0.05107941354121565, + -0.21851948359863257, + 0.1280767023563385 + ], + [ + 0.009349599464782211, + 0.9821467006622107, + -0.18788412218221748, + 0.10014848411083221 + ], + [ + 0.22421520062158098, + 0.18104903173068781, + 0.957574431529792, + 0.06205650418996811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 728.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9732549988641025, + -0.05127624866558388, + -0.22393180548734126, + 0.1304764747619629 + ], + [ + 0.0072827205302818535, + 0.9811683474672172, + -0.1930171907114164, + 0.10100347548723221 + ], + [ + 0.2296119970030161, + 0.18622411296938637, + 0.9553004294885729, + 0.06473105400800705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 728.0, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9729941403783683, + -0.052707880271951314, + -0.22473157799160573, + 0.13145196437835693 + ], + [ + 0.008072828138812438, + 0.980755784159009, + -0.19507157989950252, + 0.10228055715560913 + ], + [ + 0.23068860447625245, + 0.18798928479007632, + 0.9546951327879044, + 0.06441952288150787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 728.0, + "fy": 728.0, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/move_left/transforms.json b/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7159a997b1d7077d0300b3b3ca4a3fe0857b65b8 --- /dev/null +++ b/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/move_left/transforms.json @@ -0,0 +1,4563 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 130, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -3.779902181122452e-05, + -7.106735324668989e-07, + 5.438872904051095e-05 + ], + [ + 3.779891994781792e-05, + 1.0, + -0.00014276729780249298, + 0.0001941786176757887 + ], + [ + 7.160700192798686e-07, + 0.00014276726869866252, + 1.0, + 7.050997373880818e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999990701675415, + -0.00022619572700932622, + 0.004309419542551041, + -0.0008817361794094475 + ], + [ + 0.00019655164214782417, + 0.9999763369560242, + 0.006878083571791649, + 0.003281377161543477 + ], + [ + -0.004310873337090015, + -0.006877172738313675, + 0.9999670386314392, + -0.00036674804643496814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999767541885376, + -0.00021557725267484784, + 0.006819385569542646, + -0.0005851600398562213 + ], + [ + 0.00012867545592598617, + 0.9999188184738159, + 0.012741217389702797, + 0.006798783123408365 + ], + [ + -0.006821578834205866, + -0.012740043923258781, + 0.9998955726623535, + -0.0006154698282732924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999958336353302, + -0.0003605873207561672, + 0.009118292480707169, + -0.001334691044961124 + ], + [ + 0.00018979329615831375, + 0.9998246431350708, + 0.018724853172898293, + 0.009149529107001632 + ], + [ + -0.00912344641983509, + -0.01872234232723713, + 0.9997830986976624, + -0.0009204719835610758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999306201934814, + -0.00011669746891129762, + 0.011781095527112484, + -0.002301427202349774 + ], + [ + -0.0001615580840734765, + 0.999721109867096, + 0.023615103214979172, + 0.01200243169130476 + ], + [ + -0.011780566535890102, + -0.023615367710590363, + 0.9996517300605774, + -0.0011187395124241362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999886155128479, + 0.00043676671339198947, + 0.01508337166160345, + -0.0032137774089856666 + ], + [ + -0.0008723149658180773, + 0.9995824694633484, + 0.028881559148430824, + 0.013121207609507364 + ], + [ + -0.01506445836275816, + -0.02889142744243145, + 0.9994690418243408, + -0.0011598332902387708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998300075531006, + 0.0005297295283526182, + 0.018431788310408592, + -0.003233055049705124 + ], + [ + -0.0011534647783264518, + 0.9994263648986816, + 0.033846039324998856, + 0.014508937088621044 + ], + [ + -0.01840328611433506, + -0.033861543983221054, + 0.9992570877075195, + -0.0008202393214369929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997697472572327, + 0.0007294963579624891, + 0.021446503698825836, + -0.0032626364405389675 + ], + [ + -0.0015395758673548698, + 0.9992849230766296, + 0.03777989745140076, + 0.016200349059013665 + ], + [ + -0.021403606981039047, + -0.037804216146469116, + 0.9990559220314026, + -0.0016323194187495482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997117519378662, + 0.0007506641559302807, + 0.023997219279408455, + -0.0027738824674440905 + ], + [ + -0.001722042914479971, + 0.9991787075996399, + 0.040483810007572174, + 0.01786298570187055 + ], + [ + -0.02394712157547474, + -0.04051346331834793, + 0.9988920092582703, + -0.0018567120410906252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996286034584045, + 0.0006552166887558997, + 0.027242910116910934, + -0.0030676110777570756 + ], + [ + -0.0018140492029488087, + 0.9990933537483215, + 0.04253411293029785, + 0.019340358157967065 + ], + [ + -0.02719034254550934, + -0.04256773740053177, + 0.9987235069274902, + -0.002105309261918761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9995343089103699, + 0.0006715603522025049, + 0.030507078394293785, + -0.0031933144796206505 + ], + [ + -0.002071383874863386, + 0.9989449381828308, + 0.045876819640398026, + 0.01713851590590306 + ], + [ + -0.030444083735346794, + -0.045918647199869156, + 0.9984811544418335, + -0.00201851733267134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9994349479675293, + 0.000353671726770699, + 0.03361034765839577, + -0.0032260943695094236 + ], + [ + -0.0020067733712494373, + 0.9987887144088745, + 0.049163322895765305, + 0.01498552215531064 + ], + [ + -0.033552248030900955, + -0.04920298978686333, + 0.9982250928878784, + -0.0009184092712812414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993466734886169, + 0.0003661129157990217, + 0.03613966330885887, + -0.0025732535110829877 + ], + [ + -0.002315058372914791, + 0.9985436201095581, + 0.0539010651409626, + 0.008376188099730847 + ], + [ + -0.03606729581952095, + -0.053949516266584396, + 0.9978920817375183, + 0.00013208144789745728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999272882938385, + -0.00018957193242385983, + 0.038126345723867416, + -0.00029305383389772316 + ], + [ + -0.0016649325843900442, + 0.9988167881965637, + 0.04860338941216469, + 0.023628730009772 + ], + [ + -0.03809044882655144, + -0.04863153025507927, + 0.9980902075767517, + -0.0030074286563394146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9991632699966431, + -0.0004223412834107876, + 0.04089727625250816, + 0.0008168689733327825 + ], + [ + -0.0016180840320885181, + 0.9987556338310242, + 0.04984551668167114, + 0.023023360923596824 + ], + [ + -0.040867436677217484, + -0.04986998438835144, + 0.9979192614555359, + -0.0027179334016675634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9990477561950684, + -0.0009546015062369406, + 0.04362015426158905, + 0.0015642243155906364 + ], + [ + -0.0012118092272430658, + 0.9987678527832031, + 0.04961193725466728, + 0.02427252371481425 + ], + [ + -0.04361376911401749, + -0.04961755499243736, + 0.9978156089782715, + -0.0020727640516016374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9989662170410156, + -0.0013813842087984085, + 0.04543822258710861, + 0.0021566484036833738 + ], + [ + -0.0008527850732207298, + 0.998792827129364, + 0.049113284796476364, + 0.024790304861674013 + ], + [ + -0.04545121639966965, + -0.04910125955939293, + 0.9977591037750244, + -0.0027430586614321135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9988737106323242, + -0.0009729806915856898, + 0.0474376305937767, + 0.0031065335858237817 + ], + [ + -0.0013619805686175823, + 0.9987897872924805, + 0.0491645522415638, + 0.025401082022346613 + ], + [ + -0.047428056597709656, + -0.04917379096150398, + 0.9976635575294495, + -0.0037250634448877137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9987690448760986, + -0.0011521237902343273, + 0.04958914965391159, + 0.00361798578916594 + ], + [ + -0.001315234461799264, + 0.9987636208534241, + 0.049694642424583435, + 0.026196058305673474 + ], + [ + -0.04958508908748627, + -0.049698688089847565, + 0.9975326061248779, + -0.0047047647430973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9986504912376404, + -0.0014231777749955654, + 0.05191522464156151, + 0.004009289811401404 + ], + [ + -0.0012015530373901129, + 0.9987237453460693, + 0.05049179866909981, + 0.026693610775703203 + ], + [ + -0.051920827478170395, + -0.050486039370298386, + 0.9973742365837097, + -0.00485130668682761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9984930157661438, + -0.0013272903161123395, + 0.05486249923706055, + 0.0030039930210788122 + ], + [ + -0.0014918624656274915, + 0.9986814856529236, + 0.051312919706106186, + 0.027344598689354783 + ], + [ + -0.054858267307281494, + -0.05131744220852852, + 0.9971745610237122, + -0.006234097428071176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9982832670211792, + -0.0016719776904210448, + 0.058547113090753555, + 0.0011944934725761393 + ], + [ + -0.0013989064609631896, + 0.998626708984375, + 0.052371274679899216, + 0.027717523473087525 + ], + [ + -0.0585542730987072, + -0.05236326530575752, + 0.9969099760055542, + -0.00680904372183736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9980512261390686, + -0.0015351995825767517, + 0.062381502240896225, + -0.0008462335567834753 + ], + [ + -0.0018261822406202555, + 0.998550534248352, + 0.053791552782058716, + 0.027881978846032374 + ], + [ + -0.06237366423010826, + -0.05380064249038696, + 0.9966017603874207, + -0.008314310750642488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9978209733963013, + -0.001315613160841167, + 0.06596621125936508, + -0.002225909639121025 + ], + [ + -0.002320395316928625, + 0.9984830021858215, + 0.05501236394047737, + 0.028673526077610693 + ], + [ + -0.06593851000070572, + -0.05504555627703667, + 0.9963042140007019, + -0.010257743979089483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9975644946098328, + -0.0015812469646334648, + 0.06973236054182053, + -0.002577300161816353 + ], + [ + -0.002343512140214443, + 0.9984187483787537, + 0.05616547539830208, + 0.029368791157423062 + ], + [ + -0.06971090286970139, + -0.056192103773355484, + 0.995983362197876, + -0.010241444902711137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9972427487373352, + -0.001931874779984355, + 0.07418297976255417, + -0.004263392252515454 + ], + [ + -0.002351712202653289, + 0.9983362555503845, + 0.05761279910802841, + 0.029672643786130198 + ], + [ + -0.07417085021734238, + -0.05762840807437897, + 0.9955790638923645, + -0.009588184282761212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9969510436058044, + -0.0027048736810684204, + 0.07798277586698532, + -0.004802254658163519 + ], + [ + -0.0018718483624979854, + 0.9982823729515076, + 0.058556124567985535, + 0.030374464809049873 + ], + [ + -0.07800721377134323, + -0.05852355808019638, + 0.9952335953712463, + -0.009526241434983505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9966397881507874, + -0.0030367430299520493, + 0.08185276389122009, + -0.006364637803892757 + ], + [ + -0.0018685432150959969, + 0.998209536075592, + 0.059785038232803345, + 0.02992946749206546 + ], + [ + -0.08188776671886444, + -0.05973709374666214, + 0.994849681854248, + -0.00917599692420904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9963072538375854, + -0.0033813631162047386, + 0.08579271286725998, + -0.008664259552782359 + ], + [ + -0.0018418808467686176, + 0.9981525540351868, + 0.06073005124926567, + 0.030249605811554794 + ], + [ + -0.08583956211805344, + -0.06066380813717842, + 0.99446040391922, + -0.00888211847997682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9959016442298889, + -0.0034574363380670547, + 0.09037704020738602, + -0.011592149187254815 + ], + [ + -0.0021346062421798706, + 0.9980921745300293, + 0.061704810708761215, + 0.029404368196693502 + ], + [ + -0.09041795879602432, + -0.061644840985536575, + 0.9939942359924316, + -0.008239423635220804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.995487630367279, + -0.004137771669775248, + 0.09480107575654984, + -0.015338933918365213 + ], + [ + -0.0018080216832458973, + 0.9980403780937195, + 0.06254704296588898, + 0.02918754484461144 + ], + [ + -0.09487410634756088, + -0.06243620812892914, + 0.9935293793678284, + -0.0069730825245726945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9950650334358215, + -0.004727497231215239, + 0.09911245852708817, + -0.01889076518804528 + ], + [ + -0.001559183350764215, + 0.9979960918426514, + 0.06325655430555344, + 0.029209490642835956 + ], + [ + -0.0992128923535347, + -0.06309891492128372, + 0.9930636286735535, + -0.005070043267869903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9946297407150269, + -0.004473522305488586, + 0.1034005880355835, + -0.022361426422184753 + ], + [ + -0.0022182115353643894, + 0.9979144930839539, + 0.06451116502285004, + 0.0290428335554609 + ], + [ + -0.10347354412078857, + -0.06439408659934998, + 0.9925455451011658, + -0.0042565189843434235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9941076636314392, + -0.005118898116052151, + 0.10827620327472687, + -0.026401724261069282 + ], + [ + -0.001988950651139021, + 0.9978547692298889, + 0.06543587893247604, + 0.03012239944817888 + ], + [ + -0.10837888717651367, + -0.06526566296815872, + 0.9919649362564087, + -0.0033943181619221384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9936580061912537, + -0.005759275984019041, + 0.11229677498340607, + -0.029761555222000264 + ], + [ + -0.001825639046728611, + 0.997729480266571, + 0.06732393801212311, + 0.030483789648138738 + ], + [ + -0.11242954432964325, + -0.06710198521614075, + 0.9913914203643799, + -0.0021309405991215575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9932029247283936, + -0.006453960668295622, + 0.1162167489528656, + -0.033472997703149106 + ], + [ + -0.001926723401993513, + 0.997413158416748, + 0.07185619324445724, + 0.030476713858097214 + ], + [ + -0.11637987196445465, + -0.07159169763326645, + 0.9906212091445923, + -0.0016997013017246427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9926862716674805, + -0.008192859590053558, + 0.12044458091259003, + -0.03646923514126345 + ], + [ + -0.001101803034543991, + 0.9970381259918213, + 0.07690124213695526, + 0.031374163371185926 + ], + [ + -0.12071788311004639, + -0.07647150754928589, + 0.9897369742393494, + 0.0020403849058459665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.992121160030365, + -0.008915480226278305, + 0.12496428191661835, + -0.040164683518079364 + ], + [ + -0.001113060861825943, + 0.996798038482666, + 0.0799526572227478, + 0.031940578677973085 + ], + [ + -0.12527696788311005, + -0.07946181297302246, + 0.9889345169067383, + 0.00398438969850829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9913902282714844, + -0.00982833281159401, + 0.13057094812393188, + -0.0461818263367858 + ], + [ + -0.0009611458517611027, + 0.9966059327125549, + 0.08231423050165176, + 0.03305826770401625 + ], + [ + -0.13093680143356323, + -0.08173102885484695, + 0.9880160093307495, + 0.003287519101331429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9905403256416321, + -0.010879788547754288, + 0.1367901712656021, + -0.04860111375360988 + ], + [ + -0.0007552606984972954, + 0.9964045882225037, + 0.08471944183111191, + 0.0331877518856768 + ], + [ + -0.13722006976604462, + -0.08402133733034134, + 0.9869706630706787, + 0.006214584416688182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9896761775016785, + -0.011881377547979355, + 0.14282813668251038, + -0.052638045952532644 + ], + [ + -0.0005737137980759144, + 0.9962214231491089, + 0.08684756606817245, + 0.03340669852760873 + ], + [ + -0.14332032203674316, + -0.08603290468454361, + 0.9859298467636108, + 0.007091569418246432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9887380599975586, + -0.013065053150057793, + 0.14908510446548462, + -0.05697621547205504 + ], + [ + -0.00017622625455260277, + 0.996079683303833, + 0.0884600579738617, + 0.03381844052734474 + ], + [ + -0.14965638518333435, + -0.08749009668827057, + 0.9848595857620239, + 0.008046409615149446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9876902103424072, + -0.014651244506239891, + 0.15573491156101227, + -0.05954764759991059 + ], + [ + 0.0004989565350115299, + 0.9958938360214233, + 0.09052736312150955, + 0.03361564591570303 + ], + [ + -0.15642176568508148, + -0.08933528512716293, + 0.9836419224739075, + 0.009544165952261105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9866309762001038, + -0.01616981066763401, + 0.1621662825345993, + -0.06220903260012468 + ], + [ + 0.001192272175103426, + 0.995755136013031, + 0.09203418344259262, + 0.03432899985151986 + ], + [ + -0.16296608746051788, + -0.09061042219400406, + 0.9824621081352234, + 0.010746397978315751 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9856425523757935, + -0.017649393528699875, + 0.1679203063249588, + -0.06484942560394605 + ], + [ + 0.0018550679087638855, + 0.9955936670303345, + 0.09375394880771637, + 0.03508235928855201 + ], + [ + -0.1688350886106491, + -0.09209637343883514, + 0.9813322424888611, + 0.012953838740670404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9844891428947449, + -0.019415993243455887, + 0.1743679642677307, + -0.06768735662795777 + ], + [ + 0.002689857967197895, + 0.9954111576080322, + 0.09565266966819763, + 0.03544234892699954 + ], + [ + -0.1754249930381775, + -0.09369999170303345, + 0.9800236821174622, + 0.015456008594916311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9833933115005493, + -0.020670924335718155, + 0.18030625581741333, + -0.06970816057088763 + ], + [ + 0.0032757753506302834, + 0.9953523278236389, + 0.09624446928501129, + 0.03732398113221392 + ], + [ + -0.1814577281475067, + -0.09405551850795746, + 0.9788905382156372, + 0.017408109682994756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9824613928794861, + -0.0224660225212574, + 0.18510766327381134, + -0.07308101034326148 + ], + [ + 0.004451107233762741, + 0.995258092880249, + 0.09716751426458359, + 0.03860186506784702 + ], + [ + -0.18641285598278046, + -0.09463939815759659, + 0.9779026508331299, + 0.019642887572043164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9816094636917114, + -0.024563217535614967, + 0.18931318819522858, + -0.07746255366608154 + ], + [ + 0.005912138149142265, + 0.9951233267784119, + 0.09846130013465881, + 0.03931946983171064 + ], + [ + -0.1908084899187088, + -0.09553129971027374, + 0.9769676923751831, + 0.02297358469561089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9809460043907166, + -0.025745216757059097, + 0.19256721436977386, + -0.0797920251366242 + ], + [ + 0.006462412886321545, + 0.9949563145637512, + 0.10010058432817459, + 0.03928676153237159 + ], + [ + -0.19417308270931244, + -0.09694882482290268, + 0.9761648178100586, + 0.024456637398910155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.980169415473938, + -0.026996687054634094, + 0.19631370902061462, + -0.08228548324500867 + ], + [ + 0.007125065661966801, + 0.9948371648788452, + 0.10123356431722641, + 0.04008712780539148 + ], + [ + -0.1980331540107727, + -0.09782729297876358, + 0.9753013253211975, + 0.026546625449329384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9794378876686096, + -0.0286000594496727, + 0.199708491563797, + -0.0834166884249033 + ], + [ + 0.008081029169261456, + 0.9946678280830383, + 0.10281334072351456, + 0.04017671032397206 + ], + [ + -0.2015840709209442, + -0.09908542782068253, + 0.9744464755058289, + 0.02868448183980099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9786786437034607, + -0.03006943315267563, + 0.20318438112735748, + -0.08579983942268431 + ], + [ + 0.009106629528105259, + 0.9946056008338928, + 0.1033286303281784, + 0.04088689875752889 + ], + [ + -0.205195352435112, + -0.09927520155906677, + 0.9736731052398682, + 0.03101828105516674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9779446721076965, + -0.03154105693101883, + 0.20646877586841583, + -0.08723568911122723 + ], + [ + 0.01033980492502451, + 0.9946308135986328, + 0.10296931862831116, + 0.04061970466083681 + ], + [ + -0.20860795676708221, + -0.09856344759464264, + 0.9730200171470642, + 0.034058992400072347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.977146327495575, + -0.032429859042167664, + 0.21007932722568512, + -0.08894525520330251 + ], + [ + 0.011150996200740337, + 0.994753360748291, + 0.1016928106546402, + 0.04183082698822715 + ], + [ + -0.21227498352527618, + -0.09702616930007935, + 0.9723812341690063, + 0.03811890277578387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9766793251037598, + -0.03374449163675308, + 0.2120349407196045, + -0.09016030738058016 + ], + [ + 0.012352078221738338, + 0.9947673678398132, + 0.10141678154468536, + 0.04283297218945484 + ], + [ + -0.2143476903438568, + -0.09643259644508362, + 0.9719855189323425, + 0.03903501932761928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.976363480091095, + -0.035061925649642944, + 0.21327219903469086, + -0.09043045488092327 + ], + [ + 0.013348357751965523, + 0.994652509689331, + 0.10241176933050156, + 0.043489200720029285 + ], + [ + -0.2157224863767624, + -0.09714428335428238, + 0.971610426902771, + 0.04170136053779329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9760907888412476, + -0.0365055575966835, + 0.2142757922410965, + -0.09070232496705166 + ], + [ + 0.014430390670895576, + 0.9945043325424194, + 0.10369612276554108, + 0.04379449289638636 + ], + [ + -0.21688370406627655, + -0.09812474250793457, + 0.9712533354759216, + 0.04321998967680821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9757982492446899, + -0.03786531835794449, + 0.21536950767040253, + -0.08973338265520658 + ], + [ + 0.015359001234173775, + 0.9943293333053589, + 0.10522990673780441, + 0.04423460841121138 + ], + [ + -0.21813277900218964, + -0.09937530010938644, + 0.9708463549613953, + 0.04618960687125376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9756565690040588, + -0.039308108389377594, + 0.21575254201889038, + -0.08793737148476202 + ], + [ + 0.01655244082212448, + 0.9941982626914978, + 0.10628175735473633, + 0.045334573985301246 + ], + [ + -0.2186785340309143, + -0.10012325644493103, + 0.9706467390060425, + 0.049482504694267765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9756778478622437, + -0.040358174592256546, + 0.21546229720115662, + -0.08563676467815111 + ], + [ + 0.017436299473047256, + 0.9940798282623291, + 0.10724399983882904, + 0.04637980963601623 + ], + [ + -0.21851488947868347, + -0.10087873041629791, + 0.9706053137779236, + 0.05288627093961072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.975858211517334, + -0.04198499023914337, + 0.21433164179325104, + -0.08285828579881395 + ], + [ + 0.018887564539909363, + 0.9938955307006836, + 0.10869654268026352, + 0.04661485352950503 + ], + [ + -0.21758688986301422, + -0.10202420502901077, + 0.9706940650939941, + 0.05606329211777495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9761567711830139, + -0.04317830502986908, + 0.21272887289524078, + -0.08050804012274557 + ], + [ + 0.019916297867894173, + 0.9936983585357666, + 0.11030370742082596, + 0.04662240261659604 + ], + [ + -0.21615107357501984, + -0.10343693941831589, + 0.9708653688430786, + 0.05932929619222648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9767915606498718, + -0.044040497392416, + 0.2096155434846878, + -0.07653533405689306 + ], + [ + 0.020923960953950882, + 0.993572473526001, + 0.11124691367149353, + 0.04743170155168966 + ], + [ + -0.21316762268543243, + -0.1042790561914444, + 0.9714347124099731, + 0.06332323507860649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9775269627571106, + -0.04572995752096176, + 0.2057906836271286, + -0.07306297030733075 + ], + [ + 0.02285093627870083, + 0.993421733379364, + 0.11220978945493698, + 0.04771384762585625 + ], + [ + -0.2095683068037033, + -0.10498558729887009, + 0.9721415042877197, + 0.06632874428417332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9785716533660889, + -0.04692680761218071, + 0.20048795640468597, + -0.06933348493058553 + ], + [ + 0.024609800428152084, + 0.9933594465255737, + 0.112389475107193, + 0.04830839607662471 + ], + [ + -0.2044306844472885, + -0.10504718124866486, + 0.9732282161712646, + 0.06921394966369451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9800091981887817, + -0.047569096088409424, + 0.19318173825740814, + -0.06483930251452813 + ], + [ + 0.02595680207014084, + 0.9932668209075928, + 0.11290355026721954, + 0.0481780756005021 + ], + [ + -0.19725172221660614, + -0.10563214123249054, + 0.9746453762054443, + 0.07268543101327364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.98122239112854, + -0.04872337728738785, + 0.18662437796592712, + -0.059612599923455904 + ], + [ + 0.027816779911518097, + 0.9932000041007996, + 0.11304852366447449, + 0.048635212892247724 + ], + [ + -0.19086343050003052, + -0.1057344526052475, + 0.9759054183959961, + 0.07511111084342927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9826139211654663, + -0.0493738017976284, + 0.17897504568099976, + -0.05365619823740897 + ], + [ + 0.029244091361761093, + 0.9931173324584961, + 0.11341428011655807, + 0.048566235567248144 + ], + [ + -0.18334290385246277, + -0.10620849579572678, + 0.9772948026657104, + 0.07820271650950114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9842337965965271, + -0.05058682709932327, + 0.169483944773674, + -0.04712652652416118 + ], + [ + 0.031505510210990906, + 0.9930452108383179, + 0.11343977600336075, + 0.048750305002511936 + ], + [ + -0.17404378950595856, + -0.10631158202886581, + 0.9789824485778809, + 0.08132247359946716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9860253930091858, + -0.04934334382414818, + 0.1591198593378067, + -0.03933233478965685 + ], + [ + 0.031289998441934586, + 0.992984414100647, + 0.11403001844882965, + 0.048339112062555874 + ], + [ + -0.1636301726102829, + -0.10745763778686523, + 0.98065185546875, + 0.08448481733022734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9881221055984497, + -0.04162907600402832, + 0.14792466163635254, + -0.030597881718661436 + ], + [ + 0.02455243654549122, + 0.9930102825164795, + 0.11544589698314667, + 0.04801350681963124 + ], + [ + -0.15169662237167358, + -0.11044272780418396, + 0.9822375178337097, + 0.08610705168441285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9898341298103333, + -0.035050373524427414, + 0.1378398835659027, + -0.023807620534370112 + ], + [ + 0.01883940026164055, + 0.9929297566413879, + 0.11719885468482971, + 0.04817455909972967 + ], + [ + -0.14097318053245544, + -0.11341060698032379, + 0.9834961295127869, + 0.08927859660497932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9914824366569519, + -0.03136686980724335, + 0.12640686333179474, + -0.01616127872767375 + ], + [ + 0.0163151603192091, + 0.992832601070404, + 0.11839433014392853, + 0.048249170220233215 + ], + [ + -0.12921451032161713, + -0.11532355844974518, + 0.9848878383636475, + 0.09145527092754378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9931609034538269, + -0.02707124687731266, + 0.11357202380895615, + -0.008547553373861691 + ], + [ + 0.013343362137675285, + 0.9926919937133789, + 0.11993540823459625, + 0.04876436887727689 + ], + [ + -0.1159888431429863, + -0.1175997257232666, + 0.9862641096115112, + 0.09313307879276053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9946761727333069, + -0.021200545132160187, + 0.10084541141986847, + -0.0009794500331546038 + ], + [ + 0.008651630952954292, + 0.9923339486122131, + 0.12328226119279861, + 0.04736650542377732 + ], + [ + -0.10268597304821014, + -0.12175344675779343, + 0.987234354019165, + 0.09409643137870832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9958605766296387, + -0.01766972430050373, + 0.0891602635383606, + 0.00583647229643755 + ], + [ + 0.0063715483993291855, + 0.9920802712440491, + 0.12544390559196472, + 0.048391309467165966 + ], + [ + -0.09067068994045258, + -0.12435655295848846, + 0.9880861639976501, + 0.09604224940372068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9968448877334595, + -0.01527692936360836, + 0.07789035141468048, + 0.013056324653385222 + ], + [ + 0.005215501878410578, + 0.9917894601821899, + 0.1277751475572586, + 0.048346547704088944 + ], + [ + -0.07920284569263458, + -0.12696577608585358, + 0.9887399077415466, + 0.09858925121930219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9976843595504761, + -0.01308223232626915, + 0.06674373149871826, + 0.019093699961207633 + ], + [ + 0.0042922222055494785, + 0.9914814829826355, + 0.1301771104335785, + 0.0471813754091949 + ], + [ + -0.06787818670272827, + -0.12958920001983643, + 0.9892417192459106, + 0.09982110397067182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9983378052711487, + -0.011531769298017025, + 0.05646808445453644, + 0.02552831312713697 + ], + [ + 0.0039939843118190765, + 0.9912654161453247, + 0.13182134926319122, + 0.04705067206203013 + ], + [ + -0.05749499052762985, + -0.1313766986131668, + 0.98966383934021, + 0.10254147725627404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9988828301429749, + -0.009745936840772629, + 0.04623923823237419, + 0.03110728280026783 + ], + [ + 0.003488946007564664, + 0.991040825843811, + 0.13351373374462128, + 0.04670173286409803 + ], + [ + -0.04712619259953499, + -0.13320325314998627, + 0.9899677038192749, + 0.10415311631306197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9993171095848083, + -0.007746540009975433, + 0.03612855449318886, + 0.03687922181778175 + ], + [ + 0.0028045063372701406, + 0.9908575415611267, + 0.13488300144672394, + 0.04588417465159626 + ], + [ + -0.03684312477707863, + -0.1346895843744278, + 0.9902026653289795, + 0.10528894537236802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996384978294373, + -0.0045041367411613464, + 0.026506980881094933, + 0.04235456649416176 + ], + [ + 0.0008500681724399328, + 0.9906700849533081, + 0.13627929985523224, + 0.04571611806208831 + ], + [ + -0.026873493567109108, + -0.13620750606060028, + 0.9903157949447632, + 0.1066699979177048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9998553991317749, + -0.0015051228692755103, + 0.01693795435130596, + 0.047679233920666586 + ], + [ + -0.0008417010540142655, + 0.9904735684394836, + 0.13770046830177307, + 0.045295619888704036 + ], + [ + -0.01698385365307331, + -0.1376948058605194, + 0.9903290867805481, + 0.10715378603009984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.999959409236908, + 0.001376763335429132, + 0.008904858492314816, + 0.05170762330986732 + ], + [ + -0.002601541578769684, + 0.9902846813201904, + 0.13903068006038666, + 0.04415704940640649 + ], + [ + -0.008626933209598064, + -0.13904820382595062, + 0.9902480244636536, + 0.10850236801387265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9999886751174927, + 0.004683163017034531, + 0.0008736141608096659, + 0.05622852870891261 + ], + [ + -0.004759039729833603, + 0.9903413653373718, + 0.13856877386569977, + 0.04347553114269593 + ], + [ + -0.0002162361633963883, + -0.1385713666677475, + 0.9903524518013, + 0.10964518301337849 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9999505877494812, + 0.007172948215156794, + -0.006886717397719622, + 0.060384553670883176 + ], + [ + -0.006159091833978891, + 0.9905007481575012, + 0.13736924529075623, + 0.04287046284104387 + ], + [ + 0.007806641515344381, + -0.13732004165649414, + 0.9904959797859192, + 0.11069350208466251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9998382329940796, + 0.010881681926548481, + -0.014320661313831806, + 0.06486818949843562 + ], + [ + -0.008817165158689022, + 0.9905232191085815, + 0.13706210255622864, + 0.041307505503903295 + ], + [ + 0.015676412731409073, + -0.13691365718841553, + 0.9904589653015137, + 0.11087641704740912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9996697306632996, + 0.015211960300803185, + -0.020713791251182556, + 0.06919631281102351 + ], + [ + -0.012237101793289185, + 0.9905164837837219, + 0.1368478238582611, + 0.041308318419280905 + ], + [ + 0.022599074989557266, + -0.13654914498329163, + 0.9903755187988281, + 0.11231415919786276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.999455988407135, + 0.018276814371347427, + -0.027452722191810608, + 0.07321122850096502 + ], + [ + -0.014342278242111206, + 0.990434467792511, + 0.1372363418340683, + 0.04115323535809221 + ], + [ + 0.029698364436626434, + -0.1367679387331009, + 0.9901578426361084, + 0.11249490571460982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9992173910140991, + 0.02084009349346161, + -0.03361952304840088, + 0.07756037143773811 + ], + [ + -0.01603788509964943, + 0.990404486656189, + 0.1372651904821396, + 0.040992261452037236 + ], + [ + 0.03615754842758179, + -0.13661856949329376, + 0.9899636507034302, + 0.11399763614632362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9989334940910339, + 0.023716049268841743, + -0.039615292102098465, + 0.08111829660659613 + ], + [ + -0.018059467896819115, + 0.9903385043144226, + 0.13749004900455475, + 0.04058658963054881 + ], + [ + 0.042493272572755814, + -0.13662798702716827, + 0.9897106289863586, + 0.11468054073783317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9985643029212952, + 0.027108997106552124, + -0.04620033875107765, + 0.08488520700340123 + ], + [ + -0.02049730345606804, + 0.9902191162109375, + 0.1380070596933365, + 0.03993921419677808 + ], + [ + 0.049489688128232956, + -0.13686193525791168, + 0.9893531203269958, + 0.11510818386955779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9981637597084045, + 0.030079903081059456, + -0.0525771901011467, + 0.08760288336942364 + ], + [ + -0.0225533377379179, + 0.9901341199874878, + 0.1382959932088852, + 0.04005311239337505 + ], + [ + 0.05621840059757233, + -0.13685624301433563, + 0.9889943599700928, + 0.11612262323845264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9977214932441711, + 0.032263822853565216, + -0.059252697974443436, + 0.09025482632393061 + ], + [ + -0.02376147359609604, + 0.9900117516517639, + 0.13896805047988892, + 0.03996905773416046 + ], + [ + 0.0631445050239563, + -0.13724347949028015, + 0.9885226488113403, + 0.11582245453614597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9972016215324402, + 0.03503929078578949, + -0.06603892892599106, + 0.09339258513709371 + ], + [ + -0.025572679936885834, + 0.9899482131004333, + 0.13909924030303955, + 0.04074787567983302 + ], + [ + 0.0702490583062172, + -0.13702118396759033, + 0.988074004650116, + 0.11806169640301734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9966096878051758, + 0.037775855511426926, + -0.07308994233608246, + 0.09595854136832925 + ], + [ + -0.027331557124853134, + 0.9899213910102844, + 0.1389552801847458, + 0.04157637569100358 + ], + [ + 0.07760244607925415, + -0.13648651540279388, + 0.9875977635383606, + 0.11807343956342964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.995932936668396, + 0.040868379175662994, + -0.08029578626155853, + 0.09841443152390708 + ], + [ + -0.029362216591835022, + 0.9897753000259399, + 0.13958033919334412, + 0.042057059676379197 + ], + [ + 0.08517920970916748, + -0.13665500283241272, + 0.9869498014450073, + 0.11861084690389707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9951657056808472, + 0.044426631182432175, + -0.087587371468544, + 0.10029437237007673 + ], + [ + -0.031882915645837784, + 0.9896752834320068, + 0.1397365927696228, + 0.04383034631609917 + ], + [ + 0.09289108216762543, + -0.1362685263156891, + 0.9863073229789734, + 0.11712746853514235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.994198739528656, + 0.04703381285071373, + -0.09672986716032028, + 0.10375698797924574 + ], + [ + -0.03367523476481438, + 0.9902229905128479, + 0.13536758720874786, + 0.054431970478143805 + ], + [ + 0.10215099900960922, + -0.1313248723745346, + 0.9860623478889465, + 0.11256325062970782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9932788014411926, + 0.049992531538009644, + -0.10439357906579971, + 0.10482073950675105 + ], + [ + -0.03535839170217514, + 0.9898564219474792, + 0.13760122656822205, + 0.05113459381368733 + ], + [ + 0.11021368950605392, + -0.1329851746559143, + 0.9849709868431091, + 0.11409945352826008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9921842813491821, + 0.05236651003360748, + -0.1132614016532898, + 0.10567913833976715 + ], + [ + -0.03667186200618744, + 0.9899663329124451, + 0.13646166026592255, + 0.05438406756219938 + ], + [ + 0.11927099525928497, + -0.1312416046857834, + 0.9841493964195251, + 0.11225501735543096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9911451935768127, + 0.05363591015338898, + -0.12146762758493423, + 0.10625758517620175 + ], + [ + -0.03635948896408081, + 0.9894520044326782, + 0.14022360742092133, + 0.04696223827642064 + ], + [ + 0.12770740687847137, + -0.13456545770168304, + 0.98264080286026, + 0.1162912912840067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9899428486824036, + 0.055158812552690506, + -0.1302713006734848, + 0.10653137617795042 + ], + [ + -0.0365290604531765, + 0.9892934560775757, + 0.14129413664340973, + 0.046539620821212616 + ], + [ + 0.13667015731334686, + -0.13511444628238678, + 0.9813589453697205, + 0.1147002229279326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9886641502380371, + 0.058348074555397034, + -0.13834276795387268, + 0.10713909021181654 + ], + [ + -0.03853058069944382, + 0.9891413450241089, + 0.14182664453983307, + 0.048260935274667516 + ], + [ + 0.14511585235595703, + -0.13488848507404327, + 0.9801767468452454, + 0.11329048548557961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9874483346939087, + 0.060671042650938034, + -0.14582453668117523, + 0.10673198381135629 + ], + [ + -0.039486099034547806, + 0.9887880086898804, + 0.14401084184646606, + 0.04633966638425062 + ], + [ + 0.15292684733867645, + -0.13644522428512573, + 0.978772759437561, + 0.11245656204085017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9860543608665466, + 0.06402169167995453, + -0.1536165028810501, + 0.10736788314904352 + ], + [ + -0.04172767698764801, + 0.9886692762374878, + 0.14419367909431458, + 0.048247515023216725 + ], + [ + 0.16110743582248688, + -0.1357727348804474, + 0.977553129196167, + 0.11080932175928308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9846430420875549, + 0.06670408695936203, + -0.16133399307727814, + 0.10824295483356298 + ], + [ + -0.043273165822029114, + 0.9885414838790894, + 0.14461387693881989, + 0.04888464505820311 + ], + [ + 0.16913168132305145, + -0.1354116052389145, + 0.9762470126152039, + 0.10860799102820168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9833360314369202, + 0.06885000318288803, + -0.16825570166110992, + 0.1075141369603401 + ], + [ + -0.04410349577665329, + 0.9882091879844666, + 0.14662005007266998, + 0.046311740715836366 + ], + [ + 0.17636661231517792, + -0.13675610721111298, + 0.9747782349586487, + 0.10673665123623471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9819179177284241, + 0.0719405934214592, + -0.1751050055027008, + 0.10827921996282976 + ], + [ + -0.046114254742860794, + 0.9880121946334839, + 0.14732743799686432, + 0.04608009478091732 + ], + [ + 0.18360471725463867, + -0.13658861815929413, + 0.9734643697738647, + 0.1058914388681567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9807224273681641, + 0.0741535872220993, + -0.18078941106796265, + 0.10938288109709127 + ], + [ + -0.04752032831311226, + 0.9879298210144043, + 0.1474328488111496, + 0.04514716175753017 + ], + [ + 0.18953993916511536, + -0.13599951565265656, + 0.9724087119102478, + 0.10442420898019805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9796710014343262, + 0.07550521194934845, + -0.18585923314094543, + 0.11004070674264153 + ], + [ + -0.048227500170469284, + 0.9879391193389893, + 0.1471407562494278, + 0.044569163189031355 + ], + [ + 0.19472751021385193, + -0.13518600165843964, + 0.9714967608451843, + 0.10203836376583854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9785948991775513, + 0.07601239532232285, + -0.19124379754066467, + 0.11168077479499255 + ], + [ + -0.048113249242305756, + 0.9880379438400269, + 0.14651326835155487, + 0.04445402527502341 + ], + [ + 0.20009294152259827, + -0.13417576253414154, + 0.9705460667610168, + 0.10148956285890683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9778319001197815, + 0.07620907574892044, + -0.19503061473369598, + 0.11077933621036913 + ], + [ + -0.04772532731294632, + 0.9880157709121704, + 0.14678940176963806, + 0.04394248041302659 + ], + [ + 0.20387999713420868, + -0.134227454662323, + 0.9697504639625549, + 0.0985431171549383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9769936800003052, + 0.07646875083446503, + -0.19908767938613892, + 0.11150289143240728 + ], + [ + -0.04746159911155701, + 0.9880569577217102, + 0.1465977281332016, + 0.044188539285299394 + ], + [ + 0.207920104265213, + -0.13377602398395538, + 0.9689546823501587, + 0.09729173429483591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9762002825737, + 0.07767722755670547, + -0.20248264074325562, + 0.1122395754322525 + ], + [ + -0.04817689210176468, + 0.9879993796348572, + 0.14675213396549225, + 0.0445123244972192 + ], + [ + 0.21145203709602356, + -0.1335044950246811, + 0.9682275652885437, + 0.0963008958239888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9755134582519531, + 0.07888585329055786, + -0.20530584454536438, + 0.11371426064838734 + ], + [ + -0.04915551468729973, + 0.9880505800247192, + 0.1460813283920288, + 0.04509482754524364 + ], + [ + 0.214376300573349, + -0.1324124038219452, + 0.9677343368530273, + 0.09598645175150199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9750673770904541, + 0.07935158163309097, + -0.2072363793849945, + 0.11459449605886325 + ], + [ + -0.04943039268255234, + 0.9880834817886353, + 0.1457660049200058, + 0.0448349924801394 + ], + [ + 0.21633359789848328, + -0.13188789784908295, + 0.967370331287384, + 0.09545219765846119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.974574863910675, + 0.07959607988595963, + -0.20944757759571075, + 0.11566124098707539 + ], + [ + -0.04963167756795883, + 0.9882416725158691, + 0.1446203589439392, + 0.04459491394055906 + ], + [ + 0.21849603950977325, + -0.1305481195449829, + 0.9670659899711609, + 0.09401561189298482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9741919636726379, + 0.07960411161184311, + -0.21121849119663239, + 0.11625533101632612 + ], + [ + -0.04965921863913536, + 0.9884078502655029, + 0.14347094297409058, + 0.04486475840153158 + ], + [ + 0.2201908975839615, + -0.12927928566932678, + 0.9668520092964172, + 0.09317477695470633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9737414717674255, + 0.07941514253616333, + -0.2133561223745346, + 0.11704852726570396 + ], + [ + -0.049372706562280655, + 0.9885451197624207, + 0.14262163639068604, + 0.044465135869591735 + ], + [ + 0.2222384661436081, + -0.1283426284790039, + 0.9665082693099976, + 0.09170316540917685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9731670022010803, + 0.07848114520311356, + -0.2163022756576538, + 0.11756093012270076 + ], + [ + -0.048370055854320526, + 0.9888062477111816, + 0.1411474198102951, + 0.045722795254731365 + ], + [ + 0.22495844960212708, + -0.12689746916294098, + 0.966069757938385, + 0.09158732567646707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9725241661071777, + 0.07887890189886093, + -0.21903164684772491, + 0.11634530006915099 + ], + [ + -0.048358332365751266, + 0.9887754321098328, + 0.141367107629776, + 0.04525105309232261 + ], + [ + 0.22772400081157684, + -0.12689092755317688, + 0.9654224514961243, + 0.09092148101144983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9717923402786255, + 0.07786127179861069, + -0.22261473536491394, + 0.11581150702265805 + ], + [ + -0.04708178713917732, + 0.9889784455299377, + 0.14037436246871948, + 0.04438516403180222 + ], + [ + 0.23109090328216553, + -0.12593361735343933, + 0.9647474884986877, + 0.08916927257249521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9708865880966187, + 0.07833961397409439, + -0.22636717557907104, + 0.11447405117426732 + ], + [ + -0.047213517129421234, + 0.989055335521698, + 0.1397872418165207, + 0.04425025363994199 + ], + [ + 0.2348405420780182, + -0.12502996623516083, + 0.9639592170715332, + 0.08448687365581822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9702805280685425, + 0.07913649827241898, + -0.2286769151687622, + 0.11330638514008633 + ], + [ + -0.047531433403491974, + 0.9889312386512756, + 0.14055520296096802, + 0.044264856841444045 + ], + [ + 0.23726880550384521, + -0.1255086362361908, + 0.9633021950721741, + 0.08073206465373667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9700348377227783, + 0.07899940013885498, + -0.229763925075531, + 0.11257438285406246 + ], + [ + -0.04703572019934654, + 0.9888330698013306, + 0.14141008257865906, + 0.0454858488641506 + ], + [ + 0.23836946487426758, + -0.12636560201644897, + 0.9629183411598206, + 0.0777785440863565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9699773192405701, + 0.07807348668575287, + -0.2303227037191391, + 0.11200284135434053 + ], + [ + -0.04553790017962456, + 0.9886251091957092, + 0.14334101974964142, + 0.045876748048404394 + ], + [ + 0.23889394104480743, + -0.12854911386966705, + 0.9624992609024048, + 0.07600743413664574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9702162742614746, + 0.07799383252859116, + -0.2293410450220108, + 0.11062261097190916 + ], + [ + -0.045181356370449066, + 0.9884001612663269, + 0.1449955552816391, + 0.04579522845934528 + ], + [ + 0.23798950016498566, + -0.13031511008739471, + 0.9624858498573303, + 0.07239244549080383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9718320965766907, + 0.07337340712547302, + -0.22396135330200195, + 0.10863472819328307 + ], + [ + -0.041001275181770325, + 0.9884470701217651, + 0.14591525495052338, + 0.04620527699589729 + ], + [ + 0.23208025097846985, + -0.13262243568897247, + 0.9636130332946777, + 0.06706157773733139 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/move_right/transforms.json b/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..8b730f603638df62e2206d0615f9ff85c94cc836 --- /dev/null +++ b/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/move_right/transforms.json @@ -0,0 +1,4563 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 130, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -3.779902181122452e-05, + -7.106735324668989e-07, + 5.438872904051095e-05 + ], + [ + 3.779891994781792e-05, + 1.0, + -0.00014276729780249298, + 0.0001941786176757887 + ], + [ + 7.160700192798686e-07, + 0.00014276726869866252, + 1.0, + 7.050997373880818e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999990701675415, + -0.00022619572700932622, + 0.004309419542551041, + 0.0006686370014826687 + ], + [ + 0.00019655164214782417, + 0.9999763369560242, + 0.006878083571791649, + 0.003281681892771613 + ], + [ + -0.004310873337090015, + -0.006877172738313675, + 0.9999670386314392, + -0.00037343157098859605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999767541885376, + -0.00021557725267484784, + 0.006819385569542646, + 0.0025155430739066858 + ], + [ + 0.00012867545592598617, + 0.9999188184738159, + 0.012741217389702797, + 0.00679918211707015 + ], + [ + -0.006821578834205866, + -0.012740043923258781, + 0.9998955726623535, + -0.0006366220107049386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999958336353302, + -0.0003605873207561672, + 0.009118292480707169, + 0.003316277961333304 + ], + [ + 0.00018979329615831375, + 0.9998246431350708, + 0.018724853172898293, + 0.009150411866518647 + ], + [ + -0.00912344641983509, + -0.01872234232723713, + 0.9997830986976624, + -0.0009629066180719365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999306201934814, + -0.00011669746891129762, + 0.011781095527112484, + 0.0038996929228811185 + ], + [ + -0.0001615580840734765, + 0.999721109867096, + 0.023615103214979172, + 0.012001429780705853 + ], + [ + -0.011780566535890102, + -0.023615367710590363, + 0.9996517300605774, + -0.0011917972893908967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999886155128479, + 0.00043676671339198947, + 0.01508337166160345, + 0.004537278057126574 + ], + [ + -0.0008723149658180773, + 0.9995824694633484, + 0.028881559148430824, + 0.013114445477989393 + ], + [ + -0.01506445836275816, + -0.02889142744243145, + 0.9994690418243408, + -0.0012766120372368962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998300075531006, + 0.0005297295283526182, + 0.018431788310408592, + 0.006067689206602788 + ], + [ + -0.0011534647783264518, + 0.9994263648986816, + 0.033846039324998856, + 0.014498207183706379 + ], + [ + -0.01840328611433506, + -0.033861543983221054, + 0.9992570877075195, + -0.0009914326806401098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997697472572327, + 0.0007294963579624891, + 0.021446503698825836, + 0.007587577870779837 + ], + [ + -0.0015395758673548698, + 0.9992849230766296, + 0.03777989745140076, + 0.016183640483709037 + ], + [ + -0.021403606981039047, + -0.037804216146469116, + 0.9990559220314026, + -0.0018646066262957084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997117519378662, + 0.0007506641559302807, + 0.023997219279408455, + 0.009625643137986807 + ], + [ + -0.001722042914479971, + 0.9991787075996399, + 0.040483810007572174, + 0.017841627030063045 + ], + [ + -0.02394712157547474, + -0.04051346331834793, + 0.9988920092582703, + -0.002153730603267056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996286034584045, + 0.0006552166887558997, + 0.027242910116910934, + 0.01088069501701136 + ], + [ + -0.0018140492029488087, + 0.9990933537483215, + 0.04253411293029785, + 0.019315045843507316 + ], + [ + -0.02719034254550934, + -0.04256773740053177, + 0.9987235069274902, + -0.0024847093904607517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9995343089103699, + 0.0006715603522025049, + 0.030507078394293785, + 0.012303341472478108 + ], + [ + -0.002071383874863386, + 0.9989449381828308, + 0.045876819640398026, + 0.017106401427223007 + ], + [ + -0.030444083735346794, + -0.045918647199869156, + 0.9984811544418335, + -0.002490518630893771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9994349479675293, + 0.000353671726770699, + 0.03361034765839577, + 0.013818532650091852 + ], + [ + -0.0020067733712494373, + 0.9987887144088745, + 0.049163322895765305, + 0.014951298113320341 + ], + [ + -0.033552248030900955, + -0.04920298978686333, + 0.9982250928878784, + -0.0014906181524283895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993466734886169, + 0.0003661129157990217, + 0.03613966330885887, + 0.016019242739868024 + ], + [ + -0.002315058372914791, + 0.9985436201095581, + 0.0539010651409626, + 0.008333117246281269 + ], + [ + -0.03606729581952095, + -0.053949516266584396, + 0.9978920817375183, + -0.0005389380092099092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999272882938385, + -0.00018957193242385983, + 0.038126345723867416, + 0.019847329853232516 + ], + [ + -0.0016649325843900442, + 0.9988167881965637, + 0.04860338941216469, + 0.023595173229001346 + ], + [ + -0.03809044882655144, + -0.04863153025507927, + 0.9980902075767517, + -0.003775143128812544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9991632699966431, + -0.0004223412834107876, + 0.04089727625250816, + 0.022504133748453718 + ], + [ + -0.0016180840320885181, + 0.9987556338310242, + 0.04984551668167114, + 0.022988239719799554 + ], + [ + -0.040867436677217484, + -0.04986998438835144, + 0.9979192614555359, + -0.003604978538847478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9990477561950684, + -0.0009546015062369406, + 0.04362015426158905, + 0.024797893064313157 + ], + [ + -0.0012118092272430658, + 0.9987678527832031, + 0.04961193725466728, + 0.02424434210487836 + ], + [ + -0.04361376911401749, + -0.04961755499243736, + 0.9978156089782715, + -0.003087037751927625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9989662170410156, + -0.0013813842087984085, + 0.04543822258710861, + 0.026937205725631047 + ], + [ + -0.0008527850732207298, + 0.998792827129364, + 0.049113284796476364, + 0.024769150503268538 + ], + [ + -0.04545121639966965, + -0.04910125955939293, + 0.9977591037750244, + -0.0038705306961526013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9988737106323242, + -0.0009729806915856898, + 0.0474376305937767, + 0.02943343758698582 + ], + [ + -0.0013619805686175823, + 0.9987897872924805, + 0.0491645522415638, + 0.025365184860072974 + ], + [ + -0.047428056597709656, + -0.04917379096150398, + 0.9976635575294495, + -0.004975105246687813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9987690448760986, + -0.0011521237902343273, + 0.04958914965391159, + 0.03149061029733614 + ], + [ + -0.001315234461799264, + 0.9987636208534241, + 0.049694642424583435, + 0.02615935408813489 + ], + [ + -0.04958508908748627, + -0.049698688089847565, + 0.9975326061248779, + -0.006088534671120172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9986504912376404, + -0.0014231777749955654, + 0.05191522464156151, + 0.03342690118119236 + ], + [ + -0.0012015530373901129, + 0.9987237453460693, + 0.05049179866909981, + 0.026658216190105666 + ], + [ + -0.051920827478170395, + -0.050486039370298386, + 0.9973742365837097, + -0.006380757418742706 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9984930157661438, + -0.0013272903161123395, + 0.05486249923706055, + 0.03396501676576544 + ], + [ + -0.0014918624656274915, + 0.9986814856529236, + 0.051312919706106186, + 0.027298339388095016 + ], + [ + -0.054858267307281494, + -0.05131744220852852, + 0.9971745610237122, + -0.007935128972483005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9982832670211792, + -0.0016719776904210448, + 0.058547113090753555, + 0.033696739375591284 + ], + [ + -0.0013989064609631896, + 0.998626708984375, + 0.052371274679899216, + 0.027671977681335235 + ], + [ + -0.0585542730987072, + -0.05236326530575752, + 0.9969099760055542, + -0.008715461915748757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9980512261390686, + -0.0015351995825767517, + 0.062381502240896225, + 0.03319582376889018 + ], + [ + -0.0018261822406202555, + 0.998550534248352, + 0.053791552782058716, + 0.0278196904595306 + ], + [ + -0.06237366423010826, + -0.05380064249038696, + 0.9966017603874207, + -0.010441784569343856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9978209733963013, + -0.001315613160841167, + 0.06596621125936508, + 0.03335530336570832 + ], + [ + -0.002320395316928625, + 0.9984830021858215, + 0.05501236394047737, + 0.028590783298867502 + ], + [ + -0.06593851000070572, + -0.05504555627703667, + 0.9963042140007019, + -0.012609039684541003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9975644946098328, + -0.0015812469646334648, + 0.06973236054182053, + 0.03454137870738673 + ], + [ + -0.002343512140214443, + 0.9984187483787537, + 0.05616547539830208, + 0.029281590705694156 + ], + [ + -0.06971090286970139, + -0.056192103773355484, + 0.995983362197876, + -0.012835338962979094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9972427487373352, + -0.001931874779984355, + 0.07418297976255417, + 0.03438942746598592 + ], + [ + -0.002351712202653289, + 0.9983362555503845, + 0.05761279910802841, + 0.029581492150368444 + ], + [ + -0.07417085021734238, + -0.05762840807437897, + 0.9955790638923645, + -0.012463023438472156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9969510436058044, + -0.0027048736810684204, + 0.07798277586698532, + 0.03538491919261309 + ], + [ + -0.0018718483624979854, + 0.9982823729515076, + 0.058556124567985535, + 0.030299010456453057 + ], + [ + -0.07800721377134323, + -0.05852355808019638, + 0.9952335953712463, + -0.012670718269177185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9966397881507874, + -0.0030367430299520493, + 0.08185276389122009, + 0.03535516728148904 + ], + [ + -0.0018685432150959969, + 0.998209536075592, + 0.059785038232803345, + 0.02985124940399167 + ], + [ + -0.08188776671886444, + -0.05973709374666214, + 0.994849681854248, + -0.012603856926394064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9963072538375854, + -0.0033813631162047386, + 0.08579271286725998, + 0.0345862879006322 + ], + [ + -0.0018418808467686176, + 0.9981525540351868, + 0.06073005124926567, + 0.030169648193400497 + ], + [ + -0.08583956211805344, + -0.06066380813717842, + 0.99446040391922, + -0.012608487068047357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9959016442298889, + -0.0034574363380670547, + 0.09037704020738602, + 0.033184823964166554 + ], + [ + -0.0021346062421798706, + 0.9980921745300293, + 0.061704810708761215, + 0.02930839365247146 + ], + [ + -0.09041795879602432, + -0.061644840985536575, + 0.9939942359924316, + -0.012304727208995543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.995487630367279, + -0.004137771669775248, + 0.09480107575654984, + 0.030962816331275674 + ], + [ + -0.0018080216832458973, + 0.9980403780937195, + 0.06254704296588898, + 0.02910345081283256 + ], + [ + -0.09487410634756088, + -0.06243620812892914, + 0.9935293793678284, + -0.011385831657017386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9950650334358215, + -0.004727497231215239, + 0.09911245852708817, + 0.028934065876312035 + ], + [ + -0.001559183350764215, + 0.9979960918426514, + 0.06325655430555344, + 0.029134553148458142 + ], + [ + -0.0992128923535347, + -0.06309891492128372, + 0.9930636286735535, + -0.009838414838349865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9946297407150269, + -0.004473522305488586, + 0.1034005880355835, + 0.026984545210188674 + ], + [ + -0.0022182115353643894, + 0.9979144930839539, + 0.06451116502285004, + 0.028932782750605613 + ], + [ + -0.10347354412078857, + -0.06439408659934998, + 0.9925455451011658, + -0.009390090165529833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9941076636314392, + -0.005118898116052151, + 0.10827620327472687, + 0.02445959806426017 + ], + [ + -0.001988950651139021, + 0.9978547692298889, + 0.06543587893247604, + 0.030020639182306654 + ], + [ + -0.10837888717651367, + -0.06526566296815872, + 0.9919649362564087, + -0.008939284482580977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9936580061912537, + -0.005759275984019041, + 0.11229677498340607, + 0.022617316422189854 + ], + [ + -0.001825639046728611, + 0.997729480266571, + 0.06732393801212311, + 0.030387554411566996 + ], + [ + -0.11242954432964325, + -0.06710198521614075, + 0.9913914203643799, + -0.008057459214947714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9932029247283936, + -0.006453960668295622, + 0.1162167489528656, + 0.020421734646453645 + ], + [ + -0.001926723401993513, + 0.997413158416748, + 0.07185619324445724, + 0.030372162975818497 + ], + [ + -0.11637987196445465, + -0.07159169763326645, + 0.9906212091445923, + -0.008014888152509003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9926862716674805, + -0.008192859590053558, + 0.12044458091259003, + 0.018936510254130807 + ], + [ + -0.001101803034543991, + 0.9970381259918213, + 0.07690124213695526, + 0.031312667387862536 + ], + [ + -0.12071788311004639, + -0.07647150754928589, + 0.9897369742393494, + -0.004697357407272902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.992121160030365, + -0.008915480226278305, + 0.12496428191661835, + 0.016747693103817546 + ], + [ + -0.001113060861825943, + 0.996798038482666, + 0.0799526572227478, + 0.03187672867504663 + ], + [ + -0.12527696788311005, + -0.07946181297302246, + 0.9889345169067383, + -0.003202041017267016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9913902282714844, + -0.00982833281159401, + 0.13057094812393188, + 0.012225659979983816 + ], + [ + -0.0009611458517611027, + 0.9966059327125549, + 0.08231423050165176, + 0.033001642056935745 + ], + [ + -0.13093680143356323, + -0.08173102885484695, + 0.9880160093307495, + -0.004426587029638187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9905403256416321, + -0.010879788547754288, + 0.1367901712656021, + 0.011292022215419036 + ], + [ + -0.0007552606984972954, + 0.9964045882225037, + 0.08471944183111191, + 0.03314208495972115 + ], + [ + -0.13722006976604462, + -0.08402133733034134, + 0.9869706630706787, + -0.002082443057537772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9896761775016785, + -0.011881377547979355, + 0.14282813668251038, + 0.008737220869276873 + ], + [ + -0.0005737137980759144, + 0.9962214231491089, + 0.08684756606817245, + 0.033371119377340455 + ], + [ + -0.14332032203674316, + -0.08603290468454361, + 0.9859298467636108, + -0.0017965125685283382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9887380599975586, + -0.013065053150057793, + 0.14908510446548462, + 0.005873800744844039 + ], + [ + -0.00017622625455260277, + 0.996079683303833, + 0.0884600579738617, + 0.033807238548373184 + ], + [ + -0.14965638518333435, + -0.08749009668827057, + 0.9848595857620239, + -0.001466631923636147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9876902103424072, + -0.014651244506239891, + 0.15573491156101227, + 0.004767063771222921 + ], + [ + 0.0004989565350115299, + 0.9958938360214233, + 0.09052736312150955, + 0.03364813610868052 + ], + [ + -0.15642176568508148, + -0.08933528512716293, + 0.9836419224739075, + -0.0006414373946744354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9866309762001038, + -0.01616981066763401, + 0.1621662825345993, + 0.003566365813215573 + ], + [ + 0.001192272175103426, + 0.995755136013031, + 0.09203418344259262, + 0.03440848466319343 + ], + [ + -0.16296608746051788, + -0.09061042219400406, + 0.9824621081352234, + -0.00011800785238544158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9856425523757935, + -0.017649393528699875, + 0.1679203063249588, + 0.0023882058759530367 + ], + [ + 0.0018550679087638855, + 0.9955936670303345, + 0.09375394880771637, + 0.03520890655674676 + ], + [ + -0.1688350886106491, + -0.09209637343883514, + 0.9813322424888611, + 0.0014364063393237977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9844891428947449, + -0.019415993243455887, + 0.1743679642677307, + 0.0009979324112104823 + ], + [ + 0.002689857967197895, + 0.9954111576080322, + 0.09565266966819763, + 0.03563001343633893 + ], + [ + -0.1754249930381775, + -0.09369999170303345, + 0.9800236821174622, + 0.003217055592252765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9833933115005493, + -0.020670924335718155, + 0.18030625581741333, + 0.00042531590822131315 + ], + [ + 0.0032757753506302834, + 0.9953523278236389, + 0.09624446928501129, + 0.03755760232001081 + ], + [ + -0.1814577281475067, + -0.09405551850795746, + 0.9788905382156372, + 0.0044669383732500925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9824613928794861, + -0.0224660225212574, + 0.18510766327381134, + -0.0014908003194849598 + ], + [ + 0.004451107233762741, + 0.995258092880249, + 0.09716751426458359, + 0.03892620931588864 + ], + [ + -0.18641285598278046, + -0.09463939815759659, + 0.9779026508331299, + 0.006059315120584743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9816094636917114, + -0.024563217535614967, + 0.18931318819522858, + -0.00441254706576813 + ], + [ + 0.005912138149142265, + 0.9951233267784119, + 0.09846130013465881, + 0.03975944290327471 + ], + [ + -0.1908084899187088, + -0.09553129971027374, + 0.9769676923751831, + 0.008773883120265117 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9809460043907166, + -0.025745216757059097, + 0.19256721436977386, + -0.005270545733298437 + ], + [ + 0.006462412886321545, + 0.9949563145637512, + 0.10010058432817459, + 0.03977770452683633 + ], + [ + -0.19417308270931244, + -0.09694882482290268, + 0.9761648178100586, + 0.00970550398378409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.980169415473938, + -0.026996687054634094, + 0.19631370902061462, + -0.006303358014470843 + ], + [ + 0.007125065661966801, + 0.9948371648788452, + 0.10123356431722641, + 0.04063945847686178 + ], + [ + -0.1980331540107727, + -0.09782729297876358, + 0.9753013253211975, + 0.011195218161672583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9794378876686096, + -0.0286000594496727, + 0.199708491563797, + -0.005972762423199274 + ], + [ + 0.008081029169261456, + 0.9946678280830383, + 0.10281334072351456, + 0.04081567542107646 + ], + [ + -0.2015840709209442, + -0.09908542782068253, + 0.9744464755058289, + 0.012745276232098424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9786786437034607, + -0.03006943315267563, + 0.20318438112735748, + -0.006898615434188252 + ], + [ + 0.009106629528105259, + 0.9946056008338928, + 0.1033286303281784, + 0.04162107664196528 + ], + [ + -0.205195352435112, + -0.09927520155906677, + 0.9736731052398682, + 0.014475399928615075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9779446721076965, + -0.03154105693101883, + 0.20646877586841583, + -0.00687744473648625 + ], + [ + 0.01033980492502451, + 0.9946308135986328, + 0.10296931862831116, + 0.04146933204227293 + ], + [ + -0.20860795676708221, + -0.09856344759464264, + 0.9730200171470642, + 0.01691756339440512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.977146327495575, + -0.032429859042167664, + 0.21007932722568512, + -0.007137655692045081 + ], + [ + 0.011150996200740337, + 0.994753360748291, + 0.1016928106546402, + 0.042764398763172846 + ], + [ + -0.21227498352527618, + -0.09702616930007935, + 0.9723812341690063, + 0.020347043689946796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9766793251037598, + -0.03374449163675308, + 0.2120349407196045, + -0.00687757423219755 + ], + [ + 0.012352078221738338, + 0.9947673678398132, + 0.10141678154468536, + 0.04388625017735501 + ], + [ + -0.2143476903438568, + -0.09643259644508362, + 0.9719855189323425, + 0.020757309298298155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.976363480091095, + -0.035061925649642944, + 0.21327219903469086, + -0.0056609124234018385 + ], + [ + 0.013348357751965523, + 0.994652509689331, + 0.10241176933050156, + 0.04464812790469606 + ], + [ + -0.2157224863767624, + -0.09714428335428238, + 0.971610426902771, + 0.0229719663717488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9760907888412476, + -0.0365055575966835, + 0.2142757922410965, + -0.0044431389764297766 + ], + [ + 0.014430390670895576, + 0.9945043325424194, + 0.10369612276554108, + 0.04506973672311666 + ], + [ + -0.21688370406627655, + -0.09812474250793457, + 0.9712533354759216, + 0.024053522805834924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9757982492446899, + -0.03786531835794449, + 0.21536950767040253, + -0.0019871834983197223 + ], + [ + 0.015359001234173775, + 0.9943293333053589, + 0.10522990673780441, + 0.0456157279020363 + ], + [ + -0.21813277900218964, + -0.09937530010938644, + 0.9708463549613953, + 0.0265745662788088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9756565690040588, + -0.039308108389377594, + 0.21575254201889038, + 0.0013087332768495705 + ], + [ + 0.01655244082212448, + 0.9941982626914978, + 0.10628175735473633, + 0.04684867322329403 + ], + [ + -0.2186785340309143, + -0.10012325644493103, + 0.9706467390060425, + 0.02947935196895932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9756778478622437, + -0.040358174592256546, + 0.21546229720115662, + 0.005123965355545976 + ], + [ + 0.017436299473047256, + 0.9940798282623291, + 0.10724399983882904, + 0.0480017909823462 + ], + [ + -0.21851488947868347, + -0.10087873041629791, + 0.9706053137779236, + 0.03255930447647738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.975858211517334, + -0.04198499023914337, + 0.21433164179325104, + 0.009432180716778885 + ], + [ + 0.018887564539909363, + 0.9938955307006836, + 0.10869654268026352, + 0.04840111932320188 + ], + [ + -0.21758688986301422, + -0.10202420502901077, + 0.9706940650939941, + 0.03548530718499376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9761567711830139, + -0.04317830502986908, + 0.21272887289524078, + 0.01332408361887747 + ], + [ + 0.019916297867894173, + 0.9936983585357666, + 0.11030370742082596, + 0.04853683745040912 + ], + [ + -0.21615107357501984, + -0.10343693941831589, + 0.9708653688430786, + 0.03855198369354241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9767915606498718, + -0.044040497392416, + 0.2096155434846878, + 0.01887221372751302 + ], + [ + 0.020923960953950882, + 0.993572473526001, + 0.11124691367149353, + 0.04947543727277323 + ], + [ + -0.21316762268543243, + -0.1042790561914444, + 0.9714347124099731, + 0.04250221146747123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9775269627571106, + -0.04572995752096176, + 0.2057906836271286, + 0.023931953129033706 + ], + [ + 0.02285093627870083, + 0.993421733379364, + 0.11220978945493698, + 0.04998122734963432 + ], + [ + -0.2095683068037033, + -0.10498558729887009, + 0.9721415042877197, + 0.0455343696555888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9785716533660889, + -0.04692680761218071, + 0.20048795640468597, + 0.029282263083051346 + ], + [ + 0.024609800428152084, + 0.9933594465255737, + 0.112389475107193, + 0.0507884534841129 + ], + [ + -0.2044306844472885, + -0.10504718124866486, + 0.9732282161712646, + 0.04861240782016932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9800091981887817, + -0.047569096088409424, + 0.19318173825740814, + 0.03544070846292862 + ], + [ + 0.02595680207014084, + 0.9932668209075928, + 0.11290355026721954, + 0.05083412046349326 + ], + [ + -0.19725172221660614, + -0.10563214123249054, + 0.9746453762054443, + 0.052501533856225566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.98122239112854, + -0.04872337728738785, + 0.18662437796592712, + 0.04231282675191183 + ], + [ + 0.027816779911518097, + 0.9932000041007996, + 0.11304852366447449, + 0.05152470785980077 + ], + [ + -0.19086343050003052, + -0.1057344526052475, + 0.9759054183959961, + 0.055284987055054004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9826139211654663, + -0.0493738017976284, + 0.17897504568099976, + 0.049937207404841755 + ], + [ + 0.029244091361761093, + 0.9931173324584961, + 0.11341428011655807, + 0.05164933357127877 + ], + [ + -0.18334290385246277, + -0.10620849579572678, + 0.9772948026657104, + 0.05887354214986165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9842337965965271, + -0.05058682709932327, + 0.169483944773674, + 0.05816360055360683 + ], + [ + 0.031505510210990906, + 0.9930452108383179, + 0.11343977600336075, + 0.05212066190880398 + ], + [ + -0.17404378950595856, + -0.10631158202886581, + 0.9789824485778809, + 0.06270383565231812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9860253930091858, + -0.04934334382414818, + 0.1591198593378067, + 0.06767817297878191 + ], + [ + 0.031289998441934586, + 0.992984414100647, + 0.11403001844882965, + 0.05173492584695188 + ], + [ + -0.1636301726102829, + -0.10745763778686523, + 0.98065185546875, + 0.06672650402368502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9881221055984497, + -0.04162907600402832, + 0.14792466163635254, + 0.07817214851000512 + ], + [ + 0.02455243654549122, + 0.9930102825164795, + 0.11544589698314667, + 0.05071617812928996 + ], + [ + -0.15169662237167358, + -0.11044272780418396, + 0.9822375178337097, + 0.06940866379543792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9898341298103333, + -0.035050373524427414, + 0.1378398835659027, + 0.08668549163050429 + ], + [ + 0.01883940026164055, + 0.9929297566413879, + 0.11719885468482971, + 0.050277561919633736 + ], + [ + -0.14097318053245544, + -0.11341060698032379, + 0.9834961295127869, + 0.07354205552228661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9914824366569519, + -0.03136686980724335, + 0.12640686333179474, + 0.09605301255288051 + ], + [ + 0.0163151603192091, + 0.992832601070404, + 0.11839433014392853, + 0.05009569224085687 + ], + [ + -0.12921451032161713, + -0.11532355844974518, + 0.9848878383636475, + 0.07683099301517472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9931609034538269, + -0.02707124687731266, + 0.11357202380895615, + 0.10539648826270141 + ], + [ + 0.013343362137675285, + 0.9926919937133789, + 0.11993540823459625, + 0.050295235231056695 + ], + [ + -0.1159888431429863, + -0.1175997257232666, + 0.9862641096115112, + 0.07982583167247995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9946761727333069, + -0.021200545132160187, + 0.10084541141986847, + 0.11468057005211366 + ], + [ + 0.008651630952954292, + 0.9923339486122131, + 0.12328226119279861, + 0.04837250902295806 + ], + [ + -0.10268597304821014, + -0.12175344675779343, + 0.987234354019165, + 0.08215620195449785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9958605766296387, + -0.01766972430050373, + 0.0891602635383606, + 0.12317818365124769 + ], + [ + 0.0063715483993291855, + 0.9920802712440491, + 0.12544390559196472, + 0.049142065557629566 + ], + [ + -0.09067068994045258, + -0.12435655295848846, + 0.9880861639976501, + 0.08535857120918673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9968448877334595, + -0.01527692936360836, + 0.07789035141468048, + 0.13205951280141062 + ], + [ + 0.005215501878410578, + 0.9917894601821899, + 0.1277751475572586, + 0.04896917350972865 + ], + [ + -0.07920284569263458, + -0.12696577608585358, + 0.9887399077415466, + 0.08913402778002642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9976843595504761, + -0.01308223232626915, + 0.06674373149871826, + 0.1397439015812652 + ], + [ + 0.0042922222055494785, + 0.9914814829826355, + 0.1301771104335785, + 0.047700434838703204 + ], + [ + -0.06787818670272827, + -0.12958920001983643, + 0.9892417192459106, + 0.09161257906708606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9983378052711487, + -0.011531769298017025, + 0.05646808445453644, + 0.1478053466409676 + ], + [ + 0.0039939843118190765, + 0.9912654161453247, + 0.13182134926319122, + 0.04753985773743123 + ], + [ + -0.05749499052762985, + -0.1313766986131668, + 0.98966383934021, + 0.09549945516064186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9988828301429749, + -0.009745936840772629, + 0.04623923823237419, + 0.1549997268490089 + ], + [ + 0.003488946007564664, + 0.991040825843811, + 0.13351373374462128, + 0.04713447035340838 + ], + [ + -0.04712619259953499, + -0.13320325314998627, + 0.9899677038192749, + 0.09830800715342973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9993171095848083, + -0.007746540009975433, + 0.03612855449318886, + 0.16237485883540886 + ], + [ + 0.0028045063372701406, + 0.9908575415611267, + 0.13488300144672394, + 0.0462363684706953 + ], + [ + -0.03684312477707863, + -0.1346895843744278, + 0.9902026653289795, + 0.10066213435385116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996384978294373, + -0.0045041367411613464, + 0.026506980881094933, + 0.16944039102441583 + ], + [ + 0.0008500681724399328, + 0.9906700849533081, + 0.13627929985523224, + 0.045824188744476024 + ], + [ + -0.026873493567109108, + -0.13620750606060028, + 0.9903157949447632, + 0.10325352276653744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9998553991317749, + -0.0015051228692755103, + 0.01693795435130596, + 0.17634279690971671 + ], + [ + -0.0008417010540142655, + 0.9904735684394836, + 0.13770046830177307, + 0.04518730797012546 + ], + [ + -0.01698385365307331, + -0.1376948058605194, + 0.9903290867805481, + 0.10496826687784389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.999959409236908, + 0.001376763335429132, + 0.008904858492314816, + 0.1819348952104879 + ], + [ + -0.002601541578769684, + 0.9902846813201904, + 0.13903068006038666, + 0.043818243991496954 + ], + [ + -0.008626933209598064, + -0.13904820382595062, + 0.9902480244636536, + 0.1073788604330878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9999886751174927, + 0.004683163017034531, + 0.0008736141608096659, + 0.1880099820189698 + ], + [ + -0.004759039729833603, + 0.9903413653373718, + 0.13856877386569977, + 0.042848370868221734 + ], + [ + -0.0002162361633963883, + -0.1385713666677475, + 0.9903524518013, + 0.10961668677479137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9999505877494812, + 0.007172948215156794, + -0.006886717397719622, + 0.19371129870414733 + ], + [ + -0.006159091833978891, + 0.9905007481575012, + 0.13736924529075623, + 0.04204925059651335 + ], + [ + 0.007806641515344381, + -0.13732004165649414, + 0.9904959797859192, + 0.11173438762004177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9998382329940796, + 0.010881681926548481, + -0.014320661313831806, + 0.1997300906929859 + ], + [ + -0.008817165158689022, + 0.9905232191085815, + 0.13706210255622864, + 0.040118213459242914 + ], + [ + 0.015676412731409073, + -0.13691365718841553, + 0.9904589653015137, + 0.11299090992745965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9996697306632996, + 0.015211960300803185, + -0.020713791251182556, + 0.2055853613356287 + ], + [ + -0.012237101793289185, + 0.9905164837837219, + 0.1368478238582611, + 0.039638760345157724 + ], + [ + 0.022599074989557266, + -0.13654914498329163, + 0.9903755187988281, + 0.1153974438476008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.999455988407135, + 0.018276814371347427, + -0.027452722191810608, + 0.21112065945946895 + ], + [ + -0.014342278242111206, + 0.990434467792511, + 0.1372363418340683, + 0.039174223321583844 + ], + [ + 0.029698364436626434, + -0.1367679387331009, + 0.9901578426361084, + 0.11659281956710557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9992173910140991, + 0.02084009349346161, + -0.03361952304840088, + 0.2169860539048217 + ], + [ + -0.01603788509964943, + 0.990404486656189, + 0.1372651904821396, + 0.03875441701952801 + ], + [ + 0.03615754842758179, + -0.13661856949329376, + 0.9899636507034302, + 0.11904287546180016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9989334940910339, + 0.023716049268841743, + -0.039615292102098465, + 0.22205309964889702 + ], + [ + -0.018059467896819115, + 0.9903385043144226, + 0.13749004900455475, + 0.03803866470247045 + ], + [ + 0.042493272572755814, + -0.13662798702716827, + 0.9897106289863586, + 0.1206757156279429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9985643029212952, + 0.027108997106552124, + -0.04620033875107765, + 0.2273160843193069 + ], + [ + -0.02049730345606804, + 0.9902191162109375, + 0.1380070596933365, + 0.037015567812346675 + ], + [ + 0.049489688128232956, + -0.13686193525791168, + 0.9893531203269958, + 0.12216717814521272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9981637597084045, + 0.030079903081059456, + -0.0525771901011467, + 0.23152416965296102 + ], + [ + -0.0225533377379179, + 0.9901341199874878, + 0.1382959932088852, + 0.03680123578930317 + ], + [ + 0.05621840059757233, + -0.13685624301433563, + 0.9889943599700928, + 0.12422853216182354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9977214932441711, + 0.032263822853565216, + -0.059252697974443436, + 0.23565919898277105 + ], + [ + -0.02376147359609604, + 0.9900117516517639, + 0.13896805047988892, + 0.036506145303101506 + ], + [ + 0.0631445050239563, + -0.13724347949028015, + 0.9885226488113403, + 0.12502490953188533 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9972016215324402, + 0.03503929078578949, + -0.06603892892599106, + 0.2402672425721043 + ], + [ + -0.025572679936885834, + 0.9899482131004333, + 0.13909924030303955, + 0.036981356929438984 + ], + [ + 0.0702490583062172, + -0.13702118396759033, + 0.988074004650116, + 0.12840845692873926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9966096878051758, + 0.037775855511426926, + -0.07308994233608246, + 0.24429114606491353 + ], + [ + -0.027331557124853134, + 0.9899213910102844, + 0.1389552801847458, + 0.03750842300265334 + ], + [ + 0.07760244607925415, + -0.13648651540279388, + 0.9875977635383606, + 0.1296235710729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.995932936668396, + 0.040868379175662994, + -0.08029578626155853, + 0.24819039254225503 + ], + [ + -0.029362216591835022, + 0.9897753000259399, + 0.13958033919334412, + 0.03764134648349858 + ], + [ + 0.08517920970916748, + -0.13665500283241272, + 0.9869498014450073, + 0.1314207435578339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9951657056808472, + 0.044426631182432175, + -0.087587371468544, + 0.25149784393088764 + ], + [ + -0.031882915645837784, + 0.9896752834320068, + 0.1397365927696228, + 0.038986120373010635 + ], + [ + 0.09289108216762543, + -0.1362685263156891, + 0.9863073229789734, + 0.1312411523373552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.994198739528656, + 0.04703381285071373, + -0.09672986716032028, + 0.25635493404643483 + ], + [ + -0.03367523476481438, + 0.9902229905128479, + 0.13536758720874786, + 0.04926321351424206 + ], + [ + 0.10215099900960922, + -0.1313248723745346, + 0.9860623478889465, + 0.12824224117536878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9932788014411926, + 0.049992531538009644, + -0.10439357906579971, + 0.25881745290848635 + ], + [ + -0.03535839170217514, + 0.9898564219474792, + 0.13760122656822205, + 0.04565267261955165 + ], + [ + 0.11021368950605392, + -0.1329851746559143, + 0.9849709868431091, + 0.1311868472501289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9921842813491821, + 0.05236651003360748, + -0.1132614016532898, + 0.2610444289076236 + ], + [ + -0.03667186200618744, + 0.9899663329124451, + 0.13646166026592255, + 0.04864165196123049 + ], + [ + 0.11927099525928497, + -0.1312416046857834, + 0.9841493964195251, + 0.13093156079913296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9911451935768127, + 0.05363591015338898, + -0.12146762758493423, + 0.26299682509067446 + ], + [ + -0.03635948896408081, + 0.9894520044326782, + 0.14022360742092133, + 0.04121236560303111 + ], + [ + 0.12770740687847137, + -0.13456545770168304, + 0.98264080286026, + 0.13648688120897426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9899428486824036, + 0.055158812552690506, + -0.1302713006734848, + 0.26461527294428777 + ], + [ + -0.0365290604531765, + 0.9892934560775757, + 0.14129413664340973, + 0.04070629798915497 + ], + [ + 0.13667015731334686, + -0.13511444628238678, + 0.9813589453697205, + 0.13652506975471512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9886641502380371, + 0.058348074555397034, + -0.13834276795387268, + 0.2665516043587248 + ], + [ + -0.03853058069944382, + 0.9891413450241089, + 0.14182664453983307, + 0.042048252495222316 + ], + [ + 0.14511585235595703, + -0.13488848507404327, + 0.9801767468452454, + 0.13668901051661764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9874483346939087, + 0.060671042650938034, + -0.14582453668117523, + 0.2674793871336205 + ], + [ + -0.039486099034547806, + 0.9887880086898804, + 0.14401084184646606, + 0.039911696773975394 + ], + [ + 0.15292684733867645, + -0.13644522428512573, + 0.978772759437561, + 0.13735163021226263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9860543608665466, + 0.06402169167995453, + -0.1536165028810501, + 0.26941712695036746 + ], + [ + -0.04172767698764801, + 0.9886692762374878, + 0.14419367909431458, + 0.04138994330121565 + ], + [ + 0.16110743582248688, + -0.1357727348804474, + 0.977553129196167, + 0.13728589260762977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9846430420875549, + 0.06670408695936203, + -0.16133399307727814, + 0.2715868393349093 + ], + [ + -0.043273165822029114, + 0.9885414838790894, + 0.14461387693881989, + 0.04170599584431611 + ], + [ + 0.16913168132305145, + -0.1354116052389145, + 0.9762470126152039, + 0.1366654947515606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9833360314369202, + 0.06885000318288803, + -0.16825570166110992, + 0.2721657515265221 + ], + [ + -0.04410349577665329, + 0.9882091879844666, + 0.14662005007266998, + 0.03892696932997815 + ], + [ + 0.17636661231517792, + -0.13675610721111298, + 0.9747782349586487, + 0.13626780492621798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9819179177284241, + 0.0719405934214592, + -0.1751050055027008, + 0.27421573629212936 + ], + [ + -0.046114254742860794, + 0.9880121946334839, + 0.14732743799686432, + 0.038287143204216806 + ], + [ + 0.18360471725463867, + -0.13658861815929413, + 0.9734643697738647, + 0.13691921279180883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9807224273681641, + 0.0741535872220993, + -0.18078941106796265, + 0.2766378687102665 + ], + [ + -0.04752032831311226, + 0.9879298210144043, + 0.1474328488111496, + 0.037042919719635053 + ], + [ + 0.18953993916511536, + -0.13599951565265656, + 0.9724087119102478, + 0.1367488497680472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9796710014343262, + 0.07550521194934845, + -0.18585923314094543, + 0.27863525117552557 + ], + [ + -0.048227500170469284, + 0.9879391193389893, + 0.1471407562494278, + 0.03626954688062502 + ], + [ + 0.19472751021385193, + -0.13518600165843964, + 0.9714967608451843, + 0.1355496097096177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9785948991775513, + 0.07601239532232285, + -0.19124379754066467, + 0.2816073309312495 + ], + [ + -0.048113249242305756, + 0.9880379438400269, + 0.14651326835155487, + 0.03609947656938272 + ], + [ + 0.20009294152259827, + -0.13417576253414154, + 0.9705460667610168, + 0.13623438371244329 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9778319001197815, + 0.07620907574892044, + -0.19503061473369598, + 0.2820894210375557 + ], + [ + -0.04772532731294632, + 0.9880157709121704, + 0.14678940176963806, + 0.035581299038820485 + ], + [ + 0.20387999713420868, + -0.134227454662323, + 0.9697504639625549, + 0.13426162828077642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9769936800003052, + 0.07646875083446503, + -0.19908767938613892, + 0.2841808441766473 + ], + [ + -0.04746159911155701, + 0.9880569577217102, + 0.1465977281332016, + 0.0357999775818614 + ], + [ + 0.207920104265213, + -0.13377602398395538, + 0.9689546823501587, + 0.13404040388589683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9762002825737, + 0.07767722755670547, + -0.20248264074325562, + 0.28629078860430757 + ], + [ + -0.04817689210176468, + 0.9879993796348572, + 0.14675213396549225, + 0.035922646060470464 + ], + [ + 0.21145203709602356, + -0.1335044950246811, + 0.9682275652885437, + 0.13400164662405503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9755134582519531, + 0.07888585329055786, + -0.20530584454536438, + 0.2891554407371107 + ], + [ + -0.04915551468729973, + 0.9880505800247192, + 0.1460813283920288, + 0.03625445591155873 + ], + [ + 0.214376300573349, + -0.1324124038219452, + 0.9677343368530273, + 0.134540949218957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9750673770904541, + 0.07935158163309097, + -0.2072363793849945, + 0.2914671830659689 + ], + [ + -0.04943039268255234, + 0.9880834817886353, + 0.1457660049200058, + 0.03586854915632758 + ], + [ + 0.21633359789848328, + -0.13188789784908295, + 0.967370331287384, + 0.13469410611446514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.974574863910675, + 0.07959607988595963, + -0.20944757759571075, + 0.2939555571753849 + ], + [ + -0.04963167756795883, + 0.9882416725158691, + 0.1446203589439392, + 0.03551501013742861 + ], + [ + 0.21849603950977325, + -0.1305481195449829, + 0.9670659899711609, + 0.13398853074903636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9741919636726379, + 0.07960411161184311, + -0.21121849119663239, + 0.29598997237608415 + ], + [ + -0.04965921863913536, + 0.9884078502655029, + 0.14347094297409058, + 0.03570282504020273 + ], + [ + 0.2201908975839615, + -0.12927928566932678, + 0.9668520092964172, + 0.1337991441058558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9737414717674255, + 0.07941514253616333, + -0.2133561223745346, + 0.2982097313154575 + ], + [ + -0.049372706562280655, + 0.9885451197624207, + 0.14262163639068604, + 0.03527951604405115 + ], + [ + 0.2222384661436081, + -0.1283426284790039, + 0.9665082693099976, + 0.13304985678473186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9731670022010803, + 0.07848114520311356, + -0.2163022756576538, + 0.3001240421635236 + ], + [ + -0.048370055854320526, + 0.9888062477111816, + 0.1411474198102951, + 0.03664872276113015 + ], + [ + 0.22495844960212708, + -0.12689746916294098, + 0.966069757938385, + 0.13378883327624594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9725241661071777, + 0.07887890189886093, + -0.21903164684772491, + 0.30029560745686523 + ], + [ + -0.048358332365751266, + 0.9887754321098328, + 0.141367107629776, + 0.036104205730118494 + ], + [ + 0.22772400081157684, + -0.12689092755317688, + 0.9654224514961243, + 0.13399485790914345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9717923402786255, + 0.07786127179861069, + -0.22261473536491394, + 0.30113004633160523 + ], + [ + -0.04708178713917732, + 0.9889784455299377, + 0.14037436246871948, + 0.03540677671688934 + ], + [ + 0.23109090328216553, + -0.12593361735343933, + 0.9647474884986877, + 0.13323777040769888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9708865880966187, + 0.07833961397409439, + -0.22636717557907104, + 0.301125116172687 + ], + [ + -0.047213517129421234, + 0.989055335521698, + 0.1397872418165207, + 0.035173546470874964 + ], + [ + 0.2348405420780182, + -0.12502996623516083, + 0.9639592170715332, + 0.12963451275298762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9702805280685425, + 0.07913649827241898, + -0.2286769151687622, + 0.3013452471688736 + ], + [ + -0.047531433403491974, + 0.9889312386512756, + 0.14055520296096802, + 0.03505333873999211 + ], + [ + 0.23726880550384521, + -0.1255086362361908, + 0.9633021950721741, + 0.1267143913017687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9700348377227783, + 0.07899940013885498, + -0.229763925075531, + 0.3020695604557215 + ], + [ + -0.04703572019934654, + 0.9888330698013306, + 0.14141008257865906, + 0.03629747561590616 + ], + [ + 0.23836946487426758, + -0.12636560201644897, + 0.9629183411598206, + 0.1243437418757483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9699773192405701, + 0.07807348668575287, + -0.2303227037191391, + 0.3029906235924063 + ], + [ + -0.04553790017962456, + 0.9886251091957092, + 0.14334101974964142, + 0.036910370803734126 + ], + [ + 0.23889394104480743, + -0.12854911386966705, + 0.9624992609024048, + 0.12304546593926674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9702162742614746, + 0.07799383252859116, + -0.2293410450220108, + 0.3031616545462793 + ], + [ + -0.045181356370449066, + 0.9884001612663269, + 0.1449955552816391, + 0.03682900579978329 + ], + [ + 0.23798950016498566, + -0.13031511008739471, + 0.9624858498573303, + 0.11962136955455292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9718320965766907, + 0.07337340712547302, + -0.22396135330200195, + 0.3030011475086212 + ], + [ + -0.041001275181770325, + 0.9884470701217651, + 0.14591525495052338, + 0.03800502195954323 + ], + [ + 0.23208025097846985, + -0.13262243568897247, + 0.9636130332946777, + 0.11347762793302536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/orbit_left/transforms.json b/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..96bae373f23985b196d0c3672cf1ebfc8fcf75a5 --- /dev/null +++ b/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/orbit_left/transforms.json @@ -0,0 +1,4563 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 130, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -3.779902181122452e-05, + -7.106735324668989e-07, + 5.438872904051095e-05 + ], + [ + 3.779891994781792e-05, + 1.0, + -0.00014276729780249298, + 0.0001941786176757887 + ], + [ + 7.160700192798686e-07, + 0.00014276726869866252, + 1.0, + 7.050997373880818e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999798965995328, + -0.00022619572700932622, + 0.006338843022990339, + -0.0021117418262420287 + ], + [ + 0.0001825925022477258, + 0.9999763369560242, + 0.006878468299462031, + 0.003282951958987696 + ], + [ + -0.006340248791541863, + -0.006877172738313675, + 0.9999562306538822, + -9.73085164621918e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999408378716665, + -0.00021557725267484784, + 0.010878129135950265, + -0.003043811021196427 + ], + [ + 7.695914398985225e-05, + 0.9999188184738159, + 0.012741634715953016, + 0.006805197237231422 + ], + [ + -0.010879992875329774, + -0.012740043923258781, + 0.9998596481119738, + -7.044638529300263e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998842880473756, + -0.0003605873207561672, + 0.0152061900625968, + -0.005020777785426286 + ], + [ + 7.578687593170473e-05, + 0.9998246431350708, + 0.018725661648959224, + 0.009163666109551919 + ], + [ + -0.015210277003235677, + -0.01872234232723713, + 0.9997090222607576, + -9.452407596293789e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998020375867063, + -0.00011669746891129762, + 0.01989786545863247, + -0.007213259610796415 + ], + [ + -0.00035325358759597116, + 0.999721109867096, + 0.02361301363171376, + 0.012028178160445532 + ], + [ + -0.019895072532463354, + -0.023615367710590363, + 0.9995231609372243, + -4.529123943073331e-06 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996816256431824, + 0.00043676671339198947, + 0.025228528884954485, + -0.009348932871876825 + ], + [ + -0.0011653338062395868, + 0.9995824694633484, + 0.028871220780630903, + 0.01316472138832 + ], + [ + -0.025205384074021724, + -0.02889142744243145, + 0.9992647257282278, + 0.0002529033237914993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9995314517687937, + 0.0005297295283526182, + 0.03060476676794803, + -0.010589520124483616 + ], + [ + -0.001565502680110278, + 0.9994263648986816, + 0.03382948507356824, + 0.014571098390855474 + ], + [ + -0.030569290575204886, + -0.033861543983221054, + 0.9989589214513519, + 0.0008993723955794206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993642021850156, + 0.0007294963579624891, + 0.03564675921878529, + -0.011839085532204037 + ], + [ + -0.0020761100452950576, + 0.9992849230766296, + 0.037754214498112976, + 0.01628347176679347 + ], + [ + -0.035593726449303004, + -0.037804216146469116, + 0.9986510583658674, + 0.00039937932696346807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9991904024890299, + 0.0007506641559302807, + 0.04022428457576347, + -0.012569577376109774 + ], + [ + -0.0023790668764197987, + 0.9991787075996399, + 0.04045051724423352, + 0.01796549395526476 + ], + [ + -0.04016088502771728, + -0.04051346331834793, + 0.998371581178854, + 0.0004899347076534836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9989642974985069, + 0.0006552166887558997, + 0.04549564074889783, + -0.014079130654969768 + ], + [ + -0.0025905921220742987, + 0.9990933537483215, + 0.042493886263027254, + 0.01946157352876767 + ], + [ + -0.045426551210320264, + -0.04256773740053177, + 0.9980603120365136, + 0.0005702039359877335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9987093937776523, + 0.0006715603522025049, + 0.050784478941508816, + -0.015418553316809233 + ], + [ + -0.00300194172871978, + 0.9989449381828308, + 0.04582533750374376, + 0.017285197295885894 + ], + [ + -0.050700125451042674, + -0.045918647199869156, + 0.9976577345408745, + 0.0009936935674380869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9984356647258112, + 0.000353671726770699, + 0.05591148443838253, + -0.016663494770987167 + ], + [ + -0.0031037031646590006, + 0.9987887144088745, + 0.049106277441713315, + 0.015155545781560836 + ], + [ + -0.05582639275169122, + -0.04920298978686333, + 0.9972274080124726, + 0.002436371684694063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9981702992489545, + 0.0003661129157990217, + 0.06046406183920165, + -0.017222914464050623 + ], + [ + -0.003626918029949753, + 0.9985436201095581, + 0.05382870780730597, + 0.008581240157122505 + ], + [ + -0.060356295010074446, + -0.053949516266584396, + 0.9967179010506573, + 0.003827943924118285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9979193616123194, + -0.0001895719324238599, + 0.06447371971205167, + -0.016155516914467254 + ], + [ + -0.0029465020078328513, + 0.9988167881965639, + 0.0485425544113505, + 0.023822273136754786 + ], + [ + -0.06440663653986672, + -0.04863153025507928, + 0.9967380447851046, + 0.0010294832947460326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9975981735686702, + -0.0004223412834107876, + 0.06926551384138985, + -0.01625364744262581 + ], + [ + -0.0030334680325297195, + 0.9987556338310242, + 0.04977943150431989, + 0.023235577845844273 + ], + [ + -0.06920034587524428, + -0.04986998438835144, + 0.9963555148114929, + 0.0016767427337167464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9972572114354998, + -0.0009546015062369408, + 0.07400804858997888, + -0.016712693118956998 + ], + [ + -0.002721290664910452, + 0.9987678527832033, + 0.049552067332063424, + 0.024491470709287335 + ], + [ + -0.07396416342778697, + -0.04961755499243738, + 0.9960258294368864, + 0.0026861242688419416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9969644412868172, + -0.0013813842087984085, + 0.07784624378078742, + -0.01732944037654391 + ], + [ + -0.00244682464885252, + 0.998792827129364, + 0.04905970887621198, + 0.025014668658098968 + ], + [ + -0.07782004116451657, + -0.04910125955939293, + 0.9957575424928011, + 0.0023690450050531282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.996642984404885, + -0.0009729806915856898, + 0.08186440145303643, + -0.01758652148550141 + ], + [ + -0.0030570447861892175, + 0.9987897872924805, + 0.049088314957411, + 0.025650356046350794 + ], + [ + -0.08181309031405742, + -0.04917379096150398, + 0.9954338816959247, + 0.00174749221722158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9962916184129852, + -0.0011521237902343273, + 0.0860331322581423, + -0.01827975886465181 + ], + [ + -0.003129305877457304, + 0.9987636208534241, + 0.04961345353955944, + 0.026461479909364653 + ], + [ + -0.08598391715614902, + -0.049698688089847565, + 0.9950561528539932, + 0.0011368849039188134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9959068308560478, + -0.0014231777749955656, + 0.09037465603269546, + -0.01909054919255275 + ], + [ + -0.0031471210047583098, + 0.9987237453460696, + 0.050407946714024966, + 0.02697511946308666 + ], + [ + -0.09033105503005799, + -0.0504860393702984, + 0.9946313088899387, + 0.0013687217273612414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9954444289808269, + -0.0013272903161123395, + 0.09533407138762402, + -0.021292179533385636 + ], + [ + -0.0035728046900956306, + 0.9986814856529236, + 0.05121012057228609, + 0.027652409776470474 + ], + [ + -0.0952763428075795, + -0.05131744220852852, + 0.9941272318702484, + 0.00038457495055910316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9948823596885903, + -0.0016719776904210448, + 0.10102641261671583, + -0.024290626410186734 + ], + [ + -0.0036289460302132903, + 0.998626708984375, + 0.05226411868188132, + 0.028044192456682084 + ], + [ + -0.1009750562291918, + -0.05236326530575752, + 0.9935100106073538, + 0.0002346521399645054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9942723323004732, + -0.0015351995825767517, + 0.10686548105589026, + -0.02751636363594811 + ], + [ + -0.004225247463174556, + 0.998550534248352, + 0.053656438347656876, + 0.028244029816055106 + ], + [ + -0.10679295666966933, + -0.05380064249038696, + 0.9928246608553528, + -0.0008335420643951121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9936561403434282, + -0.001315613160841167, + 0.11245314906777176, + -0.03008002042083411 + ], + [ + -0.00488477028242752, + 0.9984830021858215, + 0.05484417416676334, + 0.029073445052137756 + ], + [ + -0.11235470528682126, + -0.05504555627703667, + 0.9921423255443651, + -0.002337803799527232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9929863364760247, + -0.0015812469646334652, + 0.11821868965958349, + -0.0316110058168372 + ], + [ + -0.005075295444742398, + 0.9984187483787539, + 0.055984766249553876, + 0.029794090976134474 + ], + [ + -0.11812027588194712, + -0.0561921037733555, + 0.9914081239224679, + -0.0018677278564360172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9921973295151378, + -0.001931874779984355, + 0.12466223846328343, + -0.034467542901944294 + ], + [ + -0.005270493227948307, + 0.9983362555503845, + 0.0574193963089155, + 0.030125474253409522 + ], + [ + -0.12456575149671902, + -0.05762840807437897, + 0.9905364006621957, + -0.0007309599471031492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9914505850396099, + -0.0027048736810684204, + 0.130454720509602, + -0.03617913812180817 + ], + [ + -0.0049575684660979925, + 0.9982823729515076, + 0.05837590303899013, + 0.030836526475536738 + ], + [ + -0.130388543972677, + -0.05852355808019638, + 0.9897342382461218, + -0.00019429853605633374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9906610527714539, + -0.0030367430299520493, + 0.13631368531307816, + -0.038910377978954046 + ], + [ + -0.005140034020993631, + 0.998209536075592, + 0.05959297190531336, + 0.030417955265203182 + ], + [ + -0.13625059541439322, + -0.05973709374666214, + 0.9888717161861417, + 0.0006411230786912657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9898266072726215, + -0.0033813631162047386, + 0.14223860645298267, + -0.042374794627908025 + ], + [ + -0.005288016293493181, + 0.9981525540351868, + 0.06052741968291626, + 0.03076225587391522 + ], + [ + -0.14218048991213753, + -0.06066380813717842, + 0.9879800775704648, + 0.0014319471595816875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9888613443912357, + -0.0034574363380670547, + 0.14879965035308837, + -0.046457033918792294 + ], + [ + -0.00576039692190387, + 0.9980921745300293, + 0.061472416868993573, + 0.029953245253704026 + ], + [ + -0.14872830404644513, + -0.061644840985536575, + 0.9869548318106991, + 0.002602895419726973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9878748948530909, + -0.004137771669775248, + 0.15519683726756228, + -0.05135570753301417 + ], + [ + -0.005610407318593588, + 0.9980403780937195, + 0.06232114292841011, + 0.029749960445630642 + ], + [ + -0.15515058086050962, + -0.06243620812892914, + 0.9859158285477098, + 0.004404012274164086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9868650719330349, + -0.004727497231215239, + 0.1614776455133104, + -0.05605666598020715 + ], + [ + -0.005533135515698014, + 0.9979960918426514, + 0.06303338105081825, + 0.02978696605175678 + ], + [ + -0.16145204925023474, + -0.06309891492128372, + 0.9848613122650006, + 0.006848067599271415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.985822667452632, + -0.004473522305488586, + 0.16773094841895878, + -0.060672832574715965 + ], + [ + -0.0064001065081502675, + 0.9979144930839539, + 0.06423121913606612, + 0.029675505525982485 + ], + [ + -0.16766849299354475, + -0.06439408659934998, + 0.983738130749419, + 0.008209524746614887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9846330434762032, + -0.005118898116052151, + 0.17456102881553529, + -0.06584665181425296 + ], + [ + -0.006363584119733859, + 0.9978547692298889, + 0.06515608163102965, + 0.03077358838392932 + ], + [ + -0.17452008717076953, + -0.06526566296815872, + 0.982488247828801, + 0.009655523376724855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9835509603382715, + -0.005759275984019041, + 0.18053893584851718, + -0.07034685336191854 + ], + [ + -0.006463054468331077, + 0.997729480266571, + 0.06703785881372197, + 0.03116483173728836 + ], + [ + -0.18051511575649848, + -0.06710198521614075, + 0.981280614194376, + 0.011478757662290336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9824504010227706, + -0.006453960668295622, + 0.18641242436169836, + -0.0751961315343577 + ], + [ + -0.007021579943591831, + 0.997413158416748, + 0.07153825679836155, + 0.031224042752356688 + ], + [ + -0.1863919087725794, + -0.07159169763326645, + 0.9798636185458013, + 0.012473383003574593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9812461762006695, + -0.008192859590053558, + 0.1925847156963837, + -0.0793213568659299 + ], + [ + -0.006712294104190879, + 0.9970381259918213, + 0.07661566497781246, + 0.03215425646579012 + ], + [ + -0.19264200390730807, + -0.07647150754928589, + 0.9782847968815676, + 0.016802273792552606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.97995073063193, + -0.008915480226278305, + 0.19904028102090254, + -0.08413722756968049 + ], + [ + -0.007107908863595618, + 0.996798038482666, + 0.0796438568443741, + 0.03277267597859915 + ], + [ + -0.19911302644348672, + -0.07946181297302246, + 0.9767496097322308, + 0.01935616731419042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.978384057616622, + -0.00982833281159401, + 0.20656232233348595, + -0.09125234559246571 + ], + [ + -0.007300006231797365, + 0.9966059327125549, + 0.08199552581356578, + 0.03392945088932078 + ], + [ + -0.2066671290437418, + -0.08173102885484695, + 0.9749916812139113, + 0.019330319894632395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9766238633805076, + -0.010879788547754288, + 0.21468003436005684, + -0.0947528238873725 + ], + [ + -0.0074513270492391655, + 0.9964045882225037, + 0.08439450200162998, + 0.034096752627249094 + ], + [ + -0.21482634792780156, + -0.08402133733034134, + 0.9730313856935843, + 0.022970487056518572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9748352547107695, + -0.011881377547979355, + 0.2226096114625803, + -0.0998667823033546 + ], + [ + -0.007614204600850405, + 0.9962214231491089, + 0.08651504359233758, + 0.03435255146719046 + ], + [ + -0.22279638986505268, + -0.08603290468454361, + 0.9710613503333002, + 0.024566528039975687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9729265735425358, + -0.013065053150057793, + 0.230744885438445, + -0.10527055496601267 + ], + [ + -0.007527671390295764, + 0.996079683303833, + 0.0881393616715681, + 0.03478533859061118 + ], + [ + -0.230991843560352, + -0.08749009668827057, + 0.9690140378250863, + 0.026266479325011374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9708461154258542, + -0.014651244506239895, + 0.23925537496088656, + -0.10889194264363695 + ], + [ + -0.007209796483303295, + 0.9958938360214236, + 0.09024118386871278, + 0.03459414866328893 + ], + [ + -0.23959508920790384, + -0.08933528512716295, + 0.9667540502401115, + 0.028544946806475024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.968742824660697, + -0.016169810667634014, + 0.24753974641878296, + -0.1125990684093008 + ], + [ + -0.006833572396593037, + 0.9957551360130312, + 0.0917878789556924, + 0.03531121092672467 + ], + [ + -0.24797316705287908, + -0.09061042219400407, + 0.9645201128050476, + 0.030532632288842777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9667408458764052, + -0.017649393528699875, + 0.25514820642973196, + -0.11629090455674228 + ], + [ + -0.0065130463633452295, + 0.9955936670303345, + 0.09354584128145378, + 0.03607149573701052 + ], + [ + -0.2556749622482037, + -0.09209637343883514, + 0.962366131456091, + 0.03350501521720095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9644844247077302, + -0.019415993243455887, + 0.26342523405456186, + -0.12015741986665392 + ], + [ + -0.006044728849245909, + 0.9954111576080322, + 0.09549937069780161, + 0.036430285557828644 + ], + [ + -0.26407061470047216, + -0.09369999170303345, + 0.9599411732732521, + 0.03682379710656875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9623032068740069, + -0.020670924335718155, + 0.2711923469254121, + -0.12321001173754116 + ], + [ + -0.005710328783761782, + 0.9953523278236389, + 0.09613074803247201, + 0.03830788021431404 + ], + [ + -0.2719190600048387, + -0.09405551850795746, + 0.9577127010323291, + 0.03957862247589643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.960365886448071, + -0.022466022521257404, + 0.2778355622453717, + -0.12763241275333131 + ], + [ + -0.004823330960272215, + 0.9952580928802492, + 0.09714974864821933, + 0.03955060275390127 + ], + [ + -0.27870064879501816, + -0.09463939815759662, + 0.9557035605999151, + 0.04256982880621149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9585431365607493, + -0.024563217535614974, + 0.28388673407902026, + -0.1330709582155813 + ], + [ + -0.0036922107534138513, + 0.9951233267784121, + 0.09856951141937494, + 0.04021845673747123 + ], + [ + -0.28492348919381266, + -0.09553129971027377, + 0.953777939079937, + 0.0466362410774912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9569817891286057, + -0.025745216757059097, + 0.2890035481727848, + -0.13647679731529894 + ], + [ + -0.0035074360932612217, + 0.9949563145637512, + 0.10024763166881787, + 0.04019249821694297 + ], + [ + -0.290126809731099, + -0.09694882482290268, + 0.9520647939369657, + 0.04880484875162503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9552411909829235, + -0.026996687054634094, + 0.29459365646510105, + -0.14002980230751294 + ], + [ + -0.0031664016800181196, + 0.9948371648788452, + 0.10143458485870653, + 0.04098552080197893 + ], + [ + -0.295811126119845, + -0.09782729297876358, + 0.9502239646127897, + 0.051617952270309124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9535630073160068, + -0.0286000594496727, + 0.299832700821455, + -0.14222423028077108 + ], + [ + -0.00258462245848208, + 0.9946678280830383, + 0.1030980396996522, + 0.04105432871986999 + ], + [ + -0.30118254324967564, + -0.09908542782068253, + 0.9484045270434179, + 0.054468677612100454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9518313922132219, + -0.03006943315267563, + 0.3051438696300355, + -0.14566412099928328 + ], + [ + -0.0018282333522602644, + 0.9946056008338928, + 0.10371303731773161, + 0.04172314401066581 + ], + [ + -0.3066163911160833, + -0.09927520155906677, + 0.9466418737977769, + 0.0575286213331428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9501278356262127, + -0.031541056931018836, + 0.3102615559180365, + -0.14815733454361613 + ], + [ + -0.000774087952313315, + 0.994630813598633, + 0.10348426417822332, + 0.04138653516293159 + ], + [ + -0.31185969429481825, + -0.09856344759464267, + 0.9450019917808389, + 0.06129268067836686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9483077726088491, + -0.032429859042167664, + 0.315690730740276, + -0.15091179029743584 + ], + [ + -3.8164486207548644e-05, + 0.994753360748291, + 0.10230235089469558, + 0.042539988445980684 + ], + [ + -0.31735205122820104, + -0.09702616930007935, + 0.9433311236124617, + 0.06610111558604725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9469832121789173, + -0.03374449163675308, + 0.3195060500560219, + -0.15321433785330701 + ], + [ + 0.0009785720083716933, + 0.9947673678398132, + 0.10216153783152838, + 0.04346992666220058 + ], + [ + -0.32128157245724, + -0.09643259644508362, + 0.9420610025732539, + 0.06767002274182399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9458787215264091, + -0.035061925649642944, + 0.32262070655841785, + -0.1545908450430286 + ], + [ + 0.0016482540849377637, + 0.994652509689331, + 0.1032648653248035, + 0.04408376573736272 + ], + [ + -0.3245161674626324, + -0.09714428335428238, + 0.9408784564703998, + 0.07094623696036415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9448353261819235, + -0.0365055575966835, + 0.3255050684704875, + -0.1559741899101909 + ], + [ + 0.002365239685131629, + 0.9945043325424194, + 0.10466865668743779, + 0.04434307982279679 + ], + [ + -0.32753720715228724, + -0.09812474250793457, + 0.9397291954033837, + 0.0730632091028596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9437538262013981, + -0.03786531835794449, + 0.32847368782509023, + -0.15611272274976887 + ], + [ + 0.0028948773933921367, + 0.9943293333053589, + 0.10630546493871137, + 0.044750008196464804 + ], + [ + -0.3306363046008507, + -0.09937530010938644, + 0.9385116878850999, + 0.0766393492488619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9428988414143293, + -0.0393081083893776, + 0.33075168161008733, + -0.15544492224035944 + ], + [ + 0.0037383787951217125, + 0.994198262691498, + 0.10749799890028265, + 0.04578856307676196 + ], + [ + -0.3330582903436407, + -0.10012325644493106, + 0.9375753667958355, + 0.08049377439819767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9422820315736824, + -0.040358174592256546, + 0.33237905664718576, + -0.15429468299544202 + ], + [ + 0.004280643105650443, + 0.9940798282623291, + 0.10856784116554313, + 0.046791453472077825 + ], + [ + -0.33479290331298217, + -0.10087873041629791, + 0.9368762692848438, + 0.08441041054617338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.941924141397124, + -0.04198499023914337, + 0.33319095652927166, + -0.15269226594284402 + ], + [ + 0.005321098736822341, + 0.9938955307006836, + 0.11019693459041671, + 0.046947771627675466 + ], + [ + -0.33578362000640094, + -0.10202420502901077, + 0.9363975561610356, + 0.08804457084965342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9417433445895796, + -0.04317830502986908, + 0.33354922906665324, + -0.1515358772815017 + ], + [ + 0.005916358959803921, + 0.9936983585357666, + 0.11193106578694142, + 0.04690857360304691 + ], + [ + -0.3362803341156326, + -0.10343693941831589, + 0.9360643075737474, + 0.0917280653745465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9420910641131919, + -0.044040497392416, + 0.33245278754323454, + -0.14880982606139317 + ], + [ + 0.006568360456330336, + 0.993572473526001, + 0.11300683423736332, + 0.047660026817232685 + ], + [ + -0.33529283520114994, + -0.1042790561914444, + 0.9363250239629296, + 0.0960226346563829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9426390311343764, + -0.04572995752096176, + 0.3306666378195822, + -0.14660728102239406 + ], + [ + 0.008125037347924476, + 0.993421733379364, + 0.1142242789709323, + 0.04781024054540864 + ], + [ + -0.3337149163060678, + -0.10498558729887009, + 0.9368096574065599, + 0.09927552598167283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9436991115622854, + -0.04692680761218071, + 0.32745975061298954, + -0.14420157032906167 + ], + [ + 0.009613156535437426, + 0.9933594465255737, + 0.11465000485568679, + 0.04826862690689458 + ], + [ + -0.3306653899606855, + -0.10504718124866486, + 0.9378835030949401, + 0.10228304400838631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9454329727357361, + -0.04756909608840944, + 0.32232546687291386, + -0.14110338560055294 + ], + [ + 0.010646745082083475, + 0.993266820907593, + 0.11535863234196292, + 0.04803720431318134 + ], + [ + -0.32564269094048415, + -0.10563214123249057, + 0.9395736741273193, + 0.10570465083881536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9468677580726477, + -0.04872337728738785, + 0.3179111322770193, + -0.1372483210486936 + ], + [ + 0.012235766599908238, + 0.9932000041007996, + 0.11577576587125499, + 0.048341348092651885 + ], + [ + -0.32139031703804855, + -0.1057344526052475, + 0.9410252381690337, + 0.10812596775377303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9486512049786177, + -0.04937380179762842, + 0.3124469176313093, + -0.13270455246213061 + ], + [ + 0.013364206388968547, + 0.9931173324584963, + 0.11635898676735368, + 0.048155061821184376 + ], + [ + -0.3160415239815958, + -0.1062084957957268, + 0.9427817917364835, + 0.11110568030524967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9509438955754002, + -0.05058682709932329, + 0.3051994124613324, + -0.12764794666895443 + ], + [ + 0.015363758336684036, + 0.9930452108383181, + 0.11672675307366126, + 0.048141442362513776 + ], + [ + -0.3089816660881509, + -0.10631158202886584, + 0.9451075099217698, + 0.11395010589638804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.95356349024025, + -0.04934334382414818, + 0.2971226604879459, + -0.12136676389480011 + ], + [ + 0.014829925618975467, + 0.992984414100647, + 0.11731147606296817, + 0.047750911820815665 + ], + [ + -0.30082672905472463, + -0.10745763778686523, + 0.9476054949761574, + 0.11671872632711168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.956641067078426, + -0.04162907600402832, + 0.2882791526829399, + -0.11419746391538091 + ], + [ + 0.00772076751441137, + 0.9930102825164795, + 0.11777506960113458, + 0.048032401086960906 + ], + [ + -0.2911670380460061, + -0.11044272780418396, + 0.9502758350261344, + 0.11778804672942758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9592161838145986, + -0.03505037352442742, + 0.2804919798265182, + -0.1089282146754543 + ], + [ + 0.0015743456080502206, + 0.9929297566413882, + 0.11869294830595688, + 0.04873347923371769 + ], + [ + -0.28266906615615944, + -0.11341060698032382, + 0.9524895135561723, + 0.1204791792347156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9619628278642678, + -0.031366869807243354, + 0.27137360797242466, + -0.10283269858553415 + ], + [ + -0.001339590767060641, + 0.9928326010704043, + 0.11950567920834496, + 0.04906576903888381 + ], + [ + -0.2731770795201337, + -0.1153235584497452, + 0.9550260347546157, + 0.12205922754458631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.964989974054463, + -0.027071246877312667, + 0.26088605695906986, + -0.096810045741518 + ], + [ + -0.004751036622364236, + 0.9926919937133791, + 0.12058181916254773, + 0.04989302370427276 + ], + [ + -0.262243805145621, + -0.11759972572326663, + 0.9578092149818674, + 0.12297823787077884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9678859151360916, + -0.021200545132160187, + 0.25049419332390277, + -0.09082671507563297 + ], + [ + -0.010140686031609378, + 0.9923339486122131, + 0.12316871814614237, + 0.049009934154493756 + ], + [ + -0.25118513266317727, + -0.12175344675779343, + 0.9602510650582368, + 0.12313578199335273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9703410608468881, + -0.01766972430050373, + 0.24109348044665613, + -0.08555415427798974 + ], + [ + -0.01297573354487898, + 0.9920802712440491, + 0.124933584028247, + 0.0503133872889562 + ], + [ + -0.24139161207550297, + -0.12435655295848846, + 0.9624268965056301, + 0.12436164747449636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9725760584345119, + -0.015276929363608364, + 0.23208284642304994, + -0.0798593388674668 + ], + [ + -0.014734030850307557, + 0.9917894601821902, + 0.1270299103676969, + 0.050450922812790275 + ], + [ + -0.23211794863849766, + -0.1269657760858536, + 0.9643655706455045, + 0.1262074295790614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9746891508026648, + -0.01308223232626915, + 0.22318124090881122, + -0.07533892875284842 + ], + [ + -0.016282175826602872, + 0.9914814829826355, + 0.12922613513778664, + 0.04945123033694466 + ], + [ + -0.22297063942581083, + -0.12958920001983643, + 0.9661732356470555, + 0.12672079042315318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9765196858605878, + -0.011531769298017027, + 0.2151193183382608, + -0.07039296853737878 + ], + [ + -0.017101301050128852, + 0.9912654161453249, + 0.13076836595539523, + 0.04941294523679463 + ], + [ + -0.21474833581891017, + -0.13137669861316684, + 0.9677930259597793, + 0.12878495701286102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9782723884024668, + -0.00974593684077263, + 0.20709444607734617, + -0.06629802164427145 + ], + [ + -0.018138614065856266, + 0.9910408258438113, + 0.1323218822509839, + 0.04917941291561657 + ], + [ + -0.2065286606676826, + -0.1332032531499863, + 0.9693311327698856, + 0.1297139649432175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9799330867284716, + -0.007746540009975433, + 0.19917606154734838, + -0.06200327907391365 + ], + [ + -0.019306405910450606, + 0.9908575415611267, + 0.13352360100706406, + 0.048490376528198924 + ], + [ + -0.19838945363086155, + -0.1346895843744278, + 0.9708245768191093, + 0.13014886730549982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9814375938712699, + -0.0045041367411613464, + 0.19172896420284777, + -0.05798955065743022 + ], + [ + -0.02173607738035515, + 0.9906700849533081, + 0.13453740418577026, + 0.04858204826926889 + ], + [ + -0.19054612583311495, + -0.13620750606060028, + 0.9721829726463894, + 0.1308328012589993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9828645386305345, + -0.0015051228692755103, + 0.18432311893290743, + -0.054120544632373896 + ], + [ + -0.023915152531535665, + 0.9904735684394836, + 0.1356104454331794, + 0.04840053268154188 + ], + [ + -0.18277129059058078, + -0.1376948058605194, + 0.973465359807095, + 0.13060096738299237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9839537530545746, + 0.001376763335429132, + 0.17841840845611034, + -0.051507652015531424 + ], + [ + -0.026150318535732204, + 0.9902846813201904, + 0.13657400505630418, + 0.04751088282501384 + ], + [ + -0.17649698011516576, + -0.13904820382595062, + 0.9744302899340713, + 0.13136599884912395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9849970234942792, + 0.004683163017034531, + 0.1725079049561233, + -0.04839887981248256 + ], + [ + -0.02847362599194092, + 0.9903413653373718, + 0.13569526952942995, + 0.04708469875861967 + ], + [ + -0.17020623364327356, + -0.1385713666677475, + 0.975616658107013, + 0.13190318015594055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9859549573710246, + 0.007172948215156794, + 0.16685750463359494, + -0.045646017463106786 + ], + [ + -0.02991944050183796, + 0.9905007481575012, + 0.1342127827147188, + 0.04664307924794259 + ], + [ + -0.16430978078694738, + -0.13732004165649414, + 0.9768037292934352, + 0.13236716123418266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9868094355569743, + 0.010881681926548481, + 0.16152000307365824, + -0.04255409481665404 + ], + [ + -0.03275455775081841, + 0.9905232191085815, + 0.1333825374819284, + 0.045401638937352586 + ], + [ + -0.1585378941229732, + -0.13691365718841553, + 0.9778141172990515, + 0.13195830960930083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9874494851749085, + 0.015211960300803185, + 0.1572009725804511, + -0.03959105903360194 + ], + [ + -0.03635266026313548, + 0.9905164837837219, + 0.13249738732078467, + 0.04581505173904282 + ], + [ + -0.1536946138523182, + -0.13654914498329163, + 0.9786380087137524, + 0.13288641988141003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9881287416592391, + 0.018276814371347427, + 0.1525369287272839, + -0.03694736555159375 + ], + [ + -0.03876220607666925, + 0.990434467792511, + 0.13242736063684576, + 0.04595098518649617 + ], + [ + -0.148657491774856, + -0.1367679387331009, + 0.9793852645017749, + 0.13251793560667205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.988702630312295, + 0.02084009349346161, + 0.14843441531051463, + -0.033956123463974336 + ], + [ + -0.040703522684198315, + 0.990404486656189, + 0.13206880599772444, + 0.04603248438827641 + ], + [ + -0.14425778801589464, + -0.13661856949329376, + 0.9800638186460702, + 0.13352532411403997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9892213006488575, + 0.023716049268841743, + 0.14449468961812706, + -0.03174958325186472 + ], + [ + -0.04299996315993867, + 0.9903385043144226, + 0.13183573538398086, + 0.04591470824013153 + ], + [ + -0.1399720343938619, + -0.13662798702716827, + 0.9806837598992652, + 0.1337092974349951 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9897856045218985, + 0.027108997106552124, + 0.13996283596236078, + -0.029341185273350612 + ], + [ + -0.0457588665937494, + 0.9902191162109375, + 0.1318036953284153, + 0.045614572020346605 + ], + [ + -0.13502081266407595, + -0.13686193525791168, + 0.981345100400122, + 0.13354490190577847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9903025164961302, + 0.030079903081059456, + 0.13563251061445974, + -0.027975886954498902 + ], + [ + -0.04809999376861852, + 0.9901341199874878, + 0.13160860678622607, + 0.04603266725490111 + ], + [ + -0.13033559459912658, + -0.13685624301433563, + 0.9819791165798256, + 0.13398050697194827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9908567411215446, + 0.032263822853565216, + 0.13100373610176752, + -0.026681291401176005 + ], + [ + -0.0496806379528446, + 0.9900117516517639, + 0.1319415055781815, + 0.04616941143705741 + ], + [ + -0.125438305516739, + -0.13724347949028015, + 0.9825627141494827, + 0.13305909788012052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.991378876611219, + 0.03503929078578949, + 0.12625425588746655, + -0.024897019266206077 + ], + [ + -0.05175108947077952, + 0.9899482131004333, + 0.13162213093026767, + 0.04722932085127592 + ], + [ + -0.12037322760865209, + -0.13702118396759033, + 0.9832270617376759, + 0.13463950343282455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9919049300183517, + 0.037775855511426926, + 0.12123373830378394, + -0.023685051821491027 + ], + [ + -0.053715834456310584, + 0.9899213910102844, + 0.13103508322106927, + 0.048330279437087585 + ], + [ + -0.11506192242863032, + -0.13648651540279388, + 0.9839371098756682, + 0.13394456988336023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9924025448715337, + 0.040868379175662994, + 0.11604747547792904, + -0.022579255794264563 + ], + [ + -0.05609534679371794, + 0.9897753000259399, + 0.13114161399268862, + 0.04913983720176524 + ], + [ + -0.10950137697388737, + -0.13665500283241272, + 0.9845480469636005, + 0.1337258668131336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9928535368533971, + 0.044426631182432175, + 0.1107618335065261, + -0.022042852216904024 + ], + [ + -0.05886325807588256, + 0.9896752834320068, + 0.1306826404601432, + 0.05129431739415094 + ], + [ + -0.10381245426684232, + -0.1362685263156891, + 0.9852176728253084, + 0.13145122001220014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9935037302379202, + 0.04703381285071373, + 0.10362499160221782, + -0.019949793341079602 + ], + [ + -0.06001270766478936, + 0.9902229905128479, + 0.12592410421330721, + 0.062076310972119214 + ], + [ + -0.09668915637433974, + -0.1313248723745346, + 0.9866128863756756, + 0.1258981174953469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9939349836226751, + 0.049992531538009644, + 0.0979491963908444, + -0.0202247765497299 + ], + [ + -0.06236695596163878, + 0.9898564219474792, + 0.12765060211735246, + 0.05912237218843401 + ], + [ + -0.09057404922626738, + -0.1329851746559143, + 0.9869707411488867, + 0.12654754622697537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9944675240310246, + 0.0523665100336075, + 0.09106117124474458, + -0.02071731072405339 + ], + [ + -0.0636799124228544, + 0.9899663329124453, + 0.126140710872226, + 0.06258464780015648 + ], + [ + -0.08354194188837155, + -0.13124160468578341, + 0.9878240474540879, + 0.12367942637462209 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9949503845676844, + 0.05363591015338898, + 0.08483461292507263, + -0.021480922644956713 + ], + [ + -0.06440326255802124, + 0.9894520044326782, + 0.12975705101360913, + 0.055306141015049645 + ], + [ + -0.07698014794795699, + -0.13456545770168304, + 0.987910009079466, + 0.12672874174845244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9954268869420062, + 0.055158812552690506, + 0.07799210337938192, + -0.02254651902234492 + ], + [ + -0.06505449627767759, + 0.9892934560775757, + 0.1306381177966676, + 0.055015955084521985 + ], + [ + -0.06995125191355954, + -0.13511444628238678, + 0.988357695327431, + 0.12406856900370869 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9957072016739023, + 0.058348074555397034, + 0.07185187503305755, + -0.023249992149271814 + ], + [ + -0.06738815015292518, + 0.9891413450241089, + 0.13060719723442243, + 0.05709046735768528 + ], + [ + -0.06345098704944553, + -0.13488848507404327, + 0.9888271021283626, + 0.1216359224658662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9959532861039552, + 0.060671042650938034, + 0.06630279848382027, + -0.024961174954743648 + ], + [ + -0.06904889998080889, + 0.9887880086898804, + 0.13240288515638257, + 0.05543819718585191 + ], + [ + -0.057526390057975246, + -0.13644522428512573, + 0.9889759601228244, + 0.11983356670900726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9961181580667086, + 0.06402169167995453, + 0.06041396950312952, + -0.025615745890489983 + ], + [ + -0.0715464030239432, + 0.9886692762374878, + 0.13196260201994786, + 0.05773034920924995 + ], + [ + -0.05128097085844042, + -0.1357727348804474, + 0.9894119406527953, + 0.11715484825605142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9962780496040269, + 0.06670408695936204, + 0.05459510537484279, + -0.026027438602060776 + ], + [ + -0.0734137917160319, + 0.9885414838790896, + 0.1318944861220971, + 0.05867240887597002 + ], + [ + -0.04517163009102866, + -0.13541160523891452, + 0.989759202585251, + 0.11391940315231015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9963944465719278, + 0.06885000318288803, + 0.049576594318344804, + -0.028034790649494656 + ], + [ + -0.07492798157455828, + 0.9882091879844666, + 0.13352286321149714, + 0.05635861413588429 + ], + [ + -0.03979900689303587, + -0.13675610721111298, + 0.9898049445920942, + 0.11109381156793519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9964110334540323, + 0.0719405934214592, + 0.0446050727977499, + -0.02853168595751268 + ], + [ + -0.07731577584360287, + 0.9880121946334839, + 0.1336194943970045, + 0.05651019714854387 + ], + [ + -0.03445767864142356, + -0.13658861815929413, + 0.9900284035319532, + 0.1092797910397468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9964111045803108, + 0.07415358722209932, + 0.040819129905593186, + -0.028686432193894273 + ], + [ + -0.07898131008156137, + 0.9879298210144045, + 0.13325381483979185, + 0.05586643635707199 + ], + [ + -0.030445168535040833, + -0.13599951565265658, + 0.9902409723145857, + 0.10700918443967525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9964337917053474, + 0.07550521194934846, + 0.037664629863847054, + -0.029288741444694205 + ], + [ + -0.07987563963767287, + 0.9879391193389895, + 0.13265057902179986, + 0.05547396255849156 + ], + [ + -0.027194548279102962, + -0.13518600165843966, + 0.990446977940095, + 0.10391117655578656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9965202705640438, + 0.07601239532232285, + 0.03419820388648463, + -0.028914806309727564 + ], + [ + -0.07989196856725328, + 0.9880379438400269, + 0.1319026001038493, + 0.055422748624786966 + ], + [ + -0.02376289517494654, + -0.13417576253414154, + 0.9906725885807837, + 0.10261128659004724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9965666233839834, + 0.07620907574892044, + 0.03235939944299874, + -0.03107844234258275 + ], + [ + -0.07984449962045873, + 0.9880157709121704, + 0.13209727937915547, + 0.05496341288514507 + ], + [ + -0.02190460086903524, + -0.134227454662323, + 0.9907084354378961, + 0.09912425189493941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9966132942355104, + 0.07646875083446503, + 0.030240644783808113, + -0.031614786637321035 + ], + [ + -0.07981176814900078, + 0.9880569577217102, + 0.13180887280062895, + 0.055264215739974774 + ], + [ + -0.01980021565234419, + -0.13377602398395538, + 0.9908137552870744, + 0.0972870132344007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9965631491364613, + 0.07767722755670549, + 0.02877674899208385, + -0.0321243154115419 + ], + [ + -0.0808107139572831, + 0.9879993796348574, + 0.1316314182318379, + 0.05579111950537383 + ], + [ + -0.01820664241841573, + -0.13350449502468112, + 0.9908809718369243, + 0.0957739851108091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9964933227308352, + 0.07888585329055786, + 0.027893633467695588, + -0.03189338416150708 + ], + [ + -0.08187285252096355, + 0.9880505800247192, + 0.13058658104504328, + 0.05659090634982324 + ], + [ + -0.01725890064295145, + -0.1324124038219452, + 0.9910444366023556, + 0.09502222068044769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.996455199232797, + 0.07935158163309097, + 0.0279346152396249, + -0.03226379340834731 + ], + [ + -0.08233069775052848, + 0.9880834817886353, + 0.1300490219840257, + 0.056460025353847705 + ], + [ + -0.01728214039041668, + -0.13188789784908295, + 0.991113974807283, + 0.09418646560034641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9964424779742956, + 0.07959607988595964, + 0.027691898014901888, + -0.03244961703095581 + ], + [ + -0.08251825782622178, + 0.9882416725158694, + 0.12872097251267503, + 0.056312839791526154 + ], + [ + -0.017120603614194145, + -0.13054811954498294, + 0.9912941204164604, + 0.09241542411835864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.996435977384857, + 0.07960411161184312, + 0.027902976199991967, + -0.033110270722177065 + ], + [ + -0.08253116361512684, + 0.9884078502655032, + 0.12743059485875977, + 0.05664989436015824 + ], + [ + -0.017435503053440608, + -0.1292792856693268, + 0.9914549119816916, + 0.0913059928580734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9964555548329882, + 0.07941514253616334, + 0.02774195445478409, + -0.03357344882630198 + ], + [ + -0.08230675339330121, + 0.9885451197624209, + 0.1265076822406309, + 0.05628005728695168 + ], + [ + -0.017377540600008127, + -0.12834262847900393, + 0.9915776276021792, + 0.08950527674270622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9965561854689379, + 0.07848114520311356, + 0.02676672993320461, + -0.03432481262840098 + ], + [ + -0.08123236665921695, + 0.9888062477111816, + 0.12515414107969547, + 0.05743969216822248 + ], + [ + -0.016644874607566834, + -0.12689746916294098, + 0.991776199250527, + 0.08895191059145424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9965454691086542, + 0.07887890189886095, + 0.025985457130877045, + -0.036787096655996776 + ], + [ + -0.08152866679408087, + 0.988775432109833, + 0.12520488776235886, + 0.05707010246657908 + ], + [ + -0.01581774963472843, + -0.1268909275531769, + 0.9917905672040397, + 0.08782803762562692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9966666975170895, + 0.07786127179861069, + 0.024355021785599434, + -0.038581663490405343 + ], + [ + -0.08030037038389752, + 0.9889784455299377, + 0.12439255136432857, + 0.05607552729565975 + ], + [ + -0.014401218198863752, + -0.12593361735343933, + 0.9919341344356901, + 0.08551868684423035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9966723686588371, + 0.07833961397409439, + 0.02251787462267021, + -0.0411589787144766 + ], + [ + -0.0805340388232293, + 0.989055335521698, + 0.12362790043197847, + 0.05603654060013685 + ], + [ + -0.012586453431584517, + -0.12502996623516083, + 0.9920730989048515, + 0.08020835763179833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9966176281158915, + 0.07913649827241898, + 0.02215260726699013, + -0.04356474265114996 + ], + [ + -0.08128524588878164, + 0.9889312386512756, + 0.12412780124367713, + 0.056220476286370336 + ], + [ + -0.01208435215583101, + -0.1255086362361908, + 0.9920189380899259, + 0.07602365497183228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9966078577954758, + 0.07899940013885498, + 0.02306134086048742, + -0.04554977869550164 + ], + [ + -0.08127362296312951, + 0.9888330698013306, + 0.12491504569114745, + 0.057488667357484174 + ], + [ + -0.012935621854383272, + -0.12636560201644897, + 0.9918993916792497, + 0.07284895137459042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9966458156435944, + 0.07807348668575287, + 0.024528877873469912, + -0.047386025184275204 + ], + [ + -0.08057080875859188, + 0.9886251091957092, + 0.12699879161481403, + 0.05780540776877542 + ], + [ + -0.014334632757574739, + -0.12854911386966705, + 0.9915995464951066, + 0.07094265387090891 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.996572773817352, + 0.07799383252859116, + 0.027561572153884356, + -0.050025752516596245 + ], + [ + -0.0809087802863233, + 0.9884001612663269, + 0.12852562113245686, + 0.05781756754838315 + ], + [ + -0.01721765748774728, + -0.13031511008739471, + 0.9913231388578609, + 0.06742986056724232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9966831845015699, + 0.07337340712547302, + 0.035198599990905625, + -0.05334201544195538 + ], + [ + -0.07736983756104229, + 0.9884470701217651, + 0.13033140231573287, + 0.057689002112510754 + ], + [ + -0.02522909693391919, + -0.13262243568897247, + 0.9908455043534778, + 0.0630371317763781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/orbit_right/transforms.json b/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..70b941bcb40d59c5bc777f10e01c276777f7fab1 --- /dev/null +++ b/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/orbit_right/transforms.json @@ -0,0 +1,4563 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 130, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -3.779902181122452e-05, + -7.106735324668989e-07, + 5.438872904051095e-05 + ], + [ + 3.779891994781792e-05, + 1.0, + -0.00014276729780249298, + 0.0001941786176757887 + ], + [ + 7.160700192798686e-07, + 0.00014276726869866252, + 1.0, + 7.050997373880818e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999973881130764, + -0.00022619572700932622, + 0.002279978313006668, + 0.0019009192360685237 + ], + [ + 0.0002105099725152895, + 0.9999763369560242, + 0.006877670515519974, + 0.0032837406614424874 + ], + [ + -0.002281480127545384, + -0.006877172738313675, + 0.9999737280682359, + -0.00011460675089108413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999961961992696, + -0.00021557725267484784, + 0.0027605296558778714, + 0.004981399169308858 + ], + [ + 0.0001803896479739881, + 0.9999188184738159, + 0.012740590155857245, + 0.006806229908816876 + ], + [ + -0.0027630524096914485, + -0.012740043923258781, + 0.9999150242440347, + -0.00012519226188093219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999995318216739, + -0.0003605873207561672, + 0.0030300569020715227, + 0.00701681578467915 + ], + [ + 0.00030379268112951146, + 0.9998246431350708, + 0.018723350604225676, + 0.009165950859304408 + ], + [ + -0.003036277648642342, + -0.01872234232723713, + 0.9998201151877849, + -0.00020435299179669283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999933088872701, + -0.00011669746891129762, + 0.0036635492392454953, + 0.008836420282986422 + ], + [ + 3.0148065881999875e-05, + 0.999721109867096, + 0.023615636598719347, + 0.012025585025000665 + ], + [ + -0.0036652842178295673, + -0.023615367710590363, + 0.9997144236493813, + -0.0001936165646615718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999877302711686, + 0.00043676671339198947, + 0.004936661362829027, + 0.01071227487088161 + ], + [ + -0.0005792063065573016, + 0.9995824694633484, + 0.028888923695740944, + 0.013147219704096616 + ], + [ + -0.004921981523499158, + -0.02889142744243145, + 0.9995704465263624, + -4.934231407173711e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999980317968814, + 0.0005297295283526182, + 0.006256076961046274, + 0.013482577347120068 + ], + [ + -0.0007412558516584647, + 0.9994263648986816, + 0.033857575204769036, + 0.01454332735341493 + ], + [ + -0.0062345529876793124, + -0.033861543983221054, + 0.9994070935422479, + 0.0004562913780109853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999735269726427, + 0.0007294963579624891, + 0.0072419200208250715, + 0.01624333553992834 + ], + [ + -0.001002730984799884, + 0.9992849230766296, + 0.0377979559746532, + 0.0162402267917398 + ], + [ + -0.00720916801179866, + -0.037804216146469116, + 0.999259164398502, + -0.00020182420550281417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999695877684602, + 0.0007506641559302807, + 0.007763828565684065, + 0.019522756393109034 + ], + [ + -0.0010645650399415533, + 0.9991787075996399, + 0.04050643165972838, + 0.017910213644845997 + ], + [ + -0.007727045911096438, + -0.04051346331834793, + 0.9991491397950871, + -0.0002788058987487918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999594296798122, + 0.0006552166887558997, + 0.008981091151006763, + 0.022021741987486597 + ], + [ + -0.0010369011104101984, + 0.9990933537483215, + 0.0425601500627674, + 0.019396060438189595 + ], + [ + -0.008945063083514176, + -0.04256773740053177, + 0.9990535240234723, + -0.000411755853822383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999475621826148, + 0.0006715603522025049, + 0.01021711339527612, + 0.02468974364123571 + ], + [ + -0.0011399729139829732, + 0.9989449381828308, + 0.04590940724110952, + 0.01720207890882653 + ], + [ + -0.010175503512428944, + -0.045918647199869156, + 0.9988933462278392, + -0.0002279356854927102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999361734637824, + 0.000353671726770699, + 0.011292461520171057, + 0.027451246122431095 + ], + [ + -0.0009088435237363266, + 0.9987887144088745, + 0.049195868332271554, + 0.015066967442886055 + ], + [ + -0.011261382905202363, + -0.04920298978686333, + 0.998725322936193, + 0.0009553861225171964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999303748805815, + 0.0003661129157990217, + 0.011793831778600921, + 0.030898006793382754 + ], + [ + -0.0010018257466441658, + 0.9985436201095581, + 0.05394145589223244, + 0.008469764585506802 + ], + [ + -0.011756906547337924, + -0.053949516266584396, + 0.9984744522373159, + 0.00209121777278088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999308941529665, + -0.0001895719324238599, + 0.011752435181537006, + 0.03597163182454709 + ], + [ + -0.00038220434090202837, + 0.9988167881965639, + 0.04863039566673175, + 0.02373542179719704 + ], + [ + -0.011747749543911938, + -0.04863153025507928, + 0.998747683418122, + -0.0009575079720227763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999218352684515, + -0.0004223412834107876, + 0.012496026113535418, + 0.03987712415719753 + ], + [ + -0.00020139390358560772, + 0.9987556338310242, + 0.0498713662304659, + 0.023144677481547665 + ], + [ + -0.012501539015800846, + -0.04986998438835144, + 0.9986774811152822, + -0.000619099019960653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999125523613228, + -0.0009546015062369408, + 0.013191840147260665, + 0.043420466478769404 + ], + [ + 0.0002987951103863384, + 0.9987678527832033, + 0.049625835219634186, + 0.02441853133555676 + ], + [ + -0.013222960930984934, + -0.04961755499243738, + 0.9986807816721155, + 6.099076293221645e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999147937908682, + -0.0013813842087984085, + 0.012982296379254517, + 0.04680736145520385 + ], + [ + 0.0007421535842565883, + 0.998792827129364, + 0.04911508112523362, + 0.024959917149676353 + ], + [ + -0.013034472921414943, + -0.04910125955939293, + 0.9987087386990315, + -0.0005490673490083989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999155974873308, + -0.0009729806915856898, + 0.012954400422008787, + 0.050552520055363495 + ], + [ + 0.00033470465079565284, + 0.9987897872924805, + 0.04918227486584453, + 0.025557447353735253 + ], + [ + -0.012986574963630993, + -0.04917379096150398, + 0.9987058342903913, + -0.0014878540375797829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9999138105471249, + -0.0011521237902343273, + 0.013079000085660781, + 0.05385990173240545 + ], + [ + 0.0005005918754881897, + 0.9987636208534241, + 0.04970952358623956, + 0.026366482404018936 + ], + [ + -0.013120099472830432, + -0.049698688089847565, + 0.9986780483879316, + -0.0024445752102058237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999094993607686, + -0.0014231777749955656, + 0.013378613039543907, + 0.05704783164671076 + ], + [ + 0.0007458012290349395, + 0.9987237453460696, + 0.0505005865616365, + 0.026883511534625117 + ], + [ + -0.013433411385894375, + -0.0504860393702984, + 0.9986344093738676, + -0.002589788052294926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998968399189432, + -0.0013272903161123395, + 0.01430055510867968, + 0.058840846476577 + ], + [ + 0.0005915372218349551, + 0.9986814856529236, + 0.05133119388926028, + 0.027532681894678845 + ], + [ + -0.01434982680019129, + -0.05131744220852852, + 0.9985792993626468, + -0.004018018649580254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9998712299864565, + -0.0016719776904210448, + 0.015961488373929404, + 0.05983137607287021 + ], + [ + 0.0008336736092374745, + 0.998626708984375, + 0.0523833211928877, + 0.027926311273384425 + ], + [ + -0.016027151774341927, + -0.05236326530575752, + 0.998499491018155, + -0.004699521225177694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998408951059863, + -0.0015351995825767517, + 0.01777319029295244, + 0.06059096406761317 + ], + [ + 0.0005765227621758976, + 0.998550534248352, + 0.05381945478900413, + 0.028082815608901444 + ], + [ + -0.017830054279607217, + -0.05380064249038696, + 0.9983925239910315, + -0.006339849486764124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9998121681443001, + -0.001315613160841167, + 0.01933557364163015, + 0.062010935314159125 + ], + [ + 0.0002490343630709682, + 0.9984830021858215, + 0.05506071560225465, + 0.028859290982303335 + ], + [ + -0.019378675249270037, + -0.05504555627703667, + 0.9982957682381773, + -0.00842340489191344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.999776539974994, + -0.0015812469646334652, + 0.02108063396899837, + 0.06445920438710537 + ], + [ + 0.00039382971619502, + 0.9984187483787539, + 0.056212966244659705, + 0.029568399599644624 + ], + [ + -0.02113618329762404, + -0.0561921037733555, + 0.9981962379760324, + -0.008581219694192552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9997216425240041, + -0.001931874779984355, + 0.02351280214595917, + 0.0655733159986798 + ], + [ + 0.0005731212398619046, + 0.9983362555503845, + 0.05765792836540841, + 0.029889556460135618 + ], + [ + -0.023585061238959024, + -0.05762840807437897, + 0.9980594833821854, + -0.008171591198147587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.999676408838703, + -0.0027048736810684204, + 0.025293759901951787, + 0.06783292149246178 + ], + [ + 0.0012190821814190523, + 0.9982823729515076, + 0.05857335041935515, + 0.030641236240657364 + ], + [ + -0.025408744222722268, + -0.05852355808019638, + 0.99796263981823, + -0.008332803451786393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9996268450681893, + -0.0030367430299520493, + 0.027146139705239703, + 0.069068423161664 + ], + [ + 0.0014085565184786704, + 0.998209536075592, + 0.059797643923307636, + 0.03021551195655316 + ], + [ + -0.027279130188949417, + -0.05973709374666214, + 0.9978413425389009, + -0.008230831446415256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9995716465342425, + -0.0033813631162047386, + 0.029069865416583445, + 0.06956585929263215 + ], + [ + 0.0016102005131022783, + 0.9981525540351868, + 0.060736635600761854, + 0.03055531033012155 + ], + [ + -0.02922152922144947, + -0.06066380813717842, + 0.9977304383538457, + -0.008212604437062761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9994933274644826, + -0.0034574363380670547, + 0.03164147168543161, + 0.06943430041752857 + ], + [ + 0.0014985761700234974, + 0.9980921745300293, + 0.0617235326101467, + 0.029704844854807046 + ], + [ + -0.03179451347611799, + -0.061644840985536575, + 0.9975916285594192, + -0.007918884470435452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.999411421970068, + -0.004137771669775248, + 0.034054013194134876, + 0.06848204032886038 + ], + [ + 0.0020010638752114623, + 0.9980403780937195, + 0.0625411646002149, + 0.029532309075592338 + ], + [ + -0.03424606015628685, + -0.06243620812892914, + 0.9974612428992129, + -0.007017022893199036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9993277771876276, + -0.004727497231215239, + 0.03635510890029078, + 0.06772310510245615 + ], + [ + 0.0024209381037731646, + 0.9979960918426514, + 0.06322943755902333, + 0.029593013544384365 + ], + [ + -0.03658117542530414, + -0.06309891492128372, + 0.9973366463777126, + -0.005493386166384895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9992434111115662, + -0.004473522305488586, + 0.03863428621143868, + 0.06704394000075371 + ], + [ + 0.0019730355151130166, + 0.9979144930839539, + 0.06451912899192856, + 0.02939067308372839 + ], + [ + -0.038842346221189115, + -0.06439408659934998, + 0.9971683436477116, + -0.005077135164189973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9991251383850279, + -0.005118898116052151, + 0.04150591443935853, + 0.0657921369546799 + ], + [ + 0.0023946004051308223, + 0.9978547692298889, + 0.06542229027829946, + 0.03051021343550503 + ], + [ + -0.04175176349784535, + -0.06526566296815872, + 0.996994086337838, + -0.004695905505660731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9990359326045035, + -0.005759275984019041, + 0.0435201597504095, + 0.06521964206304934 + ], + [ + 0.0028204651441003136, + 0.997729480266571, + 0.06728960219647646, + 0.03091575661694123 + ], + [ + -0.04380888664536674, + -0.06710198521614075, + 0.9967838944631716, + -0.0038602012270140527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9989464683480884, + -0.006453960668295622, + 0.0454349623207746, + 0.06429370009344346 + ], + [ + 0.003177850105706487, + 0.997413158416748, + 0.07181174026131266, + 0.03095344515719665 + ], + [ + -0.045780901261393725, + -0.07159169763326645, + 0.9963828399191004, + -0.0038715233000654378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9988299563665008, + -0.008192859590053558, + 0.047661822176521984, + 0.06407926429836337 + ], + [ + 0.0045145666310124994, + 0.9970381259918213, + 0.07677651789621422, + 0.031995093148976125 + ], + [ + -0.04814968017503643, + -0.07647150754928589, + 0.9959084766072006, + -0.0006362865237301415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9987001719387774, + -0.008915480226278305, + 0.050184006460123984, + 0.06316284214826336 + ], + [ + 0.004888060151971903, + 0.996798038482666, + 0.0798108587186671, + 0.03260742001072698 + ], + [ + -0.05073487072831695, + -0.07946181297302246, + 0.9955459659421712, + 0.0007563159586665277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9985031551442184, + -0.00982833281159401, + 0.05380340484773329, + 0.05991735276098285 + ], + [ + 0.005383427986662263, + 0.9966059327125549, + 0.08214362450939108, + 0.0337828929302639 + ], + [ + -0.05442812996957695, + -0.08173102885484695, + 0.9951671514532253, + -0.0006352559317381726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9982547777127595, + -0.010879788547754288, + 0.058043832150818625, + 0.06026201870962253 + ], + [ + 0.005945534520345074, + 0.9964045882225037, + 0.08451393294697174, + 0.03397855792556301 + ], + [ + -0.058754623886497014, + -0.08402133733034134, + 0.9947302807699833, + 0.001496199775833165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9979988291369533, + -0.011881377547979355, + 0.06210595771584403, + 0.058984097213977016 + ], + [ + 0.006470555636726507, + 0.9962214231491089, + 0.08660808732006331, + 0.034260465850210524 + ], + [ + -0.06290030835787613, + -0.08603290468454361, + 0.994304746371311, + 0.0015624791138760734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9977079695352292, + -0.013065053150057793, + 0.06639372852243211, + 0.05739725685334496 + ], + [ + 0.007176438279456042, + 0.996079683303833, + 0.0881686545550794, + 0.0347563457356044 + ], + [ + -0.0672853788570376, + -0.08749009668827057, + 0.9938903938994244, + 0.0016449160541203542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.99736273586581, + -0.014651244506239895, + 0.07108366472975343, + 0.05756677918757307 + ], + [ + 0.00820408665479245, + 0.9958938360214236, + 0.09015622770235086, + 0.03467823947050525 + ], + [ + -0.07211267151731088, + -0.08933528512716295, + 0.9933876197310091, + 0.0021826654860060716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9970102702665562, + -0.016169810667634014, + 0.07555863532164879, + 0.057640189676485 + ], + [ + 0.00920904283563373, + 0.9957551360130312, + 0.09158005222173539, + 0.03551693275729972 + ], + [ + -0.0767187375409682, + -0.09061042219400407, + 0.9929269735956501, + 0.002413480861759368 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9966902021941394, + -0.017649393528699875, + 0.0793543393920082, + 0.05773289118908444 + ], + [ + 0.010208400139992668, + 0.9955936670303345, + 0.09321498141697944, + 0.036399024168155485 + ], + [ + -0.08064985873568317, + -0.09209637343883514, + 0.9924786433875022, + 0.003695706655707334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9962886090763869, + -0.019415993243455887, + 0.08385741985739925, + 0.05761318935042768 + ], + [ + 0.011402026087977244, + 0.9954111576080322, + 0.09500874881623333, + 0.03691599704889718 + ], + [ + -0.08531728691684388, + -0.09369999170303345, + 0.9919381564627212, + 0.005147055814528672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9959192454770638, + -0.020670924335718155, + 0.08784991450938864, + 0.05830878238288957 + ], + [ + 0.012233351429374761, + 0.9953523278236389, + 0.09552001719486179, + 0.038912536341727116 + ], + [ + -0.08941611815379984, + -0.09405551850795746, + 0.9915434184779102, + 0.006084406466933906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9956250838121449, + -0.022466022521257404, + 0.09069690174118705, + 0.05765668521709612 + ], + [ + 0.01368507923862702, + 0.9952580928802492, + 0.09630190439548438, + 0.04039006743952756 + ], + [ + -0.09243033475851382, + -0.09463939815759662, + 0.9912113702932128, + 0.007412956296537748 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9953682364277912, + -0.024563217535614974, + 0.09294458749384285, + 0.055996371314678245 + ], + [ + 0.015460428558531202, + 0.9951233267784121, + 0.09741948547641002, + 0.0413571908400016 + ], + [ + -0.09488425747643012, + -0.09553129971027377, + 0.9908939042365208, + 0.009884709052773683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9952176892281981, + -0.025745216757059097, + 0.09422816260296998, + 0.05639898407266046 + ], + [ + 0.016368408062293487, + 0.9949563145637512, + 0.0989644632212065, + 0.04146315218721433 + ], + [ + -0.0963007704612442, + -0.09694882482290268, + 0.9906195532027182, + 0.010626106104796904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.995013791596459, + -0.026996687054634094, + 0.09601411309172486, + 0.05662640866276654 + ], + [ + 0.017343231306697585, + 0.9948371648788452, + 0.09999106676548532, + 0.04241505777168669 + ], + [ + -0.09821784400331922, + -0.09782729297876358, + 0.9903449199042113, + 0.011885586518597016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.994829725551162, + -0.0286000594496727, + 0.09744677810597333, + 0.05821539948674202 + ], + [ + 0.01866018856196931, + 0.9946678280830383, + 0.10142821809533922, + 0.042708092082733976 + ], + [ + -0.09982801983877079, + -0.09908542782068253, + 0.9900588051877838, + 0.013214977861317232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9946365557485338, + -0.03006943315267563, + 0.09896414676056303, + 0.05854727350194326 + ], + [ + 0.01994016682956814, + 0.9946056008338928, + 0.1017945297826386, + 0.04362333620051797 + ], + [ + -0.10149119267081877, + -0.09927520155906677, + 0.989870691726284, + 0.014712494368956656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9944582124194042, + -0.031541056931018836, + 0.10028958502275086, + 0.0598251062082385 + ], + [ + 0.021334188099269038, + 0.994630813598633, + 0.10126423140878145, + 0.043585532638494115 + ], + [ + -0.1029450833275075, + -0.09856344759464267, + 0.9897916665713562, + 0.01692739780897244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9942610323566172, + -0.032429859042167664, + 0.10194738153988954, + 0.060821857578895036 + ], + [ + 0.022206366683073207, + 0.994753360748291, + 0.09986315503651147, + 0.044956249999241804 + ], + [ + -0.10465103005813495, + -0.09702616930007935, + 0.9897646665255675, + 0.020104159603118177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9942196182394009, + -0.03374449163675308, + 0.10192482955100673, + 0.062337236816617375 + ], + [ + 0.02357184959806457, + 0.9947673678398132, + 0.09940978483934365, + 0.04619601069275884 + ], + [ + -0.10474602175329534, + -0.09643259644508362, + 0.9898126349450077, + 0.020363828177327396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9942509259187833, + -0.035061925649642944, + 0.10117199437753921, + 0.06480887528330422 + ], + [ + 0.02487623720070201, + 0.994652509689331, + 0.10023732825057104, + 0.04708329001015079 + ], + [ + -0.10414549386978388, + -0.09714428335428238, + 0.9898064098102094, + 0.02247099782632058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.994299168993727, + -0.0365055575966835, + 0.10018236241805469, + 0.06728101158394398 + ], + [ + 0.02630265540074814, + 0.9945043325424194, + 0.10133751709209345, + 0.047643653717869015 + ], + [ + -0.10333118829241737, + -0.09812474250793457, + 0.9897950536796435, + 0.023456742567515575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9943383635318176, + -0.03786531835794449, + 0.09928477663801506, + 0.07099115202184178 + ], + [ + 0.027610568129897217, + 0.9943293333053589, + 0.10269804632271576, + 0.04832460847434268 + ], + [ + -0.10261046094333943, + -0.09937530010938644, + 0.9897452437481279, + 0.025871888491024023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9944428977941235, + -0.0393081083893776, + 0.09766382674875919, + 0.07554099389483893 + ], + [ + 0.029129471952005506, + 0.994198262691498, + 0.10354356139991666, + 0.04970734026643942 + ], + [ + -0.10116730184344365, + -0.10012325644493106, + 0.9898184531653731, + 0.02872180552415552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9946249201593811, + -0.040358174592256546, + 0.09535477189026267, + 0.08061137180584953 + ], + [ + 0.030333742919246915, + 0.9940798282623291, + 0.1043319897311155, + 0.05098945010439008 + ], + [ + -0.09900090415716746, + -0.10087873041629791, + 0.9899607330767651, + 0.03180035004798201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9948557590214482, + -0.04198499023914337, + 0.09219175885868841, + 0.08617303821347497 + ], + [ + 0.032164936567298505, + 0.9938955307006836, + 0.10553243738544683, + 0.051570967697914624 + ], + [ + -0.09605976657127088, + -0.10202420502901077, + 0.9901330940309166, + 0.034784826745288544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9951358699357044, + -0.04317830502986908, + 0.08854499227531379, + 0.09131952938598269 + ], + [ + 0.033601333801645115, + 0.9936983585357666, + 0.10693230175345653, + 0.05186349555903196 + ], + [ + -0.09260417907317103, + -0.10343693941831589, + 0.9903157663314387, + 0.03795242356748569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.995546153711848, + -0.044040497392416, + 0.08335637262224793, + 0.09812307806993784 + ], + [ + 0.03493798247492856, + 0.993572473526001, + 0.10767091215373249, + 0.052949604094960315 + ], + [ + -0.08756249646835933, + -0.1042790561914444, + 0.9906859467301606, + 0.042133860165472235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9959470827510455, + -0.04572995752096176, + 0.07744789696657103, + 0.10443405361352553 + ], + [ + 0.03719187916374523, + 0.993421733379364, + 0.10830496878077159, + 0.0536786510953392 + ], + [ + -0.08189122547672961, + -0.10498558729887009, + 0.9910962651353709, + 0.045455724132929545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9964403435050831, + -0.04692680761218071, + 0.07003244441285629, + 0.11103476700054132 + ], + [ + 0.03917881963488546, + 0.9933594465255737, + 0.10817604394689677, + 0.054687487806949854 + ], + [ + -0.0746437515398933, + -0.10504718124866486, + 0.9916619261883253, + 0.04896233013257815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9970293880123341, + -0.04756909608840944, + 0.060577322246230435, + 0.11844038124000358 + ], + [ + 0.04080186491037458, + 0.993266820907593, + 0.10842589661370841, + 0.054911554265069606 + ], + [ + -0.0653271557779171, + -0.10563214123249057, + 0.9922571309867404, + 0.05346488095246872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9974633873977139, + -0.04872337728738785, + 0.05189248600960236, + 0.1265540949891631 + ], + [ + 0.042884287770695494, + 0.9932000041007996, + 0.10823437443697478, + 0.05581991137595806 + ], + [ + -0.05681315223430401, + -0.1057344526052475, + 0.9927701146237762, + 0.05681218348385646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9978926653300958, + -0.04937380179762842, + 0.04210004186562065, + 0.13541491081032356 + ], + [ + 0.04456791278502618, + 0.9931173324584963, + 0.10831305075529188, + 0.05613470663479132 + ], + [ + -0.047158098954047434, + -0.1062084957957268, + 0.9932249822741592, + 0.06107809580142947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9982553488974635, + -0.05058682709932329, + 0.03045048926476283, + 0.14486295482095538 + ], + [ + 0.047030478593964614, + 0.9930452108383181, + 0.10793198801361047, + 0.05686456792392572 + ], + [ + -0.03569865700512089, + -0.10631158202886584, + 0.9936918441736193, + 0.06576152495048128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9986212470842525, + -0.04934334382414818, + 0.0179111743471719, + 0.15559681047083185 + ], + [ + 0.04711965278167238, + 0.992984414100647, + 0.10845112923188643, + 0.05653992463104917 + ], + [ + -0.023136860321712773, + -0.10745763778686523, + 0.9939404311714191, + 0.07075682940080495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9991229719080521, + -0.04162907600402832, + 0.004504231140261577, + 0.167320089680177 + ], + [ + 0.04087522299435967, + 0.9930102825164795, + 0.1107239514094627, + 0.05502742916287941 + ], + [ + -0.009082088240412553, + -0.11044272780418396, + 0.9938409945017839, + 0.07456943864766773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9993554798299037, + -0.03505037352442742, + -0.007750030502175709, + 0.17704900313373081 + ], + [ + 0.03570292580668293, + 0.9929297566413882, + 0.11320687095091284, + 0.05417645105067246 + ], + [ + 0.003727303683679331, + -0.11341060698032382, + 0.9935412329658587, + 0.07975001387232447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9992803313776657, + -0.031366869807243354, + -0.02132924326675947, + 0.18759925857535756 + ], + [ + 0.03361247365934271, + 0.9928326010704043, + 0.11468916025924611, + 0.05384491970026975 + ], + [ + 0.017578931662321193, + -0.1153235584497452, + 0.9931724044675654, + 0.08420881109865383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9989742689150789, + -0.027071246877312667, + -0.036298688500656484, + 0.19809883477345328 + ], + [ + 0.03113738150188378, + 0.9926919937133791, + 0.11658906867602363, + 0.05385519738292142 + ], + [ + 0.032877204301754254, + -0.11759972572326663, + 0.9925166976322042, + 0.0885365479446359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.998466662605438, + -0.021200545132160187, + -0.05113520581146022, + 0.20852344447444196 + ], + [ + 0.027243897400653992, + 0.9923339486122131, + 0.12054516455411299, + 0.05161366306359032 + ], + [ + 0.04818758096110859, + -0.12175344675779343, + 0.9913899514608834, + 0.09223219421456096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9977360126054111, + -0.01766972430050373, + -0.06488982839861297, + 0.218148542557486 + ], + [ + 0.025567554750966334, + 0.9920802712440491, + 0.12297589285395366, + 0.05225648703334309 + ], + [ + 0.062202968309889514, + -0.12435655295848846, + 0.9902859345821831, + 0.09671025358957738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9968206184374774, + -0.015276929363608364, + -0.07820033057322284, + 0.22814357633880863 + ], + [ + 0.02503793288557367, + 0.9917894601821902, + 0.12540650585173174, + 0.052062396977508855 + ], + [ + 0.07564242970341278, + -0.1269657760858536, + 0.9890186645130303, + 0.10173551056121816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9957317178492243, + -0.01308223232626915, + -0.09136275529475543, + 0.2369267709944506 + ], + [ + 0.024759289981741473, + 0.9914814829826355, + 0.12787290882707697, + 0.05079465499591266 + ], + [ + 0.08891161131238257, + -0.12958920001983643, + 0.9875734669889078, + 0.10547556465068994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9945489041135149, + -0.011531769298017027, + -0.10363153633033423, + 0.24608328198280685 + ], + [ + 0.02498682535293512, + 0.9912654161453249, + 0.12949316040252176, + 0.050679050930646063 + ], + [ + 0.10123308145158684, + -0.13137669861316684, + 0.9861501163885719, + 0.11055886266903729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.993220967831837, + -0.00974593684077263, + -0.115832139607014, + 0.25435921899685493 + ], + [ + 0.0250247409133759, + 0.9910408258438113, + 0.1311939487358001, + 0.05029941995325023 + ], + [ + 0.1135157738596243, + -0.1332032531499863, + 0.9845664536836439, + 0.11458570923105733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9917576956861208, + -0.007746540009975433, + -0.12789304518252312, + 0.26280333030043435 + ], + [ + 0.024839803909326323, + 0.9908575415611267, + 0.13260570680336098, + 0.049401921207701156 + ], + [ + 0.1256965628341673, + -0.1346895843744278, + 0.9828830593512284, + 0.1181737992086763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9902192538538449, + -0.0045041367411613464, + -0.13944739393498598, + 0.2709327668524384 + ], + [ + 0.023412726225776406, + 0.9906700849533081, + 0.13425577989646084, + 0.04886175577746055 + ], + [ + 0.13754165698869067, + -0.13620750606060028, + 0.9810860568606533, + 0.12199031289658305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9885438053980079, + -0.0015051228692755103, + -0.15092666523776832, + 0.2788852604907659 + ], + [ + 0.02225557607427772, + 0.9904735684394836, + 0.13589266633926195, + 0.04812020080814458 + ], + [ + 0.14928433754266746, + -0.1376948058605194, + 0.9791600165309807, + 0.12494442758259082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9869751629370764, + 0.001376763335429132, + -0.160866852929761, + 0.28554532958071804 + ], + [ + 0.02102265687628083, + 0.9902846813201904, + 0.13745670560035195, + 0.04663398988538933 + ], + [ + 0.15949321780035247, + -0.13904820382595062, + 0.9773574000366809, + 0.12845814725688212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9852969338392398, + 0.004683163017034531, + -0.17078660876056187, + 0.29267661926683164 + ], + [ + 0.019096812578229427, + 0.9903413653373718, + 0.13732904026150317, + 0.045461488524963206 + ], + [ + 0.16978018001216938, + -0.1385713666677475, + 0.9756908916362601, + 0.13182942646333923 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9835632255185823, + 0.007172948215156794, + -0.18042169000575164, + 0.29942899089826003 + ], + [ + 0.017788397722604772, + 0.9905007481575012, + 0.1363518128608262, + 0.04451762555838372 + ], + [ + 0.17968586296554362, + -0.13732004165649414, + 0.9740925111477581, + 0.13506117123746147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9817786892186404, + 0.010881681926548481, + -0.18971604806477807, + 0.30649419006218603 + ], + [ + 0.015394382821717371, + 0.9905232191085815, + 0.13647994481281178, + 0.04232352462388235 + ], + [ + 0.18940328706730952, + -0.13691365718841553, + 0.972307105142387, + 0.1374310198902084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9800901246352687, + 0.015211960300803185, + -0.19796964197789232, + 0.31340977398219494 + ], + [ + 0.012267723259391157, + 0.9905164837837219, + 0.13684508219542263, + 0.041493917474165185 + ], + [ + 0.1981738791767983, + -0.13654914498329163, + 0.970608829569591, + 0.14086654776965465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.978265484570583, + 0.018276814371347427, + -0.20654918643390077, + 0.3199885067615261 + ], + [ + 0.010544282072615378, + 0.990434467792511, + 0.13758027685952845, + 0.04082892513114127 + ], + [ + 0.20708797098957676, + -0.1367679387331009, + 0.9687151895451125, + 0.14312411710882544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9764895417164108, + 0.02084009349346161, + -0.21455498538486376, + 0.3269040965250041 + ], + [ + 0.009161311212338374, + 0.990404486656189, + 0.13789494788946513, + 0.040240516797176114 + ], + [ + 0.21536997217986098, + -0.13661856949329376, + 0.9669287321750253, + 0.14658336433349328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9746720165723166, + 0.023716049268841743, + -0.22237796000528048, + 0.33301652819933686 + ], + [ + 0.007495228835852366, + 0.9903385043144226, + 0.13846833392761435, + 0.03932019327135004 + ], + [ + 0.22351338577124186, + -0.13662798702716827, + 0.9650774962269052, + 0.1492259518378032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9726335687308676, + 0.027108997106552124, + -0.23075762034494804, + 0.33929705132681925 + ], + [ + 0.005476732349122283, + 0.9902191162109375, + 0.13941339023546612, + 0.03804761836598686 + ], + [ + 0.2322799601992136, + -0.13686193525791168, + 0.9629718822591056, + 0.15181492348387018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9705733959845458, + 0.030079903081059456, + -0.23891951599058564, + 0.34451981190381775 + ], + [ + 0.0037943412279532866, + 0.9901341199874878, + 0.1400715451310453, + 0.03761619128032999 + ], + [ + 0.24077569673444418, + -0.13685624301433563, + 0.9608836643842196, + 0.15496014304429684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9683865117447062, + 0.032263822853565216, + -0.247359301764759, + 0.34965291745174554 + ], + [ + 0.003019814129219193, + 0.9900117516517639, + 0.14095250052504882, + 0.03720673455025413 + ], + [ + 0.2494362811657298, + -0.13724347949028015, + 0.9586166060349257, + 0.15687680402608234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9660719931587507, + 0.03503929078578949, + -0.2558849705529793, + 0.3552425666046867 + ], + [ + 0.001553352620049976, + 0.9899482131004333, + 0.14142187846183818, + 0.03748085298789868 + ], + [ + 0.2582681901847361, + -0.13702118396759033, + 0.9563068078796306, + 0.16141889022454256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9636049058051152, + 0.037775855511426926, + -0.26464805876132286, + 0.36022797922990535 + ], + [ + 8.688679503771822e-05, + 0.9899213910102844, + 0.1416177120164535, + 0.03780164313387719 + ], + [ + 0.2673305070599362, + -0.13648651540279388, + 0.9538898689987919, + 0.16383850996425683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9609927746455971, + 0.040868379175662994, + -0.27353741007630716, + 0.36506945630654725 + ], + [ + -0.001494892819208848, + 0.9897753000259399, + 0.14262740321541967, + 0.037711130481485604 + ], + [ + 0.27656952327162987, + -0.13665500283241272, + 0.951227999554429, + 0.1668803190114726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9582429029796828, + 0.044426631182432175, + -0.28248339472099493, + 0.3693005290386482 + ], + [ + -0.0036455712105261193, + 0.9896752834320068, + 0.1432813507735462, + 0.03875653806564062 + ], + [ + 0.2859323350815658, + -0.1362685263156891, + 0.9485112483587238, + 0.16798012165787657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9548955898625737, + 0.04703381285071373, + -0.2931931331771417, + 0.3750027535160787 + ], + [ + -0.005982954883621743, + 0.9902229905128479, + 0.1393650219891773, + 0.04869858355447869 + ], + [ + 0.2968814610962993, + -0.1313248723745346, + 0.9458409901142208, + 0.1664783311073411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9518528842805857, + 0.049992531538009644, + -0.3024514563187778, + 0.3783480465659069 + ], + [ + -0.006898520662687459, + 0.9898564219474792, + 0.14190392464449353, + 0.04493411610049934 + ], + [ + 0.30647764004747285, + -0.1329851746559143, + 0.9425424968817887, + 0.17077297549082432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.948360528136823, + 0.0523665100336075, + -0.31284197597654156, + 0.38139765074442933 + ], + [ + -0.008128443716356652, + 0.9899663329124453, + 0.14106926875929762, + 0.047722182575910634 + ], + [ + 0.3170903257476864, + -0.13124160468578341, + 0.9392706373033719, + 0.172017877773769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9450201562732794, + 0.05363591015338898, + -0.322583452053506, + 0.3841900814026306 + ], + [ + -0.006763240520906719, + 0.9894520044326782, + 0.14470290630641164, + 0.0404243754671721 + ], + [ + 0.3269421200151956, + -0.13456545770168304, + 0.9354148701926057, + 0.17899877474507436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9413604794681707, + 0.055158812552690506, + -0.33286318981234536, + 0.3866047130491439 + ], + [ + -0.006413288844172182, + 0.9892934560775757, + 0.14579874839517512, + 0.039918204632843075 + ], + [ + 0.33734146984593216, + -0.13511444628238678, + 0.931635574824948, + 0.180555429155875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9377417203920054, + 0.058348074555397034, + -0.34239741419479336, + 0.38933995473967703 + ], + [ + -0.007962928069114908, + 0.9891413450241089, + 0.14675147197568622, + 0.04101086111267646 + ], + [ + 0.3472420886533094, + -0.13488848507404327, + 0.9280237052623233, + 0.18219576151927314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9342743241945589, + 0.060671042650938034, + -0.3513552281365018, + 0.39108371935103825 + ], + [ + -0.008137071073658122, + 0.9887880086898804, + 0.1491042006807193, + 0.03880138762105735 + ], + [ + 0.35646215481423543, + -0.13644522428512573, + 0.9242929554200642, + 0.18426674442787852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9305341741720304, + 0.06402169167995453, + -0.3605653661117698, + 0.3937985595119524 + ], + [ + -0.009985335364704804, + 0.9886692762374878, + 0.14977753234445423, + 0.03998164756114629 + ], + [ + 0.36606890678483184, + -0.1357727348804474, + 0.9206298288475518, + 0.18568125610163466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9267596096913944, + 0.06670408695936204, + -0.3696852762801737, + 0.39673764349768814 + ], + [ + -0.01110001070344215, + 0.9885414838790896, + 0.1505407919665645, + 0.04009269752932808 + ], + [ + 0.37549092212057505, + -0.13541160523891452, + 0.9168807570629416, + 0.18653756636871194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9232267130623814, + 0.06885000318288803, + -0.37803725762365703, + 0.3981149459165804 + ], + [ + -0.011168735112403681, + 0.9882091879844666, + 0.1527017248724535, + 0.03724541935200184 + ], + [ + 0.3840933986672424, + -0.13675610721111298, + 0.9131100976272671, + 0.18752606155610774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9195712356360236, + 0.0719405934214592, + -0.38628137762395687, + 0.4009436210823688 + ], + [ + -0.012665364987417185, + 0.9880121946334839, + 0.15385540941723455, + 0.03634055429242579 + ], + [ + 0.3927191752795529, + -0.13658861815929413, + 0.9094587515578326, + 0.18958557922551214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9163611065412216, + 0.07415358722209932, + -0.3934254861034714, + 0.40420132963286526 + ], + [ + -0.013700942229744882, + 0.9879298210144045, + 0.15429488226631002, + 0.03489111450179479 + ], + [ + 0.40011829766457185, + -0.13599951565265658, + 0.9063164124143777, + 0.19067151105960628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9134034808855664, + 0.07550521194934846, + -0.39999125828098653, + 0.40706604855144135 + ], + [ + -0.014142328899309907, + 0.9879391193389895, + 0.15419561749819577, + 0.03399297488190118 + ], + [ + 0.4068095991081573, + -0.13518600165843966, + 0.9034548741582127, + 0.19064466330943303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9103280207769177, + 0.07601239532232285, + -0.406847712765448, + 0.41088748365773164 + ], + [ + -0.01385945726345386, + 0.9880379438400269, + 0.15358690699427952, + 0.033799585442222724 + ], + [ + 0.4136554686723356, + -0.13417576253414154, + 0.9004920911312417, + 0.19253750014575177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9078966134531863, + 0.07620907574892044, + -0.4122085696046377, + 0.41230468337145965 + ], + [ + -0.01310719414448516, + 0.9880157709121704, + 0.15379543816600952, + 0.033323083093135024 + ], + [ + 0.4189891705389392, + -0.134227454662323, + 0.8980150837030119, + 0.19157056131567124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9053120184997332, + 0.07646875083446503, + -0.41780701765747696, + 0.4153086417579029 + ], + [ + -0.01258229598981191, + 0.9880569577217102, + 0.1535746825217848, + 0.03355302044130084 + ], + [ + 0.4245607759544704, + -0.13377602398395538, + 0.8954619443208582, + 0.19239956895786495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9029051813269833, + 0.07767722755670549, + -0.4227628709243774, + 0.4183533725097237 + ], + [ + -0.012930788110503584, + 0.9879993796348574, + 0.15391554981499472, + 0.03355939579800361 + ], + [ + 0.4296452119883392, + -0.13350449502468112, + 0.8930742264740006, + 0.19335070832802143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9007189587763436, + 0.07888585329055786, + -0.427179534079092, + 0.4221818028607205 + ], + [ + -0.013726490962891292, + 0.9880505800247192, + 0.15351743410700547, + 0.03371034090400584 + ], + [ + 0.4341853375581726, + -0.1324124038219452, + 0.8910387408083777, + 0.19480860286979032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.8989624965236416, + 0.07935158163309097, + -0.4307780596207762, + 0.4255164061506137 + ], + [ + -0.013756242700980248, + 0.9880834817886353, + 0.153303156190087, + 0.03325316236349924 + ], + [ + 0.4378095206284745, + -0.13188789784908295, + 0.8893415581663949, + 0.19575199834618115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.8970834632687162, + 0.07959607988595964, + -0.4346328485710994, + 0.4290100295996959 + ], + [ + -0.013912373069828695, + 0.9882416725158694, + 0.15226554933683967, + 0.03281231947203645 + ], + [ + 0.4416420377197777, + -0.13054811954498294, + 0.887642641359168, + 0.19587295100119667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.895404222616949, + 0.07960411161184312, + -0.4380804848740352, + 0.43207721176358893 + ], + [ + -0.01390496973996701, + 0.9884078502655032, + 0.1511839981289515, + 0.03293706592143763 + ], + [ + 0.445037051061898, + -0.1292792856693268, + 0.8861314024688889, + 0.1964495919976206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.8935606611290946, + 0.07941514253616334, + -0.4418626864502422, + 0.4353062495914994 + ], + [ + -0.013524859754768515, + 0.9885451197624209, + 0.15031857333229312, + 0.032505923767739704 + ], + [ + 0.4487387560770082, + -0.12834262847900393, + 0.8843990610990776, + 0.19651838854240394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.8913886271487709, + 0.07848114520311356, + -0.4463933288228519, + 0.4381832906651017 + ], + [ + -0.012605582870153054, + 0.9888062477111816, + 0.1486719734952001, + 0.03395426438837332 + ], + [ + 0.4530644583175195, + -0.12689746916294098, + 0.882399953456467, + 0.19817744958006966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.8891887346369405, + 0.07887890189886095, + -0.45069003780652267, + 0.4393113323880369 + ], + [ + -0.01223862923437074, + 0.988775432109833, + 0.14890736510753505, + 0.033396319466737275 + ], + [ + 0.4573768926461471, + -0.1268909275531769, + 0.8801733400142113, + 0.19931014040564726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.8866779463904619, + 0.07786127179861069, + -0.4557849190249626, + 0.44105801034695125 + ], + [ + -0.010944670309407236, + 0.9889784455299377, + 0.14765456481442293, + 0.032837750981596366 + ], + [ + 0.4622580255775267, + -0.12593361735343933, + 0.8777575063384304, + 0.1995763521323295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.8839395299668132, + 0.07833961397409439, + -0.46099216098279655, + 0.4419295253881186 + ], + [ + -0.01091876645614437, + 0.989055335521698, + 0.14714064602779464, + 0.03254429377840552 + ], + [ + 0.46747369064993216, + -0.12502996623516083, + 0.8751204493844218, + 0.19705904602942445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.8818358114806525, + 0.07913649827241898, + -0.4648688377062179, + 0.44311564447340374 + ], + [ + -0.010735135828531625, + 0.9889312386512756, + 0.14798567193999723, + 0.032379313096746604 + ], + [ + 0.4714343967196198, + -0.1255086362361908, + 0.872924518320856, + 0.19503467371819067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.8803779243535903, + 0.07899940013885498, + -0.46764704422548736, + 0.44489983048843795 + ], + [ + -0.00973896198131529, + 0.9888330698013306, + 0.14870885329764627, + 0.03370740745592244 + ], + [ + 0.4741727641386962, + -0.12636560201644897, + 0.8713162016601629, + 0.1933685516431944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.8792289953152448, + 0.07807348668575287, + -0.4699584252745796, + 0.4469267290667682 + ], + [ + -0.007496611166027325, + 0.9886251091957092, + 0.15021367819430406, + 0.03459871580383014 + ], + [ + 0.47634041125093296, + -0.12854911386966705, + 0.8698131724197373, + 0.19268603861747258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.8787565119460699, + 0.07799383252859116, + -0.4708544642307024, + 0.4483019615121149 + ], + [ + -0.006422181912298875, + 0.9884001612663269, + 0.15173602602674727, + 0.03461127567913898 + ], + [ + 0.4772271329042723, + -0.13031511008739471, + 0.8690640235243519, + 0.18966731084123234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.880752257298585, + 0.07337340712547302, + -0.46785871048101396, + 0.4497152950299642 + ], + [ + -0.001838543656671647, + 0.9884470701217651, + 0.1515552240967958, + 0.0364651803314478 + ], + [ + 0.4735737133174248, + -0.13262243568897247, + 0.870711926462676, + 0.18317070966717997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/pan_right/transforms.json b/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..edd1c4f25236bdad999e6444e5c9df282c05cb37 --- /dev/null +++ b/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/pan_right/transforms.json @@ -0,0 +1,4563 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 130, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -3.779902181122452e-05, + -7.106735324668989e-07, + 5.438872904051095e-05 + ], + [ + 3.779891994781792e-05, + 1.0, + -0.00014276729780249298, + 0.0001941786176757887 + ], + [ + 7.160700192798686e-07, + 0.00014276726869866252, + 1.0, + 7.050997373880818e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999798965995328, + -0.00022619572700932622, + 0.006338843022990339, + -0.0001065495889633894 + ], + [ + 0.0001825925022477258, + 0.9999763369560242, + 0.006878468299462031, + 0.003281529527157545 + ], + [ + -0.006340248791541863, + -0.006877172738313675, + 0.9999562306538822, + -0.0003700898087117821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999408378716665, + -0.00021557725267484784, + 0.010878129135950265, + 0.0009651915170252323 + ], + [ + 7.695914398985225e-05, + 0.9999188184738159, + 0.012741634715953016, + 0.006798982620239258 + ], + [ + -0.010879992875329774, + -0.012740043923258781, + 0.9998596481119738, + -0.0006260459194891155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998842880473756, + -0.0003605873207561672, + 0.0152061900625968, + 0.00099079345818609 + ], + [ + 7.578687593170473e-05, + 0.9998246431350708, + 0.018725661648959224, + 0.00914997048676014 + ], + [ + -0.015210277003235677, + -0.01872234232723713, + 0.9997090222607576, + -0.0009416893008165061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998020375867063, + -0.00011669746891129762, + 0.01989786545863247, + 0.0007991328602656722 + ], + [ + -0.00035325358759597116, + 0.999721109867096, + 0.02361301363171376, + 0.012001930736005306 + ], + [ + -0.019895072532463354, + -0.023615367710590363, + 0.9995231609372243, + -0.0011552684009075165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996816256431824, + 0.00043676671339198947, + 0.025228528884954485, + 0.0006617503240704536 + ], + [ + -0.0011653338062395868, + 0.9995824694633484, + 0.028871220780630903, + 0.013117826543748379 + ], + [ + -0.025205384074021724, + -0.02889142744243145, + 0.9992647257282278, + -0.0012182226637378335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9995314517687937, + 0.0005297295283526182, + 0.03060476676794803, + 0.001417317078448832 + ], + [ + -0.001565502680110278, + 0.9994263648986816, + 0.03382948507356824, + 0.014503572136163712 + ], + [ + -0.030569290575204886, + -0.033861543983221054, + 0.9989589214513519, + -0.0009058360010385513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993642021850156, + 0.0007294963579624891, + 0.03564675921878529, + 0.0021624707151204348 + ], + [ + -0.0020761100452950576, + 0.9992849230766296, + 0.037754214498112976, + 0.01619199477136135 + ], + [ + -0.035593726449303004, + -0.037804216146469116, + 0.9986510583658674, + -0.0017484630225226283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9991904024890299, + 0.0007506641559302807, + 0.04022428457576347, + 0.0034258803352713585 + ], + [ + -0.0023790668764197987, + 0.9991787075996399, + 0.04045051724423352, + 0.017852306365966797 + ], + [ + -0.04016088502771728, + -0.04051346331834793, + 0.998371581178854, + -0.0020052213221788406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9989642974985069, + 0.0006552166887558997, + 0.04549564074889783, + 0.003906541969627142 + ], + [ + -0.0025905921220742987, + 0.9990933537483215, + 0.042493886263027254, + 0.01932770200073719 + ], + [ + -0.045426551210320264, + -0.04256773740053177, + 0.9980603120365136, + -0.0022950093261897564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9987093937776523, + 0.0006715603522025049, + 0.050784478941508816, + 0.004555013496428728 + ], + [ + -0.00300194172871978, + 0.9989449381828308, + 0.04582533750374376, + 0.017122458666563034 + ], + [ + -0.050700125451042674, + -0.045918647199869156, + 0.9976577345408745, + -0.0022545179817825556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9984356647258112, + 0.000353671726770699, + 0.05591148443838253, + 0.005296219140291214 + ], + [ + -0.0031037031646590006, + 0.9987887144088745, + 0.049106277441713315, + 0.01496841013431549 + ], + [ + -0.05582639275169122, + -0.04920298978686333, + 0.9972274080124726, + -0.0012045137118548155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9981702992489545, + 0.0003661129157990217, + 0.06046406183920165, + 0.006722994614392519 + ], + [ + -0.003626918029949753, + 0.9985436201095581, + 0.05382870780730597, + 0.008354652673006058 + ], + [ + -0.060356295010074446, + -0.053949516266584396, + 0.9967179010506573, + -0.00020342828065622598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9979193616123194, + -0.0001895719324238599, + 0.06447371971205167, + 0.009777138009667397 + ], + [ + -0.0029465020078328513, + 0.9988167881965639, + 0.0485425544113505, + 0.023611951619386673 + ], + [ + -0.06440663653986672, + -0.04863153025507928, + 0.9967380447851046, + -0.0033912858925759792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9975981735686702, + -0.0004223412834107876, + 0.06926551384138985, + 0.01166050136089325 + ], + [ + -0.0030334680325297195, + 0.9987556338310242, + 0.04977943150431989, + 0.02300580032169819 + ], + [ + -0.06920034587524428, + -0.04986998438835144, + 0.9963555148114929, + -0.0031614559702575207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9972572114354998, + -0.0009546015062369408, + 0.07400804858997888, + 0.013181058689951897 + ], + [ + -0.002721290664910452, + 0.9987678527832033, + 0.049552067332063424, + 0.024258432909846306 + ], + [ + -0.07396416342778697, + -0.04961755499243738, + 0.9960258294368864, + -0.0025799009017646313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9969644412868172, + -0.0013813842087984085, + 0.07784624378078742, + 0.014546927064657211 + ], + [ + -0.00244682464885252, + 0.998792827129364, + 0.04905970887621198, + 0.024779727682471275 + ], + [ + -0.07782004116451657, + -0.04910125955939293, + 0.9957575424928011, + -0.0033067946787923574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.996642984404885, + -0.0009729806915856898, + 0.08186440145303643, + 0.0162699855864048 + ], + [ + -0.0030570447861892175, + 0.9987897872924805, + 0.049088314957411, + 0.025383133441209793 + ], + [ + -0.08181309031405742, + -0.04917379096150398, + 0.9954338816959247, + -0.004350084345787764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9962916184129852, + -0.0011521237902343273, + 0.0860331322581423, + 0.017554298043251038 + ], + [ + -0.003129305877457304, + 0.9987636208534241, + 0.04961345353955944, + 0.026177706196904182 + ], + [ + -0.08598391715614902, + -0.049698688089847565, + 0.9950561528539932, + -0.005396649707108736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9959068308560478, + -0.0014231777749955656, + 0.09037465603269546, + 0.018718095496296883 + ], + [ + -0.0031471210047583098, + 0.9987237453460696, + 0.050407946714024966, + 0.026675913482904434 + ], + [ + -0.09033105503005799, + -0.0504860393702984, + 0.9946313088899387, + -0.005616032052785158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9954444289808269, + -0.0013272903161123395, + 0.09533407138762402, + 0.018484504893422127 + ], + [ + -0.0035728046900956306, + 0.9986814856529236, + 0.05121012057228609, + 0.0273214690387249 + ], + [ + -0.0952763428075795, + -0.05131744220852852, + 0.9941272318702484, + -0.00708461320027709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9948823596885903, + -0.0016719776904210448, + 0.10102641261671583, + 0.01744561642408371 + ], + [ + -0.0036289460302132903, + 0.998626708984375, + 0.05226411868188132, + 0.02769475057721138 + ], + [ + -0.1009750562291918, + -0.05236326530575752, + 0.9935100106073538, + -0.007762252818793058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9942723323004732, + -0.0015351995825767517, + 0.10686548105589026, + 0.016174795106053352 + ], + [ + -0.004225247463174556, + 0.998550534248352, + 0.053656438347656876, + 0.027850834652781487 + ], + [ + -0.10679295666966933, + -0.05380064249038696, + 0.9928246608553528, + -0.009378047659993172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9936561403434282, + -0.001315613160841167, + 0.11245314906777176, + 0.015564696863293648 + ], + [ + -0.00488477028242752, + 0.9984830021858215, + 0.05484417416676334, + 0.028632154688239098 + ], + [ + -0.11235470528682126, + -0.05504555627703667, + 0.9921423255443651, + -0.011433391831815243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9929863364760247, + -0.0015812469646334652, + 0.11821868965958349, + 0.015982039272785187 + ], + [ + -0.005075295444742398, + 0.9984187483787539, + 0.055984766249553876, + 0.02932519093155861 + ], + [ + -0.11812027588194712, + -0.0561921037733555, + 0.9914081239224679, + -0.011538391932845116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9921973295151378, + -0.001931874779984355, + 0.12466223846328343, + 0.01506301760673523 + ], + [ + -0.005270493227948307, + 0.9983362555503845, + 0.0574193963089155, + 0.02962706796824932 + ], + [ + -0.12456575149671902, + -0.05762840807437897, + 0.9905364006621957, + -0.011025603860616684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9914505850396099, + -0.0027048736810684204, + 0.130454720509602, + 0.015291332267224789 + ], + [ + -0.0049575684660979925, + 0.9982823729515076, + 0.05837590303899013, + 0.030336737632751465 + ], + [ + -0.130388543972677, + -0.05852355808019638, + 0.9897342382461218, + -0.011098479852080345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9906610527714539, + -0.0030367430299520493, + 0.13631368531307816, + 0.014495264738798141 + ], + [ + -0.005140034020993631, + 0.998209536075592, + 0.05959297190531336, + 0.029890358448028564 + ], + [ + -0.13625059541439322, + -0.05973709374666214, + 0.9888717161861417, + -0.010889926925301552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9898266072726215, + -0.0033813631162047386, + 0.14223860645298267, + 0.012961014173924923 + ], + [ + -0.005288016293493181, + 0.9981525540351868, + 0.06052741968291626, + 0.030209627002477646 + ], + [ + -0.14218048991213753, + -0.06066380813717842, + 0.9879800775704648, + -0.010745302774012089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9888613443912357, + -0.0034574363380670547, + 0.14879965035308837, + 0.010796337388455868 + ], + [ + -0.00576039692190387, + 0.9980921745300293, + 0.061472416868993573, + 0.02935638092458248 + ], + [ + -0.14872830404644513, + -0.061644840985536575, + 0.9869548318106991, + -0.010272075422108173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9878748948530909, + -0.004137771669775248, + 0.15519683726756228, + 0.007811941206455231 + ], + [ + -0.005610407318593588, + 0.9980403780937195, + 0.06232114292841011, + 0.029145497828722 + ], + [ + -0.15515058086050962, + -0.06243620812892914, + 0.9859158285477098, + -0.00917945709079504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9868650719330349, + -0.004727497231215239, + 0.1614776455133104, + 0.005021650344133377 + ], + [ + -0.005533135515698014, + 0.9979960918426514, + 0.06303338105081825, + 0.02917202189564705 + ], + [ + -0.16145204925023474, + -0.06309891492128372, + 0.9848613122650006, + -0.007454229053109884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.985822667452632, + -0.004473522305488586, + 0.16773094841895878, + 0.0023115593940019608 + ], + [ + -0.0064001065081502675, + 0.9979144930839539, + 0.06423121913606612, + 0.028987808153033257 + ], + [ + -0.16766849299354475, + -0.06439408659934998, + 0.983738130749419, + -0.006823304574936628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9846330434762032, + -0.005118898116052151, + 0.17456102881553529, + -0.0009710630984045565 + ], + [ + -0.006363584119733859, + 0.9978547692298889, + 0.06515608163102965, + 0.030071519315242767 + ], + [ + -0.17452008717076953, + -0.06526566296815872, + 0.982488247828801, + -0.006166801322251558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9835509603382715, + -0.005759275984019041, + 0.18053893584851718, + -0.0035721193999052048 + ], + [ + -0.006463054468331077, + 0.997729480266571, + 0.06703785881372197, + 0.030435672029852867 + ], + [ + -0.18051511575649848, + -0.06710198521614075, + 0.981280614194376, + -0.0050941999070346355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9824504010227706, + -0.006453960668295622, + 0.18641242436169836, + -0.006525631528347731 + ], + [ + -0.007021579943591831, + 0.997413158416748, + 0.07153825679836155, + 0.030424438416957855 + ], + [ + -0.1863919087725794, + -0.07159169763326645, + 0.9798636185458013, + -0.004857294727116823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9812461762006695, + -0.008192859590053558, + 0.1925847156963837, + -0.008766362443566322 + ], + [ + -0.006712294104190879, + 0.9970381259918213, + 0.07661566497781246, + 0.03134341537952423 + ], + [ + -0.19264200390730807, + -0.07647150754928589, + 0.9782847968815676, + -0.0013284862507134676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.97995073063193, + -0.008915480226278305, + 0.19904028102090254, + -0.011708495207130909 + ], + [ + -0.007107908863595618, + 0.996798038482666, + 0.0796438568443741, + 0.03190865367650986 + ], + [ + -0.19911302644348672, + -0.07946181297302246, + 0.9767496097322308, + 0.00039117434062063694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.978384057616622, + -0.00982833281159401, + 0.20656232233348595, + -0.016978083178400993 + ], + [ + -0.007300006231797365, + 0.9966059327125549, + 0.08199552581356578, + 0.033029954880476 + ], + [ + -0.2066671290437418, + -0.08173102885484695, + 0.9749916812139113, + -0.0005695339641533792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9766238633805076, + -0.010879788547754288, + 0.21468003436005684, + -0.01865454576909542 + ], + [ + -0.0074513270492391655, + 0.9964045882225037, + 0.08439450200162998, + 0.033164918422698975 + ], + [ + -0.21482634792780156, + -0.08402133733034134, + 0.9730313856935843, + 0.002066070679575205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9748352547107695, + -0.011881377547979355, + 0.2226096114625803, + -0.021950412541627884 + ], + [ + -0.007614204600850405, + 0.9962214231491089, + 0.08651504359233758, + 0.033388908952474594 + ], + [ + -0.22279638986505268, + -0.08603290468454361, + 0.9710613503333002, + 0.002647528424859047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9729265735425358, + -0.013065053150057793, + 0.230744885438445, + -0.0255512073636055 + ], + [ + -0.007527671390295764, + 0.996079683303833, + 0.0881393616715681, + 0.03381283953785896 + ], + [ + -0.230991843560352, + -0.08749009668827057, + 0.9690140378250863, + 0.00328988884575665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9708461154258542, + -0.014651244506239895, + 0.23925537496088656, + -0.027390291914343834 + ], + [ + -0.007209796483303295, + 0.9958938360214236, + 0.09024118386871278, + 0.03363189101219177 + ], + [ + -0.23959508920790384, + -0.08933528512716295, + 0.9667540502401115, + 0.004451364278793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.968742824660697, + -0.016169810667634014, + 0.24753974641878296, + -0.02932133339345455 + ], + [ + -0.006833572396593037, + 0.9957551360130312, + 0.0917878789556924, + 0.034368742257356644 + ], + [ + -0.24797316705287908, + -0.09061042219400407, + 0.9645201128050476, + 0.005314195062965155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9667408458764052, + -0.017649393528699875, + 0.25514820642973196, + -0.031230609863996506 + ], + [ + -0.0065130463633452295, + 0.9955936670303345, + 0.09354584128145378, + 0.035145632922649384 + ], + [ + -0.2556749622482037, + -0.09209637343883514, + 0.962366131456091, + 0.007195122539997101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9644844247077302, + -0.019415993243455887, + 0.26342523405456186, + -0.03334471210837364 + ], + [ + -0.006044728849245909, + 0.9954111576080322, + 0.09549937069780161, + 0.035536181181669235 + ], + [ + -0.26407061470047216, + -0.09369999170303345, + 0.9599411732732521, + 0.009336532093584538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9623032068740069, + -0.020670924335718155, + 0.2711923469254121, + -0.03464142233133316 + ], + [ + -0.005710328783761782, + 0.9953523278236389, + 0.09613074803247201, + 0.037440791726112366 + ], + [ + -0.2719190600048387, + -0.09405551850795746, + 0.9577127010323291, + 0.010937524028122425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.960365886448071, + -0.022466022521257404, + 0.2778355622453717, + -0.037285905331373215 + ], + [ + -0.004823330960272215, + 0.9952580928802492, + 0.09714974864821933, + 0.03876403719186783 + ], + [ + -0.27870064879501816, + -0.09463939815759662, + 0.9557035605999151, + 0.012851101346313953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9585431365607493, + -0.024563217535614974, + 0.28388673407902026, + -0.040937550365924835 + ], + [ + -0.0036922107534138513, + 0.9951233267784121, + 0.09856951141937494, + 0.039539456367492676 + ], + [ + -0.28492348919381266, + -0.09553129971027377, + 0.953777939079937, + 0.015873733907938004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9569817891286057, + -0.025745216757059097, + 0.2890035481727848, + -0.04253128543496132 + ], + [ + -0.0035074360932612217, + 0.9949563145637512, + 0.10024763166881787, + 0.03953223302960396 + ], + [ + -0.290126809731099, + -0.09694882482290268, + 0.9520647939369657, + 0.017081070691347122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9552411909829235, + -0.026996687054634094, + 0.29459365646510105, + -0.04429442062973976 + ], + [ + -0.0031664016800181196, + 0.9948371648788452, + 0.10143458485870653, + 0.04036329314112663 + ], + [ + -0.295811126119845, + -0.09782729297876358, + 0.9502239646127897, + 0.018870921805500984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9535630073160068, + -0.0286000594496727, + 0.299832700821455, + -0.044694725424051285 + ], + [ + -0.00258462245848208, + 0.9946678280830383, + 0.1030980396996522, + 0.04049619287252426 + ], + [ + -0.30118254324967564, + -0.09908542782068253, + 0.9484045270434179, + 0.020714879035949707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9518313922132219, + -0.03006943315267563, + 0.3051438696300355, + -0.04634922742843628 + ], + [ + -0.0018282333522602644, + 0.9946056008338928, + 0.10371303731773161, + 0.041253987699747086 + ], + [ + -0.3066163911160833, + -0.09927520155906677, + 0.9466418737977769, + 0.022746840491890907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9501278356262127, + -0.031541056931018836, + 0.3102615559180365, + -0.047056566923856735 + ], + [ + -0.000774087952313315, + 0.994630813598633, + 0.10348426417822332, + 0.04104451835155487 + ], + [ + -0.31185969429481825, + -0.09856344759464267, + 0.9450019917808389, + 0.02548827789723873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9483077726088491, + -0.032429859042167664, + 0.315690730740276, + -0.0480414554476738 + ], + [ + -3.8164486207548644e-05, + 0.994753360748291, + 0.10230235089469558, + 0.0422976128757 + ], + [ + -0.31735205122820104, + -0.09702616930007935, + 0.9433311236124617, + 0.029232973232865334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9469832121789173, + -0.03374449163675308, + 0.3195060500560219, + -0.048518940806388855 + ], + [ + 0.0009785720083716933, + 0.9947673678398132, + 0.10216153783152838, + 0.04335961118340492 + ], + [ + -0.32128157245724, + -0.09643259644508362, + 0.9420610025732539, + 0.029896164312958717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9458787215264091, + -0.035061925649642944, + 0.32262070655841785, + -0.04804568365216255 + ], + [ + 0.0016482540849377637, + 0.994652509689331, + 0.1032648653248035, + 0.04406866431236267 + ], + [ + -0.3245161674626324, + -0.09714428335428238, + 0.9408784564703998, + 0.03233666345477104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9448353261819235, + -0.0365055575966835, + 0.3255050684704875, + -0.04757273197174072 + ], + [ + 0.002365239685131629, + 0.9945043325424194, + 0.10466865668743779, + 0.04443211480975151 + ], + [ + -0.32753720715228724, + -0.09812474250793457, + 0.9397291954033837, + 0.033636756241321564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9437538262013981, + -0.03786531835794449, + 0.32847368782509023, + -0.04586028307676315 + ], + [ + 0.0028948773933921367, + 0.9943293333053589, + 0.10630546493871137, + 0.04492516815662384 + ], + [ + -0.3306363046008507, + -0.09937530010938644, + 0.9385116878850999, + 0.03638208657503128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9428988414143293, + -0.0393081083893776, + 0.33075168161008733, + -0.04331431910395622 + ], + [ + 0.0037383787951217125, + 0.994198262691498, + 0.10749799890028265, + 0.04609162360429764 + ], + [ + -0.3330582903436407, + -0.10012325644493106, + 0.9375753667958355, + 0.03948092833161354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9422820315736824, + -0.040358174592256546, + 0.33237905664718576, + -0.040256399661302567 + ], + [ + 0.004280643105650443, + 0.9940798282623291, + 0.10856784116554313, + 0.04719080030918121 + ], + [ + -0.33479290331298217, + -0.10087873041629791, + 0.9368762692848438, + 0.04272278770804405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.941924141397124, + -0.04198499023914337, + 0.33319095652927166, + -0.03671305254101753 + ], + [ + 0.005321098736822341, + 0.9938955307006836, + 0.11019693459041671, + 0.047507986426353455 + ], + [ + -0.33578362000640094, + -0.10202420502901077, + 0.9363975561610356, + 0.045774299651384354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9417433445895796, + -0.04317830502986908, + 0.33354922906665324, + -0.03359197825193405 + ], + [ + 0.005916358959803921, + 0.9936983585357666, + 0.11193106578694142, + 0.04757962003350258 + ], + [ + -0.3362803341156326, + -0.10343693941831589, + 0.9360643075737474, + 0.048940639942884445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9420910641131919, + -0.044040497392416, + 0.33245278754323454, + -0.028831560164690018 + ], + [ + 0.006568360456330336, + 0.993572473526001, + 0.11300683423736332, + 0.048453569412231445 + ], + [ + -0.33529283520114994, + -0.1042790561914444, + 0.9363250239629296, + 0.052912723273038864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9426390311343764, + -0.04572995752096176, + 0.3306666378195822, + -0.02456550858914852 + ], + [ + 0.008125037347924476, + 0.993421733379364, + 0.1142242789709323, + 0.048847537487745285 + ], + [ + -0.3337149163060678, + -0.10498558729887009, + 0.9368096574065599, + 0.05593155696988106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9436991115622854, + -0.04692680761218071, + 0.32745975061298954, + -0.02002561092376709 + ], + [ + 0.009613156535437426, + 0.9933594465255737, + 0.11465000485568679, + 0.049548424780368805 + ], + [ + -0.3306653899606855, + -0.10504718124866486, + 0.9378835030949401, + 0.058913178741931915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9454329727357361, + -0.04756909608840944, + 0.32232546687291386, + -0.014699297025799751 + ], + [ + 0.010646745082083475, + 0.993266820907593, + 0.11535863234196292, + 0.04950609803199768 + ], + [ + -0.32564269094048415, + -0.10563214123249057, + 0.9395736741273193, + 0.0625934824347496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9468677580726477, + -0.04872337728738785, + 0.3179111322770193, + -0.008649886585772038 + ], + [ + 0.012235766599908238, + 0.9932000041007996, + 0.11577576587125499, + 0.050079960376024246 + ], + [ + -0.32139031703804855, + -0.1057344526052475, + 0.9410252381690337, + 0.06519804894924164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9486512049786177, + -0.04937380179762842, + 0.3124469176313093, + -0.0018594954162836075 + ], + [ + 0.013364206388968547, + 0.9931173324584963, + 0.11635898676735368, + 0.05010778456926346 + ], + [ + -0.3160415239815958, + -0.1062084957957268, + 0.9427817917364835, + 0.0685381293296814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9509438955754002, + -0.05058682709932329, + 0.3051994124613324, + 0.005518537014722824 + ], + [ + 0.015363758336684036, + 0.9930452108383181, + 0.11672675307366126, + 0.05043548345565796 + ], + [ + -0.3089816660881509, + -0.10631158202886584, + 0.9451075099217698, + 0.07201315462589264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.95356349024025, + -0.04934334382414818, + 0.2971226604879459, + 0.01417291909456253 + ], + [ + 0.014829925618975467, + 0.992984414100647, + 0.11731147606296817, + 0.050037018954753876 + ], + [ + -0.30082672905472463, + -0.10745763778686523, + 0.9476054949761574, + 0.07560566067695618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.956641067078426, + -0.04162907600402832, + 0.2882791526829399, + 0.023787133395671844 + ], + [ + 0.00772076751441137, + 0.9930102825164795, + 0.11777506960113458, + 0.0493648424744606 + ], + [ + -0.2911670380460061, + -0.11044272780418396, + 0.9502758350261344, + 0.07775785773992538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9592161838145986, + -0.03505037352442742, + 0.2804919798265182, + 0.03143893554806709 + ], + [ + 0.0015743456080502206, + 0.9929297566413882, + 0.11869294830595688, + 0.0492260605096817 + ], + [ + -0.28266906615615944, + -0.11341060698032382, + 0.9524895135561723, + 0.08141032606363297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9619628278642678, + -0.031366869807243354, + 0.27137360797242466, + 0.03994586691260338 + ], + [ + -0.001339590767060641, + 0.9928326010704043, + 0.11950567920834496, + 0.049172431230545044 + ], + [ + -0.2731770795201337, + -0.1153235584497452, + 0.9550260347546157, + 0.08414313197135925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.964989974054463, + -0.027071246877312667, + 0.26088605695906986, + 0.04842446744441986 + ], + [ + -0.004751036622364236, + 0.9926919937133791, + 0.12058181916254773, + 0.049529802054166794 + ], + [ + -0.262243805145621, + -0.11759972572326663, + 0.9578092149818674, + 0.08647945523262024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9678859151360916, + -0.021200545132160187, + 0.25049419332390277, + 0.05685056000947952 + ], + [ + -0.010140686031609378, + 0.9923339486122131, + 0.12316871814614237, + 0.04786950722336769 + ], + [ + -0.25118513266317727, + -0.12175344675779343, + 0.9602510650582368, + 0.08812631666660309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9703410608468881, + -0.01766972430050373, + 0.24109348044665613, + 0.06450732797384262 + ], + [ + -0.01297573354487898, + 0.9920802712440491, + 0.124933584028247, + 0.048766687512397766 + ], + [ + -0.24139161207550297, + -0.12435655295848846, + 0.9624268965056301, + 0.0907004103064537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9725760584345119, + -0.015276929363608364, + 0.23208284642304994, + 0.07255791872739792 + ], + [ + -0.014734030850307557, + 0.9917894601821902, + 0.1270299103676969, + 0.0486578606069088 + ], + [ + -0.23211794863849766, + -0.1269657760858536, + 0.9643655706455045, + 0.0938616394996643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9746891508026648, + -0.01308223232626915, + 0.22318124090881122, + 0.07941880077123642 + ], + [ + -0.016282175826602872, + 0.9914814829826355, + 0.12922613513778664, + 0.04744090512394905 + ], + [ + -0.22297063942581083, + -0.12958920001983643, + 0.9661732356470555, + 0.09571684151887894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9765196858605878, + -0.011531769298017027, + 0.2151193183382608, + 0.08666682988405228 + ], + [ + -0.017101301050128852, + 0.9912654161453249, + 0.13076836595539523, + 0.04729526489973068 + ], + [ + -0.21474833581891017, + -0.13137669861316684, + 0.9677930259597793, + 0.09902046620845795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9782723884024668, + -0.00974593684077263, + 0.20709444607734617, + 0.09305350482463837 + ], + [ + -0.018138614065856266, + 0.9910408258438113, + 0.1323218822509839, + 0.046918101608753204 + ], + [ + -0.2065286606676826, + -0.1332032531499863, + 0.9693311327698856, + 0.10123056173324585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9799330867284716, + -0.007746540009975433, + 0.19917606154734838, + 0.0996270403265953 + ], + [ + -0.019306405910450606, + 0.9908575415611267, + 0.13352360100706406, + 0.04606027156114578 + ], + [ + -0.19838945363086155, + -0.1346895843744278, + 0.9708245768191093, + 0.10297553986310959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9814375938712699, + -0.0045041367411613464, + 0.19172896420284777, + 0.10589747875928879 + ], + [ + -0.02173607738035515, + 0.9906700849533081, + 0.13453740418577026, + 0.045770153403282166 + ], + [ + -0.19054612583311495, + -0.13620750606060028, + 0.9721829726463894, + 0.10496176034212112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9828645386305345, + -0.0015051228692755103, + 0.18432311893290743, + 0.11201101541519165 + ], + [ + -0.023915152531535665, + 0.9904735684394836, + 0.1356104454331794, + 0.04524146392941475 + ], + [ + -0.18277129059058078, + -0.1376948058605194, + 0.973465359807095, + 0.10606102645397186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9839537530545746, + 0.001376763335429132, + 0.17841840845611034, + 0.11682125926017761 + ], + [ + -0.026150318535732204, + 0.9902846813201904, + 0.13657400505630418, + 0.04398764669895172 + ], + [ + -0.17649698011516576, + -0.13904820382595062, + 0.9744302899340713, + 0.10794061422348022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9849970234942792, + 0.004683163017034531, + 0.1725079049561233, + 0.12211925536394119 + ], + [ + -0.02847362599194092, + 0.9903413653373718, + 0.13569526952942995, + 0.04316195100545883 + ], + [ + -0.17020623364327356, + -0.1385713666677475, + 0.975616658107013, + 0.10963093489408493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9859549573710246, + 0.007172948215156794, + 0.16685750463359494, + 0.12704792618751526 + ], + [ + -0.02991944050183796, + 0.9905007481575012, + 0.1342127827147188, + 0.04245985671877861 + ], + [ + -0.16430978078694738, + -0.13732004165649414, + 0.9768037292934352, + 0.11121394485235214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9868094355569743, + 0.010881681926548481, + 0.16152000307365824, + 0.13229914009571075 + ], + [ + -0.03275455775081841, + 0.9905232191085815, + 0.1333825374819284, + 0.040712859481573105 + ], + [ + -0.1585378941229732, + -0.13691365718841553, + 0.9778141172990515, + 0.11193366348743439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9874494851749085, + 0.015211960300803185, + 0.1572009725804511, + 0.1373908370733261 + ], + [ + -0.03635266026313548, + 0.9905164837837219, + 0.13249738732078467, + 0.040473539382219315 + ], + [ + -0.1536946138523182, + -0.13654914498329163, + 0.9786380087137524, + 0.11385580152273178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9881287416592391, + 0.018276814371347427, + 0.1525369287272839, + 0.14216594398021698 + ], + [ + -0.03876220607666925, + 0.990434467792511, + 0.13242736063684576, + 0.04016372933983803 + ], + [ + -0.148657491774856, + -0.1367679387331009, + 0.9793852645017749, + 0.1145438626408577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.988702630312295, + 0.02084009349346161, + 0.14843441531051463, + 0.1472732126712799 + ], + [ + -0.040703522684198315, + 0.990404486656189, + 0.13206880599772444, + 0.03987333923578262 + ], + [ + -0.14425778801589464, + -0.13661856949329376, + 0.9800638186460702, + 0.11652025580406189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9892213006488575, + 0.023716049268841743, + 0.14449468961812706, + 0.15158569812774658 + ], + [ + -0.04299996315993867, + 0.9903385043144226, + 0.13183573538398086, + 0.03931262716650963 + ], + [ + -0.1399720343938619, + -0.13662798702716827, + 0.9806837598992652, + 0.11767812818288803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9897856045218985, + 0.027108997106552124, + 0.13996283596236078, + 0.15610064566135406 + ], + [ + -0.0457588665937494, + 0.9902191162109375, + 0.1318036953284153, + 0.03847739100456238 + ], + [ + -0.13502081266407595, + -0.13686193525791168, + 0.981345100400122, + 0.11863768100738525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9903025164961302, + 0.030079903081059456, + 0.13563251061445974, + 0.15956352651119232 + ], + [ + -0.04809999376861852, + 0.9901341199874878, + 0.13160860678622607, + 0.03842717409133911 + ], + [ + -0.13033559459912658, + -0.13685624301433563, + 0.9819791165798256, + 0.12017557770013809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9908567411215446, + 0.032263822853565216, + 0.13100373610176752, + 0.16295701265335083 + ], + [ + -0.0496806379528446, + 0.9900117516517639, + 0.1319415055781815, + 0.03823760151863098 + ], + [ + -0.125438305516739, + -0.13724347949028015, + 0.9825627141494827, + 0.12042368203401566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.991378876611219, + 0.03503929078578949, + 0.12625425588746655, + 0.166829913854599 + ], + [ + -0.05175108947077952, + 0.9899482131004333, + 0.13162213093026767, + 0.038864616304636 + ], + [ + -0.12037322760865209, + -0.13702118396759033, + 0.9832270617376759, + 0.1232350766658783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9919049300183517, + 0.037775855511426926, + 0.12123373830378394, + 0.1701248437166214 + ], + [ + -0.053715834456310584, + 0.9899213910102844, + 0.13103508322106927, + 0.03954239934682846 + ], + [ + -0.11506192242863032, + -0.13648651540279388, + 0.9839371098756682, + 0.12384850531816483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9924025448715337, + 0.040868379175662994, + 0.11604747547792904, + 0.17330241203308105 + ], + [ + -0.05609534679371794, + 0.9897753000259399, + 0.13114161399268862, + 0.03984920307993889 + ], + [ + -0.10950137697388737, + -0.13665500283241272, + 0.9845480469636005, + 0.12501579523086548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9928535368533971, + 0.044426631182432175, + 0.1107618335065261, + 0.17589610815048218 + ], + [ + -0.05886325807588256, + 0.9896752834320068, + 0.1306826404601432, + 0.0414082333445549 + ], + [ + -0.10381245426684232, + -0.1362685263156891, + 0.9852176728253084, + 0.12418431043624878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9935037302379202, + 0.04703381285071373, + 0.10362499160221782, + 0.18005596101284027 + ], + [ + -0.06001270766478936, + 0.9902229905128479, + 0.12592410421330721, + 0.05184759199619293 + ], + [ + -0.09668915637433974, + -0.1313248723745346, + 0.9866128863756756, + 0.1204027459025383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9939349836226751, + 0.049992531538009644, + 0.0979491963908444, + 0.1818190962076187 + ], + [ + -0.06236695596163878, + 0.9898564219474792, + 0.12765060211735246, + 0.04839363321661949 + ], + [ + -0.09057404922626738, + -0.1329851746559143, + 0.9869707411488867, + 0.12264315038919449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9944675240310246, + 0.0523665100336075, + 0.09106117124474458, + 0.18336178362369537 + ], + [ + -0.0636799124228544, + 0.9899663329124453, + 0.126140710872226, + 0.051512859761714935 + ], + [ + -0.08354194188837155, + -0.13124160468578341, + 0.9878240474540879, + 0.12159328907728195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9949503845676844, + 0.05363591015338898, + 0.08483461292507263, + 0.1846272051334381 + ], + [ + -0.06440326255802124, + 0.9894520044326782, + 0.12975705101360913, + 0.044087301939725876 + ], + [ + -0.07698014794795699, + -0.13456545770168304, + 0.987910009079466, + 0.12638908624649048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9954268869420062, + 0.055158812552690506, + 0.07799210337938192, + 0.18557332456111908 + ], + [ + -0.06505449627767759, + 0.9892934560775757, + 0.1306381177966676, + 0.04362295940518379 + ], + [ + -0.06995125191355954, + -0.13511444628238678, + 0.988357695327431, + 0.12561264634132385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9957072016739023, + 0.058348074555397034, + 0.07185187503305755, + 0.1868453472852707 + ], + [ + -0.06738815015292518, + 0.9891413450241089, + 0.13060719723442243, + 0.045154593884944916 + ], + [ + -0.06345098704944553, + -0.13488848507404327, + 0.9888271021283626, + 0.12498974800109863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9959532861039552, + 0.060671042650938034, + 0.06630279848382027, + 0.1871056854724884 + ], + [ + -0.06904889998080889, + 0.9887880086898804, + 0.13240288515638257, + 0.04312568157911301 + ], + [ + -0.057526390057975246, + -0.13644522428512573, + 0.9889759601228244, + 0.1249040961265564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9961181580667086, + 0.06402169167995453, + 0.06041396950312952, + 0.1883925050497055 + ], + [ + -0.0715464030239432, + 0.9886692762374878, + 0.13196260201994786, + 0.044818729162216187 + ], + [ + -0.05128097085844042, + -0.1357727348804474, + 0.9894119406527953, + 0.12404760718345642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9962780496040269, + 0.06670408695936204, + 0.05459510537484279, + 0.18991489708423615 + ], + [ + -0.0734137917160319, + 0.9885414838790896, + 0.1318944861220971, + 0.04529532045125961 + ], + [ + -0.04517163009102866, + -0.13541160523891452, + 0.989759202585251, + 0.12263674288988113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9963944465719278, + 0.06885000318288803, + 0.049576594318344804, + 0.1898399442434311 + ], + [ + -0.07492798157455828, + 0.9882091879844666, + 0.13352286321149714, + 0.04261935502290726 + ], + [ + -0.03979900689303587, + -0.13675610721111298, + 0.9898049445920942, + 0.12150222808122635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9964110334540323, + 0.0719405934214592, + 0.0446050727977499, + 0.19124747812747955 + ], + [ + -0.07731577584360287, + 0.9880121946334839, + 0.1336194943970045, + 0.04218361899256706 + ], + [ + -0.03445767864142356, + -0.13658861815929413, + 0.9900284035319532, + 0.12140532582998276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9964111045803108, + 0.07415358722209932, + 0.040819129905593186, + 0.1930103749036789 + ], + [ + -0.07898131008156137, + 0.9879298210144045, + 0.13325381483979185, + 0.04109504073858261 + ], + [ + -0.030445168535040833, + -0.13599951565265658, + 0.9902409723145857, + 0.12058652937412262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9964337917053474, + 0.07550521194934846, + 0.037664629863847054, + 0.19433797895908356 + ], + [ + -0.07987563963767287, + 0.9879391193389895, + 0.13265057902179986, + 0.040419355034828186 + ], + [ + -0.027194548279102962, + -0.13518600165843966, + 0.990446977940095, + 0.11879398673772812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9965202705640438, + 0.07601239532232285, + 0.03419820388648463, + 0.19664405286312103 + ], + [ + -0.07989196856725328, + 0.9880379438400269, + 0.1319026001038493, + 0.040276750922203064 + ], + [ + -0.02376289517494654, + -0.13417576253414154, + 0.9906725885807837, + 0.11886197328567505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9965666233839834, + 0.07620907574892044, + 0.03235939944299874, + 0.1964343786239624 + ], + [ + -0.07984449962045873, + 0.9880157709121704, + 0.13209727937915547, + 0.03976188972592354 + ], + [ + -0.02190460086903524, + -0.134227454662323, + 0.9907084354378961, + 0.11640237271785736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9966132942355104, + 0.07646875083446503, + 0.030240644783808113, + 0.19784186780452728 + ], + [ + -0.07981176814900078, + 0.9880569577217102, + 0.13180887280062895, + 0.0399942584335804 + ], + [ + -0.01980021565234419, + -0.13377602398395538, + 0.9908137552870744, + 0.11566606909036636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9965631491364613, + 0.07767722755670549, + 0.02877674899208385, + 0.19926518201828003 + ], + [ + -0.0808107139572831, + 0.9879993796348574, + 0.1316314182318379, + 0.04021748527884483 + ], + [ + -0.01820664241841573, + -0.13350449502468112, + 0.9908809718369243, + 0.11515127122402191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9964933227308352, + 0.07888585329055786, + 0.027893633467695588, + 0.20143485069274902 + ], + [ + -0.08187285252096355, + 0.9880505800247192, + 0.13058658104504328, + 0.040674641728401184 + ], + [ + -0.01725890064295145, + -0.1324124038219452, + 0.9910444366023556, + 0.11526370048522949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.996455199232797, + 0.07935158163309097, + 0.0279346152396249, + 0.20303083956241608 + ], + [ + -0.08233069775052848, + 0.9880834817886353, + 0.1300490219840257, + 0.04035177081823349 + ], + [ + -0.01728214039041668, + -0.13188789784908295, + 0.991113974807283, + 0.11507315188646317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9964424779742956, + 0.07959607988595964, + 0.027691898014901888, + 0.20480839908123016 + ], + [ + -0.08251825782622178, + 0.9882416725158694, + 0.12872097251267503, + 0.040054962038993835 + ], + [ + -0.017120603614194145, + -0.13054811954498294, + 0.9912941204164604, + 0.11400207132101059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.996435977384857, + 0.07960411161184312, + 0.027902976199991967, + 0.20612265169620514 + ], + [ + -0.08253116361512684, + 0.9884078502655032, + 0.12743059485875977, + 0.04028379172086716 + ], + [ + -0.017435503053440608, + -0.1292792856693268, + 0.9914549119816916, + 0.11348696053028107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9964555548329882, + 0.07941514253616334, + 0.02774195445478409, + 0.20762912929058075 + ], + [ + -0.08230675339330121, + 0.9885451197624209, + 0.1265076822406309, + 0.03987232595682144 + ], + [ + -0.017377540600008127, + -0.12834262847900393, + 0.9915776276021792, + 0.11237651109695435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9965561854689379, + 0.07848114520311356, + 0.02676672993320461, + 0.20884248614311218 + ], + [ + -0.08123236665921695, + 0.9888062477111816, + 0.12515414107969547, + 0.041185759007930756 + ], + [ + -0.016644874607566834, + -0.12689746916294098, + 0.991776199250527, + 0.1126880794763565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9965454691086542, + 0.07887890189886095, + 0.025985457130877045, + 0.20832045376300812 + ], + [ + -0.08152866679408087, + 0.988775432109833, + 0.12520488776235886, + 0.04067762941122055 + ], + [ + -0.01581774963472843, + -0.1268909275531769, + 0.9917905672040397, + 0.11245816946029663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9966666975170895, + 0.07786127179861069, + 0.024355021785599434, + 0.20847077667713165 + ], + [ + -0.08030037038389752, + 0.9889784455299377, + 0.12439255136432857, + 0.03989597037434578 + ], + [ + -0.014401218198863752, + -0.12593361735343933, + 0.9919341344356901, + 0.11120352149009705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9966723686588371, + 0.07833961397409439, + 0.02251787462267021, + 0.20779958367347717 + ], + [ + -0.0805340388232293, + 0.989055335521698, + 0.12362790043197847, + 0.03971190005540848 + ], + [ + -0.012586453431584517, + -0.12502996623516083, + 0.9920730989048515, + 0.10706069320440292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9966176281158915, + 0.07913649827241898, + 0.02215260726699013, + 0.20732581615447998 + ], + [ + -0.08128524588878164, + 0.9889312386512756, + 0.12412780124367713, + 0.03965909779071808 + ], + [ + -0.01208435215583101, + -0.1255086362361908, + 0.9920189380899259, + 0.10372322797775269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9966078577954758, + 0.07899940013885498, + 0.02306134086048742, + 0.20732197165489197 + ], + [ + -0.08127362296312951, + 0.9888330698013306, + 0.12491504569114745, + 0.04089166224002838 + ], + [ + -0.012935621854383272, + -0.12636560201644897, + 0.9918993916792497, + 0.1010611429810524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9966458156435944, + 0.07807348668575287, + 0.024528877873469912, + 0.2074967324733734 + ], + [ + -0.08057080875859188, + 0.9886251091957092, + 0.12699879161481403, + 0.04139355942606926 + ], + [ + -0.014334632757574739, + -0.12854911386966705, + 0.9915995464951066, + 0.09952645003795624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.996572773817352, + 0.07799383252859116, + 0.027561572153884356, + 0.20689213275909424 + ], + [ + -0.0809087802863233, + 0.9884001612663269, + 0.12852562113245686, + 0.041312117129564285 + ], + [ + -0.01721765748774728, + -0.13031511008739471, + 0.9913231388578609, + 0.09600690752267838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9966831845015699, + 0.07337340712547302, + 0.035198599990905625, + 0.20581793785095215 + ], + [ + -0.07736983756104229, + 0.9884470701217651, + 0.13033140231573287, + 0.04210514947772026 + ], + [ + -0.02522909693391919, + -0.13262243568897247, + 0.9908455043534778, + 0.09026960283517838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/push_in/transforms.json b/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2d9382e22e39183ef129bd9e56a62a0172f3384b --- /dev/null +++ b/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/push_in/transforms.json @@ -0,0 +1,4563 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 130, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -3.779902181122452e-05, + -7.106735324668989e-07, + 5.438872904051095e-05 + ], + [ + 3.779891994781792e-05, + 1.0, + -0.00014276729780249298, + 0.0001941786176757887 + ], + [ + 7.160700192798686e-07, + 0.00014276726869866252, + 1.0, + 7.050997373880818e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999990701675415, + -0.00022619572700932622, + 0.004309419542551041, + -0.00010320895365908626 + ], + [ + 0.00019655164214782417, + 0.9999763369560242, + 0.006878083571791649, + 0.003286861374887616 + ], + [ + -0.004310873337090015, + -0.006877172738313675, + 0.9999670386314392, + 0.00040507843828933355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999767541885376, + -0.00021557725267484784, + 0.006819385569542646, + 0.0009757642078307248 + ], + [ + 0.00012867545592598617, + 0.9999188184738159, + 0.012741217389702797, + 0.00681873644564965 + ], + [ + -0.006821578834205866, + -0.012740043923258781, + 0.9998955726623535, + 0.0009241797745610451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999958336353302, + -0.0003605873207561672, + 0.009118292480707169, + 0.0010119987895365718 + ], + [ + 0.00018979329615831375, + 0.9998246431350708, + 0.018724853172898293, + 0.009193516656929671 + ], + [ + -0.00912344641983509, + -0.01872234232723713, + 0.9997830986976624, + 0.0013833876728989876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999306201934814, + -0.00011669746891129762, + 0.011781095527112484, + 0.0008356633890319124 + ], + [ + -0.0001615580840734765, + 0.999721109867096, + 0.023615103214979172, + 0.012075155862253304 + ], + [ + -0.011780566535890102, + -0.023615367710590363, + 0.9996517300605774, + 0.001944426886102026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999886155128479, + 0.00043676671339198947, + 0.01508337166160345, + 0.0007202130049293817 + ], + [ + -0.0008723149658180773, + 0.9995824694633484, + 0.028881559148430824, + 0.013229770571455475 + ], + [ + -0.01506445836275816, + -0.02889142744243145, + 0.9994690418243408, + 0.002655688351085193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998300075531006, + 0.0005297295283526182, + 0.018431788310408592, + 0.0015030463264042208 + ], + [ + -0.0011534647783264518, + 0.9994263648986816, + 0.033846039324998856, + 0.014660995574884636 + ], + [ + -0.01840328611433506, + -0.033861543983221054, + 0.9992570877075195, + 0.003741871383647586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997697472572327, + 0.0007294963579624891, + 0.021446503698825836, + 0.00227884709178073 + ], + [ + -0.0015395758673548698, + 0.9992849230766296, + 0.03777989745140076, + 0.01639700196683407 + ], + [ + -0.021403606981039047, + -0.037804216146469116, + 0.9990559220314026, + 0.003672770662919091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997117519378662, + 0.0007506641559302807, + 0.023997219279408455, + 0.003574700299794822 + ], + [ + -0.001722042914479971, + 0.9991787075996399, + 0.040483810007572174, + 0.018103368753610655 + ], + [ + -0.02394712157547474, + -0.04051346331834793, + 0.9988920092582703, + 0.0041894578050042305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996286034584045, + 0.0006552166887558997, + 0.027242910116910934, + 0.004096608784396288 + ], + [ + -0.0018140492029488087, + 0.9990933537483215, + 0.04253411293029785, + 0.01962445162583229 + ], + [ + -0.02719034254550934, + -0.04256773740053177, + 0.9987235069274902, + 0.004672829094234594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9995343089103699, + 0.0006715603522025049, + 0.030507078394293785, + 0.004791502476229455 + ], + [ + -0.002071383874863386, + 0.9989449381828308, + 0.045876819640398026, + 0.017478092927341312 + ], + [ + -0.030444083735346794, + -0.045918647199869156, + 0.9984811544418335, + 0.005485646006138634 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9994349479675293, + 0.000353671726770699, + 0.03361034765839577, + 0.005582819004044976 + ], + [ + -0.0020067733712494373, + 0.9987887144088745, + 0.049163322895765305, + 0.015387632267535195 + ], + [ + -0.033552248030900955, + -0.04920298978686333, + 0.9982250928878784, + 0.007307483204243372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993466734886169, + 0.0003661129157990217, + 0.03613966330885887, + 0.007059177528893532 + ], + [ + -0.002315058372914791, + 0.9985436201095581, + 0.0539010651409626, + 0.008856057930131292 + ], + [ + -0.03606729581952095, + -0.053949516266584396, + 0.9978920817375183, + 0.009079288758762549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.999272882938385, + -0.00018957193242385983, + 0.038126345723867416, + 0.01016135699758234 + ], + [ + -0.0016649325843900442, + 0.9988167881965637, + 0.04860338941216469, + 0.024101753218113912 + ], + [ + -0.03809044882655144, + -0.04863153025507927, + 0.9980902075767517, + 0.006666987517112217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9991632699966431, + -0.0004223412834107876, + 0.04089727625250816, + 0.012104347769835199 + ], + [ + -0.0016180840320885181, + 0.9987556338310242, + 0.04984551668167114, + 0.023546759417468262 + ], + [ + -0.040867436677217484, + -0.04986998438835144, + 0.9979192614555359, + 0.007668675549414961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9990477561950684, + -0.0009546015062369406, + 0.04362015426158905, + 0.013688269786016886 + ], + [ + -0.0012118092272430658, + 0.9987678527832031, + 0.04961193725466728, + 0.024835315901179645 + ], + [ + -0.04361376911401749, + -0.04961755499243736, + 0.9978156089782715, + 0.00902260617937806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9989662170410156, + -0.0013813842087984085, + 0.04543822258710861, + 0.015110501918450807 + ], + [ + -0.0008527850732207298, + 0.998792827129364, + 0.049113284796476364, + 0.025388884703202764 + ], + [ + -0.04545121639966965, + -0.04910125955939293, + 0.9977591037750244, + 0.009068512034696318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9988737106323242, + -0.0009729806915856898, + 0.0474376305937767, + 0.01689513265624527 + ], + [ + -0.0013619805686175823, + 0.9987897872924805, + 0.0491645522415638, + 0.026031038393230403 + ], + [ + -0.047428056597709656, + -0.04917379096150398, + 0.9976635575294495, + 0.008797419900724362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9987690448760986, + -0.0011521237902343273, + 0.04958914965391159, + 0.018246239666328875 + ], + [ + -0.001315234461799264, + 0.9987636208534241, + 0.049694642424583435, + 0.026871119812130927 + ], + [ + -0.04958508908748627, + -0.049698688089847565, + 0.9975326061248779, + 0.008522409913238398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9986504912376404, + -0.0014231777749955654, + 0.05191522464156151, + 0.019482738339854765 + ], + [ + -0.0012015530373901129, + 0.9987237453460693, + 0.05049179866909981, + 0.027419591137720634 + ], + [ + -0.051920827478170395, + -0.050486039370298386, + 0.9973742365837097, + 0.0090739760829439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9984930157661438, + -0.0013272903161123395, + 0.05486249923706055, + 0.019335086276942446 + ], + [ + -0.0014918624656274915, + 0.9986814856529236, + 0.051312919706106186, + 0.028117018181455226 + ], + [ + -0.054858267307281494, + -0.05131744220852852, + 0.9971745610237122, + 0.008375457513268835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9982832670211792, + -0.0016719776904210448, + 0.058547113090753555, + 0.018398708962770394 + ], + [ + -0.0013989064609631896, + 0.998626708984375, + 0.052371274679899216, + 0.028547306211535322 + ], + [ + -0.0585542730987072, + -0.05236326530575752, + 0.9969099760055542, + 0.008466514232460153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9980512261390686, + -0.0015351995825767517, + 0.062381502240896225, + 0.017238665686905845 + ], + [ + -0.0018261822406202555, + 0.998550534248352, + 0.053791552782058716, + 0.028768209971545278 + ], + [ + -0.06237366423010826, + -0.05380064249038696, + 0.9966017603874207, + 0.00761826143188532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9978209733963013, + -0.001315613160841167, + 0.06596621125936508, + 0.016740838614429616 + ], + [ + -0.002320395316928625, + 0.9984830021858215, + 0.05501236394047737, + 0.029612995285627455 + ], + [ + -0.06593851000070572, + -0.05504555627703667, + 0.9963042140007019, + 0.006330171673623628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9975644946098328, + -0.0015812469646334648, + 0.06973236054182053, + 0.01727938551542371 + ], + [ + -0.002343512140214443, + 0.9984187483787537, + 0.05616547539830208, + 0.030370130008736323 + ], + [ + -0.06971090286970139, + -0.056192103773355484, + 0.995983362197876, + 0.006991531084789785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9972427487373352, + -0.001931874779984355, + 0.07418297976255417, + 0.016500672253296357 + ], + [ + -0.002351712202653289, + 0.9983362555503845, + 0.05761279910802841, + 0.030743595082745996 + ], + [ + -0.07417085021734238, + -0.05762840807437897, + 0.9955790638923645, + 0.008268564044274104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9969510436058044, + -0.0027048736810684204, + 0.07798277586698532, + 0.01686307813741209 + ], + [ + -0.0018718483624979854, + 0.9982823729515076, + 0.058556124567985535, + 0.03151693859303645 + ], + [ + -0.07800721377134323, + -0.05852355808019638, + 0.9952335953712463, + 0.008960491837572682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9966397881507874, + -0.0030367430299520493, + 0.08185276389122009, + 0.016208462122567865 + ], + [ + -0.0018685432150959969, + 0.998209536075592, + 0.059785038232803345, + 0.031141673201738402 + ], + [ + -0.08188776671886444, + -0.05973709374666214, + 0.994849681854248, + 0.009932508276298987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9963072538375854, + -0.0033813631162047386, + 0.08579271286725998, + 0.014823181584997232 + ], + [ + -0.0018418808467686176, + 0.9981525540351868, + 0.06073005124926567, + 0.031527798657500467 + ], + [ + -0.08583956211805344, + -0.06066380813717842, + 0.99446040391922, + 0.010839884287800437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9959016442298889, + -0.0034574363380670547, + 0.09037704020738602, + 0.012828069300094778 + ], + [ + -0.0021346062421798706, + 0.9980921745300293, + 0.061704810708761215, + 0.03074354333586471 + ], + [ + -0.09041795879602432, + -0.061644840985536575, + 0.9939942359924316, + 0.012073531433535643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.995487630367279, + -0.004137771669775248, + 0.09480107575654984, + 0.01001661738684011 + ], + [ + -0.0018080216832458973, + 0.9980403780937195, + 0.06254704296588898, + 0.030600080223277558 + ], + [ + -0.09487410634756088, + -0.06243620812892914, + 0.9935293793678284, + 0.013925877313107946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9950650334358215, + -0.004727497231215239, + 0.09911245852708817, + 0.007403422603311465 + ], + [ + -0.001559183350764215, + 0.9979960918426514, + 0.06325655430555344, + 0.03069214064252469 + ], + [ + -0.0992128923535347, + -0.06309891492128372, + 0.9930636286735535, + 0.016410090705711942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9946297407150269, + -0.004473522305488586, + 0.1034005880355835, + 0.004876535221241242 + ], + [ + -0.0022182115353643894, + 0.9979144930839539, + 0.06451116502285004, + 0.030588085114840388 + ], + [ + -0.10347354412078857, + -0.06439408659934998, + 0.9925455451011658, + 0.01779798026478221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9941076636314392, + -0.005118898116052151, + 0.10827620327472687, + 0.001798793264437294 + ], + [ + -0.001988950651139021, + 0.9978547692298889, + 0.06543587893247604, + 0.03174546040421308 + ], + [ + -0.10837888717651367, + -0.06526566296815872, + 0.9919649362564087, + 0.019209045884307736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9936580061912537, + -0.005759275984019041, + 0.11229677498340607, + -0.0006123594391022539 + ], + [ + -0.001825639046728611, + 0.997729480266571, + 0.06732393801212311, + 0.032210101403815805 + ], + [ + -0.11242954432964325, + -0.06710198521614075, + 0.9913914203643799, + 0.02103549644365445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9932029247283936, + -0.006453960668295622, + 0.1162167489528656, + -0.0033724639210994394 + ], + [ + -0.001926723401993513, + 0.997413158416748, + 0.07185619324445724, + 0.03237402505537336 + ], + [ + -0.11637987196445465, + -0.07159169763326645, + 0.9906212091445923, + 0.02202002490083723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9926862716674805, + -0.008192859590053558, + 0.12044458091259003, + -0.0054051183250754375 + ], + [ + -0.001101803034543991, + 0.9970381259918213, + 0.07690124213695526, + 0.033489496555439265 + ], + [ + -0.12071788311004639, + -0.07647150754928589, + 0.9897369742393494, + 0.02629208047224512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.992121160030365, + -0.008915480226278305, + 0.12496428191661835, + -0.00812424836146046 + ], + [ + -0.001113060861825943, + 0.996798038482666, + 0.0799526572227478, + 0.0342018694263096 + ], + [ + -0.12527696788311005, + -0.07946181297302246, + 0.9889345169067383, + 0.028755962810038716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9913902282714844, + -0.00982833281159401, + 0.13057094812393188, + -0.013131807187153387 + ], + [ + -0.0009611458517611027, + 0.9966059327125549, + 0.08231423050165176, + 0.035454715158819226 + ], + [ + -0.13093680143356323, + -0.08173102885484695, + 0.9880160093307495, + 0.028534813597527613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9905403256416321, + -0.010879788547754288, + 0.1367901712656021, + -0.014519028963391172 + ], + [ + -0.0007552606984972954, + 0.9964045882225037, + 0.08471944183111191, + 0.03572620387340701 + ], + [ + -0.13722006976604462, + -0.08402133733034134, + 0.9869706630706787, + 0.03190471863287479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9896761775016785, + -0.011881377547979355, + 0.14282813668251038, + -0.017521633109612057 + ], + [ + -0.0005737137980759144, + 0.9962214231491089, + 0.08684756606817245, + 0.0360818567375342 + ], + [ + -0.14332032203674316, + -0.08603290468454361, + 0.9859298467636108, + 0.03321899654156016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9887380599975586, + -0.013065053150057793, + 0.14908510446548462, + -0.020812843578268393 + ], + [ + -0.00017622625455260277, + 0.996079683303833, + 0.0884600579738617, + 0.036624360760284025 + ], + [ + -0.14965638518333435, + -0.08749009668827057, + 0.9848595857620239, + 0.03459162761803803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9876902103424072, + -0.014651244506239891, + 0.15573491156101227, + -0.02231985293328762 + ], + [ + 0.0004989565350115299, + 0.9958938360214233, + 0.09052736312150955, + 0.03657929353242697 + ], + [ + -0.15642176568508148, + -0.08933528512716293, + 0.9836419224739075, + 0.0364769152430601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9866309762001038, + -0.01616981066763401, + 0.1621662825345993, + -0.023915790642301243 + ], + [ + 0.001192272175103426, + 0.995755136013031, + 0.09203418344259262, + 0.03743654837210973 + ], + [ + -0.16296608746051788, + -0.09061042219400406, + 0.9824621081352234, + 0.03806293200080593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9856425523757935, + -0.017649393528699875, + 0.1679203063249588, + -0.025503095539734344 + ], + [ + 0.0018550679087638855, + 0.9955936670303345, + 0.09375394880771637, + 0.03834344202926917 + ], + [ + -0.1688350886106491, + -0.09209637343883514, + 0.9813322424888611, + 0.04066691995822182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9844891428947449, + -0.019415993243455887, + 0.1743679642677307, + -0.02726210870368536 + ], + [ + 0.002689857967197895, + 0.9954111576080322, + 0.09565266966819763, + 0.03887290221660636 + ], + [ + -0.1754249930381775, + -0.09369999170303345, + 0.9800236821174622, + 0.04352340472558903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9833933115005493, + -0.020670924335718155, + 0.18030625581741333, + -0.028211896930092066 + ], + [ + 0.0032757753506302834, + 0.9953523278236389, + 0.09624446928501129, + 0.040872765049453856 + ], + [ + -0.1814577281475067, + -0.09405551850795746, + 0.9788905382156372, + 0.04584369825906763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9824613928794861, + -0.0224660225212574, + 0.18510766327381134, + -0.030541672638451405 + ], + [ + 0.004451107233762741, + 0.995258092880249, + 0.09716751426458359, + 0.042304248951895294 + ], + [ + -0.18641285598278046, + -0.09463939815759659, + 0.9779026508331299, + 0.04848011265573807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9816094636917114, + -0.024563217535614967, + 0.18931318819522858, + -0.03389333871214889 + ], + [ + 0.005912138149142265, + 0.9951233267784119, + 0.09846130013465881, + 0.043203132651573 + ], + [ + -0.1908084899187088, + -0.09553129971027374, + 0.9769676923751831, + 0.05222602013585179 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9809460043907166, + -0.025745216757059097, + 0.19256721436977386, + -0.035216716827117196 + ], + [ + 0.006462412886321545, + 0.9949563145637512, + 0.10010058432817459, + 0.04333450328703074 + ], + [ + -0.19417308270931244, + -0.09694882482290268, + 0.9761648178100586, + 0.05416019942986874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.980169415473938, + -0.026996687054634094, + 0.19631370902061462, + -0.03668536214056865 + ], + [ + 0.007125065661966801, + 0.9948371648788452, + 0.10123356431722641, + 0.044287074703809826 + ], + [ + -0.1980331540107727, + -0.09782729297876358, + 0.9753013253211975, + 0.056673298755935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9794378876686096, + -0.0286000594496727, + 0.199708491563797, + -0.0367992734319942 + ], + [ + 0.008081029169261456, + 0.9946678280830383, + 0.10281334072351456, + 0.04456090634298879 + ], + [ + -0.2015840709209442, + -0.09908542782068253, + 0.9744464755058289, + 0.05923950713734294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9786786437034607, + -0.03006943315267563, + 0.20318438112735748, + -0.03815884927446528 + ], + [ + 0.009106629528105259, + 0.9946056008338928, + 0.1033286303281784, + 0.0454191727982473 + ], + [ + -0.205195352435112, + -0.09927520155906677, + 0.9736731052398682, + 0.061995678842645285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9779446721076965, + -0.03154105693101883, + 0.20646877586841583, + -0.038573741248642754 + ], + [ + 0.01033980492502451, + 0.9946308135986328, + 0.10296931862831116, + 0.04527504074481106 + ], + [ + -0.20860795676708221, + -0.09856344759464264, + 0.9730200171470642, + 0.06546506929940493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.977146327495575, + -0.032429859042167664, + 0.21007932722568512, + -0.03924743709869163 + ], + [ + 0.011150996200740337, + 0.994753360748291, + 0.1016928106546402, + 0.046554521228684934 + ], + [ + -0.21227498352527618, + -0.09702616930007935, + 0.9723812341690063, + 0.06993730396552142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9766793251037598, + -0.03374449163675308, + 0.2120349407196045, + -0.03947869139586308 + ], + [ + 0.012352078221738338, + 0.9947673678398132, + 0.10141678154468536, + 0.047683582489573675 + ], + [ + -0.2143476903438568, + -0.09643259644508362, + 0.9719855189323425, + 0.07133740736821363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.976363480091095, + -0.035061925649642944, + 0.21327219903469086, + -0.03878735563205194 + ], + [ + 0.013348357751965523, + 0.994652509689331, + 0.10241176933050156, + 0.04851444654686506 + ], + [ + -0.2157224863767624, + -0.09714428335428238, + 0.971610426902771, + 0.07451510059163552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9760907888412476, + -0.0365055575966835, + 0.2142757922410965, + -0.038104731849459714 + ], + [ + 0.014430390670895576, + 0.9945043325424194, + 0.10369612276554108, + 0.04901403651334519 + ], + [ + -0.21688370406627655, + -0.09812474250793457, + 0.9712533354759216, + 0.07655260129723439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9757982492446899, + -0.03786531835794449, + 0.21536950767040253, + -0.0361770028869311 + ], + [ + 0.015359001234173775, + 0.9943293333053589, + 0.10522990673780441, + 0.04965643528126931 + ], + [ + -0.21813277900218964, + -0.09937530010938644, + 0.9708463549613953, + 0.08003254284461339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9756565690040588, + -0.039308108389377594, + 0.21575254201889038, + -0.03344656718216201 + ], + [ + 0.01655244082212448, + 0.9941982626914978, + 0.10628175735473633, + 0.050952572196491006 + ], + [ + -0.2186785340309143, + -0.10012325644493103, + 0.9706467390060425, + 0.08387484895282013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9756778478622437, + -0.040358174592256546, + 0.21546229720115662, + -0.030234897465899933 + ], + [ + 0.017436299473047256, + 0.9940798282623291, + 0.10724399983882904, + 0.0521788933249407 + ], + [ + -0.21851488947868347, + -0.10087873041629791, + 0.9706053137779236, + 0.08786722090701723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.975858211517334, + -0.04198499023914337, + 0.21433164179325104, + -0.026577990409708763 + ], + [ + 0.018887564539909363, + 0.9938955307006836, + 0.10869654268026352, + 0.05264790046007134 + ], + [ + -0.21758688986301422, + -0.10202420502901077, + 0.9706940650939941, + 0.09167533683799958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9761567711830139, + -0.04317830502986908, + 0.21272887289524078, + -0.02336779986472093 + ], + [ + 0.019916297867894173, + 0.9936983585357666, + 0.11030370742082596, + 0.05288103852969731 + ], + [ + -0.21615107357501984, + -0.10343693941831589, + 0.9708653688430786, + 0.09560238635239675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9767915606498718, + -0.044040497392416, + 0.2096155434846878, + -0.01859452199450759 + ], + [ + 0.020923960953950882, + 0.993572473526001, + 0.11124691367149353, + 0.05388655821944392 + ], + [ + -0.21316762268543243, + -0.1042790561914444, + 0.9714347124099731, + 0.10035488364654918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9775269627571106, + -0.04572995752096176, + 0.2057906836271286, + -0.01435573823865532 + ], + [ + 0.02285093627870083, + 0.993421733379364, + 0.11220978945493698, + 0.05441453479403673 + ], + [ + -0.2095683068037033, + -0.10498558729887009, + 0.9721415042877197, + 0.10416183315159738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9785716533660889, + -0.04692680761218071, + 0.20048795640468597, + -0.009923504593298415 + ], + [ + 0.024609800428152084, + 0.9933594465255737, + 0.112389475107193, + 0.055211460347785506 + ], + [ + -0.2044306844472885, + -0.10504718124866486, + 0.9732282161712646, + 0.10795180978932123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9800091981887817, + -0.047569096088409424, + 0.19318173825740814, + -0.004815580184723054 + ], + [ + 0.02595680207014084, + 0.9932668209075928, + 0.11290355026721954, + 0.0552825587433438 + ], + [ + -0.19725172221660614, + -0.10563214123249054, + 0.9746453762054443, + 0.11245905982200491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.98122239112854, + -0.04872337728738785, + 0.18662437796592712, + 0.0010430074636210776 + ], + [ + 0.027816779911518097, + 0.9932000041007996, + 0.11304852366447449, + 0.05595147284541943 + ], + [ + -0.19086343050003052, + -0.1057344526052475, + 0.9759054183959961, + 0.11588460943957632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9826139211654663, + -0.0493738017976284, + 0.17897504568099976, + 0.007574848076978396 + ], + [ + 0.029244091361761093, + 0.9931173324584961, + 0.11341428011655807, + 0.056086211738198305 + ], + [ + -0.18334290385246277, + -0.10620849579572678, + 0.9772948026657104, + 0.12005444450895916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9842337965965271, + -0.05058682709932327, + 0.169483944773674, + 0.014583957316570504 + ], + [ + 0.031505510210990906, + 0.9930452108383179, + 0.11343977600336075, + 0.056503192404674926 + ], + [ + -0.17404378950595856, + -0.10631158202886581, + 0.9789824485778809, + 0.12437733210796534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9860253930091858, + -0.04934334382414818, + 0.1591198593378067, + 0.022807330066381498 + ], + [ + 0.031289998441934586, + 0.992984414100647, + 0.11403001844882965, + 0.05622469437445781 + ], + [ + -0.1636301726102829, + -0.10745763778686523, + 0.98065185546875, + 0.12881932725277984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9881221055984497, + -0.04162907600402832, + 0.14792466163635254, + 0.03192872329968815 + ], + [ + 0.02455243654549122, + 0.9930102825164795, + 0.11544589698314667, + 0.055718841455703556 + ], + [ + -0.15169662237167358, + -0.11044272780418396, + 0.9822375178337097, + 0.1318189924424009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9898341298103333, + -0.035050373524427414, + 0.1378398835659027, + 0.039132324398257014 + ], + [ + 0.01883940026164055, + 0.9929297566413879, + 0.11719885468482971, + 0.05576739193395126 + ], + [ + -0.14097318053245544, + -0.11341060698032379, + 0.9834961295127869, + 0.13630313329225363 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9914824366569519, + -0.03136686980724335, + 0.12640686333179474, + 0.04709912351975146 + ], + [ + 0.0163151603192091, + 0.992832601070404, + 0.11839433014392853, + 0.05587226541698441 + ], + [ + -0.12921451032161713, + -0.11532355844974518, + 0.9848878383636475, + 0.13987709491751915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9931609034538269, + -0.02707124687731266, + 0.11357202380895615, + 0.05493945175594138 + ], + [ + 0.013343362137675285, + 0.9926919937133789, + 0.11993540823459625, + 0.05640981772033743 + ], + [ + -0.1159888431429863, + -0.1175997257232666, + 0.9862641096115112, + 0.1430558460165364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9946761727333069, + -0.021200545132160187, + 0.10084541141986847, + 0.06271366532458815 + ], + [ + 0.008651630952954292, + 0.9923339486122131, + 0.12328226119279861, + 0.055037080548530404 + ], + [ + -0.10268597304821014, + -0.12175344675779343, + 0.987234354019165, + 0.14552366283050805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9958605766296387, + -0.01766972430050373, + 0.0891602635383606, + 0.06976018070943596 + ], + [ + 0.0063715483993291855, + 0.9920802712440491, + 0.12544390559196472, + 0.05615718117518018 + ], + [ + -0.09067068994045258, + -0.12435655295848846, + 0.9880861639976501, + 0.14891323857298194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9968448877334595, + -0.01527692936360836, + 0.07789035141468048, + 0.07720718776532846 + ], + [ + 0.005215501878410578, + 0.9917894601821899, + 0.1277751475572586, + 0.05628474925955137 + ], + [ + -0.07920284569263458, + -0.12696577608585358, + 0.9887399077415466, + 0.15287944794625274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9976843595504761, + -0.01308223232626915, + 0.06674373149871826, + 0.08345446825720543 + ], + [ + 0.0042922222055494785, + 0.9914814829826355, + 0.1301771104335785, + 0.05531207924318868 + ], + [ + -0.06787818670272827, + -0.12958920001983643, + 0.9892417192459106, + 0.15553145710118982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9983378052711487, + -0.011531769298017025, + 0.05646808445453644, + 0.09012495288553164 + ], + [ + 0.0039939843118190765, + 0.9912654161453247, + 0.13182134926319122, + 0.055368045203445494 + ], + [ + -0.05749499052762985, + -0.1313766986131668, + 0.98966383934021, + 0.15962778660216073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9988828301429749, + -0.009745936840772629, + 0.04623923823237419, + 0.09592105448246002 + ], + [ + 0.003488946007564664, + 0.991040825843811, + 0.13351373374462128, + 0.05519802308128786 + ], + [ + -0.04712619259953499, + -0.13320325314998627, + 0.9899677038192749, + 0.16262390770653423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9993171095848083, + -0.007746540009975433, + 0.03612855449318886, + 0.10189557746919088 + ], + [ + 0.0028045063372701406, + 0.9908575415611267, + 0.13488300144672394, + 0.0545296693264052 + ], + [ + -0.03684312477707863, + -0.1346895843744278, + 0.9902026653289795, + 0.16515105605818506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996384978294373, + -0.0045041367411613464, + 0.026506980881094933, + 0.10758241862924986 + ], + [ + 0.0008500681724399328, + 0.9906700849533081, + 0.13627929985523224, + 0.054432868587878325 + ], + [ + -0.026873493567109108, + -0.13620750606060028, + 0.9903157949447632, + 0.16791206668744715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9998553991317749, + -0.0015051228692755103, + 0.01693795435130596, + 0.11310082178043071 + ], + [ + -0.0008417010540142655, + 0.9904735684394836, + 0.13770046830177307, + 0.05410126150231953 + ], + [ + -0.01698385365307331, + -0.1376948058605194, + 0.9903290867805481, + 0.16977987467318545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.999959409236908, + 0.001376763335429132, + 0.008904858492314816, + 0.11740111051083997 + ], + [ + -0.002601541578769684, + 0.9902846813201904, + 0.13903068006038666, + 0.053040807261023414 + ], + [ + -0.008626933209598064, + -0.13904820382595062, + 0.9902480244636536, + 0.1724218809327414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9999886751174927, + 0.004683163017034531, + 0.0008736141608096659, + 0.12217681908771548 + ], + [ + -0.004759039729833603, + 0.9903413653373718, + 0.13856877386569977, + 0.05229245160901269 + ], + [ + -0.0002162361633963883, + -0.1385713666677475, + 0.9903524518013, + 0.1748867166019225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9999505877494812, + 0.007172948215156794, + -0.006886717397719622, + 0.12658881169433395 + ], + [ + -0.006159091833978891, + 0.9905007481575012, + 0.13736924529075623, + 0.05161780640482903 + ], + [ + 0.007806641515344381, + -0.13732004165649414, + 0.9904959797859192, + 0.17724701017141342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9998382329940796, + 0.010881681926548481, + -0.014320661313831806, + 0.1313333280536151 + ], + [ + -0.008817165158689022, + 0.9905232191085815, + 0.13706210255622864, + 0.04995658267722573 + ], + [ + 0.015676412731409073, + -0.13691365718841553, + 0.9904589653015137, + 0.17873205882172252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9996697306632996, + 0.015211960300803185, + -0.020713791251182556, + 0.13597780325154002 + ], + [ + -0.012237101793289185, + 0.9905164837837219, + 0.1368478238582611, + 0.04980889480820922 + ], + [ + 0.022599074989557266, + -0.13654914498329163, + 0.9903755187988281, + 0.18141630202993866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.999455988407135, + 0.018276814371347427, + -0.027452722191810608, + 0.14027191896078198 + ], + [ + -0.014342278242111206, + 0.990434467792511, + 0.1372363418340683, + 0.049631973078777626 + ], + [ + 0.029698364436626434, + -0.1367679387331009, + 0.9901578426361084, + 0.1828570781405582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9992173910140991, + 0.02084009349346161, + -0.03361952304840088, + 0.14492766455162404 + ], + [ + -0.01603788509964943, + 0.990404486656189, + 0.1372651904821396, + 0.049449980432210966 + ], + [ + 0.03615754842758179, + -0.13661856949329376, + 0.9899636507034302, + 0.18558748724848725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9989334940910339, + 0.023716049268841743, + -0.039615292102098465, + 0.14879113101046676 + ], + [ + -0.018059467896819115, + 0.9903385043144226, + 0.13749004900455475, + 0.049011537600164266 + ], + [ + 0.042493272572755814, + -0.13662798702716827, + 0.9897106289863586, + 0.18749492449122807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9985643029212952, + 0.027108997106552124, + -0.04620033875107765, + 0.15280573778143225 + ], + [ + -0.02049730345606804, + 0.9902191162109375, + 0.1380070596933365, + 0.04831975495168405 + ], + [ + 0.049489688128232956, + -0.13686193525791168, + 0.9893531203269958, + 0.1891961981159772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9981637597084045, + 0.030079903081059456, + -0.0525771901011467, + 0.155773077922505 + ], + [ + -0.0225533377379179, + 0.9901341199874878, + 0.1382959932088852, + 0.04839735034593316 + ], + [ + 0.05621840059757233, + -0.13685624301433563, + 0.9889943599700928, + 0.19147517109333081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9977214932441711, + 0.032263822853565216, + -0.059252697974443436, + 0.15863937419629837 + ], + [ + -0.02376147359609604, + 0.9900117516517639, + 0.13896805047988892, + 0.048363955584607383 + ], + [ + 0.0631445050239563, + -0.13724347949028015, + 0.9885226488113403, + 0.19245556497065597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9972016215324402, + 0.03503929078578949, + -0.06603892892599106, + 0.1619665818794291 + ], + [ + -0.025572679936885834, + 0.9899482131004333, + 0.13909924030303955, + 0.04910835880757303 + ], + [ + 0.0702490583062172, + -0.13702118396759033, + 0.988074004650116, + 0.19600021654321242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9966096878051758, + 0.037775855511426926, + -0.07308994233608246, + 0.1646855921939362 + ], + [ + -0.027331557124853134, + 0.9899213910102844, + 0.1389552801847458, + 0.04988325740708861 + ], + [ + 0.07760244607925415, + -0.13648651540279388, + 0.9875977635383606, + 0.19734415283729864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.995932936668396, + 0.040868379175662994, + -0.08029578626155853, + 0.16726466686457628 + ], + [ + -0.029362216591835022, + 0.9897753000259399, + 0.13958033919334412, + 0.050344778972771745 + ], + [ + 0.08517920970916748, + -0.13665500283241272, + 0.9869498014450073, + 0.19922829968060635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9951657056808472, + 0.044426631182432175, + -0.087587371468544, + 0.16924218380636022 + ], + [ + -0.031882915645837784, + 0.9896752834320068, + 0.1397365927696228, + 0.05202388147744098 + ], + [ + 0.09289108216762543, + -0.1362685263156891, + 0.9863073229789734, + 0.19911308380984521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.994198739528656, + 0.04703381285071373, + -0.09672986716032028, + 0.1726325060912343 + ], + [ + -0.03367523476481438, + 0.9902229905128479, + 0.13536758720874786, + 0.06223626729360847 + ], + [ + 0.10215099900960922, + -0.1313248723745346, + 0.9860623478889465, + 0.19607729818238767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9932788014411926, + 0.049992531538009644, + -0.10439357906579971, + 0.173726570698642 + ], + [ + -0.03535839170217514, + 0.9898564219474792, + 0.13760122656822205, + 0.05906039496609407 + ], + [ + 0.11021368950605392, + -0.1329851746559143, + 0.9849709868431091, + 0.19899749045455178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9921842813491821, + 0.05236651003360748, + -0.1132614016532898, + 0.17449403047099593 + ], + [ + -0.03667186200618744, + 0.9899663329124451, + 0.13646166026592255, + 0.06219706727090732 + ], + [ + 0.11927099525928497, + -0.1312416046857834, + 0.9841493964195251, + 0.19864684647136882 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9911451935768127, + 0.05363591015338898, + -0.12146762758493423, + 0.17502278806858285 + ], + [ + -0.03635948896408081, + 0.9894520044326782, + 0.14022360742092133, + 0.05517474996835686 + ], + [ + 0.12770740687847137, + -0.13456545770168304, + 0.98264080286026, + 0.2040862660075343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9899428486824036, + 0.055158812552690506, + -0.1302713006734848, + 0.1751718176081199 + ], + [ + -0.0365290604531765, + 0.9892934560775757, + 0.14129413664340973, + 0.054904584268959916 + ], + [ + 0.13667015731334686, + -0.13511444628238678, + 0.9813589453697205, + 0.20396921329720075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9886641502380371, + 0.058348074555397034, + -0.13834276795387268, + 0.17569213188433833 + ], + [ + -0.03853058069944382, + 0.9891413450241089, + 0.14182664453983307, + 0.05658867995637332 + ], + [ + 0.14511585235595703, + -0.13488848507404327, + 0.9801767468452454, + 0.20401174929714944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9874483346939087, + 0.060671042650938034, + -0.14582453668117523, + 0.17523624644029973 + ], + [ + -0.039486099034547806, + 0.9887880086898804, + 0.14401084184646606, + 0.05484749428754629 + ], + [ + 0.15292684733867645, + -0.13644522428512573, + 0.978772759437561, + 0.20457164631333463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9860543608665466, + 0.06402169167995453, + -0.1536165028810501, + 0.17576975365017736 + ], + [ + -0.04172767698764801, + 0.9886692762374878, + 0.14419367909431458, + 0.056667202018028086 + ], + [ + 0.16110743582248688, + -0.1357727348804474, + 0.977553129196167, + 0.20437367826469185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9846430420875549, + 0.06670408695936203, + -0.16133399307727814, + 0.17653293021658595 + ], + [ + -0.043273165822029114, + 0.9885414838790894, + 0.14461387693881989, + 0.057290424972541575 + ], + [ + 0.16913168132305145, + -0.1354116052389145, + 0.9762470126152039, + 0.20361227029284767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9833360314369202, + 0.06885000318288803, + -0.16825570166110992, + 0.1757534203834312 + ], + [ + -0.04410349577665329, + 0.9882091879844666, + 0.14662005007266998, + 0.05489452200573544 + ], + [ + 0.17636661231517792, + -0.13675610721111298, + 0.9747782349586487, + 0.20311156868241553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9819179177284241, + 0.0719405934214592, + -0.1751050055027008, + 0.17645178386407306 + ], + [ + -0.046114254742860794, + 0.9880121946334839, + 0.14732743799686432, + 0.054632216466720715 + ], + [ + 0.18360471725463867, + -0.13658861815929413, + 0.9734643697738647, + 0.20365929195816201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9807224273681641, + 0.0741535872220993, + -0.18078941106796265, + 0.17759422357230223 + ], + [ + -0.04752032831311226, + 0.9879298210144043, + 0.1474328488111496, + 0.05366683404806048 + ], + [ + 0.18953993916511536, + -0.13599951565265656, + 0.9724087119102478, + 0.2035051017075546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9796710014343262, + 0.07550521194934845, + -0.18585923314094543, + 0.17834544029346733 + ], + [ + -0.048227500170469284, + 0.9879391193389893, + 0.1471407562494278, + 0.0530803038283836 + ], + [ + 0.19472751021385193, + -0.13518600165843964, + 0.9714967608451843, + 0.20238789406626723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9785948991775513, + 0.07601239532232285, + -0.19124379754066467, + 0.18003994020842767 + ], + [ + -0.048113249242305756, + 0.9880379438400269, + 0.14651326835155487, + 0.0529972827480745 + ], + [ + 0.20009294152259827, + -0.13417576253414154, + 0.9705460667610168, + 0.20312643799670907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9778319001197815, + 0.07620907574892044, + -0.19503061473369598, + 0.17935030151938283 + ], + [ + -0.04772532731294632, + 0.9880157709121704, + 0.14678940176963806, + 0.05262018616000812 + ], + [ + 0.20387999713420868, + -0.134227454662323, + 0.9697504639625549, + 0.20134950638279436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9769936800003052, + 0.07646875083446503, + -0.19908767938613892, + 0.1802480728820313 + ], + [ + -0.04746159911155701, + 0.9880569577217102, + 0.1465977281332016, + 0.052949406501165655 + ], + [ + 0.207920104265213, + -0.13377602398395538, + 0.9689546823501587, + 0.20129462241433388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9762002825737, + 0.07767722755670547, + -0.20248264074325562, + 0.1812144039675247 + ], + [ + -0.04817689210176468, + 0.9879993796348572, + 0.14675213396549225, + 0.05330003985716391 + ], + [ + 0.21145203709602356, + -0.1335044950246811, + 0.9682275652885437, + 0.20146613169548122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9755134582519531, + 0.07888585329055786, + -0.20530584454536438, + 0.18297323986541392 + ], + [ + -0.04915551468729973, + 0.9880505800247192, + 0.1460813283920288, + 0.0538106371496999 + ], + [ + 0.214376300573349, + -0.1324124038219452, + 0.9677343368530273, + 0.20228477263635444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9750673770904541, + 0.07935158163309097, + -0.2072363793849945, + 0.18423498189726542 + ], + [ + -0.04943039268255234, + 0.9880834817886353, + 0.1457660049200058, + 0.0535724084737689 + ], + [ + 0.21633359789848328, + -0.13188789784908295, + 0.967370331287384, + 0.20281139123578407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.974574863910675, + 0.07959607988595963, + -0.20944757759571075, + 0.18564962841743646 + ], + [ + -0.04963167756795883, + 0.9882416725158691, + 0.1446203589439392, + 0.05328380107417587 + ], + [ + 0.21849603950977325, + -0.1305481195449829, + 0.9670659899711609, + 0.2024623711788377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9741919636726379, + 0.07960411161184311, + -0.21121849119663239, + 0.18663815522147703 + ], + [ + -0.04965921863913536, + 0.9884078502655029, + 0.14347094297409058, + 0.05351870816576389 + ], + [ + 0.2201908975839615, + -0.12927928566932678, + 0.9668520092964172, + 0.20267718464367152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9737414717674255, + 0.07941514253616333, + -0.2133561223745346, + 0.18778204813946126 + ], + [ + -0.049372706562280655, + 0.9885451197624207, + 0.14262163639068604, + 0.05313945492339689 + ], + [ + 0.2222384661436081, + -0.1283426284790039, + 0.9665082693099976, + 0.20228425707927972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9731670022010803, + 0.07848114520311356, + -0.2163022756576538, + 0.18855366803878962 + ], + [ + -0.048370055854320526, + 0.9888062477111816, + 0.1411474198102951, + 0.05442516815292743 + ], + [ + 0.22495844960212708, + -0.12689746916294098, + 0.966069757938385, + 0.20330392498840658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9725241661071777, + 0.07887890189886093, + -0.21903164684772491, + 0.18760583289833954 + ], + [ + -0.048358332365751266, + 0.9887754321098328, + 0.141367107629776, + 0.054047231838222624 + ], + [ + 0.22772400081157684, + -0.12689092755317688, + 0.9654224514961243, + 0.20376168812892237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9717923402786255, + 0.07786127179861069, + -0.22261473536491394, + 0.18724472051443056 + ], + [ + -0.04708178713917732, + 0.9889784455299377, + 0.14037436246871948, + 0.05328050260973531 + ], + [ + 0.23109090328216553, + -0.12593361735343933, + 0.9647474884986877, + 0.2031910727190417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9708865880966187, + 0.07833961397409439, + -0.22636717557907104, + 0.18604025826897733 + ], + [ + -0.047213517129421234, + 0.989055335521698, + 0.1397872418165207, + 0.05314881322226783 + ], + [ + 0.2348405420780182, + -0.12502996623516083, + 0.9639592170715332, + 0.19972033887639526 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9702805280685425, + 0.07913649827241898, + -0.2286769151687622, + 0.1851672003435534 + ], + [ + -0.047531433403491974, + 0.9889312386512756, + 0.14055520296096802, + 0.05327878800011421 + ], + [ + 0.23726880550384521, + -0.1255086362361908, + 0.9633021950721741, + 0.1970664639343587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9700348377227783, + 0.07899940013885498, + -0.229763925075531, + 0.18487991385681685 + ], + [ + -0.04703572019934654, + 0.9888330698013306, + 0.14141008257865906, + 0.05470380984073461 + ], + [ + 0.23836946487426758, + -0.12636560201644897, + 0.9629183411598206, + 0.19511363211759303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9699773192405701, + 0.07807348668575287, + -0.2303227037191391, + 0.18482155156458996 + ], + [ + -0.04553790017962456, + 0.9886251091957092, + 0.14334101974964142, + 0.055505427261886675 + ], + [ + 0.23889394104480743, + -0.12854911386966705, + 0.9624992609024048, + 0.19428412921206895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9702162742614746, + 0.07799383252859116, + -0.2293410450220108, + 0.18413581201272416 + ], + [ + -0.045181356370449066, + 0.9884001612663269, + 0.1449955552816391, + 0.055699273002471114 + ], + [ + 0.23798950016498566, + -0.13031511008739471, + 0.9624858498573303, + 0.1915093794465065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9718320965766907, + 0.07337340712547302, + -0.22396135330200195, + 0.18342180252075196 + ], + [ + -0.041001275181770325, + 0.9884470701217651, + 0.14591525495052338, + 0.0566966749727726 + ], + [ + 0.23208025097846985, + -0.13262243568897247, + 0.9636130332946777, + 0.18663090616464617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/tilt_down/transforms.json b/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2d070f32811e04a4a95d278d5a2736d88cd065c8 --- /dev/null +++ b/dynpose_eval/camera_controls/37c8bf74-23dd-4412-9128-8c70d0f07d66/tilt_down/transforms.json @@ -0,0 +1,4563 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 130, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -3.779902181122452e-05, + -7.106735324668989e-07, + 5.438872904051095e-05 + ], + [ + 3.779891994781792e-05, + 1.0, + -0.00014276729780249298, + 0.0001941786176757887 + ], + [ + 7.160700192798686e-07, + 0.00014276726869866252, + 1.0, + 7.050997373880818e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999990701675415, + -0.000234941017967584, + 0.004308951614803124, + -0.0001065495889633894 + ], + [ + 0.00019655164214782417, + 0.9999603189313618, + 0.008907472609985466, + 0.003281529527157545 + ], + [ + -0.004310873337090015, + -0.008906542907886983, + 0.9999510224744174, + -0.0003700898087117821 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999767541885376, + -0.00024325464069222918, + 0.006818454390676748, + 0.0009651915170252323 + ], + [ + 0.00012867545592598617, + 0.9998588665459908, + 0.01679967702101111, + 0.006798982620239258 + ], + [ + -0.006821578834205866, + -0.016798409211946523, + 0.9998356256889882, + -0.0006260459194891155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999958336353302, + -0.0004160957223148583, + 0.009115928111250234, + 0.00099079345818609 + ], + [ + 0.00018979329615831375, + 0.9996921094890965, + 0.02481175873972833, + 0.00914997048676014 + ], + [ + -0.00912344641983509, + -0.02480899500476395, + 0.9996505811085048, + -0.0009416893008165061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999306201934814, + -0.0002123292740999823, + 0.011779760031408123, + 0.0007991328602656722 + ], + [ + -0.0001615580840734765, + 0.9994964689870702, + 0.0317297824784677, + 0.012001930736005306 + ], + [ + -0.011780566535890102, + -0.03172948375942971, + 0.9994270893194621, + -0.0011552684009075165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999886155128479, + 0.0002836919133239984, + 0.015087027034585173, + 0.0006617503240704536 + ], + [ + -0.0008723149658180773, + 0.9992379441768627, + 0.03902292447379018, + 0.013117826543748379 + ], + [ + -0.01506445836275816, + -0.03903164129939813, + 0.9991244222429969, + -0.0012182226637378335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998300075531006, + 0.00030525715669199724, + 0.01843687207096724, + 0.001417317078448832 + ], + [ + -0.0011534647783264518, + 0.9989401487243229, + 0.04601296012222753, + 0.014503572136163712 + ], + [ + -0.01840328611433506, + -0.04602640244171134, + 0.998770695291424, + -0.0009058360010385513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997697472572327, + 0.0004247603536533968, + 0.021454702619285945, + 0.0021624707151204348 + ], + [ + -0.0015395758673548698, + 0.9986473997896048, + 0.05197161757310751, + 0.01619199477136135 + ], + [ + -0.021403606981039047, + -0.05199268069630351, + 0.9984180763880817, + -0.0017484630225226283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997117519378662, + 0.00036097258258379293, + 0.024006243533998276, + 0.0034258803352713585 + ], + [ + -0.001722042914479971, + 0.9983897701247509, + 0.05670004853139715, + 0.017852306365966797 + ], + [ + -0.02394712157547474, + -0.056725043412915004, + 0.9981026281499684, + -0.0020052213221788406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996286034584045, + 0.00015754130676776557, + 0.02725033286556284, + 0.003906541969627142 + ], + [ + -0.0018140492029488087, + 0.9981498576538698, + 0.06077451713008971, + 0.01932770200073719 + ], + [ + -0.02719034254550934, + -0.06080138108791149, + 0.997779458404886, + -0.0022950093261897564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9995343089103699, + 5.2337857427739266e-05, + 0.030514424232007342, + 0.004555013496428728 + ], + [ + -0.002071383874863386, + 0.9978082442124708, + 0.06613909496692122, + 0.017122458666563034 + ], + [ + -0.030444083735346794, + -0.06617150228778797, + 0.9973437071647566, + -0.0022545179817825556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9994349479675293, + -0.0003966707664811051, + 0.03360986768363669, + 0.005296219140291214 + ], + [ + -0.0020067733712494373, + 0.997442416737481, + 0.07144615904006761, + 0.01496841013431549 + ], + [ + -0.033552248030900955, + -0.07147323481754886, + 0.996878050204585, + -0.0012045137118548155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9993466734886169, + -0.0005140334635340934, + 0.03613786203337384, + 0.006722994614392519 + ], + [ + -0.002315058372914791, + 0.9969349756735992, + 0.07820064170780222, + 0.008354652673006058 + ], + [ + -0.03606729581952095, + -0.07823321283953948, + 0.9962824506678013, + -0.00020342828065622598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9992728829383852, + -0.0011952722301796946, + 0.038108076572679284, + 0.009777138009667397 + ], + [ + -0.0016649325843900446, + 0.9971870430320201, + 0.07493508560551677, + 0.023611951619386673 + ], + [ + -0.038090448826551444, + -0.07494404958669187, + 0.9964599729176791, + -0.0033912858925759792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9991632699966431, + -0.001584001674972033, + 0.040868771889149384, + 0.01166050136089325 + ], + [ + -0.0016180840320885181, + 0.9969364957117655, + 0.07819856239355329, + 0.02300580032169819 + ], + [ + -0.040867436677217484, + -0.07819926012854811, + 0.9960997658077247, + -0.0031614559702575207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9990477561950686, + -0.0022818296874876414, + 0.043570889078808524, + 0.013181058689951897 + ], + [ + -0.001211809227243066, + 0.996795065282483, + 0.07998853605249955, + 0.024258432909846306 + ], + [ + -0.043613769114017494, + -0.079965167659235, + 0.9958430916792751, + -0.0025799009017646313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9989662170410156, + -0.0028558322717978607, + 0.04536942270123462, + 0.014546927064657211 + ], + [ + -0.0008527850732207298, + 0.996671829912167, + 0.08151373950506725, + 0.024779727682471275 + ], + [ + -0.04545121639966965, + -0.08146816022422723, + 0.9956390418851294, + -0.0033067946787923574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9988737106323242, + -0.0026087082217973257, + 0.04737583908693697, + 0.0162699855864048 + ], + [ + -0.0013619805686175823, + 0.9964995428297061, + 0.08358740058799746, + 0.025383133441209793 + ], + [ + -0.047428056597709656, + -0.08355778580891197, + 0.9953736645956405, + -0.004350084345787764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9987690448760986, + -0.00296245121603984, + 0.049513988280269323, + 0.017554298043251038 + ], + [ + -0.001315234461799264, + 0.9962823451995534, + 0.08613835655285908, + 0.026177706196904182 + ], + [ + -0.04958508908748627, + -0.08609744037075075, + 0.9950520039886096, + -0.005396649707108736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9986504912376406, + -0.0034234541376756164, + 0.05182177096867946, + 0.018718095496296883 + ], + [ + -0.001201553037390113, + 0.9960349036480183, + 0.08895511208359169, + 0.026675913482904434 + ], + [ + -0.05192082747817041, + -0.08889733344216644, + 0.9946866200362352, + -0.005616032052785158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9984930157661438, + -0.0035524025989989464, + 0.05476345458327424, + 0.018484504893422127 + ], + [ + -0.0014918624656274915, + 0.9957767781526597, + 0.09179506308404872, + 0.0273214690387249 + ], + [ + -0.054858267307281494, + -0.09173843401205486, + 0.9942709111467932, + -0.00708461320027709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9982832670211792, + -0.00416489463172899, + 0.05842271487499829, + 0.01744561642408371 + ], + [ + -0.0013989064609631896, + 0.995488615125034, + 0.09487081461125366, + 0.02769475057721138 + ], + [ + -0.0585542730987072, + -0.094789670063428, + 0.9937737822372565, + -0.007762252818793058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9980512261390686, + -0.004317951075288282, + 0.06225081491916955, + 0.016174795106053352 + ], + [ + -0.0018261822406202555, + 0.9951545391120972, + 0.09830637763117904, + 0.027850834652781487 + ], + [ + -0.06237366423010826, + -0.09822847841330011, + 0.9932073016084267, + -0.009378047659993172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9978209733963013, + -0.0043921941052474205, + 0.06583297423666952, + 0.015564696863293648 + ], + [ + -0.002320395316928625, + 0.9948285596338218, + 0.1015421231668232, + 0.028632154688239098 + ], + [ + -0.06593851000070572, + -0.1014736160869988, + 0.9926505957987599, + -0.011433391831815243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.997564494609833, + -0.004974473442567491, + 0.06957267468386423, + 0.015982039272785187 + ], + [ + -0.0023435121402144436, + 0.9945001163161814, + 0.1047094856639858, + 0.02932519093155861 + ], + [ + -0.0697109028697014, + -0.1046175093345399, + 0.9920663218969278, + -0.011538391932845116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9972427487373352, + -0.005691545327128041, + 0.07398954614272417, + 0.01506301760673523 + ], + [ + -0.002351712202653289, + 0.9941297784623618, + 0.10816883720277388, + 0.02962706796824932 + ], + [ + -0.07417085021734238, + -0.10804459634660638, + 0.9913753431865667, + -0.011025603860616684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9969510436058044, + -0.006814020964003175, + 0.07773158168886782, + 0.015291332267224789 + ], + [ + -0.0018718483624979854, + 0.9938046480299991, + 0.11112532305502673, + 0.030336737632751465 + ], + [ + -0.07800721377134323, + -0.11093200544207855, + 0.9907618313068699, + -0.011098479852080345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9966397881507874, + -0.00751508138380609, + 0.08156359676140182, + 0.014495264738798141 + ], + [ + -0.0018685432150959969, + 0.9934370455676782, + 0.11436505236526376, + 0.029890358448028564 + ], + [ + -0.08188776671886444, + -0.11413316799993209, + 0.990084859907016, + -0.010889926925301552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9963072538375854, + -0.008248424931586954, + 0.08546219447098068, + 0.012961014173924923 + ], + [ + -0.0018418808467686176, + 0.9930923402220315, + 0.11732120031790332, + 0.030209627002477646 + ], + [ + -0.08583956211805344, + -0.11704537179726501, + 0.9894099117765712, + -0.010745302774012089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9959016442298889, + -0.00876744165485041, + 0.09001719407706534, + 0.010796337388455868 + ], + [ + -0.0021346062421798706, + 0.9927345869886466, + 0.12030591140574688, + 0.02935638092458248 + ], + [ + -0.09041795879602432, + -0.12000500413334048, + 0.9886472710675263, + -0.010272075422108173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.995487630367279, + -0.009898368629934316, + 0.09437365849354484, + 0.007811941206455231 + ], + [ + -0.0018080216832458973, + 0.9923854407268556, + 0.12315789021656612, + 0.029145497828722 + ], + [ + -0.09487410634756088, + -0.12277278463786555, + 0.9878895439798954, + -0.00917945709079504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9950650334358215, + -0.010949497110002137, + 0.09861915218857326, + 0.005021650344133377 + ], + [ + -0.001559183350764215, + 0.9920446474333215, + 0.12587695775921007, + 0.02917202189564705 + ], + [ + -0.0992128923535347, + -0.12540951870247222, + 0.9871318535420397, + -0.007454229053109884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9946297407150269, + -0.011174463851259003, + 0.10289229983608619, + 0.0023115593940019608 + ], + [ + -0.0022182115353643894, + 0.9916242963089459, + 0.12913667522976552, + 0.028987808153033257 + ], + [ + -0.10347354412078857, + -0.12867141583057434, + 0.9862742642071172, + -0.006823304574936628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9941076636314392, + -0.012353470116630873, + 0.10769090532440519, + -0.0009710630984045565 + ], + [ + -0.001988950651139021, + 0.9912387040726204, + 0.13206750650683366, + 0.030071519315242767 + ], + [ + -0.10837888717651367, + -0.13150351341390012, + 0.98537346599381, + -0.006166801322251558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9936580061912537, + -0.013488057047661862, + 0.11163246502972535, + -0.0035721193999052048 + ], + [ + -0.001825639046728611, + 0.9907134720512832, + 0.13595383304104855, + 0.030435672029852867 + ], + [ + -0.11242954432964325, + -0.13529542043497655, + 0.9844057974236908, + -0.0050941999070346355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9932029247283936, + -0.014685719831726859, + 0.11546564847826093, + -0.006525631528347731 + ], + [ + -0.001926723401993513, + 0.9897983366986111, + 0.14246253458057298, + 0.030424438416957855 + ], + [ + -0.11637987196445465, + -0.14171667363424115, + 0.9830422857594444, + -0.004857294727116823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9926862716674805, + -0.01696289344759859, + 0.11952522857270424, + -0.008766362443566322 + ], + [ + -0.001101803034543991, + 0.9887648807274494, + 0.14947520317270788, + 0.03134341537952423 + ], + [ + -0.12071788311004639, + -0.14851366512545966, + 0.98151457498823, + -0.0013284862507134676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.992121160030365, + -0.018265077853363346, + 0.12394331153237678, + -0.011708495207130909 + ], + [ + -0.001113060861825943, + 0.9879911662044503, + 0.15450635074921415, + 0.03190865367650986 + ], + [ + -0.12527696788311005, + -0.15342697454460016, + 0.980186626073124, + 0.00039117434062063694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9913902282714844, + -0.019858669687086907, + 0.1294256615130753, + -0.016978083178400993 + ], + [ + -0.0009611458517611027, + 0.9873020915331541, + 0.15885086627148065, + 0.033029954880476 + ], + [ + -0.13093680143356323, + -0.15760760645066435, + 0.9787826307002101, + -0.0005695339641533792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9905403256416321, + -0.021661185233104587, + 0.13550171145787693, + -0.01865454576909542 + ], + [ + -0.0007552606984972954, + 0.986586793566527, + 0.16323598259927696, + 0.033164918422698975 + ], + [ + -0.13722006976604462, + -0.16179416049391204, + 0.9772375988054413, + 0.002066070679575205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9896761775016785, + -0.02342403780100046, + 0.14139433586156414, + -0.021950412541627884 + ], + [ + -0.0005737137980759144, + 0.9858983530860954, + 0.1673441395906244, + 0.033388908952474594 + ], + [ + -0.14332032203674316, + -0.16569762761469173, + 0.9757067282901354, + 0.002647528424859047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9887380599975586, + -0.025410549302927597, + 0.1474834498220793, + -0.0255512073636055 + ], + [ + -0.00017622625455260277, + 0.9852814398145263, + 0.1709397604550132, + 0.03381283953785896 + ], + [ + -0.14965638518333435, + -0.1690406350048661, + 0.9741807760385235, + 0.00328988884575665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9876902103424074, + -0.027856363748129578, + 0.1539222032171767, + -0.027390291914343834 + ], + [ + 0.00049895653501153, + 0.9845713266971974, + 0.17498296701370827, + 0.03363189101219177 + ], + [ + -0.1564217656850815, + -0.172752164445935, + 0.9724653795874489, + 0.004451364278793335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.986630976200104, + -0.03024200245917394, + 0.16013989901138923, + -0.02932133339345455 + ], + [ + 0.0011922721751034262, + 0.9839446794776932, + 0.178469744062725, + 0.034368742257356644 + ], + [ + -0.1629660874605179, + -0.17589283693747693, + 0.9708263245533515, + 0.005314195062965155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9856425523757935, + -0.03255375241369518, + 0.16567734779379692, + -0.031230609863996506 + ], + [ + 0.0018550679087638855, + 0.983266267891299, + 0.1821647583235147, + 0.035145632922649384 + ], + [ + -0.1688350886106491, + -0.1792419919009902, + 0.9692094822525043, + 0.007195122539997101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9844891428947449, + -0.035237173861289633, + 0.17187061800893075, + -0.03334471210837364 + ], + [ + 0.002689857967197895, + 0.9825396392197971, + 0.18603403792598533, + 0.035536181181669235 + ], + [ + -0.1754249930381775, + -0.18268618300793613, + 0.9673943686492122, + 0.009336532093584538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9833933115005493, + -0.03738893421709158, + 0.17759420203907977, + -0.03464142233133316 + ], + [ + 0.0032757753506302834, + 0.9820463280819106, + 0.18861140970982293, + 0.037440791726112366 + ], + [ + -0.1814577281475067, + -0.18489743432380776, + 0.9658602720633942, + 0.010937524028122425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9824613928794863, + -0.039993498936910586, + 0.18212657470396712, + -0.037285905331373215 + ], + [ + 0.004451107233762742, + 0.9814798109449675, + 0.19151391066818013, + 0.03876403719186783 + ], + [ + -0.18641285598278048, + -0.1873443593180861, + 0.9644440373716822, + 0.012851101346313953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9816094636917116, + -0.04285931408732645, + 0.18602664883372996, + -0.040937550365924835 + ], + [ + 0.005912138149142267, + 0.9808291611581327, + 0.19477992644154954, + 0.039539456367492676 + ], + [ + -0.19080848991870886, + -0.19009800491490347, + 0.9630445730580689, + 0.015873733907938004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9809460043907166, + -0.04473597514921592, + 0.18905988671172724, + -0.04253128543496132 + ], + [ + 0.006462412886321545, + 0.9801029107433901, + 0.19838467487550207, + 0.03953223302960396 + ], + [ + -0.19417308270931244, + -0.19338287852595307, + 0.9617171561627167, + 0.017081070691347122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.980169415473938, + -0.04674411825652421, + 0.19256915866715646, + -0.04429442062973976 + ], + [ + 0.007125065661966801, + 0.9794649743052476, + 0.2014884197113314, + 0.04036329314112663 + ], + [ + -0.1980331540107727, + -0.1961207171578194, + 0.9603746762208695, + 0.018870921805500984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9794378876686096, + -0.049080363615205, + 0.19568485610953967, + -0.044694725424051285 + ], + [ + 0.008081029169261456, + 0.9787223973883329, + 0.20502960787308824, + 0.04049619287252426 + ], + [ + -0.2015840709209442, + -0.19923242785202316, + 0.9589944188181326, + 0.020714879035949707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9786786437034607, + -0.0513047300476975, + 0.19888662151829964, + -0.04634922742843628 + ], + [ + 0.009106629528105259, + 0.9781881247942165, + 0.2075213231627551, + 0.041253987699747086 + ], + [ + -0.205195352435112, + -0.2012855043894057, + 0.9577990536823175, + 0.022746840491890907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9779446721076968, + -0.05352396614650777, + 0.20188952109724617, + -0.047056566923856735 + ], + [ + 0.010339804925024511, + 0.9778285964706466, + 0.20915155237985394, + 0.04104451835155487 + ], + [ + -0.20860795676708227, + -0.20245114424895835, + 0.9568156777367848, + 0.02548827789723873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.977146327495575, + -0.055211941388692704, + 0.20527216326911674, + -0.0480414554476738 + ], + [ + 0.011150996200740337, + 0.9776635451223747, + 0.2098801300685957, + 0.0422976128757 + ], + [ + -0.21227498352527618, + -0.20279461749310804, + 0.9559360256883888, + 0.029232973232865334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9766793251037598, + -0.057152701505129196, + 0.20695669960756208, + -0.048518940806388855 + ], + [ + 0.012352078221738338, + 0.9772802566223248, + 0.21159106718865894, + 0.04335961118340492 + ], + [ + -0.2143476903438568, + -0.20410026834750936, + 0.9551953596682671, + 0.029896164312958717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.976363480091095, + -0.059021838495461984, + 0.20792015797408744, + -0.04804568365216255 + ], + [ + 0.013348357751965523, + 0.9766218766937607, + 0.2145495175754202, + 0.04406866431236267 + ], + [ + -0.2157224863767624, + -0.20670292889126338, + 0.9543258000506826, + 0.03233666345477104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9760907888412476, + -0.06099350014971249, + 0.20863020830043127, + -0.04757273197174072 + ], + [ + 0.014430390670895576, + 0.9758890195591294, + 0.2177897491301424, + 0.04443211480975151 + ], + [ + -0.21688370406627655, + -0.209571951460035, + 0.9534364708393446, + 0.033636756241321564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9757982492446899, + -0.06289557335862268, + 0.20943245694120616, + -0.04586028307676315 + ], + [ + 0.015359001234173775, + 0.9750911054745123, + 0.22127243924180925, + 0.04492516815662384 + ], + [ + -0.21813277900218964, + -0.21270058249194898, + 0.9524581657066329, + 0.03638208657503128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9756565690040591, + -0.06479869058904829, + 0.2095123301161746, + -0.04331431910395622 + ], + [ + 0.016552440822124485, + 0.974384258217479, + 0.22427954615429616, + 0.04609162360429764 + ], + [ + -0.21867853403091436, + -0.21535186834659154, + 0.9517370073837805, + 0.03948092833161354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9756778478622437, + -0.06623078821373095, + 0.2089647493339643, + -0.040256399661302567 + ], + [ + 0.017436299473047256, + 0.9736926495490701, + 0.22719728139571677, + 0.04719080030918121 + ], + [ + -0.21851488947868347, + -0.21802777701522835, + 0.9511651180705396, + 0.04272278770804405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.975858211517334, + -0.06812948712871146, + 0.20750702412870314, + -0.03671305254101753 + ], + [ + 0.018887564539909363, + 0.9728673105333074, + 0.2305915445828951, + 0.047507986426353455 + ], + [ + -0.21758688986301422, + -0.221105338580202, + 0.9506673107201274, + 0.045774299651384354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9761567711830139, + -0.06953321468714946, + 0.2056284791652234, + -0.03359197825193405 + ], + [ + 0.019916297867894173, + 0.9720000293621617, + 0.23413517153006483, + 0.04757962003350258 + ], + [ + -0.21615107357501984, + -0.22445727962472442, + 0.9502092898296163, + 0.048940639942884445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9767915606498718, + -0.0704085665632229, + 0.20228908827582534, + -0.028831560164690018 + ], + [ + 0.020923960953950882, + 0.9712777384570449, + 0.23702677217516332, + 0.048453569412231445 + ], + [ + -0.21316762268543243, + -0.2272930594383476, + 0.9502091281220053, + 0.052912723273038864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9775269627571106, + -0.07199879071827918, + 0.19813431963618858, + -0.02456550858914852 + ], + [ + 0.02285093627870083, + 0.9705205218137388, + 0.23993268626506434, + 0.048847537487745285 + ], + [ + -0.2095683068037033, + -0.23001311803924093, + 0.9503552196043045, + 0.05593155696988106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9785716533660889, + -0.07288971890860983, + 0.19257371267496956, + -0.02002561092376709 + ], + [ + 0.024609800428152084, + 0.9699462113562188, + 0.24207174802562528, + 0.049548424780368805 + ], + [ + -0.2044306844472885, + -0.23214534031730516, + 0.9509556309361411, + 0.058913178741931915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.980009198188782, + -0.07294122367188118, + 0.18509884059083323, + -0.014699297025799751 + ], + [ + 0.025956802070140846, + 0.9692924936316331, + 0.24453680902512315, + 0.04950609803199768 + ], + [ + -0.1972517222166062, + -0.23484375359475942, + 0.9518088936428033, + 0.0625934824347496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.98122239112854, + -0.0735714684381129, + 0.1782971255441829, + -0.008649886585772038 + ], + [ + 0.027816779911518097, + 0.9687083700975625, + 0.24663801521961135, + 0.050079960376024246 + ], + [ + -0.19086343050003052, + -0.2370470913843233, + 0.9525648726405082, + 0.06519804894924164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9826139211654665, + -0.07352512139839648, + 0.17048136497523275, + -0.0018594954162836075 + ], + [ + 0.0292440913617611, + 0.9680736343737049, + 0.2489543600628896, + 0.05010778456926346 + ], + [ + -0.1833429038524628, + -0.23964045436584847, + 0.9533927986553763, + 0.0685381293296814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9842337965965273, + -0.073747384508614, + 0.16076429295761313, + 0.005518537014722824 + ], + [ + 0.03150551021099091, + 0.9674914258047849, + 0.250933685548267, + 0.05043548345565796 + ], + [ + -0.17404378950595858, + -0.24191245545071655, + 0.954561234806248, + 0.07201315462589264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9860253930091858, + -0.07137514718191744, + 0.15053067322041416, + 0.01417291909456253 + ], + [ + 0.031289998441934586, + 0.9668364223733925, + 0.25347233404548203, + 0.050037018954753876 + ], + [ + -0.1636301726102829, + -0.24522006521189824, + 0.9555586455945587, + 0.07560566067695618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9881221055984497, + -0.0624386188588828, + 0.14041404617834258, + 0.023787133395671844 + ], + [ + 0.02455243654549122, + 0.9661423116196464, + 0.25683887947884354, + 0.0493648424744606 + ], + [ + -0.15169662237167358, + -0.2503406649661473, + 0.9561996073149495, + 0.07775785773992538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9898341298103335, + -0.05474650260260024, + 0.1312675993474665, + 0.03143893554806709 + ], + [ + 0.018839400261640552, + 0.9652841795982741, + 0.2605216416742552, + 0.0492260605096817 + ], + [ + -0.14097318053245547, + -0.2554002168052755, + 0.9565026564511446, + 0.08141032606363297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9914824366569521, + -0.04968202386009244, + 0.12039215972833447, + 0.03994586691260338 + ], + [ + 0.016315160319209102, + 0.9644809219044951, + 0.2636481413564472, + 0.049172431230545044 + ], + [ + -0.12921451032161715, + -0.2594382913546435, + 0.9570764599911094, + 0.08414313197135925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9931609034538271, + -0.04375868681720337, + 0.10824340315967725, + 0.04842446744441986 + ], + [ + 0.013343362137675289, + 0.9635742806182649, + 0.26710766043308454, + 0.049529802054166794 + ], + [ + -0.11598884314298633, + -0.2638365560162457, + 0.9575682018046867, + 0.08647945523262024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9946761727333069, + -0.036245810143486386, + 0.09646502664378236, + 0.05685056000947952 + ], + [ + 0.008651630952954292, + 0.9621688525053422, + 0.2723165084266264, + 0.04786950722336769 + ], + [ + -0.10268597304821014, + -0.27003215901589894, + 0.9573600183056807, + 0.08812631666660309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9958605766296387, + -0.031157439706596173, + 0.0853872689691827, + 0.06450732797384262 + ], + [ + 0.0063715483993291855, + 0.9610314638773506, + 0.2763656336804348, + 0.048766687512397766 + ], + [ + -0.09067068994045258, + -0.2746775841588756, + 0.9572518187540583, + 0.0907004103064537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9968448877334597, + -0.027213060067529972, + 0.07456366927696158, + 0.07255791872739792 + ], + [ + 0.005215501878410579, + 0.9598185293727945, + 0.2805730071379017, + 0.0486578606069088 + ], + [ + -0.0792028456926346, + -0.27929888799604835, + 0.9569321003195662, + 0.0938616394996643 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9976843595504761, + -0.02343995030274476, + 0.06384699857327933, + 0.07941880077123642 + ], + [ + 0.0042922222055494785, + 0.9585643786591443, + 0.2848437170521594, + 0.04744090512394905 + ], + [ + -0.06787818670272827, + -0.2839100875096076, + 0.9564452948646217, + 0.09571684151887894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9983378052711489, + -0.02039848547079158, + 0.05390295034230737, + 0.08666682988405228 + ], + [ + 0.003993984311819077, + 0.9575085448312726, + 0.28837714878684706, + 0.04729526489973068 + ], + [ + -0.057494990527629866, + -0.2876825237321314, + 0.9559984923498634, + 0.09902046620845795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9988828301429751, + -0.017092059262847292, + 0.04405578222401574, + 0.09305350482463837 + ], + [ + 0.0034889460075646648, + 0.9564261253016133, + 0.2919535963610582, + 0.046918101608753204 + ], + [ + -0.047126192599535, + -0.29147373524419856, + 0.9554173030240461, + 0.10123056173324585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9993171095848083, + -0.013554413968784408, + 0.034373815526593625, + 0.0996270403265953 + ], + [ + 0.0028045063372701406, + 0.9554267610704693, + 0.2952148302139125, + 0.04606027156114578 + ], + [ + -0.03684312477707863, + -0.2949168525063546, + 0.9548123651646516, + 0.10297553986310959 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9996384978294373, + -0.008832741776439832, + 0.02539468361536616, + 0.10589747875928879 + ], + [ + 0.0008500681724399328, + 0.9544095084183898, + 0.2984991709050373, + 0.045770153403282166 + ], + [ + -0.026873493567109108, + -0.2983696814935516, + 0.9540720054533428, + 0.10496176034212112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9998553991317749, + -0.004323453837101578, + 0.016445894301526823, + 0.11201101541519165 + ], + [ + -0.0008417010540142655, + 0.9533697606366043, + 0.30180359217788694, + 0.04524146392941475 + ], + [ + -0.01698385365307331, + -0.30177378765367197, + 0.9532282731695054, + 0.10606102645397186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.999959409236908, + -0.00015389853330632523, + 0.009009344997910748, + 0.11682125926017761 + ], + [ + -0.002601541578769684, + 0.95234348277499, + 0.30501667310408964, + 0.04398764669895172 + ], + [ + -0.008626933209598064, + -0.305027724035213, + 0.9523043843810075, + 0.10794061422348022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9999886751174927, + 0.004463700973468964, + 0.00166450928670866, + 0.12211925536394119 + ], + [ + -0.004759039729833603, + 0.951857633666419, + 0.30650345874051543, + 0.04316195100545883 + ], + [ + -0.0002162361633963883, + -0.30650791604321903, + 0.9518681105341521, + 0.10963093489408493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9999505877494812, + 0.008259840940462648, + -0.005536523300017105, + 0.12704792618751526 + ], + [ + -0.006159091833978891, + 0.9515988970376785, + 0.30728094768305364, + 0.04245985671877861 + ], + [ + 0.007806641515344381, + -0.30723166354352033, + 0.9516027452297995, + 0.11121394485235214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9998382329940796, + 0.013227881008580444, + -0.01218669381082858, + 0.13229914009571075 + ], + [ + -0.008817165158689022, + 0.9510493958077856, + 0.30891311769493873, + 0.040712859481573105 + ], + [ + 0.015676412731409073, + -0.3087556942081527, + 0.9510122148347484, + 0.11193366348743439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9996697306632996, + 0.018649691622884934, + -0.017682021563217108, + 0.1373908370733261 + ], + [ + -0.012237101793289185, + 0.9504519502920198, + 0.3106305228532861, + 0.040473539382219315 + ], + [ + 0.022599074989557266, + -0.310311552938588, + 0.9503662858837943, + 0.11385580152273178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.999455988407135, + 0.0229111207233532, + -0.023722867586052028, + 0.14216594398021698 + ], + [ + -0.014342278242111206, + 0.9496691080431975, + 0.31292624329044283, + 0.04016372933983803 + ], + [ + 0.029698364436626434, + -0.31241576688232947, + 0.9494811272492042, + 0.1145438626408577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9992173910140991, + 0.026599976941329345, + -0.029274956080905155, + 0.1472732126712799 + ], + [ + -0.01603788509964943, + 0.9489973614073348, + 0.3148758290957302, + 0.03987333923578262 + ], + [ + 0.03615754842758179, + -0.3141598921551241, + 0.9486813086624706, + 0.11652025580406189 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9989334940910339, + 0.030587400567979924, + -0.034586605611864475, + 0.15158569812774658 + ], + [ + -0.018059467896819115, + 0.9482502303912679, + 0.31701004284708373, + 0.03931262716650963 + ], + [ + 0.042493272572755814, + -0.31604734210021873, + 0.9477913343764317, + 0.11767812818288803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9985643029212952, + 0.03521386962620393, + -0.0403652376530362, + 0.15610064566135406 + ], + [ + -0.02049730345606804, + 0.9473916370209648, + 0.3194196811993694, + 0.03847739100456238 + ], + [ + 0.049489688128232956, + -0.3181337066609348, + 0.9467532575647566, + 0.11863768100738525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9981637597084045, + 0.03941029201960293, + -0.04599989533931213, + 0.15956352651119232 + ], + [ + -0.0225533377379179, + 0.9466037426729565, + 0.32160956400359125, + 0.03842717409133911 + ], + [ + 0.05621840059757233, + -0.3199815391082626, + 0.945754349677843, + 0.12017557770013809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9977214932441711, + 0.04291363302522403, + -0.052060124692063996, + 0.16295701265335083 + ], + [ + -0.02376147359609604, + 0.945701522776673, + 0.3241666504757341, + 0.03823760151863098 + ], + [ + 0.0631445050239563, + -0.32219101119334304, + 0.9445664360868422, + 0.12042368203401566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9972016215324402, + 0.04704352330239774, + -0.0581016260337004, + 0.166829913854599 + ], + [ + -0.025572679936885834, + 0.9449541968136, + 0.32620182279991605, + 0.038864616304636 + ], + [ + 0.0702490583062172, + -0.3238031595580248, + 0.9435128814072642, + 0.1232350766658783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9966096878051758, + 0.05121118957315834, + -0.06439385834700465, + 0.1701248437166214 + ], + [ + -0.027331557124853134, + 0.9442917957823554, + 0.3279724602601439, + 0.03954239934682846 + ], + [ + 0.07760244607925415, + -0.32510055392205484, + 0.9424900748932805, + 0.12384850531816483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.995932936668396, + 0.05578393946428167, + -0.07075160638213815, + 0.17330241203308105 + ], + [ + -0.029362216591835022, + 0.9433587236605859, + 0.3304725920923527, + 0.03984920307993889 + ], + [ + 0.08517920970916748, + -0.3270511218076461, + 0.9411599567001488, + 0.12501579523086548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9951657056808472, + 0.06085617557226284, + -0.07708306619294858, + 0.17589610815048218 + ], + [ + -0.031882915645837784, + 0.9425571857382694, + 0.3325198243838104, + 0.0414082333445549 + ], + [ + 0.09289108216762543, + -0.32845468907910574, + 0.9399408299718375, + 0.12418431043624878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.994198739528656, + 0.06539176137882823, + -0.08539768319985948, + 0.18005596101284027 + ], + [ + -0.03367523476481438, + 0.9432890099218271, + 0.33026019797672385, + 0.05184759199619293 + ], + [ + 0.10215099900960922, + -0.3254684793497459, + 0.9400188535227438, + 0.1204027459025383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9932788014411926, + 0.0700075942158844, + -0.09217488438750727, + 0.1818190962076187 + ], + [ + -0.03535839170217514, + 0.9418075736365877, + 0.3342877919764773, + 0.04839363321661949 + ], + [ + 0.11021368950605392, + -0.32878179044031747, + 0.9379527897905158, + 0.12264315038919449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9921842813491824, + 0.07432377434629735, + -0.10023159703650554, + 0.18336178362369537 + ], + [ + -0.036671862006187446, + 0.9414667735348339, + 0.335105116870149, + 0.051512859761714935 + ], + [ + 0.119270995259285, + -0.32881034401068543, + 0.9368341106860862, + 0.12159328907728195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9911451935768127, + 0.0774559531802142, + -0.10785068718389865, + 0.1846272051334381 + ], + [ + -0.03635948896408081, + 0.9395082180920441, + 0.34059101175969636, + 0.044087301939725876 + ], + [ + 0.12770740687847137, + -0.3336537585575813, + 0.9340053421970986, + 0.12638908624649048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9899428486824036, + 0.0809913142684641, + -0.1159892813774239, + 0.18557332456111908 + ], + [ + -0.0365290604531765, + 0.9384378229204718, + 0.3435113212108241, + 0.04362295940518379 + ], + [ + 0.13667015731334686, + -0.3358196236734189, + 0.9319584076594886, + 0.12561264634132385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9886641502380371, + 0.08603599872995261, + -0.12304887716676177, + 0.1868453472852707 + ], + [ + -0.03853058069944382, + 0.9374784552303121, + 0.3459039512878092, + 0.045154593884944916 + ], + [ + 0.14511585235595703, + -0.33724167939298205, + 0.9301663335887296, + 0.12498974800109863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9874483346939087, + 0.09013823996609545, + -0.1296952913965883, + 0.1871056854724884 + ], + [ + -0.039486099034547806, + 0.9359672633711772, + 0.3498658751517448, + 0.04312568157911301 + ], + [ + 0.15292684733867645, + -0.34035332017310066, + 0.9277785464723696, + 0.1249040961265564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9860543608665466, + 0.09533800689556961, + -0.1364092057162828, + 0.1883925050497055 + ], + [ + -0.04172767698764801, + 0.9351002748114888, + 0.3519179320725076, + 0.044818729162216187 + ], + [ + 0.16110743582248688, + -0.3413181614944525, + 0.926037941216331, + 0.12404760718345642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9846430420875552, + 0.09989677019981025, + -0.14317376799884704, + 0.18991489708423615 + ], + [ + -0.04327316582202912, + 0.9341688265398164, + 0.3541977445924394, + 0.04529532045125961 + ], + [ + 0.16913168132305148, + -0.3425627575917202, + 0.9241457079836741, + 0.12263674288988113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9833360314369202, + 0.103786694031239, + -0.14926026337181003, + 0.1898399442434311 + ], + [ + -0.04410349577665329, + 0.9326875271396909, + 0.3579787912967457, + 0.04261935502290726 + ], + [ + 0.17636661231517792, + -0.3454305401373587, + 0.9217226167069181, + 0.12150222808122635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9819179177284241, + 0.1086074873696597, + -0.1550536217609308, + 0.19124747812747955 + ], + [ + -0.046114254742860794, + 0.9316117043605686, + 0.3605178262299797, + 0.04218361899256706 + ], + [ + 0.18360471725463867, + -0.346848736110433, + 0.9197745833020656, + 0.12140532582998276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9807224273681643, + 0.11233848805335961, + -0.15988630258434103, + 0.1930103749036789 + ], + [ + -0.04752032831311227, + 0.9307744660509055, + 0.3624923026848655, + 0.04109504073858261 + ], + [ + 0.1895399391651154, + -0.34790646309832507, + 0.9181697360461836, + 0.12058652937412262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9796710014343264, + 0.11511265285781783, + -0.16429780499839883, + 0.19433797895908356 + ], + [ + -0.0482275001704693, + 0.9301111965840743, + 0.36409788197529147, + 0.040419355034828186 + ], + [ + 0.19472751021385198, + -0.34877246616305185, + 0.916754589965943, + 0.11879398673772812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9785948991775513, + 0.11715338099765765, + -0.16919562541989525, + 0.19664405286312103 + ], + [ + -0.048113249242305756, + 0.9296080470983038, + 0.36539566915983107, + 0.040276750922203064 + ], + [ + 0.20009294152259827, + -0.34943376660246317, + 0.9153462982472338, + 0.11886197328567505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9778319001197815, + 0.11854887703245795, + -0.17260048570108724, + 0.1964343786239624 + ], + [ + -0.04772532731294632, + 0.9287802160435841, + 0.36754537451734026, + 0.03976188972592354 + ], + [ + 0.20387999713420868, + -0.35116017739927147, + 0.913848730233636, + 0.11640237271785736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9769936800003052, + 0.12008195499026135, + -0.17624896602039508, + 0.19784186780452728 + ], + [ + -0.04746159911155701, + 0.9281164279922705, + 0.3692524091823451, + 0.0399942584335804 + ], + [ + 0.207920104265213, + -0.35239219085351364, + 0.9124631197296214, + 0.11566606909036636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9762002825737002, + 0.12240027617745217, + -0.17902833260392606, + 0.19926518201828003 + ], + [ + -0.04817689210176469, + 0.9272734098007972, + 0.37127211915075364, + 0.04021748527884483 + ], + [ + 0.21145203709602362, + -0.35381093379512224, + 0.9111014715735016, + 0.11515127122402191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9755134582519531, + 0.12459714862814425, + -0.18124298112644496, + 0.20143485069274902 + ], + [ + -0.04915551468729973, + 0.9267242737902873, + 0.37251285019422997, + 0.040674641728401184 + ], + [ + 0.214376300573349, + -0.3544822282665801, + 0.9101566575339846, + 0.11526370048522949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9750673770904541, + 0.1258714790880173, + -0.18275656267414667, + 0.20303083956241608 + ], + [ + -0.04943039268255234, + 0.926072518001343, + 0.37409408786633297, + 0.04035177081823349 + ], + [ + 0.21633359789848328, + -0.355733205716892, + 0.9092049613835688, + 0.11507315188646317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9745748639106753, + 0.12700411712188062, + -0.18459083923102734, + 0.20480839908123016 + ], + [ + -0.049631677567958846, + 0.9257368208152498, + 0.374897306078492, + 0.040054962038993835 + ], + [ + 0.2184960395097733, + -0.3562039281919712, + 0.9085032757322573, + 0.11400207132101059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9741919636726382, + 0.1278098112535017, + -0.18605030974507122, + 0.20612265169620514 + ], + [ + -0.049659218639135375, + 0.9254103327652329, + 0.3756989565538996, + 0.04028379172086716 + ], + [ + 0.22019089758396154, + -0.35676376998355824, + 0.9078741950351986, + 0.11348696053028107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9737414717674258, + 0.12851919101513404, + -0.18791066324067943, + 0.20762912929058075 + ], + [ + -0.04937270656228067, + 0.9249839800645125, + 0.3767851132898823, + 0.03987232595682144 + ], + [ + 0.22223846614360815, + -0.357613616117974, + 0.907040553942619, + 0.11237651109695435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9731670022010803, + 0.12871052340818956, + -0.19073428053462688, + 0.20884248614311218 + ], + [ + -0.048370055854320526, + 0.924829089215086, + 0.3772950375679024, + 0.041185759007930756 + ], + [ + 0.22495844960212708, + -0.35794526555736733, + 0.9062388933102327, + 0.1126880794763565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.972524166107178, + 0.13015186190487407, + -0.19302133645867034, + 0.20832045376300812 + ], + [ + -0.04835833236575128, + 0.9239777677449971, + 0.3793765925522655, + 0.04067762941122055 + ], + [ + 0.2277240008115769, + -0.35961871771397014, + 0.9048846308882984, + 0.11245816946029663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9717923402786255, + 0.13044239214662007, + -0.19648022897674766, + 0.20847077667713165 + ], + [ + -0.04708178713917732, + 0.9236479059544086, + 0.3803391554748835, + 0.03989597037434578 + ], + [ + 0.23109090328216553, + -0.36036001557420716, + 0.9037353881084913, + 0.11120352149009705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.9708865880966187, + 0.1322385201555665, + -0.1997302357789675, + 0.20779958367347717 + ], + [ + -0.047213517129421234, + 0.923094787840976, + 0.3816633888119646, + 0.03971190005540848 + ], + [ + 0.2348405420780182, + -0.3611218890817037, + 0.9024637642919469, + 0.10706069320440292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9702805280685425, + 0.13399464459653107, + -0.20149727568721906, + 0.20732581615447998 + ], + [ + -0.047531433403491974, + 0.9220054597437068, + 0.38424821673306564, + 0.03965909779071808 + ], + [ + 0.23726880550384521, + -0.3632511093621891, + 0.9009729010063934, + 0.10372322797775269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9700348377227783, + 0.13454559843260103, + -0.2023112661984656, + 0.20732197165489197 + ], + [ + -0.04703572019934654, + 0.9209125436531272, + 0.38692084245999625, + 0.04089166224002838 + ], + [ + 0.23836946487426758, + -0.365810852816301, + 0.8996457175337248, + 0.1010611429810524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9699773192405701, + 0.13420300378632255, + -0.20281412906031243, + 0.2074967324733734 + ], + [ + -0.04553790017962456, + 0.9194321300892169, + 0.39060313956073195, + 0.04139355942606926 + ], + [ + 0.23889394104480743, + -0.3696404515139803, + 0.897939663072577, + 0.09952645003795624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9702162742614746, + 0.13428520001290978, + -0.20161308960922833, + 0.20689213275909424 + ], + [ + -0.045181356370449066, + 0.9179951448841139, + 0.3940095224888946, + 0.041312117129564285 + ], + [ + 0.23798950016498566, + -0.373165315763076, + 0.8967210749191306, + 0.09600690752267838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9718320965766907, + 0.12883873250680916, + -0.19733962007692074, + 0.20581793785095215 + ], + [ + -0.041001275181770325, + 0.9170009059981892, + 0.39677224002956396, + 0.04210514947772026 + ], + [ + 0.23208025097846985, + -0.37750484090301156, + 0.8964535032438866, + 0.09026960283517838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 422.1535237630208, + "fy": 422.22802734375, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/boom_up/transforms.json b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..cb4cf5c8602ce9436a3b38677c9927a1974d6b5b --- /dev/null +++ b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/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, + 5.6416529332636856e-06, + -5.4483607527799904e-05, + 0.0005640062154270709 + ], + [ + -5.64634410693543e-06, + 1.0, + -8.610235818196088e-05, + 2.5099097911152057e-05 + ], + [ + 5.4483120038639754e-05, + 8.610266377218068e-05, + 1.0, + 0.00019526583491824567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999901056289673, + -0.0035129378084093332, + 0.002724738558754325, + -0.001242733195919307 + ], + [ + 0.0035076758358627558, + 0.9999919533729553, + 0.00193350063636899, + -0.001092827709997812 + ], + [ + -0.002731508808210492, + -0.0019239240791648626, + 0.9999943971633911, + -0.00038688706394861494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999827146530151, + -0.004166800994426012, + 0.004141739569604397, + -0.0014793598595710974 + ], + [ + 0.004154545720666647, + 0.999987006187439, + 0.0029630912467837334, + -0.003367545041773054 + ], + [ + -0.0041540320962667465, + -0.002945832908153534, + 0.999987006187439, + -0.0006630963887945409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999984622001648, + -0.0002671750553417951, + 0.005536788608878851, + -0.0018879106123460502 + ], + [ + 0.0002558463893365115, + 0.9999978542327881, + 0.0020466791465878487, + -0.0021654757680759458 + ], + [ + -0.00553732318803668, + -0.0020452309399843216, + 0.9999825954437256, + -0.0017295863335242583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999661445617676, + 0.004165422637015581, + 0.007099347189068794, + -0.002977316448139766 + ], + [ + -0.0041780234314501286, + 0.9999897480010986, + 0.00176104751881212, + -0.003546890663814598 + ], + [ + -0.007091938517987728, + -0.0017906491411849856, + 0.9999732375144958, + -0.0018438627773393241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999521374702454, + 0.004940752871334553, + 0.00844455324113369, + -0.0034466378449920622 + ], + [ + -0.0049677398055791855, + 0.9999825954437256, + 0.0031778502743691206, + -0.00429461908199647 + ], + [ + -0.008428705856204033, + -0.0032196484971791506, + 0.9999592900276184, + -0.0015605163884290037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999428987503052, + 0.004920187871903181, + 0.009487052448093891, + -0.002957548897358633 + ], + [ + -0.004999308381229639, + 0.9999527931213379, + 0.00833420641720295, + -0.004326522171807786 + ], + [ + -0.009445599280297756, + -0.008381159976124763, + 0.9999202489852905, + -0.0004842717034210052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999618530273438, + 0.004911512136459351, + 0.007225919980555773, + -0.003932076330400176 + ], + [ + -0.005000557750463486, + 0.9999111294746399, + 0.012357120402157307, + -0.004290968619493974 + ], + [ + -0.007164585869759321, + -0.012392782606184483, + 0.9998975396156311, + -0.0005635823330117596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999690055847168, + 0.004963060840964317, + 0.006116203963756561, + -0.004247155704254669 + ], + [ + -0.005047946237027645, + 0.9998900294303894, + 0.0139424167573452, + -0.0034829875846053397 + ], + [ + -0.006046334281563759, + -0.013972857967019081, + 0.9998840689659119, + -0.0009842845104959985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999975323677063, + 0.004131622612476349, + 0.005685335956513882, + -0.0009067652431050581 + ], + [ + -0.004229298792779446, + 0.9998418092727661, + 0.017277009785175323, + -0.003011359088122845 + ], + [ + -0.005613054148852825, + -0.017300628125667572, + 0.9998345971107483, + -0.0010352707434711712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999969482421875, + 0.0031362243462353945, + 0.007156177889555693, + 0.0027614504538683426 + ], + [ + -0.0032769886311143637, + 0.9997996687889099, + 0.01974414847791195, + -0.0018937441830833741 + ], + [ + -0.0070928228087723255, + -0.019766995683312416, + 0.999779462814331, + -0.000712242347025682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999650120735168, + 0.0031666739378124475, + 0.0077451677061617374, + 0.003897898177993262 + ], + [ + -0.0033283589873462915, + 0.9997749328613281, + 0.02095257118344307, + -0.0020500754878397982 + ], + [ + -0.007677074987441301, + -0.02097761631011963, + 0.9997504949569702, + -0.00017330763447615834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999646544456482, + 0.0024396905209869146, + 0.008047503419220448, + 0.005914972582831979 + ], + [ + -0.002621757099404931, + 0.9997390508651733, + 0.02269156277179718, + -0.0013585259339639125 + ], + [ + -0.007990042679011822, + -0.0227118581533432, + 0.9997101426124573, + 0.0001635470466724309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999760389328003, + 0.0014796069590374827, + 0.006765532307326794, + 0.007395872834142268 + ], + [ + -0.0016447919188067317, + 0.999699056148529, + 0.024475647136569023, + -0.0011080212122391141 + ], + [ + -0.006727281957864761, + -0.02448618970811367, + 0.9996775388717651, + 0.0033747135454581844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999788403511047, + 0.0016525397077202797, + 0.006289399694651365, + 0.0072017986637850605 + ], + [ + -0.001812252216041088, + 0.9996738433837891, + 0.02547352947294712, + -0.0016924073091811615 + ], + [ + -0.006245252210646868, + -0.025484388694167137, + 0.9996557235717773, + 0.0032588472589850427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999775290489197, + 0.0007557097123935819, + 0.006659725680947304, + 0.006251330519305719 + ], + [ + -0.0009310201276093721, + 0.999652087688446, + 0.026360318064689636, + -0.00043579984811090156 + ], + [ + -0.006637487560510635, + -0.02636592462658882, + 0.999630331993103, + 0.002885242358648351 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999858736991882, + -0.0017248205840587616, + 0.005029536783695221, + 0.007294638187343639 + ], + [ + 0.0015897979028522968, + 0.999641478061676, + 0.02672746777534485, + -0.0012456937057394833 + ], + [ + -0.005073834210634232, + -0.026719093322753906, + 0.9996300935745239, + 0.0026481027648385083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999879598617554, + -0.003728436538949609, + 0.0031889150850474834, + 0.006420310897316547 + ], + [ + 0.0036408433225005865, + 0.9996275305747986, + 0.027046265080571175, + -0.0030498513035357947 + ], + [ + -0.0032885675318539143, + -0.027034329250454903, + 0.9996290802955627, + 0.0025393558991333794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999974250793457, + -0.007097895257174969, + -0.0010298595298081636, + 0.006118335122508662 + ], + [ + 0.007123949006199837, + 0.9995825886726379, + 0.0279973316937685, + -0.006217435161982263 + ], + [ + 0.0008307075477205217, + -0.02800394780933857, + 0.9996074438095093, + 0.002771306117730481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999590516090393, + -0.008857796899974346, + -0.0018485940527170897, + 0.0037685522299614692 + ], + [ + 0.008907255716621876, + 0.9995476603507996, + 0.028724918141961098, + -0.009517626816199885 + ], + [ + 0.0015933183021843433, + -0.028740206733345985, + 0.9995856285095215, + 0.003069536156568026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999685883522034, + -0.00771233718842268, + -0.00181660579983145, + 0.0023331526955146166 + ], + [ + 0.007761873304843903, + 0.9995476603507996, + 0.02905486710369587, + -0.010946558374497626 + ], + [ + 0.0015917032724246383, + -0.029068054631352425, + 0.9995761513710022, + 0.004826557822525501 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999841451644897, + -0.005043008364737034, + -0.0024961361195892096, + -0.0031137092504650355 + ], + [ + 0.005115004256367683, + 0.9995448589324951, + 0.029730012640357018, + -0.010198818519711494 + ], + [ + 0.002345071407034993, + -0.02974230982363224, + 0.9995548725128174, + 0.0029908715436855952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999567270278931, + -0.008028448559343815, + -0.004696548916399479, + -0.006692265314123934 + ], + [ + 0.008161376230418682, + 0.9995459914207458, + 0.02900414727628231, + -0.012420827916098966 + ], + [ + 0.004461558535695076, + -0.029041221365332603, + 0.9995682835578918, + -0.001230837303834657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999305009841919, + -0.009497420862317085, + -0.006983292754739523, + -0.009174076918630846 + ], + [ + 0.00969219021499157, + 0.9995494484901428, + 0.028407182544469833, + -0.01511243156763533 + ], + [ + 0.006710351910442114, + -0.028472892940044403, + 0.9995720386505127, + -0.002354229705792571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9997801184654236, + -0.010993612930178642, + -0.017857423052191734, + -0.02112458101695492 + ], + [ + 0.011490155011415482, + 0.9995434284210205, + 0.027945473790168762, + -0.022410556501043698 + ], + [ + 0.017542047426104546, + -0.028144512325525284, + 0.9994499087333679, + -0.005353011279588654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9992815852165222, + -0.019385283812880516, + -0.032565731555223465, + -0.034662004685886795 + ], + [ + 0.02030392549932003, + 0.9993983507156372, + 0.0281190425157547, + -0.029245379839151625 + ], + [ + 0.03200104460120201, + -0.02876005321741104, + 0.9990739822387695, + -0.01080324434276138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9988832473754883, + -0.023594971746206284, + -0.04093397781252861, + -0.03976063447457457 + ], + [ + 0.024759244173765182, + 0.9992963671684265, + 0.028172796592116356, + -0.034022846469093884 + ], + [ + 0.040240440517663956, + -0.029154827818274498, + 0.9987645745277405, + -0.012090870927250575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9981541037559509, + -0.030618363991379738, + -0.052449364215135574, + -0.055206844223929304 + ], + [ + 0.0322565995156765, + 0.9990087151527405, + 0.03067808970808983, + -0.0401134296719517 + ], + [ + 0.05145805701613426, + -0.03231329843401909, + 0.9981522560119629, + -0.019489146103816374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9981130957603455, + -0.02906477078795433, + -0.05408783629536629, + -0.06352008837792608 + ], + [ + 0.03080984577536583, + 0.9990220069885254, + 0.03171445056796074, + -0.034667848236858846 + ], + [ + 0.053113166242837906, + -0.03332104906439781, + 0.9980323910713196, + -0.046148326992988584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.998187780380249, + -0.028432004153728485, + -0.05303611978888512, + -0.06751046039400593 + ], + [ + 0.030037980526685715, + 0.9991064071655273, + 0.02973344177007675, + -0.028068976494528 + ], + [ + 0.05214334651827812, + -0.03127265349030495, + 0.9981498122215271, + -0.07312182673800086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9981219172477722, + -0.02971205860376358, + -0.05357060953974724, + -0.07587074754493577 + ], + [ + 0.03112087771296501, + 0.9991862177848816, + 0.025658680126070976, + -0.025881671535205982 + ], + [ + 0.052764642983675, + -0.02727765403687954, + 0.9982343316078186, + -0.12256025438684792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9978487491607666, + -0.029871394857764244, + -0.058357078582048416, + -0.07634525903840624 + ], + [ + 0.03131008893251419, + 0.9992240071296692, + 0.023896291851997375, + -0.02573484840418493 + ], + [ + 0.05759797617793083, + -0.025672048330307007, + 0.9980097413063049, + -0.16903928085452036 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9977752566337585, + -0.027753345668315887, + -0.06061629205942154, + -0.08185883651650142 + ], + [ + 0.029234599322080612, + 0.9992918372154236, + 0.023687778040766716, + -0.02601972912504737 + ], + [ + 0.05991595238447189, + -0.02540717087686062, + 0.9978800415992737, + -0.17695449642718786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9975664019584656, + -0.024043787270784378, + -0.0654461458325386, + -0.09986470378048364 + ], + [ + 0.025504324585199356, + 0.999441921710968, + 0.021573301404714584, + -0.017320732124859375 + ], + [ + 0.06489091366529465, + -0.023189958184957504, + 0.9976228475570679, + -0.18395057358734665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9971169233322144, + -0.02888823300600052, + -0.07016629725694656, + -0.11536524514593775 + ], + [ + 0.03048093244433403, + 0.9992989897727966, + 0.021735090762376785, + -0.025743703396680456 + ], + [ + 0.06948921829462051, + -0.023811161518096924, + 0.9972984790802002, + -0.1897365299482194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9970789551734924, + -0.028693048283457756, + -0.07078312337398529, + -0.12084702821448445 + ], + [ + 0.030342524871230125, + 0.999289870262146, + 0.02233894169330597, + -0.027959407224746734 + ], + [ + 0.07009188830852509, + -0.02442142739892006, + 0.9972415566444397, + -0.19495636462751362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9973728060722351, + -0.022794542834162712, + -0.06876002252101898, + -0.13181571412299362 + ], + [ + 0.024103911593556404, + 0.9995424151420593, + 0.018273282796144485, + -0.019917894048350197 + ], + [ + 0.06831203401088715, + -0.01988266035914421, + 0.9974658489227295, + -0.20951239860483578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9976910352706909, + -0.029598303139209747, + -0.061127256602048874, + -0.15279160280904128 + ], + [ + 0.0304565466940403, + 0.9994494915008545, + 0.013156408444046974, + -0.030174255197394695 + ], + [ + 0.060704197734594345, + -0.014987755566835403, + 0.9980432987213135, + -0.22759506512906344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9975965023040771, + -0.03758447244763374, + -0.058211736381053925, + -0.15473532833395495 + ], + [ + 0.038361866027116776, + 0.9991883039474487, + 0.012294700369238853, + -0.03801576702722481 + ], + [ + 0.05770239233970642, + -0.014498261734843254, + 0.9982285499572754, + -0.22806164183254754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9974662661552429, + -0.046908311545848846, + -0.053485214710235596, + -0.172216162599978 + ], + [ + 0.04830392450094223, + 0.9985170960426331, + 0.025105753913521767, + -0.03308450418214003 + ], + [ + 0.052228234708309174, + -0.027625689283013344, + 0.9982529878616333, + -0.2358294650158357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9970288276672363, + -0.056009359657764435, + -0.052882056683301926, + -0.18172738571015615 + ], + [ + 0.057999543845653534, + 0.9976351261138916, + 0.036880332976579666, + -0.03735040684807159 + ], + [ + 0.050691355019807816, + -0.03983788564801216, + 0.997919499874115, + -0.24744631007077203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9970958828926086, + -0.05606904998421669, + -0.05153670534491539, + -0.1889769576815149 + ], + [ + 0.0578763522207737, + 0.9977353811264038, + 0.034270718693733215, + -0.03589357442207752 + ], + [ + 0.04949846491217613, + -0.037153951823711395, + 0.9980828762054443, + -0.2528764139624342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9984009861946106, + -0.042626895010471344, + -0.037126462906599045, + -0.2140606977045536 + ], + [ + 0.043404512107372284, + 0.9988493323326111, + 0.02039683237671852, + -0.045931326349576314 + ], + [ + 0.03621428832411766, + -0.021975673735141754, + 0.9991024136543274, + -0.26326339319348335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9992244839668274, + -0.034686651080846786, + -0.01863391324877739, + -0.23946517451355856 + ], + [ + 0.03484560176730156, + 0.9993584752082825, + 0.008274199441075325, + -0.04601372072975787 + ], + [ + 0.018334954977035522, + -0.008917093276977539, + 0.9997921586036682, + -0.26971280376116435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.999157726764679, + -0.03941962867975235, + -0.011399328708648682, + -0.2516754377692465 + ], + [ + 0.0394861102104187, + 0.9992040395736694, + 0.00566665967926383, + -0.04830037998479037 + ], + [ + 0.011166878044605255, + -0.0061120023019611835, + 0.9999189972877502, + -0.26957876413380577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9990049600601196, + -0.04453738406300545, + -0.0023361037019640207, + -0.2678807562749301 + ], + [ + 0.04454371705651283, + 0.9990037083625793, + 0.0027331325691193342, + -0.049247913594756804 + ], + [ + 0.0022120496723800898, + -0.0028344716411083937, + 0.9999935626983643, + -0.2697219326177479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9990251660346985, + -0.0439828522503376, + 0.0037763789296150208, + -0.2892893216262261 + ], + [ + 0.04398305341601372, + 0.9990322589874268, + 2.994741589645855e-05, + -0.04673142711971961 + ], + [ + -0.003774041775614023, + 0.00013617845252156258, + 0.999992847442627, + -0.27338355240293793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9988953471183777, + -0.04636035114526749, + 0.007670607417821884, + -0.30354770505357354 + ], + [ + 0.0463734045624733, + 0.9989230036735535, + -0.0015326940920203924, + -0.04469447185743659 + ], + [ + -0.007591290399432182, + 0.0018867130856961012, + 0.9999694228172302, + -0.27533747176658213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9983826875686646, + -0.05378609895706177, + 0.01841406337916851, + -0.32946426158859615 + ], + [ + 0.053841233253479004, + 0.9985463619232178, + -0.0025114165619015694, + -0.035774108182106704 + ], + [ + -0.018252218142151833, + 0.0034987907856702805, + 0.9998272657394409, + -0.27262343104396547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9977805614471436, + -0.04923442378640175, + 0.044832076877355576, + -0.3511760612535808 + ], + [ + 0.04927986487746239, + 0.9987850189208984, + 9.179185144603252e-05, + -0.027084137292371857 + ], + [ + -0.0447821281850338, + 0.0021177304442971945, + 0.9989945292472839, + -0.2715177361659395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.996738612651825, + -0.04848852753639221, + 0.06450548768043518, + -0.3642366918779555 + ], + [ + 0.04853558540344238, + 0.9988210797309875, + 0.0008381877560168505, + -0.021761659680614394 + ], + [ + -0.0644700825214386, + 0.002295357408002019, + 0.9979169964790344, + -0.2709740199433226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9921966791152954, + -0.05950639769434929, + 0.10956595838069916, + -0.38824919026699806 + ], + [ + 0.059566739946603775, + 0.9982206225395203, + 0.0027251713909208775, + -0.01078484496545224 + ], + [ + -0.1095331609249115, + 0.0038225804455578327, + 0.993975818157196, + -0.26557772335308116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9850437641143799, + -0.06253781169652939, + 0.16055460274219513, + -0.4116951378801512 + ], + [ + 0.06160377338528633, + 0.9980423450469971, + 0.010793638415634632, + -0.007281244522522365 + ], + [ + -0.1609153002500534, + -0.0007414380088448524, + 0.986967921257019, + -0.2636568923879947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9808244705200195, + -0.06223343312740326, + 0.18468992412090302, + -0.4240140825628288 + ], + [ + 0.059899166226387024, + 0.9980385303497314, + 0.018196992576122284, + -0.006110318253437677 + ], + [ + -0.1854601353406906, + -0.006785283796489239, + 0.982628345489502, + -0.26303890758519255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9712179899215698, + -0.07096808403730392, + 0.22737440466880798, + -0.44816334705267635 + ], + [ + 0.06463643163442612, + 0.9972884654998779, + 0.03518244996666908, + -0.00919058237757002 + ], + [ + -0.22925469279289246, + -0.019473161548376083, + 0.9731716513633728, + -0.2658903800483261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9609936475753784, + -0.08035481721162796, + 0.2646399736404419, + -0.46794569790954627 + ], + [ + 0.0705561563372612, + 0.9964307546615601, + 0.046342186629772186, + -0.0075480690196393085 + ], + [ + -0.2674192190170288, + -0.025862567126750946, + 0.9632331728935242, + -0.2691037856811096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9558472037315369, + -0.08092014491558075, + 0.282503217458725, + -0.4795933703581492 + ], + [ + 0.06957472860813141, + 0.9963238835334778, + 0.0499812476336956, + -0.009260989477237067 + ], + [ + -0.2855091989040375, + -0.028119351714849472, + 0.9579633474349976, + -0.27470819304386773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9463133811950684, + -0.07624007016420364, + 0.3141312003135681, + -0.5074402169989688 + ], + [ + 0.06587780267000198, + 0.9968795776367188, + 0.043488577008247375, + -0.014650567798387436 + ], + [ + -0.3164665699005127, + -0.020459553226828575, + 0.9483830332756042, + -0.2801871196810333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.938743531703949, + -0.07000187039375305, + 0.33743196725845337, + -0.5358747623742572 + ], + [ + 0.06168569624423981, + 0.997470498085022, + 0.03531898558139801, + -0.019573803293326544 + ], + [ + -0.339050829410553, + -0.012340744026005268, + 0.9406871199607849, + -0.28593304360521926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.935799777507782, + -0.06531641632318497, + 0.346428245306015, + -0.5473199150924172 + ], + [ + 0.057750359177589417, + 0.997813880443573, + 0.03213033825159073, + -0.021804653510214787 + ], + [ + -0.34776952862739563, + -0.010061211884021759, + 0.9375260472297668, + -0.2905937679998931 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9285925030708313, + -0.06194222718477249, + 0.3658949136734009, + -0.555928195871058 + ], + [ + 0.055719293653964996, + 0.9980661869049072, + 0.027554143220186234, + -0.024971293374186465 + ], + [ + -0.3668941259384155, + -0.005199163220822811, + 0.9302482008934021, + -0.30761717619108303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9173382520675659, + -0.0598764605820179, + 0.3935801088809967, + -0.5720082238050443 + ], + [ + 0.055123332887887955, + 0.9982057809829712, + 0.02338096685707569, + -0.026677707842891175 + ], + [ + -0.39427390694618225, + 0.0002471897751092911, + 0.9189929366111755, + -0.31867732256798753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9105649590492249, + -0.055021852254867554, + 0.40968769788742065, + -0.5859521600462142 + ], + [ + 0.05182621628046036, + 0.9984771013259888, + 0.018909331411123276, + -0.028765235959537443 + ], + [ + -0.4101042151451111, + 0.00401438819244504, + 0.9120298624038696, + -0.31865564348131775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8971767425537109, + -0.05056943744421005, + 0.4387671649456024, + -0.5937153864651918 + ], + [ + 0.051470935344696045, + 0.9986259341239929, + 0.009849021211266518, + -0.026314789056777955 + ], + [ + -0.4386623203754425, + 0.01374744065105915, + 0.8985468149185181, + -0.3408355527557433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8799414038658142, + -0.04259238764643669, + 0.47316914796829224, + -0.6056362263740055 + ], + [ + 0.04549083486199379, + 0.9989506006240845, + 0.005322457756847143, + -0.03290869088636504 + ], + [ + -0.47289931774139404, + 0.016841406002640724, + 0.8809555172920227, + -0.3595404531274523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8705008625984192, + -0.043099693953990936, + 0.49027615785598755, + -0.6152798884976951 + ], + [ + 0.046785205602645874, + 0.9988937377929688, + 0.004743150435388088, + -0.03604986876367576 + ], + [ + -0.4899381995201111, + 0.018808752298355103, + 0.8715542554855347, + -0.3683157450859509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8518593311309814, + -0.05346839502453804, + 0.5210343599319458, + -0.6359926834170307 + ], + [ + 0.06054021045565605, + 0.9981597661972046, + 0.0034513287246227264, + -0.037573783605226445 + ], + [ + -0.5202600955963135, + 0.028603482991456985, + 0.8535287380218506, + -0.38229810764037425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8329470157623291, + -0.06542416661977768, + 0.5494715571403503, + -0.6525390550198537 + ], + [ + 0.0746757909655571, + 0.9971925020217896, + 0.005531709641218185, + -0.03440870444571215 + ], + [ + -0.5482907891273499, + 0.03642459586262703, + 0.8354941606521606, + -0.3991303548896833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8239538669586182, + -0.06652534008026123, + 0.5627383589744568, + -0.6609103376903231 + ], + [ + 0.0749402642250061, + 0.997154712677002, + 0.008154284209012985, + -0.029360345402170744 + ], + [ + -0.5616796612739563, + 0.03545300289988518, + 0.826594889163971, + -0.407954303175211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8080266714096069, + -0.06599555164575577, + 0.5854378342628479, + -0.6811092159045594 + ], + [ + 0.06392253190279007, + 0.9976604580879211, + 0.02423834055662155, + -0.030847622170334772 + ], + [ + -0.5856677889823914, + 0.017837442457675934, + 0.8103548884391785, + -0.42812876053864046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.793358325958252, + -0.07367603480815887, + 0.6042801737785339, + -0.6977246378858885 + ], + [ + 0.06082737445831299, + 0.9972755312919617, + 0.041731320321559906, + -0.03808017695943515 + ], + [ + -0.6057084202766418, + 0.003648882731795311, + 0.7956783771514893, + -0.4423235955958565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7856609225273132, + -0.07561221718788147, + 0.6140193343162537, + -0.7044182127666851 + ], + [ + 0.06005704402923584, + 0.9971370100975037, + 0.04594524949789047, + -0.04085510767523259 + ], + [ + -0.6157354712486267, + 0.0007787961512804031, + 0.7879526019096375, + -0.44470296862668224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7691705822944641, + -0.07329545170068741, + 0.6348263025283813, + -0.7257850046668733 + ], + [ + 0.05657467618584633, + 0.9973102807998657, + 0.04659973084926605, + -0.04894086479076317 + ], + [ + -0.6365343332290649, + 7.194839417934418e-05, + 0.7712484002113342, + -0.4560841904154846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.751174807548523, + -0.06932098418474197, + 0.6564533114433289, + -0.7439491200955615 + ], + [ + 0.052196308970451355, + 0.99759441614151, + 0.04561736434698105, + -0.04998961938397278 + ], + [ + -0.6580364108085632, + -2.1774321794509888e-06, + 0.7529861330986023, + -0.4697638382617798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7424478530883789, + -0.07001001387834549, + 0.6662355661392212, + -0.7489157994943005 + ], + [ + 0.0519961342215538, + 0.9975462555885315, + 0.04688103497028351, + -0.048963502155882965 + ], + [ + -0.6678829193115234, + -0.00016506202518939972, + 0.7442663908004761, + -0.47399087903932446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7299489974975586, + -0.07708731293678284, + 0.6791406869888306, + -0.7700169820870671 + ], + [ + 0.056697387248277664, + 0.9970242977142334, + 0.05223029851913452, + -0.05038644852382797 + ], + [ + -0.6811460256576538, + 0.0003800448030233383, + 0.7321475148200989, + -0.4801296609276462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7222785949707031, + -0.08682864904403687, + 0.6861300468444824, + -0.7874669409933545 + ], + [ + 0.06150704249739647, + 0.9962210655212402, + 0.0613226518034935, + -0.05157900949319204 + ], + [ + -0.6888617277145386, + -0.0020902100950479507, + 0.7248897552490234, + -0.4860838528249472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.718119740486145, + -0.08718661218881607, + 0.6904365420341492, + -0.7967138174921274 + ], + [ + 0.0585751049220562, + 0.996173083782196, + 0.06487058103084564, + -0.05386114588214291 + ], + [ + -0.6934501528739929, + -0.006142456084489822, + 0.7204784750938416, + -0.4894473432045844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7072092890739441, + -0.08196240663528442, + 0.7022373080253601, + -0.823930424451828 + ], + [ + 0.051766570657491684, + 0.9965944290161133, + 0.06418554484844208, + -0.060404668162975995 + ], + [ + -0.7051065564155579, + -0.009040199220180511, + 0.7090437412261963, + -0.4903942908914316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6941802501678467, + -0.07751825451850891, + 0.7156149744987488, + -0.8453137382864953 + ], + [ + 0.05103746056556702, + 0.9969825744628906, + 0.05848837271332741, + -0.06225450259470751 + ], + [ + -0.7179896235466003, + -0.0040783025324344635, + 0.6960419416427612, + -0.4955894657336767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6879531145095825, + -0.07341175526380539, + 0.7220327258110046, + -0.856352765881826 + ], + [ + 0.04831250011920929, + 0.9972965717315674, + 0.05536668002605438, + -0.06491009548069938 + ], + [ + -0.7241453528404236, + -0.0032064802944660187, + 0.6896400451660156, + -0.4991950328860964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6767523884773254, + -0.0629584789276123, + 0.7335137724876404, + -0.8774386082376753 + ], + [ + 0.03938073664903641, + 0.9980060458183289, + 0.04932686686515808, + -0.06482967446957315 + ], + [ + -0.7351567149162292, + -0.004495769739151001, + 0.6778823137283325, + -0.5009139271719115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6670472621917725, + -0.06052478402853012, + 0.7425528168678284, + -0.9032315600131239 + ], + [ + 0.040654607117176056, + 0.9981666803359985, + 0.04483892768621445, + -0.06670234785784804 + ], + [ + -0.7439053654670715, + 0.0002785045653581619, + 0.6682850122451782, + -0.5047974637369551 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6615381240844727, + -0.059877507388591766, + 0.7475172877311707, + -0.9146781817492512 + ], + [ + 0.04214886575937271, + 0.9982002973556519, + 0.042656756937503815, + -0.06777529059539712 + ], + [ + -0.7487261891365051, + 0.0032879244536161423, + 0.6628713607788086, + -0.505866688591916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.649214506149292, + -0.0550590343773365, + 0.75860995054245, + -0.9425187416374683 + ], + [ + 0.038988176733255386, + 0.9984742999076843, + 0.039102230221033096, + -0.07200324200093747 + ], + [ + -0.7596054673194885, + 0.004191085696220398, + 0.6503706574440002, + -0.5033372431993485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6353498697280884, + -0.05446580797433853, + 0.7703012824058533, + -0.971355843490788 + ], + [ + 0.041830480098724365, + 0.9984724521636963, + 0.03609706833958626, + -0.07525035780337122 + ], + [ + -0.7710906863212585, + 0.009287805296480656, + 0.6366576552391052, + -0.49944880031537087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.6279066801071167, + -0.055999644100666046, + 0.776271402835846, + -0.9886096215082539 + ], + [ + 0.045778580009937286, + 0.9983386397361755, + 0.03499025106430054, + -0.0809017196534172 + ], + [ + -0.7769411206245422, + 0.01356598548591137, + 0.6294270753860474, + -0.4982245604345013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6133763194084167, + -0.057186976075172424, + 0.7877177000045776, + -1.0164549990424088 + ], + [ + 0.050061583518981934, + 0.9981846809387207, + 0.0334848053753376, + -0.08077292507957845 + ], + [ + -0.7882026433944702, + 0.018895603716373444, + 0.6151256561279297, + -0.500170777684876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.5933859944343567, + -0.06791665405035019, + 0.8020476698875427, + -1.0443042039398163 + ], + [ + 0.05371393635869026, + 0.9975539445877075, + 0.044732287526130676, + -0.08278050378319764 + ], + [ + -0.8031238913536072, + 0.0165376178920269, + 0.5955826044082642, + -0.49751739636773157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.5823935866355896, + -0.07211367040872574, + 0.8097020983695984, + -1.0579074124672583 + ], + [ + 0.05535294860601425, + 0.9972635507583618, + 0.04900461435317993, + -0.08658034929207394 + ], + [ + -0.8110203146934509, + 0.016279414296150208, + 0.5847916007041931, + -0.49362504715247757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.5612602233886719, + -0.0776405781507492, + 0.8239896893501282, + -1.0881613290735654 + ], + [ + 0.06015601381659508, + 0.9967837929725647, + 0.052946895360946655, + -0.09584619557218892 + ], + [ + -0.8254503607749939, + 0.019850939512252808, + 0.564125657081604, + -0.48767893442085813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.5403913259506226, + -0.08049479871988297, + 0.8375546932220459, + -1.118779029407435 + ], + [ + 0.07440052181482315, + 0.9960856437683105, + 0.04772741347551346, + -0.10382616337802676 + ], + [ + -0.8381180763244629, + 0.03652302175760269, + 0.5442649126052856, + -0.48339447383251455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.5301473736763, + -0.08335629105567932, + 0.8437982797622681, + -1.1338491611064427 + ], + [ + 0.08248430490493774, + 0.9955060482025146, + 0.046519238501787186, + -0.10576722954237272 + ], + [ + -0.8438839912414551, + 0.04493806138634682, + 0.5346404910087585, + -0.484643176990369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.5115489959716797, + -0.08732491731643677, + 0.8548052906990051, + -1.162636754200572 + ], + [ + 0.09046025574207306, + 0.9947671890258789, + 0.047488145530223846, + -0.1114830188807987 + ], + [ + -0.8544791340827942, + 0.053033389151096344, + 0.5167715549468994, + -0.49019516811129593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.4965626001358032, + -0.08746451139450073, + 0.8635830283164978, + -1.1953345823855628 + ], + [ + 0.08972935378551483, + 0.9947524666786194, + 0.0491548553109169, + -0.11920628462518965 + ], + [ + -0.8633506894111633, + 0.053080275654792786, + 0.5018049478530884, + -0.4922803673242766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.4903309941291809, + -0.08884640783071518, + 0.8669958710670471, + -1.2083486223682052 + ], + [ + 0.09003861993551254, + 0.9946314096450806, + 0.05100451782345772, + -0.12031670038898787 + ], + [ + -0.8668728470802307, + 0.053054023534059525, + 0.49569815397262573, + -0.49474457649898435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.47952383756637573, + -0.0888807401061058, + 0.8730161190032959, + -1.245770868233272 + ], + [ + 0.0872388556599617, + 0.9947574734687805, + 0.053357165306806564, + -0.11996259125215668 + ], + [ + -0.8731817007064819, + 0.0505748949944973, + 0.4847637414932251, + -0.4964026255267007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.4703131914138794, + -0.08409873396158218, + 0.8784832954406738, + -1.2832494863146355 + ], + [ + 0.08702708035707474, + 0.9950166940689087, + 0.04866303130984306, + -0.1240703309812243 + ], + [ + -0.8781980276107788, + 0.05356496945023537, + 0.4752883315086365, + -0.4931456093306816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.4655948281288147, + -0.07973087579011917, + 0.8813992142677307, + -1.3006036050617695 + ], + [ + 0.08656037598848343, + 0.9952609539031982, + 0.04430564492940903, + -0.12509962154759302 + ], + [ + -0.8807547688484192, + 0.0556657537817955, + 0.4702898859977722, + -0.49380027891861067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.45845717191696167, + -0.07010798901319504, + 0.885947048664093, + -1.3379644727600473 + ], + [ + 0.08105025440454483, + 0.9960275888442993, + 0.03687739744782448, + -0.12788830591099604 + ], + [ + -0.8850130438804626, + 0.05489950254559517, + 0.4623182415962219, + -0.4896151461505464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.45780205726623535, + -0.061836518347263336, + 0.8869011402130127, + -1.3768424466252327 + ], + [ + 0.07484003156423569, + 0.9967178702354431, + 0.03086211159825325, + -0.12716498769938 + ], + [ + -0.8858985900878906, + 0.05224696919322014, + 0.4609273076057434, + -0.4850263684869759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.45713257789611816, + -0.05825604125857353, + 0.8874886631965637, + -1.3941506699466752 + ], + [ + 0.0710027813911438, + 0.997058093547821, + 0.02887583151459694, + -0.12926403049911772 + ], + [ + -0.8865599036216736, + 0.04981407895684242, + 0.45992404222488403, + -0.480738161944799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.4518061876296997, + -0.05090298131108284, + 0.8906627297401428, + -1.4325561423209452 + ], + [ + 0.0608072392642498, + 0.9978061318397522, + 0.026180751621723175, + -0.13111166829864185 + ], + [ + -0.8900414109230042, + 0.04233011603355408, + 0.45391029119491577, + -0.48275094528992973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.4515582323074341, + -0.03860088437795639, + 0.8914063572883606, + -1.4750267274973412 + ], + [ + 0.06092165410518646, + 0.9980660676956177, + 0.01235862448811531, + -0.13458054140210152 + ], + [ + -0.8901594281196594, + 0.048725299537181854, + 0.4530366063117981, + -0.48165573639174303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.45426249504089355, + -0.03622335195541382, + 0.8901311755180359, + -1.495404386898828 + ], + [ + 0.06432559341192245, + 0.9978986382484436, + 0.007781472057104111, + -0.1380909246821252 + ], + [ + -0.8885425925254822, + 0.05372337996959686, + 0.45563799142837524, + -0.4835165970855289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.4566280245780945, + -0.03574328497052193, + 0.8889394402503967, + -1.535557703115046 + ], + [ + 0.060896050184965134, + 0.9981048703193665, + 0.008851788938045502, + -0.14128505438566208 + ], + [ + -0.8875711560249329, + 0.05009092390537262, + 0.4579392671585083, + -0.47818053886294365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.46130049228668213, + -0.03792009502649307, + 0.8864333033561707, + -1.574275311768528 + ], + [ + 0.05540727078914642, + 0.998367428779602, + 0.01387446466833353, + -0.1441304033119527 + ], + [ + -0.8855122923851013, + 0.042714547365903854, + 0.4626484513282776, + -0.47967046621654713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.46310216188430786, + -0.039282090961933136, + 0.8854339718818665, + -1.596442672876375 + ], + [ + 0.054204754531383514, + 0.9984025359153748, + 0.01594359055161476, + -0.14603248622918885 + ], + [ + -0.8846458792686462, + 0.04061121866106987, + 0.46449172496795654, + -0.4776707348872035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.4634206295013428, + -0.04159162938594818, + 0.8851618766784668, + -1.6423348950488226 + ], + [ + 0.052535101771354675, + 0.9984304308891296, + 0.01940944418311119, + -0.14918507465294428 + ], + [ + -0.8845797777175903, + 0.037507329136133194, + 0.46487826108932495, + -0.47613533171159883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.45990943908691406, + -0.04428993538022041, + 0.8868606686592102, + -1.6850440058650242 + ], + [ + 0.05094188079237938, + 0.9984264373779297, + 0.023444032296538353, + -0.15531678658629222 + ], + [ + -0.8865033984184265, + 0.0343962162733078, + 0.46144193410873413, + -0.47671105699643257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.45850640535354614, + -0.045430008322000504, + 0.887529194355011, + -1.7065691760194206 + ], + [ + 0.051185596734285355, + 0.9983845949172974, + 0.024661382660269737, + -0.15590670941367984 + ], + [ + -0.8872159123420715, + 0.0341213084757328, + 0.46009111404418945, + -0.47910646890245734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.45690059661865234, + -0.04673105478286743, + 0.8882893919944763, + -1.744493355495589 + ], + [ + 0.05226273834705353, + 0.9983042478561401, + 0.025636840611696243, + -0.15651323816605978 + ], + [ + -0.887981116771698, + 0.034710951149463654, + 0.45856809616088867, + -0.47755369765772704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.45784831047058105, + -0.04892931506037712, + 0.8876829147338867, + -1.7771615574757258 + ], + [ + 0.04833995923399925, + 0.9983773827552795, + 0.03009808249771595, + -0.1606414998571078 + ], + [ + -0.887715220451355, + 0.02913019247353077, + 0.45947057008743286, + -0.4756336862842242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.45914602279663086, + -0.04999638721346855, + 0.886952817440033, + -1.7940484445630795 + ], + [ + 0.044373687356710434, + 0.9984594583511353, + 0.033311087638139725, + -0.15954651115905671 + ], + [ + -0.8872519135475159, + 0.024062713608145714, + 0.4606572389602661, + -0.4750606012648888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.4622564911842346, + -0.05170873925089836, + 0.8852373361587524, + -1.836827594591748 + ], + [ + 0.04104289039969444, + 0.9984760880470276, + 0.03689134865999222, + -0.1619902334042958 + ], + [ + -0.8857959508895874, + 0.01927942968904972, + 0.46367430686950684, + -0.4749042982058156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.463506281375885, + -0.050428975373506546, + 0.8846574425697327, + -1.8748879693596372 + ], + [ + 0.038909900933504105, + 0.9985745549201965, + 0.03653629869222641, + -0.16560242313241202 + ], + [ + -0.8852389454841614, + 0.01748712919652462, + 0.46480774879455566, + -0.47051329813927173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.46533793210983276, + -0.050598740577697754, + 0.8836857676506042, + -1.8802828043226212 + ], + [ + 0.03766562044620514, + 0.9985923767089844, + 0.03734390065073967, + -0.1697727543494058 + ], + [ + -0.8843314051628113, + 0.015907030552625656, + 0.4665887951850891, + -0.4903597538315114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.4613415002822876, + -0.05230849236249924, + 0.8856793642044067, + -1.9348086964339017 + ], + [ + 0.04247959703207016, + 0.9984179139137268, + 0.03683967515826225, + -0.16054375533546722 + ], + [ + -0.8862051963806152, + 0.020627625286579132, + 0.4628337025642395, + -0.4642628106155566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.4622492790222168, + -0.05670437216758728, + 0.884935200214386, + -1.9633846350605526 + ], + [ + 0.051587410271167755, + 0.9979828000068665, + 0.037001293152570724, + -0.16199947415836274 + ], + [ + -0.8852482438087463, + 0.028547687456011772, + 0.46424204111099243, + -0.46933651655498476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.4624202847480774, + -0.058034077286720276, + 0.8847596049308777, + -1.9807347144517633 + ], + [ + 0.05347885191440582, + 0.9978645443916321, + 0.037502214312553406, + -0.16256078680356345 + ], + [ + -0.885046660900116, + 0.029974140226840973, + 0.4645363688468933, + -0.46675601423614554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.4619911313056946, + -0.06145743280649185, + 0.884752631187439, + -2.014655200498445 + ], + [ + 0.053705982863903046, + 0.997704029083252, + 0.04125971347093582, + -0.15916771583613895 + ], + [ + -0.8852570056915283, + 0.028454884886741638, + 0.46423107385635376, + -0.46150350996426176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.46228253841400146, + -0.06780684739351273, + 0.884136438369751, + -2.0476351567144904 + ], + [ + 0.056568317115306854, + 0.997296154499054, + 0.04690788313746452, + -0.15321672308066533 + ], + [ + -0.8849265575408936, + 0.028329405933618546, + 0.46486830711364746, + -0.45808391514574254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.4630756378173828, + -0.07113027572631836, + 0.8834599852561951, + -2.0646166604662697 + ], + [ + 0.05952301248908043, + 0.9970199465751648, + 0.049073703587055206, + -0.14912546381117803 + ], + [ + -0.8843178153038025, + 0.02986135520040989, + 0.4659295678138733, + -0.4557683822447582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.4685189127922058, + -0.08002603054046631, + 0.8798214793205261, + -2.094401079416275 + ], + [ + 0.07007357478141785, + 0.9961174726486206, + 0.05328868329524994, + -0.14471595439882506 + ], + [ + -0.8806700110435486, + 0.03668547421693802, + 0.47230762243270874, + -0.4464619507569642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.4763311743736267, + -0.09114916622638702, + 0.8745288252830505, + -2.1265423550019187 + ], + [ + 0.085004061460495, + 0.9947271347045898, + 0.05737771466374397, + -0.1403789366758059 + ], + [ + -0.8751475214958191, + 0.047007691115140915, + 0.4815675616264343, + -0.43701839329940934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.48060548305511475, + -0.09791310876607895, + 0.8714536428451538, + -2.138394403463555 + ], + [ + 0.08464585989713669, + 0.9942866563796997, + 0.06503206491470337, + -0.1293564974552109 + ], + [ + -0.8728421926498413, + 0.04251016676425934, + 0.48614758253097534, + -0.43339325138737284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.4860658645629883, + -0.12642577290534973, + 0.8647291660308838, + -2.164880558848381 + ], + [ + 0.08851075917482376, + 0.9915144443511963, + 0.09521007537841797, + -0.12361649125814439 + ], + [ + -0.8694285154342651, + 0.03025946021080017, + 0.4931313991546631, + -0.42813795506954194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/pan_right/transforms.json b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..70b9920b755317501d1dd5576e3ff6ae7f64bc2c --- /dev/null +++ b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/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, + 5.6416529332636856e-06, + -5.4483607527799904e-05, + 0.0005640062154270709 + ], + [ + -5.64634410693543e-06, + 1.0, + -8.610235818196088e-05, + 2.5099097911152057e-05 + ], + [ + 5.4483120038639754e-05, + 8.610266377218068e-05, + 1.0, + 0.00019526583491824567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999822856970346, + -0.0035129378084093332, + 0.004802483543010716, + -0.001245521241798997 + ], + [ + 0.0035036508919305182, + 0.9999919533729553, + 0.0019407846113902634, + -0.00029918330255895853 + ], + [ + -0.004809262694680422, + -0.0019239240791648626, + 0.999986563155164, + -0.00038841398782096803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999956869394985, + -0.004166800994426012, + 0.008297165856911677, + -0.0014859738294035196 + ], + [ + 0.004142196623144983, + 0.999987006187439, + 0.0029803300181493702, + -0.0017802640795707703 + ], + [ + -0.008309476111053744, + -0.002945832908153534, + 0.9999611098103436, + -0.0006677723140455782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999306828871387, + -0.0002671750553417951, + 0.011769863581996227, + -0.0018885467434301972 + ], + [ + 0.00024308389809133842, + 0.9999978542327881, + 0.00204823414738228, + 0.0002154715039068833 + ], + [ + -0.011770385518669043, + -0.0020452309399843216, + 0.9999286530364057, + -0.0017344559310004115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998726061613438, + 0.004165422637015581, + 0.015409816623142577, + -0.0029640928842127323 + ], + [ + -0.004192515194251765, + 0.9999897480010986, + 0.0017262631616380844, + -0.0003723200352396816 + ], + [ + -0.015402467157435944, + -0.0017906491411849856, + 0.999879760442539, + -0.0018495473777875304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998104485425389, + 0.004940752871334553, + 0.018832278033259157, + -0.003427031682804227 + ], + [ + -0.005000485389962903, + 0.9999825954437256, + 0.0031260705377536458, + -0.00032643417944200337 + ], + [ + -0.018816505809127533, + -0.0032196484971791506, + 0.9998177653473077, + -0.0015732927713543177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997469270880753, + 0.004920187871903181, + 0.021951917986057834, + -0.0029341194313019514 + ], + [ + -0.005102816736478471, + 0.9999527931213379, + 0.008271235835659321, + 0.0004351577954366803 + ], + [ + -0.021910185680388338, + -0.008381159976124763, + 0.9997247958513483, + -0.0005241819890215993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997509959485474, + 0.0049115121364593515, + 0.021768498554841184, + -0.0039047901518642902 + ], + [ + -0.005179749545504092, + 0.9999111294746401, + 0.012283085813222303, + 0.0012640932109206915 + ], + [ + -0.02170623556355786, + -0.012392782606184486, + 0.9996875813761704, + -0.0006324311252683401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997292045753917, + 0.004963060840964317, + 0.022736261787467273, + -0.004215644206851721 + ], + [ + -0.005278991622670277, + 0.9998900294303894, + 0.013856586653833578, + 0.002865520538762212 + ], + [ + -0.022664989990405456, + -0.013972857967019081, + 0.9996454410233699, + -0.0010730010690167546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996941795665296, + 0.00413162261247635, + 0.02438274694920018, + -0.0008772536530159414 + ], + [ + -0.004551619844337179, + 0.9998418092727663, + 0.017194905995331456, + 0.004130368120968342 + ], + [ + -0.024307846351957603, + -0.017300628125667575, + 0.9995548291925862, + -0.001158846658654511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996049613315849, + 0.0031362243462353945, + 0.02793023341005521, + 0.0027863411232829094 + ], + [ + -0.0036864903487595336, + 0.9997996687889099, + 0.01967180323495506, + 0.0060411738231778145 + ], + [ + -0.02786294411254643, + -0.019766995683312416, + 0.9994162990196278, + -0.0008691232651472092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995268413072471, + 0.0031666739378124484, + 0.030595857568352133, + 0.0039255437441170216 + ], + [ + -0.003806329544556872, + 0.9997749328613283, + 0.020871034189616274, + 0.006678118370473385 + ], + [ + -0.030522880164226333, + -0.020977616310119632, + 0.9993139363751266, + -0.0003564455546438694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994532176054934, + 0.0024396905209869146, + 0.03297481265926228, + 0.005938207730650902 + ], + [ + -0.003186658566627755, + 0.9997390508651733, + 0.022619147607600733, + 0.00816279835999012 + ], + [ + -0.03291102462282898, + -0.0227118581533432, + 0.9992002174151624, + -5.2756364311790094e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9994285495999458, + 0.0014796069590374827, + 0.033770180806205995, + 0.007411138620227575 + ], + [ + -0.0023052244282211216, + 0.999699056148529, + 0.02442229685237537, + 0.009206334128975868 + ], + [ + -0.033723882590495455, + -0.02448618970811367, + 0.999131191481015, + 0.0031220782548189163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9993728739637111, + 0.0016525397077202797, + 0.03537084228530212, + 0.007220160216093063 + ], + [ + -0.002552375983005086, + 0.9996738433837891, + 0.025410044052402395, + 0.009415079839527607 + ], + [ + -0.03531731571723919, + -0.025484388694167137, + 0.9990511778960661, + 0.0029756873846054077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9992843736261813, + 0.0007557097123935821, + 0.03781733961372108, + 0.006260327063500881 + ], + [ + -0.00175199631476196, + 0.9996520876884463, + 0.02631850443818336, + 0.011464820243418217 + ], + [ + -0.03778429309512848, + -0.02636592462658883, + 0.9989380381570516, + 0.002571362303569913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9992661654689569, + -0.001724820584058762, + 0.03826453171221418, + 0.007272735703736544 + ], + [ + 0.0007005453890507449, + 0.9996414780616762, + 0.02676554178812547, + 0.011448166333138943 + ], + [ + -0.03829697915650183, + -0.026719093322753913, + 0.998909109559471, + 0.002308812690898776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9992515895725418, + -0.003728436538949609, + 0.03850129588265853, + 0.0063700065948069096 + ], + [ + 0.0026834389931074667, + 0.9996275305747986, + 0.02715797028641484, + 0.010437186807394028 + ], + [ + -0.03858821241171219, + -0.027034329250454903, + 0.9988894146560133, + 0.0021746070124208927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9993134812659088, + -0.007097895257174969, + 0.036361092128770964, + 0.006016936618834734 + ], + [ + 0.0060721135941916825, + 0.9995825886726379, + 0.028244126255082887, + 0.008062316104769707 + ], + [ + -0.036546389493632446, + -0.02800394780933857, + 0.9989394842578758, + 0.002371249720454216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.999252900147295, + -0.008857796899974346, + 0.03761866215113825, + 0.0036349822767078876 + ], + [ + 0.00776661694015364, + 0.9995476603507996, + 0.029054083843215183, + 0.0055549172684550285 + ], + [ + -0.037859000954659855, + -0.028740206733345985, + 0.9988696929193028, + 0.002636152086779475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9991807798154527, + -0.007712337188422682, + 0.03972715689694476, + 0.0022107346449047327 + ], + [ + 0.006548131596958687, + 0.9995476603507998, + 0.0293522393047411, + 0.0049192775040864944 + ], + [ + -0.03993556205966246, + -0.02906805463135243, + 0.9987793383885908, + 0.004365160129964352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9991412617649548, + -0.005043008364737034, + 0.04112493543602242, + -0.0031977593898773193 + ], + [ + 0.003813330967971699, + 0.9995448589324951, + 0.029924829607988677, + 0.0064602624624967575 + ], + [ + -0.04125713175836484, + -0.02974230982363224, + 0.9987058083355136, + 0.002495166379958391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9991268153913289, + -0.008028448559343817, + 0.041001466632819505, + -0.006832444574683905 + ], + [ + 0.00682750409911825, + 0.9995459914207461, + 0.0293467853260837, + 0.00503156241029501 + ], + [ + -0.04121846159237223, + -0.02904122136533261, + 0.998728039770285, + -0.0017379062483087182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9991225100298939, + -0.009497420862317085, + 0.04079194930080988, + -0.009347442537546158 + ], + [ + 0.008324097112492582, + 0.9995494484901428, + 0.02883775266105531, + 0.0031333123333752155 + ], + [ + -0.0410474545807564, + -0.028472892940044403, + 0.9987514183955609, + -0.0028739729896187782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9994274320820704, + -0.010993612930178644, + 0.031999700602354936, + -0.021333983168005943 + ], + [ + 0.010082904952250739, + 0.9995434284210207, + 0.02848347231759575, + -0.003371634054929018 + ], + [ + -0.03229822459514517, + -0.02814451232552529, + 0.9990819126493278, + -0.005889097228646278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9996245954547286, + -0.019385283812880516, + 0.019361859067320464, + -0.03504663333296776 + ], + [ + 0.018816571634366053, + 0.9993983507156372, + 0.029135314905000244, + -0.009416047483682632 + ], + [ + -0.01991500542258526, + -0.02876005321741104, + 0.9993879533999895, + -0.011373880319297314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9996363017956957, + -0.023594971746206284, + 0.01306126177604975, + -0.040247514843940735 + ], + [ + 0.023201911080795813, + 0.9992963671684265, + 0.029468592807864662, + -0.013402445241808891 + ], + [ + -0.013747379473808857, + -0.029154827818274498, + 0.9994803539551127, + -0.012692478485405445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9995246820188665, + -0.030618363991379745, + 0.003600095346207243, + -0.05586295202374458 + ], + [ + 0.03048571970742685, + 0.9990087151527407, + 0.032438469359273955, + -0.018706100061535835 + ], + [ + -0.004589739431778569, + -0.032313298434019096, + 0.9994672541437241, + -0.020181573927402496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9995693743624764, + -0.02906477078795433, + 0.004038786949385671, + -0.06416597217321396 + ], + [ + 0.028913689090363456, + 0.9990220069885254, + 0.03345222794845286, + -0.012467359192669392 + ], + [ + -0.005007115454111762, + -0.03332104906439781, + 0.9994321341895627, + -0.046888794749975204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9995700408543833, + -0.028432004153728492, + 0.007169960186506136, + -0.06816484779119492 + ], + [ + 0.028192950422342176, + 0.9991064071655276, + 0.03148833720759881, + -0.005073670297861099 + ], + [ + -0.008058826841747775, + -0.031272653490304954, + 0.9994783797231084, + -0.07384159415960312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9995205453333078, + -0.029712058603763587, + 0.008709268249163269, + -0.07657817751169205 + ], + [ + 0.02946208654280927, + 0.9991862177848818, + 0.027547456361366098, + -0.0020915234927088022 + ], + [ + -0.009520672158972331, + -0.027277654036879546, + 0.9995825354373419, + -0.12320972234010696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9995357782374437, + -0.029871394857764244, + 0.005991898330719667, + -0.07708019018173218 + ], + [ + 0.02970704313235696, + 0.9992240071296692, + 0.02586205756644407, + -0.0011507656890898943 + ], + [ + -0.006759789097827094, + -0.025672048330307007, + 0.9996475758253126, + -0.16967089474201202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9995979423261605, + -0.027753345668315887, + 0.005809587842672741, + -0.08256368339061737 + ], + [ + 0.027596193482018205, + 0.9992918372154236, + 0.02557777807656955, + -0.0006408888148143888 + ], + [ + -0.006515341961454517, + -0.02540717087686062, + 0.9996559653658011, + -0.17759975790977478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9997062564839383, + -0.024043787270784378, + 0.0030536973594134003, + -0.10049442201852798 + ], + [ + 0.023966348358510893, + 0.999441921710968, + 0.0232699817877962, + 0.008855127729475498 + ], + [ + -0.003611492108769094, + -0.023189958184957504, + 0.999724528942317, + -0.1845579296350479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9995825705678215, + -0.028888233006000526, + 0.00039074707637296973, + -0.11614476889371872 + ], + [ + 0.02887072179195011, + 0.9992989897727969, + 0.023832390487247158, + 0.0012215074384585023 + ], + [ + -0.001078952430744418, + -0.02381116151809693, + 0.9997158814866004, + -0.1903790533542633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9995865505446245, + -0.028693048283457756, + 0.0018496958504126211, + -0.12164405733346939 + ], + [ + 0.028639224878954178, + 0.999289870262146, + 0.024484524293333428, + -0.00020135527302045375 + ], + [ + -0.002550918216930865, + -0.02442142739892006, + 0.9996984985091909, + -0.19563473761081696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9997223923384823, + -0.022794542834162716, + 0.005966007586109089, + -0.13246698677539825 + ], + [ + 0.022670948034526846, + 0.9995424151420595, + 0.020023474560466183, + 0.008640460669994354 + ], + [ + -0.006419696530431091, + -0.019882660359144214, + 0.999781696799008, + -0.21008047461509705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9994389167585003, + -0.029598303139209747, + 0.015677851504323135, + -0.15366075932979584 + ], + [ + 0.029356152318547428, + 0.9994494915008545, + 0.015456669781136242, + -0.0008253415580838919 + ], + [ + -0.01612671531364759, + -0.014987755566835403, + 0.999757648031919, + -0.22803518176078796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9990799890623896, + -0.03758447244763374, + 0.02065340448743258, + -0.15586882829666138 + ], + [ + 0.037272630783896206, + 0.9991883039474487, + 0.015282127361698416, + -0.007881516590714455 + ], + [ + -0.02121101346424537, + -0.014498261734843254, + 0.9996698939846842, + -0.2284988909959793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9985225247425684, + -0.046908311545848846, + 0.027429689972886473, + -0.17366808652877808 + ], + [ + 0.04611324806866078, + 0.9985170960426331, + 0.02893330873434964, + -0.002178022637963295 + ], + [ + -0.028746226122239114, + -0.027625689283013344, + 0.9992049193029193, + -0.23668454587459564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9979773768395491, + -0.056009359657764435, + 0.030069094349720223, + -0.18350546061992645 + ], + [ + 0.054737714611022795, + 0.9976351261138916, + 0.041567879978770865, + -0.005679450463503599 + ], + [ + -0.03232617370742377, + -0.03983788564801216, + 0.9986831130024106, + -0.2487110048532486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9978650878434056, + -0.05606904998421669, + 0.03348877636569991, + -0.19080142676830292 + ], + [ + 0.054750523846516054, + 0.9977353811264038, + 0.03907088999114465, + -0.003427581861615181 + ], + [ + -0.03560360440645298, + -0.037153951823711395, + 0.9986750768675781, + -0.25408539175987244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9978375534668592, + -0.04262689501047135, + 0.05003119400533186, + -0.21548159420490265 + ], + [ + 0.04146164375913087, + 0.9988493323326113, + 0.0241021687628708, + -0.012636348605155945 + ], + [ + -0.05100103091936909, + -0.021975673735141758, + 0.9984568105300734, + -0.2639959156513214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9969016538961427, + -0.034686651080846786, + 0.07059663264540855, + -0.24064892530441284 + ], + [ + 0.033968349705902776, + 0.9993584752082825, + 0.011350310884445224, + -0.011908629909157753 + ], + [ + -0.07094504951714202, + -0.008917093276977539, + 0.9974403896616593, + -0.2700171172618866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9960258606251426, + -0.03941962867975235, + 0.07986609176936553, + -0.2530519962310791 + ], + [ + 0.038803876919843036, + 0.9992040395736694, + 0.009247868265692336, + -0.013407540507614613 + ], + [ + -0.0801670716728098, + -0.0061120023019611835, + 0.9967627305039096, + -0.26979219913482666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.994859492328497, + -0.04453738406300545, + 0.0909448081482001, + -0.2694713771343231 + ], + [ + 0.044093978497708256, + 0.9990037083625793, + 0.006879956620117289, + -0.013569209724664688 + ], + [ + -0.0911606198292084, + -0.0028344716411083937, + 0.9958321946966141, + -0.2698231637477875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9941051690141778, + -0.0439828522503376, + 0.0990982156639063, + -0.2908950448036194 + ], + [ + 0.04377945424509218, + 0.9990322589874268, + 0.004227206009353559, + -0.010258820839226246 + ], + [ + -0.0991882370484153, + 0.00013617845252156258, + 0.9950686569071324, + -0.2733785808086395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9933882313348971, + -0.046360351145267494, + 0.10502654216067374, + -0.305277019739151 + ], + [ + 0.04630189674716923, + 0.9989230036735537, + 0.0029960239500067235, + -0.007433058228343725 + ], + [ + -0.10505232562719752, + 0.0018867130856961016, + 0.9944649230313106, + -0.275267094373703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.991588051085099, + -0.05378609895706178, + 0.11772937404155764, + -0.33151325583457947 + ], + [ + 0.05382374040981226, + 0.998546361923218, + 0.002861918884257551, + 0.002265753224492073 + ], + [ + -0.11771216658758325, + 0.0034987907856702813, + 0.9930415654041741, + -0.27249014377593994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9880572909161175, + -0.04923442378640176, + 0.14600943047083342, + -0.35309073328971863 + ], + [ + 0.049015352061191154, + 0.9987850189208987, + 0.0050998794497936735, + 0.01175750233232975 + ], + [ + -0.14608312213769145, + 0.002117730444297195, + 0.9892700490246775, + -0.27143537998199463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9846752833427176, + -0.048488527536392226, + 0.1675213606257862, + -0.3661608397960663 + ], + [ + 0.04818698058606898, + 0.9988210797309878, + 0.005866899621350047, + 0.01787409745156765 + ], + [ + -0.16760834696394292, + 0.0022953574080020194, + 0.9858509854080753, + -0.2708829343318939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9750426641818105, + -0.05950639769434929, + 0.21389425496852102, + -0.39065778255462646 + ], + [ + 0.058944382311280304, + 0.9982206225395203, + 0.009010153212783943, + 0.02961932308971882 + ], + [ + -0.21404981784255458, + 0.0038225804455578327, + 0.9768152926244751, + -0.2654229998588562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9619866156501945, + -0.0625378116965294, + 0.26583970544712754, + -0.4142760634422302 + ], + [ + 0.06008063341686799, + 0.9980423450469973, + 0.017373687397357614, + 0.033907804638147354 + ], + [ + -0.26640578945512355, + -0.0007414380088448527, + 0.9638606573513409, + -0.26368749141693115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9545859885007806, + -0.06223343312740326, + 0.29136334807358516, + -0.4266318380832672 + ], + [ + 0.05753649820816522, + 0.9980385303497314, + 0.02466965803114413, + 0.035870667546987534 + ], + [ + -0.292327138901067, + -0.006785283796489239, + 0.9562942910118932, + -0.2633243203163147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9396533189549915, + -0.07096808403730392, + 0.3346866355602779, + -0.4512048363685608 + ], + [ + 0.06029082674051013, + 0.9972884654998779, + 0.04219821431097297, + 0.03355035185813904 + ], + [ + -0.3367738415071126, + -0.019473161548376083, + 0.9413841707089724, + -0.26672494411468506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9245488816054602, + -0.08035481721162796, + 0.3724949286241857, + -0.4714532494544983 + ], + [ + 0.06481159827243536, + 0.9964307546615601, + 0.054085360201159206, + 0.03594692423939705 + ], + [ + -0.3755114168744918, + -0.025862567126750946, + 0.926456885051385, + -0.2702327072620392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9165874851220032, + -0.08092014491558076, + 0.3915601191051658, + -0.48318982124328613 + ], + [ + 0.06330182049367133, + 0.996323883533478, + 0.0577204253111752, + 0.035020072013139725 + ], + [ + -0.3947914444685532, + -0.02811935171484948, + 0.9183403470729817, + -0.27595794200897217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9025678479313015, + -0.07624007016420364, + 0.4237436799764039, + -0.5108891725540161 + ], + [ + 0.06027787552826682, + 0.9968795776367188, + 0.050967822561188106, + 0.030446365475654602 + ], + [ + -0.4263072329073056, + -0.020459553226828575, + 0.9043470632674983, + -0.2811126708984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8913693061196493, + -0.07000187039375305, + 0.44783982733974004, + -0.5390970706939697 + ], + [ + 0.05699228631772792, + 0.997470498085022, + 0.0424786436213981, + 0.026341505348682404 + ], + [ + -0.44968060536926935, + -0.012340744026005268, + 0.893104179667091, + -0.28650110960006714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8864151296937207, + -0.06531641632318497, + 0.45825971956902667, + -0.5503783822059631 + ], + [ + 0.053388011862202316, + 0.997813880443573, + 0.03895103093248708, + 0.02491837739944458 + ], + [ + -0.45980202847746054, + -0.010061211884021759, + 0.8879644299655277, + -0.29106488823890686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8758891594240472, + -0.061942227184772505, + 0.47851991078204226, + -0.5588778257369995 + ], + [ + 0.0518606834811469, + 0.9980661869049074, + 0.03426864460062022, + 0.022555667906999588 + ], + [ + -0.47971724396814075, + -0.005199163220822812, + 0.8774077619631234, + -0.3078647553920746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8602294870171698, + -0.05987646058201791, + 0.5063793049477157, + -0.5749070048332214 + ], + [ + 0.05172569943814144, + 0.9982057809829714, + 0.03016129071302549, + 0.02164812758564949 + ], + [ + -0.5072766983915951, + 0.00024718977510929113, + 0.861783199249534, + -0.31866535544395447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.8503890445443121, + -0.05502185225486757, + 0.523269555169822, + -0.5886595845222473 + ], + [ + 0.04896757580281973, + 0.998477101325989, + 0.025410549548560587, + 0.020366176962852478 + ], + [ + -0.5238708112835753, + 0.004014388192445041, + 0.8517883013292081, + -0.31845811009407043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8322306638374342, + -0.050569437444210066, + 0.5521185149787982, + -0.5962438583374023 + ], + [ + 0.0497450391218014, + 0.9986259341239931, + 0.0164830666700195, + 0.023616507649421692 + ], + [ + -0.5521933976973143, + 0.013747440651059154, + 0.8336027000057503, + -0.3401481807231903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.809437296435106, + -0.0425923876464367, + 0.5856596110081403, + -0.6077996492385864 + ], + [ + 0.04438353694536342, + 0.9989506006240847, + 0.011306912099869365, + 0.017831657081842422 + ], + [ + -0.5855266201203061, + 0.016841406002640728, + 0.8104782324640325, + -0.3586850166320801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7965607335313158, + -0.043099693953990936, + 0.6030202820325974, + -0.61750328540802 + ], + [ + 0.04572053288835561, + 0.9988937377929688, + 0.010999355060155185, + 0.015480363741517067 + ], + [ + -0.6028272353166032, + 0.018808752298355103, + 0.7976500385284849, + -0.3673454523086548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7726347939148043, + -0.05346839502453804, + 0.632595130788124, + -0.638793408870697 + ], + [ + 0.05950004953154327, + 0.9981597661972046, + 0.011694992848412989, + 0.014710775576531887 + ], + [ + -0.6320563491961199, + 0.028603482991456985, + 0.7743943731329217, + -0.3807998299598694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.748643393496247, + -0.06542416661977768, + 0.6597369116155581, + -0.6560179591178894 + ], + [ + 0.07318577495557978, + 0.9971925020217896, + 0.01584032550289157, + 0.018616611137986183 + ], + [ + -0.6589210124137246, + 0.03642459586262703, + 0.7513297420742925, + -0.3971934914588928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7364992425394203, + -0.06652534008026123, + 0.6731591946012362, + -0.6645005941390991 + ], + [ + 0.07304523408712221, + 0.997154712677002, + 0.018626039037664632, + 0.024454353377223015 + ], + [ + -0.6724829524102167, + 0.03545300289988518, + 0.7392630326199613, + -0.4060409665107727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7160919854165961, + -0.06599555164575578, + 0.6948790023578065, + -0.6847232580184937 + ], + [ + 0.059803657326517955, + 0.9976604580879214, + 0.03312264796441245, + 0.023786164820194244 + ], + [ + -0.6954392435565411, + 0.017837442457675937, + 0.7183634614805395, + -0.42715194821357727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.6974023128897389, + -0.07367603480815889, + 0.7128828625834248, + -0.7018177509307861 + ], + [ + 0.05413693920905994, + 0.9972755312919619, + 0.05010653043613194, + 0.017324019223451614 + ], + [ + -0.7146322784719341, + 0.003648882731795312, + 0.6994908697234475, + -0.44212087988853455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.6868742691029559, + -0.07561221718788148, + 0.722832322565147, + -0.7086789011955261 + ], + [ + 0.05265135464131334, + 0.9971370100975039, + 0.05427383663780949, + 0.015332771465182304 + ], + [ + -0.7248666673971501, + 0.0007787961512804034, + 0.6888888066346307, + -0.4446590840816498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6659636316412267, + -0.07329545170068742, + 0.7423747438997975, + -0.729973316192627 + ], + [ + 0.04899745430729514, + 0.997310280799866, + 0.05451126830447016, + 0.008048294112086296 + ], + [ + -0.7443733799998041, + 7.194839417934419e-05, + 0.6677636732823824, + -0.4560800790786743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6433627779948212, + -0.06932098418474197, + 0.762416472468466, + -0.7479653358459473 + ], + [ + 0.044704419484803165, + 0.99759441614151, + 0.05298031217943879, + 0.007807517424225807 + ], + [ + -0.7642550812623072, + -2.1774321794509888e-06, + 0.6449141069579316, + -0.46976396441459656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.631655106774713, + -0.07001001387834549, + 0.7720819064256184, + -0.7530274987220764 + ], + [ + 0.04420289745206833, + 0.9975462555885315, + 0.05429118962329628, + 0.009622547775506973 + ], + [ + -0.7739883349019486, + -0.00016506202518939972, + 0.6331998987831242, + -0.47400057315826416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.615699217855931, + -0.07708731293678284, + 0.7842015587863532, + -0.7746055126190186 + ], + [ + 0.04790406148745591, + 0.9970242977142334, + 0.060397009008601635, + 0.008960235863924026 + ], + [ + -0.7865238144995328, + 0.0003800448030233383, + 0.6175598602172654, + -0.48010703921318054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6053944161751987, + -0.08682864904403688, + 0.7911753350551035, + -0.7927042245864868 + ], + [ + 0.05109845971988067, + 0.9962210655212405, + 0.0702319821395123, + 0.008510515093803406 + ], + [ + -0.794283647072753, + -0.002090210095047951, + 0.6075435170978742, + -0.4862099289894104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.598957431401385, + -0.08718661218881607, + 0.7960204618105094, + -0.8020418882369995 + ], + [ + 0.04749271978921421, + 0.996173083782196, + 0.07337354269034979, + 0.007016098126769066 + ], + [ + -0.7993713487901639, + -0.006142456084489822, + 0.6008059539717507, + -0.48982271552085876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.5846305641414133, + -0.08196240663528442, + 0.8071488826770874, + -0.8290042877197266 + ], + [ + 0.04073138463933968, + 0.9965944290161133, + 0.07169739402858803, + 0.0012892726808786392 + ], + [ + -0.8102765354669902, + -0.009040199220180511, + 0.5859780020989346, + -0.4909539222717285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.567912303975537, + -0.07751825451850891, + 0.8194306721395874, + -0.8501740097999573 + ], + [ + 0.04079397935840401, + 0.9969825744628906, + 0.06604213330701103, + 0.00025472231209278107 + ], + [ + -0.8220776177415269, + -0.0040783025324344635, + 0.5693609351323901, + -0.49584516882896423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.5590053171024707, + -0.07341175526380539, + 0.8259078643266876, + -0.8610138297080994 + ], + [ + 0.03848577602104417, + 0.9972965717315674, + 0.06259722013743188, + -0.0015896782279014587 + ], + [ + -0.8282704881099188, + -0.0032064802944660187, + 0.5603194468007712, + -0.4993986189365387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.5443224447413754, + -0.0629584789276123, + 0.8365102066858402, + -0.8814859390258789 + ], + [ + 0.030561769774145774, + 0.9980060458183289, + 0.05522644694370533, + -0.0006721429526805878 + ], + [ + -0.8383192055226927, + -0.004495769739151001, + 0.5451612022181151, + -0.5012029409408569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.5314859798372831, + -0.06052478402853012, + 0.8449019996853416, + -0.9071704745292664 + ], + [ + 0.03246333105854677, + 0.9981666803359985, + 0.05108286065291081, + -0.0017422940582036972 + ], + [ + -0.8464448303462413, + 0.0002785045653581619, + 0.5324764779240094, + -0.5047793388366699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.5234499903132845, + -0.059877507388591766, + 0.8499499354168992, + -0.9186224937438965 + ], + [ + 0.03420367991213617, + 0.9982002973556519, + 0.04925681757579385, + -0.0020208265632390976 + ], + [ + -0.8513696900432477, + 0.0032879244536161423, + 0.5245560009334441, + -0.5056501030921936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.5076202435521181, + -0.0550590343773365, + 0.8598198767141731, + -0.9461893439292908 + ], + [ + 0.031605827702124924, + 0.9984742999076843, + 0.04527840532202767, + -0.005438288673758507 + ], + [ + -0.8610010329198878, + 0.004191085696220398, + 0.5085859606366322, + -0.5030578374862671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.4901295721027432, + -0.05446580797433853, + 0.8699462771861162, + -0.9750301241874695 + ], + [ + 0.03483776108051951, + 0.9984724521636963, + 0.04288493687647419, + -0.007893089205026627 + ], + [ + -0.8709531718646251, + 0.009287805296480656, + 0.49127832124458104, + -0.49882224202156067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.4799351643507204, + -0.055999644100666046, + 0.8755148929650027, + -0.9924318194389343 + ], + [ + 0.03883054234779979, + 0.9983386397361755, + 0.042569766715883486, + -0.012761145830154419 + ], + [ + -0.8764441809306229, + 0.01356598548591137, + 0.4813123163385723, + -0.49729862809181213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.4617635482486341, + -0.05718697607517244, + 0.8851576750050522, + -1.0204036235809326 + ], + [ + 0.04322587961435047, + 0.9981846809387209, + 0.04193945239291905, + -0.011850649490952492 + ], + [ + -0.885949218512885, + 0.018895603716373447, + 0.46339719690267334, + -0.49886608123779297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.4376607246992051, + -0.06791665405035019, + 0.8965715215300193, + -1.049047589302063 + ], + [ + 0.04468502087840316, + 0.9975539445877075, + 0.053753264231696, + -0.013110069558024406 + ], + [ + -0.8980292057898772, + 0.0165376178920269, + 0.43962503236860173, + -0.4963623881340027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.4235844979328518, + -0.07211367040872574, + 0.9029817002405812, + -1.0630011558532715 + ], + [ + 0.045398754284507646, + 0.9972635507583618, + 0.05834684444508412, + -0.016138717532157898 + ], + [ + -0.9047183638370612, + 0.016279414296150208, + 0.4256992473984749, + -0.49247515201568604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.3982862308283817, + -0.0776405781507492, + 0.9139694332121525, + -1.0937070846557617 + ], + [ + 0.04926383992870452, + 0.9967837929725647, + 0.06320754545261499, + -0.02464735321700573 + ], + [ + -0.9159373573657074, + 0.019850939512252808, + 0.4008301541341962, + -0.4862610101699829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.37333979826942393, + -0.08049479871988297, + 0.9241958906687981, + -1.1245925426483154 + ], + [ + 0.0641040621349753, + 0.9960856437683105, + 0.060860601879835406, + -0.031886644661426544 + ], + [ + -0.9254772844784173, + 0.03652302175760269, + 0.37703846072981995, + -0.4807567000389099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.36017512321387174, + -0.08335629105567932, + 0.929153192624076, + -1.1399354934692383 + ], + [ + 0.07214355467627612, + 0.9955060482025146, + 0.06134335844333968, + -0.03307948634028435 + ], + [ + -0.9300910041520233, + 0.04493806138634682, + 0.3645701157461695, + -0.481361985206604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.337877837952013, + -0.08732491731643677, + 0.9371302080861109, + -1.1690821647644043 + ], + [ + 0.07965738652609025, + 0.9947671890258789, + 0.06397564072874952, + -0.03805972635746002 + ], + [ + -0.9378130233277621, + 0.053033389151096344, + 0.3430658302162435, + -0.48628079891204834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.3195249934659228, + -0.08746451139450073, + 0.9435326391813506, + -1.201859712600708 + ], + [ + 0.07848382167047632, + 0.9947524666786194, + 0.0656341867276508, + -0.04499459266662598 + ], + [ + -0.9443221068327932, + 0.053080275654792786, + 0.3247127609802957, + -0.48832041025161743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.3107839677879299, + -0.08884640783071518, + 0.9463189999239209, + -1.2150473594665527 + ], + [ + 0.07828780453634708, + 0.9946314096450806, + 0.06767151231629014, + -0.045324649661779404 + ], + [ + -0.9472509139147701, + 0.053054023534059525, + 0.3160710346496291, + -0.4907444715499878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.2970312959187062, + -0.0888807401061058, + 0.9507221802812926, + -1.2525427341461182 + ], + [ + 0.07493660967168826, + 0.9947574734687805, + 0.06958526824946895, + -0.044171545654535294 + ], + [ + -0.9519227456650874, + 0.0505748949944973, + 0.30213449621090277, + -0.4925493001937866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.2849366290579874, + -0.08409873396158218, + 0.9548499964954106, + -1.2897237539291382 + ], + [ + 0.07552405943736976, + 0.9950166940689087, + 0.06509930704577548, + -0.047469839453697205 + ], + [ + -0.9555664378024968, + 0.05356496945023537, + 0.2898681712661342, + -0.4890219569206238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.27774151910591227, + -0.07973087579011917, + 0.9573415103591894, + -1.306804895401001 + ], + [ + 0.07581271248259093, + 0.9952609539031982, + 0.06089434694543074, + -0.047690436244010925 + ], + [ + -0.957659801985766, + 0.0556657537817955, + 0.2824698981867161, + -0.4894707202911377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.2678356959475066, + -0.07010798901319505, + 0.9609106053608891, + -1.343472957611084 + ], + [ + 0.07180929946431679, + 0.9960275888442995, + 0.05265463599732056, + -0.04962899535894394 + ], + [ + -0.9607849220768542, + 0.05489950254559518, + 0.2718061402193812, + -0.4853016138076782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.2650007256049041, + -0.061836518347263336, + 0.9622634626635337, + -1.3817501068115234 + ], + [ + 0.06686395406892413, + 0.9967178702354431, + 0.04563673852399663, + -0.04806039482355118 + ], + [ + -0.9619271694014828, + 0.05224696919322014, + 0.2682655691355923, + -0.4808797836303711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.2622236066173724, + -0.05825604125857353, + 0.9632471651704726, + -1.398820400238037 + ], + [ + 0.06342970001995475, + 0.997058093547821, + 0.043033495864460036, + -0.049341119825839996 + ], + [ + -0.962920294217846, + 0.04981407895684242, + 0.2651473068118265, + -0.4767451286315918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.2543467501147773, + -0.050902981311082854, + 0.9657725715895525, + -1.4366768598556519 + ], + [ + 0.053939630288760435, + 0.9978061318397524, + 0.038385783653976935, + -0.05033688619732857 + ], + [ + -0.9656077519962699, + 0.042330116033554084, + 0.25653447116357575, + -0.47932422161102295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.2519393155712437, + -0.03860088437795639, + 0.9669729635559684, + -1.4781821966171265 + ], + [ + 0.056907114896836065, + 0.9980660676956177, + 0.0250152715809468, + -0.052992600947618484 + ], + [ + -0.9660684587094259, + 0.048725299537181854, + 0.2536487871361194, + -0.47767263650894165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.2528444068233454, + -0.03622335195541382, + 0.9668286456079221, + -1.498394250869751 + ], + [ + 0.06116118213676677, + 0.9978986382484436, + 0.02139259392417607, + -0.05572468787431717 + ], + [ + -0.9655719283607829, + 0.05372337996959686, + 0.25452852320796643, + -0.47908228635787964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.2534024078725074, + -0.03574328497052193, + 0.9667004194408924, + -1.5385363101959229 + ], + [ + 0.05753669286454441, + 0.9981048703193665, + 0.02182228378847141, + -0.058109648525714874 + ], + [ + -0.9656483738528506, + 0.05009092390537262, + 0.254978719677648, + -0.4740062952041626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.2565003887138957, + -0.03792009502649307, + 0.9658000290290369, + -1.5774654150009155 + ], + [ + 0.05103774123181042, + 0.998367428779602, + 0.025644012870246972, + -0.060140762478113174 + ], + [ + -0.9651957512927383, + 0.042714547365903854, + 0.2580169978276962, + -0.47607702016830444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.2564707978936271, + -0.03928209096193314, + 0.9657534161121172, + -1.5997785329818726 + ], + [ + 0.049355197102989114, + 0.998402535915375, + 0.02750305460144703, + -0.061247508972883224 + ], + [ + -0.9652911113130939, + 0.04061121866106988, + 0.257999931570992, + -0.47422200441360474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.25483465928071414, + -0.04159162938594818, + 0.9660898116643444, + -1.6458998918533325 + ], + [ + 0.04689892943900758, + 0.9984304308891296, + 0.030612968805702103, + -0.06360532343387604 + ], + [ + -0.9658466606820558, + 0.037507329136133194, + 0.2563852742059451, + -0.47292041778564453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.24902381147177494, + -0.04428993538022041, + 0.9674842009541919, + -1.688875436782837 + ], + [ + 0.04437673467376642, + 0.9984264373779297, + 0.03428415506732318, + -0.06894497573375702 + ], + [ + -0.9674801699870739, + 0.0343962162733078, + 0.2505973955235996, + -0.473735511302948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.24549504724192378, + -0.045430008322000504, + 0.9683327818278026, + -1.7105352878570557 + ], + [ + 0.04426696679769961, + 0.9983845949172974, + 0.035617197507559414, + -0.06874614953994751 + ], + [ + -0.9683866947922622, + 0.0341213084757328, + 0.24710952568590963, + -0.47612762451171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.24174547678904396, + -0.04673105478286743, + 0.9692137656742369, + -1.7486101388931274 + ], + [ + 0.04501850438608026, + 0.9983042478561401, + 0.03690495466631234, + -0.06856738775968552 + ], + [ + -0.9692948327190392, + 0.034710951149463654, + 0.24343929391925148, + -0.4744958281517029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.24079318168249506, + -0.04892931506037712, + 0.9693423936702839, + -1.781510829925537 + ], + [ + 0.0400958538737922, + 0.9983773827552795, + 0.040434746579093676, + -0.07189684361219406 + ], + [ + -0.9697479473970673, + 0.02913019247353077, + 0.24236426287025756, + -0.47304433584213257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.24021054550841586, + -0.04999638721346855, + 0.9694324444959154, + -1.798532247543335 + ], + [ + 0.03540683717566176, + 0.9984594583511353, + 0.04272011903638712, + -0.07000213116407394 + ], + [ + -0.9700748994867483, + 0.024062713608145714, + 0.24161071848326496, + -0.4729025959968567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.24162193665997408, + -0.05170873925089836, + 0.9689917670940698, + -1.841506004333496 + ], + [ + 0.031240068459944405, + 0.9984760880470276, + 0.045492291445171536, + -0.07165192067623138 + ], + [ + -0.9698674852039609, + 0.01927942968904972, + 0.24286908120930198, + -0.4731599688529968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.24095960071597636, + -0.05042897537350656, + 0.9692240888420586, + -1.879490613937378 + ], + [ + 0.029157122498866338, + 0.9985745549201968, + 0.04470731171037678, + -0.07446268200874329 + ], + [ + -0.9700970973203474, + 0.017487129196524624, + 0.2420864632977431, + -0.46891725063323975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.24095589446696594, + -0.050598740577697754, + 0.9692162730423572, + -1.8849411010742188 + ], + [ + 0.027663083452229616, + 0.9985923767089844, + 0.04525505157797172, + -0.07783885300159454 + ], + [ + -0.970141822764158, + 0.015907030552625656, + 0.24201649049877227, + -0.4888952970504761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.23458275869324352, + -0.05230849236249924, + 0.9706878207663376, + -1.9396659135818481 + ], + [ + 0.032362796401392856, + 0.9984179139137268, + 0.04598181421883376, + -0.06783352047204971 + ], + [ + -0.9715573827798408, + 0.020627625286579132, + 0.23590451095160023, + -0.4623473882675171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.2336266455316598, + -0.05670437216758728, + 0.9706715690864025, + -1.968695044517517 + ], + [ + 0.04106339555499409, + 0.9979828000068665, + 0.04841646557672661, + -0.06853759288787842 + ], + [ + -0.9714589505234568, + 0.028547687456011772, + 0.23548382821169267, + -0.4666630029678345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.23181808844343935, + -0.058034077286720276, + 0.9710264940434763, + -1.9862157106399536 + ], + [ + 0.042674030379035485, + 0.9978645443916321, + 0.04945028626445745, + -0.06831802427768707 + ], + [ + -0.9718227175362704, + 0.029974140226840973, + 0.23379956294296236, + -0.4639251232147217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.22938585491617158, + -0.06145743280649185, + 0.9713934081321476, + -2.020508289337158 + ], + [ + 0.041864108602481256, + 0.997704029083252, + 0.05323619973290003, + -0.06414828449487686 + ], + [ + -0.97243490840259, + 0.028454884886741638, + 0.23143207422438303, + -0.4587935209274292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.22780256282528655, + -0.06780684739351273, + 0.9713435948961998, + -2.0541467666625977 + ], + [ + 0.04312065781915561, + 0.997296154499054, + 0.05950573813456347, + -0.057444632053375244 + ], + [ + -0.9727521373650405, + 0.028329405933618546, + 0.23011048314153404, + -0.455363392829895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.22672123833174201, + -0.07113027572631836, + 0.9713588790854664, + -2.0715038776397705 + ], + [ + 0.04531404966418519, + 0.9970199465751648, + 0.06243279829190052, + -0.05258861184120178 + ], + [ + -0.9729050110262446, + 0.02986135520040989, + 0.2292688381506208, + -0.4528770446777344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.23088875585114346, + -0.08002603054046632, + 0.9696835512368254, + -2.102213144302368 + ], + [ + 0.054326596589406896, + 0.9961174726486208, + 0.06927200410700023, + -0.047475915402173996 + ], + [ + -0.9714622827263334, + 0.036685474216938026, + 0.23433990654522335, + -0.4428807497024536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.2377764625430195, + -0.09114916622638704, + 0.9670338193629213, + -2.135512590408325 + ], + [ + 0.06757832735810297, + 0.9947271347045901, + 0.07714312850989845, + -0.042485155165195465 + ], + [ + -0.9689663407962492, + 0.04700769111514093, + 0.2426823668811399, + -0.4323922395706177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.24068737112010763, + -0.09791310876607895, + 0.9656514233169342, + -2.1481080055236816 + ], + [ + 0.06510598240287985, + 0.9942866563796997, + 0.08458901890997311, + -0.030716948211193085 + ], + [ + -0.9684166782087256, + 0.04251016676425934, + 0.245687001360821, + -0.4291759729385376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.24569519483450233, + -0.12642577290534973, + 0.961067337137762, + -2.177523136138916 + ], + [ + 0.06085264739783321, + 0.9915144443511963, + 0.11487414090186991, + -0.02446504682302475 + ], + [ + -0.9674352550094003, + 0.03025946021080017, + 0.25130369604795355, + -0.4251120090484619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/pull_out/transforms.json b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..49c9ba13ba4e91730079bd57e74d9339bf38ab33 --- /dev/null +++ b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/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, + 5.6416529332636856e-06, + -5.4483607527799904e-05, + 0.0005640062154270709 + ], + [ + -5.64634410693543e-06, + 1.0, + -8.610235818196088e-05, + 2.5099097911152057e-05 + ], + [ + 5.4483120038639754e-05, + 8.610266377218068e-05, + 1.0, + 0.00019526583491824567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999901056289673, + -0.0035129378084093332, + 0.002724738558754325, + -0.0012476837327186432 + ], + [ + 0.0035076758358627558, + 0.9999919533729553, + 0.00193350063636899, + -0.0003007178268735371 + ], + [ + -0.002731508808210492, + -0.0019239240791648626, + 0.9999943971633911, + -0.0011820603347760402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999827146530151, + -0.004166800994426012, + 0.004141739569604397, + -0.0014925480191965426 + ], + [ + 0.004154545720666647, + 0.999987006187439, + 0.0029630912467837334, + -0.0017849673990101096 + ], + [ + -0.0041540320962667465, + -0.002945832908153534, + 0.999987006187439, + -0.002255053276247862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999984622001648, + -0.0002671750553417951, + 0.005536788608878851, + -0.0019017295734513374 + ], + [ + 0.0002558463893365115, + 0.9999978542327881, + 0.0020466791465878487, + 0.00021059845831976936 + ], + [ + -0.00553732318803668, + -0.0020452309399843216, + 0.9999825954437256, + -0.004115366872533091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999661445617676, + 0.004165422637015581, + 0.007099347189068794, + -0.0029866304943367604 + ], + [ + -0.0041780234314501286, + 0.9999897480010986, + 0.00176104751881212, + -0.0003779106622835296 + ], + [ + -0.007091938517987728, + -0.0017906491411849856, + 0.9999732375144958, + -0.005024065592119263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999521374702454, + 0.004940752871334553, + 0.00844455324113369, + -0.0034605418147134873 + ], + [ + -0.0049677398055791855, + 0.9999825954437256, + 0.0031778502743691206, + -0.0003390446964037856 + ], + [ + -0.008428705856204033, + -0.0032196484971791506, + 0.9999592900276184, + -0.005541385192098835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999428987503052, + 0.004920187871903181, + 0.009487052448093891, + -0.00297929587153097 + ], + [ + -0.004999308381229639, + 0.9999527931213379, + 0.00833420641720295, + 0.00039547109821190437 + ], + [ + -0.009445599280297756, + -0.008381159976124763, + 0.9999202489852905, + -0.00528570698418965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9999618530273438, + 0.004911512136459351, + 0.007225919980555773, + -0.003944934151756267 + ], + [ + -0.005000557750463486, + 0.9999111294746399, + 0.012357120402157307, + 0.0011954425420198176 + ], + [ + -0.007164585869759321, + -0.012392782606184483, + 0.9998975396156311, + -0.006187417456466291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999690055847168, + 0.004963060840964317, + 0.006116203963756561, + -0.004254477247891445 + ], + [ + -0.005047946237027645, + 0.9998900294303894, + 0.0139424167573452, + 0.0027769972577631947 + ], + [ + -0.006046334281563759, + -0.013972857967019081, + 0.9998840689659119, + -0.007421471348165402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999975323677063, + 0.004131622612476349, + 0.005685335956513882, + -0.0009178631955624691 + ], + [ + -0.004229298792779446, + 0.9998418092727661, + 0.017277009785175323, + 0.00400696090821709 + ], + [ + -0.005613054148852825, + -0.017300628125667572, + 0.9998345971107483, + -0.008300522352302712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999969482421875, + 0.0031362243462353945, + 0.007156177889555693, + 0.002729546060667388 + ], + [ + -0.0032769886311143637, + 0.9997996687889099, + 0.01974414847791195, + 0.005884474232083275 + ], + [ + -0.0070928228087723255, + -0.019766995683312416, + 0.999779462814331, + -0.008803880906530788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999650120735168, + 0.0031666739378124475, + 0.0077451677061617374, + 0.00385792720065053 + ], + [ + -0.0033283589873462915, + 0.9997749328613281, + 0.02095257118344307, + 0.006495199098236977 + ], + [ + -0.007677074987441301, + -0.02097761631011963, + 0.9997504949569702, + -0.009084426066172975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999646544456482, + 0.0024396905209869146, + 0.008047503419220448, + 0.005861564840944041 + ], + [ + -0.002621757099404931, + 0.9997390508651733, + 0.02269156277179718, + 0.007946688238353957 + ], + [ + -0.007990042679011822, + -0.0227118581533432, + 0.9997101426124573, + -0.009573805341573288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999760389328003, + 0.0014796069590374827, + 0.006765532307326794, + 0.007341335509120236 + ], + [ + -0.0016447919188067317, + 0.999699056148529, + 0.024475647136569023, + 0.008953807610900156 + ], + [ + -0.006727281957864761, + -0.02448618970811367, + 0.9996775388717651, + -0.0071920550827469145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999788403511047, + 0.0016525397077202797, + 0.006289399694651365, + 0.007150277997263603 + ], + [ + -0.001812252216041088, + 0.9996738433837891, + 0.02547352947294712, + 0.009132040623161529 + ], + [ + -0.006245252210646868, + -0.025484388694167137, + 0.9996557235717773, + -0.008131598432858786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999775290489197, + 0.0007557097123935819, + 0.006659725680947304, + 0.0061810446149181755 + ], + [ + -0.0009310201276093721, + 0.999652087688446, + 0.026360318064689636, + 0.011151006933124293 + ], + [ + -0.006637487560510635, + -0.02636592462658882, + 0.999630331993103, + -0.009328998791586074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999858736991882, + -0.0017248205840587616, + 0.005029536783695221, + 0.0072088685699753345 + ], + [ + 0.0015897979028522968, + 0.999641478061676, + 0.02672746777534485, + 0.011108769916944088 + ], + [ + -0.005073834210634232, + -0.026719093322753906, + 0.9996300935745239, + -0.010384902783063433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999879598617554, + -0.003728436538949609, + 0.0031889150850474834, + 0.0063269815500086495 + ], + [ + 0.0036408433225005865, + 0.9996275305747986, + 0.027046265080571175, + 0.010072276881703781 + ], + [ + -0.0032885675318539143, + -0.027034329250454903, + 0.9996290802955627, + -0.011312452007439876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999974250793457, + -0.007097895257174969, + -0.0010298595298081636, + 0.006031648897831993 + ], + [ + 0.007123949006199837, + 0.9995825886726379, + 0.0279973316937685, + 0.007662354223430157 + ], + [ + 0.0008307075477205217, + -0.02800394780933857, + 0.9996074438095093, + -0.01190885661968163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999590516090393, + -0.008857796899974346, + -0.0018485940527170897, + 0.003662857901312352 + ], + [ + 0.008907255716621876, + 0.9995476603507996, + 0.028724918141961098, + 0.00512176374091752 + ], + [ + 0.0015933183021843433, + -0.028740206733345985, + 0.9995856285095215, + -0.012436964533602199 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999685883522034, + -0.00771233718842268, + -0.00181660579983145, + 0.00223956965760047 + ], + [ + 0.007761873304843903, + 0.9995476603507996, + 0.02905486710369587, + 0.004458089137361163 + ], + [ + 0.0015917032724246383, + -0.029068054631352425, + 0.9995761513710022, + -0.011501127987035682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999841451644897, + -0.005043008364737034, + -0.0024961361195892096, + -0.0031561571212174993 + ], + [ + 0.005115004256367683, + 0.9995448589324951, + 0.029730012640357018, + 0.005964762251824141 + ], + [ + 0.002345071407034993, + -0.02974230982363224, + 0.9995548725128174, + -0.014164081495255231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999567270278931, + -0.008028448559343815, + -0.004696548916399479, + -0.00675044133963566 + ], + [ + 0.008161376230418682, + 0.9995459914207458, + 0.02900414727628231, + 0.004525140791185318 + ], + [ + 0.004461558535695076, + -0.029041221365332603, + 0.9995682835578918, + -0.019190685802494133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999305009841919, + -0.009497420862317085, + -0.006983292754739523, + -0.009219969733292976 + ], + [ + 0.00969219021499157, + 0.9995494484901428, + 0.028407182544469833, + 0.002614768525023782 + ], + [ + 0.006710351910442114, + -0.028472892940044403, + 0.9995720386505127, + -0.021120129250699567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9997801184654236, + -0.010993612930178642, + -0.017857423052191734, + -0.020993841776535623 + ], + [ + 0.011490155011415482, + 0.9995434284210205, + 0.027945473790168762, + -0.0039039287937893755 + ], + [ + 0.017542047426104546, + -0.028144512325525284, + 0.9994499087333679, + -0.0249262383473771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9992815852165222, + -0.019385283812880516, + -0.032565731555223465, + -0.034400487865602215 + ], + [ + 0.02030392549932003, + 0.9993983507156372, + 0.0281190425157547, + -0.009973964993915861 + ], + [ + 0.03200104460120201, + -0.02876005321741104, + 0.9990739822387695, + -0.031196776792288772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9988832473754883, + -0.023594971746206284, + -0.04093397781252861, + -0.0394028454605076 + ], + [ + 0.024759244173765182, + 0.9992963671684265, + 0.028172796592116356, + -0.013983788663550975 + ], + [ + 0.040240440517663956, + -0.029154827818274498, + 0.9987645745277405, + -0.033301906213755644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9981541037559509, + -0.030618363991379738, + -0.052449364215135574, + -0.05473903707627739 + ], + [ + 0.0322565995156765, + 0.9990087151527405, + 0.03067808970808983, + -0.01936348769813776 + ], + [ + 0.05145805701613426, + -0.03231329843401909, + 0.9981522560119629, + -0.041570550841944554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9981130957603455, + -0.02906477078795433, + -0.05408783629536629, + -0.06296402025553915 + ], + [ + 0.03080984577536583, + 0.9990220069885254, + 0.03171445056796074, + -0.013172124760846298 + ], + [ + 0.053113166242837906, + -0.03332104906439781, + 0.9980323910713196, + -0.06906729232933786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.998187780380249, + -0.028432004153728485, + -0.05303611978888512, + -0.0669441751928793 + ], + [ + 0.030037980526685715, + 0.9991064071655273, + 0.02973344177007675, + -0.005758011417966041 + ], + [ + 0.05214334651827812, + -0.03127265349030495, + 0.9981498122215271, + -0.09681488348851128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9981219172477722, + -0.02971205860376358, + -0.05357060953974724, + -0.07530268680836473 + ], + [ + 0.03112087771296501, + 0.9991862177848816, + 0.025658680126070976, + -0.0027024444480914446 + ], + [ + 0.052764642983675, + -0.02727765403687954, + 0.9982343316078186, + -0.1469772064260074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9978487491607666, + -0.029871394857764244, + -0.058357078582048416, + -0.07564442078804685 + ], + [ + 0.03131008893251419, + 0.9992240071296692, + 0.023896291851997375, + -0.0017386903298930042 + ], + [ + 0.05759797617793083, + -0.025672048330307007, + 0.9980097413063049, + -0.19422510266304016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9977752566337585, + -0.027753345668315887, + -0.06061629205942154, + -0.08102422200498127 + ], + [ + 0.029234599322080612, + 0.9992918372154236, + 0.023687778040766716, + -0.001242483177754496 + ], + [ + 0.05991595238447189, + -0.02540717087686062, + 0.9978800415992737, + -0.2029427430932484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9975664019584656, + -0.024043787270784378, + -0.0654461458325386, + -0.09878035629434245 + ], + [ + 0.025504324585199356, + 0.999441921710968, + 0.021573301404714584, + 0.008290112692685354 + ], + [ + 0.06489091366529465, + -0.023189958184957504, + 0.9976228475570679, + -0.21068614707106637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9971169233322144, + -0.02888823300600052, + -0.07016629725694656, + -0.11425139261853128 + ], + [ + 0.03048093244433403, + 0.9992989897727966, + 0.021735090762376785, + 0.0006350049893150017 + ], + [ + 0.06948921829462051, + -0.023811161518096924, + 0.9972984790802002, + -0.21729028215484014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9970789551734924, + -0.028693048283457756, + -0.07078312337398529, + -0.1196778594619698 + ], + [ + 0.030342524871230125, + 0.999289870262146, + 0.02233894169330597, + -0.0008218814311678419 + ], + [ + 0.07009188830852509, + -0.02442142739892006, + 0.9972415566444397, + -0.2233358919620514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9973728060722351, + -0.022794542834162712, + -0.06876002252101898, + -0.13050241470336915 + ], + [ + 0.024103911593556404, + 0.9995424151420593, + 0.018273282796144485, + 0.008118366875818798 + ], + [ + 0.06831203401088715, + -0.01988266035914421, + 0.9974658489227295, + -0.23857949887003216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9976910352706909, + -0.029598303139209747, + -0.061127256602048874, + -0.1518657525883071 + ], + [ + 0.0304565466940403, + 0.9994494915008545, + 0.013156408444046974, + -0.0012116805362027317 + ], + [ + 0.060704197734594345, + -0.014987755566835403, + 0.9980432987213135, + -0.25734280243752494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9975965023040771, + -0.03758447244763374, + -0.058211736381053925, + -0.15411323624707404 + ], + [ + 0.038361866027116776, + 0.9991883039474487, + 0.012294700369238853, + -0.00825230914153277 + ], + [ + 0.05770239233970642, + -0.014498261734843254, + 0.9982285499572754, + -0.2586041964708813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9974662661552429, + -0.046908311545848846, + -0.053485214710235596, + -0.17201259178774697 + ], + [ + 0.04830392450094223, + 0.9985170960426331, + 0.025105753913521767, + -0.0029551054971913497 + ], + [ + 0.052228234708309174, + -0.027625689283013344, + 0.9982529878616333, + -0.2675828526417414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9970288276672363, + -0.056009359657764435, + -0.052882056683301926, + -0.1818266651696629 + ], + [ + 0.057999543845653534, + 0.9976351261138916, + 0.036880332976579666, + -0.006850254684982319 + ], + [ + 0.050691355019807816, + -0.03983788564801216, + 0.997919499874115, + -0.2803909889762364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9970958828926086, + -0.05606904998421669, + -0.05153670534491539, + -0.18912443873723822 + ], + [ + 0.0578763522207737, + 0.9977353811264038, + 0.034270718693733215, + -0.004542740168316023 + ], + [ + 0.04949846491217613, + -0.037153951823711395, + 0.9980828762054443, + -0.28656269169989085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9984009861946106, + -0.042626895010471344, + -0.037126462906599045, + -0.21424404544134934 + ], + [ + 0.043404512107372284, + 0.9988493323326111, + 0.02039683237671852, + -0.013316243017713229 + ], + [ + 0.03621428832411766, + -0.021975673735141754, + 0.9991024136543274, + -0.297299329439799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9992244839668274, + -0.034686651080846786, + -0.01863391324877739, + -0.24001300604274822 + ], + [ + 0.03484560176730156, + 0.9993584752082825, + 0.008274199441075325, + -0.012191003382146832 + ], + [ + 0.018334954977035522, + -0.008917093276977539, + 0.9997921586036682, + -0.30413700838883717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.999157726764679, + -0.03941962867975235, + -0.011399328708648682, + -0.2526539244349041 + ], + [ + 0.0394861102104187, + 0.9992040395736694, + 0.00566665967926383, + -0.013605423861493667 + ], + [ + 0.011166878044605255, + -0.0061120023019611835, + 0.9999189972877502, + -0.3047100053893195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9990049600601196, + -0.04453738406300545, + -0.0023361037019640207, + -0.269387944859253 + ], + [ + 0.04454371705651283, + 0.9990037083625793, + 0.0027331325691193342, + -0.013666821602133237 + ], + [ + 0.0022120496723800898, + -0.0028344716411083937, + 0.9999935626983643, + -0.3055372195584433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9990251660346985, + -0.0439828522503376, + 0.0037763789296150208, + -0.29103291260581166 + ], + [ + 0.04398305341601372, + 0.9990322589874268, + 2.994741589645855e-05, + -0.010259914157584371 + ], + [ + -0.003774041775614023, + 0.00013617845252156258, + 0.999992847442627, + -0.3098862561914656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9988953471183777, + -0.04636035114526749, + 0.007670607417821884, + -0.30556314557140307 + ], + [ + 0.0463734045624733, + 0.9989230036735535, + -0.0015326940920203924, + -0.007375886305863599 + ], + [ + -0.007591290399432182, + 0.0018867130856961012, + 0.9999694228172302, + -0.3125675410978378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9983826875686646, + -0.05378609895706177, + 0.01841406337916851, + -0.3322147439633097 + ], + [ + 0.053841233253479004, + 0.9985463619232178, + -0.0025114165619015694, + 0.0023614262363740378 + ], + [ + -0.018252218142151833, + 0.0034987907856702805, + 0.9998272657394409, + -0.31057880151839484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9977805614471436, + -0.04923442378640175, + 0.044832076877355576, + -0.3548342029460602 + ], + [ + 0.04927986487746239, + 0.9987850189208984, + 9.179185144603252e-05, + 0.01175393264921796 + ], + [ + -0.0447821281850338, + 0.0021177304442971945, + 0.9989945292472839, + -0.3102851672305001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.996738612651825, + -0.04848852753639221, + 0.06450548768043518, + -0.36872058137068675 + ], + [ + 0.04853558540344238, + 0.9988210797309875, + 0.0008381877560168505, + 0.01784083603267809 + ], + [ + -0.0644700825214386, + 0.002295357408002019, + 0.9979169964790344, + -0.310482815144554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9921966791152954, + -0.05950639769434929, + 0.10956595838069916, + -0.39509259515575 + ], + [ + 0.059566739946603775, + 0.9982206225395203, + 0.0027251713909208775, + 0.02950901853341964 + ], + [ + -0.1095331609249115, + 0.0038225804455578327, + 0.993975818157196, + -0.30565535440331415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9850437641143799, + -0.06253781169652939, + 0.16055460274219513, + -0.42090212641254304 + ], + [ + 0.06160377338528633, + 0.9980423450469971, + 0.010793638415634632, + 0.033462352894010054 + ], + [ + -0.1609153002500534, + -0.0007414380088448524, + 0.986967921257019, + -0.3044195008656335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9808244705200195, + -0.06223343312740326, + 0.18468992412090302, + -0.43440054124073374 + ], + [ + 0.059899166226387024, + 0.9980385303497314, + 0.018196992576122284, + 0.03510523849418239 + ], + [ + -0.1854601353406906, + -0.006785283796489239, + 0.982628345489502, + -0.3046570999281747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9712179899215698, + -0.07096808403730392, + 0.22737440466880798, + -0.4609494537115097 + ], + [ + 0.06463643163442612, + 0.9972884654998779, + 0.03518244996666908, + 0.03204253257385322 + ], + [ + -0.22925469279289246, + -0.019473161548376083, + 0.9731716513633728, + -0.30843230060168675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9609936475753784, + -0.08035481721162796, + 0.2646399736404419, + -0.4830049943356287 + ], + [ + 0.0705561563372612, + 0.9964307546615601, + 0.046342186629772186, + 0.03392405101349429 + ], + [ + -0.2674192190170288, + -0.025862567126750946, + 0.9632331728935242, + -0.31227859972961364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9558472037315369, + -0.08092014491558075, + 0.282503217458725, + -0.49574551979700726 + ], + [ + 0.06957472860813141, + 0.9963238835334778, + 0.0499812476336956, + 0.03279868322941992 + ], + [ + -0.2855091989040375, + -0.028119351714849472, + 0.9579633474349976, + -0.31853409078386097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9463133811950684, + -0.07624007016420364, + 0.3141312003135681, + -0.5250998697110585 + ], + [ + 0.06587780267000198, + 0.9968795776367188, + 0.043488577008247375, + 0.02847902508718627 + ], + [ + -0.3164665699005127, + -0.020459553226828575, + 0.9483830332756042, + -0.3240157128799529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.938743531703949, + -0.07000187039375305, + 0.33743196725845337, + -0.5546296533138033 + ], + [ + 0.06168569624423981, + 0.997470498085022, + 0.03531898558139801, + 0.02471571077430059 + ], + [ + -0.339050829410553, + -0.012340744026005268, + 0.9406871199607849, + -0.3298025802014366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.935799777507782, + -0.06531641632318497, + 0.346428245306015, + -0.5666000222639432 + ], + [ + 0.057750359177589417, + 0.997813880443573, + 0.03213033825159073, + 0.02341386156067962 + ], + [ + -0.34776952862739563, + -0.010061211884021759, + 0.9375260472297668, + -0.3349649174345864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9285925030708313, + -0.06194222718477249, + 0.3658949136734009, + -0.5763013930547805 + ], + [ + 0.055719293653964996, + 0.9980661869049072, + 0.027554143220186234, + 0.02124356584889548 + ], + [ + -0.3668941259384155, + -0.005199163220822811, + 0.9302482008934021, + -0.35216228876795086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9173382520675659, + -0.0598764605820179, + 0.3935801088809967, + -0.5939612799457141 + ], + [ + 0.055123332887887955, + 0.9982057809829712, + 0.02338096685707569, + 0.02051619188860059 + ], + [ + -0.39427390694618225, + 0.0002471897751092911, + 0.9189929366111755, + -0.3631562833275114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9105649590492249, + -0.055021852254867554, + 0.40968769788742065, + -0.608818820450041 + ], + [ + 0.05182621628046036, + 0.9984771013259888, + 0.018909331411123276, + 0.019435717798178157 + ], + [ + -0.4101042151451111, + 0.00401438819244504, + 0.9120298624038696, + -0.36333576999013384 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8971767425537109, + -0.05056943744421005, + 0.4387671649456024, + -0.6181822165846824 + ], + [ + 0.051470935344696045, + 0.9986259341239929, + 0.009849021211266518, + 0.023124056588858365 + ], + [ + -0.4386623203754425, + 0.01374744065105915, + 0.8985468149185181, + -0.3850755214691162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8799414038658142, + -0.04259238764643669, + 0.47316914796829224, + -0.6318336377068171 + ], + [ + 0.04549083486199379, + 0.9989506006240845, + 0.005322457756847143, + 0.01756131002117717 + ], + [ + -0.47289931774139404, + 0.016841406002640724, + 0.8809555172920227, + -0.40343196354215105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8705008625984192, + -0.043099693953990936, + 0.49027615785598755, + -0.6427953094244003 + ], + [ + 0.046785205602645874, + 0.9988937377929688, + 0.004743150435388088, + 0.015235677409532761 + ], + [ + -0.4899381995201111, + 0.018808752298355103, + 0.8715542554855347, + -0.41230658453608315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8518593311309814, + -0.05346839502453804, + 0.5210343599319458, + -0.6660856848671323 + ], + [ + 0.06054021045565605, + 0.9981597661972046, + 0.0034513287246227264, + 0.014529991690956411 + ], + [ + -0.5202600955963135, + 0.028603482991456985, + 0.8535287380218506, + -0.4255084781419663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8329470157623291, + -0.06542416661977768, + 0.5494715571403503, + -0.6852358911245588 + ], + [ + 0.0746757909655571, + 0.9971925020217896, + 0.005531709641218185, + 0.01832246467293728 + ], + [ + -0.5482907891273499, + 0.03642459586262703, + 0.8354941606521606, + -0.44162056190626964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8239538669586182, + -0.06652534008026123, + 0.5627383589744568, + -0.694870600813911 + ], + [ + 0.0749402642250061, + 0.997154712677002, + 0.008154284209012985, + 0.024014280896101678 + ], + [ + -0.5616796612739563, + 0.03545300289988518, + 0.826594889163971, + -0.4506508494180346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8080266714096069, + -0.06599555164575577, + 0.5854378342628479, + -0.7167829489424116 + ], + [ + 0.06392253190279007, + 0.9976604580879211, + 0.02423834055662155, + 0.02245882712304592 + ], + [ + -0.5856677889823914, + 0.017837442457675934, + 0.8103548884391785, + -0.4715285254376275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.793358325958252, + -0.07367603480815887, + 0.6042801737785339, + -0.7353888716962602 + ], + [ + 0.06082737445831299, + 0.9972755312919617, + 0.041731320321559906, + 0.015005612538920509 + ], + [ + -0.6057084202766418, + 0.003648882731795311, + 0.7956783771514893, + -0.4863252341747284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7856609225273132, + -0.07561221718788147, + 0.6140193343162537, + -0.743278403367315 + ], + [ + 0.06005704402923584, + 0.9971370100975037, + 0.04594524949789047, + 0.012743793120459906 + ], + [ + -0.6157354712486267, + 0.0007787961512804031, + 0.7879526019096375, + -0.48905958784005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7691705822944641, + -0.07329545170068741, + 0.6348263025283813, + -0.7662491049085345 + ], + [ + 0.05657467618584633, + 0.9973102807998657, + 0.04659973084926605, + 0.005385452349271094 + ], + [ + -0.6365343332290649, + 7.194839417934418e-05, + 0.7712484002113342, + -0.5001514162336077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.751174807548523, + -0.06932098418474197, + 0.6564533114433289, + -0.7859979483343306 + ], + [ + 0.052196308970451355, + 0.99759441614151, + 0.04561736434698105, + 0.005164606632694366 + ], + [ + -0.6580364108085632, + -2.1774321794509888e-06, + 0.7529861330986023, + -0.5133893514909441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7424478530883789, + -0.07001001387834549, + 0.6662355661392212, + -0.7921556192731101 + ], + [ + 0.0519961342215538, + 0.9975462555885315, + 0.04688103497028351, + 0.0068692171502681 + ], + [ + -0.6678829193115234, + -0.00016506202518939972, + 0.7442663908004761, + -0.5177114564274985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7299489974975586, + -0.07708731293678284, + 0.6791406869888306, + -0.8150305535112109 + ], + [ + 0.056697387248277664, + 0.9970242977142334, + 0.05223029851913452, + 0.005851289523499352 + ], + [ + -0.6811460256576538, + 0.0003800448030233383, + 0.7321475148200989, + -0.5236872484286627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7222785949707031, + -0.08682864904403687, + 0.6861300468444824, + -0.8340898464596461 + ], + [ + 0.06150704249739647, + 0.9962210655212402, + 0.0613226518034935, + 0.00481168847708475 + ], + [ + -0.6888617277145386, + -0.0020902100950479507, + 0.7248897552490234, + -0.5299334380361769 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.718119740486145, + -0.08718661218881607, + 0.6904365420341492, + -0.8442352324724197 + ], + [ + 0.0585751049220562, + 0.996173083782196, + 0.06487058103084564, + 0.0030517848415507216 + ], + [ + -0.6934501528739929, + -0.006142456084489822, + 0.7204784750938416, + -0.5338519556654824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7072092890739441, + -0.08196240663528442, + 0.7022373080253601, + -0.8724761210736774 + ], + [ + 0.051766570657491684, + 0.9965944290161133, + 0.06418554484844208, + -0.002684118190691585 + ], + [ + -0.7051065564155579, + -0.009040199220180511, + 0.7090437412261963, + -0.5348471062523978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6941802501678467, + -0.07751825451850891, + 0.7156149744987488, + -0.8950419328042439 + ], + [ + 0.05103746056556702, + 0.9969825744628906, + 0.05848837271332741, + -0.0034124058183460006 + ], + [ + -0.7179896235466003, + -0.0040783025324344635, + 0.6960419416427612, + -0.5394858937414866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6879531145095825, + -0.07341175526380539, + 0.7220327258110046, + -0.9068571773786394 + ], + [ + 0.04831250011920929, + 0.9972965717315674, + 0.05536668002605438, + -0.0051050229914604665 + ], + [ + -0.7241453528404236, + -0.0032064802944660187, + 0.6896400451660156, + -0.5431852884708889 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6767523884773254, + -0.0629584789276123, + 0.7335137724876404, + -0.9286403958286558 + ], + [ + 0.03938073664903641, + 0.9980060458183289, + 0.04932686686515808, + -0.003843155822583607 + ], + [ + -0.7351567149162292, + -0.004495769739151001, + 0.6778823137283325, + -0.5447810896805354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6670472621917725, + -0.06052478402853012, + 0.7425528168678284, + -0.9554953403889187 + ], + [ + 0.040654607117176056, + 0.9981666803359985, + 0.04483892768621445, + -0.004660383002862097 + ], + [ + -0.7439053654670715, + 0.0002785045653581619, + 0.6682850122451782, + -0.5482709031256419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6615381240844727, + -0.059877507388591766, + 0.7475172877311707, + -0.9678637119039657 + ], + [ + 0.04214886575937271, + 0.9982002973556519, + 0.042656756937503815, + -0.004830755790074666 + ], + [ + -0.7487261891365051, + 0.0032879244536161423, + 0.6628713607788086, + -0.5493154387625437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.649214506149292, + -0.0550590343773365, + 0.75860995054245, + -0.9967633406321208 + ], + [ + 0.038988176733255386, + 0.9984742999076843, + 0.039102230221033096, + -0.00804510402182738 + ], + [ + -0.7596054673194885, + 0.004191085696220398, + 0.6503706574440002, + -0.546415881315867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6353498697280884, + -0.05446580797433853, + 0.7703012824058533, + -1.026994893238658 + ], + [ + 0.041830480098724365, + 0.9984724521636963, + 0.03609706833958626, + -0.01032820889460189 + ], + [ + -0.7710906863212585, + 0.009287805296480656, + 0.6366576552391052, + -0.541771369557532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.6279066801071167, + -0.055999644100666046, + 0.776271402835846, + -1.0454154231245556 + ], + [ + 0.045778580009937286, + 0.9983386397361755, + 0.03499025106430054, + -0.015149369315495567 + ], + [ + -0.7769411206245422, + 0.01356598548591137, + 0.6294270753860474, + -0.5402595237133995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6133763194084167, + -0.057186976075172424, + 0.7877177000045776, + -1.0747936552479154 + ], + [ + 0.050061583518981934, + 0.9981846809387207, + 0.0334848053753376, + -0.01416269557639247 + ], + [ + -0.7882026433944702, + 0.018895603716373444, + 0.6151256561279297, + -0.541339043208531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.5933859944343567, + -0.06791665405035019, + 0.8020476698875427, + -1.1050636170402406 + ], + [ + 0.05371393635869026, + 0.9975539445877075, + 0.044732287526130676, + -0.016234229321754168 + ], + [ + -0.8031238913536072, + 0.0165376178920269, + 0.5955826044082642, + -0.5379586335212465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.5823935866355896, + -0.07211367040872574, + 0.8097020983695984, + -1.1201943993095367 + ], + [ + 0.05535294860601425, + 0.9972635507583618, + 0.04900461435317993, + -0.019600154577739656 + ], + [ + -0.8110203146934509, + 0.016279414296150208, + 0.5847916007041931, + -0.5337818603193949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.5612602233886719, + -0.0776405781507492, + 0.8239896893501282, + -1.1525634910379137 + ], + [ + 0.06015601381659508, + 0.9967837929725647, + 0.052946895360946655, + -0.028429274314216206 + ], + [ + -0.8254503607749939, + 0.019850939512252808, + 0.564125657081604, + -0.5265556999615261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.5403913259506226, + -0.08049479871988297, + 0.8375546932220459, + -1.1850826038254632 + ], + [ + 0.07440052181482315, + 0.9960856437683105, + 0.04772741347551346, + -0.035333624523546964 + ], + [ + -0.8381180763244629, + 0.03652302175760269, + 0.5442649126052856, + -0.5200647215048472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.5301473736763, + -0.08335629105567932, + 0.8437982797622681, + -1.2015461615153722 + ], + [ + 0.08248430490493774, + 0.9955060482025146, + 0.046519238501787186, + -0.036476129151525954 + ], + [ + -0.8438839912414551, + 0.04493806138634682, + 0.5346404910087585, + -0.5203992274072435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.5115489959716797, + -0.08732491731643677, + 0.8548052906990051, + -1.2321749362207595 + ], + [ + 0.09046025574207306, + 0.9947671890258789, + 0.047488145530223846, + -0.04156480376564321 + ], + [ + -0.8544791340827942, + 0.053033389151096344, + 0.5167715549468994, + -0.5244234613009862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.4965626001358032, + -0.08746451139450073, + 0.8635830283164978, + -1.266285748046542 + ], + [ + 0.08972935378551483, + 0.9947524666786194, + 0.0491548553109169, + -0.048661700919980094 + ], + [ + -0.8633506894111633, + 0.053080275654792786, + 0.5018049478530884, + -0.5257566523930383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.4903309941291809, + -0.08884640783071518, + 0.8669958710670471, + -1.2804160957771635 + ], + [ + 0.09003861993551254, + 0.9946314096450806, + 0.05100451782345772, + -0.049170228386563916 + ], + [ + -0.8668728470802307, + 0.053054023534059525, + 0.49569815397262573, + -0.5281185387145906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.47952383756637573, + -0.0888807401061058, + 0.8730161190032959, + -1.3190582479749406 + ], + [ + 0.0872388556599617, + 0.9947574734687805, + 0.053357165306806564, + -0.04823685348743484 + ], + [ + -0.8731817007064819, + 0.0505748949944973, + 0.4847637414932251, + -0.5294836804980323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.4703131914138794, + -0.08409873396158218, + 0.8784832954406738, + -1.3573530234987774 + ], + [ + 0.08702708035707474, + 0.9950166940689087, + 0.04866303130984306, + -0.05121612043548671 + ], + [ + -0.8781980276107788, + 0.05356496945023537, + 0.4752883315086365, + -0.5256116141875585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.4655948281288147, + -0.07973087579011917, + 0.8813992142677307, + -1.3753581676218245 + ], + [ + 0.08656037598848343, + 0.9952609539031982, + 0.04430564492940903, + -0.051136430849631626 + ], + [ + -0.8807547688484192, + 0.0556657537817955, + 0.4702898859977722, + -0.5260488225354089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.45845717191696167, + -0.07010798901319504, + 0.885947048664093, + -1.4130830828632628 + ], + [ + 0.08105025440454483, + 0.9960275888442993, + 0.03687739744782448, + -0.052526505158415865 + ], + [ + -0.8850130438804626, + 0.05489950254559517, + 0.4623182415962219, + -0.5216266185045242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.45780205726623535, + -0.061836518347263336, + 0.8869011402130127, + -1.4521390861935086 + ], + [ + 0.07484003156423569, + 0.9967178702354431, + 0.03086211159825325, + -0.050509768759920484 + ], + [ + -0.8858985900878906, + 0.05224696919322014, + 0.4609273076057434, + -0.5174613159800333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.45713257789611816, + -0.05825604125857353, + 0.8874886631965637, + -1.4699603645101427 + ], + [ + 0.0710027813911438, + 0.997058093547821, + 0.02887583151459694, + -0.05165576981232753 + ], + [ + -0.8865599036216736, + 0.04981407895684242, + 0.45992404222488403, + -0.5136120558258087 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.4518061876296997, + -0.05090298131108284, + 0.8906627297401428, + -1.5087781284536634 + ], + [ + 0.0608072392642498, + 0.9978061318397522, + 0.026180751621723175, + -0.052456280376229965 + ], + [ + -0.8900414109230042, + 0.04233011603355408, + 0.45391029119491577, + -0.5160693404220399 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.4515582323074341, + -0.03860088437795639, + 0.8914063572883606, + -1.5510511289986353 + ], + [ + 0.06092165410518646, + 0.9980660676956177, + 0.01235862448811531, + -0.05400286945736124 + ], + [ + -0.8901594281196594, + 0.048725299537181854, + 0.4530366063117981, + -0.5147065813106204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.45426249504089355, + -0.03622335195541382, + 0.8901311755180359, + -1.571865395515684 + ], + [ + 0.06432559341192245, + 0.9978986382484436, + 0.007781472057104111, + -0.05636696810760195 + ], + [ + -0.8885425925254822, + 0.05372337996959686, + 0.45563799142837524, + -0.5166905015233964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.4566280245780945, + -0.03574328497052193, + 0.8889394402503967, + -1.612614596883456 + ], + [ + 0.060896050184965134, + 0.9981048703193665, + 0.008851788938045502, + -0.05884729760388533 + ], + [ + -0.8875711560249329, + 0.05009092390537262, + 0.4579392671585083, + -0.512167900800705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.46130049228668213, + -0.03792009502649307, + 0.8864333033561707, + -1.6520383754419903 + ], + [ + 0.05540727078914642, + 0.998367428779602, + 0.01387446466833353, + -0.061307979347036475 + ], + [ + -0.8855122923851013, + 0.042714547365903854, + 0.4626484513282776, + -0.5149982390895722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.46310216188430786, + -0.039282090961933136, + 0.8854339718818665, + -1.6749701480543804 + ], + [ + 0.054204754531383514, + 0.9984025359153748, + 0.01594359055161476, + -0.06260144880544098 + ], + [ + -0.8846458792686462, + 0.04061121866106987, + 0.46449172496795654, + -0.5136669366132646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.4634206295013428, + -0.04159162938594818, + 0.8851618766784668, + -1.721770909854344 + ], + [ + 0.052535101771354675, + 0.9984304308891296, + 0.01940944418311119, + -0.06526899007814271 + ], + [ + -0.8845797777175903, + 0.037507329136133194, + 0.46487826108932495, + -0.5127671258790152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.45990943908691406, + -0.04428993538022041, + 0.8868606686592102, + -1.765595923198594 + ], + [ + 0.05094188079237938, + 0.9984264373779297, + 0.023444032296538353, + -0.07097307059115597 + ], + [ + -0.8865033984184265, + 0.0343962162733078, + 0.46144193410873413, + -0.5136539008409258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.45850640535354614, + -0.045430008322000504, + 0.887529194355011, + -1.7880179953007471 + ], + [ + 0.051185596734285355, + 0.9983845949172974, + 0.024661382660269737, + -0.0708991273912409 + ], + [ + -0.8872159123420715, + 0.0341213084757328, + 0.46009111404418945, + -0.5162943090711322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.45690059661865234, + -0.04673105478286743, + 0.8882893919944763, + -1.8268642043783552 + ], + [ + 0.05226273834705353, + 0.9983042478561401, + 0.025636840611696243, + -0.07082587133738256 + ], + [ + -0.887981116771698, + 0.034710951149463654, + 0.45856809616088867, + -0.5148934937658765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.45784831047058105, + -0.04892931506037712, + 0.8876829147338867, + -1.8604159779018825 + ], + [ + 0.04833995923399925, + 0.9983773827552795, + 0.03009808249771595, + -0.07457222872310215 + ], + [ + -0.887715220451355, + 0.02913019247353077, + 0.45947057008743286, + -0.5138861642943489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.45914602279663086, + -0.04999638721346855, + 0.886952817440033, + -1.8780764287899412 + ], + [ + 0.044373687356710434, + 0.9984594583511353, + 0.033311087638139725, + -0.07298955410304997 + ], + [ + -0.8872519135475159, + 0.024062713608145714, + 0.4606572389602661, + -0.5142155071099599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.4622564911842346, + -0.05170873925089836, + 0.8852373361587524, + -1.921598906176431 + ], + [ + 0.04104289039969444, + 0.9984760880470276, + 0.03689134865999222, + -0.07498970936451639 + ], + [ + -0.8857959508895874, + 0.01927942968904972, + 0.46367430686950684, + -0.5151114537602379 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.463506281375885, + -0.050428975373506546, + 0.8846574425697327, + -1.9602331582989012 + ], + [ + 0.038909900933504105, + 0.9985745549201965, + 0.03653629869222641, + -0.0777973441909703 + ], + [ + -0.8852389454841614, + 0.01748712919652462, + 0.46480774879455566, + -0.5113401800867111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.46533793210983276, + -0.050598740577697754, + 0.8836857676506042, + -1.9662962987309411 + ], + [ + 0.03766562044620514, + 0.9985923767089844, + 0.03734390065073967, + -0.08127686290277375 + ], + [ + -0.8843314051628113, + 0.015907030552625656, + 0.4665887951850891, + -0.5318510908929128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.4613415002822876, + -0.05230849236249924, + 0.8856793642044067, + -2.0219075688294 + ], + [ + 0.04247959703207016, + 0.9984179139137268, + 0.03683967515826225, + -0.07125434745103121 + ], + [ + -0.8862051963806152, + 0.020627625286579132, + 0.4628337025642395, + -0.505324803505625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.4622492790222168, + -0.05670437216758728, + 0.884935200214386, + -2.0515699283471185 + ], + [ + 0.051587410271167755, + 0.9979828000068665, + 0.037001293152570724, + -0.07200279335772235 + ], + [ + -0.8852482438087463, + 0.028547687456011772, + 0.46424204111099243, + -0.5101396385639433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.4624202847480774, + -0.058034077286720276, + 0.8847596049308777, + -2.0697763399945366 + ], + [ + 0.05347885191440582, + 0.9978645443916321, + 0.037502214312553406, + -0.07185990007387268 + ], + [ + -0.885046660900116, + 0.029974140226840973, + 0.4645363688468933, + -0.5077980024947061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.4619911313056946, + -0.06145743280649185, + 0.884752631187439, + -2.104770444688343 + ], + [ + 0.053705982863903046, + 0.997704029083252, + 0.04125971347093582, + -0.06807778101591837 + ], + [ + -0.8852570056915283, + 0.028454884886741638, + 0.46423107385635376, + -0.5030060041518438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.46228253841400146, + -0.06780684739351273, + 0.884136438369751, + -2.139051932569534 + ], + [ + 0.056568317115306854, + 0.997296154499054, + 0.04690788313746452, + -0.06194927797371906 + ], + [ + -0.8849265575408936, + 0.028329405933618546, + 0.46486830711364746, + -0.5000055080368405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.4630756378173828, + -0.07113027572631836, + 0.8834599852561951, + -2.1570452412915606 + ], + [ + 0.05952301248908043, + 0.9970199465751648, + 0.049073703587055206, + -0.0573401926647103 + ], + [ + -0.8843178153038025, + 0.02986135520040989, + 0.4659295678138733, + -0.4979908599739983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.4685189127922058, + -0.08002603054046631, + 0.8798214793205261, + -2.1881004791884195 + ], + [ + 0.07007357478141785, + 0.9961174726486206, + 0.05328868329524994, + -0.052677905914329345 + ], + [ + -0.8806700110435486, + 0.03668547421693802, + 0.47230762243270874, + -0.48898696998755137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.4763311743736267, + -0.09114916622638702, + 0.8745288252830505, + -2.2215773319441174 + ], + [ + 0.085004061460495, + 0.9947271347045898, + 0.05737771466374397, + -0.048131850894008364 + ], + [ + -0.8751475214958191, + 0.047007691115140915, + 0.4815675616264343, + -0.4797846027782985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.48060548305511475, + -0.09791310876607895, + 0.8714536428451538, + -2.234561739932923 + ], + [ + 0.08464585989713669, + 0.9942866563796997, + 0.06503206491470337, + -0.037168541952731116 + ], + [ + -0.8728421926498413, + 0.04251016676425934, + 0.48614758253097534, + -0.477404899776928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.4860658645629883, + -0.12642577290534973, + 0.8647291660308838, + -2.263996052742004 + ], + [ + 0.08851075917482376, + 0.9915144443511963, + 0.09521007537841797, + -0.03398605436086655 + ], + [ + -0.8694285154342651, + 0.03025946021080017, + 0.4931313991546631, + -0.47442514896392823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/tilt_down/transforms.json b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7bf04519745c3315ff84b512b30f5ca14ea4d5e3 --- /dev/null +++ b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/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, + 5.6416529332636856e-06, + -5.4483607527799904e-05, + 0.0005640062154270709 + ], + [ + -5.64634410693543e-06, + 1.0, + -8.610235818196088e-05, + 2.5099097911152057e-05 + ], + [ + 5.4483120038639754e-05, + 8.610266377218068e-05, + 1.0, + 0.00019526583491824567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999901056289673, + -0.0035185916094047096, + 0.002717433595424392, + -0.001245521241798997 + ], + [ + 0.0035076758358627558, + 0.999985777448579, + 0.004011251167756986, + -0.00029918330255895853 + ], + [ + -0.002731508808210492, + -0.004001679708862455, + 0.9999882411316365, + -0.00038841398782096803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999827146530151, + -0.00418397615624429, + 0.0041243885260188184, + -0.0014859738294035196 + ], + [ + 0.004154545720666647, + 0.9999660588053902, + 0.007118545544473413, + -0.0017802640795707703 + ], + [ + -0.0041540320962667465, + -0.007101287354856337, + 0.9999661305230012, + -0.0006677723140455782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999984622001648, + -0.0003016822097106859, + 0.0055350156688081355, + -0.0018885467434301972 + ], + [ + 0.0002558463893365115, + 0.9999656696851126, + 0.008279904402481133, + 0.0002154715039068833 + ], + [ + -0.00553732318803668, + -0.008278361111731863, + 0.9999504202195585, + -0.0017344559310004115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999661445617676, + 0.004106276130068855, + 0.007133720810315439, + -0.0029640928842127323 + ], + [ + -0.0041780234314501286, + 0.9999405753726702, + 0.010071897489423666, + -0.0003723200352396816 + ], + [ + -0.007091938517987728, + -0.010101360870859513, + 0.9999238194373238, + -0.0018495473777875304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999521374702454, + 0.0048527585075755, + 0.008495425430494679, + -0.003427031682804227 + ], + [ + -0.0049677398055791855, + 0.9998956189521631, + 0.013566175695704398, + -0.00032643417944200337 + ], + [ + -0.008428705856204033, + -0.013607729550467733, + 0.9998718805654379, + -0.0015732927713543177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999428987503052, + 0.004801536955909376, + 0.009547651842664978, + -0.0029341194313019514 + ], + [ + -0.004999308381229639, + 0.9997711924315421, + 0.020799284886313787, + 0.0004351577954366803 + ], + [ + -0.009445599280297756, + -0.020845829091152825, + 0.999738065486582, + -0.0005241819890215993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999961853027344, + 0.00480589961464996, + 0.007296588238751726, + -0.0039047901518642902 + ], + [ + -0.005000557750463487, + 0.9996256501070144, + 0.02689841854110345, + 0.0012640932109206915 + ], + [ + -0.007164585869759323, + -0.02693387932368951, + 0.9996115430179335, + -0.0006324311252683401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999690055847168, + 0.004860715235227498, + 0.0061978521472694234, + -0.004215644206851721 + ], + [ + -0.005047946237027645, + 0.9995201565776787, + 0.0305600807308053, + 0.002865520538762212 + ], + [ + -0.006046334281563759, + -0.030590418663797792, + 0.9995136909605433, + -0.0010730010690167546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999753236770632, + 0.004024590905684249, + 0.005761598596938106, + -0.0008772536530159414 + ], + [ + -0.0042292987927794465, + 0.9993439373451367, + 0.03596989753217713, + 0.004130368120968342 + ], + [ + -0.005613054148852826, + -0.035993376884006036, + 0.9993362848078925, + -0.001158846658654511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999969482421875, + 0.0029868689666356263, + 0.007219792165501333, + 0.0027863411232829094 + ], + [ + -0.0032769886311143637, + 0.9991736537275113, + 0.040511958806594875, + 0.0060411738231778145 + ], + [ + -0.0070928228087723255, + -0.04053438127638278, + 0.9991529774354863, + -0.0008691232651472092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999650120735171, + 0.002988842594285739, + 0.007815514479007418, + 0.0039255437441170216 + ], + [ + -0.0033283589873462924, + 0.9990349761811873, + 0.04379546761624277, + 0.006678118370473385 + ], + [ + -0.007677074987441303, + -0.043819947709794846, + 0.9990099722903034, + -0.0003564455546438694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999646544456482, + 0.0022383023942548815, + 0.008105825282624286, + 0.005938207730650902 + ], + [ + -0.002621757099404931, + 0.9988625976171589, + 0.04760869592129129, + 0.00816279835999012 + ], + [ + -0.007990042679011822, + -0.047628264291930275, + 0.9988331923717471, + -5.2756364311790094e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999760389328003, + 0.0012963453368983501, + 0.006803025277199598, + 0.007411138620227575 + ], + [ + -0.0016447919188067317, + 0.9986733572588437, + 0.051466354721933345, + 0.009206334128975868 + ], + [ + -0.006727281957864761, + -0.05147631231427622, + 0.9986515630997903, + 0.0031220782548189163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999788403511047, + 0.0014689151797508226, + 0.006334802617238403, + 0.007220160216093063 + ], + [ + -0.001812252216041088, + 0.9985100410064043, + 0.05453798546806024, + 0.009415079839527607 + ], + [ + -0.006245252210646868, + -0.05454831308565157, + 0.9984916130225826, + 0.0029756873846054077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999775290489199, + 0.0005478153462702346, + 0.006680040543384887, + 0.006260327063500881 + ], + [ + -0.0009310201276093724, + 0.9983451893499413, + 0.05749822336533998, + 0.011464820243418217 + ], + [ + -0.006637487560510637, + -0.05750314926332114, + 0.9983232695108619, + 0.002571362303569913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999858736991885, + -0.001891040514699394, + 0.004969427741450874, + 0.007272735703736544 + ], + [ + 0.0015897979028522973, + 0.9982007590111713, + 0.05993902655645995, + 0.011448166333138943 + ], + [ + -0.0050738342106342324, + -0.05993027833075867, + 0.9981896591665331, + 0.002308812690898776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999879598617554, + -0.0038387267651005313, + 0.003055256988784863, + 0.0063700065948069096 + ], + [ + 0.0036408433225005865, + 0.9980488676805354, + 0.06233103608540306, + 0.010437186807394028 + ], + [ + -0.0032885675318539143, + -0.06231916242847433, + 0.9980508379460378, + 0.0021746070124208927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999974250793457, + -0.0070544240552527955, + -0.0012945381344843861, + 0.006016936618834734 + ], + [ + 0.007123949006199837, + 0.9978367316861987, + 0.06535334006206851, + 0.008062316104769707 + ], + [ + 0.0008307075477205217, + -0.06536088091427217, + 0.9978613220575291, + 0.002371249720454216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999590516090393, + -0.00877793615273716, + -0.0021967482312286227, + 0.0036349822767078876 + ], + [ + 0.008907255716621876, + 0.9976351714075704, + 0.06815211666270903, + 0.0055549172684550285 + ], + [ + 0.0015933183021843433, + -0.0681688918478237, + 0.9976725065822403, + 0.002636152086779475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999685883522036, + -0.0076302109364046545, + -0.0021354349921923494, + 0.0022107346449047327 + ], + [ + 0.007761873304843904, + 0.9974777061878708, + 0.07055449151793694, + 0.0049192775040864944 + ], + [ + 0.0015917032724246387, + -0.0705688512774302, + 0.9975056247556202, + 0.004365160129964352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999841451644897, + -0.004929328609895998, + -0.0027137332864499335, + -0.0031977593898773193 + ], + [ + 0.005115004256367683, + 0.997296708770062, + 0.07330125064676146, + 0.0064602624624967575 + ], + [ + 0.002345071407034993, + -0.07331397291208203, + 0.9973061764240739, + 0.002495166379958391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999567270278933, + -0.0078054531029502945, + -0.005058503716693955, + -0.006832444574683905 + ], + [ + 0.008161376230418684, + 0.9971765525782833, + 0.07464819162308367, + 0.00503156241029501 + ], + [ + 0.004461558535695077, + -0.07468624562694677, + 0.997197127326093, + -0.0017379062483087182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999305009841919, + -0.009152981965516952, + -0.007429017557745758, + -0.009347442537546158 + ], + [ + 0.00969219021499157, + 0.9970512687038164, + 0.07612381738440145, + 0.0031333123333752155 + ], + [ + 0.006710351910442114, + -0.07619053190590834, + 0.99707069404943, + -0.0028739729896187782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9997801184654238, + -0.010089827935563511, + -0.01838321124162648, + -0.021333983168005943 + ], + [ + 0.011490155011415483, + 0.9969079503031062, + 0.07773386281064848, + -0.003371634054929018 + ], + [ + 0.01754204742610455, + -0.07792799235376732, + 0.9968046256157175, + -0.005889097228646278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9992815852165222, + -0.01766829262126618, + -0.03352830947247588, + -0.03504663333296776 + ], + [ + 0.02030392549932003, + 0.9965903913291578, + 0.07997084390910623, + -0.009416047483682632 + ], + [ + 0.03200104460120201, + -0.08059414848871826, + 0.9962331784662063, + -0.011373880319297314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9988832473754883, + -0.021350286649946055, + -0.04214829167624701, + -0.040247514843940735 + ], + [ + 0.024759244173765182, + 0.9963173417201326, + 0.08208952729528925, + -0.013402445241808891 + ], + [ + 0.040240440517663956, + -0.08304141131484015, + 0.9957332992943098, + -0.012692478485405445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9981541037559511, + -0.027629336332120464, + -0.054083637025695054, + -0.05586295202374458 + ], + [ + 0.032256599515676505, + 0.9957169554346768, + 0.08664469285054549, + -0.018706100061535835 + ], + [ + 0.051458057016134276, + -0.0882293070436006, + 0.9947701567779682, + -0.020181573927402496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9981130957603455, + -0.02587066980836735, + -0.05568629436169278, + -0.06416597217321396 + ], + [ + 0.03080984577536583, + 0.995487788566917, + 0.08974875841123404, + -0.012467359192669392 + ], + [ + 0.053113166242837906, + -0.09129509774910052, + 0.9944064315285123, + -0.046888794749975204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9981877803802492, + -0.025186625563294048, + -0.05465201510642612, + -0.06816484779119492 + ], + [ + 0.03003798052668572, + 0.9955027036274501, + 0.08984462960656378, + -0.005073670297861099 + ], + [ + 0.052143346518278136, + -0.09132344280031876, + 0.994455154991562, + -0.07384159415960312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9981219172477724, + -0.026317290398161663, + -0.055317419128447856, + -0.07657817751169205 + ], + [ + 0.03112087771296502, + 0.995647362217592, + 0.08785098625639101, + -0.0020915234927088022 + ], + [ + 0.05276464298367502, + -0.0894075202995143, + 0.9945964742166324, + -0.12320972234010696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9978487491607666, + -0.026053214547000575, + -0.06015878043268327, + -0.07708019018173218 + ], + [ + 0.03131008893251419, + 0.9956138284020696, + 0.08816322296243166, + -0.0011507656890898943 + ], + [ + 0.05759797617793083, + -0.08985713915132548, + 0.9942877814552941, + -0.16967089474201202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9977752566337585, + -0.023664691293377605, + -0.0623262821352859, + -0.08256368339061737 + ], + [ + 0.029234599322080612, + 0.9955100300929399, + 0.09002814414525741, + -0.0006408888148143888 + ], + [ + 0.05991595238447189, + -0.09164993852077953, + 0.9939871178859773, + -0.17759975790977478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9975664019584656, + -0.01950339185428217, + -0.06693966997853339, + -0.10049442201852798 + ], + [ + 0.025504324585199356, + 0.9956154238427959, + 0.08999716669507588, + 0.008855127729475498 + ], + [ + 0.06489091366529465, + -0.09148539486569851, + 0.9936898624091725, + -0.1845579296350479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9971169233322146, + -0.02386345239365419, + -0.0720303749595611, + -0.11614476889371872 + ], + [ + 0.030480932444334037, + 0.9952722857809976, + 0.09221693059112991, + 0.0012215074384585023 + ], + [ + 0.06948921829462053, + -0.0941466159509889, + 0.9931302243379257, + -0.1903790533542633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9970789551734924, + -0.02347425206096812, + -0.07268081634483611, + -0.12164405733346939 + ], + [ + 0.030342524871230125, + 0.9950255617232426, + 0.09488627214649788, + -0.00020135527302045375 + ], + [ + 0.07009188830852509, + -0.09681442735805613, + 0.9928313527836224, + -0.19563473761081696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9973728060722353, + -0.017592361751235734, + -0.07027119387148034, + -0.13246698677539825 + ], + [ + 0.02410391159355641, + 0.9953819276898223, + 0.09291808521844744, + 0.008640460669994354 + ], + [ + 0.06831203401088716, + -0.09436778064746003, + 0.9931908990349095, + -0.21008047461509705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9976910352706909, + -0.02481619170823235, + -0.06321991519698157, + -0.15366075932979584 + ], + [ + 0.0304565466940403, + 0.9954870530079736, + 0.0898771630502616, + -0.0008253415580838919 + ], + [ + 0.060704197734594345, + -0.09159510278744053, + 0.9939443626706731, + -0.22803518176078796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9975965023040771, + -0.032876028035749995, + -0.06099479979684201, + -0.15586882829666138 + ], + [ + 0.038361866027116776, + 0.9951057519313151, + 0.09106573930826398, + -0.007881516590714455 + ], + [ + 0.05770239233970642, + -0.0931867367705239, + 0.993975185622457, + -0.2284988909959793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9974662661552429, + -0.042425053662629116, + -0.05710667829952516, + -0.17366808652877808 + ], + [ + 0.04830392450094223, + 0.9932084005208878, + 0.10584782994336266, + -0.002178022637963295 + ], + [ + 0.052228234708309174, + -0.10833811832234834, + 0.9927411840965462, + -0.23668454587459564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9970288276672363, + -0.051426012586559544, + -0.05734915446434924, + -0.18350546061992645 + ], + [ + 0.057999543845653534, + 0.9911299335508816, + 0.11957198098287478, + -0.005679450463503599 + ], + [ + 0.050691355019807816, + -0.12254293236107902, + 0.9911678036993817, + -0.2487110048532486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9970958828926086, + -0.05148068715986134, + -0.05612048835754824, + -0.19080142676830292 + ], + [ + 0.0578763522207737, + 0.9912012831656579, + 0.11903944372344942, + -0.003427581861615181 + ], + [ + 0.04949846491217613, + -0.12194178806325788, + 0.991302196222013, + -0.25408539175987244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9984009861946108, + -0.03922890235532702, + -0.0407003642021179, + -0.21548159420490265 + ], + [ + 0.04340451210737229, + 0.9932707079867349, + 0.10737467172400421, + -0.012636348605155945 + ], + [ + 0.03621428832411767, + -0.10896956260496315, + 0.9933852211663405, + -0.2639959156513214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9992244839668274, + -0.032885683190619394, + -0.021654522097095195, + -0.24064892530441284 + ], + [ + 0.03484560176730156, + 0.9946342230654057, + 0.09740937662304766, + -0.011908629909157753 + ], + [ + 0.018334954977035522, + -0.09808840183277988, + 0.9950088142241675, + -0.2700171172618866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.999157726764679, + -0.038214310658979816, + -0.014950527787217338, + -0.2530519962310791 + ], + [ + 0.0394861102104187, + 0.9945139455495834, + 0.09686503930552016, + -0.013407540507614613 + ], + [ + 0.011166878044605255, + -0.09737379399883579, + 0.9951852601155985, + -0.26979219913482666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9990049600601196, + -0.04412474121391419, + -0.006484070672585642, + -0.2694713771343231 + ], + [ + 0.04454371705651283, + 0.9943849639079039, + 0.09599178553242356, + -0.013569209724664688 + ], + [ + 0.0022120496723800898, + -0.09618509833597767, + 0.9953610332566522, + -0.2698231637477875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9990251660346985, + -0.04414249972465688, + -0.0004382327620515874, + -0.2908950448036194 + ], + [ + 0.04398305341601372, + 0.9944697594316191, + 0.09536955997794226, + -0.010258820839226246 + ], + [ + -0.003774041775614023, + -0.0952958632939043, + 0.9954418174459285, + -0.2733785808086395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9988953471183779, + -0.04688735320864709, + 0.0031139180397724018, + -0.305277019739151 + ], + [ + 0.046373404562473304, + 0.9943130797219011, + 0.09586978623801394, + -0.007433058228343725 + ], + [ + -0.007591290399432184, + -0.09561948002570848, + 0.9953890301260637, + -0.275267094373703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9983826875686648, + -0.05535227238686808, + 0.012967193711857549, + -0.33151325583457947 + ], + [ + 0.05384123325347902, + 0.9938344170817338, + 0.09692417421392734, + 0.002265753224492073 + ], + [ + -0.018252218142151836, + -0.09606924330915265, + 0.9952072665244037, + -0.27249014377593994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9977805614471438, + -0.05353598718606341, + 0.0395959805880569, + -0.35309073328971863 + ], + [ + 0.0492798648774624, + 0.9936037294227765, + 0.10160291001597163, + 0.01175750233232975 + ], + [ + -0.044782128185033805, + -0.09942612278122359, + 0.9940367198232319, + -0.27143537998199463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9967386126518252, + -0.05491643783555467, + 0.059129350571369386, + -0.3661608397960663 + ], + [ + 0.0485355854034424, + 0.9933489407709358, + 0.10441328336447558, + 0.01787409745156765 + ], + [ + -0.06447008252143861, + -0.1012028778149376, + 0.9927746864466996, + -0.2708829343318939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9921966791152954, + -0.07076121101172736, + 0.10265749665072177, + -0.39065778255462646 + ], + [ + 0.059566739946603775, + 0.9923331776155349, + 0.10828989992493565, + 0.02961932308971882 + ], + [ + -0.1095331609249115, + -0.10132991028053638, + 0.9888047271757293, + -0.2654229998588562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9850437641143801, + -0.07948640942251937, + 0.15287468420444994, + -0.4142760634422302 + ], + [ + 0.061603773385286345, + 0.9910587400796875, + 0.11835370230296743, + 0.033907804638147354 + ], + [ + -0.16091530025005343, + -0.10716591668740855, + 0.98113286236945, + -0.26368749141693115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9808244705200195, + -0.08215380205629243, + 0.17673177721706815, + -0.4266318380832672 + ], + [ + 0.059899166226387024, + 0.9899932721547674, + 0.12777073095886918, + 0.035870667546987534 + ], + [ + -0.1854601353406906, + -0.11473457426971116, + 0.9759305727882405, + -0.2633243203163147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9712179899215698, + -0.09597970771864324, + 0.21799881778730934, + -0.4512048363685608 + ], + [ + 0.06463643163442612, + 0.9870785403743756, + 0.1466221106694028, + 0.03355035185813904 + ], + [ + -0.22925469279289246, + -0.1283113724993359, + 0.9648722499509145, + -0.26672494411468506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9609936475753784, + -0.11000731316314426, + 0.2537510657084101, + -0.4714532494544983 + ], + [ + 0.0705561563372612, + 0.9846471131509403, + 0.159661860381727, + 0.03594692423939705 + ], + [ + -0.2674192190170288, + -0.13553033556395783, + 0.9540013343192097, + -0.2702327072620392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9558472037315371, + -0.11316961360872847, + 0.27119877633083334, + -0.48318982124328613 + ], + [ + 0.06957472860813142, + 0.9837846291704561, + 0.16530943536955314, + 0.035020072013139725 + ], + [ + -0.28550919890403753, + -0.13914197534691444, + 0.9482214844994223, + -0.27595794200897217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9463133811950684, + -0.11282261571233937, + 0.3029224598687122, + -0.5108891725540161 + ], + [ + 0.06587780267000198, + 0.9847579823431107, + 0.16097162747170915, + 0.030446365475654602 + ], + [ + -0.3164665699005127, + -0.1323737456137783, + 0.9393221825313486, + -0.2811126708984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.938743531703949, + -0.11006002248886487, + 0.3265691134144261, + -0.5390970706939697 + ], + [ + 0.06168569624423981, + 0.9859901720882159, + 0.15497808179846412, + 0.026341505348682404 + ], + [ + -0.339050829410553, + -0.12534003263812427, + 0.9323810529185509, + -0.28650110960006714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.935799777507782, + -0.10718811015350842, + 0.3358414394157271, + -0.5503783822059631 + ], + [ + 0.057750359177589417, + 0.9863967536524537, + 0.1539036810018628, + 0.02491837739944458 + ], + [ + -0.34776952862739563, + -0.12462806994270725, + 0.9292600074259098, + -0.29106488823890686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9285925030708315, + -0.10695823543468873, + 0.355353152840063, + -0.5588778257369995 + ], + [ + 0.05571929365396501, + 0.9868942171825991, + 0.15144354837049062, + 0.022555667906999588 + ], + [ + -0.3668941259384156, + -0.12082932112995767, + 0.9223822535797629, + -0.3078647553920746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9173382520675661, + -0.10914670008537625, + 0.3828543985630571, + -0.5749070048332214 + ], + [ + 0.05512333288788797, + 0.9872434068813849, + 0.1493717053803424, + 0.02164812758564949 + ], + [ + -0.39427390694618236, + -0.1159201709870204, + 0.9116526710334135, + -0.31866535544395447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9105649590492251, + -0.10719684189057722, + 0.3992245622635681, + -0.5886595845222473 + ], + [ + 0.05182621628046037, + 0.9877744404869012, + 0.14702292136790815, + 0.020366176962852478 + ], + [ + -0.4101042151451112, + -0.11318362580866398, + 0.9049884264883091, + -0.31845811009407043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8971767425537112, + -0.10740741620816323, + 0.42841281491256983, + -0.5962438583374023 + ], + [ + 0.05147093534469606, + 0.9887969955860532, + 0.14011160210286877, + 0.023616507649421692 + ], + [ + -0.4386623203754426, + -0.10365406489223561, + 0.8926540234357231, + -0.3401481807231903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8799414038658144, + -0.10495192180826582, + 0.46334463219424016, + -0.6077996492385864 + ], + [ + 0.0454908348619938, + 0.989425700021651, + 0.13772223923701915, + 0.017831657081842422 + ], + [ + -0.47289931774139415, + -0.10010956369771298, + 0.8754109501597834, + -0.3586850166320801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8705008625984192, + -0.10872048038783887, + 0.4800084913053044, + -0.61750328540802 + ], + [ + 0.046785205602645874, + 0.9891590647743574, + 0.13919605401296203, + 0.015480363741517067 + ], + [ + -0.4899381995201111, + -0.09871298668055824, + 0.866150296241114, + -0.3673454523086548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8518593311309814, + -0.12419371048954907, + 0.5088335639195105, + -0.638793408870697 + ], + [ + 0.06054021045565605, + 0.9883172276453592, + 0.1398709693403706, + 0.014710775576531887 + ], + [ + -0.5202600955963135, + -0.08834550495060321, + 0.8494260047958494, + -0.3807998299598694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8329470157623291, + -0.14103678189683672, + 0.5350775082512046, + -0.6560179591178894 + ], + [ + 0.0746757909655571, + 0.9867778907659797, + 0.14385020054027037, + 0.018616611137986183 + ], + [ + -0.5482907891273499, + -0.07986227091053284, + 0.8324657718805182, + -0.3971934914588928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8239538669586182, + -0.14510666398388014, + 0.5477628479566028, + -0.6645005941390991 + ], + [ + 0.0749402642250061, + 0.9860701519175837, + 0.14849130904584668, + 0.024454353377223015 + ], + [ + -0.5616796612739563, + -0.0813004974439569, + 0.8233506272068917, + -0.4060409665107727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8080266714096072, + -0.14896332732476827, + 0.5700024541488707, + -0.6847232580184937 + ], + [ + 0.06392253190279008, + 0.9839620281868293, + 0.16653111982930166, + 0.023786164820194244 + ], + [ + -0.5856677889823915, + -0.0981255907075013, + 0.8045897016610444, + -0.42715194821357727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7933583259582522, + -0.16047758573296053, + 0.5872219605942788, + -0.7018177509307861 + ], + [ + 0.060827374458313, + 0.9806977379526507, + 0.18582770295087683, + 0.017324019223451614 + ], + [ + -0.605708420276642, + -0.1117087901020008, + 0.7878061566309096, + -0.44212087988853455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7856609225273135, + -0.1650440383096344, + 0.5962360402732216, + -0.7086789011955261 + ], + [ + 0.060057044029235854, + 0.9795531025201718, + 0.1920127657233201, + 0.015332771465182304 + ], + [ + -0.6157354712486268, + -0.1150487513842099, + 0.7795086235472622, + -0.4446590840816498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7691705822944643, + -0.1670927528208064, + 0.6168116970167061, + -0.729973316192627 + ], + [ + 0.05657467618584634, + 0.9792258194771719, + 0.19472063468875725, + 0.008048294112086296 + ], + [ + -0.636534333229065, + -0.11487746456218448, + 0.7626449161574986, + -0.4560800790786743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.751174807548523, + -0.1677129146844043, + 0.6384424227769605, + -0.7479653358459473 + ], + [ + 0.052196308970451355, + 0.9792484261171622, + 0.19582666568612708, + 0.007807517424225807 + ], + [ + -0.6580364108085632, + -0.11377572838843014, + 0.7443407823525522, + -0.46976396441459656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7424478530883789, + -0.17121814453219836, + 0.6476539034199098, + -0.7530274987220764 + ], + [ + 0.0519961342215538, + 0.9785983056100678, + 0.19910228460690496, + 0.009622547775506973 + ], + [ + -0.6678829193115234, + -0.11414758643748718, + 0.735460954933119, + -0.47400057315826416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7299489974975586, + -0.18155790611254058, + 0.6589470792616839, + -0.7746055126190186 + ], + [ + 0.056697387248277664, + 0.9768366491981283, + 0.20633859333467125, + 0.008960235863924026 + ], + [ + -0.6811460256576538, + -0.1132560719953755, + 0.7233347703846936, + -0.48010703921318054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7222785949707032, + -0.1936459036746722, + 0.6639389425750262, + -0.7927042245864868 + ], + [ + 0.06150704249739648, + 0.9741827571971697, + 0.21722070479631655, + 0.008510515093803406 + ], + [ + -0.6888617277145387, + -0.11605695072091311, + 0.7155419697212696, + -0.4862099289894104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.718119740486145, + -0.196064444937704, + 0.6677296289309816, + -0.8020418882369995 + ], + [ + 0.0585751049220562, + 0.9731167409199525, + 0.22273934020899788, + 0.007016098126769066 + ], + [ + -0.6934501528739929, + -0.12084118084991774, + 0.7102987905459889, + -0.48982271552085876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7072092890739441, + -0.1941998089815642, + 0.6798099051026516, + -0.8290042877197266 + ], + [ + 0.051766570657491684, + 0.9731781987652711, + 0.22415270143682584, + 0.0012892726808786392 + ], + [ + -0.7051065564155579, + -0.12333144653342608, + 0.698293710747816, + -0.4909539222717285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6941802501678467, + -0.19341348010528153, + 0.6933289963819521, + -0.8501740097999573 + ], + [ + 0.05103746056556702, + 0.9740242514942838, + 0.2206170914192874, + 0.00025472231209278107 + ], + [ + -0.7179896235466003, + -0.11776227575937878, + 0.6860197252888163, + -0.49584516882896423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6879531145095825, + -0.19186560744486184, + 0.6999343766616956, + -0.8610138297080994 + ], + [ + 0.04831250011920929, + 0.9743899338322005, + 0.21961370196580296, + -0.0015896782279014587 + ], + [ + -0.7241453528404236, + -0.11726836644410521, + 0.6796041521680057, + -0.4993986189365387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6767523884773254, + -0.1849370615161383, + 0.7126040329493684, + -0.8814859390258789 + ], + [ + 0.03938073664903641, + 0.9756426797022348, + 0.21580215204698877, + -0.0006721429526805878 + ], + [ + -0.7351567149162292, + -0.1179817553094697, + 0.6675514576609966, + -0.5012029409408569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6670472621917725, + -0.1855514421743143, + 0.7215390478879705, + -0.9071704745292664 + ], + [ + 0.040654607117176056, + 0.9761114441114171, + 0.21343312733444342, + -0.0017422940582036972 + ], + [ + -0.7439053654670715, + -0.11303610959792493, + 0.658656035486882, + -0.5047793388366699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6615381240844727, + -0.1872644707786225, + 0.7261538606466532, + -0.9186224937438965 + ], + [ + 0.04214886575937271, + 0.9760734541997559, + 0.21331677046096045, + -0.0020208265632390976 + ], + [ + -0.7487261891365051, + -0.1105106316078515, + 0.6536028241138465, + -0.5056501030921936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.649214506149292, + -0.18595379939986326, + 0.7375240598226871, + -0.9461893439292908 + ], + [ + 0.038988176733255386, + 0.9765152007119291, + 0.21189142210797507, + -0.005438288673758507 + ], + [ + -0.7596054673194885, + -0.1088082657860176, + 0.6412178401760931, + -0.5030578374862671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6353498697280884, + -0.1889559027154143, + 0.7487497958219438, + -0.9750301241874695 + ], + [ + 0.041830480098724365, + 0.976599000828629, + 0.21096119940174035, + -0.007893089205026627 + ], + [ + -0.7710906863212585, + -0.10271360345818285, + 0.6283861463832695, + -0.49882224202156067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.6279066801071167, + -0.19308176333434274, + 0.7539580118732304, + -0.9924318194389343 + ], + [ + 0.045778580009937286, + 0.9762236064857461, + 0.2118769156840435, + -0.012761145830154419 + ], + [ + -0.7769411206245422, + -0.09852380640572048, + 0.6218163223674376, + -0.49729862809181213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6133763194084169, + -0.19787373887043103, + 0.7646015358332474, + -1.0204036235809326 + ], + [ + 0.05006158351898195, + 0.9759004713333174, + 0.21239623231867616, + -0.011850649490952492 + ], + [ + -0.7882026433944704, + -0.09200164973221489, + 0.6085000518596306, + -0.49886608123779297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.5933859944343567, + -0.2126183733256449, + 0.7763289019441364, + -1.049047589302063 + ], + [ + 0.05371393635869026, + 0.9727917366722777, + 0.22536877994067758, + -0.013110069558024406 + ], + [ + -0.8031238913536072, + -0.09203100188238984, + 0.5886615548613627, + -0.4963623881340027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.5823935866355896, + -0.21976382541509787, + 0.782637675174708, + -1.0630011558532715 + ], + [ + 0.05535294860601425, + 0.9712503779546499, + 0.23153562408845327, + -0.016138717532157898 + ], + [ + -0.8110203146934509, + -0.09152357061930454, + 0.5778145650683196, + -0.49247515201568604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.5612602233886719, + -0.22947627648612817, + 0.7951903583802845, + -1.0937070846557617 + ], + [ + 0.06015601381659508, + 0.9695628936263128, + 0.2373375211889327, + -0.02464735321700573 + ], + [ + -0.8254503607749939, + -0.08537263992295463, + 0.5579814774074997, + -0.4862610101699829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.5403913259506226, + -0.23648093764144065, + 0.8074986333681654, + -1.1245925426483154 + ], + [ + 0.07440052181482315, + 0.9693629767967394, + 0.23409385924059634, + -0.031886644661426544 + ], + [ + -0.8381180763244629, + -0.06642397840986052, + 0.5414296642258826, + -0.4807567000389099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.5301473736763, + -0.24215383454333178, + 0.8125917355008494, + -1.1399354934692383 + ], + [ + 0.08248430490493774, + 0.9685349972446688, + 0.2348111808897583, + -0.03307948634028435 + ], + [ + -0.8438839912414551, + -0.05745846523344042, + 0.533440164179889, + -0.481361985206604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.5115489959716797, + -0.2498501610731254, + 0.8221268899647223, + -1.1690821647644043 + ], + [ + 0.09046025574207306, + 0.9671338529584392, + 0.2376320575808585, + -0.03805972635746002 + ], + [ + -0.8544791340827942, + -0.04719062763508822, + 0.5173378248596311, + -0.48628079891204834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.4965626001358032, + -0.25339826043223, + 0.8301897428658653, + -1.201859712600708 + ], + [ + 0.08972935378551483, + 0.9663001172755279, + 0.241273191874141, + -0.04499459266662598 + ], + [ + -0.8633506894111633, + -0.045314851668118286, + 0.50256570274117, + -0.48832041025161743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.4903309941291809, + -0.25714701051341227, + 0.8327370170802693, + -1.2150473594665527 + ], + [ + 0.09003861993551254, + 0.9653152788224872, + 0.24507042735268422, + -0.045324649661779404 + ], + [ + -0.8668728470802307, + -0.04518711476495048, + 0.4964771031218265, + -0.4907444715499878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.47952383756637573, + -0.26010323308303096, + 0.838095005438608, + -1.2525427341461182 + ], + [ + 0.0872388556599617, + 0.96446139105823, + 0.2494065822499345, + -0.044171545654535294 + ], + [ + -0.8731817007064819, + -0.04648194509035704, + 0.48517330290405697, + -0.4925493001937866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.4703131914138794, + -0.2582532614048792, + 0.8438665477408086, + -1.2897237539291382 + ], + [ + 0.08702708035707474, + 0.9651347554546623, + 0.24686274709958198, + -0.047469839453697205 + ], + [ + -0.8781980276107788, + -0.04266356334112104, + 0.47639062163681006, + -0.4890219569206238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.4655948281288147, + -0.2563180948347935, + 0.8470670703824429, + -1.306804895401001 + ], + [ + 0.08656037598848343, + 0.9657401014563037, + 0.24464957178806424, + -0.047690436244010925 + ], + [ + -0.8807547688484192, + -0.040585145119068654, + 0.47183058295489627, + -0.4894707202911377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.4584571719169618, + -0.2495864370893668, + 0.8529501237359233, + -1.343472957611084 + ], + [ + 0.08105025440454484, + 0.9674973982279209, + 0.23954056984927957, + -0.04962899535894394 + ], + [ + -0.8850130438804629, + -0.0406872868410108, + 0.46378514053588843, + -0.4853016138076782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.45780205726623535, + -0.24346138241049567, + 0.8550695543563833, + -1.3817501068115234 + ], + [ + 0.07484003156423569, + 0.9689139002840147, + 0.2358067781370995, + -0.04806039482355118 + ], + [ + -0.8858985900878906, + -0.04395939125070222, + 0.4617914037825137, + -0.4808797836303711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.45713257789611816, + -0.24185796224382675, + 0.8558823632630878, + -1.398820400238037 + ], + [ + 0.0710027813911438, + 0.9691683936096848, + 0.2359476221174904, + -0.049341119825839996 + ], + [ + -0.8865599036216736, + -0.04708931030293729, + 0.46021099936223725, + -0.4767451286315918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.4518061876296998, + -0.23711488879740744, + 0.8600277560434386, + -1.4366768598556519 + ], + [ + 0.060807239264249816, + 0.96997426791898, + 0.23548339233909144, + -0.05033688619732857 + ], + [ + -0.8900414109230044, + -0.054096948088287716, + 0.452658714025921, + -0.47932422161102295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.4515582323074341, + -0.22703780102181031, + 0.8628726203768697, + -1.4781821966171265 + ], + [ + 0.06092165410518646, + 0.9726724526676355, + 0.22404667126774735, + -0.052992600947618484 + ], + [ + -0.8901594281196594, + -0.04860250865759367, + 0.453049795966942, + -0.47767263650894165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.45426249504089355, + -0.22623451089004093, + 0.8616632677202564, + -1.498394250869751 + ], + [ + 0.06432559341192245, + 0.97302268979417, + 0.22156057562479903, + -0.05572468787431717 + ], + [ + -0.8885425925254822, + -0.04521965914537298, + 0.45656036097652863, + -0.47908228635787964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.4566280245780945, + -0.2272977356602196, + 0.8601317632879917, + -1.5385363101959229 + ], + [ + 0.060896050184965134, + 0.9725299217993444, + 0.2246713989977461, + -0.058109648525714874 + ], + [ + -0.8875711560249329, + -0.05021262918912156, + 0.4579259382621619, + -0.4740062952041626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.46130049228668213, + -0.2306611197820691, + 0.8567364721585239, + -1.5774654150009155 + ], + [ + 0.05540727078914642, + 0.9712199306134462, + 0.23165031836161884, + -0.060140762478113174 + ], + [ + -0.8855122923851013, + -0.05939098488019798, + 0.4608045496607947, + -0.47607702016830444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.463102161884308, + -0.2335488517770607, + 0.8549803126776991, + -1.5997785329818726 + ], + [ + 0.05420475453138353, + 0.9703145293916742, + 0.23569373316518785, + -0.061247508972883224 + ], + [ + -0.8846458792686465, + -0.06280629732032339, + 0.4620142883740244, + -0.47422200441360474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.4634206295013428, + -0.23751588790249903, + 0.8537140121573564, + -1.6458998918533325 + ], + [ + 0.052535101771354675, + 0.9690786877983388, + 0.24109448086590474, + -0.06360532343387604 + ], + [ + -0.8845797777175903, + -0.06687820274737713, + 0.4615689584121115, + -0.47292041778564453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.45990943908691406, + -0.24230005554893405, + 0.8542681821721028, + -1.688875436782837 + ], + [ + 0.05094188079237938, + 0.9676658140701921, + 0.2470381464174678, + -0.06894497573375702 + ], + [ + -0.8865033984184265, + -0.07009714505490632, + 0.4573818410290038, + -0.473735511302948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.45850640535354614, + -0.24533639976966104, + 0.854155727860355, + -1.7105352878570557 + ], + [ + 0.051185596734285355, + 0.966833866647531, + 0.25022441420907776, + -0.06874614953994751 + ], + [ + -0.8872159123420715, + -0.07100903164368873, + 0.4558572302152781, + -0.47612762451171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.45690059661865234, + -0.24855098414938226, + 0.8540867893191003, + -1.7486101388931274 + ], + [ + 0.05226273834705353, + 0.9660106674528036, + 0.2531639967522079, + -0.06856738775968552 + ], + [ + -0.887981116771698, + -0.07103386326095797, + 0.45436080290507674, + -0.4744958281517029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.45784831047058105, + -0.25232418736502665, + 0.8524714302856756, + -1.781510829925537 + ], + [ + 0.04833995923399925, + 0.9645248956900457, + 0.25952845424235815, + -0.07189684361219406 + ], + [ + -0.887715220451355, + -0.0776162212358666, + 0.4538033661081422, + -0.47304433584213257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.45914602279663086, + -0.2549628312766914, + 0.8509870115146205, + -1.798532247543335 + ], + [ + 0.044373687356710434, + 0.9633159323079266, + 0.2646759019861624, + -0.07000213116407394 + ], + [ + -0.8872519135475159, + -0.08376346211625166, + 0.4536163449513064, + -0.4729025959968567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.4622564911842346, + -0.25799242701687436, + 0.8483860221893712, + -1.841506004333496 + ], + [ + 0.04104289039969444, + 0.961939947517297, + 0.27016107672658696, + -0.07165192067623138 + ], + [ + -0.8857959508895874, + -0.09006349541938848, + 0.45525171724321306, + -0.4731599688529968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.4635062813758851, + -0.2583739712506729, + 0.8475876138968752, + -1.879490613937378 + ], + [ + 0.03890990093350411, + 0.9615562394541383, + 0.271837527252976, + -0.07446268200874329 + ], + [ + -0.8852389454841616, + -0.09301884775876437, + 0.45574064662769614, + -0.46891725063323975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.46533793210983276, + -0.26006743110572034, + 0.8460648318978624, + -1.8849411010742188 + ], + [ + 0.03766562044620514, + 0.9608138838143758, + 0.2746233464340666, + -0.07783885300159454 + ], + [ + -0.8843314051628113, + -0.09592512380182774, + 0.456898794085604, + -0.4888952970504761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.4613415002822876, + -0.26396416104024606, + 0.8470460650030073, + -1.9396659135818481 + ], + [ + 0.04247959703207016, + 0.9601932454639007, + 0.2760877104383778, + -0.06783352047204971 + ], + [ + -0.8862051963806152, + -0.09138855881558891, + 0.45419012150408566, + -0.4623473882675171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.4622492790222168, + -0.2698073478172559, + 0.844706865998622, + -1.968695044517517 + ], + [ + 0.051587410271167755, + 0.9591561948816694, + 0.2781333468403685, + -0.06853759288787842 + ], + [ + -0.8852482438087463, + -0.08499070094493477, + 0.457287900503474, + -0.4666630029678345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.4624202847480774, + -0.27280816342428477, + 0.8436487531034658, + -1.9862157106399536 + ], + [ + 0.05347885191440582, + 0.9583389706229696, + 0.28058239862395346, + -0.06831802427768707 + ], + [ + -0.885046660900116, + -0.08462962062679291, + 0.457744813598538, + -0.4639251232147217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.4619911313056946, + -0.27787625907417357, + 0.8422286026271036, + -2.020508289337158 + ], + [ + 0.053705982863903046, + 0.9566711734382797, + 0.2861747010427081, + -0.06414828449487686 + ], + [ + -0.8852570056915283, + -0.08697746908575994, + 0.4568972425821552, + -0.4587935209274292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.46228253841400146, + -0.2856221320525512, + 0.8394730536999687, + -2.0541467666625977 + ], + [ + 0.056568317115306854, + 0.9542743534097001, + 0.29353096549348523, + -0.057444632053375244 + ], + [ + -0.8849265575408936, + -0.08820666834384124, + 0.45730152182005673, + -0.455363392829895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.4630756378173828, + -0.2904133294008016, + 0.8373894910853132, + -2.0715038776397705 + ], + [ + 0.05952301248908043, + 0.9528518725668733, + 0.2975404362406858, + -0.05258861184120178 + ], + [ + -0.8843178153038025, + -0.08793979783206848, + 0.4585287937031683, + -0.4528770446777344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.4685189127922059, + -0.2998396409981622, + 0.8310151567353727, + -2.102213144302368 + ], + [ + 0.07007357478141786, + 0.9502929149391499, + 0.30336954181273834, + -0.047475915402173996 + ], + [ + -0.8806700110435488, + -0.08390218040314343, + 0.466241073212301, + -0.4428807497024536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.4763311743736268, + -0.31097306440651223, + 0.8224381982668006, + -2.135512590408325 + ], + [ + 0.08500406146049501, + 0.9472741870771227, + 0.3089431811110481, + -0.042485155165195465 + ], + [ + -0.8751475214958193, + -0.07724868911642835, + 0.47765016430919355, + -0.4323922395706177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.48060548305511475, + -0.3184285795878121, + 0.8170811882536615, + -2.1481080055236816 + ], + [ + 0.08464585989713669, + 0.9442387983889424, + 0.31819524845415215, + -0.030716948211193085 + ], + [ + -0.8728421926498413, + -0.08376385649831491, + 0.480760026025008, + -0.4291759729385376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.4860658645629883, + -0.34592629618224646, + 0.8025428363949275, + -2.177523136138916 + ], + [ + 0.08851075917482376, + 0.9330872281438944, + 0.34858869242327595, + -0.02446504682302475 + ], + [ + -0.8694285154342651, + -0.09840340373210156, + 0.48416007879462925, + -0.4251120090484619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/tilt_up/transforms.json b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ae2f3f6440c1c589e17b743454a956ac9017ce7b --- /dev/null +++ b/dynpose_eval/camera_controls/68774dfb-56fc-4bcd-bb5c-6ea583ef2914/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, + 5.6416529332636856e-06, + -5.4483607527799904e-05, + 0.0005640062154270709 + ], + [ + -5.64634410693543e-06, + 1.0, + -8.610235818196088e-05, + 2.5099097911152057e-05 + ], + [ + 5.4483120038639754e-05, + 8.610266377218068e-05, + 1.0, + 0.00019526583491824567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999901056289673, + -0.003507268841574018, + 0.002732031759009842, + -0.001245521241798997 + ], + [ + 0.0035076758358627558, + 0.9999938121933201, + -0.00014425824220952633, + -0.00029918330255895853 + ], + [ + -0.002731508808210492, + 0.0001538398563799245, + 0.9999962360805839, + -0.00038841398782096803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999827146530151, + -0.004149553878053249, + 0.004159019091409615, + -0.0014859738294035196 + ], + [ + 0.004154545720666647, + 0.9999906852575098, + -0.001192414219154885, + -0.0017802640795707703 + ], + [ + -0.0041540320962667465, + 0.0012096724087719596, + 0.9999906135398989, + -0.0006677723140455782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.999984622001648, + -0.0002326575201167215, + 0.005538346421806841, + -0.0018885467434301972 + ], + [ + 0.0002558463893365115, + 0.9999911847269122, + -0.004186625631257235, + 0.0002154715039068833 + ], + [ + -0.00553732318803668, + 0.004187978697446201, + 0.9999759172072084, + -0.0017344559310004115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999661445617676, + 0.004224281422195361, + 0.007064483188598862, + -0.0029640928842127323 + ], + [ + -0.0041780234314501286, + 0.9999698474904257, + -0.0065499240941267346, + -0.0003723200352396816 + ], + [ + -0.007091938517987728, + 0.006520186275514791, + 0.9999535835930093, + -0.0018495473777875304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999521374702454, + 0.00502821399180593, + 0.008392769651941436, + -0.003427031682804227 + ], + [ + -0.0049677398055791855, + 0.9999616462768515, + -0.007210818124518804, + -0.00032643417944200337 + ], + [ + -0.008428705856204033, + 0.007168780044841312, + 0.9999387763466584, + -0.0015732927713543177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9999428987503052, + 0.005038074116711658, + 0.009424978622905597, + -0.0029341194313019514 + ], + [ + -0.004999308381229639, + 0.999978986109742, + -0.0041321673129153386, + 0.0004351577954366803 + ], + [ + -0.009445599280297756, + 0.004084811697199896, + 0.9999470298404557, + -0.0005241819890215993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999961853027344, + 0.0050160856959214194, + 0.007153723179097384, + -0.0039047901518642902 + ], + [ + -0.005000557750463487, + 0.999985091495809, + -0.002186791714411705, + 0.0012640932109206915 + ], + [ + -0.007164585869759323, + 0.0021509356327886007, + 0.9999720217416188, + -0.0006324311252683401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9999690055847168, + 0.005064035199555265, + 0.006032865930472033, + -0.004215644206851721 + ], + [ + -0.005047946237027645, + 0.9999836420491482, + -0.0026790993750542545, + 0.002865520538762212 + ], + [ + -0.006046334281563759, + 0.0026485632993196078, + 0.999978188384149, + -0.0010730010690167546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9999753236770632, + 0.004237209581015567, + 0.005607085278190925, + -0.0008772536530159414 + ], + [ + -0.0042292987927794465, + 0.9999900583417334, + -0.001421919355069104, + 0.004130368120968342 + ], + [ + -0.005613054148852826, + 0.0013981702847316998, + 0.9999832890768776, + -0.001158846658654511 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999969482421875, + 0.0032842258224920003, + 0.007089474302355721, + 0.0027863411232829094 + ], + [ + -0.0032769886311143637, + 0.9999940718338753, + -0.0010321853700352226, + 0.0060411738231778145 + ], + [ + -0.0070928228087723255, + 0.0010089232921264729, + 0.9999743448996314, + -0.0008691232651472092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999650120735171, + 0.0033428511652889084, + 0.007670775235379921, + 0.0039255437441170216 + ], + [ + -0.0033283589873462924, + 0.9999926558680444, + -0.0019012698508435923, + 0.006678118370473385 + ], + [ + -0.007677074987441303, + 0.0018756727733954608, + 0.9999687967153821, + -0.0003564455546438694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999646544456482, + 0.0026395620482662268, + 0.00798417893799424, + 0.005938207730650902 + ], + [ + -0.002621757099404931, + 0.9999940303301965, + -0.002239676269975093, + 0.00816279835999012 + ], + [ + -0.007990042679011822, + 0.00221866649386181, + 0.9999656370405867, + -5.2756364311790094e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9999760389328003, + 0.0016617891304381014, + 0.00672310352743973, + 0.007411138620227575 + ], + [ + -0.0016447919188067317, + 0.999995422239487, + -0.002532916714755529, + 0.009206334128975868 + ], + [ + -0.006727281957864761, + 0.0025217968553669823, + 0.9999741975429924, + 0.0031220782548189163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9999788403511047, + 0.001834766022114714, + 0.006238675312016668, + 0.007220160216093063 + ], + [ + -0.001812252216041088, + 0.9999918218866344, + -0.003612479671265179, + 0.009415079839527607 + ], + [ + -0.006245252210646868, + 0.0036010980344017693, + 0.9999740255776026, + 0.0029756873846054077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9999775290489199, + 0.0009628700743420126, + 0.006632942373849757, + 0.006260327063500881 + ], + [ + -0.0009310201276093724, + 0.9999880460035608, + -0.004803190431465938, + 0.011464820243418217 + ], + [ + -0.006637487560510637, + 0.0047969086511786335, + 0.9999664755827812, + 0.002571362303569913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9999858736991885, + -0.0015566945781059296, + 0.005084087754576202, + 0.007272735703736544 + ], + [ + 0.0015897979028522973, + 0.9999775071751552, + -0.0065136271598230456, + 0.011448166333138943 + ], + [ + -0.0050738342106342324, + 0.006521618584812205, + 0.9999658506263281, + 0.002308812690898776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9999879598617554, + -0.00361349499935636, + 0.003318594933739958, + 0.0063700065948069096 + ], + [ + 0.0036408433225005865, + 0.9999591343005044, + -0.008272246784543505, + 0.010437186807394028 + ], + [ + -0.0032885675318539143, + 0.008284229897614783, + 0.9999602615432166, + 0.0021746070124208927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999974250793457, + -0.00713143941076556, + -0.0007637405734563073, + 0.006016936618834734 + ], + [ + 0.007123949006199837, + 0.9999304390233594, + -0.009397833474513654, + 0.008062316104769707 + ], + [ + 0.0008307075477205217, + 0.009392151348813042, + 0.9999555241636152, + 0.002371249720454216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9999590516090393, + -0.008923854672928638, + -0.001497559237354509, + 0.0036349822767078876 + ], + [ + 0.008907255716621876, + 0.9999025689152794, + -0.010747041995119761, + 0.0055549172684550285 + ], + [ + 0.0015933183021843433, + 0.010733263821451145, + 0.9999411108928314, + 0.002636152086779475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9999685883522036, + -0.0077811472601838965, + -0.001494640042030643, + 0.0022107346449047327 + ], + [ + 0.007761873304843904, + 0.9998917878939477, + -0.01249492366585851, + 0.0049192775040864944 + ], + [ + 0.0015917032724246387, + 0.012482931139724571, + 0.9999208021737908, + 0.004365160129964352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9999841451644897, + -0.005147088466529935, + -0.002273787415753745, + -0.0031977593898773193 + ], + [ + 0.005115004256367683, + 0.9998903186455342, + -0.013897818134851794, + 0.0064602624624967575 + ], + [ + 0.002345071407034993, + 0.013885969442009208, + 0.9999008590907477, + 0.002495166379958391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9999567270278933, + -0.00823467152614461, + -0.004324782405007925, + -0.006832444574683905 + ], + [ + 0.008161376230418684, + 0.999827246647827, + -0.016700490565606112, + 0.00503156241029501 + ], + [ + 0.004461558535695077, + 0.016664473844038113, + 0.9998512096030899, + -0.0017379062483087182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9999305009841919, + -0.009820173988249786, + -0.006521622771586503, + -0.009347442537546158 + ], + [ + 0.00969219021499157, + 0.9997653244147304, + -0.019374315342027715, + 0.0031333123333752155 + ], + [ + 0.006710351910442114, + 0.0193097591110752, + 0.9997910278090065, + -0.0028739729896187782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9997801184654238, + -0.011870066070872005, + -0.017287238495395187, + -0.021333983168005943 + ], + [ + 0.011490155011415483, + 0.9996938840856637, + -0.021912392081302377, + -0.003371634054929018 + ], + [ + 0.01754204742610455, + 0.021708939394868024, + 0.9996104019024259, + -0.005889097228646278 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9992815852165222, + -0.021049981145638552, + -0.031515304123569336, + -0.03504663333296776 + ], + [ + 0.02030392549932003, + 0.9995103270668402, + -0.023808612976751995, + -0.009416047483682632 + ], + [ + 0.03200104460120201, + 0.023151625347396978, + 0.9992196779944215, + -0.011373880319297314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9988832473754883, + -0.025770814332183072, + -0.03960023181645539, + -0.040247514843940735 + ], + [ + 0.024759244173765182, + 0.9993597684247116, + -0.025826133236360346, + -0.013402445241808891 + ], + [ + 0.040240440517663956, + 0.024816820053679276, + 0.9988817771684071, + -0.012692478485405445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9981541037559511, + -0.03351105494981849, + -0.050650066300359474, + -0.05586295202374458 + ], + [ + 0.032256599515676505, + 0.9991572238553073, + -0.02538503805438751, + -0.018706100061535835 + ], + [ + 0.051458057016134276, + 0.023704379767204835, + 0.9983937989677768, + -0.020181573927402496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9981130957603455, + -0.03216052578343114, + -0.05230636211211718, + -0.06416597217321396 + ], + [ + 0.03080984577536583, + 0.9991758511714447, + -0.026427168937061915, + -0.012467359192669392 + ], + [ + 0.053113166242837906, + 0.024765747502809417, + 0.9982813249224463, + -0.046888794749975204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9981877803802492, + -0.03157418546934013, + -0.051227723689485916, + -0.06816484779119492 + ], + [ + 0.03003798052668572, + 0.9990837374827793, + -0.030485667060835556, + -0.005073670297861099 + ], + [ + 0.052143346518278136, + 0.028891643562575932, + 0.9982215683035744, + -0.07384159415960312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9981219172477724, + -0.03299142017050712, + -0.05161572268278917, + -0.07657817751169205 + ], + [ + 0.03112087771296502, + 0.9988440658283925, + -0.036633288638547874, + -0.0020915234927088022 + ], + [ + 0.05276464298367502, + 0.03495816322734416, + 0.9979948787614267, + -0.12320972234010696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9978487491607666, + -0.03356568840735947, + -0.05631335022106119, + -0.07708019018173218 + ], + [ + 0.03131008893251419, + 0.9986900664910828, + -0.04046974524982353, + -0.0011507656890898943 + ], + [ + 0.05759797617793083, + 0.03861951314383448, + 0.9975926177615212, + -0.16967089474201202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9977752566337585, + -0.031719354586113656, + -0.058638431113549674, + -0.08256368339061737 + ], + [ + 0.029234599322080612, + 0.9986576504733552, + -0.04275726727613942, + -0.0006408888148143888 + ], + [ + 0.05991595238447189, + 0.04094787418845752, + 0.9973632103469531, + -0.17759975790977478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9975664019584656, + -0.02847118832774075, + -0.06364505594202084, + -0.10049442201852798 + ], + [ + 0.025504324585199356, + 0.9985715181062089, + -0.046951948137140105, + 0.008855127729475498 + ], + [ + 0.06489091366529465, + 0.045214460264898886, + 0.9968674800149951, + -0.1845579296350479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9971169233322146, + -0.03376890354087994, + -0.06795219224282549, + -0.11614476889371872 + ], + [ + 0.030480932444334037, + 0.998340651765009, + -0.048855175414670673, + 0.0012215074384585023 + ], + [ + 0.06948921829462053, + 0.04664307582305522, + 0.9964916714485307, + -0.1903790533542633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9970789551734924, + -0.033760168272492036, + -0.06851125902059226, + -0.12164405733346939 + ], + [ + 0.030342524871230125, + 0.9982717660662952, + -0.05032647612731887, + -0.00020135527302045375 + ], + [ + 0.07009188830852509, + 0.04810066829402856, + 0.9963801754975327, + -0.19563473761081696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9973728060722353, + -0.02786924758723651, + -0.06686431723296687, + -0.13246698677539825 + ], + [ + 0.02410391159355641, + 0.9981130559567964, + -0.0564737112358858, + 0.008640460669994354 + ], + [ + 0.06831203401088716, + 0.05471365183105535, + 0.9961625651736814, + -0.21008047461509705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9976910352706909, + -0.03420556985157853, + -0.05867350372648683, + -0.15366075932979584 + ], + [ + 0.0304565466940403, + 0.9975079271769827, + -0.06364206441924071, + -0.0008253415580838919 + ], + [ + 0.060704197734594345, + 0.061708128144943995, + 0.9962465386942629, + -0.22803518176078796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9975965023040771, + -0.04205873880750199, + -0.05506597235667944, + -0.15586882829666138 + ], + [ + 0.038361866027116776, + 0.9970452006496464, + -0.06655294331624359, + -0.007881516590714455 + ], + [ + 0.05770239233970642, + 0.06428054780521036, + 0.9962622389295898, + -0.2284988909959793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9974662661552429, + -0.05108372059001876, + -0.04951273952593728, + -0.17366808652877808 + ], + [ + 0.04830392450094223, + 0.9972727454482831, + -0.0558010856079275, + -0.002178022637963295 + ], + [ + 0.052228234708309174, + 0.05326804102455028, + 0.9972134787940077, + -0.23668454587459564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9970288276672363, + -0.06020604895102209, + -0.04804989030201735, + -0.18350546061992645 + ], + [ + 0.057999543845653534, + 0.9972531951064425, + -0.04606591654070954, + -0.005679450463503599 + ], + [ + 0.050691355019807816, + 0.043142179891138374, + 0.997782109318537, + -0.2487110048532486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9970958828926086, + -0.06025075940220533, + -0.04657914077566035, + -0.19080142676830292 + ], + [ + 0.0578763522207737, + 0.9970331786415053, + -0.050746562437778274, + -0.003427581861615181 + ], + [ + 0.04949846491217613, + 0.04790335181493228, + 0.9976247354569481, + -0.25408539175987244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9984009861946108, + -0.04570047125576306, + -0.03327000681078975, + -0.21548159420490265 + ], + [ + 0.04340451210737229, + 0.9968261101377196, + -0.06673623918089812, + -0.012636348605155945 + ], + [ + 0.03621428832411767, + 0.06518546328107867, + 0.9972158334998735, + -0.2639959156513214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9992244839668274, + -0.03621092064343412, + -0.01546466011014429, + -0.24064892530441284 + ], + [ + 0.03484560176730156, + 0.9961107608975934, + -0.08092698172446319, + -0.011908629909157753 + ], + [ + 0.018334954977035522, + 0.08032534768049135, + 0.99660007700075, + -0.2700171172618866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.999157726764679, + -0.040295707499961114, + -0.007752920568079731, + -0.2530519962310791 + ], + [ + 0.0394861102104187, + 0.9955486176655289, + -0.0855790488175363, + -0.013407540507614613 + ], + [ + 0.011166878044605255, + 0.0852008378400444, + 0.9963012470836486, + -0.26979219913482666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9990049600601196, + -0.0445609553565855, + 0.0018322711017686082, + -0.2694713771343231 + ], + [ + 0.04454371705651283, + 0.9948953141459704, + -0.09054939660879556, + -0.013569209724664688 + ], + [ + 0.0022120496723800898, + 0.0905409165505048, + 0.995890306257595, + -0.2698231637477875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9990251660346985, + -0.043421724160184125, + 0.007956519393048051, + -0.2908950448036194 + ], + [ + 0.04398305341601372, + 0.9944754753213642, + -0.09530993850966175, + -0.010258820839226246 + ], + [ + -0.003774041775614023, + 0.09556697714611696, + 0.9954158258537672, + -0.2733785808086395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9988953471183779, + -0.045391581921582935, + 0.012154203681322534, + -0.305277019739151 + ], + [ + 0.046373404562473304, + 0.994014203806368, + -0.09892056940073972, + -0.007433058228343725 + ], + [ + -0.007591290399432184, + 0.09937492773357338, + 0.995021120375663, + -0.275267094373703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9983826875686648, + -0.05168537511138269, + 0.02367792581174583, + -0.33151325583457947 + ], + [ + 0.05384123325347902, + 0.9933343044037867, + -0.1019220477516362, + 0.002265753224492073 + ], + [ + -0.018252218142151836, + 0.10303205232576629, + 0.9945105323959668, + -0.27249014377593994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9977805614471438, + -0.04442296390900857, + 0.04960386960968918, + -0.35309073328971863 + ], + [ + 0.0492798648774624, + 0.993622387966773, + -0.10142027695570188, + 0.01175750233232975 + ], + [ + -0.044782128185033805, + 0.10363965138725453, + 0.9936062484246795, + -0.27143537998199463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9967386126518252, + -0.04153775831147775, + 0.06918605262620135, + -0.3661608397960663 + ], + [ + 0.0485355854034424, + 0.9935227840480273, + -0.10274594615432392, + 0.01787409745156765 + ], + [ + -0.06447008252143861, + 0.10576884145433262, + 0.9922986207310661, + -0.2708829343318939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9921966791152954, + -0.04758401908180809, + 0.11524526771395553, + -0.39065778255462646 + ], + [ + 0.059566739946603775, + 0.9929096506487907, + -0.10287012914735627, + 0.02961932308971882 + ], + [ + -0.1095331609249115, + 0.10893218801719644, + 0.9879961121463566, + -0.2654229998588562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9850437641143801, + -0.04485988576426917, + 0.1663621020626735, + -0.4142760634422302 + ], + [ + 0.061603773385286345, + 0.9933865847479446, + -0.09689230299653073, + 0.033907804638147354 + ], + [ + -0.16091530025005343, + 0.1056916874649677, + 0.9812927669770782, + -0.26368749141693115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9808244705200195, + -0.04155913123443857, + 0.19041062701867928, + -0.4266318380832672 + ], + [ + 0.059899166226387024, + 0.9939929539299998, + -0.09159719503882574, + 0.035870667546987534 + ], + [ + -0.1854601353406906, + 0.10124620765565519, + 0.9774219717557934, + -0.2633243203163147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9712179899215698, + -0.04506399552255404, + 0.23389062648589387, + -0.4512048363685608 + ], + [ + 0.06463643163442612, + 0.9949569095314734, + -0.07669965045772847, + 0.03355035185813904 + ], + [ + -0.22925469279289246, + 0.08960993570764608, + 0.9692328546125925, + -0.26672494411468506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9609936475753784, + -0.04965408114791766, + 0.272076615170955, + -0.4714532494544983 + ], + [ + 0.0705561563372612, + 0.9952158141044843, + -0.06758202759153832, + 0.03594692423939705 + ], + [ + -0.2674192190170288, + 0.0841425822069263, + 0.9598994966143395, + -0.2702327072620392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9558472037315371, + -0.04757637007965447, + 0.2899872872002047, + -0.48318982124328613 + ], + [ + 0.06957472860813142, + 0.995389566549277, + -0.06602285073438273, + 0.035020072013139725 + ], + [ + -0.28550919890403753, + 0.08328353791086408, + 0.9547503994672006, + -0.27595794200897217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9463133811950684, + -0.038589401115435046, + 0.3209389621573514, + -0.5108891725540161 + ], + [ + 0.06587780267000198, + 0.9950348885095301, + -0.07460374848619938, + 0.030446365475654602 + ], + [ + -0.3164665699005127, + 0.09174127753239648, + 0.9441570362603888, + -0.2811126708984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.938743531703949, + -0.02892832070254553, + 0.34340027176440097, + -0.5390970706939697 + ], + [ + 0.06168569624423981, + 0.9944822228825335, + -0.08485242284752996, + 0.026341505348682404 + ], + [ + -0.339050829410553, + 0.10083755068620154, + 0.9353482453048381, + -0.28650110960006714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.935799777507782, + -0.022464378286579312, + 0.35181545602105885, + -0.5503783822059631 + ], + [ + 0.057750359177589417, + 0.9942546642001832, + -0.09012525372060709, + 0.02491837739944458 + ], + [ + -0.34776952862739563, + 0.1046566564617235, + 0.9317206134228753, + -0.29106488823890686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9285925030708315, + -0.015964777279043836, + 0.3707574048446046, + -0.5588778257369995 + ], + [ + 0.05571929365396501, + 0.9937465856753697, + -0.09676294595580041, + 0.022555667906999588 + ], + [ + -0.3668941259384156, + 0.11051169395152963, + 0.923675220011651, + -0.3078647553920746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9173382520675661, + -0.00964564780880816, + 0.3979917764438804, + -0.5749070048332214 + ], + [ + 0.05512333288788797, + 0.9931543529709548, + -0.10298486283837917, + 0.02164812758564949 + ], + [ + -0.39427390694618236, + 0.11641058497400691, + 0.9115901789455758, + -0.31866535544395447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9105649590492251, + -0.0019350322153000835, + 0.413361427416948, + -0.5886595845222473 + ], + [ + 0.05182621628046037, + 0.9926328495979099, + -0.10951762682736572, + 0.020366176962852478 + ], + [ + -0.4101042151451112, + 0.12114587514917534, + 0.9039570023863535, + -0.31845811009407043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8971767425537112, + 0.007133798414910376, + 0.44161408713717554, + -0.5962438583374023 + ], + [ + 0.05147093534469606, + 0.9913681060576554, + -0.12058207916392506, + 0.023616507649421692 + ], + [ + -0.4386623203754426, + 0.13091372367330367, + 0.8890652212738153, + -0.3401481807231903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8799414038658144, + 0.02051919879808282, + 0.47463893282699515, + -0.6077996492385864 + ], + [ + 0.0454908348619938, + 0.9908370657922195, + -0.12717130217174594, + 0.017831657081842422 + ], + [ + -0.47289931774139415, + 0.13349500759268468, + 0.8709450840042846, + -0.3586850166320801 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8705008625984192, + 0.02330603316059558, + 0.49161481202184515, + -0.61750328540802 + ], + [ + 0.046785205602645874, + 0.9904363482097963, + -0.12979613639436333, + 0.015480363741517067 + ], + [ + -0.4899381995201111, + 0.13598794232903985, + 0.8610852855316246, + -0.3673454523086548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8518593311309814, + 0.018260843622903908, + 0.523452208980316, + -0.638793408870697 + ], + [ + 0.06054021045565605, + 0.9892608458255995, + -0.13303311407782345, + 0.014710775576531887 + ], + [ + -0.5202600955963135, + 0.14501541161725728, + 0.8416056061255135, + -0.3807998299598694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8329470157623291, + 0.011454299344601526, + 0.5532342295182557, + -0.6560179591178894 + ], + [ + 0.0746757909655571, + 0.9883130682894408, + -0.13289381079772994, + 0.018616611137986183 + ], + [ + -0.5482907891273499, + 0.1520067062423883, + 0.822357103042805, + -0.3971934914588928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8239538669586182, + 0.013381785323869239, + 0.5664989049906495, + -0.6645005941390991 + ], + [ + 0.0749402642250061, + 0.9883667073929495, + -0.1323452495639173, + 0.024454353377223015 + ], + [ + -0.5616796612739563, + 0.15149995075732733, + 0.81336571794436, + -0.4060409665107727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8080266714096072, + 0.0183263685323786, + 0.5888607771280211, + -0.6847232580184937 + ], + [ + 0.06392253190279008, + 0.9908881685598798, + -0.11855177853236573, + 0.023786164820194244 + ], + [ + -0.5856677889823915, + 0.13343447406698894, + 0.7994926270461602, + -0.42715194821357727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.7933583259582522, + 0.014681312523497664, + 0.6085779700165426, + -0.7018177509307861 + ], + [ + 0.060827374458313, + 0.9927941336437507, + -0.10324629103265583, + 0.017324019223451614 + ], + [ + -0.605708420276642, + 0.11892950312027532, + 0.7867484779134832, + -0.44212087988853455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7856609225273135, + 0.015462148161024852, + 0.6184641236777517, + -0.7086789011955261 + ], + [ + 0.060057044029235854, + 0.9930598462166751, + -0.10112034755540804, + 0.015332771465182304 + ], + [ + -0.6157354712486268, + 0.11658942569163726, + 0.779279677135563, + -0.4446590840816498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7691705822944643, + 0.022139148693336927, + 0.6386599374604597, + -0.729973316192627 + ], + [ + 0.05657467618584634, + 0.9931164784551207, + -0.10256213397366051, + 0.008048294112086296 + ], + [ + -0.636534333229065, + 0.11501975414230835, + 0.7626234694540661, + -0.4560800790786743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.751174807548523, + 0.030662692535005913, + 0.65939074018351, + -0.7479653358459473 + ], + [ + 0.052196308970451355, + 0.9930336751125323, + -0.1056394014522203, + 0.007807517424225807 + ], + [ + -0.6580364108085632, + 0.11377142352219925, + 0.7443414403573535, + -0.46976396441459656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7424478530883789, + 0.03284994169503789, + 0.6690979845752991, + -0.7530274987220764 + ], + [ + 0.0519961342215538, + 0.9929579759323495, + -0.1064463315991507, + 0.009622547775506973 + ], + [ + -0.6678829193115234, + 0.11382135688092965, + 0.7355115134642171, + -0.47400057315826416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7299489974975586, + 0.02925147674417538, + 0.6828754481219538, + -0.7746055126190186 + ], + [ + 0.056697387248277664, + 0.9930492502220188, + -0.10314378774043716, + 0.008960235863924026 + ], + [ + -0.6811460256576538, + 0.11400695128722417, + 0.7232168021758701, + -0.48010703921318054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.7222785949707032, + 0.02214925222950116, + 0.691247470956168, + -0.7927042245864868 + ], + [ + 0.06150704249739648, + 0.993469379707365, + -0.09610135585074449, + 0.008510515093803406 + ], + [ + -0.6888617277145387, + 0.11192854337996953, + 0.716199362901189, + -0.4862099289894104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.718119740486145, + 0.023918121283957348, + 0.6955084811814176, + -0.8020418882369995 + ], + [ + 0.0585751049220562, + 0.9937853991074413, + -0.09465508785201689, + 0.007016098126769066 + ], + [ + -0.6934501528739929, + 0.10871315790461113, + 0.7122558614281136, + -0.48982271552085876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.7072092890739441, + 0.032423069930000915, + 0.7062604458841416, + -0.8290042877197266 + ], + [ + 0.051766570657491684, + 0.9938918703287535, + -0.09746378921351538, + 0.0012892726808786392 + ], + [ + -0.7051065564155579, + 0.10548797401650645, + 0.7012111233515015, + -0.4909539222717285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6941802501678467, + 0.04046088127689163, + 0.7186631955211971, + -0.8501740097999573 + ], + [ + 0.05103746056556702, + 0.9931391824334992, + -0.10521267908682312, + 0.00025472231209278107 + ], + [ + -0.7179896235466003, + 0.10971530701609632, + 0.6873525794552129, + -0.49584516882896423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6879531145095825, + 0.047065775627082404, + 0.7242274198879819, + -0.8610138297080994 + ], + [ + 0.04831250011920929, + 0.992711592895324, + -0.11040658755650902, + -0.0015896782279014587 + ], + [ + -0.7241453528404236, + 0.11094379613929167, + 0.6806652242554089, + -0.4993986189365387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.6767523884773254, + 0.060799182026690254, + 0.7336959070097188, + -0.8814859390258789 + ], + [ + 0.03938073664903641, + 0.9921677940543112, + -0.11854229509365515, + -0.0006721429526805878 + ], + [ + -0.7351567149162292, + 0.10911725712594918, + 0.6690575964807024, + -0.5012029409408569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.6670472621917725, + 0.06625456887337049, + 0.7420635198036962, + -0.9071704745292664 + ], + [ + 0.040654607117176056, + 0.9913167079846952, + -0.12505373100960843, + -0.0017422940582036972 + ], + [ + -0.7439053654670715, + 0.11358505371033359, + 0.658561592206797, + -0.5047793388366699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.6615381240844727, + 0.0692858505806802, + 0.7467040124824215, + -0.9186224937438965 + ], + [ + 0.04214886575937271, + 0.9907133894628958, + -0.12926876069753898, + -0.0020208265632390976 + ], + [ + -0.7487261891365051, + 0.11698893718986729, + 0.6524743979369209, + -0.5056501030921936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.649214506149292, + 0.07750867154352988, + 0.7566458617901378, + -0.9461893439292908 + ], + [ + 0.038988176733255386, + 0.9900952627531194, + -0.13487506314449177, + -0.005438288673758507 + ], + [ + -0.7596054673194885, + 0.11706309316037043, + 0.6397622913889038, + -0.5030578374862671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.6353498697280884, + 0.08171873700529045, + 0.7678884280523179, + -0.9750301241874695 + ], + [ + 0.041830480098724365, + 0.989283078073412, + -0.13989005507931213, + -0.007893089205026627 + ], + [ + -0.7710906863212585, + 0.12100026719649229, + 0.6251225229026373, + -0.49882224202156067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.6279066801071167, + 0.08286576710782813, + 0.7738646623549654, + -0.9924318194389343 + ], + [ + 0.045778580009937286, + 0.9886618765746251, + -0.1430106676711944, + -0.012761145830154419 + ], + [ + -0.7769411206245422, + 0.12522377261329815, + 0.6169939107995556, + -0.49729862809181213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.6133763194084169, + 0.0853633703165864, + 0.785164072115706, + -1.0204036235809326 + ], + [ + 0.05006158351898195, + 0.9879404946515004, + -0.14651780942775866, + -0.011850649490952492 + ], + [ + -0.7882026433944704, + 0.12917709568309022, + 0.6017058206611468, + -0.49886608123779297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.5933859944343567, + 0.07904933156261665, + 0.8010270531317499, + -1.049047589302063 + ], + [ + 0.05371393635869026, + 0.9890588042381964, + -0.13739553001726315, + -0.013110069558024406 + ], + [ + -0.8031238913536072, + 0.12455489172601435, + 0.5826475868193349, + -0.4963623881340027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.5823935866355896, + 0.07799546930112097, + 0.8091567069069174, + -1.0630011558532715 + ], + [ + 0.05535294860601425, + 0.989271301251038, + -0.13519739058191008, + -0.016138717532157898 + ], + [ + -0.8110203146934509, + 0.1235272918303155, + 0.5718279844123285, + -0.49247515201568604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.5612602233886719, + 0.07690221837937788, + 0.8240589277104118, + -1.0937070846557617 + ], + [ + 0.06015601381659508, + 0.9892497784479932, + -0.1332898327020181, + -0.02464735321700573 + ], + [ + -0.8254503607749939, + 0.12438237517679777, + 0.5506004372706662, + -0.4862610101699829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.5403913259506226, + 0.07836048546220777, + 0.8377570716367346, + -1.1245925426483154 + ], + [ + 0.07440052181482315, + 0.9873039744429709, + -0.14034022148872877, + -0.031886644661426544 + ], + [ + -0.8381180763244629, + 0.13816820048513864, + 0.5277004591491692, + -0.4807567000389099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.5301473736763, + 0.07847785084400798, + 0.8442659741546069, + -1.1399354934692383 + ], + [ + 0.08248430490493774, + 0.9862116649998649, + -0.14346735997002094, + -0.03307948634028435 + ], + [ + -0.8438839912414551, + 0.14569753285267772, + 0.5163643218773857, + -0.481361985206604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.5115489959716797, + 0.07845081379605157, + 0.8556653528138617, + -1.1690821647644043 + ], + [ + 0.09046025574207306, + 0.9853723976211108, + -0.14442341338845213, + -0.03805972635746002 + ], + [ + -0.8544791340827942, + 0.15128334897658344, + 0.49696954503220536, + -0.48628079891204834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.4965626001358032, + 0.08179508832110348, + 0.8641384443920516, + -1.201859712600708 + ], + [ + 0.08972935378551483, + 0.9853792098687109, + -0.1448326017247156, + -0.04499459266662598 + ], + [ + -0.8633506894111633, + 0.14945701782978912, + 0.48196298734950144, + -0.48832041025161743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.4903309941291809, + 0.08290462071329364, + 0.8675842025395083, + -1.2150473594665527 + ], + [ + 0.09003861993551254, + 0.9853201831877783, + -0.1450421955631078, + -0.045324649661779404 + ], + [ + -0.8668728470802307, + 0.1492347636772166, + 0.4756683451473588, + -0.4907444715499878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.47952383756637573, + 0.08586632077978779, + 0.8733177571520738, + -1.2525427341461182 + ], + [ + 0.0872388556599617, + 0.9856064240934228, + -0.14480813132329728, + -0.044171545654535294 + ], + [ + -0.8731817007064819, + 0.14562618638922759, + 0.46513086213230864, + -0.4925493001937866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.4703131914138794, + 0.09346033398824442, + 0.8775367020205213, + -1.2897237539291382 + ], + [ + 0.08702708035707474, + 0.9846177095342017, + -0.1515066934617262, + -0.047469839453697205 + ], + [ + -0.8781980276107788, + 0.1476250497615859, + 0.4549451051537509, + -0.4890219569206238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.4655948281288147, + 0.10015072389437894, + 0.8793130386668132, + -1.306804895401001 + ], + [ + 0.08656037598848343, + 0.9836588613727645, + -0.15786893608228186, + -0.047690436244010925 + ], + [ + -0.8807547688484192, + 0.14961661295849207, + 0.44931739577132096, + -0.4894707202911377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.4584571719169618, + 0.112326443811352, + 0.8815895151263917, + -1.343472957611084 + ], + [ + 0.08105025440454484, + 0.9825619612518486, + -0.16734064802801057, + -0.04962899535894394 + ], + [ + -0.8850130438804629, + 0.14817154728608634, + 0.44135847614747764, + -0.4853016138076782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.45780205726623535, + 0.12244832469413278, + 0.8805815097377719, + -1.3817501068115234 + ], + [ + 0.07484003156423569, + 0.9816467131123249, + -0.1754101291680435, + -0.04806039482355118 + ], + [ + -0.8858985900878906, + 0.14620585769918068, + 0.440235818466653, + -0.4808797836303711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.45713257789611816, + 0.12790202460039007, + 0.8801539443464794, + -1.398820400238037 + ], + [ + 0.0710027813911438, + 0.9811991130134642, + -0.1794629660305044, + -0.049341119825839996 + ], + [ + -0.8865599036216736, + 0.14453173777883002, + 0.43945664615912566, + -0.4767451286315918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.4518061876296998, + 0.1375867155859577, + 0.8814426285066931, + -1.4366768598556519 + ], + [ + 0.060807239264249816, + 0.9809885040703952, + -0.18429341652434522, + -0.05033688619732857 + ], + [ + -0.8900414109230044, + 0.13686300642387392, + 0.43485044400194195, + -0.47932422161102295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.4515582323074341, + 0.15159723624226107, + 0.8792687871479192, + -1.4781821966171265 + ], + [ + 0.06092165410518646, + 0.977921919653517, + -0.19989329690065089, + -0.052992600947618484 + ], + [ + -0.8901594281196594, + 0.14382996718278915, + 0.4323531681550362, + -0.47767263650894165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.45426249504089355, + 0.1554726556519167, + 0.8771966109148774, + -1.498394250869751 + ], + [ + 0.06432559341192245, + 0.9763595503964447, + -0.20635956938103495, + -0.05572468787431717 + ], + [ + -0.8885425925254822, + 0.1501675955205208, + 0.433522633831069, + -0.47908228635787964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.4566280245780945, + 0.15750568286407862, + 0.8756042888877904, + -1.5385363101959229 + ], + [ + 0.060896050184965134, + 0.9763616773601687, + -0.2073874666055817, + -0.058109648525714874 + ], + [ + -0.8875711560249329, + 0.148019767192649, + 0.4362426177983984, + -0.4740062952041626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.46130049228668213, + 0.15665291112689225, + 0.8733051015202082, + -1.5774654150009155 + ], + [ + 0.05540727078914642, + 0.9772821744585841, + -0.20457168695430009, + -0.060140762478113174 + ], + [ + -0.8855122923851013, + 0.14275647043234754, + 0.44214105466788084, + -0.47607702016830444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.463102161884308, + 0.15691827929217875, + 0.8723033043940746, + -1.5997785329818726 + ], + [ + 0.05420475453138353, + 0.977345486255008, + -0.20459135440895607, + -0.061247508972883224 + ], + [ + -0.8846458792686465, + 0.14202970063462994, + 0.4441051652283302, + -0.47422200441360474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.4634206295013428, + 0.15641820709953375, + 0.8722240285888085, + -1.6458998918533325 + ], + [ + 0.052535101771354675, + 0.9777167030927365, + -0.20324886307780426, + -0.06360532343387604 + ], + [ + -0.8845797777175903, + 0.14001208691979075, + 0.444876626592953, + -0.47292041778564453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.45990943908691406, + 0.1559822081929943, + 0.8741584494345878, + -1.688875436782837 + ], + [ + 0.05094188079237938, + 0.9781943475639829, + -0.20134744075696548, + -0.06894497573375702 + ], + [ + -0.8865033984184265, + 0.13713285690259647, + 0.44193476645955504, + -0.473735511302948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.45850640535354614, + 0.15683921592935038, + 0.8747419144154797, + -1.7105352878570557 + ], + [ + 0.051185596734285355, + 0.9780089432742675, + -0.20218429721034867, + -0.06874614953994751 + ], + [ + -0.8872159123420715, + 0.1374769857687719, + 0.4403954760195117, + -0.47612762451171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.45690059661865234, + 0.1575635701844367, + 0.8754516301668355, + -1.7486101388931274 + ], + [ + 0.05226273834705353, + 0.9777315032450326, + -0.20324794327710155, + -0.06856738775968552 + ], + [ + -0.887981116771698, + 0.1386176080753621, + 0.4384913997763101, + -0.4744958281517029 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.45784831047058105, + 0.15710334928405847, + 0.8750391834806357, + -1.781510829925537 + ], + [ + 0.04833995923399925, + 0.9784070866958229, + -0.20095488466497638, + -0.07189684361219406 + ], + [ + -0.887715220451355, + 0.1343061899666108, + 0.44036759670378584, + -0.47304433584213257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.45914602279663086, + 0.15771349829318326, + 0.8742490443548324, + -1.798532247543335 + ], + [ + 0.044373687356710434, + 0.9788147244761101, + -0.19988159915118506, + -0.07000213116407394 + ], + [ + -0.8872519135475159, + 0.13056850101184125, + 0.44242058330982315, + -0.4729025959968567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.4622564911842346, + 0.1574625571830814, + 0.8726536988575286, + -1.841506004333496 + ], + [ + 0.04104289039969444, + 0.9792536034699006, + -0.1984385297739912, + -0.07165192067623138 + ], + [ + -0.8857959508895874, + 0.12754571960794786, + 0.44620359553654804, + -0.4731599688529968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.4635062813758851, + 0.16038154876874897, + 0.8714583358174843, + -1.879490613937378 + ], + [ + 0.03890990093350411, + 0.9788508170185407, + -0.20084103385098317, + -0.07446268200874329 + ], + [ + -0.8852389454841616, + 0.1269994341087716, + 0.4474630563108541, + -0.46891725063323975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.46533793210983276, + 0.1617951018992198, + 0.8702201523164743, + -1.8849411010742188 + ], + [ + 0.03766562044620514, + 0.978641479434355, + -0.20209442463276203, + -0.07783885300159454 + ], + [ + -0.8843314051628113, + 0.12681958728684395, + 0.44930494065130167, + -0.4888952970504761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.4613415002822876, + 0.16242327476883872, + 0.8722286365191905, + -1.9396659135818481 + ], + [ + 0.04247959703207016, + 0.977928754793376, + -0.2045747859289632, + -0.06783352047204971 + ], + [ + -0.8862051963806152, + 0.13143076341132587, + 0.4442594845171035, + -0.4623473882675171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.4622492790222168, + 0.15979016822820347, + 0.872234370188998, + -1.968695044517517 + ], + [ + 0.051587410271167755, + 0.977118711939374, + -0.2063438576319783, + -0.06853759288787842 + ], + [ + -0.8852482438087463, + 0.14037860028394658, + 0.4434292410027855, + -0.4666630029678345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.4624202847480774, + 0.16026988518869398, + 0.8720556613803769, + -1.9862157106399536 + ], + [ + 0.05347885191440582, + 0.9766958052960616, + -0.20785901219177808, + -0.06831802427768707 + ], + [ + -0.885046660900116, + 0.1427547479731827, + 0.4430728709759923, + -0.4639251232147217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.4619911313056946, + 0.1587622546687315, + 0.8725587550032157, + -2.020508289337158 + ], + [ + 0.053705982863903046, + 0.9770334524893501, + -0.20620699872070045, + -0.06414828449487686 + ], + [ + -0.8852570056915283, + 0.14212743433776873, + 0.44285433588969675, + -0.4587935209274292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.46228253841400146, + 0.15427179429542465, + 0.8732097249180553, + -2.0541467666625977 + ], + [ + 0.056568317115306854, + 0.9776129378119661, + -0.2026645334085265, + -0.057444632053375244 + ], + [ + -0.8849265575408936, + 0.1430842681862953, + 0.44320648731359125, + -0.455363392829895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.4630756378173828, + 0.1526989258053156, + 0.8730659194652378, + -2.0715038776397705 + ], + [ + 0.05952301248908043, + 0.9774655051373067, + -0.2025294756798731, + -0.05258861184120178 + ], + [ + -0.8843178153038025, + 0.1457539800489362, + 0.44355139498994034, + -0.4528770446777344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.4685189127922059, + 0.14498601446788345, + 0.8714752186072428, + -2.102213144302368 + ], + [ + 0.07007357478141786, + 0.9772349412852657, + -0.20025377053728788, + -0.047475915402173996 + ], + [ + -0.8806700110435488, + 0.15489006628364166, + 0.4476934013286425, + -0.4428807497024536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.4763311743736268, + 0.1346918498161053, + 0.8688883370996723, + -2.135512590408325 + ], + [ + 0.08500406146049501, + 0.9765142001500261, + -0.19797548222694705, + -0.042485155165195465 + ], + [ + -0.8751475214958193, + 0.16816090727414987, + 0.4536947748206287, + -0.4323922395706177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.48060548305511475, + 0.12917007806869588, + 0.8673716155305372, + -2.1481080055236816 + ], + [ + 0.08464585989713669, + 0.97764076440221, + -0.19249327339119104, + -0.030716948211193085 + ], + [ + -0.8728421926498413, + 0.16593273625835286, + 0.45892582550653277, + -0.4291759729385376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.4860658645629883, + 0.10169045786657843, + 0.867985632034349, + -2.177523136138916 + ], + [ + 0.08851075917482376, + 0.9823715897310568, + -0.16465695096139024, + -0.02446504682302475 + ], + [ + -0.8694285154342651, + 0.15686019194645823, + 0.4684966296004752, + -0.4251120090484619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 414.0041097005208, + "fy": 413.98905436197913, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/boom_down/transforms.json b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..28ed22c5fe549451a4d78b55c972acd64a283e94 --- /dev/null +++ b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/boom_down/transforms.json @@ -0,0 +1,4248 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 121, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.00014601727889385074, + -3.883337922161445e-05, + 2.9296741558937356e-05 + ], + [ + 0.00014601477596443146, + 1.0, + -6.437551928684115e-05, + 5.471805343404412e-05 + ], + [ + 3.8842779758851975e-05, + 6.436984403990209e-05, + 1.0, + 4.0512270061299205e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999973714351654, + -0.007241228595376015, + 0.00041343760676681995, + 0.00020212786524401356 + ], + [ + 0.007242008112370968, + 0.9999719262123108, + -0.001915249740704894, + 0.0025616790944089493 + ], + [ + -0.0003995572333224118, + 0.00191819341853261, + 0.9999980926513672, + 0.003193912208468343 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999928891658783, + -0.011699074879288673, + 0.0023008196149021387, + -0.0018361348751932383 + ], + [ + 0.0117042176425457, + 0.9999290108680725, + -0.0022349010687321424, + 0.0034527681224669022 + ], + [ + -0.0022745102178305387, + 0.002261671470478177, + 0.9999948740005493, + 0.003362883272347972 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998741745948792, + -0.014967945404350758, + 0.005249336827546358, + -0.005235898562241346 + ], + [ + 0.01501436810940504, + 0.9998475313186646, + -0.008918392471969128, + 0.011094178333878518 + ], + [ + -0.005115046631544828, + 0.0089960852637887, + 0.9999464750289917, + -0.0012929008272476493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998762011528015, + -0.014773709699511528, + 0.005412248894572258, + -0.005437037131438653 + ], + [ + 0.014862677082419395, + 0.9997486472129822, + -0.016784140840172768, + 0.02060095014671485 + ], + [ + -0.005162924528121948, + 0.016862502321600914, + 0.999844491481781, + -0.0015527774843697747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997676014900208, + -0.019174007698893547, + 0.009855030104517937, + -0.009649936164108416 + ], + [ + 0.01939787156879902, + 0.9995439052581787, + -0.023145528510212898, + 0.02815245439608892 + ], + [ + -0.009406743571162224, + 0.02333131618797779, + 0.9996835589408875, + 0.0036287564241016903 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997360110282898, + -0.0197510477155447, + 0.011737699620425701, + -0.011387993237003685 + ], + [ + 0.02003033272922039, + 0.9995071291923523, + -0.024172678589820862, + 0.030166734978556632 + ], + [ + -0.011254479177296162, + 0.024401407688856125, + 0.9996389150619507, + 0.008081944715231658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997797012329102, + -0.01900407485663891, + 0.008909668773412704, + -0.00813990915970256 + ], + [ + 0.01918989233672619, + 0.9995898604393005, + -0.021256014704704285, + 0.02790584514538447 + ], + [ + -0.008502064272761345, + 0.021422307938337326, + 0.9997343420982361, + 0.010686158665145436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998177289962769, + -0.018536735326051712, + 0.0045695132575929165, + -0.003501613037660718 + ], + [ + 0.018597546964883804, + 0.9997339248657227, + -0.013646028004586697, + 0.020684920425216358 + ], + [ + -0.004315345082432032, + 0.013728522695600986, + 0.9998964667320251, + 0.010553274856259426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997695088386536, + -0.0211392343044281, + 0.003754771314561367, + -0.0026916580740362407 + ], + [ + 0.02116980403661728, + 0.9997414946556091, + -0.008297104388475418, + 0.015316207818686962 + ], + [ + -0.0035784062929451466, + 0.008374679833650589, + 0.9999585151672363, + 0.008293868815526366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996964931488037, + -0.023791871964931488, + 0.006392530631273985, + -0.005848460427174965 + ], + [ + 0.023828785866498947, + 0.9996994733810425, + -0.005761818960309029, + 0.012951812210182349 + ], + [ + -0.006253525149077177, + 0.005912396125495434, + 0.9999629855155945, + 0.0029987431829795242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999582052230835, + -0.026337379589676857, + 0.011918232776224613, + -0.011935281727152566 + ], + [ + 0.026418449357151985, + 0.9996285438537598, + -0.0066966828890144825, + 0.0145543909445405 + ], + [ + -0.011737433262169361, + 0.007008744869381189, + 0.9999065399169922, + 0.0017310845491010697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994670152664185, + -0.0264295544475317, + 0.019161073490977287, + -0.01975058687850833 + ], + [ + 0.02656654082238674, + 0.9996230006217957, + -0.006930187344551086, + 0.015682139191776516 + ], + [ + -0.018970688804984093, + 0.007435536943376064, + 0.9997923970222473, + 0.002932006930932403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993761777877808, + -0.0231177881360054, + 0.02669876627624035, + -0.027964790171633166 + ], + [ + 0.02326444536447525, + 0.9997158646583557, + -0.005195450969040394, + 0.014772221886863312 + ], + [ + -0.02657107077538967, + 0.005813341587781906, + 0.9996300339698792, + 0.004148987559601664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994233846664429, + -0.019085485488176346, + 0.0280831940472126, + -0.030152881188939017 + ], + [ + 0.019237082451581955, + 0.999801754951477, + -0.005137917585670948, + 0.015794977111121017 + ], + [ + -0.027979567646980286, + 0.005675193853676319, + 0.9995923638343811, + 0.00016374288592487576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9993555545806885, + -0.019516557455062866, + 0.0301254503428936, + -0.03231890387833118 + ], + [ + 0.0197778157889843, + 0.9997691512107849, + -0.008398905396461487, + 0.020213614124804734 + ], + [ + -0.02995457872748375, + 0.008989308029413223, + 0.9995108246803284, + 0.0009683330543339252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9991191029548645, + -0.022264603525400162, + 0.035571515560150146, + -0.03758945360779762 + ], + [ + 0.02244773507118225, + 0.9997367262840271, + -0.004757179878652096, + 0.017018495574593544 + ], + [ + -0.035456232726573944, + 0.005551489070057869, + 0.9993557929992676, + 0.00786380955328544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9991939663887024, + -0.017522074282169342, + 0.03611715883016586, + -0.038513498635341724 + ], + [ + 0.0173640139400959, + 0.9998382329940796, + 0.004685422405600548, + 0.00796028628324469 + ], + [ + -0.03619341552257538, + -0.004054507240653038, + 0.9993366003036499, + 0.007211479825588564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9992725253105164, + -0.017839321866631508, + 0.03370724618434906, + -0.03578652291558683 + ], + [ + 0.017419828101992607, + 0.9997676014900208, + 0.012698207050561905, + 8.373923599720029e-05 + ], + [ + -0.033925943076610565, + -0.01210179552435875, + 0.9993510842323303, + 0.008306743521243333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993216395378113, + -0.019090937450528145, + 0.03149361163377762, + -0.03384920521794508 + ], + [ + 0.018468080088496208, + 0.9996303915977478, + 0.01995101384818554, + -0.007427745933334031 + ], + [ + -0.031862854957580566, + -0.019355854019522667, + 0.9993048310279846, + 0.0027275738073512914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9993649125099182, + -0.0207801666110754, + 0.02894841879606247, + -0.03159150627131264 + ], + [ + 0.0201392974704504, + 0.9995494484901428, + 0.022256677970290184, + -0.009629800791541736 + ], + [ + -0.0293978713452816, + -0.02165954001247883, + 0.9993330836296082, + -0.003626750145728389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.999366044998169, + -0.022587090730667114, + 0.027519788593053818, + -0.02997338242828846 + ], + [ + 0.02201375737786293, + 0.9995378851890564, + 0.020961377769708633, + -0.0075642945617437375 + ], + [ + -0.02798052877187729, + -0.020342275500297546, + 0.9994014501571655, + -0.003984136423096061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9993366599082947, + -0.022056881338357925, + 0.02897876687347889, + -0.03152072019254168 + ], + [ + 0.02140936627984047, + 0.9995182752609253, + 0.022467974573373795, + -0.008261246706048646 + ], + [ + -0.029460379853844643, + -0.021832652390003204, + 0.9993274807929993, + -0.0026235746561239165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9992475509643555, + -0.022314120084047318, + 0.031724296510219574, + -0.03477147383925815 + ], + [ + 0.02168882265686989, + 0.9995663166046143, + 0.019919704645872116, + -0.004715557768940927 + ], + [ + -0.032155029475688934, + -0.01921665295958519, + 0.9992981553077698, + -0.003748282054439187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989796876907349, + -0.021264927461743355, + 0.03984256088733673, + -0.04320071715861559 + ], + [ + 0.020425690338015556, + 0.9995633363723755, + 0.021353859454393387, + -0.004904185235500333 + ], + [ + -0.04027924686670303, + -0.020518258213996887, + 0.998977780342102, + 0.003051829533651471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9987099170684814, + -0.022043710574507713, + 0.045744720846414566, + -0.04959994317808499 + ], + [ + 0.02083542011678219, + 0.9994256496429443, + 0.026724621653556824, + -0.009939669320980705 + ], + [ + -0.04630756005644798, + -0.025737036019563675, + 0.9985955953598022, + 0.004801076604053378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.99858558177948, + -0.02133878506720066, + 0.04869823530316353, + -0.05320012770903607 + ], + [ + 0.01985272206366062, + 0.9993284344673157, + 0.030798086896538734, + -0.013746922264496485 + ], + [ + -0.04932272806763649, + -0.029787732288241386, + 0.9983385801315308, + 0.0017952202788243691 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.998427152633667, + -0.01936337724328041, + 0.05261404439806938, + -0.05758580521680415 + ], + [ + 0.017603803426027298, + 0.9992768168449402, + 0.03370317444205284, + -0.016027901768684384 + ], + [ + -0.053228605538606644, + -0.032723959535360336, + 0.9980460405349731, + 0.0018448181077837943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9983951449394226, + -0.01595386490225792, + 0.054337989538908005, + -0.059762466462949915 + ], + [ + 0.013996138237416744, + 0.999245822429657, + 0.036220621317625046, + -0.01785457437237104 + ], + [ + -0.05487486347556114, + -0.035401973873376846, + 0.9978654384613037, + 0.0006315674865618347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9984003901481628, + -0.01574649102985859, + 0.054302096366882324, + -0.05980815545500567 + ], + [ + 0.013627596199512482, + 0.9991395473480225, + 0.03917241469025612, + -0.020333505173524218 + ], + [ + -0.05487219989299774, + -0.03836974874138832, + 0.9977558851242065, + 0.00024464674759656175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9983652234077454, + -0.015738844871520996, + 0.05494649335741997, + -0.06103604882955551 + ], + [ + 0.013511767610907555, + 0.9990812540054321, + 0.040670596063137054, + -0.021473129093647 + ], + [ + -0.055536117404699326, + -0.039861686527729034, + 0.9976606369018555, + -0.0038416730239987373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9982654452323914, + -0.015361731871962547, + 0.05683373659849167, + -0.06317770182620734 + ], + [ + 0.013062689453363419, + 0.9990898966789246, + 0.04060473293066025, + -0.02057050754626592 + ], + [ + -0.05740576982498169, + -0.039791904389858246, + 0.9975575804710388, + -0.004004612326001127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9982798099517822, + -0.015811199322342873, + 0.0564567893743515, + -0.06280031417806943 + ], + [ + 0.013605975545942783, + 0.9991374611854553, + 0.03923337906599045, + -0.01823799485961596 + ], + [ + -0.05702842026948929, + -0.03839774429798126, + 0.9976338744163513, + -0.004177748961374164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9982839226722717, + -0.018117031082510948, + 0.05568632856011391, + -0.06198898133356124 + ], + [ + 0.015979254618287086, + 0.9991270303726196, + 0.03859805688261986, + -0.01693092733621597 + ], + [ + -0.05633700266480446, + -0.037641990929841995, + 0.9977019429206848, + -0.004851823393255472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9983024001121521, + -0.01767735183238983, + 0.05549616366624832, + -0.06180387782553832 + ], + [ + 0.01554376631975174, + 0.9991320967674255, + 0.038644663989543915, + -0.016118495663007097 + ], + [ + -0.05613113194704056, + -0.03771644085645676, + 0.9977107644081116, + -0.005007677618414164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985113143920898, + -0.01583203859627247, + 0.05219676345586777, + -0.05821267458765457 + ], + [ + 0.013855645433068275, + 0.9991812705993652, + 0.0380111038684845, + -0.014484642694393791 + ], + [ + -0.05275581777095795, + -0.03723129630088806, + 0.997913122177124, + -0.005906244739890099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9987318515777588, + -0.01642521098256111, + 0.04759112745523453, + -0.05286479841917753 + ], + [ + 0.014571484178304672, + 0.999131441116333, + 0.03903961181640625, + -0.014687526524066925 + ], + [ + -0.04819102585315704, + -0.03829663246870041, + 0.998103678226471, + -0.004303475264459848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9987943768501282, + -0.020211802795529366, + 0.04473523423075676, + -0.04967444851528853 + ], + [ + 0.01834467612206936, + 0.9989591836929321, + 0.04176144301891327, + -0.017193521161874132 + ], + [ + -0.045532744377851486, + -0.040890440344810486, + 0.9981256127357483, + -0.004351559958110253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9988439679145813, + -0.022300368174910545, + 0.04258378595113754, + -0.04740220420372983 + ], + [ + 0.02040952630341053, + 0.9988083243370056, + 0.04433288797736168, + -0.019523056894540786 + ], + [ + -0.04352167993783951, + -0.043412525206804276, + 0.9981088042259216, + -0.005694824326783419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9989587664604187, + -0.02335352636873722, + 0.03919193148612976, + -0.043758096997626124 + ], + [ + 0.021427063271403313, + 0.9985750317573547, + 0.04887480288743973, + -0.023654782474040986 + ], + [ + -0.04027748107910156, + -0.04798414558172226, + 0.9980356693267822, + -0.00609030107036233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9990395903587341, + -0.02438175119459629, + 0.03640643134713173, + -0.04072903922448556 + ], + [ + 0.022424569353461266, + 0.998330295085907, + 0.053232595324516296, + -0.027772135039170587 + ], + [ + -0.03764354810118675, + -0.05236507207155228, + 0.9979182481765747, + -0.006256964926918348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9990977048873901, + -0.024009695276618004, + 0.03503238782286644, + -0.03943455589779963 + ], + [ + 0.021983107551932335, + 0.9981247186660767, + 0.057129863649606705, + -0.03137828588485717 + ], + [ + -0.03633836284279823, + -0.05630819872021675, + 0.9977519512176514, + -0.0088373303009818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9990502595901489, + -0.024743100628256798, + 0.03586596995592117, + -0.04034402740187943 + ], + [ + 0.022685742005705833, + 0.9981348514556885, + 0.056676387786865234, + -0.03036534994840622 + ], + [ + -0.037201426923274994, + -0.05580891668796539, + 0.9977481961250305, + -0.01079553075134754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9989938735961914, + -0.02604915387928486, + 0.036505572497844696, + -0.04121116241284956 + ], + [ + 0.02400948293507099, + 0.9981844425201416, + 0.055239103734493256, + -0.028161296844482417 + ], + [ + -0.03787823021411896, + -0.05430704355239868, + 0.9978055953979492, + -0.010116123743355274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9989691972732544, + -0.026161305606365204, + 0.03709693253040314, + -0.04198561660945416 + ], + [ + 0.02404666692018509, + 0.9981216192245483, + 0.05634664371609688, + -0.028430532018343606 + ], + [ + -0.038501352071762085, + -0.05539650097489357, + 0.9977218508720398, + -0.010107797384262086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9989168047904968, + -0.02552872896194458, + 0.038903530687093735, + -0.04396151602268219 + ], + [ + 0.023336593061685562, + 0.9981694221496582, + 0.05579652637243271, + -0.02689327895641326 + ], + [ + -0.04025672748684883, + -0.0548282116651535, + 0.9976839423179626, + -0.010196781158447266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.998978853225708, + -0.023404471576213837, + 0.038645584136247635, + -0.04359155377993981 + ], + [ + 0.02119545266032219, + 0.9981711506843567, + 0.05661343038082123, + -0.026713017721970878 + ], + [ + -0.03989991173148155, + -0.05573651194572449, + 0.9976479411125183, + -0.008898900902519623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9991632103919983, + -0.02104797400534153, + 0.03506966307759285, + -0.03971972893147419 + ], + [ + 0.018993323668837547, + 0.998140275478363, + 0.05792469531297684, + -0.027158441394567488 + ], + [ + -0.0362236388027668, + -0.057210132479667664, + 0.997704803943634, + -0.009225213173776866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9992498755455017, + -0.02125014178454876, + 0.032373931258916855, + -0.03664366401731968 + ], + [ + 0.01926541142165661, + 0.9979864358901978, + 0.06043108180165291, + -0.028903872668743127 + ], + [ + -0.033592913299798965, + -0.05976205691695213, + 0.997647225856781, + -0.008229783549904824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9993074536323547, + -0.02058764360845089, + 0.030996127054095268, + -0.035262597791540125 + ], + [ + 0.018608609214425087, + 0.9978503584861755, + 0.06283574551343918, + -0.03079582010706266 + ], + [ + -0.032223135232925415, + -0.06221543624997139, + 0.9975424408912659, + -0.009510967945680023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999360203742981, + -0.020107537508010864, + 0.02957819402217865, + -0.03374916687607765 + ], + [ + 0.018250450491905212, + 0.9979236125946045, + 0.06176885589957237, + -0.028786194821198777 + ], + [ + -0.030758798122406006, + -0.061189521104097366, + 0.9976521134376526, + -0.010067615502824387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9993911385536194, + -0.020459696650505066, + 0.02826191671192646, + -0.032228065989911556 + ], + [ + 0.018716417253017426, + 0.9979849457740784, + 0.06062747538089752, + -0.026620052307844158 + ], + [ + -0.029445389285683632, + -0.06006160378456116, + 0.9977602958679199, + -0.009331938233226538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9994579553604126, + -0.019081098958849907, + 0.0268264040350914, + -0.030570658737172685 + ], + [ + 0.017438070848584175, + 0.9980339407920837, + 0.06020066887140274, + -0.025160746673742927 + ], + [ + -0.027922358363866806, + -0.05970023572444916, + 0.9978257417678833, + -0.00881203735868136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9995573163032532, + -0.01834745518863201, + 0.023420264944434166, + -0.02651303664315492 + ], + [ + 0.016918985173106194, + 0.9980670809745789, + 0.0597984753549099, + -0.023471769640843076 + ], + [ + -0.02447214536368847, + -0.05937575921416283, + 0.9979357123374939, + -0.005924151595681906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.999606192111969, + -0.02021697536110878, + 0.01945992186665535, + -0.021922712717205285 + ], + [ + 0.018933206796646118, + 0.9977681040763855, + 0.06403429806232452, + -0.027071889042854305 + ], + [ + -0.02071106806397438, + -0.06364063918590546, + 0.9977579712867737, + -0.0029030434791638983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997518658638, + -0.01794108934700489, + 0.01320101972669363, + -0.015093691484071314 + ], + [ + 0.01699984259903431, + 0.9975231289863586, + 0.0682542696595192, + -0.03086464827259381 + ], + [ + -0.01439287792891264, + -0.06801291555166245, + 0.9975805878639221, + -0.0038262016295144956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997994303703308, + -0.01912284456193447, + 0.005951684899628162, + -0.007130443186809619 + ], + [ + 0.018681814894080162, + 0.9975808262825012, + 0.06695856899023056, + -0.028955843349297843 + ], + [ + -0.007217724807560444, + -0.06683395057916641, + 0.9977380037307739, + -0.00655804888655742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997750520706177, + -0.021198511123657227, + 0.0007047055405564606, + -0.0014983256859704853 + ], + [ + 0.021128039807081223, + 0.9982733726501465, + 0.054808177053928375, + -0.016296943724155424 + ], + [ + -0.0018653406295925379, + -0.05478096008300781, + 0.9984966516494751, + -0.0055061386711895465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997901320457458, + -0.02048490382730961, + 0.00013627827866002917, + -0.001020614636533234 + ], + [ + 0.020453283563256264, + 0.9985747933387756, + 0.04929543286561966, + -0.009673680365085598 + ], + [ + -0.0011458962690085173, + -0.04928229749202728, + 0.9987842440605164, + -0.008646088739236196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9998041987419128, + -0.019729170948266983, + -0.0015403726138174534, + 0.0009769754841302833 + ], + [ + 0.019780058413743973, + 0.9986768364906311, + 0.047468822449445724, + -0.005271995911995571 + ], + [ + 0.000601814070250839, + -0.04748999699950218, + 0.9988715052604675, + -0.010175290023908018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.999810516834259, + -0.018220603466033936, + -0.00684805354103446, + 0.0071132414042949675 + ], + [ + 0.01845313236117363, + 0.9991963505744934, + 0.03558354824781418, + 0.009227657318115236 + ], + [ + 0.006194196175783873, + -0.03570317476987839, + 0.99934321641922, + -0.006007230002433061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998173713684082, + -0.018322527408599854, + -0.005431136582046747, + 0.006194321978837252 + ], + [ + 0.018474198877811432, + 0.999398946762085, + 0.029332831501960754, + 0.0176021172106266 + ], + [ + 0.004890420939773321, + -0.02942781150341034, + 0.9995549321174622, + 0.0018596161063760518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998905658721924, + -0.01411125622689724, + -0.004444951191544533, + 0.005416650439923008 + ], + [ + 0.01422199234366417, + 0.9995619654655457, + 0.025953250005841255, + 0.02270245199402173 + ], + [ + 0.004076771438121796, + -0.026013625785708427, + 0.9996532797813416, + 0.006054614580546816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9998946785926819, + -0.013073284178972244, + -0.006306899711489677, + 0.0076565948035568 + ], + [ + 0.01322939246892929, + 0.9995903372764587, + 0.02538026124238968, + 0.024592934623360638 + ], + [ + 0.005972512997686863, + -0.025461025536060333, + 0.9996579885482788, + 0.011768514458090067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9998610615730286, + -0.016508283093571663, + -0.002313007600605488, + 0.0034900161934395633 + ], + [ + 0.016571538522839546, + 0.9993913769721985, + 0.030695728957653046, + 0.019622453550497694 + ], + [ + 0.0018048660131171346, + -0.03072979301214218, + 0.9995260834693909, + 0.014402824069062868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9998183846473694, + -0.01826774887740612, + 0.005426487419754267, + -0.005206784070469439 + ], + [ + 0.018081462010741234, + 0.9993050694465637, + 0.03259463980793953, + 0.01794364079833031 + ], + [ + -0.006018147338181734, + -0.032490599900484085, + 0.9994539022445679, + 0.011923566196734707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996355772018433, + -0.01951734535396099, + 0.018650198355317116, + -0.019662550138309597 + ], + [ + 0.018941747024655342, + 0.9993535280227661, + 0.030556393787264824, + 0.020753668993711477 + ], + [ + -0.019234521314501762, + -0.030191989615559578, + 0.9993590116500854, + 0.010945293018594385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9997288584709167, + -0.017087310552597046, + 0.015818821266293526, + -0.0194901658842961 + ], + [ + 0.016585424542427063, + 0.9993714094161987, + 0.03133247420191765, + 0.021374826133251194 + ], + [ + -0.016344266012310982, + -0.03106161765754223, + 0.999383807182312, + 0.010371196870692073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9997522830963135, + -0.01155173685401678, + 0.019025322049856186, + -0.023660357765232523 + ], + [ + 0.010955636389553547, + 0.9994548559188843, + 0.031143588945269585, + 0.022563972075780238 + ], + [ + -0.01937471330165863, + -0.030927440151572227, + 0.9993338584899902, + 0.014362704437226058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996300935745239, + -0.008749358355998993, + 0.0257515087723732, + -0.030551534835249184 + ], + [ + 0.007617348805069923, + 0.9990141987800598, + 0.04373346269130707, + 0.010621621608734123 + ], + [ + -0.026108764111995697, + -0.043521128594875336, + 0.9987112879753113, + 0.01834893485531211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9995923042297363, + -0.006619160063564777, + 0.02777499333024025, + -0.03323583555563043 + ], + [ + 0.004647370427846909, + 0.9975034594535828, + 0.07046481221914291, + -0.015430896480878184 + ], + [ + -0.028172068297863007, + -0.07030700892210007, + 0.9971275329589844, + 0.01419730552782615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9996060132980347, + 0.0004820984322577715, + 0.028064284473657608, + -0.033072945121093655 + ], + [ + -0.0027404362335801125, + 0.9967518448829651, + 0.08048750460147858, + -0.02533649449547131 + ], + [ + -0.027934323996305466, + -0.08053269982337952, + 0.9963604807853699, + 0.012129420191049576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9991954565048218, + -0.0009359614923596382, + 0.040094781666994095, + -0.0435034435801208 + ], + [ + -0.003057516645640135, + 0.9950404763221741, + 0.09942381083965302, + -0.04397910594940186 + ], + [ + -0.03998899087309837, + -0.09946641325950623, + 0.9942370653152466, + 0.015054718703031541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9990751147270203, + -0.00031823478639125824, + 0.04299803450703621, + -0.046114998750078184 + ], + [ + -0.0038167419843375683, + 0.9953691959381104, + 0.09605026990175247, + -0.04279079526662827 + ], + [ + -0.0428294874727726, + -0.09612555056810379, + 0.9944473505020142, + 0.014520817318310342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9990719556808472, + 0.003203765256330371, + 0.042953383177518845, + -0.045621944250306114 + ], + [ + -0.007268897257745266, + 0.9954677224159241, + 0.09482157230377197, + -0.04268693685531615 + ], + [ + -0.04245492443442345, + -0.0950457900762558, + 0.9945671558380127, + 0.012047416095932323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9991346001625061, + 0.003340437775477767, + 0.04145996645092964, + -0.04423496407980565 + ], + [ + -0.007237044163048267, + 0.9955275654792786, + 0.09419409930706024, + -0.04272458329796791 + ], + [ + -0.04095989093184471, + -0.09441262483596802, + 0.9946901798248291, + 0.007749199867248535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994572997093201, + -0.0013277382822707295, + 0.032913826406002045, + -0.03630372420690643 + ], + [ + -0.002476375550031662, + 0.9933313131332397, + 0.11526815593242645, + -0.06290056387583415 + ], + [ + -0.03284738212823868, + -0.11528711020946503, + 0.9927889704704285, + 0.005394654199481009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9995030760765076, + -0.006612177938222885, + 0.03082059696316719, + -0.03493196955261131 + ], + [ + 0.003053865395486355, + 0.9934646487236023, + 0.11409959197044373, + -0.061985613554716115 + ], + [ + -0.03137362003326416, + -0.1139487624168396, + 0.9929911494255066, + 0.008635901610056559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9996292591094971, + -0.004027395974844694, + 0.026928706094622612, + -0.03208259206963703 + ], + [ + 0.0008183466270565987, + 0.9929975271224976, + 0.11813235282897949, + -0.06607932090759278 + ], + [ + -0.027215903624892235, + -0.11806651949882507, + 0.9926326870918274, + 0.007955919578671455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9998488426208496, + -0.004306464456021786, + 0.016844002529978752, + -0.022898531867346417 + ], + [ + 0.0020618641283363104, + 0.9913709163665771, + 0.13107046484947205, + -0.0785892617702484 + ], + [ + -0.017263105139136314, + -0.13101592659950256, + 0.9912299513816833, + 0.007083050658305485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9999478459358215, + -0.0076241702772676945, + -0.006797368172556162, + -0.0007251420097115139 + ], + [ + 0.008627723902463913, + 0.986666202545166, + 0.16252797842025757, + -0.10938392778237661 + ], + [ + 0.00546759320423007, + -0.16257813572883606, + 0.9866805076599121, + 0.007133111109336218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9999532103538513, + -0.007561581674963236, + -0.006034099031239748, + -0.0013151025294791908 + ], + [ + 0.008438168093562126, + 0.9867949485778809, + 0.16175444424152374, + -0.10935790181159973 + ], + [ + 0.004731299821287394, + -0.16179777681827545, + 0.9868125915527344, + 0.0032579636201262464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.999921977519989, + -0.010574542917311192, + -0.006651096045970917, + -0.0010816048524187258 + ], + [ + 0.011505276896059513, + 0.9869643449783325, + 0.1605272740125656, + -0.10777518411477406 + ], + [ + 0.004866892471909523, + -0.160591259598732, + 0.9870089888572693, + 0.0029992727686961474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9999740123748779, + -0.0028742447029799223, + -0.006611058488488197, + -0.00022895797199453226 + ], + [ + 0.0039030180778354406, + 0.9868985414505005, + 0.16129469871520996, + -0.10678137193123499 + ], + [ + 0.006060843355953693, + -0.16131630539894104, + 0.9868841171264648, + 0.004684080282847086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9999545812606812, + -0.007908944971859455, + -0.0053143990226089954, + -0.0004765377336298115 + ], + [ + 0.008664234541356564, + 0.9868043065071106, + 0.16168539226055145, + -0.10642614781856538 + ], + [ + 0.003965511452406645, + -0.16172410547733307, + 0.9868280291557312, + 0.003493578620254994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9999350309371948, + -0.010601108893752098, + -0.004190998151898384, + -0.0010141346933475385 + ], + [ + 0.011136950924992561, + 0.9869357943534851, + 0.1607285588979721, + -0.10579819604754447 + ], + [ + 0.002432345412671566, + -0.16076479852199554, + 0.9869897365570068, + 0.005734249887367088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.999953031539917, + -0.00913749635219574, + -0.0032296772114932537, + -0.0008317696731925632 + ], + [ + 0.00953575037419796, + 0.987145185470581, + 0.15954138338565826, + -0.10517897069454193 + ], + [ + 0.0017303513595834374, + -0.15956468880176544, + 0.9871859550476074, + 0.002006242300073305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9999201893806458, + -0.012389791198074818, + -0.0024820035323500633, + -0.0006679465249180793 + ], + [ + 0.012627079151570797, + 0.9871119856834412, + 0.15953221917152405, + -0.10480297520756722 + ], + [ + 0.00047344458289444447, + -0.15955081582069397, + 0.9871895909309387, + -0.0014145633578300475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9998419284820557, + -0.01768697239458561, + -0.0018016553949564695, + -0.0009508386591915042 + ], + [ + 0.01774882711470127, + 0.9871823787689209, + 0.15860602259635925, + -0.10303748965263367 + ], + [ + -0.001026697689667344, + -0.1586129367351532, + 0.9873403310775757, + -0.0025098648791511847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9997880458831787, + -0.020571019500494003, + -0.0008480364922434092, + -0.0018934572356132172 + ], + [ + 0.020442135632038116, + 0.9869359731674194, + 0.15981091558933258, + -0.10276270002126693 + ], + [ + -0.0024505150504410267, + -0.1597943753004074, + 0.9871472716331482, + 0.0006815910215179112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9997873902320862, + -0.020618876442313194, + 2.982292789965868e-05, + -0.0020851626759395003 + ], + [ + 0.020348621532320976, + 0.986914336681366, + 0.15995614230632782, + -0.101851187646389 + ], + [ + -0.0033275485038757324, + -0.1599215418100357, + 0.9871241450309753, + 0.00386872924864292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9998162388801575, + -0.01913588121533394, + 0.0011229765368625522, + -0.002054995632885645 + ], + [ + 0.018711864948272705, + 0.9870218634605408, + 0.15949206054210663, + -0.10144944543639818 + ], + [ + -0.004160423297435045, + -0.1594417542219162, + 0.9871985912322998, + 0.004442106870313486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.999826967716217, + -0.01839297078549862, + 0.002770225517451763, + -0.0026357434953873356 + ], + [ + 0.017722608521580696, + 0.9872303009033203, + 0.15831047296524048, + -0.1005044186115265 + ], + [ + -0.005646650679409504, + -0.15823400020599365, + 0.9873855113983154, + 0.0043574258933464696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9997996687889099, + -0.01974591240286827, + 0.003270087530836463, + -0.0028584246104583146 + ], + [ + 0.01898926869034767, + 0.9874516725540161, + 0.15677565336227417, + -0.09957172125577925 + ], + [ + -0.00632473174482584, + -0.15668216347694397, + 0.9876288175582886, + 0.0015600054711103414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997034072875977, + -0.024118898436427116, + 0.003373469691723585, + -0.003336238232441247 + ], + [ + 0.02329724095761776, + 0.9874736070632935, + 0.15605472028255463, + -0.09909852584203084 + ], + [ + -0.0070950803346931934, + -0.15592984855175018, + 0.9877426624298096, + -0.0026312215874592475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9996935129165649, + -0.024534059688448906, + 0.003306942991912365, + -0.0034470548620447513 + ], + [ + 0.023717982694506645, + 0.9874698519706726, + 0.1560150682926178, + -0.09830291445056598 + ], + [ + -0.007093189284205437, + -0.15588882565498352, + 0.9877491593360901, + -0.003206894919276237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9996748566627502, + -0.02528824843466282, + 0.003264555474743247, + -0.0035585656296461825 + ], + [ + 0.024469902738928795, + 0.9874590635299683, + 0.15596725046634674, + -0.09742458939552305 + ], + [ + -0.007167752832174301, + -0.15583665668964386, + 0.9877568483352661, + -0.003238386362791064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9996932744979858, + -0.024612916633486748, + 0.002759446855634451, + -0.003146731834858656 + ], + [ + 0.02387634478509426, + 0.9873498678207397, + 0.15674877166748047, + -0.09739341070254644 + ], + [ + -0.006582583766430616, + -0.15663480758666992, + 0.9876346588134766, + -0.005879318782438836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9996299743652344, + -0.02703617513179779, + 0.002988900989294052, + -0.0036265370482578873 + ], + [ + 0.026232782751321793, + 0.9872690439224243, + 0.15688107907772064, + -0.09620220224062602 + ], + [ + -0.0071923136711120605, + -0.15674461424350739, + 0.9876129627227783, + -0.0061905544747908915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9996542930603027, + -0.026144273579120636, + 0.0027941123116761446, + -0.0038630495546385646 + ], + [ + 0.02538168802857399, + 0.9872739911079407, + 0.15698982775211334, + -0.09519974932074546 + ], + [ + -0.006862939335405827, + -0.15686462819576263, + 0.9875962734222412, + -0.004920054450631142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997346997261047, + -0.022899946197867393, + 0.002476693596690893, + -0.0028388213831931353 + ], + [ + 0.022221768274903297, + 0.9872050285339355, + 0.1578998863697052, + -0.09501553078492482 + ], + [ + -0.006060903426259756, + -0.15780296921730042, + 0.9874520301818848, + -0.005561087901393574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9996960759162903, + -0.02434530295431614, + 0.003878924995660782, + -0.003355938491101066 + ], + [ + 0.023426862433552742, + 0.9871585965156555, + 0.15801620483398438, + -0.09397074714303016 + ], + [ + -0.0076760658994317055, + -0.15787729620933533, + 0.9874289035797119, + -0.004351365889112155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9996185898780823, + -0.02723919227719307, + 0.004553632345050573, + -0.004054248193278908 + ], + [ + 0.02618321403861046, + 0.987183690071106, + 0.15742570161819458, + -0.0927740490436554 + ], + [ + -0.00878342054784298, + -0.1572464406490326, + 0.9875203371047974, + -0.00465377401560545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9996711015701294, + -0.02531336061656475, + 0.004117131698876619, + -0.003513563146504263 + ], + [ + 0.02434721402823925, + 0.9871762990951538, + 0.15776611864566803, + -0.09220061153173446 + ], + [ + -0.00805792585015297, + -0.15761397778987885, + 0.9874679446220398, + -0.006379737332463263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9997134804725647, + -0.023340854793787003, + 0.005307832267135382, + -0.0030777648851896327 + ], + [ + 0.0222032368183136, + 0.9870772361755371, + 0.1586996614933014, + -0.09155684053897857 + ], + [ + -0.008943425491452217, + -0.15853634476661682, + 0.9873126149177551, + -0.004572410769760608 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9996004104614258, + -0.02708158642053604, + 0.008098951540887356, + -0.0045665249228477485 + ], + [ + 0.025466792285442352, + 0.9871586561203003, + 0.15769995748996735, + -0.0899622157216072 + ], + [ + -0.012265714816749096, + -0.15743069350719452, + 0.9874538779258728, + -0.0018420172855258005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9996019601821899, + -0.026930714026093483, + 0.008402890525758266, + -0.0043682126980274915 + ], + [ + 0.025279326364398003, + 0.9872812628746033, + 0.15696072578430176, + -0.08955015808343887 + ], + [ + -0.012523080222308636, + -0.15668582916259766, + 0.9875690937042236, + -0.005126065860191981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9996011257171631, + -0.026799410581588745, + 0.00890686921775341, + -0.0041309514672805865 + ], + [ + 0.02506573498249054, + 0.9872270822525024, + 0.15733543038368225, + -0.08940729230642318 + ], + [ + -0.013009598478674889, + -0.15704941749572754, + 0.9875050783157349, + -0.008419707026332617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9995930194854736, + -0.026678498834371567, + 0.010100572369992733, + -0.00433808092493564 + ], + [ + 0.024751361459493637, + 0.9871518015861511, + 0.15785647928714752, + -0.08858334660530089 + ], + [ + -0.014182171784341335, + -0.15754224359989166, + 0.9874104261398315, + -0.00791542058810592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9995445609092712, + -0.028047947213053703, + 0.011137043125927448, + -0.00470963422053804 + ], + [ + 0.02594519965350628, + 0.9871693849563599, + 0.15755456686019897, + -0.08705720374981563 + ], + [ + -0.01541322935372591, + -0.1571938395500183, + 0.9874475002288818, + -0.006624637326846521 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9994736313819885, + -0.030004793778061867, + 0.012336589395999908, + -0.005479878140613436 + ], + [ + 0.027690356597304344, + 0.9871320128440857, + 0.1574917435646057, + -0.08636201073726017 + ], + [ + -0.01690335012972355, + -0.15706723928451538, + 0.9874432682991028, + -0.003957165901859603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9994486570358276, + -0.030726000666618347, + 0.012579243630170822, + -0.00524134399369359 + ], + [ + 0.028381463140249252, + 0.987266480922699, + 0.15652267634868622, + -0.08552438452839851 + ], + [ + -0.01722838170826435, + -0.15607936680316925, + 0.9875942468643188, + -0.005681964866816998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9994149208068848, + -0.0316411517560482, + 0.01298839133232832, + -0.005340128311266502 + ], + [ + 0.029226673766970634, + 0.9872865676879883, + 0.1562403440475464, + -0.08451264401276906 + ], + [ + -0.017766889184713364, + -0.15576931834220886, + 0.9876336455345154, + -0.006034114385644596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9992897510528564, + -0.035250138491392136, + 0.013319556601345539, + -0.00599982637912035 + ], + [ + 0.03274982050061226, + 0.9872556328773499, + 0.15573611855506897, + -0.08316056365768114 + ], + [ + -0.01863952726125717, + -0.15518930554389954, + 0.9877088665962219, + -0.004435736238956453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9992418885231018, + -0.036803532391786575, + 0.012692693620920181, + -0.006054705232381821 + ], + [ + 0.03438594564795494, + 0.9872353672981262, + 0.1555120348930359, + -0.08242201536893845 + ], + [ + -0.01825406588613987, + -0.15495768189430237, + 0.9877524375915527, + -0.005338405892252922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992443919181824, + -0.03681280091404915, + 0.012470798566937447, + -0.00591683827030162 + ], + [ + 0.034423407167196274, + 0.9871814846992493, + 0.15584538877010345, + -0.08175419494509696 + ], + [ + -0.01804804615676403, + -0.15529833734035492, + 0.9877027273178101, + -0.005613971501588823 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992701411247253, + -0.03604699298739433, + 0.012639015913009644, + -0.005548129264886181 + ], + [ + 0.033629585057497025, + 0.987112820148468, + 0.15645252168178558, + -0.08102138936519622 + ], + [ + -0.018115777522325516, + -0.15591327846050262, + 0.9876046180725098, + -0.004570691324770452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9992167353630066, + -0.03714737296104431, + 0.013636473566293716, + -0.0059632373321801425 + ], + [ + 0.03456202149391174, + 0.9870883822441101, + 0.1564032882452011, + -0.0796328328549862 + ], + [ + -0.01927037537097931, + -0.15580947697162628, + 0.9875991344451904, + -0.0026481769233942035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9992517828941345, + -0.03618904575705528, + 0.013646716251969337, + -0.00578348932787776 + ], + [ + 0.03360837325453758, + 0.9870774745941162, + 0.1566798985004425, + -0.07893426636854808 + ], + [ + -0.019140461459755898, + -0.15610402822494507, + 0.9875551462173462, + -0.002915935926139354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9992726445198059, + -0.03547495976090431, + 0.0139895835891366, + -0.005636860004936656 + ], + [ + 0.03283969685435295, + 0.9870243072509766, + 0.1571768820285797, + -0.0779541790485382 + ], + [ + -0.019383903592824936, + -0.1566031575202942, + 0.9874714016914368, + -0.0029380730042854967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9991658926010132, + -0.03829270228743553, + 0.014184147119522095, + -0.005988249648362398 + ], + [ + 0.0355929397046566, + 0.9869327545166016, + 0.15715228021144867, + -0.07646345198154449 + ], + [ + -0.020016584545373917, + -0.15651632845401764, + 0.9874725341796875, + -0.0022252358496189124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/boom_up/transforms.json b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d20ccbf646d57bf7741058ae38454c3182b0fe34 --- /dev/null +++ b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/boom_up/transforms.json @@ -0,0 +1,4248 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 121, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.00014601727889385074, + -3.883337922161445e-05, + 2.9296741558937356e-05 + ], + [ + 0.00014601477596443146, + 1.0, + -6.437551928684115e-05, + 5.471805343404412e-05 + ], + [ + 3.8842779758851975e-05, + 6.436984403990209e-05, + 1.0, + 4.0512270061299205e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999973714351654, + -0.007241228595376015, + 0.00041343760676681995, + 0.00021419657956964027 + ], + [ + 0.007242008112370968, + 0.9999719262123108, + -0.001915249740704894, + 0.0008950592173884312 + ], + [ + -0.0003995572333224118, + 0.00191819341853261, + 0.9999980926513672, + 0.003190715219437455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999928891658783, + -0.011699074879288673, + 0.0023008196149021387, + -0.0017971379589289426 + ], + [ + 0.0117042176425457, + 0.9999290108680725, + -0.0022349010687321424, + 0.00011967141957332683 + ], + [ + -0.0022745102178305387, + 0.002261671470478177, + 0.9999948740005493, + 0.0033553443674463777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998741745948792, + -0.014967945404350758, + 0.005249336827546358, + -0.005161058835219592 + ], + [ + 0.01501436810940504, + 0.9998475313186646, + -0.008918392471969128, + 0.006094940677285193 + ], + [ + -0.005115046631544828, + 0.0089960852637887, + 0.9999464750289917, + -0.001337881253566593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998762011528015, + -0.014773709699511528, + 0.005412248894572258, + -0.005338545733441909 + ], + [ + 0.014862677082419395, + 0.9997486472129822, + -0.016784140840172768, + 0.013935959165294965 + ], + [ + -0.005162924528121948, + 0.016862502321600914, + 0.999844491481781, + -0.0016651941665137807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997676014900208, + -0.019174007698893547, + 0.009855030104517937, + -0.009490152766617636 + ], + [ + 0.01939787156879902, + 0.9995439052581787, + -0.023145528510212898, + 0.01982292185227076 + ], + [ + -0.009406743571162224, + 0.02333131618797779, + 0.9996835589408875, + 0.0034343287892018757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997360110282898, + -0.0197510477155447, + 0.011737699620425701, + -0.011190482759848236 + ], + [ + 0.02003033272922039, + 0.9995071291923523, + -0.024172678589820862, + 0.02017166368663311 + ], + [ + -0.011254479177296162, + 0.024401407688856125, + 0.9996389150619507, + 0.007837930638343095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997797012329102, + -0.01900407485663891, + 0.008909668773412704, + -0.007918194953041772 + ], + [ + 0.01918989233672619, + 0.9995898604393005, + -0.021256014704704285, + 0.016243963440259298 + ], + [ + -0.008502064272761345, + 0.021422307938337326, + 0.9997343420982361, + 0.010436231739198169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998177289962769, + -0.018536735326051712, + 0.0045695132575929165, + -0.003254456566646695 + ], + [ + 0.018597546964883804, + 0.9997339248657227, + -0.013646028004586697, + 0.007355134760340054 + ], + [ + -0.004315345082432032, + 0.013728522695600986, + 0.9998964667320251, + 0.010370227886984745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997695088386536, + -0.0211392343044281, + 0.003754771314561367, + -0.002374569559469819 + ], + [ + 0.02116980403661728, + 0.9997414946556091, + -0.008297104388475418, + 0.00032008539885282523 + ], + [ + -0.0035784062929451466, + 0.008374679833650589, + 0.9999585151672363, + 0.008168248618021607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996964931488037, + -0.023791871964931488, + 0.006392530631273985, + -0.005451929227759441 + ], + [ + 0.023828785866498947, + 0.9996994733810425, + -0.005761818960309029, + -0.0037098456795016926 + ], + [ + -0.006253525149077177, + 0.005912396125495434, + 0.9999629855155945, + 0.0029002032475546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999582052230835, + -0.026337379589676857, + 0.011918232776224613, + -0.01145242976800849 + ], + [ + 0.026418449357151985, + 0.9996285438537598, + -0.0066966828890144825, + -0.0037721323594450944 + ], + [ + -0.011737433262169361, + 0.007008744869381189, + 0.9999065399169922, + 0.0016025908931624143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994670152664185, + -0.0264295544475317, + 0.019161073490977287, + -0.019221995789557696 + ], + [ + 0.02656654082238674, + 0.9996230006217957, + -0.006930187344551086, + -0.004310320820659401 + ], + [ + -0.018970688804984093, + 0.007435536943376064, + 0.9997923970222473, + 0.002783296192064881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993761777877808, + -0.0231177881360054, + 0.02669876627624035, + -0.027463904762019712 + ], + [ + 0.02326444536447525, + 0.9997158646583557, + -0.005195450969040394, + -0.0068882885140677304 + ], + [ + -0.02657107077538967, + 0.005813341587781906, + 0.9996300339698792, + 0.0040230318251997235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994233846664429, + -0.019085485488176346, + 0.0280831940472126, + -0.0297075531942149 + ], + [ + 0.019237082451581955, + 0.999801754951477, + -0.005137917585670948, + -0.007533730504413446 + ], + [ + -0.027979567646980286, + 0.005675193853676319, + 0.9995923638343811, + 3.132169600576162e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9993555545806885, + -0.019516557455062866, + 0.0301254503428936, + -0.031830989941954616 + ], + [ + 0.0197778157889843, + 0.9997691512107849, + -0.008398905396461487, + -0.004780614655464888 + ], + [ + -0.02995457872748375, + 0.008989308029413223, + 0.9995108246803284, + 0.0007436003535985947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9991191029548645, + -0.022264603525400162, + 0.035571515560150146, + -0.03699573084712029 + ], + [ + 0.02244773507118225, + 0.9997367262840271, + -0.004757179878652096, + -0.009641150459647179 + ], + [ + -0.035456232726573944, + 0.005551489070057869, + 0.9993557929992676, + 0.007715769844750564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9991939663887024, + -0.017522074282169342, + 0.03611715883016586, + -0.03801703986401359 + ], + [ + 0.0173640139400959, + 0.9998382329940796, + 0.004685422405600548, + -0.020368463651587565 + ], + [ + -0.03619341552257538, + -0.004054507240653038, + 0.9993366003036499, + 0.0073263575307404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9992725253105164, + -0.017839321866631508, + 0.03370724618434906, + -0.03525134325958788 + ], + [ + 0.017419828101992607, + 0.9997676014900208, + 0.012698207050561905, + -0.029909288808703423 + ], + [ + -0.033925943076610565, + -0.01210179552435875, + 0.9993510842323303, + 0.008669797386974097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993216395378113, + -0.019090937450528145, + 0.03149361163377762, + -0.03324465886534502 + ], + [ + 0.018468080088496208, + 0.9996303915977478, + 0.01995101384818554, + -0.03908270833392938 + ], + [ + -0.031862854957580566, + -0.019355854019522667, + 0.9993048310279846, + 0.0033405091846361755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9993649125099182, + -0.0207801666110754, + 0.02894841879606247, + -0.030898834050943454 + ], + [ + 0.0201392974704504, + 0.9995494484901428, + 0.022256677970290184, + -0.04294811574121316 + ], + [ + -0.0293978713452816, + -0.02165954001247883, + 0.9993330836296082, + -0.002904765478645762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.999366044998169, + -0.022587090730667114, + 0.027519788593053818, + -0.02918283425271511 + ], + [ + 0.02201375737786293, + 0.9995378851890564, + 0.020961377769708633, + -0.04254812054336071 + ], + [ + -0.02798052877187729, + -0.020342275500297546, + 0.9994014501571655, + -0.0032721567805856465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9993366599082947, + -0.022056881338357925, + 0.02897876687347889, + -0.030711967876801888 + ], + [ + 0.02140936627984047, + 0.9995182752609253, + 0.022467974573373795, + -0.04491025013228257 + ], + [ + -0.029460379853844643, + -0.021832652390003204, + 0.9993274807929993, + -0.0018230440684904655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9992475509643555, + -0.022314120084047318, + 0.031724296510219574, + -0.03391609923603634 + ], + [ + 0.02168882265686989, + 0.9995663166046143, + 0.019919704645872116, + -0.043032266572117804 + ], + [ + -0.032155029475688934, + -0.01921665295958519, + 0.9992981553077698, + -0.0030116436909884215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989796876907349, + -0.021264927461743355, + 0.03984256088733673, + -0.04235012006014585 + ], + [ + 0.020425690338015556, + 0.9995633363723755, + 0.021353859454393387, + -0.04488671869039536 + ], + [ + -0.04027924686670303, + -0.020518258213996887, + 0.998977780342102, + 0.003872559862211347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9987099170684814, + -0.022043710574507713, + 0.045744720846414566, + -0.0486814552374805 + ], + [ + 0.02083542011678219, + 0.9994256496429443, + 0.026724621653556824, + -0.05158240472277006 + ], + [ + -0.04630756005644798, + -0.025737036019563675, + 0.9985955953598022, + 0.005873453104868531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.99858558177948, + -0.02133878506720066, + 0.04869823530316353, + -0.05227544702279071 + ], + [ + 0.01985272206366062, + 0.9993284344673157, + 0.030798086896538734, + -0.05705115442474683 + ], + [ + -0.04932272806763649, + -0.029787732288241386, + 0.9983385801315308, + 0.003086022011314829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.998427152633667, + -0.01936337724328041, + 0.05261404439806938, + -0.05671445324085653 + ], + [ + 0.017603803426027298, + 0.9992768168449402, + 0.03370317444205284, + -0.0609953585267067 + ], + [ + -0.053228605538606644, + -0.032723959535360336, + 0.9980460405349731, + 0.0033173962868750097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9983951449394226, + -0.01595386490225792, + 0.054337989538908005, + -0.059017952767511206 + ], + [ + 0.013996138237416744, + 0.999245822429657, + 0.036220621317625046, + -0.06448604608575503 + ], + [ + -0.05487486347556114, + -0.035401973873376846, + 0.9978654384613037, + 0.0022836596006527545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9984003901481628, + -0.01574649102985859, + 0.054302096366882324, + -0.059047075055229166 + ], + [ + 0.013627596199512482, + 0.9991395473480225, + 0.03917241469025612, + -0.06862524996201197 + ], + [ + -0.05487219989299774, + -0.03836974874138832, + 0.9977558851242065, + 0.002099184603430331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9983652234077454, + -0.015738844871520996, + 0.05494649335741997, + -0.06024910658597946 + ], + [ + 0.013511767610907555, + 0.9990812540054321, + 0.040670596063137054, + -0.07142719179391861 + ], + [ + -0.055536117404699326, + -0.039861686527729034, + 0.9976606369018555, + -0.0018485886976122856 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9982654452323914, + -0.015361731871962547, + 0.05683373659849167, + -0.06238401234615594 + ], + [ + 0.013062689453363419, + 0.9990898966789246, + 0.04060473293066025, + -0.07219015220801035 + ], + [ + -0.05740576982498169, + -0.039791904389858246, + 0.9975575804710388, + -0.0019486972658584515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9982798099517822, + -0.015811199322342873, + 0.0564567893743515, + -0.06195705021421115 + ], + [ + 0.013605975545942783, + 0.9991374611854553, + 0.03923337906599045, + -0.07152532612284025 + ], + [ + -0.05702842026948929, + -0.03839774429798126, + 0.9976338744163513, + -0.0021298692654818296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9982839226722717, + -0.018117031082510948, + 0.05568632856011391, + -0.06099254462402314 + ], + [ + 0.015979254618287086, + 0.9991270303726196, + 0.03859805688261986, + -0.07188291400671006 + ], + [ + -0.05633700266480446, + -0.037641990929841995, + 0.9977019429206848, + -0.0027815138921141623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9983024001121521, + -0.01767735183238983, + 0.05549616366624832, + -0.06080216122170289 + ], + [ + 0.01554376631975174, + 0.9991320967674255, + 0.038644663989543915, + -0.07273598114649454 + ], + [ + -0.05613113194704056, + -0.03771644085645676, + 0.9977107644081116, + -0.0028704126365482804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985113143920898, + -0.01583203859627247, + 0.05219676345586777, + -0.05728913900287201 + ], + [ + 0.013855645433068275, + 0.9991812705993652, + 0.0380111038684845, + -0.07277021681269011 + ], + [ + -0.05275581777095795, + -0.03723129630088806, + 0.997913122177124, + -0.003734419122338295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9987318515777588, + -0.01642521098256111, + 0.04759112745523453, + -0.05187928576022387 + ], + [ + 0.014571484178304672, + 0.999131441116333, + 0.03903961181640625, + -0.07463541299104691 + ], + [ + -0.04819102585315704, + -0.03829663246870041, + 0.998103678226471, + -0.002005677316337824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9987943768501282, + -0.020211802795529366, + 0.04473523423075676, + -0.04842805400956422 + ], + [ + 0.01834467612206936, + 0.9989591836929321, + 0.04176144301891327, + -0.07879600415627162 + ], + [ + -0.045532744377851486, + -0.040890440344810486, + 0.9981256127357483, + -0.0018299828035136063 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9988439679145813, + -0.022300368174910545, + 0.04258378595113754, + -0.04598984755265216 + ], + [ + 0.02040952630341053, + 0.9988083243370056, + 0.04433288797736168, + -0.08278091743588448 + ], + [ + -0.04352167993783951, + -0.043412525206804276, + 0.9981088042259216, + -0.002945364397019148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9989587664604187, + -0.02335352636873722, + 0.03919193148612976, + -0.04224011778365821 + ], + [ + 0.021427063271403313, + 0.9985750317573547, + 0.04887480288743973, + -0.08856215953826904 + ], + [ + -0.04027748107910156, + -0.04798414558172226, + 0.9980356693267822, + -0.0029713316075503826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9990395903587341, + -0.02438175119459629, + 0.03640643134713173, + -0.0391035891448458 + ], + [ + 0.022424569353461266, + 0.998330295085907, + 0.053232595324516296, + -0.09432748804489771 + ], + [ + -0.03764354810118675, + -0.05236507207155228, + 0.9979182481765747, + -0.0027659601221481957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9990977048873901, + -0.024009695276618004, + 0.03503238782286644, + -0.037793893387230736 + ], + [ + 0.021983107551932335, + 0.9981247186660767, + 0.057129863649606705, + -0.09958347499370576 + ], + [ + -0.03633836284279823, + -0.05630819872021675, + 0.9977519512176514, + -0.004989603388433655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9990502595901489, + -0.024743100628256798, + 0.03586596995592117, + -0.038612010357901454 + ], + [ + 0.022685742005705833, + 0.9981348514556885, + 0.056676387786865234, + -0.1002347895503044 + ], + [ + -0.037201426923274994, + -0.05580891668796539, + 0.9977481961250305, + -0.006888906583189964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9989938735961914, + -0.02604915387928486, + 0.036505572497844696, + -0.03934430638483415 + ], + [ + 0.02400948293507099, + 0.9981844425201416, + 0.055239103734493256, + -0.09969784855842591 + ], + [ + -0.03787823021411896, + -0.05430704355239868, + 0.9978055953979492, + -0.0062241189554333685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9989691972732544, + -0.026161305606365204, + 0.03709693253040314, + -0.04006712086498737 + ], + [ + 0.02404666692018509, + 0.9981216192245483, + 0.05634664371609688, + -0.10162611742814381 + ], + [ + -0.038501352071762085, + -0.05539650097489357, + 0.9977218508720398, + -0.00604538731276989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9989168047904968, + -0.02552872896194458, + 0.038903530687093735, + -0.04204686135053635 + ], + [ + 0.023336593061685562, + 0.9981694221496582, + 0.05579652637243271, + -0.10175598561763764 + ], + [ + -0.04025672748684883, + -0.0548282116651535, + 0.9976839423179626, + -0.0060846652835607525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.998978853225708, + -0.023404471576213837, + 0.038645584136247635, + -0.04179721095909675 + ], + [ + 0.02119545266032219, + 0.9981711506843567, + 0.05661343038082123, + -0.10323947260777155 + ], + [ + -0.03989991173148155, + -0.05573651194572449, + 0.9976479411125183, + -0.00462576832001408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9991632103919983, + -0.02104797400534153, + 0.03506966307759285, + -0.03807097096772243 + ], + [ + 0.018993323668837547, + 0.998140275478363, + 0.05792469531297684, + -0.10534609630703926 + ], + [ + -0.0362236388027668, + -0.057210132479667664, + 0.997704803943634, + -0.004743752796202897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9992498755455017, + -0.02125014178454876, + 0.032373931258916855, + -0.03494365267455578 + ], + [ + 0.01926541142165661, + 0.9979864358901978, + 0.06043108180165291, + -0.10874278753995896 + ], + [ + -0.033592913299798965, + -0.05976205691695213, + 0.997647225856781, + -0.0034488189965486524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9993074536323547, + -0.02058764360845089, + 0.030996127054095268, + -0.03358127356351664 + ], + [ + 0.018608609214425087, + 0.9978503584861755, + 0.06283574551343918, + -0.11228693271676699 + ], + [ + -0.032223135232925415, + -0.06221543624997139, + 0.9975424408912659, + -0.0044300406519323585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999360203742981, + -0.020107537508010864, + 0.02957819402217865, + -0.03207353875041008 + ], + [ + 0.018250450491905212, + 0.9979236125946045, + 0.06176885589957237, + -0.11194649587074916 + ], + [ + -0.030758798122406006, + -0.061189521104097366, + 0.9976521134376526, + -0.004968488744149605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9993911385536194, + -0.020459696650505066, + 0.02826191671192646, + -0.030488991774618626 + ], + [ + 0.018716417253017426, + 0.9979849457740784, + 0.06062747538089752, + -0.11144877269864083 + ], + [ + -0.029445389285683632, + -0.06006160378456116, + 0.9977602958679199, + -0.004226701911538839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9994579553604126, + -0.019081098958849907, + 0.0268264040350914, + -0.028916963494072356 + ], + [ + 0.017438070848584175, + 0.9980339407920837, + 0.06020066887140274, + -0.11165702154239018 + ], + [ + -0.027922358363866806, + -0.05970023572444916, + 0.9978257417678833, + -0.0036380169292291003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9995573163032532, + -0.01834745518863201, + 0.023420264944434166, + -0.024892344768159092 + ], + [ + 0.016918985173106194, + 0.9980670809745789, + 0.0597984753549099, + -0.11163436179359754 + ], + [ + -0.02447214536368847, + -0.05937575921416283, + 0.9979357123374939, + -0.0006792928650975229 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.999606192111969, + -0.02021697536110878, + 0.01945992186665535, + -0.020103184934705497 + ], + [ + 0.018933206796646118, + 0.9977681040763855, + 0.06403429806232452, + -0.11687101840972901 + ], + [ + -0.02071106806397438, + -0.06364063918590546, + 0.9977579712867737, + 0.002824614047567593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997518658638, + -0.01794108934700489, + 0.01320101972669363, + -0.013449091627262533 + ], + [ + 0.01699984259903431, + 0.9975231289863586, + 0.0682542696595192, + -0.1223042684296767 + ], + [ + -0.01439287792891264, + -0.06801291555166245, + 0.9975805878639221, + 0.0024083156293878954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997994303703308, + -0.01912284456193447, + 0.005951684899628162, + -0.005345644361029069 + ], + [ + 0.018681814894080162, + 0.9975808262825012, + 0.06695856899023056, + -0.12206338713566461 + ], + [ + -0.007217724807560444, + -0.06683395057916641, + 0.9977380037307739, + -0.00032021349916855476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997750520706177, + -0.021198511123657227, + 0.0007047055405564606, + 0.0005155328707769514 + ], + [ + 0.021128039807081223, + 0.9982733726501465, + 0.054808177053928375, + -0.11113291412591934 + ], + [ + -0.0018653406295925379, + -0.05478096008300781, + 0.9984966516494751, + -0.0003019474633038045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997901320457458, + -0.02048490382730961, + 0.00013627827866002917, + 0.0009595927334400283 + ], + [ + 0.020453283563256264, + 0.9985747933387756, + 0.04929543286561966, + -0.10620257705450059 + ], + [ + -0.0011458962690085173, + -0.04928229749202728, + 0.9987842440605164, + -0.0038821333150068915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9998041987419128, + -0.019729170948266983, + -0.0015403726138174534, + 0.0029170106273765364 + ], + [ + 0.019780058413743973, + 0.9986768364906311, + 0.047468822449445724, + -0.10347521816690763 + ], + [ + 0.000601814070250839, + -0.04748999699950218, + 0.9988715052604675, + -0.005505440318956971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.999810516834259, + -0.018220603466033936, + -0.00684805354103446, + 0.00893530175089836 + ], + [ + 0.01845313236117363, + 0.9991963505744934, + 0.03558354824781418, + -0.0906919777393341 + ], + [ + 0.006194196175783873, + -0.03570317476987839, + 0.99934321641922, + -0.0024369125254452228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998173713684082, + -0.018322527408599854, + -0.005431136582046747, + 0.008057112265378237 + ], + [ + 0.018474198877811432, + 0.999398946762085, + 0.029332831501960754, + -0.08400344237685203 + ], + [ + 0.004890420939773321, + -0.02942781150341034, + 0.9995549321174622, + 0.00485144360922277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998905658721924, + -0.01411125622689724, + -0.004444951191544533, + 0.006874813583369057 + ], + [ + 0.01422199234366417, + 0.9995619654655457, + 0.025953250005841255, + -0.08058561777075132 + ], + [ + 0.004076771438121796, + -0.026013625785708427, + 0.9996532797813416, + 0.008742689245070021 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9998946785926819, + -0.013073284178972244, + -0.006306899711489677, + 0.009029289642348885 + ], + [ + 0.01322939246892929, + 0.9995903372764587, + 0.02538026124238968, + -0.08036405079066754 + ], + [ + 0.005972512997686863, + -0.025461025536060333, + 0.9996579885482788, + 0.014441922139376402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9998610615730286, + -0.016508283093571663, + -0.002313007600605488, + 0.00525089972342054 + ], + [ + 0.016571538522839546, + 0.9993913769721985, + 0.030695728957653046, + -0.08697929332653681 + ], + [ + 0.0018048660131171346, + -0.03072979301214218, + 0.9995260834693909, + 0.017680668657024702 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9998183846473694, + -0.01826774887740612, + 0.005426487419754267, + -0.003227777942083776 + ], + [ + 0.018081462010741234, + 0.9993050694465637, + 0.03259463980793953, + -0.09031440839171409 + ], + [ + -0.006018147338181734, + -0.032490599900484085, + 0.9994539022445679, + 0.015443381185953816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996355772018433, + -0.01951734535396099, + 0.018650198355317116, + -0.01751564214937389 + ], + [ + 0.018941747024655342, + 0.9993535280227661, + 0.030556393787264824, + -0.0891752190887928 + ], + [ + -0.019234521314501762, + -0.030191989615559578, + 0.9993590116500854, + 0.014266411876305937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9997288584709167, + -0.017087310552597046, + 0.015818821266293526, + -0.01758208287258943 + ], + [ + 0.016585424542427063, + 0.9993714094161987, + 0.03133247420191765, + -0.09022164791822435 + ], + [ + -0.016344266012310982, + -0.03106161765754223, + 0.999383807182312, + 0.013839744175784291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9997522830963135, + -0.01155173685401678, + 0.019025322049856186, + -0.02235116092177729 + ], + [ + 0.010955636389553547, + 0.9994548559188843, + 0.031143588945269585, + -0.09070757826169332 + ], + [ + -0.01937471330165863, + -0.030927440151572227, + 0.9993338584899902, + 0.01786781432107091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996300935745239, + -0.008749358355998993, + 0.0257515087723732, + -0.029545358624309303 + ], + [ + 0.007617348805069923, + 0.9990141987800598, + 0.04373346269130707, + -0.10426501125097273 + ], + [ + -0.026108764111995697, + -0.043521128594875336, + 0.9987112879753113, + 0.02335386464372277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9995923042297363, + -0.006619160063564777, + 0.02777499333024025, + -0.0324636002148812 + ], + [ + 0.004647370427846909, + 0.9975034594535828, + 0.07046481221914291, + -0.13180630008379618 + ], + [ + -0.028172068297863007, + -0.07030700892210007, + 0.9971275329589844, + 0.022399789902071157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9996060132980347, + 0.0004820984322577715, + 0.028064284473657608, + -0.03312999343557749 + ], + [ + -0.0027404362335801125, + 0.9967518448829651, + 0.08048750460147858, + -0.1432854628066222 + ], + [ + -0.027934323996305466, + -0.08053269982337952, + 0.9963604807853699, + 0.02165912300348282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9991954565048218, + -0.0009359614923596382, + 0.040094781666994095, + -0.043391128201037646 + ], + [ + -0.003057516645640135, + 0.9950404763221741, + 0.09942381083965302, + -0.16338396310806275 + ], + [ + -0.03998899087309837, + -0.09946641325950623, + 0.9942370653152466, + 0.026990688294172286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9990751147270203, + -0.00031823478639125824, + 0.04299803450703621, + -0.046076280184400575 + ], + [ + -0.0038167419843375683, + 0.9953691959381104, + 0.09605026990175247, + -0.16389404743909836 + ], + [ + -0.0428294874727726, + -0.09612555056810379, + 0.9944473505020142, + 0.026216092637429633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9990719556808472, + 0.003203765256330371, + 0.042953383177518845, + -0.04601707529858686 + ], + [ + -0.007268897257745266, + 0.9954677224159241, + 0.09482157230377197, + -0.16546128928661347 + ], + [ + -0.04245492443442345, + -0.0950457900762558, + 0.9945671558380127, + 0.02376973020533721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9991346001625061, + 0.003340437775477767, + 0.04145996645092964, + -0.04465251880174037 + ], + [ + -0.007237044163048267, + 0.9955275654792786, + 0.09419409930706024, + -0.16716552898287773 + ], + [ + -0.04095989093184471, + -0.09441262483596802, + 0.9946901798248291, + 0.019550777971744537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994572997093201, + -0.0013277382822707295, + 0.032913826406002045, + -0.036135544024485475 + ], + [ + -0.002476375550031662, + 0.9933313131332397, + 0.11526815593242645, + -0.18872253020604451 + ], + [ + -0.03284738212823868, + -0.11528711020946503, + 0.9927889704704285, + 0.01999768815934658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9995030760765076, + -0.006612177938222885, + 0.03082059696316719, + -0.03408340671720604 + ], + [ + 0.003053865395486355, + 0.9934646487236023, + 0.11409959197044373, + -0.18948024347424508 + ], + [ + -0.03137362003326416, + -0.1139487624168396, + 0.9929911494255066, + 0.02325932612021764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9996292591094971, + -0.004027395974844694, + 0.026928706094622612, + -0.03155903059290722 + ], + [ + 0.0008183466270565987, + 0.9929975271224976, + 0.11813235282897949, + -0.19516899943351745 + ], + [ + -0.027215903624892235, + -0.11806651949882507, + 0.9926326870918274, + 0.023304567113518714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9998488426208496, + -0.004306464456021786, + 0.016844002529978752, + -0.022331514047303547 + ], + [ + 0.0020618641283363104, + 0.9913709163665771, + 0.13107046484947205, + -0.20911976575851443 + ], + [ + -0.017263105139136314, + -0.13101592659950256, + 0.9912299513816833, + 0.024333480993906656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9999478459358215, + -0.0076241702772676945, + -0.006797368172556162, + 0.00029141402725751204 + ], + [ + 0.008627723902463913, + 0.986666202545166, + 0.16252797842025757, + -0.24093942145506542 + ], + [ + 0.00546759320423007, + -0.16257813572883606, + 0.9866805076599121, + 0.028810195873181024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9999532103538513, + -0.007561581674963236, + -0.006034099031239748, + -0.00029428900335915387 + ], + [ + 0.008438168093562126, + 0.9867949485778809, + 0.16175444424152374, + -0.24257521986961367 + ], + [ + 0.004731299821287394, + -0.16179777681827545, + 0.9868125915527344, + 0.025100663490593436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.999921977519989, + -0.010574542917311192, + -0.006651096045970917, + 0.0003635826796138039 + ], + [ + 0.011505276896059513, + 0.9869643449783325, + 0.1605272740125656, + -0.24266031126181287 + ], + [ + 0.004866892471909523, + -0.160591259598732, + 0.9870089888572693, + 0.024946744913856192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9999740123748779, + -0.0028742447029799223, + -0.006611058488488197, + 0.00016864587858435697 + ], + [ + 0.0039030180778354406, + 0.9868985414505005, + 0.16129469871520996, + -0.24330233683188757 + ], + [ + 0.006060843355953693, + -0.16131630539894104, + 0.9868841171264648, + 0.026999502529700597 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9999545812606812, + -0.007908944971859455, + -0.0053143990226089954, + 0.0006307145624305121 + ], + [ + 0.008664234541356564, + 0.9868043065071106, + 0.16168539226055145, + -0.24457875072956084 + ], + [ + 0.003965511452406645, + -0.16172410547733307, + 0.9868280291557312, + 0.026134953387081623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9999350309371948, + -0.010601108893752098, + -0.004190998151898384, + 0.0004876890666006755 + ], + [ + 0.011136950924992561, + 0.9869357943534851, + 0.1607285588979721, + -0.24561410024762154 + ], + [ + 0.002432345412671566, + -0.16076479852199554, + 0.9869897365570068, + 0.02850926301131646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.999953031539917, + -0.00913749635219574, + -0.0032296772114932537, + 0.00047793813728882627 + ], + [ + 0.00953575037419796, + 0.987145185470581, + 0.15954138338565826, + -0.24666978061199188 + ], + [ + 0.0017303513595834374, + -0.15956468880176544, + 0.9871859550476074, + 0.024877181028326353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9999201893806458, + -0.012389791198074818, + -0.0024820035323500633, + 0.001128573198802769 + ], + [ + 0.012627079151570797, + 0.9871119856834412, + 0.15953221917152405, + -0.2479342131316662 + ], + [ + 0.00047344458289444447, + -0.15955081582069397, + 0.9871895909309387, + 0.021720304936170578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9998419284820557, + -0.01768697239458561, + -0.0018016553949564695, + 0.0016432506253477187 + ], + [ + 0.01774882711470127, + 0.9871823787689209, + 0.15860602259635925, + -0.24782423853874208 + ], + [ + -0.001026697689667344, + -0.1586129367351532, + 0.9873403310775757, + 0.020753365842004615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9997880458831787, + -0.020571019500494003, + -0.0008480364922434092, + 0.0011579106569600604 + ], + [ + 0.020442135632038116, + 0.9869359731674194, + 0.15981091558933258, + -0.2491582027077675 + ], + [ + -0.0024505150504410267, + -0.1597943753004074, + 0.9871472716331482, + 0.024384423357745013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9997873902320862, + -0.020618876442313194, + 2.982292789965868e-05, + 0.001007668790407479 + ], + [ + 0.020348621532320976, + 0.986914336681366, + 0.15995614230632782, + -0.2498883381485939 + ], + [ + -0.0033275485038757324, + -0.1599215418100357, + 0.9871241450309753, + 0.02785696052014828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9998162388801575, + -0.01913588121533394, + 0.0011229765368625522, + 0.000847279684773336 + ], + [ + 0.018711864948272705, + 0.9870218634605408, + 0.15949206054210663, + -0.2511477613945802 + ], + [ + -0.004160423297435045, + -0.1594417542219162, + 0.9871985912322998, + 0.028624106260637442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.999826967716217, + -0.01839297078549862, + 0.002770225517451763, + 0.00018451202505578596 + ], + [ + 0.017722608521580696, + 0.9872303009033203, + 0.15831047296524048, + -0.2518797314167023 + ], + [ + -0.005646650679409504, + -0.15823400020599365, + 0.9873855113983154, + 0.028619972591598826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9997996687889099, + -0.01974591240286827, + 0.003270087530836463, + 0.00020219181198626772 + ], + [ + 0.01898926869034767, + 0.9874516725540161, + 0.15677565336227417, + -0.2526267305016518 + ], + [ + -0.00632473174482584, + -0.15668216347694397, + 0.9876288175582886, + 0.025845740810036662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997034072875977, + -0.024118898436427116, + 0.003373469691723585, + 0.0004423891892656685 + ], + [ + 0.02329724095761776, + 0.9874736070632935, + 0.15605472028255463, + -0.25380272428194683 + ], + [ + -0.0070950803346931934, + -0.15592984855175018, + 0.9877426624298096, + 0.021797788018981617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9996935129165649, + -0.024534059688448906, + 0.003306942991912365, + 0.000437504588626325 + ], + [ + 0.023717982694506645, + 0.9874698519706726, + 0.1560150682926178, + -0.2546523076792558 + ], + [ + -0.007093189284205437, + -0.15588882565498352, + 0.9877491593360901, + 0.021475502476096153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9996748566627502, + -0.02528824843466282, + 0.003264555474743247, + 0.0004875541198998694 + ], + [ + 0.024469902738928795, + 0.9874590635299683, + 0.15596725046634674, + -0.255418039560318 + ], + [ + -0.007167752832174301, + -0.15583665668964386, + 0.9877568483352661, + 0.02169547870755196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9996932744979858, + -0.024612916633486748, + 0.002759446855634451, + 0.0008323563542217017 + ], + [ + 0.02387634478509426, + 0.9873498678207397, + 0.15674877166748047, + -0.2570149726668994 + ], + [ + -0.006582583766430616, + -0.15663480758666992, + 0.9876346588134766, + 0.019443308444072806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9996299743652344, + -0.02703617513179779, + 0.002988900989294052, + 0.0007893715566024183 + ], + [ + 0.026232782751321793, + 0.9872690439224243, + 0.15688107907772064, + -0.25745614608128864 + ], + [ + -0.0071923136711120605, + -0.15674461424350739, + 0.9876129627227783, + 0.01941106585164865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9996542930603027, + -0.026144273579120636, + 0.0027941123116761446, + 0.00045075558591634035 + ], + [ + 0.02538168802857399, + 0.9872739911079407, + 0.15698982775211334, + -0.25809995785355566 + ], + [ + -0.006862939335405827, + -0.15686462819576263, + 0.9875962734222412, + 0.020962609201669695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997346997261047, + -0.022899946197867393, + 0.002476693596690893, + 0.0009778363164514305 + ], + [ + 0.022221768274903297, + 0.9872050285339355, + 0.1578998863697052, + -0.25954970220724743 + ], + [ + -0.006060903426259756, + -0.15780296921730042, + 0.9874520301818848, + 0.020739406968156498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9996960759162903, + -0.02434530295431614, + 0.003878924995660782, + 0.0007421875062088171 + ], + [ + 0.023426862433552742, + 0.9871585965156555, + 0.15801620483398438, + -0.2601424442231655 + ], + [ + -0.0076760658994317055, + -0.15787729620933533, + 0.9874289035797119, + 0.022224645639459292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9996185898780823, + -0.02723919227719307, + 0.004553632345050573, + 0.0005764144938439132 + ], + [ + 0.02618321403861046, + 0.987183690071106, + 0.15742570161819458, + -0.2605952763557434 + ], + [ + -0.00878342054784298, + -0.1572464406490326, + 0.9875203371047974, + 0.022078120894730092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9996711015701294, + -0.02531336061656475, + 0.004117131698876619, + 0.0008318970926726858 + ], + [ + 0.02434721402823925, + 0.9871762990951538, + 0.15776611864566803, + -0.26166587620973586 + ], + [ + -0.00805792585015297, + -0.15761397778987885, + 0.9874679446220398, + 0.020677328854799268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9997134804725647, + -0.023340854793787003, + 0.005307832267135382, + 0.0009679832790667814 + ], + [ + 0.0222032368183136, + 0.9870772361755371, + 0.1586996614933014, + -0.26265022814273836 + ], + [ + -0.008943425491452217, + -0.15853634476661682, + 0.9873126149177551, + 0.02290722232311964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9996004104614258, + -0.02708158642053604, + 0.008098951540887356, + 0.00017275270074605968 + ], + [ + 0.025466792285442352, + 0.9871586561203003, + 0.15769995748996735, + -0.26271498054265974 + ], + [ + -0.012265714816749096, + -0.15743069350719452, + 0.9874538779258728, + 0.025708354078233242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9996019601821899, + -0.026930714026093483, + 0.008402890525758266, + 0.00038954677991569035 + ], + [ + 0.025279326364398003, + 0.9872812628746033, + 0.15696072578430176, + -0.26396984785795213 + ], + [ + -0.012523080222308636, + -0.15668582916259766, + 0.9875690937042236, + 0.022555097291866937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9996011257171631, + -0.026799410581588745, + 0.00890686921775341, + 0.0006482767531027396 + ], + [ + 0.02506573498249054, + 0.9872270822525024, + 0.15733543038368225, + -0.2654627886414528 + ], + [ + -0.013009598478674889, + -0.15704941749572754, + 0.9875050783157349, + 0.019587439093738793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9995930194854736, + -0.026678498834371567, + 0.010100572369992733, + 0.0004640488652512434 + ], + [ + 0.024751361459493637, + 0.9871518015861511, + 0.15785647928714752, + -0.26627067089080814 + ], + [ + -0.014182171784341335, + -0.15754224359989166, + 0.9874104261398315, + 0.020442183259874583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9995445609092712, + -0.028047947213053703, + 0.011137043125927448, + 0.0003857428565000494 + ], + [ + 0.02594519965350628, + 0.9871693849563599, + 0.15755456686019897, + -0.266392975350221 + ], + [ + -0.01541322935372591, + -0.1571938395500183, + 0.9874475002288818, + 0.02193224352474014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9994736313819885, + -0.030004793778061867, + 0.012336589395999908, + 2.1000718697905627e-05 + ], + [ + 0.027690356597304344, + 0.9871320128440857, + 0.1574917435646057, + -0.2673362130920092 + ], + [ + -0.01690335012972355, + -0.15706723928451538, + 0.9874432682991028, + 0.024838494633634887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9994486570358276, + -0.030726000666618347, + 0.012579243630170822, + 0.00044296612963080385 + ], + [ + 0.028381463140249252, + 0.987266480922699, + 0.15652267634868622, + -0.26816868349909784 + ], + [ + -0.01722838170826435, + -0.15607936680316925, + 0.9875942468643188, + 0.023192717991769314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9994149208068848, + -0.0316411517560482, + 0.01298839133232832, + 0.0005662200165291627 + ], + [ + 0.029226673766970634, + 0.9872865676879883, + 0.1562403440475464, + -0.26880613664786024 + ], + [ + -0.017766889184713364, + -0.15576931834220886, + 0.9876336455345154, + 0.023042825038234394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9992897510528564, + -0.035250138491392136, + 0.013319556601345539, + 0.0006389497034251694 + ], + [ + 0.03274982050061226, + 0.9872556328773499, + 0.15573611855506897, + -0.26909370784958203 + ], + [ + -0.01863952726125717, + -0.15518930554389954, + 0.9877088665962219, + 0.024791582971811298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9992418885231018, + -0.036803532391786575, + 0.012692693620920181, + 0.0009379659220576288 + ], + [ + 0.03438594564795494, + 0.9872353672981262, + 0.1555120348930359, + -0.2699967351555824 + ], + [ + -0.01825406588613987, + -0.15495768189430237, + 0.9877524375915527, + 0.024103553667664528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992443919181824, + -0.03681280091404915, + 0.012470798566937447, + 0.0011389485715578 + ], + [ + 0.034423407167196274, + 0.9871814846992493, + 0.15584538877010345, + -0.2709639795124531 + ], + [ + -0.01804804615676403, + -0.15529833734035492, + 0.9877027273178101, + 0.024151543155312538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992701411247253, + -0.03604699298739433, + 0.012639015913009644, + 0.0014209560460100574 + ], + [ + 0.033629585057497025, + 0.987112820148468, + 0.15645252168178558, + -0.27186320126056673 + ], + [ + -0.018115777522325516, + -0.15591327846050262, + 0.9876046180725098, + 0.025572542510926725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9992167353630066, + -0.03714737296104431, + 0.013636473566293716, + 0.0012805003952234984 + ], + [ + 0.03456202149391174, + 0.9870883822441101, + 0.1564032882452011, + -0.2721150673925877 + ], + [ + -0.01927037537097931, + -0.15580947697162628, + 0.9875991344451904, + 0.027734671086072922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9992517828941345, + -0.03618904575705528, + 0.013646716251969337, + 0.0013336896710097789 + ], + [ + 0.03360837325453758, + 0.9870774745941162, + 0.1566798985004425, + -0.2730595030387243 + ], + [ + -0.019140461459755898, + -0.15610402822494507, + 0.9875551462173462, + 0.02778452295809984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9992726445198059, + -0.03547495976090431, + 0.0139895835891366, + 0.001399007014309367 + ], + [ + 0.03283969685435295, + 0.9870243072509766, + 0.1571768820285797, + -0.2737139999866486 + ], + [ + -0.019383903592824936, + -0.1566031575202942, + 0.9874714016914368, + 0.02812155323723952 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9991658926010132, + -0.03829270228743553, + 0.014184147119522095, + 0.0016702908091247083 + ], + [ + 0.0355929397046566, + 0.9869327545166016, + 0.15715228021144867, + -0.27385000288486483 + ], + [ + -0.020016584545373917, + -0.15651632845401764, + 0.9874725341796875, + 0.029078029841184617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/move_left/transforms.json b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/move_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9a33253f7767c01fc028f4f540cc6ce785aab872 --- /dev/null +++ b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/move_left/transforms.json @@ -0,0 +1,4248 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 121, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.00014601727889385074, + -3.883337922161445e-05, + 2.9296741558937356e-05 + ], + [ + 0.00014601477596443146, + 1.0, + -6.437551928684115e-05, + 5.471805343404412e-05 + ], + [ + 3.8842779758851975e-05, + 6.436984403990209e-05, + 1.0, + 4.0512270061299205e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999973714351654, + -0.007241228595376015, + 0.00041343760676681995, + -0.0006251492062195515 + ], + [ + 0.007242008112370968, + 0.9999719262123108, + -0.001915249740704894, + 0.0017223341491383812 + ], + [ + -0.0003995572333224118, + 0.00191819341853261, + 0.9999980926513672, + 0.003192646678314001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999928891658783, + -0.011699074879288673, + 0.0023008196149021387, + -0.0034831845698257285 + ], + [ + 0.0117042176425457, + 0.9999290108680725, + -0.0022349010687321424, + 0.0017667127416158715 + ], + [ + -0.0022745102178305387, + 0.002261671470478177, + 0.9999948740005493, + 0.0033629046702602257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998741745948792, + -0.014967945404350758, + 0.005249336827546358, + -0.007698164135217667 + ], + [ + 0.01501436810940504, + 0.9998475313186646, + -0.008918392471969128, + 0.008557023585308344 + ], + [ + -0.005115046631544828, + 0.0089960852637887, + 0.9999464750289917, + -0.0013026034238282592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998762011528015, + -0.014773709699511528, + 0.005412248894572258, + -0.00872071210294962 + ], + [ + 0.014862677082419395, + 0.9997486472129822, + -0.016784140840172768, + 0.017218912399063507 + ], + [ + -0.005162924528121948, + 0.016862502321600914, + 0.999844491481781, + -0.0015917760770147046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997676014900208, + -0.019174007698893547, + 0.009855030104517937, + -0.013735742804904779 + ], + [ + 0.01939787156879902, + 0.9995439052581787, + -0.023145528510212898, + 0.023906863659309843 + ], + [ + -0.009406743571162224, + 0.02333131618797779, + 0.9996835589408875, + 0.0035707373715316254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997360110282898, + -0.0197510477155447, + 0.011737699620425701, + -0.01628791805356741 + ], + [ + 0.02003033272922039, + 0.9995071291923523, + -0.024172678589820862, + 0.02506904766894877 + ], + [ + -0.011254479177296162, + 0.024401407688856125, + 0.9996389150619507, + 0.008016210072673858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997797012329102, + -0.01900407485663891, + 0.008909668773412704, + -0.013861100313564141 + ], + [ + 0.01918989233672619, + 0.9995898604393005, + -0.021256014704704285, + 0.021962963254190983 + ], + [ + -0.008502064272761345, + 0.021422307938337326, + 0.9997343420982361, + 0.010610790577096244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998177289962769, + -0.018536735326051712, + 0.0045695132575929165, + -0.010043486328795552 + ], + [ + 0.018597546964883804, + 0.9997339248657227, + -0.013646028004586697, + 0.013896043946345648 + ], + [ + -0.004315345082432032, + 0.013728522695600986, + 0.9998964667320251, + 0.0104905203388383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997695088386536, + -0.0211392343044281, + 0.003754771314561367, + -0.010031385133042931 + ], + [ + 0.02116980403661728, + 0.9997414946556091, + -0.008297104388475418, + 0.007659373078495264 + ], + [ + -0.0035784062929451466, + 0.008374679833650589, + 0.9999585151672363, + 0.008257896763971075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996964931488037, + -0.023791871964931488, + 0.006392530631273985, + -0.013980998937040568 + ], + [ + 0.023828785866498947, + 0.9996994733810425, + -0.005761818960309029, + 0.004422410049786171 + ], + [ + -0.006253525149077177, + 0.005912396125495434, + 0.9999629855155945, + 0.003001585924842705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999582052230835, + -0.026337379589676857, + 0.011918232776224613, + -0.020856691226363182 + ], + [ + 0.026418449357151985, + 0.9996285438537598, + -0.0066966828890144825, + 0.0051489601734404766 + ], + [ + -0.011737433262169361, + 0.007008744869381189, + 0.9999065399169922, + 0.0017744308593682944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994670152664185, + -0.0264295544475317, + 0.019161073490977287, + -0.029480961486697196 + ], + [ + 0.02656654082238674, + 0.9996230006217957, + -0.006930187344551086, + 0.00542024377733469 + ], + [ + -0.018970688804984093, + 0.007435536943376064, + 0.9997923970222473, + 0.003047358449548483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993761777877808, + -0.0231177881360054, + 0.02669876627624035, + -0.03854092272619407 + ], + [ + 0.02326444536447525, + 0.9997158646583557, + -0.005195450969040394, + 0.003689935194949309 + ], + [ + -0.02657107077538967, + 0.005813341587781906, + 0.9996300339698792, + 0.004373862959134082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994233846664429, + -0.019085485488176346, + 0.0280831940472126, + -0.041590156679352126 + ], + [ + 0.019237082451581955, + 0.999801754951477, + -0.005137917585670948, + 0.003906190674751997 + ], + [ + -0.027979567646980286, + 0.005675193853676319, + 0.9995923638343811, + 0.0004239605801800887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9993555545806885, + -0.019516557455062866, + 0.0301254503428936, + -0.04456689134240151 + ], + [ + 0.0197778157889843, + 0.9997691512107849, + -0.008398905396461487, + 0.00746927703730762 + ], + [ + -0.02995457872748375, + 0.008989308029413223, + 0.9995108246803284, + 0.0012303989380598069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9991191029548645, + -0.022264603525400162, + 0.035571515560150146, + -0.05061418026685715 + ], + [ + 0.02244773507118225, + 0.9997367262840271, + -0.004757179878652096, + 0.0033893694231907526 + ], + [ + -0.035456232726573944, + 0.005551489070057869, + 0.9993557929992676, + 0.008262539468705653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9991939663887024, + -0.017522074282169342, + 0.03611715883016586, + -0.052420517106850945 + ], + [ + 0.0173640139400959, + 0.9998382329940796, + 0.004685422405600548, + -0.00645007888165613 + ], + [ + -0.03619341552257538, + -0.004054507240653038, + 0.9993366003036499, + 0.007781658731400967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9992725253105164, + -0.017839321866631508, + 0.03370724618434906, + -0.050508020967245104 + ], + [ + 0.017419828101992607, + 0.9997676014900208, + 0.012698207050561905, + -0.015174072207883001 + ], + [ + -0.033925943076610565, + -0.01210179552435875, + 0.9993510842323303, + 0.008997159600257874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993216395378113, + -0.019090937450528145, + 0.03149361163377762, + -0.0493695246676604 + ], + [ + 0.018468080088496208, + 0.9996303915977478, + 0.01995101384818554, + -0.02354763840169956 + ], + [ + -0.031862854957580566, + -0.019355854019522667, + 0.9993048310279846, + 0.003538536699488759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9993649125099182, + -0.0207801666110754, + 0.02894841879606247, + -0.04790125203629335 + ], + [ + 0.0201392974704504, + 0.9995494484901428, + 0.022256677970290184, + -0.026624613224218288 + ], + [ + -0.0293978713452816, + -0.02165954001247883, + 0.9993330836296082, + -0.0027757932897657157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.999366044998169, + -0.022587090730667114, + 0.027519788593053818, + -0.047067014127969736 + ], + [ + 0.02201375737786293, + 0.9995378851890564, + 0.020961377769708633, + -0.025441448306664824 + ], + [ + -0.02798052877187729, + -0.020342275500297546, + 0.9994014501571655, + -0.003138487348333001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9993366599082947, + -0.022056881338357925, + 0.02897876687347889, + -0.04943751613299052 + ], + [ + 0.02140936627984047, + 0.9995182752609253, + 0.022467974573373795, + -0.026978253467629353 + ], + [ + -0.029460379853844643, + -0.021832652390003204, + 0.9993274807929993, + -0.0016832023983200392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9992475509643555, + -0.022314120084047318, + 0.031724296510219574, + -0.05349603126446406 + ], + [ + 0.02168882265686989, + 0.9995663166046143, + 0.019919704645872116, + -0.024289614604786038 + ], + [ + -0.032155029475688934, + -0.01921665295958519, + 0.9992981553077698, + -0.002763658141096433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989796876907349, + -0.021264927461743355, + 0.03984256088733673, + -0.06275501236319542 + ], + [ + 0.020425690338015556, + 0.9995633363723755, + 0.021353859454393387, + -0.025303965769708156 + ], + [ + -0.04027924686670303, + -0.020518258213996887, + 0.998977780342102, + 0.00426777963526547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9987099170684814, + -0.022043710574507713, + 0.045744720846414566, + -0.06994715581337611 + ], + [ + 0.02083542011678219, + 0.9994256496429443, + 0.026724621653556824, + -0.031195108274308343 + ], + [ + -0.04630756005644798, + -0.025737036019563675, + 0.9985955953598022, + 0.006302005688970288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.99858558177948, + -0.02133878506720066, + 0.04869823530316353, + -0.0743738083044688 + ], + [ + 0.01985272206366062, + 0.9993284344673157, + 0.030798086896538734, + -0.03582918065600097 + ], + [ + -0.04932272806763649, + -0.029787732288241386, + 0.9983385801315308, + 0.003509280253201723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.998427152633667, + -0.01936337724328041, + 0.05261404439806938, + -0.07961474016308785 + ], + [ + 0.017603803426027298, + 0.9992768168449402, + 0.03370317444205284, + -0.038907715724781154 + ], + [ + -0.053228605538606644, + -0.032723959535360336, + 0.9980460405349731, + 0.0037787508219480513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9983951449394226, + -0.01595386490225792, + 0.054337989538908005, + -0.08268609633048375 + ], + [ + 0.013996138237416744, + 0.999245822429657, + 0.036220621317625046, + -0.04149688678793609 + ], + [ + -0.05487486347556114, + -0.035401973873376846, + 0.9978654384613037, + 0.0027380270247037214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9984003901481628, + -0.01574649102985859, + 0.054302096366882324, + -0.08355562468369802 + ], + [ + 0.013627596199512482, + 0.9991395473480225, + 0.03917241469025612, + -0.04480871114258965 + ], + [ + -0.05487219989299774, + -0.03836974874138832, + 0.9977558851242065, + 0.0024979938395942253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9983652234077454, + -0.015738844871520996, + 0.05494649335741997, + -0.08560170829296113 + ], + [ + 0.013511767610907555, + 0.9990812540054321, + 0.040670596063137054, + -0.046787954634055495 + ], + [ + -0.055536117404699326, + -0.039861686527729034, + 0.9976606369018555, + -0.0014567279256880283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9982654452323914, + -0.015361731871962547, + 0.05683373659849167, + -0.08856938108801841 + ], + [ + 0.013062689453363419, + 0.9990898966789246, + 0.04060473293066025, + -0.04671778268801669 + ], + [ + -0.05740576982498169, + -0.039791904389858246, + 0.9975575804710388, + -0.0014936724087844292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9982798099517822, + -0.015811199322342873, + 0.0564567893743515, + -0.08899947712818781 + ], + [ + 0.013605975545942783, + 0.9991374611854553, + 0.03923337906599045, + -0.04524448650578658 + ], + [ + -0.05702842026948929, + -0.03839774429798126, + 0.9976338744163513, + -0.0016330512395749488 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9982839226722717, + -0.018117031082510948, + 0.05568632856011391, + -0.08894357085227966 + ], + [ + 0.015979254618287086, + 0.9991270303726196, + 0.03859805688261986, + -0.04484635017346591 + ], + [ + -0.05633700266480446, + -0.037641990929841995, + 0.9977019429206848, + -0.0022674010694026946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9983024001121521, + -0.01767735183238983, + 0.05549616366624832, + -0.08958825419346492 + ], + [ + 0.01554376631975174, + 0.9991320967674255, + 0.038644663989543915, + -0.04486764511714379 + ], + [ + -0.05613113194704056, + -0.03771644085645676, + 0.9977107644081116, + -0.002348663055648406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985113143920898, + -0.01583203859627247, + 0.05219676345586777, + -0.08687415346503258 + ], + [ + 0.013855645433068275, + 0.9991812705993652, + 0.0380111038684845, + -0.04403155274533977 + ], + [ + -0.05275581777095795, + -0.03723129630088806, + 0.997913122177124, + -0.0032816205794612566 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9987318515777588, + -0.01642521098256111, + 0.04759112745523453, + -0.08233399763703346 + ], + [ + 0.014571484178304672, + 0.999131441116333, + 0.03903961181640625, + -0.045098614282906055 + ], + [ + -0.04819102585315704, + -0.03829663246870041, + 0.998103678226471, + -0.001708845514804125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9987943768501282, + -0.020211802795529366, + 0.04473523423075676, + -0.07984741121530534 + ], + [ + 0.01834467612206936, + 0.9989591836929321, + 0.04176144301891327, + -0.048560390172836684 + ], + [ + -0.045532744377851486, + -0.040890440344810486, + 0.9981256127357483, + -0.0016868450958281754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9988439679145813, + -0.022300368174910545, + 0.04258378595113754, + -0.07832608486215273 + ], + [ + 0.02040952630341053, + 0.9988083243370056, + 0.04433288797736168, + -0.0517982888314873 + ], + [ + -0.04352167993783951, + -0.043412525206804276, + 0.9981088042259216, + -0.0029419078305363655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9989587664604187, + -0.02335352636873722, + 0.03919193148612976, + -0.07546526730060577 + ], + [ + 0.021427063271403313, + 0.9985750317573547, + 0.04887480288743973, + -0.05680485056247562 + ], + [ + -0.04027748107910156, + -0.04798414558172226, + 0.9980356693267822, + -0.0032217982038855552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9990395903587341, + -0.02438175119459629, + 0.03640643134713173, + -0.07321763386329015 + ], + [ + 0.022424569353461266, + 0.998330295085907, + 0.053232595324516296, + -0.061797297187149526 + ], + [ + -0.03764354810118675, + -0.05236507207155228, + 0.9979182481765747, + -0.003256677587827047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9990977048873901, + -0.024009695276618004, + 0.03503238782286644, + -0.07275006289283435 + ], + [ + 0.021983107551932335, + 0.9981247186660767, + 0.057129863649606705, + -0.06623196994730582 + ], + [ + -0.03633836284279823, + -0.05630819872021675, + 0.9977519512176514, + -0.005671906114245454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9990502595901489, + -0.024743100628256798, + 0.03586596995592117, + -0.07444477796554566 + ], + [ + 0.022685742005705833, + 0.9981348514556885, + 0.056676387786865234, + -0.06609407071955502 + ], + [ + -0.037201426923274994, + -0.05580891668796539, + 0.9977481961250305, + -0.007540168724954129 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9989938735961914, + -0.02604915387928486, + 0.036505572497844696, + -0.07607501486937204 + ], + [ + 0.02400948293507099, + 0.9981844425201416, + 0.055239103734493256, + -0.06478991250662754 + ], + [ + -0.03787823021411896, + -0.05430704355239868, + 0.9978055953979492, + -0.006812818100055059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9989691972732544, + -0.026161305606365204, + 0.03709693253040314, + -0.07765523930390676 + ], + [ + 0.02404666692018509, + 0.9981216192245483, + 0.05634664371609688, + -0.0659100358436505 + ], + [ + -0.038501352071762085, + -0.05539650097489357, + 0.9977218508720398, + -0.006664876105884711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9989168047904968, + -0.02552872896194458, + 0.038903530687093735, + -0.0804635688662529 + ], + [ + 0.023336593061685562, + 0.9981694221496582, + 0.05579652637243271, + -0.06519975452683865 + ], + [ + -0.04025672748684883, + -0.0548282116651535, + 0.9976839423179626, + -0.006631095940247178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.998978853225708, + -0.023404471576213837, + 0.038645584136247635, + -0.08098857174317042 + ], + [ + 0.02119545266032219, + 0.9981711506843567, + 0.05661343038082123, + -0.06578873751685023 + ], + [ + -0.03989991173148155, + -0.05573651194572449, + 0.9976479411125183, + -0.005232837994893392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9991632103919983, + -0.02104797400534153, + 0.03506966307759285, + -0.07802924235661825 + ], + [ + 0.018993323668837547, + 0.998140275478363, + 0.05792469531297684, + -0.06699617402783285 + ], + [ + -0.0362236388027668, + -0.057210132479667664, + 0.997704803943634, + -0.005565723798548182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9992498755455017, + -0.02125014178454876, + 0.032373931258916855, + -0.07576365336775781 + ], + [ + 0.01926541142165661, + 0.9979864358901978, + 0.06043108180165291, + -0.06959394656121731 + ], + [ + -0.033592913299798965, + -0.05976205691695213, + 0.997647225856781, + -0.004495584741234779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9993074536323547, + -0.02058764360845089, + 0.030996127054095268, + -0.07522699003418287 + ], + [ + 0.018608609214425087, + 0.9978503584861755, + 0.06283574551343918, + -0.07230122795483718 + ], + [ + -0.032223135232925415, + -0.06221543624997139, + 0.9975424408912659, + -0.005654726276795069 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999360203742981, + -0.020107537508010864, + 0.02957819402217865, + -0.07455136130253474 + ], + [ + 0.018250450491905212, + 0.9979236125946045, + 0.06176885589957237, + -0.07112678078313668 + ], + [ + -0.030758798122406006, + -0.061189521104097366, + 0.9976521134376526, + -0.0062364355350534115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9993911385536194, + -0.020459696650505066, + 0.02826191671192646, + -0.07383265227079391 + ], + [ + 0.018716417253017426, + 0.9979849457740784, + 0.06062747538089752, + -0.06982986023649573 + ], + [ + -0.029445389285683632, + -0.06006160378456116, + 0.9977602958679199, + -0.005527891027741134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9994579553604126, + -0.019081098958849907, + 0.0268264040350914, + -0.07305365584790707 + ], + [ + 0.017438070848584175, + 0.9980339407920837, + 0.06020066887140274, + -0.06916453384483855 + ], + [ + -0.027922358363866806, + -0.05970023572444916, + 0.9978257417678833, + -0.005015058281521002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9995573163032532, + -0.01834745518863201, + 0.023420264944434166, + -0.06984980550905068 + ], + [ + 0.016918985173106194, + 0.9980670809745789, + 0.0597984753549099, + -0.06830032089569917 + ], + [ + -0.02447214536368847, + -0.05937575921416283, + 0.9979357123374939, + -0.0022208691434934735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.999606192111969, + -0.02021697536110878, + 0.01945992186665535, + -0.06599522747099401 + ], + [ + 0.018933206796646118, + 0.9977681040763855, + 0.06403429806232452, + -0.07282344803214073 + ], + [ + -0.02071106806397438, + -0.06364063918590546, + 0.9977579712867737, + 0.0008927833470806947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997518658638, + -0.01794108934700489, + 0.01320101972669363, + -0.06009335207442443 + ], + [ + 0.01699984259903431, + 0.9975231289863586, + 0.0682542696595192, + -0.077363617803591 + ], + [ + -0.01439287792891264, + -0.06801291555166245, + 0.9975805878639221, + -4.9269428321470745e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997994303703308, + -0.01912284456193447, + 0.005951684899628162, + -0.052895350524534784 + ], + [ + 0.018681814894080162, + 0.9975808262825012, + 0.06695856899023056, + -0.07638143327087164 + ], + [ + -0.007217724807560444, + -0.06683395057916641, + 0.9977380037307739, + -0.0031023040351768334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997750520706177, + -0.021198511123657227, + 0.0007047055405564606, + -0.047980711380951106 + ], + [ + 0.021128039807081223, + 0.9982733726501465, + 0.054808177053928375, + -0.06471851081587374 + ], + [ + -0.0018653406295925379, + -0.05478096008300781, + 0.9984966516494751, + -0.00281543938734103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997901320457458, + -0.02048490382730961, + 0.00013627827866002917, + -0.04835370066709099 + ], + [ + 0.020453283563256264, + 0.9985747933387756, + 0.04929543286561966, + -0.058926704082017146 + ], + [ + -0.0011458962690085173, + -0.04928229749202728, + 0.9987842440605164, + -0.006208726040786133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9998041987419128, + -0.019729170948266983, + -0.0015403726138174534, + -0.04721004671572397 + ], + [ + 0.019780058413743973, + 0.9986768364906311, + 0.047468822449445724, + -0.05534612657812735 + ], + [ + 0.000601814070250839, + -0.04748999699950218, + 0.9988715052604675, + -0.007869954363219828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.999810516834259, + -0.018220603466033936, + -0.00684805354103446, + -0.04196625426411629 + ], + [ + 0.01845313236117363, + 0.9991963505744934, + 0.03558354824781418, + -0.04165481682866812 + ], + [ + 0.006194196175783873, + -0.03570317476987839, + 0.99934321641922, + -0.004531781072728336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998173713684082, + -0.018322527408599854, + -0.005431136582046747, + -0.043698332589119676 + ], + [ + 0.018474198877811432, + 0.999398946762085, + 0.029332831501960754, + -0.034139767692734795 + ], + [ + 0.004890420939773321, + -0.02942781150341034, + 0.9995549321174622, + 0.0031069334600276003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998905658721924, + -0.01411125622689724, + -0.004444951191544533, + -0.04551528055841724 + ], + [ + 0.01422199234366417, + 0.9995619654655457, + 0.025953250005841255, + -0.029676385826120776 + ], + [ + 0.004076771438121796, + -0.026013625785708427, + 0.9996532797813416, + 0.007188018721838792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9998946785926819, + -0.013073284178972244, + -0.006306899711489677, + -0.044151528403162964 + ], + [ + 0.01322939246892929, + 0.9995903372764587, + 0.02538026124238968, + -0.028580101188272238 + ], + [ + 0.005972512997686863, + -0.025461025536060333, + 0.9996579885482788, + 0.012791661366354673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9998610615730286, + -0.016508283093571663, + -0.002313007600605488, + -0.04895546532546481 + ], + [ + 0.016571538522839546, + 0.9993913769721985, + 0.030695728957653046, + -0.03456223527590434 + ], + [ + 0.0018048660131171346, + -0.03072979301214218, + 0.9995260834693909, + 0.015945486842344203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9998183846473694, + -0.01826774887740612, + 0.005426487419754267, + -0.05837411017467579 + ], + [ + 0.018081462010741234, + 0.9993050694465637, + 0.03259463980793953, + -0.037164796322273715 + ], + [ + -0.006018147338181734, + -0.032490599900484085, + 0.9994539022445679, + 0.014009456672162439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996355772018433, + -0.01951734535396099, + 0.018650198355317116, + -0.07356905288994313 + ], + [ + 0.018941747024655342, + 0.9993535280227661, + 0.030556393787264824, + -0.03525257113389671 + ], + [ + -0.019234521314501762, + -0.030191989615559578, + 0.9993590116500854, + 0.013663751119747759 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9997288584709167, + -0.017087310552597046, + 0.015818821266293526, + -0.0743543189764023 + ], + [ + 0.016585424542427063, + 0.9993714094161987, + 0.03133247420191765, + -0.03534943042943875 + ], + [ + -0.016344266012310982, + -0.03106161765754223, + 0.999383807182312, + 0.013018025375592213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9997522830963135, + -0.01155173685401678, + 0.019025322049856186, + -0.07965838871896266 + ], + [ + 0.010955636389553547, + 0.9994548559188843, + 0.031143588945269585, + -0.03469262248836458 + ], + [ + -0.01937471330165863, + -0.030927440151572227, + 0.9993338584899902, + 0.017213159799575807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996300935745239, + -0.008749358355998993, + 0.0257515087723732, + -0.08752717711031437 + ], + [ + 0.007617348805069923, + 0.9990141987800598, + 0.04373346269130707, + -0.04725969237741083 + ], + [ + -0.026108764111995697, + -0.043521128594875336, + 0.9987112879753113, + 0.022352653685957194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9995923042297363, + -0.006619160063564777, + 0.02777499333024025, + -0.09115926896532378 + ], + [ + 0.004647370427846909, + 0.9975034594535828, + 0.07046481221914291, + -0.07388969489062826 + ], + [ + -0.028172068297863007, + -0.07030700892210007, + 0.9971275329589844, + 0.01994191836565733 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9996060132980347, + 0.0004820984322577715, + 0.028064284473657608, + -0.09224482506513595 + ], + [ + -0.0027404362335801125, + 0.9967518448829651, + 0.08048750460147858, + -0.08414883617389327 + ], + [ + -0.027934323996305466, + -0.08053269982337952, + 0.9963604807853699, + 0.01854705243371427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9991954565048218, + -0.0009359614923596382, + 0.040094781666994095, + -0.10339901328086853 + ], + [ + -0.003057516645640135, + 0.9950404763221741, + 0.09942381083965302, + -0.10349808352999389 + ], + [ + -0.03998899087309837, + -0.09946641325950623, + 0.9942370653152466, + 0.023422042950987817 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9990751147270203, + -0.00031823478639125824, + 0.04299803450703621, + -0.10687270894646644 + ], + [ + -0.0038167419843375683, + 0.9953691959381104, + 0.09605026990175247, + -0.10311023621548278 + ], + [ + -0.0428294874727726, + -0.09612555056810379, + 0.9944473505020142, + 0.02297391546579699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9990719556808472, + 0.003203765256330371, + 0.042953383177518845, + -0.10742894704143208 + ], + [ + -0.007268897257745266, + 0.9954677224159241, + 0.09482157230377197, + -0.10362586440673718 + ], + [ + -0.04245492443442345, + -0.0950457900762558, + 0.9945671558380127, + 0.020526626824090878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9991346001625061, + 0.003340437775477767, + 0.04145996645092964, + -0.10688965395092964 + ], + [ + -0.007237044163048267, + 0.9955275654792786, + 0.09419409930706024, + -0.1044927408802323 + ], + [ + -0.04095989093184471, + -0.09441262483596802, + 0.9946901798248291, + 0.01620998210273683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994572997093201, + -0.0013277382822707295, + 0.032913826406002045, + -0.09951859643061957 + ], + [ + -0.002476375550031662, + 0.9933313131332397, + 0.11526815593242645, + -0.12565470992277067 + ], + [ + -0.03284738212823868, + -0.11528711020946503, + 0.9927889704704285, + 0.014776505380868912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9995030760765076, + -0.006612177938222885, + 0.03082059696316719, + -0.09864246884981791 + ], + [ + 0.003053865395486355, + 0.9934646487236023, + 0.11409959197044373, + -0.12592888487735762 + ], + [ + -0.03137362003326416, + -0.1139487624168396, + 0.9929911494255066, + 0.01796075448393822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9996292591094971, + -0.004027395974844694, + 0.026928706094622612, + -0.09679671317338943 + ], + [ + 0.0008183466270565987, + 0.9929975271224976, + 0.11813235282897949, + -0.13067735270131378 + ], + [ + -0.027215903624892235, + -0.11806651949882507, + 0.9926326870918274, + 0.017399277081713082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9998488426208496, + -0.004306464456021786, + 0.016844002529978752, + -0.08843840509653092 + ], + [ + 0.0020618641283363104, + 0.9913709163665771, + 0.13107046484947205, + -0.1439902531528302 + ], + [ + -0.017263105139136314, + -0.13101592659950256, + 0.9912299513816833, + 0.01684475358109921 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9999478459358215, + -0.0076241702772676945, + -0.006797368172556162, + -0.06688005372028177 + ], + [ + 0.008627723902463913, + 0.986666202545166, + 0.16252797842025757, + -0.1757368562122186 + ], + [ + 0.00546759320423007, + -0.16257813572883606, + 0.9866805076599121, + 0.017607147277643283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9999532103538513, + -0.007561581674963236, + -0.006034099031239748, + -0.06830153746530414 + ], + [ + 0.008438168093562126, + 0.9867949485778809, + 0.16175444424152374, + -0.17653613718692213 + ], + [ + 0.004731299821287394, + -0.16179777681827545, + 0.9868125915527344, + 0.013859950817422941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.999921977519989, + -0.010574542917311192, + -0.006651096045970917, + -0.06868701288360173 + ], + [ + 0.011505276896059513, + 0.9869643449783325, + 0.1605272740125656, + -0.17600394160952418 + ], + [ + 0.004866892471909523, + -0.160591259598732, + 0.9870089888572693, + 0.013640437855695684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9999740123748779, + -0.0028742447029799223, + -0.006611058488488197, + -0.06919502523596748 + ], + [ + 0.0039030180778354406, + 0.9868985414505005, + 0.16129469871520996, + -0.1753118131319449 + ], + [ + 0.006060843355953693, + -0.16131630539894104, + 0.9868841171264648, + 0.015422583074153711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9999545812606812, + -0.007908944971859455, + -0.0053143990226089954, + -0.06991973227384732 + ], + [ + 0.008664234541356564, + 0.9868043065071106, + 0.16168539226055145, + -0.17610894569195806 + ], + [ + 0.003965511452406645, + -0.16172410547733307, + 0.9868280291557312, + 0.014536680201999844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9999350309371948, + -0.010601108893752098, + -0.004190998151898384, + -0.07109195417142475 + ], + [ + 0.011136950924992561, + 0.9869357943534851, + 0.1607285588979721, + -0.17649501550476998 + ], + [ + 0.002432345412671566, + -0.16076479852199554, + 0.9869897365570068, + 0.016949465315944205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.999953031539917, + -0.00913749635219574, + -0.0032296772114932537, + -0.07184021636164592 + ], + [ + 0.00953575037419796, + 0.987145185470581, + 0.15954138338565826, + -0.1766077710967511 + ], + [ + 0.0017303513595834374, + -0.15956468880176544, + 0.9871859550476074, + 0.013317703150096349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9999201893806458, + -0.012389791198074818, + -0.0024820035323500633, + -0.07226390039315447 + ], + [ + 0.012627079151570797, + 0.9871119856834412, + 0.15953221917152405, + -0.17728405740810557 + ], + [ + 0.00047344458289444447, + -0.15955081582069397, + 0.9871895909309387, + 0.010118546056910418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9998419284820557, + -0.01768697239458561, + -0.0018016553949564695, + -0.07297553543893931 + ], + [ + 0.01774882711470127, + 0.9871823787689209, + 0.15860602259635925, + -0.17673244475076597 + ], + [ + -0.001026697689667344, + -0.1586129367351532, + 0.9873403310775757, + 0.009197041645335654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9997880458831787, + -0.020571019500494003, + -0.0008480364922434092, + -0.07451872002566234 + ], + [ + 0.020442135632038116, + 0.9869359731674194, + 0.15981091558933258, + -0.17747657642389336 + ], + [ + -0.0024505150504410267, + -0.1597943753004074, + 0.9871472716331482, + 0.012714753722539171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9997873902320862, + -0.020618876442313194, + 2.982292789965868e-05, + -0.07552280121017249 + ], + [ + 0.020348621532320976, + 0.986914336681366, + 0.15995614230632782, + -0.17739590951241552 + ], + [ + -0.0033275485038757324, + -0.1599215418100357, + 0.9871241450309753, + 0.01611241102218628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9998162388801575, + -0.01913588121533394, + 0.0011229765368625522, + -0.07642325608913476 + ], + [ + 0.018711864948272705, + 0.9870218634605408, + 0.15949206054210663, + -0.17771758650739988 + ], + [ + -0.004160423297435045, + -0.1594417542219162, + 0.9871985912322998, + 0.016848605332197623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.999826967716217, + -0.01839297078549862, + 0.002770225517451763, + -0.07787901659340908 + ], + [ + 0.017722608521580696, + 0.9872303009033203, + 0.15831047296524048, + -0.17755080833410222 + ], + [ + -0.005646650679409504, + -0.15823400020599365, + 0.9873855113983154, + 0.016921609127894043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9997996687889099, + -0.01974591240286827, + 0.003270087530836463, + -0.07881259073037655 + ], + [ + 0.01898926869034767, + 0.9874516725540161, + 0.15677565336227417, + -0.17757089420221747 + ], + [ + -0.00632473174482584, + -0.15668216347694397, + 0.9876288175582886, + 0.014193039850797505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997034072875977, + -0.024118898436427116, + 0.003373469691723585, + -0.07975702475911628 + ], + [ + 0.02329724095761776, + 0.9874736070632935, + 0.15605472028255463, + -0.17827557560366888 + ], + [ + -0.0070950803346931934, + -0.15592984855175018, + 0.9877426624298096, + 0.010139064508645485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9996935129165649, + -0.024534059688448906, + 0.003306942991912365, + -0.08064717824260394 + ], + [ + 0.023717982694506645, + 0.9874698519706726, + 0.1560150682926178, + -0.17835528469489267 + ], + [ + -0.007093189284205437, + -0.15588882565498352, + 0.9877491593360901, + 0.009695847930076221 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9996748566627502, + -0.02528824843466282, + 0.003264555474743247, + -0.0815094942878932 + ], + [ + 0.024469902738928795, + 0.9874590635299683, + 0.15596725046634674, + -0.17837890669703482 + ], + [ + -0.007167752832174301, + -0.15583665668964386, + 0.9877568483352661, + 0.00980196639895439 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9996932744979858, + -0.024612916633486748, + 0.002759446855634451, + -0.08196572742890568 + ], + [ + 0.02387634478509426, + 0.9873498678207397, + 0.15674877166748047, + -0.17913419622151802 + ], + [ + -0.006582583766430616, + -0.15663480758666992, + 0.9876346588134766, + 0.007314087018603459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9996299743652344, + -0.02703617513179779, + 0.002988900989294052, + -0.08305503065232188 + ], + [ + 0.026232782751321793, + 0.9872690439224243, + 0.15688107907772064, + -0.17897151808564862 + ], + [ + -0.0071923136711120605, + -0.15674461424350739, + 0.9876129627227783, + 0.007197627971569697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9996542930603027, + -0.026144273579120636, + 0.0027941123116761446, + -0.08417762616183609 + ], + [ + 0.02538168802857399, + 0.9872739911079407, + 0.15698982775211334, + -0.17874384284950792 + ], + [ + -0.006862939335405827, + -0.15686462819576263, + 0.9875962734222412, + 0.008587469870690256 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997346997261047, + -0.022899946197867393, + 0.002476693596690893, + -0.08424171751054625 + ], + [ + 0.022221768274903297, + 0.9872050285339355, + 0.1578998863697052, + -0.17913443051899472 + ], + [ + -0.006060903426259756, + -0.15780296921730042, + 0.9874520301818848, + 0.008094234818903109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9996960759162903, + -0.02434530295431614, + 0.003878924995660782, + -0.08544796188206723 + ], + [ + 0.023426862433552742, + 0.9871585965156555, + 0.15801620483398438, + -0.17902835660458852 + ], + [ + -0.0076760658994317055, + -0.15787729620933533, + 0.9874289035797119, + 0.009582708755042404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9996185898780823, + -0.02723919227719307, + 0.004553632345050573, + -0.0867064969893545 + ], + [ + 0.02618321403861046, + 0.987183690071106, + 0.15742570161819458, + -0.1789102358929813 + ], + [ + -0.00878342054784298, + -0.1572464406490326, + 0.9875203371047974, + 0.009458764186128975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9996711015701294, + -0.02531336061656475, + 0.004117131698876619, + -0.08714593591168522 + ], + [ + 0.02434721402823925, + 0.9871762990951538, + 0.15776611864566803, + -0.17902304640815903 + ], + [ + -0.00805792585015297, + -0.15761397778987885, + 0.9874679446220398, + 0.007840434396639466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9997134804725647, + -0.023340854793787003, + 0.005307832267135382, + -0.08769672577735037 + ], + [ + 0.0222032368183136, + 0.9870772361755371, + 0.1586996614933014, + -0.1790278148651123 + ], + [ + -0.008943425491452217, + -0.15853634476661682, + 0.9873126149177551, + 0.009942502652605375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9996004104614258, + -0.02708158642053604, + 0.008098951540887356, + -0.0896619220264256 + ], + [ + 0.025466792285442352, + 0.9871586561203003, + 0.15769995748996735, + -0.1785669424571097 + ], + [ + -0.012265714816749096, + -0.15743069350719452, + 0.9874538779258728, + 0.013006418442819268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9996019601821899, + -0.026930714026093483, + 0.008402890525758266, + -0.09028750610848268 + ], + [ + 0.025279326364398003, + 0.9872812628746033, + 0.15696072578430176, + -0.178993010132884 + ], + [ + -0.012523080222308636, + -0.15668582916259766, + 0.9875690937042236, + 0.009820721135474742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9996011257171631, + -0.026799410581588745, + 0.00890686921775341, + -0.09087243773353597 + ], + [ + 0.02506573498249054, + 0.9872270822525024, + 0.15733543038368225, + -0.17967006850987674 + ], + [ + -0.013009598478674889, + -0.15704941749572754, + 0.9875050783157349, + 0.006743888564718267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9995930194854736, + -0.026678498834371567, + 0.010100572369992733, + -0.09190038778353483 + ], + [ + 0.024751361459493637, + 0.9871518015861511, + 0.15785647928714752, + -0.17965463127940892 + ], + [ + -0.014182171784341335, + -0.15754224359989166, + 0.9874104261398315, + 0.007539776796475053 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9995445609092712, + -0.028047947213053703, + 0.011137043125927448, + -0.09295390996461113 + ], + [ + 0.02594519965350628, + 0.9871693849563599, + 0.15755456686019897, + -0.17908177851854512 + ], + [ + -0.01541322935372591, + -0.1571938395500183, + 0.9874475002288818, + 0.009053838098576914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9994736313819885, + -0.030004793778061867, + 0.012336589395999908, + -0.09434785492097339 + ], + [ + 0.027690356597304344, + 0.9871320128440857, + 0.1574917435646057, + -0.17938739460272093 + ], + [ + -0.01690335012972355, + -0.15706723928451538, + 0.9874432682991028, + 0.011990138127778967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9994486570358276, + -0.030726000666618347, + 0.012579243630170822, + -0.09484818970784545 + ], + [ + 0.028381463140249252, + 0.987266480922699, + 0.15652267634868622, + -0.1794718193542212 + ], + [ + -0.01722838170826435, + -0.15607936680316925, + 0.9875942468643188, + 0.01034900187049061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9994149208068848, + -0.0316411517560482, + 0.01298839133232832, + -0.09566568008934459 + ], + [ + 0.029226673766970634, + 0.9872865676879883, + 0.1562403440475464, + -0.1793872132152319 + ], + [ + -0.017766889184713364, + -0.15576931834220886, + 0.9876336455345154, + 0.010162598316868146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9992897510528564, + -0.035250138491392136, + 0.013319556601345539, + -0.09678022322865824 + ], + [ + 0.03274982050061226, + 0.9872556328773499, + 0.15573611855506897, + -0.17921107718410592 + ], + [ + -0.01863952726125717, + -0.15518930554389954, + 0.9877088665962219, + 0.011933145516862472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9992418885231018, + -0.036803532391786575, + 0.012692693620920181, + -0.09748634906485677 + ], + [ + 0.03438594564795494, + 0.9872353672981262, + 0.1555120348930359, + -0.17947604009881615 + ], + [ + -0.01825406588613987, + -0.15495768189430237, + 0.9877524375915527, + 0.011116710146889091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992443919181824, + -0.03681280091404915, + 0.012470798566937447, + -0.09814986574153106 + ], + [ + 0.034423407167196274, + 0.9871814846992493, + 0.15584538877010345, + -0.179657997082298 + ], + [ + -0.01804804615676403, + -0.15529833734035492, + 0.9877027273178101, + 0.010998390250218412 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992701411247253, + -0.03604699298739433, + 0.012639015913009644, + -0.09865970025149486 + ], + [ + 0.033629585057497025, + 0.987112820148468, + 0.15645252168178558, + -0.17969315520177284 + ], + [ + -0.018115777522325516, + -0.15591327846050262, + 0.9876046180725098, + 0.01225211742023627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9992167353630066, + -0.03714737296104431, + 0.013636473566293716, + -0.09976500016637146 + ], + [ + 0.03456202149391174, + 0.9870883822441101, + 0.1564032882452011, + -0.17924374721944333 + ], + [ + -0.01927037537097931, + -0.15580947697162628, + 0.9875991344451904, + 0.014422108680009841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9992517828941345, + -0.03618904575705528, + 0.013646716251969337, + -0.10048465847969054 + ], + [ + 0.03360837325453758, + 0.9870774745941162, + 0.1566798985004425, + -0.1793017080736657 + ], + [ + -0.019140461459755898, + -0.15610402822494507, + 0.9875551462173462, + 0.014316438892856241 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9992726445198059, + -0.03547495976090431, + 0.0139895835891366, + -0.10121346374352774 + ], + [ + 0.03283969685435295, + 0.9870243072509766, + 0.1571768820285797, + -0.17909069278898337 + ], + [ + -0.019383903592824936, + -0.1566031575202942, + 0.9874714016914368, + 0.014513977222765486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9991658926010132, + -0.03829270228743553, + 0.014184147119522095, + -0.10207556867972017 + ], + [ + 0.0355929397046566, + 0.9869327545166016, + 0.15715228021144867, + -0.17871602140367032 + ], + [ + -0.020016584545373917, + -0.15651632845401764, + 0.9874725341796875, + 0.015428055450320244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/orbit_left/transforms.json b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..ad241f8c2047f63e4948007ebd75897c8456df70 --- /dev/null +++ b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/orbit_left/transforms.json @@ -0,0 +1,4248 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 121, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.00014601727889385074, + -3.883337922161445e-05, + 2.9296741558937356e-05 + ], + [ + 0.00014601477596443146, + 1.0, + -6.437551928684115e-05, + 5.471805343404412e-05 + ], + [ + 3.8842779758851975e-05, + 6.436984403990209e-05, + 1.0, + 4.0512270061299205e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999704326113406, + -0.0072412285953760164, + 0.0025950391108521937, + -0.0019484890636872094 + ], + [ + 0.007246169301108066, + 0.999971926212311, + -0.0018994455845314838, + 0.001712205571093414 + ], + [ + -0.0025812119555979262, + 0.0019181934185326104, + 0.9999948411352909, + 0.003477126395129527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999093338688294, + -0.011699074879288673, + 0.0066637967298188, + -0.006128673790099631 + ], + [ + 0.011713857791413066, + 0.9999290108680725, + -0.002183810672574324, + 0.0017344626570008064 + ], + [ + -0.006637775484558156, + 0.002261671470478177, + 0.9999754303785279, + 0.003936825246720355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998184023700731, + -0.014967945404350758, + 0.011793338843367713, + -0.011663669005640186 + ], + [ + 0.015072416852123521, + 0.9998475313186646, + -0.008819933346948694, + 0.008489812223801704 + ], + [ + -0.011659524725494985, + 0.0089960852637887, + 0.9998915801766332, + -0.00043048550599204675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997908987487489, + -0.014773709699511528, + 0.014137497976057609, + -0.014007877622243734 + ], + [ + 0.01500857855806936, + 0.9997486472129822, + -0.016653802072358455, + 0.017121166335314384 + ], + [ + -0.013887906387545397, + 0.016862502321600914, + 0.99976136602307, + -0.0004288145560093354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996006207466619, + -0.019174007698893547, + 0.02076000024947575, + -0.020337673379295394 + ], + [ + 0.01964919103510355, + 0.9995439052581787, + -0.02293255770913279, + 0.023745637984365416 + ], + [ + -0.02031082364311192, + 0.02333131618797779, + 0.9995214731481614, + 0.005052294091315395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9994967194779032, + -0.0197510477155447, + 0.0248228340856931, + -0.02420677636408156 + ], + [ + 0.020345027268638884, + 0.9995071291923523, + -0.023908418703218366, + 0.02486880455062534 + ], + [ + -0.024338384094300225, + 0.024401407688856125, + 0.9994059569901835, + 0.009808674856478485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999527057947502, + -0.01900407485663891, + 0.024176302981022708, + -0.023105794272134265 + ], + [ + 0.0195122560152471, + 0.9995898604393005, + -0.020960486497626926, + 0.02174292983254161 + ], + [ + -0.02376805332972149, + 0.021422307938337326, + 0.9994879286456674, + 0.012676689573483549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995857029108327, + -0.018536735326051712, + 0.02201804266823565, + -0.02061911263594528 + ], + [ + 0.018832870495392413, + 0.9997339248657227, + -0.013319377700057956, + 0.013668135827752004 + ], + [ + -0.021765287367085166, + 0.013728522695600986, + 0.9996688645007389, + 0.012807587331215203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9995030737248335, + -0.0211392343044281, + 0.023383214614704346, + -0.02193047248201948 + ], + [ + 0.021328626151273452, + 0.9997414946556091, + -0.007879863620726527, + 0.007386006700620238 + ], + [ + -0.023210594481253177, + 0.008374679833650589, + 0.9996955063172427, + 0.010855977705468686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9993191401343232, + -0.023791871964931488, + 0.028199273449587958, + -0.02719375078996133 + ], + [ + 0.02394880867895317, + 0.9996994733810425, + -0.005240625579235159, + 0.004090677196668311 + ], + [ + -0.028066114547275787, + 0.005912396125495434, + 0.9995886014717605, + 0.005923760205314477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9990082381406892, + -0.026337379589676864, + 0.03590074569632565, + -0.03537179284413587 + ], + [ + 0.026571535728114368, + 0.99962854385376, + -0.006060818195752553, + 0.0047434326301368564 + ], + [ + -0.035727784640564725, + 0.007008744869381191, + 0.9993369708526915, + 0.005068483258229011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9986229444522359, + -0.026429554447531707, + 0.04531750386370373, + -0.04528911140964316 + ], + [ + 0.02673884828824327, + 0.9996230006217959, + -0.006232381576606782, + 0.004974702472083077 + ], + [ + -0.04513570191919012, + 0.007435536943376066, + 0.9989531983979475, + 0.0067553590987434325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9982171472103796, + -0.0231177881360054, + 0.05502813703514656, + -0.055637031177098034 + ], + [ + 0.023402420810396812, + 0.9997158646583557, + -0.004533633101769824, + 0.0032704828611670703 + ], + [ + -0.054907691691126026, + 0.005813341587781906, + 0.9984745224641062, + 0.008521031906273166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9980996254494463, + -0.019085485488176346, + 0.058591000023016454, + -0.059996721542930766 + ], + [ + 0.019385014464112622, + 0.999801754951477, + -0.004548049317262695, + 0.003529324049203378 + ], + [ + -0.058492582327639035, + 0.005675193853676319, + 0.9982716904001446, + 0.004916090654020393 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.99783480999639, + -0.019516557455062866, + 0.06280731795822746, + -0.06427816572593914 + ], + [ + 0.02004203097999983, + 0.9997691512107849, + -0.007747296524493793, + 0.007040867089897526 + ], + [ + -0.06264161812487029, + 0.008989308029413223, + 0.9979955877250105, + 0.006082256820067475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9972690386026447, + -0.022264603525400162, + 0.0704186001929601, + -0.07160978985013995 + ], + [ + 0.022600083700982612, + 0.9997367262840271, + -0.003970867277109379, + 0.00289240611355357 + ], + [ + -0.07031164794999543, + 0.005551489070057869, + 0.9975096077747381, + 0.013553652523939008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9971676154855323, + -0.017522074282169346, + 0.07314217836821967, + -0.07472740275345263 + ], + [ + 0.017178338612601634, + 0.9998382329940798, + 0.005326053486545953, + -0.00681814081227814 + ], + [ + -0.07322367144876993, + -0.004054507240653039, + 0.9973073237338677, + 0.013419959850688092 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9971787821329178, + -0.01783932186663151, + 0.072912514355906, + -0.0741412652230248 + ], + [ + 0.016907868776557575, + 0.999767601490021, + 0.013372316434957003, + -0.015524160140705545 + ], + [ + -0.07313412684958595, + -0.012101795524358753, + 0.9972486944889528, + 0.014913181849153391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9971581431108659, + -0.019090937450528145, + 0.07287814795923796, + -0.07432890471110745 + ], + [ + 0.017625452099063302, + 0.9996303915977478, + 0.02069918776254823, + -0.02390440591941816 + ], + [ + -0.07324637756588817, + -0.019355854019522667, + 0.9971260477068044, + 0.009731098178015868 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9971510262612633, + -0.0207801666110754, + 0.07251255155390827, + -0.07418988331347261 + ], + [ + 0.019149306663909852, + 0.9995494484901428, + 0.023113958362167827, + -0.027031300904535725 + ], + [ + -0.07296018796763143, + -0.02165954001247883, + 0.9970996228301479, + 0.0036776052005310627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9970570164419357, + -0.022587090730667114, + 0.07326074408163107, + -0.07467862733852947 + ], + [ + 0.02103065058060378, + 0.9995378851890564, + 0.0219475877501925, + -0.02592829170890674 + ], + [ + -0.07372262231336192, + -0.020342275500297546, + 0.9970712830714967, + 0.0035985960607764524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9967954633032143, + -0.022056881338357925, + 0.07689169723906866, + -0.07835399832946095 + ], + [ + 0.02030673959258835, + 0.9995182752609253, + 0.02346928147713403, + -0.027461270331678566 + ], + [ + -0.07737231519064386, + -0.021832652390003204, + 0.9967631878692426, + 0.005417320989768778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9963986348194144, + -0.022314120084047318, + 0.08180378736548839, + -0.08370625577718102 + ], + [ + 0.020662407900092074, + 0.9995663166046143, + 0.020982482245676858, + -0.024819735975035423 + ], + [ + -0.08223651635374152, + -0.01921665295958519, + 0.9964275711260177, + 0.004741450777399283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9955254222246618, + -0.02126492746174336, + 0.09207051526492387, + -0.09421489191021411 + ], + [ + 0.01928012298527037, + 0.9995633363723757, + 0.022393592767917733, + -0.025807240473427275 + ], + [ + -0.0925065029584177, + -0.02051825821399689, + 0.995500663111676, + 0.012355070424376714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9947310637292213, + -0.022043710574507713, + 0.10012087089304418, + -0.10266703952145009 + ], + [ + 0.01934755797736173, + 0.9994256496429443, + 0.027820714122415997, + -0.03169478371736563 + ], + [ + -0.10067664095834371, + -0.025737036019563675, + 0.9945862291202933, + 0.014923014491564841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9942186884785434, + -0.02133878506720066, + 0.10523251274919608, + -0.10837640386261783 + ], + [ + 0.018074762948464954, + 0.9993284344673157, + 0.03187405958111559, + -0.03628495437222549 + ], + [ + -0.10584199791161424, + -0.029787732288241386, + 0.9939366798549859, + 0.01257698625451239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9935980596717824, + -0.01936337724328041, + 0.11130099999803683, + -0.11488944521496983 + ], + [ + 0.015589138603655068, + 0.9992768168449402, + 0.03468107005456558, + -0.03927838329647396 + ], + [ + -0.11189205887445977, + -0.032723959535360336, + 0.9931814288617948, + 0.013332545675555264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9932156818368706, + -0.01595386490225792, + 0.11518720371231096, + -0.1192523793377285 + ], + [ + 0.011758816585802434, + 0.999245822429657, + 0.03700750635610471, + -0.04172757542030487 + ], + [ + -0.11569073846397888, + -0.035401973873376846, + 0.9926541879983637, + 0.012705236889806956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9929695229593933, + -0.01574649102985859, + 0.11731829862232468, + -0.12142834325316829 + ], + [ + 0.011123616096440275, + 0.9991395473480225, + 0.03995565811973788, + -0.04500918672947206 + ], + [ + -0.11784651204088702, + -0.03836974874138832, + 0.9922902620810521, + 0.012820171126883455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9926339742227221, + -0.015738844871520996, + 0.12012505842278959, + -0.12477349706439002 + ], + [ + 0.010822853629086152, + 0.9990812540054321, + 0.04146722907821798, + -0.04697798190266275 + ], + [ + -0.12066733787742483, + -0.039861686527729034, + 0.9918923330328651, + 0.00924693581962907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9921424500191498, + -0.015361731871962547, + 0.12416654795382792, + -0.1290261899786162 + ], + [ + 0.010288760009990468, + 0.9990898966789246, + 0.04139468093344938, + -0.04689629906638959 + ], + [ + -0.12468943595902801, + -0.039791904389858246, + 0.9913975455510526, + 0.009642581547455346 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.991909823962438, + -0.015811199322342873, + 0.12595574282513577, + -0.13076537785175177 + ], + [ + 0.01083604989663673, + 0.9991374611854553, + 0.040086913402382206, + -0.04546423132454218 + ], + [ + -0.1264809230709254, + -0.03839774429798126, + 0.9912255869379788, + 0.009847148543805875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9916921941649212, + -0.018117031082510948, + 0.1273512838051017, + -0.1320220551217947 + ], + [ + 0.013161399582514936, + 0.9991270303726196, + 0.0396474984620642, + -0.045182568766286894 + ], + [ + -0.12795840898527233, + -0.037641990929841995, + 0.9910649173222315, + 0.009541994958140673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9914445163961622, + -0.01767735183238983, + 0.12932624311923244, + -0.13397481445682013 + ], + [ + 0.012637126137141961, + 0.9991320967674255, + 0.039690323370587, + -0.045194005770762616 + ], + [ + -0.12991562012601268, + -0.03771644085645676, + 0.9908074510401848, + 0.009809414702568879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.991620007956802, + -0.01583203859627247, + 0.12821508064201645, + -0.1326086685998116 + ], + [ + 0.010915633837069541, + 0.9991812705993652, + 0.038957308243802544, + -0.0442956112430731 + ], + [ + -0.12872687346712292, + -0.03723129630088806, + 0.9909809119096885, + 0.009079706742550145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9919191377644433, + -0.016425210982561115, + 0.1258040178414131, + -0.12943280082814645 + ], + [ + 0.011463552514888632, + 0.9991314411163332, + 0.04006253119403043, + -0.045393810289391635 + ], + [ + -0.12635278103967842, + -0.038296632468700416, + 0.9912458333761256, + 0.010790117731771255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9919349189244111, + -0.020211802795529366, + 0.12512619640802, + -0.12828758090354103 + ], + [ + 0.014917556346381833, + 0.9989591836929321, + 0.04310466074217595, + -0.049019960167681086 + ], + [ + -0.12586718467380245, + -0.040890440344810486, + 0.9912040261378999, + 0.01102936809064679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9918871538179554, + -0.022300368174910545, + 0.1251500106120367, + -0.1281011568545849 + ], + [ + 0.016668302849054916, + 0.9988083243370056, + 0.045870703073695014, + -0.0523463802330979 + ], + [ + -0.126023805816898, + -0.043412525206804276, + 0.991076849727273, + 0.010016663571216998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9920143889876173, + -0.02335352636873722, + 0.12394384463642975, + -0.12659369682957167 + ], + [ + 0.01719606309150257, + 0.9985750317573547, + 0.05051891538697036, + -0.05736958915391908 + ], + [ + -0.12494702041847716, + -0.04798414558172226, + 0.9910023788161058, + 0.00990952514751541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9920649135342695, + -0.024381751194596298, + 0.12333993141648539, + -0.1256929654281136 + ], + [ + 0.017699710713015022, + 0.9983302950859072, + 0.054984459225743874, + -0.06237982785094308 + ], + [ + -0.12447460915703508, + -0.05236507207155229, + 0.9908400165680904, + 0.010070573112632463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9919740908061506, + -0.02400969527661801, + 0.12414062702086472, + -0.12655642785310237 + ], + [ + 0.0167918756201965, + 0.9981247186660769, + 0.05886519558634227, + -0.06675973672497182 + ], + [ + -0.12532116630588336, + -0.056308198720216765, + 0.9905170559099217, + 0.007915766328531467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9915773770887155, + -0.024743100628256798, + 0.12713022549294203, + -0.129550914696976 + ], + [ + 0.017404592452476497, + 0.9981348514556885, + 0.0585144083493952, + -0.06667917509956572 + ], + [ + -0.12834093920693607, + -0.05580891668796539, + 0.9901585793999674, + 0.006426840434274441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9911816102728007, + -0.02604915387928486, + 0.12992471575160822, + -0.13248218404863532 + ], + [ + 0.018729448863965503, + 0.9981844425201416, + 0.05724527576535616, + -0.06548183136067189 + ], + [ + -0.13118002713577795, + -0.05430704355239868, + 0.9898699748008656, + 0.007525956718484057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9908145578371412, + -0.026161305606365204, + 0.13267310006902616, + -0.13536537775125507 + ], + [ + 0.01853537436679578, + 0.9981216192245483, + 0.058392005832321035, + -0.06660637373943953 + ], + [ + -0.1339515010869296, + -0.05539650097489357, + 0.9894383463235297, + 0.008042598959548394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9902935345170226, + -0.02552872896194458, + 0.13662716818612525, + -0.13945909664541062 + ], + [ + 0.017755205032205068, + 0.9981694221496582, + 0.05781523696414856, + -0.06587665761205946 + ], + [ + -0.13785300731944575, + -0.0548282116651535, + 0.9889339721336542, + 0.008514700676338999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9900806831935006, + -0.023404471576213837, + 0.13853689448112178, + -0.14130225803646512 + ], + [ + 0.015416818276033403, + 0.9981711506843567, + 0.058452112256135044, + -0.06633965869834665 + ], + [ + -0.1396515694451564, + -0.05573651194572449, + 0.988630798889925, + 0.010227338471104463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9903255013800081, + -0.02104797400534153, + 0.1371583157728912, + -0.1397132867538167 + ], + [ + 0.012964477369521304, + 0.998140275478363, + 0.05956457838032261, + -0.0674045904754458 + ], + [ + -0.13815695002086933, + -0.057210132479667664, + 0.9887566358721693, + 0.010002622991037002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9903918828895965, + -0.02125014178454876, + 0.13664663738730548, + -0.13880237180596866 + ], + [ + 0.012843105367786873, + 0.9979864358901978, + 0.06211381786265989, + -0.06999417658787557 + ], + [ + -0.1376914192079051, + -0.05976205691695213, + 0.9886705943640742, + 0.01123609497418878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9902956677005754, + -0.02058764360845089, + 0.13744321485983216, + -0.13960191935479638 + ], + [ + 0.01179793811768056, + 0.9978503584861755, + 0.06446254654678372, + -0.0726337441754519 + ], + [ + -0.13847489544814356, + -0.06221543624997139, + 0.9884098113405037, + 0.010314407199538779 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9902002591508993, + -0.020107537508010864, + 0.13819961347383714, + -0.14026368661534866 + ], + [ + 0.011417393681923247, + 0.9979236125946045, + 0.06338859222140525, + -0.07145752928062322 + ], + [ + -0.13918724600909335, + -0.061189521104097366, + 0.9883737924778022, + 0.009963253782719266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9900732948854096, + -0.02045969665050507, + 0.1390548615132908, + -0.14088037383185725 + ], + [ + 0.011868893140979903, + 0.9979849457740786, + 0.06233076625117314, + -0.07021520450143 + ], + [ + -0.14004993491867276, + -0.06006160378456117, + 0.9883211293349446, + 0.010908706129485673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9899964602275646, + -0.01908109895884991, + 0.13979581261097543, + -0.1414418330816155 + ], + [ + 0.010511067225227213, + 0.998033940792084, + 0.06178773594550359, + -0.06947575805335618 + ], + [ + -0.14069995016292364, + -0.05970023572444917, + 0.9882506731874144, + 0.011639974030404725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9901807830073854, + -0.01834745518863201, + 0.13858338409892657, + -0.1396113701190153 + ], + [ + 0.009907024196934622, + 0.9980670809745789, + 0.061351125381861625, + -0.06858717166167776 + ], + [ + -0.13944115521763617, + -0.05937575921416283, + 0.9884486512150311, + 0.014514091784493723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9903901101922833, + -0.02021697536110878, + 0.13681614488416297, + -0.1371372665392609 + ], + [ + 0.011275545716468806, + 0.9977681040763855, + 0.06581580142135328, + -0.07319471514498313 + ], + [ + -0.13784138364203877, + -0.06364063918590546, + 0.9884076439214224, + 0.01767197406671041 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9909831067248824, + -0.01794108934700489, + 0.1327800527408921, + -0.13266118754121012 + ], + [ + 0.008707322501538554, + 0.9975231289863586, + 0.06979844203132692, + -0.07753512197873208 + ], + [ + -0.13370343117249053, + -0.06801291555166245, + 0.9886847711534288, + 0.016577962699813216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9916217490963859, + -0.019122844561934475, + 0.1277522220589804, + -0.12690140016201626 + ], + [ + 0.010382366640607132, + 0.9975808262825014, + 0.06873621048542138, + -0.07670131931336227 + ], + [ + -0.12875760038638223, + -0.06683395057916643, + 0.9894213965660984, + 0.013297954066962558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9919672934791101, + -0.02119851112365723, + 0.12470581389989235, + -0.12339138212433398 + ], + [ + 0.01416678505077723, + 0.9982733726501467, + 0.057005548321101565, + -0.06542530690250721 + ], + [ + -0.12569892076778752, + -0.054780960083007826, + 0.9905548062417806, + 0.013486180601102543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9917795614520333, + -0.02048490382730961, + 0.12630767274331278, + -0.12509788474435704 + ], + [ + 0.014068725721207272, + 0.9985747933387756, + 0.051482496700424554, + -0.059684894496036374 + ], + [ + -0.1271822767602221, + -0.04928229749202728, + 0.9906543028422593, + 0.010328397317707416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9917308108899441, + -0.019729170948266983, + 0.1268101230238413, + -0.12530659395242857 + ], + [ + 0.01352318819311981, + 0.9986768364906311, + 0.049615150878351576, + -0.05609542121273967 + ], + [ + -0.12762119389473622, + -0.04748999699950218, + 0.9906853572504085, + 0.008817281947626262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9921508496156501, + -0.01822060346603394, + 0.12371199221026632, + -0.12147740093062315 + ], + [ + 0.013650678197270694, + 0.9991963505744936, + 0.03768774316137903, + -0.042513931256920455 + ], + [ + -0.12429926079131753, + -0.035703174769878394, + 0.9916022015083006, + 0.012002237942918676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9916973757925974, + -0.018322527408599854, + 0.1272815311845445, + -0.12451067594768825 + ], + [ + 0.014418704702152622, + 0.999398946762085, + 0.0315247836283054, + -0.03512317036236299 + ], + [ + -0.12778264290803318, + -0.02942781150341034, + 0.9913655101468634, + 0.020025444300143188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9913568686448285, + -0.01411125622689724, + 0.1304318224285338, + -0.12764106073265422 + ], + [ + 0.010592267299319967, + 0.9995619654655457, + 0.027634039255032883, + -0.030386486134901254 + ], + [ + -0.13076464094021642, + -0.026013625785708427, + 0.9910721005672233, + 0.024452378844024077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.99132913538482, + -0.013073284178972244, + 0.13075048986186805, + -0.12763556914126534 + ], + [ + 0.009627221547096611, + 0.9995903372764587, + 0.026953498680357426, + -0.029229141913892143 + ], + [ + -0.13104929363117632, + -0.025461025536060333, + 0.9910488623769607, + 0.030176496215988457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.99045239089414, + -0.016508283093571666, + 0.13686326689870518, + -0.13368922151586418 + ], + [ + 0.012138245663822603, + 0.9993913769721987, + 0.032703312637412545, + -0.03540807224837915 + ], + [ + -0.13731984334575756, + -0.03072979301214219, + 0.9900499531339224, + 0.033956888602345255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9890153485819001, + -0.018267748877406124, + 0.14667954633831848, + -0.14428531328544944 + ], + [ + 0.013293257132800088, + 0.9993050694465639, + 0.03482296838950486, + -0.03811869575780087 + ], + [ + -0.14721375376047713, + -0.03249059990048409, + 0.98857090363465, + 0.032973944581784154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9866145694294256, + -0.01951734535396099, + 0.16189752467515997, + -0.16053817563770392 + ], + [ + 0.01436110914860791, + 0.9993535280227661, + 0.032958178433436, + -0.036334490601725014 + ], + [ + -0.16243611558589346, + -0.030191989615559578, + 0.9862570199140789, + 0.03407267859864556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9867636965832838, + -0.01708731055259705, + 0.16126200008405783, + -0.16270329355809923 + ], + [ + 0.011844939656223191, + 0.999371409416199, + 0.033414033749411466, + -0.03622403342127055 + ], + [ + -0.16173158428599654, + -0.031061617657542236, + 0.9863457931851465, + 0.03348036035428842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9859587457658077, + -0.01155173685401678, + 0.1665891415528269, + -0.16926619951242267 + ], + [ + 0.006231982640030588, + 0.9994548559188843, + 0.03242084967218449, + -0.035077259756797846 + ], + [ + -0.1668728479487166, + -0.030927440151572227, + 0.9854932738773502, + 0.03825267087413705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9844634464345114, + -0.008749358355998993, + 0.17537156787275657, + -0.17830980754237638 + ], + [ + 0.0009726390018287687, + 0.9990141987800598, + 0.044381231789599636, + -0.047098461491169016 + ], + [ + -0.17558699273127187, + -0.043521128594875336, + 0.9835014551470421, + 0.04430433145265978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9837333336236531, + -0.006619160063564777, + 0.17951310048991712, + -0.18321386872484743 + ], + [ + -0.006126063786242664, + 0.9975034594535828, + 0.07035168196610217, + -0.07291964695485122 + ], + [ + -0.17953060475279525, + -0.07030700892210007, + 0.9812368441788892, + 0.04237141038977296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9833082692921172, + 0.0004820984322577715, + 0.1819467873482522, + -0.18560994647898363 + ], + [ + -0.015125181036209486, + 0.9967518448829651, + 0.07910105742874265, + -0.08226865045540699 + ], + [ + -0.18131766439099056, + -0.08053269982337952, + 0.9801216448521991, + 0.04125916123554985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9806214966444675, + -0.0009359614923596382, + 0.1959097550801588, + -0.19779405631133856 + ], + [ + -0.018573184203036542, + 0.9950404763221741, + 0.09772143776304944, + -0.10117405788463463 + ], + [ + -0.1950296034732843, + -0.09946641325950623, + 0.9757407008046637, + 0.04755933484207435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.979612512025278, + -0.00031823478639125824, + 0.2008960978262186, + -0.20250698748231574 + ], + [ + -0.019000945932695128, + 0.9953691959381104, + 0.09422943235124204, + -0.1007505082352764 + ], + [ + -0.19999577180039985, + -0.09612555056810379, + 0.9750700432172136, + 0.04772524075840314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9791759531759028, + 0.0032037652563303718, + 0.2029882225066519, + -0.20437391302731295 + ], + [ + -0.022416237988991217, + 0.9954677224159243, + 0.09242012614103068, + -0.1009215306773556 + ], + [ + -0.20177213245406764, + -0.09504579007625583, + 0.9748098556361569, + 0.0455828446569259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9790358502436804, + 0.003340437775477767, + 0.20366070312565707, + -0.20518270959330445 + ], + [ + -0.022484173765075846, + 0.9955275654792786, + 0.09175709826813462, + -0.10176838678918629 + ], + [ + -0.20244333099434259, + -0.09441262483596802, + 0.9747322525909434, + 0.04145901756599188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9803179958065591, + -0.0013277382822707295, + 0.19742046755273673, + -0.19933911336130092 + ], + [ + -0.02146714671761732, + 0.9933313131332397, + 0.11327860265615597, + -0.12291810016922804 + ], + [ + -0.19625434274230438, + -0.11528711020946503, + 0.9737520851608986, + 0.03950516605869514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.980280076271132, + -0.006612177938222887, + 0.19750260846234624, + -0.19982684556933725 + ], + [ + -0.016066455615966133, + 0.9934646487236025, + 0.1130040352625325, + -0.12374539758986038 + ], + [ + -0.1969590594078715, + -0.11394876241683963, + 0.9737673519832892, + 0.042869023314277194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9806303101106812, + -0.004027395974844694, + 0.19582646851731086, + -0.1993943973097601 + ], + [ + -0.019199128863400222, + 0.9929975271224976, + 0.11656464269665594, + -0.12814541206846639 + ], + [ + -0.1949246517835783, + -0.11806651949882507, + 0.9736861594067729, + 0.04219387966538832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9821465989473444, + -0.004306464456021786, + 0.18806777152836845, + -0.19260062463097333 + ], + [ + -0.020447170207992586, + 0.9913709163665771, + 0.129482165837716, + -0.14126563894318742 + ], + [ + -0.18700253144446402, + -0.13101592659950256, + 0.9735835272582118, + 0.040885145768934476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9859367418815497, + -0.0076241702772676945, + 0.16694502033231606, + -0.1729083048854408 + ], + [ + -0.019726037882572694, + 0.986666202545166, + 0.1615570017627468, + -0.172958349746898 + ], + [ + -0.16595074391678277, + -0.16257813572883606, + 0.9726400512856415, + 0.039441790666636126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9854412792815589, + -0.007561581674963236, + 0.16984792708778426, + -0.1756381616093744 + ], + [ + -0.020129072703197862, + 0.9867949485778809, + 0.16071877097827994, + -0.17372036980493955 + ], + [ + -0.1688203653416761, + -0.16179777681827545, + 0.9722762777579868, + 0.03604949794029252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9851474399623359, + -0.010574542917311192, + 0.17138471268393224, + -0.17735975712027308 + ], + [ + -0.01724313157963467, + 0.9869643449783325, + 0.16001266047312548, + -0.17351484723751182 + ], + [ + -0.17084265862838674, + -0.160591259598732, + 0.972123046080159, + 0.03609378754816737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9848151660724556, + -0.0028742447029799223, + 0.173582315323688, + -0.1791978192578786 + ], + [ + -0.02520835220310832, + 0.9868985414505005, + 0.15936044792529389, + -0.17193917039679169 + ], + [ + -0.17176617575286782, + -0.16131630539894104, + 0.9718402005092721, + 0.038015655818096225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9841787216641841, + -0.007908944971859455, + 0.17700183966458707, + -0.1812147731218719 + ], + [ + -0.02094567128993161, + 0.9868043065071106, + 0.1605568867562216, + -0.17321567021175552 + ], + [ + -0.17593601586699495, + -0.16172410547733307, + 0.9710261596524125, + 0.037633565864237925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9835638736569691, + -0.010601108893752098, + 0.18024909707894649, + -0.18368262237183855 + ], + [ + -0.018689159167823568, + 0.9869357943534851, + 0.16002629987262823, + -0.17386856301627346 + ], + [ + -0.17959074148243795, + -0.16076479852199554, + 0.9705162656786667, + 0.0404976931615839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9830066659717137, + -0.00913749635219574, + 0.18334227760103827, + -0.18573405420417305 + ], + [ + -0.020389900991767896, + 0.987145185470581, + 0.15852014220708519, + -0.17379716063274503 + ], + [ + -0.1824339242451894, + -0.15956468880176544, + 0.9701839862848617, + 0.03722766177620504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9824310224324629, + -0.012389791198074818, + 0.18621447751146122, + -0.18745983325302124 + ], + [ + -0.017698148511610955, + 0.9871119856834412, + 0.1590495131113333, + -0.17479693918404607 + ], + [ + -0.1857851216390273, + -0.15955081582069397, + 0.969550102454607, + 0.034451342309979524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9818157882046474, + -0.017686972394585613, + 0.18901027999811376, + -0.18946944429178308 + ], + [ + -0.012840724662177129, + 0.9871823787689211, + 0.15907861910996882, + -0.1748363986636647 + ], + [ + -0.1894012510290177, + -0.15861293673515323, + 0.9690042051452439, + 0.033988009385062884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9811642245737238, + -0.020571019500494007, + 0.19207712064022908, + -0.1923059768726624 + ], + [ + -0.010777536391514927, + 0.9869359731674197, + 0.16075215196080272, + -0.1758457816325566 + ], + [ + -0.1928746487910131, + -0.15979437530040744, + 0.9681245326767237, + 0.037950270642769415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9805709377077833, + -0.020618876442313194, + 0.1950780937967447, + -0.19461099803310403 + ], + [ + -0.01124826683560249, + 0.986914336681366, + 0.1608524490114556, + -0.17573194095879513 + ], + [ + -0.1958419779164174, + -0.1599215418100357, + 0.9675076588678589, + 0.04173534927315496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9799556898181345, + -0.01913588121533394, + 0.19829427273078437, + -0.19680988293397517 + ], + [ + -0.013112241041757074, + 0.9870218634605408, + 0.1600497435195454, + -0.1758499937703488 + ], + [ + -0.19878348234550125, + -0.1594417542219162, + 0.9669868121125784, + 0.042858476143483606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9792028518719696, + -0.01839297078549862, + 0.20204804975011387, + -0.19954684779686177 + ], + [ + -0.014195210071068965, + 0.9872303009033203, + 0.15866566331227927, + -0.17557310672540408 + ], + [ + -0.20238630238006738, + -0.15823400020599365, + 0.9664376945215518, + 0.04340315064094127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9786322576161093, + -0.01974591240286827, + 0.20466796411766572, + -0.20178633817960556 + ], + [ + -0.012991378774752144, + 0.9874516725540161, + 0.1573862188696745, + -0.17576813312478853 + ], + [ + -0.20520745839629367, + -0.15668216347694397, + 0.9660955348834609, + 0.04105231075522317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9780681154568936, + -0.024118898436427116, + 0.20688413270909436, + -0.2040383354245631 + ], + [ + -0.008970198231091912, + 0.9874736070632935, + 0.15752895829782723, + -0.17700862003715884 + ], + [ + -0.20809205173166337, + -0.15592984855175018, + 0.9656001270479366, + 0.037386021182239104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9776184440840041, + -0.024534059688448906, + 0.20895031329525413, + -0.20625118105785645 + ], + [ + -0.008893954622398335, + 0.9874698519706726, + 0.15755678915432947, + -0.17712882109783884 + ], + [ + -0.21019765385808734, + -0.15588882565498352, + 0.9651505900199875, + 0.037232603336367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9771508233100581, + -0.025288248434662826, + 0.21103730682183613, + -0.2084344295821667 + ], + [ + -0.008492238102382331, + 0.9874590635299685, + 0.15764657068930243, + -0.17723637181794807 + ], + [ + -0.21237731668965049, + -0.1558366566896439, + 0.9646817316968251, + 0.03763826567469446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9768121888443437, + -0.024612916633486755, + 0.21267864337675452, + -0.21022907427747814 + ], + [ + -0.009580620519340666, + 0.98734986782074, + 0.158267081131943, + -0.17788203405684994 + ], + [ + -0.21388363840883476, + -0.15663480758666995, + 0.9642195491275073, + 0.03536185898325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9762353278479828, + -0.02703617513179779, + 0.21502000799949866, + -0.21262608480229622 + ], + [ + -0.007651170850432855, + 0.9872690439224243, + 0.1588750812685412, + -0.1780084005182855 + ], + [ + -0.2165779720688977, + -0.15674461424350739, + 0.9636000599463095, + 0.03561303180448763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9758294027341563, + -0.026144273579120636, + 0.2169642584782193, + -0.21507949604209844 + ], + [ + -0.008852390148742093, + 0.9872739911079407, + 0.15878183552746997, + -0.17765632520465152 + ], + [ + -0.21835440591572008, + -0.15686462819576263, + 0.963179553681977, + 0.037249201140870984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.975500940915931, + -0.022899946197867393, + 0.21880017851855213, + -0.21648548340930696 + ], + [ + -0.012480766808796803, + 0.9872050285339355, + 0.15896669953387646, + -0.177591873736338 + ], + [ + -0.21964097200955998, + -0.15780296921730042, + 0.9627336546913503, + 0.03693523390410884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9746770975147563, + -0.02434530295431614, + 0.22228775459246825, + -0.21896878776182135 + ], + [ + -0.011677015212987115, + 0.9871585965156555, + 0.1593159947693011, + -0.17762812653115312 + ], + [ + -0.22331186213411972, + -0.15787729620933533, + 0.9618765897153939, + 0.038927357703794324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9739653400965524, + -0.02723919227719307, + 0.22505460912406686, + -0.2215193093432352 + ], + [ + -0.009205851814806322, + 0.987183690071106, + 0.15932251730291092, + -0.17788534188863114 + ], + [ + -0.22651004720973217, + -0.1572464406490326, + 0.9612318987555177, + 0.039246091063798595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9736204842587808, + -0.025313360616564758, + 0.22676510913180492, + -0.22330036721541213 + ], + [ + -0.011419111030070709, + 0.987176299095154, + 0.15922480625436106, + -0.17772786531228646 + ], + [ + -0.22788766015589332, + -0.15761397778987887, + 0.9608460262569413, + 0.037819362362554426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9728968862699532, + -0.023340854793787003, + 0.23005839434407616, + -0.22514371541061226 + ], + [ + -0.014065486879830478, + 0.9870772361755371, + 0.15962684098274912, + -0.17739738696304908 + ], + [ + -0.23081121976825558, + -0.15853634476661682, + 0.959996023566945, + 0.04032978411757851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.971648748574155, + -0.02708158642053604, + 0.234872908197159, + -0.22833158741933005 + ], + [ + -0.011008394284671392, + 0.9871586561203003, + 0.15936326225614417, + -0.17740416885812837 + ], + [ + -0.23617263381262016, + -0.15743069350719452, + 0.9588733471261053, + 0.044151784515160115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9710658689643686, + -0.026930714026093483, + 0.23728835938945628, + -0.23026890417692636 + ], + [ + -0.011369087758270417, + 0.9872812628746033, + 0.15857634635631274, + -0.17781511290299407 + ], + [ + -0.23854092888033376, + -0.15668582916259766, + 0.9584089772257683, + 0.04130228343769047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.970428481606613, + -0.026799410581588745, + 0.23989644628665366, + -0.23215898457113465 + ], + [ + -0.012009496422258617, + 0.9872270822525024, + 0.15886629825080814, + -0.17843942701034307 + ], + [ + -0.2410897976819419, + -0.15704941749572754, + 0.9577114590551907, + 0.03858939939602114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9696162529950972, + -0.026678498834371567, + 0.24317184889299034, + -0.23446960395301683 + ], + [ + -0.012783383872098405, + 0.9871518015861511, + 0.15927298278054164, + -0.1783515739252309 + ], + [ + -0.24429670345433377, + -0.15754224359989166, + 0.9568174352129614, + 0.039847610824563486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9687921748892621, + -0.02804794721305371, + 0.24628253053399932, + -0.2368041413006391 + ], + [ + -0.011899470992196563, + 0.9871693849563601, + 0.15923252655682849, + -0.1779482240749308 + ], + [ + -0.24758871916693861, + -0.15719383955001834, + 0.9560282210733391, + 0.041839559351102486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9678985525715077, + -0.030004793778061867, + 0.2495438302098554, + -0.23947001951786684 + ], + [ + -0.01053675731206523, + 0.9871320128440857, + 0.15955996328920374, + -0.17849946998737237 + ], + [ + -0.2511202694489289, + -0.15706723928451538, + 0.9551275001939372, + 0.04529345155976648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9672693941996946, + -0.030726000666618354, + 0.2518844466527911, + -0.24127832966415422 + ], + [ + -0.009981510265426019, + 0.9872664809226992, + 0.15876153537352208, + -0.1787078951643423 + ], + [ + -0.2535551880149298, + -0.15607936680316928, + 0.9546459973238774, + 0.044007580946494956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9665858501834769, + -0.03164115175604821, + 0.2543829327331517, + -0.24339699779187027 + ], + [ + -0.009439443551772292, + 0.9872865676879885, + 0.15866991042100423, + -0.17875067222432914 + ], + [ + -0.25616934033086686, + -0.1557693183422089, + 0.9539985058780478, + 0.044205484373966285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9658263705609386, + -0.035250138491392136, + 0.2567816953686942, + -0.24580122490203052 + ], + [ + -0.00624590799188797, + 0.9872556328773499, + 0.15901974090903837, + -0.1791119344329361 + ], + [ + -0.25911464213663715, + -0.15518930554389954, + 0.9532973509664856, + 0.04641290653455855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9653717762981439, + -0.036803532391786575, + 0.258268832377305, + -0.24783919110351743 + ], + [ + -0.004951878113066066, + 0.9872353672981262, + 0.1591912848048858, + -0.17963012911240228 + ], + [ + -0.260830920095246, + -0.15495768189430237, + 0.9528668952228834, + 0.045844854529296805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9648635384366878, + -0.03681280091404915, + 0.2601600042133103, + -0.24982921923368315 + ], + [ + -0.005345639749027316, + 0.9871814846992493, + 0.1595123202062364, + -0.1798082539801643 + ], + [ + -0.26269721978702765, + -0.15529833734035492, + 0.9522985772525775, + 0.04599818768877447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9642764723746581, + -0.03604699298739433, + 0.26243369541917255, + -0.2516564169876586 + ], + [ + -0.006614179592702432, + 0.987112820148468, + 0.15988931534047074, + -0.17970284911367582 + ], + [ + -0.2648151955390342, + -0.15591327846050262, + 0.9516112521639334, + 0.04756342782816588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.963398111492748, + -0.03714737296104431, + 0.26548844873748373, + -0.25403924645328724 + ], + [ + -0.006048332271742353, + 0.9870883822441101, + 0.16006229906004624, + -0.1793995467963451 + ], + [ + -0.2680064606332722, + -0.15580947697162628, + 0.9507344186378518, + 0.050216432582071174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9628478980559307, + -0.03618904575705529, + 0.26760845220367147, + -0.25608261831917356 + ], + [ + -0.00739016653355244, + 0.9870774745941164, + 0.16007341686092558, + -0.17930063788173156 + ], + [ + -0.26994316971092686, + -0.1561040282249451, + 0.9501379948258435, + 0.05039493438249743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9621939206979994, + -0.03547495976090431, + 0.27004515456940864, + -0.25812175041105456 + ], + [ + -0.008609872539412136, + 0.9870243072509766, + 0.16033991402195194, + -0.17895175722897785 + ], + [ + -0.27222919098922227, + -0.1566031575202942, + 0.9494033771007455, + 0.0509337339814253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9614490129974196, + -0.03829270228743553, + 0.2723039962486321, + -0.26027882854872886 + ], + [ + -0.0062938634057335, + 0.9869327545166016, + 0.16100957678320554, + -0.17901402400496155 + ], + [ + -0.27491123432782827, + -0.15651632845401764, + 0.9486445502170272, + 0.052254380958443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/orbit_right/transforms.json b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/orbit_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..23039c076f8129adc7f57f4edfbae5ae676a6300 --- /dev/null +++ b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/orbit_right/transforms.json @@ -0,0 +1,4248 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 121, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.00014601727889385074, + -3.883337922161445e-05, + 2.9296741558937356e-05 + ], + [ + 0.00014601477596443146, + 1.0, + -6.437551928684115e-05, + 5.471805343404412e-05 + ], + [ + 3.8842779758851975e-05, + 6.436984403990209e-05, + 1.0, + 4.0512270061299205e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999972236571782, + -0.0072412285953760164, + -0.0017681658651349142, + 0.0023650483009147235 + ], + [ + 0.007237812454244026, + 0.999971926212311, + -0.0019310447809688855, + 0.0017434450648312232 + ], + [ + 0.0017820993907038086, + 0.0019181934185326104, + 0.9999965845312259, + 0.003475402844769655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999294122440059, + -0.011699074879288673, + -0.00206220130430343, + 0.00249801424021864 + ], + [ + 0.011694354662245688, + 0.9999290108680725, + -0.0022859489155951525, + 0.0018354384714646648 + ], + [ + 0.0020887983522929906, + 0.002261671470478177, + 0.9999952791616313, + 0.003917202361298527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998871155378852, + -0.014967945404350758, + -0.0012948900523935382, + 0.0012756549489256995 + ], + [ + 0.01495567620112845, + 0.9998475313186646, + -0.009016469562738778, + 0.0086841124446464 + ], + [ + 0.001429650573978825, + 0.0089960852637887, + 0.9999585355024403, + -0.0004966790802336116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.999885359112958, + -0.014773709699511528, + -0.0033134123506207884, + 0.003244589284629871 + ], + [ + 0.014715643756366407, + 0.9997486472129822, + -0.016913201430679658, + 0.01737761592799031 + ], + [ + 0.003562450507993394, + 0.016862502321600914, + 0.9998514749114101, + -0.0005178987690963291 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998156198867778, + -0.019174007698893547, + -0.001051112690469061, + 0.001225567949211661 + ], + [ + 0.01914424394976233, + 0.9995439052581787, + -0.023355745224862508, + 0.024164016200736906 + ], + [ + 0.0014984558092021882, + 0.02333131618797779, + 0.9997266923872346, + 0.0048494070589310215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9998040029598418, + -0.0197510477155447, + -0.0013494460392458145, + 0.0016682956088129516 + ], + [ + 0.01971220609540518, + 0.9995071291923523, + -0.024432796612388286, + 0.0253872277096316 + ], + [ + 0.0018313541367767133, + 0.024401407688856125, + 0.9997005901517774, + 0.009517387501099086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997991777166726, + -0.01900407485663891, + -0.006359043330927006, + 0.0070831089462306835 + ], + [ + 0.018863053226453097, + 0.9995898604393005, + -0.021546585622732543, + 0.0223223792870663 + ], + [ + 0.006765907620148983, + 0.021422307938337326, + 0.9997475993277337, + 0.012419965021894642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997452009160169, + -0.018536735326051712, + -0.012880408071053949, + 0.01388380335010635 + ], + [ + 0.01835655844141121, + 0.9997339248657227, + -0.013968521596793198, + 0.014309922407312072 + ], + [ + 0.013135911698136897, + 0.013728522695600986, + 0.9998194908133303, + 0.012658668198745482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9996505137753336, + -0.0211392343044281, + -0.015875119521398712, + 0.016883435958015995 + ], + [ + 0.021002820559519342, + 0.9997414946556091, + -0.00871114646453995, + 0.008207878970484953 + ], + [ + 0.01605516143910689, + 0.008374679833650589, + 0.9998360209745524, + 0.010717053750509348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9995980447759255, + -0.023791871964931488, + -0.01541725468540218, + 0.015929664501557337 + ], + [ + 0.02369742184253498, + 0.9996994733810425, + -0.006280270027616858, + 0.005118567797321594 + ], + [ + 0.015562040588402609, + 0.005912396125495434, + 0.9998614413361363, + 0.005654004970713019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995802173430312, + -0.026337379589676864, + -0.012071143731013952, + 0.012058533736864621 + ], + [ + 0.026250148874113942, + 0.99962854385376, + -0.007328691031779021, + 0.005996992233349876 + ], + [ + 0.012259677582791095, + 0.007008744869381191, + 0.9999002731342369, + 0.00451154019226965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9996261013128291, + -0.026429554447531707, + -0.007008488924402883, + 0.0064471082909010324 + ], + [ + 0.026376025976478885, + 0.9996230006217959, + -0.007623243508260021, + 0.006349887817548532 + ], + [ + 0.00720732587172181, + 0.007435536943376066, + 0.9999463878783731, + 0.005773363986454819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9997313836653039, + -0.0231177881360054, + -0.0016520790067400845, + 0.0004054462301040611 + ], + [ + 0.023107757709649207, + 0.9997158646583557, + -0.005853089997642661, + 0.004575093860216275 + ], + [ + 0.0017869219555511906, + 0.005813341587781906, + 0.9999815165925305, + 0.007030993753761632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9998148634342159, + -0.019085485488176346, + -0.002450808446667228, + 0.0003595665406521051 + ], + [ + 0.019071205735990637, + 0.999801754951477, + -0.005722993110394861, + 0.004691072821694654 + ], + [ + 0.0025595468871491825, + 0.005675193853676319, + 0.9999805991925295, + 0.0032263734918400685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9998061642060149, + -0.019516557455062866, + -0.002588676359227681, + 0.0003848968626793056 + ], + [ + 0.019492422017441658, + 0.9997691512107849, + -0.00904152051016101, + 0.008320585939077144 + ], + [ + 0.0027645367830845665, + 0.008989308029413223, + 0.9999557604095625, + 0.004144052954393569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9997518945826335, + -0.022264603525400162, + 0.0006810925150020747, + -0.0026521759380159077 + ], + [ + 0.022268037334006167, + 0.9997367262840271, + -0.00553769658930006, + 0.004441713141776971 + ], + [ + -0.000557619545189093, + 0.005551489070057869, + 0.9999844171289864, + 0.011106519644679111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9998460455266313, + -0.017522074282169346, + -0.0009575355390925545, + -0.0014544480817907865 + ], + [ + 0.017525807143706485, + 0.9998382329940798, + 0.004038347086662476, + -0.005544801851926771 + ], + [ + 0.0008866201167814525, + -0.004054507240653039, + 0.9999914089323045, + 0.01076582203139844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9998254626828039, + -0.01783932186663151, + -0.005549996117674191, + 0.003447963016390894 + ], + [ + 0.017904927315108704, + 0.999767601490021, + 0.012004517951279253, + -0.01417158515814321 + ], + [ + 0.005334552041587534, + -0.012101795524358753, + 0.9999125470382335, + 0.012278977791766144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9997683147583284, + -0.019090937450528145, + -0.009945030295104752, + 0.0075748615791221 + ], + [ + 0.01927898016342842, + 0.9996303915977478, + 0.019168564358963736, + -0.022390773815847365 + ], + [ + 0.009575407609239112, + -0.019355854019522667, + 0.9997668220195316, + 0.00711963884146818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9996764508474221, + -0.0207801666110754, + -0.0146708189222822, + 0.012028340808121124 + ], + [ + 0.021090951979613106, + 0.9995494484901428, + 0.021357030726909212, + -0.025293822991089863 + ], + [ + 0.014220405796039746, + -0.02165954001247883, + 0.9996642571060002, + 0.0011413622039868829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9995777667137247, + -0.022587090730667114, + -0.018278920949865267, + 0.015850610577478635 + ], + [ + 0.02295066528316584, + 0.9995378851890564, + 0.019931177460349305, + -0.023934138826626775 + ], + [ + 0.017820285750465906, + -0.020342275500297546, + 0.99963423609957, + 0.0010639332524061424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9995761573061059, + -0.022056881338357925, + -0.019000908171272805, + 0.01648336702345507 + ], + [ + 0.022462682335979582, + 0.9995182752609253, + 0.0214149188232646, + -0.02542951469485248 + ], + [ + 0.01851940942615091, + -0.021832652390003204, + 0.9995900956510734, + 0.0026215216163212544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9995810361621787, + -0.022314120084047318, + -0.018435054713123532, + 0.015433058058109288 + ], + [ + 0.022660639595854713, + 0.9995663166046143, + 0.018806782673458887, + -0.022667901833413315 + ], + [ + 0.018007402065345894, + -0.01921665295958519, + 0.9996531811548199, + 0.001551222734811816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9996958192710746, + -0.02126492746174336, + -0.012494599180220127, + 0.009207095627758052 + ], + [ + 0.02151527229331658, + 0.9995633363723757, + 0.020255596696393128, + -0.023692617405889287 + ], + [ + 0.012058411840897123, + -0.02051825821399689, + 0.999716768914705, + 0.008185055939781203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9997185650482452, + -0.022043710574507713, + -0.00876747592680159, + 0.005035105091084104 + ], + [ + 0.022261316839177574, + 0.9994256496429443, + 0.025549049034246252, + -0.02944786557614254 + ], + [ + 0.008199241479551972, + -0.025737036019563675, + 0.9996350962373919, + 0.009929148460382549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9997403658960508, + -0.02133878506720066, + -0.007992687754155497, + 0.0036198817200832345 + ], + [ + 0.021566821744032773, + 0.9993284344673157, + 0.02962304727209581, + -0.034058373926437784 + ], + [ + 0.007355196167827365, + -0.029787732288241386, + 0.9995291657437554, + 0.007045199656375034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9997929218258899, + -0.01936337724328041, + -0.006255417727387892, + 0.0013959377971136666 + ], + [ + 0.019557404533654798, + 0.9992768168449402, + 0.03260836994455002, + -0.03722809347967037 + ], + [ + 0.005619486099902348, + -0.032723959535360336, + 0.9994486504323746, + 0.00713308608961685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.999850191642092, + -0.01595386490225792, + -0.006713927242176039, + 0.0013360037514381085 + ], + [ + 0.01618124865077466, + 0.999245822429657, + 0.035298618759060194, + -0.040037090757897034 + ], + [ + 0.006145716876765497, + -0.035401973873376846, + 0.999354248543079, + 0.006077328999531523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9998361300037304, + -0.01574649102985859, + -0.00893139725942308, + 0.003467423957428689 + ], + [ + 0.016077045091860268, + 0.9991395473480225, + 0.038232421738056986, + -0.04330443070236179 + ], + [ + 0.008321684911101038, + -0.03836974874138832, + 0.9992289598391985, + 0.005955885443709635 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9998213194343193, + -0.015738844871520996, + -0.010467361028045241, + 0.004424469828588698 + ], + [ + 0.016142822129454754, + 0.9990812540054321, + 0.039699805311850286, + -0.045229430507311624 + ], + [ + 0.009832917248812943, + -0.039861686527729034, + 0.9991568047599849, + 0.0020600333819361894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9998240935742955, + -0.015361731871962547, + -0.010758934385432012, + 0.004465033156560397 + ], + [ + 0.015776892652557065, + 0.9990898966789246, + 0.039629128811455694, + -0.04514951478081461 + ], + [ + 0.010140371432438629, + -0.039791904389858246, + 0.999156505073977, + 0.0019660998405589686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9997862770537771, + -0.015811199322342873, + -0.013317215879247979, + 0.0070339966318995195 + ], + [ + 0.016309614250056885, + 0.9991374611854553, + 0.03818870365051467, + -0.043586105672014624 + ], + [ + 0.012701919263023002, + -0.03839774429798126, + 0.9991817899403739, + 0.0019751265289501647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9997035248806928, + -0.018117031082510948, + -0.016267138517925946, + 0.010084135262185087 + ], + [ + 0.018714320859036578, + 0.9991270303726196, + 0.0373486381017439, + -0.042907914284321585 + ], + [ + 0.01557628664252502, + -0.037641990929841995, + 0.9991698574673846, + 0.0015223958796371012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9996699901980469, + -0.01767735183238983, + -0.018639124142277464, + 0.012440334098176214 + ], + [ + 0.01836492154188919, + 0.9991320967674255, + 0.0373864732627732, + -0.04291429287559686 + ], + [ + 0.01796205667795296, + -0.03771644085645676, + 0.9991270379232926, + 0.001576991318970121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9995835611021144, + -0.01583203859627247, + -0.024125742655971793, + 0.018144349267285476 + ], + [ + 0.016714909993810652, + 0.9991812705993652, + 0.03684338083789858, + -0.042203716706251365 + ], + [ + 0.02352268487151548, + -0.03723129630088806, + 0.9990297588252383, + 0.0011147506880856842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9993870514140558, + -0.016425210982561115, + -0.030915178057361346, + 0.025661693655150322 + ], + [ + 0.017589577796251282, + 0.9991314411163332, + 0.03777600024994566, + -0.04313098371693845 + ], + [ + 0.030267843032891276, + -0.038296632468700416, + 0.9988078819973975, + 0.0033064645554762564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9991492666774853, + -0.020211802795529366, + -0.035947062563715396, + 0.031125073333031383 + ], + [ + 0.021652327669016282, + 0.9989591836929321, + 0.04014625725468207, + -0.046092056707759864 + ], + [ + 0.03509822425603923, + -0.040890440344810486, + 0.9985469865077778, + 0.0037621108811702955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9989397277853496, + -0.022300368174910545, + -0.04027494652273172, + 0.03562807640072278 + ], + [ + 0.024010556823544266, + 0.9988083243370056, + 0.04249055049497779, + -0.04900087663083036 + ], + [ + 0.03927939614329848, + -0.043412525206804276, + 0.9982847543344177, + 0.002882645130796532 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.998675620333863, + -0.02335352636873722, + -0.04584353752175989, + 0.04146351329127877 + ], + [ + 0.025503037427549623, + 0.9985750317573547, + 0.046877078403968514, + -0.053764863318002745 + ], + [ + 0.0446834681310271, + -0.04798414558172226, + 0.9978481148984645, + 0.0031335486726972667 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9984109726639713, + -0.024381751194596298, + -0.050804143647577876, + 0.04668734976939376 + ], + [ + 0.02697876348080249, + 0.9983302950859072, + 0.051075599230149295, + -0.05851055743301102 + ], + [ + 0.0494740030855074, + -0.05236507207155229, + 0.9974017193569227, + 0.0035753283300858224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9982328996733679, + -0.02400969527661801, + -0.054355957516377375, + 0.050143673341331796 + ], + [ + 0.02699857060773279, + 0.9981247186660769, + 0.05493774224885608, + -0.0628718113399041 + ], + [ + 0.052934988859434685, + -0.056308198720216765, + 0.9970091873835352, + 0.0014889750746307946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9981409657005149, + -0.024743100628256798, + -0.055699206264239895, + 0.051450349240607485 + ], + [ + 0.027776554897462218, + 0.9981348514556885, + 0.05436284412119035, + -0.06256912364121447 + ], + [ + 0.05425021072092423, + -0.05580891668796539, + 0.9969665609601033, + -0.0003130660206388282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9980208495900019, + -0.02604915387928486, + -0.05723460570117817, + 0.05281817492435943 + ], + [ + 0.029078374363769737, + 0.9981844425201416, + 0.052747151549254585, + -0.06102838482389864 + ], + [ + 0.055756672990533655, + -0.05430704355239868, + 0.9969663785447513, + 0.0005000381003133283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9979257246662783, + -0.026161305606365204, + -0.058820808845332126, + 0.05423960831381487 + ], + [ + 0.029336547304712288, + 0.9981216192245483, + 0.0537824640591844, + -0.06204230113464037 + ], + [ + 0.057303302118473044, + -0.05539650097489357, + 0.9968187284482579, + 0.0007350179620774847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9979199601703671, + -0.02552872896194458, + -0.059194769079287626, + 0.05444492351914253 + ], + [ + 0.0286932369429026, + 0.9981694221496582, + 0.05324046473026639, + -0.061346691562930794 + ], + [ + 0.05772724663801222, + -0.0548282116651535, + 0.9968256707482289, + 0.0007002948510150386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9978243355224546, + -0.023404471576213837, + -0.06163461531115529, + 0.056923052496809734 + ], + [ + 0.026760797978162817, + 0.9981711506843567, + 0.05420504962207864, + -0.06213388880450044 + ], + [ + 0.06025325733752766, + -0.05573651194572449, + 0.9966257885196651, + 0.0023100813963581584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9975048580195514, + -0.02104797400534153, + -0.06738739122873913, + 0.06285864652477705 + ], + [ + 0.024822647919053933, + 0.998140275478363, + 0.055676321909561455, + -0.06355385392413401 + ], + [ + 0.06609019637026835, + -0.057210132479667664, + 0.9961722309741714, + 0.002658585033731604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9971598774584508, + -0.02125014178454876, + -0.07225347043502511, + 0.06809754708003089 + ], + [ + 0.025476641596444152, + 0.9979864358901978, + 0.05808625016241016, + -0.06600517227774728 + ], + [ + 0.07087364359618878, + -0.05976205691695213, + 0.9956934255718973, + 0.00428050638021619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9969101124548883, + -0.02058764360845089, + -0.07580484458606021, + 0.07162058472411896 + ], + [ + 0.02520682518829232, + 0.9978503584861755, + 0.06049154664126014, + -0.06870046316027507 + ], + [ + 0.0743965176107271, + -0.06221543624997139, + 0.9952860945431424, + 0.0035034389750627417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9966404302448185, + -0.020107537508010864, + -0.07939483099200471, + 0.07528085808983374 + ], + [ + 0.024866558291858805, + 0.9979236125946045, + 0.05941485320201681, + -0.06752122580645177 + ], + [ + 0.07803528954973642, + -0.061189521104097366, + 0.9950710209293799, + 0.0033291181506006594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9963494361702978, + -0.02045969665050507, + -0.08288054535813323, + 0.07898186730785621 + ], + [ + 0.025332474012549563, + 0.9979849457740786, + 0.05817439992173435, + -0.06609766404643863 + ], + [ + 0.08152330971113099, + -0.06006160378456117, + 0.994860085104618, + 0.004430832722531936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.996070130528782, + -0.01908109895884991, + -0.08648789253442411, + 0.08274642006135098 + ], + [ + 0.02414088559966796, + 0.998033940792084, + 0.05783964462155923, + -0.06556422718729027 + ], + [ + 0.08521421133401597, + -0.05970023572444917, + 0.9945724745929523, + 0.005376714318824518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.99558480211634, + -0.01834745518863201, + -0.09205563090000216, + 0.08891091182989887 + ], + [ + 0.02370499378741467, + 0.9980670809745789, + 0.05744721911109524, + -0.06471909422684152 + ], + [ + 0.09082368900060707, + -0.05937575921416283, + 0.9940953824324726, + 0.008919184507561788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9949646473341623, + -0.02021697536110878, + -0.09816607572299725, + 0.09570814156962713 + ], + [ + 0.026328395201038968, + 0.9977681040763855, + 0.061365081716535624, + -0.06878446809153028 + ], + [ + 0.09670636683367978, + -0.06364063918590546, + 0.9932762939990458, + 0.012847597093276366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9941435273549588, + -0.01794108934700489, + -0.10656785274281476, + 0.10453073378259434 + ], + [ + 0.025047893638368648, + 0.9975231289863586, + 0.06572855543390008, + -0.07350189586938813 + ], + [ + 0.10512465448467906, + -0.06801291555166245, + 0.9921305313503267, + 0.013163241021461429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9930724049581299, + -0.019122844561934475, + -0.115937578173165, + 0.11461459144297739 + ], + [ + 0.026702760316982467, + 0.9975808262825014, + 0.06418272945590527, + -0.07218845712113892 + ], + [ + 0.1144297504236818, + -0.06683395057916643, + 0.9911806353324513, + 0.011554408400624027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9921421090094241, + -0.02119851112365723, + -0.12330728641502661, + 0.12243140095519423 + ], + [ + 0.0277629894025474, + 0.9982733726501467, + 0.05176433866571089, + -0.06023038476913825 + ], + [ + 0.12199704815719048, + -0.054780960083007826, + 0.9910175392453002, + 0.013027534204587573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9918139578085983, + -0.02048490382730961, + -0.12603729528938362, + 0.12504135162534594 + ], + [ + 0.026510791342698674, + 0.9985747933387756, + 0.046320130098173054, + -0.0545676518190184 + ], + [ + 0.12490880721887017, + -0.04928229749202728, + 0.9909435246980303, + 0.010041703532180469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9913353575410049, + -0.019729170948266983, + -0.12986538206464418, + 0.12914896792197963 + ], + [ + 0.025709658297465, + 0.9986768364906311, + 0.04453710010559416, + -0.05106128964586767 + ], + [ + 0.12881486473938952, + -0.04748999699950218, + 0.9905308560684317, + 0.008970446874901318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9903631489099896, + -0.01822060346603394, + -0.13729092719760902, + 0.1372926023198775 + ], + [ + 0.022939848314202045, + 0.9991963505744936, + 0.032870508958105824, + -0.03773790916005108 + ], + [ + 0.136581668728962, + -0.035703174769878394, + 0.9899851918269225, + 0.013605413882312744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9902560729645381, + -0.018322527408599854, + -0.13804775728514324, + 0.1385739643423702 + ], + [ + 0.022202985645945802, + 0.999398946762085, + 0.02662214222231703, + -0.03026200460789729 + ], + [ + 0.13747700002266505, + -0.02942781150341034, + 0.990067701221528, + 0.02131227394588772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9901580570384264, + -0.01411125622689724, + -0.1392405235310351, + 0.13977601811560772 + ], + [ + 0.017591907113148366, + 0.9995619654655457, + 0.023798341459255128, + -0.026582866241130647 + ], + [ + 0.13884370851916797, + -0.026013625785708427, + 0.9899725877253351, + 0.025542696471097186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9896008891883711, + -0.013073284178972244, + -0.14324533283677626, + 0.14409580607100697 + ], + [ + 0.016582039597736423, + 0.9995903372764587, + 0.023328318597961837, + -0.025633922251492646 + ], + [ + 0.14288167015299505, + -0.025461025536060333, + 0.9894122463938826, + 0.03179958633245835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9898085740134991, + -0.016508283093571666, + -0.14144426203797753, + 0.14234606935509472 + ], + [ + 0.02068228523435511, + 0.9993913769721987, + 0.028090687829607018, + -0.030833107153594115 + ], + [ + 0.14089444570805115, + -0.03072979301214219, + 0.9895475755341965, + 0.03445516454693509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9905492342218666, + -0.018267748877406124, + -0.13593551275169424, + 0.13605106293745886 + ], + [ + 0.02250666648472698, + 0.9993050694465639, + 0.029711946694898038, + -0.03304888346515019 + ], + [ + 0.1352982784024589, + -0.03249059990048409, + 0.9902720316512071, + 0.03128653250548347 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9919669011547457, + -0.01951734535396099, + -0.12498313534155694, + 0.12405902245837311 + ], + [ + 0.023130343274867134, + 0.9993535280227661, + 0.02752217654211317, + -0.030941757236480728 + ], + [ + 0.1243651741984751, + -0.030191989615559578, + 0.9917770437064051, + 0.028596592115059785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9913717623461087, + -0.01708731055259705, + -0.12996174201890376, + 0.12623294294571205 + ], + [ + 0.020972174815147446, + 0.999371409416199, + 0.02858265436220493, + -0.03143060357526573 + ], + [ + 0.12939164343585713, + -0.031061617657542236, + 0.991106922435043, + 0.028756628844489582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9915829890632886, + -0.01155173685401678, + -0.1289564509270728, + 0.1239893892376372 + ], + [ + 0.015438613724956484, + 0.9994548559188843, + 0.029182157345604406, + -0.03186366209478521 + ], + [ + 0.12854905034185754, + -0.030927440151572227, + 0.9912208038051966, + 0.03256952010548394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9921871868769401, + -0.008749358355998993, + -0.1244509959023589, + 0.11922199467353059 + ], + [ + 0.014089770019747155, + 0.9990141987800598, + 0.042096533617159995, + -0.044831219305636834 + ], + [ + 0.123959990454446, + -0.043521128594875336, + 0.9913323484378459, + 0.03653326924694504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9921837856972502, + -0.006619160063564777, + -0.12460963176770065, + 0.11861857789314947 + ], + [ + 0.015312627897782613, + 0.9975034594535828, + 0.06893773451337626, + -0.07151634764908268 + ], + [ + 0.12384222880104166, + -0.07030700892210007, + 0.9898081050297782, + 0.03386469793845441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9919677452136376, + 0.0004820984322577715, + -0.12649023021712363, + 0.12053859089898275 + ], + [ + 0.009709929537657973, + 0.9967518448829651, + 0.07994664255675202, + -0.08310796167755545 + ], + [ + 0.1261179162529376, + -0.08053269982337952, + 0.9887410203526509, + 0.03270373807848514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9931659080864297, + -0.0009359614923596382, + -0.11670745833776329, + 0.11253892039668778 + ], + [ + 0.012533437118887908, + 0.9950404763221741, + 0.09867803972467408, + -0.1021236701309662 + ], + [ + 0.116036283398235, + -0.09946641325950623, + 0.9882520135941273, + 0.03513943992320786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9932505333898226, + -0.00031823478639125824, + -0.11598833458201734, + 0.11209827425254634 + ], + [ + 0.011464065968628258, + 0.9953691959381104, + 0.09544001812154816, + -0.10195238694615295 + ], + [ + 0.11542083659926705, + -0.09612555056810379, + 0.9886546052066827, + 0.03423838484765086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9929848272025399, + 0.0032037652563303718, + -0.11819855625129091, + 0.1145400014275843 + ], + [ + 0.008067487624402795, + 0.9954677224159243, + 0.09475696852967186, + -0.10324183650223308 + ], + [ + 0.11796642013533734, + -0.09504579007625583, + 0.9884584825883684, + 0.03203080162110474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9925431319675764, + 0.003340437775477767, + -0.12184830423111202, + 0.11806111933538141 + ], + [ + 0.008203411030125111, + 0.9955275654792786, + 0.09411486173796921, + -0.10410974286374244 + ], + [ + 0.12161772445268562, + -0.09441262483596802, + 0.9880766142380105, + 0.028207517742887572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9911826923026084, + -0.0013277382822707295, + -0.13249560140126526, + 0.12832042628527848 + ], + [ + 0.01658231961962718, + 0.9933313131332397, + 0.11409604236764526, + -0.12372994883244896 + ], + [ + 0.131460542659758, + -0.11528711020946503, + 0.9845948487190118, + 0.028736563828400574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9905864193424113, + -0.006612177938222887, + -0.1367291267358477, + 0.13215920848051013 + ], + [ + 0.022088208959341486, + 0.9934646487236025, + 0.11198282907054977, + -0.1227310528154284 + ], + [ + 0.1350951011573447, + -0.11394876241683963, + 0.9842586248109119, + 0.03244824066197313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9897510361435224, + -0.004027395974844694, + -0.14274696960901187, + 0.1369456200792783 + ], + [ + 0.020812181816810965, + 0.9929975271224976, + 0.11628746950611882, + -0.12787006726811542 + ], + [ + 0.1412790543430718, + -0.11806651949882507, + 0.9829041589581297, + 0.03303668722125243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.987924066511924, + -0.004306464456021786, + -0.1548788795092011, + 0.14812627358277863 + ], + [ + 0.02450980234021625, + 0.9913709163665771, + 0.12877494953904636, + -0.140563000165165 + ], + [ + 0.15298785284544275, + -0.13101592659950256, + 0.9795047463881531, + 0.035002252258573834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9835760406893586, + -0.0076241702772676945, + -0.18033322208513952, + 0.17216575729780165 + ], + [ + 0.03671933666256311, + 0.986666202545166, + 0.15856062469659424, + -0.16998099073110612 + ], + [ + 0.17671980027246803, + -0.16257813572883606, + 0.9707411760933642, + 0.04132861366947327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9833197349566639, + -0.007561581674963236, + -0.18172818188946002, + 0.17375120070945382 + ], + [ + 0.036742586417819835, + 0.9867949485778809, + 0.157751973857662, + -0.17077202568361263 + ], + [ + 0.17813559983302463, + -0.16179777681827545, + 0.970612787942314, + 0.03770264111777561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9827804007389216, + -0.010574542917311192, + -0.18447461107031166, + 0.17633200645801556 + ], + [ + 0.03988645298645898, + 0.9869643449783325, + 0.15591808094803924, + -0.1694452080383449 + ], + [ + 0.1804210991552414, + -0.160591259598732, + 0.9703909818763758, + 0.03781530164650227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9824339955012065, + -0.0028742447029799223, + -0.18658825258570277, + 0.1788258887062344 + ], + [ + 0.032886760787940776, + 0.9868985414505005, + 0.1579546591545277, + -0.17054176107696453 + ], + [ + 0.1836896746267159, + -0.16131630539894104, + 0.9696572063849155, + 0.040185637822463274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9822417770670638, + -0.007908944971859455, + -0.18745265750405385, + 0.18111543269302077 + ], + [ + 0.03798397355607955, + 0.9868043065071106, + 0.15739902408695894, + -0.17007621373700207 + ], + [ + 0.18373423306015474, + -0.16172410547733307, + 0.9695808455256636, + 0.03907045570667493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9820183993382693, + -0.010601108893752098, + -0.18848738398625325, + 0.18295386994643756 + ], + [ + 0.04058117478494443, + 0.9869357943534851, + 0.15591943295945623, + -0.16978508509427984 + ], + [ + 0.18437202714303486, + -0.16076479852199554, + 0.9696193129162827, + 0.0413895376940957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9818018411147275, + -0.00913749635219574, + -0.18968827292295137, + 0.18522248636692296 + ], + [ + 0.03912670448725182, + 0.987145185470581, + 0.1549628489147508, + -0.17025964551054523 + ], + [ + 0.18583389300804465, + -0.15956468880176544, + 0.9695384820462564, + 0.03786957708030194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9814944782868834, + -0.012389791198074818, + -0.19108933660704266, + 0.1877978302086129 + ], + [ + 0.04249877060999249, + 0.9871119856834412, + 0.1542848877185658, + -0.170058152759803 + ], + [ + 0.18671500574317743, + -0.15955081582069397, + 0.9693714557498031, + 0.03462902019851739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9811282440927946, + -0.017686972394585613, + -0.1925473878199026, + 0.19007181771022663 + ], + [ + 0.04768618700238461, + 0.9871823787689211, + 0.15230534736823256, + -0.16809892141824018 + ], + [ + 0.18738558230629696, + -0.15861293673515323, + 0.9693960114546857, + 0.033598273642111515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9808369670914281, + -0.020571019500494007, + -0.193741321982912, + 0.19152756768226356 + ], + [ + 0.05089353361251576, + 0.9869359731674197, + 0.15286352700082242, + -0.1679977408300818 + ], + [ + 0.1880657160687664, + -0.15979437530040744, + 0.969070187012439, + 0.03700948136081207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9805825740369981, + -0.020618876442313194, + -0.1950195940193397, + 0.19353502843501072 + ], + [ + 0.05116352378639578, + 0.986914336681366, + 0.15291281075680596, + -0.16783202476757328 + ], + [ + 0.18931475673155918, + -0.1599215418100357, + 0.9688060038861498, + 0.040443499883696804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9803986582390671, + -0.01913588121533394, + -0.19609243618202976, + 0.19566020147387492 + ], + [ + 0.04980086879668435, + 0.9870218634605408, + 0.15266867633180303, + -0.16850479679304992 + ], + [ + 0.19062607943112142, + -0.1594417542219162, + 0.9686279293380772, + 0.04122533435280257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.980307440150538, + -0.01839297078549862, + -0.19661882490626986, + 0.19724035248296373 + ], + [ + 0.04892885391231009, + 0.9872303009033203, + 0.15159902360541497, + -0.1685397855168394 + ], + [ + 0.19131971738183268, + -0.15823400020599365, + 0.9686892166862104, + 0.04116224417773712 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9799501376999777, + -0.01974591240286827, + -0.19826194492304325, + 0.1993028149535258 + ], + [ + 0.05019087835239639, + 0.9874516725540161, + 0.14973334145332198, + -0.16815021732086052 + ], + [ + 0.19281746804400832, + -0.15668216347694397, + 0.9686444691011893, + 0.038515021157598764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9794420740077755, + -0.024118898436427116, + -0.2002785722526025, + 0.201324571882633 + ], + [ + 0.05458831479296808, + 0.9874736070632935, + 0.14804037640713932, + -0.16756198090601965 + ], + [ + 0.19419923917447182, + -0.15592984855175018, + 0.968489836215611, + 0.03450908551203592 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.978979431093592, + -0.024534059688448906, + -0.2024779719749307, + 0.20342004292187243 + ], + [ + 0.055314736536028516, + 0.9874698519706726, + 0.14779554851008492, + -0.1674092671793175 + ], + [ + 0.19631487988547364, + -0.15588882565498352, + 0.9680698234316192, + 0.03432583691402365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9785083018071026, + -0.025288248434662826, + -0.2046508726116711, + 0.20554139732095697 + ], + [ + 0.0563625914109279, + 0.9874590635299685, + 0.14747141298410882, + -0.1671031288409223 + ], + [ + 0.19835507621876203, + -0.1558366566896439, + 0.9676622509182274, + 0.03467002416500767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9779714058748192, + -0.024612916633486755, + -0.2072828669106156, + 0.20806670728910756 + ], + [ + 0.0562680278255451, + 0.98734986782074, + 0.14823685879086992, + -0.16789159543171303 + ], + [ + 0.20101216364179192, + -0.15663480758666995, + 0.9669848291295474, + 0.03260754714426187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9775036839564119, + -0.02703617513179779, + -0.20917831395774822, + 0.2099552650521136 + ], + [ + 0.0589221534777714, + 0.9872690439224243, + 0.14774305971181872, + -0.16691881234088982 + ], + [ + 0.20252086677520273, + -0.15674461424350739, + 0.9666521566906207, + 0.03257256913564375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9770270104203242, + -0.026144273579120636, + -0.2115058713289716, + 0.21182429373603148 + ], + [ + 0.058436323902025106, + 0.9872739911079407, + 0.14790277939793992, + -0.1668170391778863 + ], + [ + 0.2049474359389214, + -0.15686462819576263, + 0.9661211351149923, + 0.034318373121983645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9765730501277525, + -0.022899946197867393, + -0.2139642063799345, + 0.21476515048896927 + ], + [ + 0.05587081408466181, + 0.9872050285339355, + 0.14934735764099236, + -0.16800617899400472 + ], + [ + 0.20780650038036613, + -0.15780296921730042, + 0.965357293886742, + 0.034320771842036926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.976372723375784, + -0.02434530295431614, + -0.2147174778850247, + 0.21657752490318735 + ], + [ + 0.05739788664195297, + 0.9871585965156555, + 0.14907522088748965, + -0.1674215409537394 + ], + [ + 0.2083309220674066, + -0.15787729620933533, + 0.9652320904957877, + 0.03558305909263218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9759752900537197, + -0.02723919227719307, + -0.21617190844773834, + 0.21830524978501983 + ], + [ + 0.06028104529238511, + 0.987183690071106, + 0.14776538094503036, + -0.16636492731481142 + ], + [ + 0.20937636365146153, + -0.1572464406490326, + 0.965108855526766, + 0.035381452981623415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.975455282147397, + -0.025313360616564758, + -0.21873786736320794, + 0.2208595286557793 + ], + [ + 0.058889288738930484, + 0.987176299095154, + 0.14837448128057187, + -0.16691025136850904 + ], + [ + 0.2121769849374507, + -0.15761397778987887, + 0.9644370372854495, + 0.034239177338779736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9752848911994982, + -0.023340854793787003, + -0.21971480860408044, + 0.22334742446890074 + ], + [ + 0.057333825474034754, + 0.9870772361755371, + 0.14963755791849678, + -0.16743657800711392 + ], + [ + 0.21338280761723916, + -0.15853634476661682, + 0.964019689554441, + 0.03631758745179696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9753269078749573, + -0.02708158642053604, + -0.21909814327325322, + 0.22442075409016946 + ], + [ + 0.06061143977033119, + 0.9871586561203003, + 0.14779745420884247, + -0.16586940985112913 + ], + [ + 0.21228203922379446, + -0.15743069350719452, + 0.9644438524941706, + 0.03859623347151114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9749177605511327, + -0.026930714026093483, + -0.22092996069168244, + 0.2267960729997071 + ], + [ + 0.0605818316601852, + 0.9872812628746033, + 0.1469882833863621, + -0.16625621727449977 + ], + [ + 0.2141615157994708, + -0.15668582916259766, + 0.9641495669907801, + 0.03557614282973548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9745492166451909, + -0.026799410581588745, + -0.22256587157631905, + 0.22921754119624432 + ], + [ + 0.0607812457500286, + 0.9872270822525024, + 0.14726971477294848, + -0.16687007056956252 + ], + [ + 0.2157763218832033, + -0.15704941749572754, + 0.9637303088865152, + 0.032584680920525994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.974332116579229, + -0.026678498834371567, + -0.22352886339022873, + 0.2312150754768594 + ], + [ + 0.060918342616302294, + 0.9871518015861511, + 0.1477168016168606, + -0.16682055119695066 + ], + [ + 0.21671606895632145, + -0.15754224359989166, + 0.9634389597178864, + 0.03324050173889784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9740391964943151, + -0.02804794721305371, + -0.22463527475800824, + 0.23316964867141426 + ], + [ + 0.06232958666186482, + 0.9871693849563601, + 0.147008902962121, + -0.16574910430617568 + ], + [ + 0.21762976916724266, + -0.15719383955001834, + 0.9632898924620724, + 0.034592444916815054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9737630190892074, + -0.030004793778061867, + -0.2255777336531616, + 0.23478180042776414 + ], + [ + 0.06433037389425104, + 0.9871320128440857, + 0.14639674905588332, + -0.1653603519567576 + ], + [ + 0.21828239924536103, + -0.15706723928451538, + 0.9631628759117074, + 0.03727278517048402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9733025117686909, + -0.030726000666618354, + -0.2274600536485127, + 0.23727291236541356 + ], + [ + 0.06508816295090822, + 0.9872664809226992, + 0.14514953222457497, + -0.16511841826548465 + ], + [ + 0.22010383131641464, + -0.15607936680316928, + 0.9629088830287227, + 0.035758369337064735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9728702026872912, + -0.03164115175604821, + -0.229177771531235, + 0.23944921774176844 + ], + [ + 0.06615647685048108, + 0.9872865676879885, + 0.144528765781447, + -0.1646304219386674 + ], + [ + 0.22169106704057367, + -0.1557693183422089, + 0.962594904898998, + 0.03562178702660396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9723273311327235, + -0.035250138491392136, + -0.23094799908128916, + 0.2412951044938139 + ], + [ + 0.06976520834114895, + 0.9872556328773499, + 0.1430353280505795, + -0.1631482789091868 + ], + [ + 0.22296269649608325, + -0.15518930554389954, + 0.9623948634009389, + 0.0373272081161907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.971620472962539, + -0.036803532391786575, + -0.23366453040763785, + 0.2435441885830611 + ], + [ + 0.07160772087605483, + 0.9872353672981262, + 0.14226285729456564, + -0.16272062763905562 + ], + [ + 0.22544611032590522, + -0.15495768189430237, + 0.9618534920809665, + 0.03686830471570729 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9710557199026862, + -0.03681280091404915, + -0.23599928906907958, + 0.24586578283525004 + ], + [ + 0.07203696912912698, + 0.9871814846992493, + 0.14241991167176196, + -0.16273184001680205 + ], + [ + 0.22773123907913867, + -0.15529833734035492, + 0.9612600544434359, + 0.037045096383609685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9706055860857451, + -0.03604699298739433, + -0.23796082855340925, + 0.24836186088137568 + ], + [ + 0.07173098643332365, + 0.987112820148468, + 0.14304896405438017, + -0.16287516006957675 + ], + [ + 0.22973770101532576, + -0.15591327846050262, + 0.9606829090629119, + 0.03849859189823775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9702843009241061, + -0.03714737296104431, + -0.2390991698460028, + 0.25026258007608027 + ], + [ + 0.07293269352703194, + 0.9870883822441101, + 0.14260906043638713, + -0.16195619346660436 + ], + [ + 0.23071446519647004, + -0.15580947697162628, + 0.9604656335720371, + 0.04049072928511738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9697968591446495, + -0.03618904575705529, + -0.24121444914171575, + 0.25254731980327394 + ], + [ + 0.07239184827216155, + 0.9870774745941164, + 0.14295990224767793, + -0.16219361330446083 + ], + [ + 0.2329237586637353, + -0.1561040282249451, + 0.9598843923802568, + 0.04065223299875404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.969376483693526, + -0.03547495976090431, + -0.24300362013060411, + 0.2548293196981243 + ], + [ + 0.07208823040393625, + 0.9870243072509766, + 0.14347928411774594, + -0.16209433824939976 + ], + [ + 0.23476056347618612, + -0.1566031575202942, + 0.9593555038218576, + 0.04098350253522099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9687912678235564, + -0.03829270228743553, + -0.24490232819537194, + 0.2569274958952752 + ], + [ + 0.07505414279428832, + 0.9869327545166016, + 0.14258531544970393, + -0.1605897626714599 + ], + [ + 0.2362421623948777, + -0.15651632845401764, + 0.9590058968135223, + 0.0418930343619479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/pan_right/transforms.json b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..922bb1d415cd7c78577779ea45f7880e3af9d1a4 --- /dev/null +++ b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/pan_right/transforms.json @@ -0,0 +1,4248 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 121, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.00014601727889385074, + -3.883337922161445e-05, + 2.9296741558937356e-05 + ], + [ + 0.00014601477596443146, + 1.0, + -6.437551928684115e-05, + 5.471805343404412e-05 + ], + [ + 3.8842779758851975e-05, + 6.436984403990209e-05, + 1.0, + 4.0512270061299205e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999704326113406, + -0.0072412285953760164, + 0.0025950391108521937, + 0.0002081622224068269 + ], + [ + 0.007246169301108066, + 0.999971926212311, + -0.0018994455845314838, + 0.0017283691558986902 + ], + [ + -0.0025812119555979262, + 0.0019181934185326104, + 0.9999948411352909, + 0.003192313713952899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999093338688294, + -0.011699074879288673, + 0.0066637967298188, + -0.0018166364170610905 + ], + [ + 0.011713857791413066, + 0.9999290108680725, + -0.002183810672574324, + 0.0017862197710201144 + ], + [ + -0.006637775484558156, + 0.002261671470478177, + 0.9999754303785279, + 0.003359113819897175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998184023700731, + -0.014967945404350758, + 0.011793338843367713, + -0.005198478698730469 + ], + [ + 0.015072416852123521, + 0.9998475313186646, + -0.008819933346948694, + 0.008594559505581856 + ], + [ + -0.011659524725494985, + 0.0089960852637887, + 0.9998915801766332, + -0.0013153910404071212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997908987487489, + -0.014773709699511528, + 0.014137497976057609, + -0.005387791432440281 + ], + [ + 0.01500857855806936, + 0.9997486472129822, + -0.016653802072358455, + 0.017268454656004906 + ], + [ + -0.013887906387545397, + 0.016862502321600914, + 0.99976136602307, + -0.0016089858254417777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996006207466619, + -0.019174007698893547, + 0.02076000024947575, + -0.009570044465363026 + ], + [ + 0.01964919103510355, + 0.9995439052581787, + -0.02293255770913279, + 0.02398768812417984 + ], + [ + -0.02031082364311192, + 0.02333131618797779, + 0.9995214731481614, + 0.003531542606651783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9994967194779032, + -0.0197510477155447, + 0.0248228340856931, + -0.01128923799842596 + ], + [ + 0.020345027268638884, + 0.9995071291923523, + -0.023908418703218366, + 0.02516919933259487 + ], + [ + -0.024338384094300225, + 0.024401407688856125, + 0.9994059569901835, + 0.007959937676787376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999527057947502, + -0.01900407485663891, + 0.024176302981022708, + -0.008029052056372166 + ], + [ + 0.0195122560152471, + 0.9995898604393005, + -0.020960486497626926, + 0.022074904292821884 + ], + [ + -0.02376805332972149, + 0.021422307938337326, + 0.9994879286456674, + 0.010561195202171803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9995857029108327, + -0.018536735326051712, + 0.02201804266823565, + -0.0033780348021537066 + ], + [ + 0.018832870495392413, + 0.9997339248657227, + -0.013319377700057956, + 0.014020027592778206 + ], + [ + -0.021765287367085166, + 0.013728522695600986, + 0.9996688645007389, + 0.010461751371622086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9995030737248335, + -0.0211392343044281, + 0.023383214614704346, + -0.00253311381675303 + ], + [ + 0.021328626151273452, + 0.9997414946556091, + -0.007879863620726527, + 0.007818146608769894 + ], + [ + -0.023210594481253177, + 0.008374679833650589, + 0.9996955063172427, + 0.008231058716773987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9993191401343232, + -0.023791871964931488, + 0.028199273449587958, + -0.005650194827467203 + ], + [ + 0.02394880867895317, + 0.9996994733810425, + -0.005240625579235159, + 0.004620983265340328 + ], + [ + -0.028066114547275787, + 0.005912396125495434, + 0.9995886014717605, + 0.002949473215267062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9990082381406892, + -0.026337379589676864, + 0.03590074569632565, + -0.011693855747580528 + ], + [ + 0.026571535728114368, + 0.99962854385376, + -0.006060818195752553, + 0.005391129292547703 + ], + [ + -0.035727784640564725, + 0.007008744869381191, + 0.9993369708526915, + 0.001666837721131742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9986229444522359, + -0.026429554447531707, + 0.04531750386370373, + -0.019486291334033012 + ], + [ + 0.02673884828824327, + 0.9996230006217959, + -0.006232381576606782, + 0.0056859091855585575 + ], + [ + -0.04513570191919012, + 0.007435536943376066, + 0.9989531983979475, + 0.002857651561498642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9982171472103796, + -0.0231177881360054, + 0.05502813703514656, + -0.02771434746682644 + ], + [ + 0.023402420810396812, + 0.9997158646583557, + -0.004533633101769824, + 0.003941966686397791 + ], + [ + -0.054907691691126026, + 0.005813341587781906, + 0.9984745224641062, + 0.004086009692400694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9980996254494463, + -0.019085485488176346, + 0.058591000023016454, + -0.029930217191576958 + ], + [ + 0.019385014464112622, + 0.999801754951477, + -0.004548049317262695, + 0.0041306233033537865 + ], + [ + -0.058492582327639035, + 0.005675193853676319, + 0.9982716904001446, + 9.753229096531868e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.99783480999639, + -0.019516557455062866, + 0.06280731795822746, + -0.0320749469101429 + ], + [ + 0.02004203097999983, + 0.9997691512107849, + -0.007747296524493793, + 0.007716499734669924 + ], + [ + -0.06264161812487029, + 0.008989308029413223, + 0.9979955877250105, + 0.00085596670396626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9972690386026447, + -0.022264603525400162, + 0.0704186001929601, + -0.037292592227458954 + ], + [ + 0.022600083700982612, + 0.9997367262840271, + -0.003970867277109379, + 0.0036886725574731827 + ], + [ + -0.07031164794999543, + 0.005551489070057869, + 0.9975096077747381, + 0.0077897896990180016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9971676154855323, + -0.017522074282169346, + 0.07314217836821967, + -0.03826526924967766 + ], + [ + 0.017178338612601634, + 0.9998382329940798, + 0.005326053486545953, + -0.006204088684171438 + ], + [ + -0.07322367144876993, + -0.004054507240653039, + 0.9973073237338677, + 0.007268918678164482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9971787821329178, + -0.01783932186663151, + 0.072912514355906, + -0.03551893308758736 + ], + [ + 0.016907868776557575, + 0.999767601490021, + 0.013372316434957003, + -0.014912774786353111 + ], + [ + -0.07313412684958595, + -0.012101795524358753, + 0.9972486944889528, + 0.008488270454108715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9971581431108659, + -0.019090937450528145, + 0.07287814795923796, + -0.03354693204164505 + ], + [ + 0.017625452099063302, + 0.9996303915977478, + 0.02069918776254823, + -0.023255227133631706 + ], + [ + -0.07324637756588817, + -0.019355854019522667, + 0.9971260477068044, + 0.0030340414959937334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9971510262612633, + -0.0207801666110754, + 0.07251255155390827, + -0.031245170161128044 + ], + [ + 0.019149306663909852, + 0.9995494484901428, + 0.023113958362167827, + -0.02628895826637745 + ], + [ + -0.07296018796763143, + -0.02165954001247883, + 0.9970996228301479, + -0.0032657578121870756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9970570164419357, + -0.022587090730667114, + 0.07326074408163107, + -0.029578108340501785 + ], + [ + 0.02103065058060378, + 0.9995378851890564, + 0.0219475877501925, + -0.025056207552552223 + ], + [ + -0.07372262231336192, + -0.020342275500297546, + 0.9970712830714967, + -0.0036281466018408537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9967954633032143, + -0.022056881338357925, + 0.07689169723906866, + -0.031116344034671783 + ], + [ + 0.02030673959258835, + 0.9995182752609253, + 0.02346928147713403, + -0.02658574841916561 + ], + [ + -0.07737231519064386, + -0.021832652390003204, + 0.9967631878692426, + -0.002223309362307191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9963986348194144, + -0.022314120084047318, + 0.08180378736548839, + -0.03434378653764725 + ], + [ + 0.020662407900092074, + 0.9995663166046143, + 0.020982482245676858, + -0.023873912170529366 + ], + [ + -0.08223651635374152, + -0.01921665295958519, + 0.9964275711260177, + -0.0033799628727138042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9955254222246618, + -0.02126492746174336, + 0.09207051526492387, + -0.04277541860938072 + ], + [ + 0.01928012298527037, + 0.9995633363723757, + 0.022393592767917733, + -0.024895451962947845 + ], + [ + -0.0925065029584177, + -0.02051825821399689, + 0.995500663111676, + 0.003462194697931409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9947310637292213, + -0.022043710574507713, + 0.10012087089304418, + -0.049140699207782745 + ], + [ + 0.01934755797736173, + 0.9994256496429443, + 0.027820714122415997, + -0.03076103702187538 + ], + [ + -0.10067664095834371, + -0.025737036019563675, + 0.9945862291202933, + 0.005337264854460955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9942186884785434, + -0.02133878506720066, + 0.10523251274919608, + -0.05273778736591339 + ], + [ + 0.018074762948464954, + 0.9993284344673157, + 0.03187405958111559, + -0.03539903834462166 + ], + [ + -0.10584199791161424, + -0.029787732288241386, + 0.9939366798549859, + 0.002440621145069599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9935980596717824, + -0.01936337724328041, + 0.11130099999803683, + -0.05715012922883034 + ], + [ + 0.015589138603655068, + 0.9992768168449402, + 0.03468107005456558, + -0.03851163014769554 + ], + [ + -0.11189205887445977, + -0.032723959535360336, + 0.9931814288617948, + 0.002581107197329402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9932156818368706, + -0.01595386490225792, + 0.11518720371231096, + -0.05939020961523056 + ], + [ + 0.011758816585802434, + 0.999245822429657, + 0.03700750635610471, + -0.041170310229063034 + ], + [ + -0.11569073846397888, + -0.035401973873376846, + 0.9926541879983637, + 0.0014576135436072946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9929695229593933, + -0.01574649102985859, + 0.11731829862232468, + -0.059427615255117416 + ], + [ + 0.011123616096440275, + 0.9991395473480225, + 0.03995565811973788, + -0.0444793775677681 + ], + [ + -0.11784651204088702, + -0.03836974874138832, + 0.9922902620810521, + 0.0011719156755134463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9926339742227221, + -0.015738844871520996, + 0.12012505842278959, + -0.06064257770776749 + ], + [ + 0.010822853629086152, + 0.9990812540054321, + 0.04146722907821798, + -0.046450160443782806 + ], + [ + -0.12066733787742483, + -0.039861686527729034, + 0.9918923330328651, + -0.0028451308608055115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9921424500191498, + -0.015361731871962547, + 0.12416654795382792, + -0.06278085708618164 + ], + [ + 0.010288760009990468, + 0.9990898966789246, + 0.04139468093344938, + -0.04638032987713814 + ], + [ + -0.12468943595902801, + -0.039791904389858246, + 0.9913975455510526, + -0.0029766547959297895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.991909823962438, + -0.015811199322342873, + 0.12595574282513577, + -0.06237868219614029 + ], + [ + 0.01083604989663673, + 0.9991374611854553, + 0.040086913402382206, + -0.044881660491228104 + ], + [ + -0.1264809230709254, + -0.03839774429798126, + 0.9912255869379788, + -0.0031538091134279966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9916921941649212, + -0.018117031082510948, + 0.1273512838051017, + -0.06149076297879219 + ], + [ + 0.013161399582514936, + 0.9991270303726196, + 0.0396474984620642, + -0.04440692067146301 + ], + [ + -0.12795840898527233, + -0.037641990929841995, + 0.9910649173222315, + -0.0038166686426848173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9914445163961622, + -0.01767735183238983, + 0.12932624311923244, + -0.061303019523620605 + ], + [ + 0.012637126137141961, + 0.9991320967674255, + 0.039690323370587, + -0.044427238404750824 + ], + [ + -0.12991562012601268, + -0.03771644085645676, + 0.9908074510401848, + -0.003939045127481222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.991620007956802, + -0.01583203859627247, + 0.12821508064201645, + -0.05775090679526329 + ], + [ + 0.010915633837069541, + 0.9991812705993652, + 0.038957308243802544, + -0.043627429753541946 + ], + [ + -0.12872687346712292, + -0.03723129630088806, + 0.9909809119096885, + -0.004820331931114197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9919191377644433, + -0.016425210982561115, + 0.1258040178414131, + -0.0523720420897007 + ], + [ + 0.011463552514888632, + 0.9991314411163332, + 0.04006253119403043, + -0.044661469757556915 + ], + [ + -0.12635278103967842, + -0.038296632468700416, + 0.9912458333761256, + -0.003154576290398836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9919349189244111, + -0.020211802795529366, + 0.12512619640802, + -0.049051251262426376 + ], + [ + 0.014917556346381833, + 0.9989591836929321, + 0.04310466074217595, + -0.047994762659072876 + ], + [ + -0.12586718467380245, + -0.040890440344810486, + 0.9912040261378999, + -0.0030907713808119297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9918871538179554, + -0.022300368174910545, + 0.1251500106120367, + -0.046696025878190994 + ], + [ + 0.016668302849054916, + 0.9988083243370056, + 0.045870703073695014, + -0.05115198716521263 + ], + [ + -0.126023805816898, + -0.043412525206804276, + 0.991076849727273, + -0.004320094361901283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9920143889876173, + -0.02335352636873722, + 0.12394384463642975, + -0.042999107390642166 + ], + [ + 0.01719606309150257, + 0.9985750317573547, + 0.05051891538697036, + -0.056108471006155014 + ], + [ + -0.12494702041847716, + -0.04798414558172226, + 0.9910023788161058, + -0.004530816338956356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9920649135342695, + -0.024381751194596298, + 0.12333993141648539, + -0.03991631418466568 + ], + [ + 0.017699710713015022, + 0.9983302950859072, + 0.054984459225743874, + -0.06104981154203415 + ], + [ + -0.12447460915703508, + -0.05236507207155229, + 0.9908400165680904, + -0.004511462524533272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9919740908061506, + -0.02400969527661801, + 0.12414062702086472, + -0.03861422464251518 + ], + [ + 0.0167918756201965, + 0.9981247186660769, + 0.05886519558634227, + -0.06548088043928146 + ], + [ + -0.12532116630588336, + -0.056308198720216765, + 0.9905170559099217, + -0.006913466844707727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9915773770887155, + -0.024743100628256798, + 0.12713022549294203, + -0.03947801887989044 + ], + [ + 0.017404592452476497, + 0.9981348514556885, + 0.0585144083493952, + -0.06530006974935532 + ], + [ + -0.12834093920693607, + -0.05580891668796539, + 0.9901585793999674, + -0.008842218667268753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9911816102728007, + -0.02604915387928486, + 0.12992471575160822, + -0.04027773439884186 + ], + [ + 0.018729448863965503, + 0.9981844425201416, + 0.05724527576535616, + -0.06392957270145416 + ], + [ + -0.13118002713577795, + -0.05430704355239868, + 0.9898699748008656, + -0.008170121349394321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9908145578371412, + -0.026161305606365204, + 0.13267310006902616, + -0.041026368737220764 + ], + [ + 0.01853537436679578, + 0.9981216192245483, + 0.058392005832321035, + -0.06502832472324371 + ], + [ + -0.1339515010869296, + -0.05539650097489357, + 0.9894383463235297, + -0.008076592348515987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9902935345170226, + -0.02552872896194458, + 0.13662716818612525, + -0.04300418868660927 + ], + [ + 0.017755205032205068, + 0.9981694221496582, + 0.05781523696414856, + -0.06432463228702545 + ], + [ + -0.13785300731944575, + -0.0548282116651535, + 0.9889339721336542, + -0.00814072322100401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9900806831935006, + -0.023404471576213837, + 0.13853689448112178, + -0.04269438236951828 + ], + [ + 0.015416818276033403, + 0.9981711506843567, + 0.058452112256135044, + -0.06497624516487122 + ], + [ + -0.1396515694451564, + -0.05573651194572449, + 0.988630798889925, + -0.006762334611266851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9903255013800081, + -0.02104797400534153, + 0.1371583157728912, + -0.03889534994959831 + ], + [ + 0.012964477369521304, + 0.998140275478363, + 0.05956457838032261, + -0.06625226885080338 + ], + [ + -0.13815695002086933, + -0.057210132479667664, + 0.9887566358721693, + -0.0069844829849898815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9903918828895965, + -0.02125014178454876, + 0.13664663738730548, + -0.03579365834593773 + ], + [ + 0.012843105367786873, + 0.9979864358901978, + 0.06211381786265989, + -0.06882333010435104 + ], + [ + -0.1376914192079051, + -0.05976205691695213, + 0.9886705943640742, + -0.005839301273226738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9902956677005754, + -0.02058764360845089, + 0.13744321485983216, + -0.03442193567752838 + ], + [ + 0.01179793811768056, + 0.9978503584861755, + 0.06446254654678372, + -0.07154137641191483 + ], + [ + -0.13847489544814356, + -0.06221543624997139, + 0.9884098113405037, + -0.0069705042988061905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9902002591508993, + -0.020107537508010864, + 0.13819961347383714, + -0.032911352813243866 + ], + [ + 0.011417393681923247, + 0.9979236125946045, + 0.06338859222140525, + -0.07036634534597397 + ], + [ + -0.13918724600909335, + -0.061189521104097366, + 0.9883737924778022, + -0.007518052123486996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9900732948854096, + -0.02045969665050507, + 0.1390548615132908, + -0.03135852888226509 + ], + [ + 0.011868893140979903, + 0.9979849457740786, + 0.06233076625117314, + -0.06903441250324249 + ], + [ + -0.14004993491867276, + -0.06006160378456117, + 0.9883211293349446, + -0.0067793200723826885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9899964602275646, + -0.01908109895884991, + 0.13979581261097543, + -0.02974381111562252 + ], + [ + 0.010511067225227213, + 0.998033940792084, + 0.06178773594550359, + -0.06840888410806656 + ], + [ + -0.14069995016292364, + -0.05970023572444917, + 0.9882506731874144, + -0.006225027143955231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9901807830073854, + -0.01834745518863201, + 0.13858338409892657, + -0.025702690705657005 + ], + [ + 0.009907024196934622, + 0.9980670809745789, + 0.061351125381861625, + -0.0675530657172203 + ], + [ + -0.13944115521763617, + -0.05937575921416283, + 0.9884486512150311, + -0.0033017222303897142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9903901101922833, + -0.02021697536110878, + 0.13681614488416297, + -0.02101294882595539 + ], + [ + 0.011275545716468806, + 0.9977681040763855, + 0.06581580142135328, + -0.07197145372629166 + ], + [ + -0.13784138364203877, + -0.06364063918590546, + 0.9884076439214224, + -3.921471579815261e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9909831067248824, + -0.01794108934700489, + 0.1327800527408921, + -0.014271391555666924 + ], + [ + 0.008707322501538554, + 0.9975231289863586, + 0.06979844203132692, + -0.07658445835113525 + ], + [ + -0.13370343117249053, + -0.06801291555166245, + 0.9886847711534288, + -0.0007089430000633001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9916217490963859, + -0.019122844561934475, + 0.1277522220589804, + -0.006238043773919344 + ], + [ + 0.010382366640607132, + 0.9975808262825014, + 0.06873621048542138, + -0.07550961524248123 + ], + [ + -0.12875760038638223, + -0.06683395057916643, + 0.9894213965660984, + -0.0034391311928629875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9919672934791101, + -0.02119851112365723, + 0.12470581389989235, + -0.000491396407596767 + ], + [ + 0.01416678505077723, + 0.9982733726501467, + 0.057005548321101565, + -0.06371492892503738 + ], + [ + -0.12569892076778752, + -0.054780960083007826, + 0.9905548062417806, + -0.0029040430672466755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9917795614520333, + -0.02048490382730961, + 0.12630767274331278, + -3.0510951546602882e-05 + ], + [ + 0.014068725721207272, + 0.9985747933387756, + 0.051482496700424554, + -0.05793812870979309 + ], + [ + -0.1271822767602221, + -0.04928229749202728, + 0.9906543028422593, + -0.006264111027121544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9917308108899441, + -0.019729170948266983, + 0.1268101230238413, + 0.0019469930557534099 + ], + [ + 0.01352318819311981, + 0.9986768364906311, + 0.049615150878351576, + -0.0543736070394516 + ], + [ + -0.12762119389473622, + -0.04748999699950218, + 0.9906853572504085, + -0.007840365171432495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9921508496156501, + -0.01822060346603394, + 0.12371199221026632, + 0.008024271577596664 + ], + [ + 0.013650678197270694, + 0.9991963505744936, + 0.03768774316137903, + -0.040732160210609436 + ], + [ + -0.12429926079131753, + -0.035703174769878394, + 0.9916022015083006, + -0.004222071263939142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9916973757925974, + -0.018322527408599854, + 0.1272815311845445, + 0.007125717122107744 + ], + [ + 0.014418704702152622, + 0.999398946762085, + 0.0315247836283054, + -0.03320066258311272 + ], + [ + -0.12778264290803318, + -0.02942781150341034, + 0.9913655101468634, + 0.003355529857799411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9913568686448285, + -0.01411125622689724, + 0.1304318224285338, + 0.006145732011646032 + ], + [ + 0.010592267299319967, + 0.9995619654655457, + 0.027634039255032883, + -0.028941582888364792 + ], + [ + -0.13076464094021642, + -0.026013625785708427, + 0.9910721005672233, + 0.007398651912808418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.99132913538482, + -0.013073284178972244, + 0.13075048986186805, + 0.008342942222952843 + ], + [ + 0.009627221547096611, + 0.9995903372764587, + 0.026953498680357426, + -0.02788555808365345 + ], + [ + -0.13104929363117632, + -0.025461025536060333, + 0.9910488623769607, + 0.013105218298733234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.99045239089414, + -0.016508283093571666, + 0.13686326689870518, + 0.004370457958430052 + ], + [ + 0.012138245663822603, + 0.9993913769721987, + 0.032703312637412545, + -0.03367841988801956 + ], + [ + -0.13731984334575756, + -0.03072979301214219, + 0.9900499531339224, + 0.016041746363043785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9890153485819001, + -0.018267748877406124, + 0.14667954633831848, + -0.0042172810062766075 + ], + [ + 0.013293257132800088, + 0.9993050694465639, + 0.03482296838950486, + -0.036185383796691895 + ], + [ + -0.14721375376047713, + -0.03249059990048409, + 0.98857090363465, + 0.013683473691344261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9866145694294256, + -0.01951734535396099, + 0.16189752467515997, + -0.018589096143841743 + ], + [ + 0.01436110914860791, + 0.9993535280227661, + 0.032958178433436, + -0.034210775047540665 + ], + [ + -0.16243611558589346, + -0.030191989615559578, + 0.9862570199140789, + 0.012605852447450161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9867636965832838, + -0.01708731055259705, + 0.16126200008405783, + -0.018536124378442764 + ], + [ + 0.011844939656223191, + 0.999371409416199, + 0.033414033749411466, + -0.03442341089248657 + ], + [ + -0.16173158428599654, + -0.031061617657542236, + 0.9863457931851465, + 0.012105470523238182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9859587457658077, + -0.01155173685401678, + 0.1665891415528269, + -0.023005759343504906 + ], + [ + 0.006231982640030588, + 0.9994548559188843, + 0.03242084967218449, + -0.03407180309295654 + ], + [ + -0.1668728479487166, + -0.030927440151572227, + 0.9854932738773502, + 0.016115259379148483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9844634464345114, + -0.008749358355998993, + 0.17537156787275657, + -0.030048446729779243 + ], + [ + 0.0009726390018287687, + 0.9990141987800598, + 0.044381231789599636, + -0.04682169482111931 + ], + [ + -0.17558699273127187, + -0.043521128594875336, + 0.9835014551470421, + 0.02085139974951744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9837333336236531, + -0.006619160063564777, + 0.17951310048991712, + -0.032849717885255814 + ], + [ + -0.006126063786242664, + 0.9975034594535828, + 0.07035168196610217, + -0.07361859828233719 + ], + [ + -0.17953060475279525, + -0.07030700892210007, + 0.9812368441788892, + 0.018298547714948654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9833082692921172, + 0.0004820984322577715, + 0.1819467873482522, + -0.03310146927833557 + ], + [ + -0.015125181036209486, + 0.9967518448829651, + 0.07910105742874265, + -0.08431097865104675 + ], + [ + -0.18131766439099056, + -0.08053269982337952, + 0.9801216448521991, + 0.016894271597266197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9806214966444675, + -0.0009359614923596382, + 0.1959097550801588, + -0.043447285890579224 + ], + [ + -0.018573184203036542, + 0.9950404763221741, + 0.09772143776304944, + -0.1036815345287323 + ], + [ + -0.1950296034732843, + -0.09946641325950623, + 0.9757407008046637, + 0.021022703498601913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.979612512025278, + -0.00031823478639125824, + 0.2008960978262186, + -0.04609563946723938 + ], + [ + -0.019000945932695128, + 0.9953691959381104, + 0.09422943235124204, + -0.10334242135286331 + ], + [ + -0.19999577180039985, + -0.09612555056810379, + 0.9750700432172136, + 0.020368454977869987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9791759531759028, + 0.0032037652563303718, + 0.2029882225066519, + -0.04581950977444649 + ], + [ + -0.022416237988991217, + 0.9954677224159243, + 0.09242012614103068, + -0.10407411307096481 + ], + [ + -0.20177213245406764, + -0.09504579007625583, + 0.9748098556361569, + 0.017908573150634766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9790358502436804, + 0.003340437775477767, + 0.20366070312565707, + -0.04444374144077301 + ], + [ + -0.022484173765075846, + 0.9955275654792786, + 0.09175709826813462, + -0.10494505614042282 + ], + [ + -0.20244333099434259, + -0.09441262483596802, + 0.9747322525909434, + 0.013649988919496536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9803179958065591, + -0.0013277382822707295, + 0.19742046755273673, + -0.03621963411569595 + ], + [ + -0.02146714671761732, + 0.9933313131332397, + 0.11327860265615597, + -0.12581154704093933 + ], + [ + -0.19625434274230438, + -0.11528711020946503, + 0.9737520851608986, + 0.012696171179413795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.980280076271132, + -0.006612177938222887, + 0.19750260846234624, + -0.034507688134908676 + ], + [ + -0.016066455615966133, + 0.9934646487236025, + 0.1130040352625325, + -0.1257329285144806 + ], + [ + -0.1969590594078715, + -0.11394876241683963, + 0.9737673519832892, + 0.0159476138651371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9806303101106812, + -0.004027395974844694, + 0.19582646851731086, + -0.031820811331272125 + ], + [ + -0.019199128863400222, + 0.9929975271224976, + 0.11656464269665594, + -0.13062416017055511 + ], + [ + -0.1949246517835783, + -0.11806651949882507, + 0.9736861594067729, + 0.015630243346095085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9821465989473444, + -0.004306464456021786, + 0.18806777152836845, + -0.02261502295732498 + ], + [ + -0.020447170207992586, + 0.9913709163665771, + 0.129482165837716, + -0.1438545137643814 + ], + [ + -0.18700253144446402, + -0.13101592659950256, + 0.9735835272582118, + 0.01570826582610607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9859367418815497, + -0.0076241702772676945, + 0.16694502033231606, + -0.00021686399122700095 + ], + [ + -0.019726037882572694, + 0.986666202545166, + 0.1615570017627468, + -0.175161674618721 + ], + [ + -0.16595074391678277, + -0.16257813572883606, + 0.9726400512856415, + 0.01797165349125862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9854412792815589, + -0.007561581674963236, + 0.16984792708778426, + -0.0008046957664191723 + ], + [ + -0.020129072703197862, + 0.9867949485778809, + 0.16071877097827994, + -0.1759665608406067 + ], + [ + -0.1688203653416761, + -0.16179777681827545, + 0.9722762777579868, + 0.01417931355535984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9851474399623359, + -0.010574542917311192, + 0.17138471268393224, + -0.00035901108640246093 + ], + [ + -0.01724313157963467, + 0.9869643449783325, + 0.16001266047312548, + -0.17521774768829346 + ], + [ + -0.17084265862838674, + -0.160591259598732, + 0.972123046080159, + 0.013973008841276169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9848151660724556, + -0.0028742447029799223, + 0.173582315323688, + -3.0156046705087647e-05 + ], + [ + -0.02520835220310832, + 0.9868985414505005, + 0.15936044792529389, + -0.17504185438156128 + ], + [ + -0.17176617575286782, + -0.16131630539894104, + 0.9718402005092721, + 0.015841791406273842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9841787216641841, + -0.007908944971859455, + 0.17700183966458707, + 7.70884144003503e-05 + ], + [ + -0.02094567128993161, + 0.9868043065071106, + 0.1605568867562216, + -0.1755024492740631 + ], + [ + -0.17593601586699495, + -0.16172410547733307, + 0.9710261596524125, + 0.014814266003668308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9835638736569691, + -0.010601108893752098, + 0.18024909707894649, + -0.00026322281337343156 + ], + [ + -0.018689159167823568, + 0.9869357943534851, + 0.16002629987262823, + -0.175706148147583 + ], + [ + -0.17959074148243795, + -0.16076479852199554, + 0.9705162656786667, + 0.017121756449341774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9830066659717137, + -0.00913749635219574, + 0.18334227760103827, + -0.00017691576795186847 + ], + [ + -0.020389900991767896, + 0.987145185470581, + 0.15852014220708519, + -0.1759243756532669 + ], + [ + -0.1824339242451894, + -0.15956468880176544, + 0.9701839862848617, + 0.013441711664199829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9824310224324629, + -0.012389791198074818, + 0.18621447751146122, + 0.0002303133369423449 + ], + [ + -0.017698148511610955, + 0.9871119856834412, + 0.1590495131113333, + -0.1763685941696167 + ], + [ + -0.1857851216390273, + -0.15955081582069397, + 0.969550102454607, + 0.010152870789170265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9818157882046474, + -0.017686972394585613, + 0.18901027999811376, + 0.00034620598307810724 + ], + [ + -0.012840724662177129, + 0.9871823787689211, + 0.15907861910996882, + -0.17543086409568787 + ], + [ + -0.1894012510290177, + -0.15861293673515323, + 0.9690042051452439, + 0.009121750481426716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9811642245737238, + -0.020571019500494007, + 0.19207712064022908, + -0.0003677732893265784 + ], + [ + -0.010777536391514927, + 0.9869359731674197, + 0.16075215196080272, + -0.1759604513645172 + ], + [ + -0.1928746487910131, + -0.15979437530040744, + 0.9681245326767237, + 0.012533007189631462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9805709377077833, + -0.020618876442313194, + 0.1950780937967447, + -0.0005387469427660108 + ], + [ + -0.01124826683560249, + 0.986914336681366, + 0.1608524490114556, + -0.17586976289749146 + ], + [ + -0.1958419779164174, + -0.1599215418100357, + 0.9675076588678589, + 0.0158628448843956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9799556898181345, + -0.01913588121533394, + 0.19829427273078437, + -0.0006038579740561545 + ], + [ + -0.013112241041757074, + 0.9870218634605408, + 0.1600497435195454, + -0.1762986034154892 + ], + [ + -0.19878348234550125, + -0.1594417542219162, + 0.9669868121125784, + 0.016533106565475464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9792028518719696, + -0.01839297078549862, + 0.20204804975011387, + -0.0012256157351657748 + ], + [ + -0.014195210071068965, + 0.9872303009033203, + 0.15866566331227927, + -0.17619207501411438 + ], + [ + -0.20238630238006738, + -0.15823400020599365, + 0.9664376945215518, + 0.01648869924247265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9786322576161093, + -0.01974591240286827, + 0.20466796411766572, + -0.0013281163992360234 + ], + [ + -0.012991378774752144, + 0.9874516725540161, + 0.1573862188696745, + -0.17609922587871552 + ], + [ + -0.20520745839629367, + -0.15668216347694397, + 0.9660955348834609, + 0.013702873140573502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9780681154568936, + -0.024118898436427116, + 0.20688413270909436, + -0.001446924521587789 + ], + [ + -0.008970198231091912, + 0.9874736070632935, + 0.15752895829782723, + -0.17645062506198883 + ], + [ + -0.20809205173166337, + -0.15592984855175018, + 0.9656001270479366, + 0.009583283215761185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9776184440840041, + -0.024534059688448906, + 0.20895031329525413, + -0.0015047751367092133 + ], + [ + -0.008893954622398335, + 0.9874698519706726, + 0.15755678915432947, + -0.1764776110649109 + ], + [ + -0.21019765385808734, + -0.15588882565498352, + 0.9651505900199875, + 0.009134303778409958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9771508233100581, + -0.025288248434662826, + 0.21103730682183613, + -0.0015355057548731565 + ], + [ + -0.008492238102382331, + 0.9874590635299685, + 0.15764657068930243, + -0.17642131447792053 + ], + [ + -0.21237731668965049, + -0.1558366566896439, + 0.9646817316968251, + 0.009228546172380447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9768121888443437, + -0.024612916633486755, + 0.21267864337675452, + -0.0011571877403184772 + ], + [ + -0.009580620519340666, + 0.98734986782074, + 0.158267081131943, + -0.1772041916847229 + ], + [ + -0.21388363840883476, + -0.15663480758666995, + 0.9642195491275073, + 0.006781994830816984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9762353278479828, + -0.02703617513179779, + 0.21502000799949866, + -0.0014185827458277345 + ], + [ + -0.007651170850432855, + 0.9872690439224243, + 0.1588750812685412, + -0.17682917416095734 + ], + [ + -0.2165779720688977, + -0.15674461424350739, + 0.9636000599463095, + 0.006610255688428879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9758294027341563, + -0.026144273579120636, + 0.2169642584782193, + -0.0017061469843611121 + ], + [ + -0.008852390148742093, + 0.9872739911079407, + 0.15878183552746997, + -0.17664985358715057 + ], + [ + -0.21835440591572008, + -0.15686462819576263, + 0.963179553681977, + 0.008021277375519276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.975500940915931, + -0.022899946197867393, + 0.21880017851855213, + -0.0009304925333708525 + ], + [ + -0.012480766808796803, + 0.9872050285339355, + 0.15896669953387646, + -0.17728261649608612 + ], + [ + -0.21964097200955998, + -0.15780296921730042, + 0.9627336546913503, + 0.007589159533381462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9746770975147563, + -0.02434530295431614, + 0.22228775459246825, + -0.0013068754924461246 + ], + [ + -0.011677015212987115, + 0.9871585965156555, + 0.1593159947693011, + -0.17705659568309784 + ], + [ + -0.22331186213411972, + -0.15787729620933533, + 0.9618765897153939, + 0.008936639875173569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9739653400965524, + -0.02723919227719307, + 0.22505460912406686, + -0.0017389168497174978 + ], + [ + -0.009205851814806322, + 0.987183690071106, + 0.15932251730291092, + -0.1766846626996994 + ], + [ + -0.22651004720973217, + -0.1572464406490326, + 0.9612318987555177, + 0.00871217343956232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9736204842587808, + -0.025313360616564758, + 0.22676510913180492, + -0.0013408330269157887 + ], + [ + -0.011419111030070709, + 0.987176299095154, + 0.15922480625436106, + -0.17693324387073517 + ], + [ + -0.22788766015589332, + -0.15761397778987887, + 0.9608460262569413, + 0.007148795761168003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9728968862699532, + -0.023340854793787003, + 0.23005839434407616, + -0.0010548908030614257 + ], + [ + -0.014065486879830478, + 0.9870772361755371, + 0.15962684098274912, + -0.17710353434085846 + ], + [ + -0.23081121976825558, + -0.15853634476661682, + 0.959996023566945, + 0.009167405776679516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.971648748574155, + -0.02708158642053604, + 0.234872908197159, + -0.002196886111050844 + ], + [ + -0.011008394284671392, + 0.9871586561203003, + 0.15936326225614417, + -0.17633859813213348 + ], + [ + -0.23617263381262016, + -0.15743069350719452, + 0.9588733471261053, + 0.011933168396353722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9710658689643686, + -0.026930714026093483, + 0.23728835938945628, + -0.0019893329590559006 + ], + [ + -0.011369087758270417, + 0.9872812628746033, + 0.15857634635631274, + -0.1767600029706955 + ], + [ + -0.23854092888033376, + -0.15668582916259766, + 0.9584089772257683, + 0.008714515715837479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.970428481606613, + -0.026799410581588745, + 0.23989644628665366, + -0.0017413373570889235 + ], + [ + -0.012009496422258617, + 0.9872270822525024, + 0.15886629825080814, + -0.177435040473938 + ], + [ + -0.2410897976819419, + -0.15704941749572754, + 0.9577114590551907, + 0.005583866033703089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9696162529950972, + -0.026678498834371567, + 0.24317184889299034, + -0.001937016029842198 + ], + [ + -0.012783383872098405, + 0.9871518015861511, + 0.15927298278054164, + -0.1774270087480545 + ], + [ + -0.24429670345433377, + -0.15754224359989166, + 0.9568174352129614, + 0.006263381335884333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9687921748892621, + -0.02804794721305371, + 0.24628253053399932, + -0.0021619456820189953 + ], + [ + -0.011899470992196563, + 0.9871693849563601, + 0.15923252655682849, + -0.1767250895500183 + ], + [ + -0.24758871916693861, + -0.15719383955001834, + 0.9560282210733391, + 0.00765380309894681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9678985525715077, + -0.030004793778061867, + 0.2495438302098554, + -0.0027294387109577656 + ], + [ + -0.01053675731206523, + 0.9871320128440857, + 0.15955996328920374, + -0.1768491119146347 + ], + [ + -0.2511202694489289, + -0.15706723928451538, + 0.9551275001939372, + 0.010440664365887642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9672693941996946, + -0.030726000666618354, + 0.2518844466527911, + -0.002399188932031393 + ], + [ + -0.009981510265426019, + 0.9872664809226992, + 0.15876153537352208, + -0.17684653401374817 + ], + [ + -0.2535551880149298, + -0.15607936680316928, + 0.9546459973238774, + 0.008755376562476158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9665858501834769, + -0.03164115175604821, + 0.2543829327331517, + -0.0023869541473686695 + ], + [ + -0.009439443551772292, + 0.9872865676879885, + 0.15866991042100423, + -0.17665939033031464 + ], + [ + -0.25616934033086686, + -0.1557693183422089, + 0.9539985058780478, + 0.008504355326294899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9658263705609386, + -0.035250138491392136, + 0.2567816953686942, + -0.0026804383378475904 + ], + [ + -0.00624590799188797, + 0.9872556328773499, + 0.15901974090903837, + -0.1761271357536316 + ], + [ + -0.25911464213663715, + -0.15518930554389954, + 0.9532973509664856, + 0.010177923366427422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9653717762981439, + -0.036803532391786575, + 0.258268832377305, + -0.002558369655162096 + ], + [ + -0.004951878113066066, + 0.9872353672981262, + 0.1591912848048858, + -0.17620937526226044 + ], + [ + -0.260830920095246, + -0.15495768189430237, + 0.9528668952228834, + 0.009382573887705803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9648635384366878, + -0.03681280091404915, + 0.2601600042133103, + -0.00238894484937191 + ], + [ + -0.005345639749027316, + 0.9871814846992493, + 0.1595123202062364, + -0.17635908722877502 + ], + [ + -0.26269721978702765, + -0.15529833734035492, + 0.9522985772525775, + 0.009268785826861858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9642764723746581, + -0.03604699298739433, + 0.26243369541917255, + -0.0020635866094380617 + ], + [ + -0.006614179592702432, + 0.987112820148468, + 0.15988931534047074, + -0.17644229531288147 + ], + [ + -0.2648151955390342, + -0.15591327846050262, + 0.9516112521639334, + 0.010500925593078136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.963398111492748, + -0.03714737296104431, + 0.26548844873748373, + -0.002341368468478322 + ], + [ + -0.006048332271742353, + 0.9870883822441101, + 0.16006229906004624, + -0.17587395012378693 + ], + [ + -0.2680064606332722, + -0.15580947697162628, + 0.9507344186378518, + 0.01254324708133936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9628478980559307, + -0.03618904575705529, + 0.26760845220367147, + -0.0022248998284339905 + ], + [ + -0.00739016653355244, + 0.9870774745941164, + 0.16007341686092558, + -0.17599688470363617 + ], + [ + -0.26994316971092686, + -0.1561040282249451, + 0.9501379948258435, + 0.012434293515980244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9621939206979994, + -0.03547495976090431, + 0.27004515456940864, + -0.0021189264953136444 + ], + [ + -0.008609872539412136, + 0.9870243072509766, + 0.16033991402195194, + -0.17583408951759338 + ], + [ + -0.27222919098922227, + -0.1566031575202942, + 0.9494033771007455, + 0.012591740116477013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9614490129974196, + -0.03829270228743553, + 0.2723039962486321, + -0.002158979419618845 + ], + [ + -0.0062938634057335, + 0.9869327545166016, + 0.16100957678320554, + -0.17515672743320465 + ], + [ + -0.27491123432782827, + -0.15651632845401764, + 0.9486445502170272, + 0.013426396995782852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/pull_out/transforms.json b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..20a5688495b8640413c824e81f547b602ff7a9be --- /dev/null +++ b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/pull_out/transforms.json @@ -0,0 +1,4248 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 121, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.00014601727889385074, + -3.883337922161445e-05, + 2.9296741558937356e-05 + ], + [ + 0.00014601477596443146, + 1.0, + -6.437551928684115e-05, + 5.471805343404412e-05 + ], + [ + 3.8842779758851975e-05, + 6.436984403990209e-05, + 1.0, + 4.0512270061299205e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999973714351654, + -0.007241228595376015, + 0.00041343760676681995, + 0.00020781769106785456 + ], + [ + 0.007242008112370968, + 0.9999719262123108, + -0.001915249740704894, + 0.0017299651973492777 + ], + [ + -0.0003995572333224118, + 0.00191819341853261, + 0.9999980926513672, + 0.00235898197007676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999928891658783, + -0.011699074879288673, + 0.0023008196149021387, + -0.0018204711164192607 + ], + [ + 0.0117042176425457, + 0.9999290108680725, + -0.0022349010687321424, + 0.001789944606134668 + ], + [ + -0.0022745102178305387, + 0.002261671470478177, + 0.9999948740005493, + 0.0016924556965629259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998741745948792, + -0.014967945404350758, + 0.005249336827546358, + -0.0052116020407993345 + ], + [ + 0.01501436810940504, + 0.9998475313186646, + -0.008918392471969128, + 0.008616855486761778 + ], + [ + -0.005115046631544828, + 0.0089960852637887, + 0.9999464750289917, + -0.0038152572279796008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998762011528015, + -0.014773709699511528, + 0.005412248894572258, + -0.005405832262088855 + ], + [ + 0.014862677082419395, + 0.9997486472129822, + -0.016784140840172768, + 0.017324401792138816 + ], + [ + -0.005162924528121948, + 0.016862502321600914, + 0.999844491481781, + -0.004941800797047715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997676014900208, + -0.019174007698893547, + 0.009855030104517937, + -0.009611107090798517 + ], + [ + 0.01939787156879902, + 0.9995439052581787, + -0.023145528510212898, + 0.024084127826305726 + ], + [ + -0.009406743571162224, + 0.02333131618797779, + 0.9996835589408875, + -0.0006338055556019146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997360110282898, + -0.0197510477155447, + 0.011737699620425701, + -0.011347926496528089 + ], + [ + 0.02003033272922039, + 0.9995071291923523, + -0.024172678589820862, + 0.025290062725543974 + ], + [ + -0.011254479177296162, + 0.024401407688856125, + 0.9996389150619507, + 0.0029617431014776216 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997797012329102, + -0.01900407485663891, + 0.008909668773412704, + -0.008081025124217073 + ], + [ + 0.01918989233672619, + 0.9995898604393005, + -0.021256014704704285, + 0.02219889771193266 + ], + [ + -0.008502064272761345, + 0.021422307938337326, + 0.9997343420982361, + 0.004729411539932091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998177289962769, + -0.018536735326051712, + 0.0045695132575929165, + -0.0034084982238709927 + ], + [ + 0.018597546964883804, + 0.9997339248657227, + -0.013646028004586697, + 0.014111001112808785 + ], + [ + -0.004315345082432032, + 0.013728522695600986, + 0.9998964667320251, + 0.0037957749267419176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997695088386536, + -0.0211392343044281, + 0.003754771314561367, + -0.00256127460161224 + ], + [ + 0.02116980403661728, + 0.9997414946556091, + -0.008297104388475418, + 0.007880374891683459 + ], + [ + -0.0035784062929451466, + 0.008374679833650589, + 0.9999585151672363, + 0.0007313698530197147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996964931488037, + -0.023791871964931488, + 0.006392530631273985, + -0.005703465916061153 + ], + [ + 0.023828785866498947, + 0.9996994733810425, + -0.005761818960309029, + 0.004668998423342904 + ], + [ + -0.006253525149077177, + 0.005912396125495434, + 0.9999629855155945, + -0.005383551664029559 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999582052230835, + -0.026337379589676857, + 0.011918232776224613, + -0.01180310621469592 + ], + [ + 0.026418449357151985, + 0.9996285438537598, + -0.0066966828890144825, + 0.0054525155523636685 + ], + [ + -0.011737433262169361, + 0.007008744869381189, + 0.9999065399169922, + -0.007498972228107354 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994670152664185, + -0.0264295544475317, + 0.019161073490977287, + -0.019677902068942786 + ], + [ + 0.02656654082238674, + 0.9996230006217957, + -0.006930187344551086, + 0.005755211059004069 + ], + [ + -0.018970688804984093, + 0.007435536943376064, + 0.9997923970222473, + -0.007140272408723834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993761777877808, + -0.0231177881360054, + 0.02669876627624035, + -0.02800358410148571 + ], + [ + 0.02326444536447525, + 0.9997158646583557, + -0.005195450969040394, + 0.003998250738562395 + ], + [ + -0.02657107077538967, + 0.005813341587781906, + 0.9996300339698792, + -0.006743315675606331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994233846664429, + -0.019085485488176346, + 0.0280831940472126, + -0.030257854455461104 + ], + [ + 0.019237082451581955, + 0.999801754951477, + -0.005137917585670948, + 0.004190565675186614 + ], + [ + -0.027979567646980286, + 0.005675193853676319, + 0.9995923638343811, + -0.011564378620435795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9993555545806885, + -0.019516557455062866, + 0.0301254503428936, + -0.03245151503942907 + ], + [ + 0.0197778157889843, + 0.9997691512107849, + -0.008398905396461487, + 0.007821486052125692 + ], + [ + -0.02995457872748375, + 0.008989308029413223, + 0.9995108246803284, + -0.011637918604537846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9991191029548645, + -0.022264603525400162, + 0.035571515560150146, + -0.03776687910159429 + ], + [ + 0.02244773507118225, + 0.9997367262840271, + -0.004757179878652096, + 0.0037521016225218772 + ], + [ + -0.035456232726573944, + 0.005551489070057869, + 0.9993557929992676, + -0.005534954207638901 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9991939663887024, + -0.017522074282169342, + 0.03611715883016586, + -0.03877692899977168 + ], + [ + 0.0173640139400959, + 0.9998382329940796, + 0.004685422405600548, + -0.006270465501584113 + ], + [ + -0.03619341552257538, + -0.004054507240653038, + 0.9993366003036499, + -0.0068883498261372265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9992725253105164, + -0.017839321866631508, + 0.03370724618434906, + -0.036024541780352595 + ], + [ + 0.017419828101992607, + 0.9997676014900208, + 0.012698207050561905, + -0.01510324789211154 + ], + [ + -0.033925943076610565, + -0.01210179552435875, + 0.9993510842323303, + -0.00650199580937624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993216395378113, + -0.019090937450528145, + 0.03149361163377762, + -0.034045580892513194 + ], + [ + 0.018468080088496208, + 0.9996303915977478, + 0.01995101384818554, + -0.023571118186227976 + ], + [ + -0.031862854957580566, + -0.019355854019522667, + 0.9993048310279846, + -0.01278828499528269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9993649125099182, + -0.0207801666110754, + 0.02894841879606247, + -0.031727643807729085 + ], + [ + 0.0201392974704504, + 0.9995494484901428, + 0.022256677970290184, + -0.026659902899215618 + ], + [ + -0.0293978713452816, + -0.02165954001247883, + 0.9993330836296082, + -0.019921309206013878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.999366044998169, + -0.022587090730667114, + 0.027519788593053818, + -0.030059704640880227 + ], + [ + 0.02201375737786293, + 0.9995378851890564, + 0.020961377769708633, + -0.025423031663522125 + ], + [ + -0.02798052877187729, + -0.020342275500297546, + 0.9994014501571655, + -0.02111767197959125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9993366599082947, + -0.022056881338357925, + 0.02897876687347889, + -0.03164762142735223 + ], + [ + 0.02140936627984047, + 0.9995182752609253, + 0.022467974573373795, + -0.02699766128634413 + ], + [ + -0.029460379853844643, + -0.021832652390003204, + 0.9993274807929993, + -0.020544313176845512 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9992475509643555, + -0.022314120084047318, + 0.031724296510219574, + -0.03495183555409312 + ], + [ + 0.02168882265686989, + 0.9995663166046143, + 0.019919704645872116, + -0.02425570650957525 + ], + [ + -0.032155029475688934, + -0.01921665295958519, + 0.9992981553077698, + -0.022533177516112723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989796876907349, + -0.021264927461743355, + 0.03984256088733673, + -0.043572269827127454 + ], + [ + 0.020425690338015556, + 0.9995633363723755, + 0.021353859454393387, + -0.025322529152035714 + ], + [ + -0.04027924686670303, + -0.020518258213996887, + 0.998977780342102, + -0.016517360908910636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9987099170684814, + -0.022043710574507713, + 0.045744720846414566, + -0.050093714225416384 + ], + [ + 0.02083542011678219, + 0.9994256496429443, + 0.026724621653556824, + -0.031317799972991146 + ], + [ + -0.04630756005644798, + -0.025737036019563675, + 0.9985955953598022, + -0.015466810048868261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.99858558177948, + -0.02133878506720066, + 0.04869823530316353, + -0.05379291579748193 + ], + [ + 0.01985272206366062, + 0.9993284344673157, + 0.030798086896538734, + -0.03606633022738 + ], + [ + -0.04932272806763649, + -0.029787732288241386, + 0.9983385801315308, + -0.01919004809111357 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.998427152633667, + -0.01936337724328041, + 0.05261404439806938, + -0.0583339452277869 + ], + [ + 0.017603803426027298, + 0.9992768168449402, + 0.03370317444205284, + -0.03926995157264173 + ], + [ + -0.053228605538606644, + -0.032723959535360336, + 0.9980460405349731, + -0.019874928714707498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9983951449394226, + -0.01595386490225792, + 0.054337989538908005, + -0.06065809603780508 + ], + [ + 0.013996138237416744, + 0.999245822429657, + 0.036220621317625046, + -0.042015458059807616 + ], + [ + -0.05487486347556114, + -0.035401973873376846, + 0.9978654384613037, + -0.021825913353823126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9984003901481628, + -0.01574649102985859, + 0.054302096366882324, + -0.060739915917317075 + ], + [ + 0.013627596199512482, + 0.9991395473480225, + 0.03917241469025612, + -0.045426044256115954 + ], + [ + -0.05487219989299774, + -0.03836974874138832, + 0.9977558851242065, + -0.022940518214988215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9983652234077454, + -0.015738844871520996, + 0.05494649335741997, + -0.06201624004170299 + ], + [ + 0.013511767610907555, + 0.9990812540054321, + 0.040670596063137054, + -0.04746692534536123 + ], + [ + -0.055536117404699326, + -0.039861686527729034, + 0.9976606369018555, + -0.0277866467833519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9982654452323914, + -0.015361731871962547, + 0.05683373659849167, + -0.06424906194830934 + ], + [ + 0.013062689453363419, + 0.9990898966789246, + 0.04060473293066025, + -0.04742928547784686 + ], + [ + -0.05740576982498169, + -0.039791904389858246, + 0.9975575804710388, + -0.028746892291431625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9982798099517822, + -0.015811199322342873, + 0.0564567893743515, + -0.06388419657945633 + ], + [ + 0.013605975545942783, + 0.9991374611854553, + 0.03923337906599045, + -0.04592788393298785 + ], + [ + -0.05702842026948929, + -0.03839774429798126, + 0.9976338744163513, + -0.029757379097864033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9982839226722717, + -0.018117031082510948, + 0.05568632856011391, + -0.06302213701419532 + ], + [ + 0.015979254618287086, + 0.9991270303726196, + 0.03859805688261986, + -0.04546836723573506 + ], + [ + -0.05633700266480446, + -0.037641990929841995, + 0.9977019429206848, + -0.03125347207300365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9983024001121521, + -0.01767735183238983, + 0.05549616366624832, + -0.06287541082749765 + ], + [ + 0.01554376631975174, + 0.9991320967674255, + 0.038644663989543915, + -0.04552217055112123 + ], + [ + -0.05613113194704056, + -0.03771644085645676, + 0.9977107644081116, + -0.03220751678571106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985113143920898, + -0.01583203859627247, + 0.05219676345586777, + -0.05927331239605944 + ], + [ + 0.013855645433068275, + 0.9991812705993652, + 0.0380111038684845, + -0.04473608694970608 + ], + [ + -0.05275581777095795, + -0.03723129630088806, + 0.997913122177124, + -0.03392613132794699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9987318515777588, + -0.01642521098256111, + 0.04759112745523453, + -0.05379977591335774 + ], + [ + 0.014571484178304672, + 0.999131441116333, + 0.03903961181640625, + -0.045832658112049104 + ], + [ + -0.04819102585315704, + -0.03829663246870041, + 0.998103678226471, + -0.033097686637192966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9987943768501282, + -0.020211802795529366, + 0.04473523423075676, + -0.050430587651208045 + ], + [ + 0.01834467612206936, + 0.9989591836929321, + 0.04176144301891327, + -0.04928240715215604 + ], + [ + -0.045532744377851486, + -0.040890440344810486, + 0.9981256127357483, + -0.03386631110683084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9988439679145813, + -0.022300368174910545, + 0.04258378595113754, + -0.04804451243331035 + ], + [ + 0.02040952630341053, + 0.9988083243370056, + 0.04433288797736168, + -0.052555861951162415 + ], + [ + -0.04352167993783951, + -0.043412525206804276, + 0.9981088042259216, + -0.0359268731623888 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9989587664604187, + -0.02335352636873722, + 0.03919193148612976, + -0.044272845163941386 + ], + [ + 0.021427063271403313, + 0.9985750317573547, + 0.04887480288743973, + -0.057696902099996804 + ], + [ + -0.04027748107910156, + -0.04798414558172226, + 0.9980356693267822, + -0.03696697559207678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9990395903587341, + -0.02438175119459629, + 0.03640643134713173, + -0.041129861896236734 + ], + [ + 0.022424569353461266, + 0.998330295085907, + 0.053232595324516296, + -0.06282423138618469 + ], + [ + -0.03764354810118675, + -0.05236507207155228, + 0.9979182481765747, + -0.0377754041304191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9990977048873901, + -0.024009695276618004, + 0.03503238782286644, + -0.039811164559796455 + ], + [ + 0.021983107551932335, + 0.9981247186660767, + 0.057129863649606705, + -0.0674328174473097 + ], + [ + -0.03633836284279823, + -0.05630819872021675, + 0.9977519512176514, + -0.04100332517797749 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9990502595901489, + -0.024743100628256798, + 0.03586596995592117, + -0.04073332782834768 + ], + [ + 0.022685742005705833, + 0.9981348514556885, + 0.056676387786865234, + -0.0672837433218956 + ], + [ + -0.037201426923274994, + -0.05580891668796539, + 0.9977481961250305, + -0.04376340553164482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9989938735961914, + -0.02604915387928486, + 0.036505572497844696, + -0.041585850746681294 + ], + [ + 0.02400948293507099, + 0.9981844425201416, + 0.055239103734493256, + -0.06590897391860684 + ], + [ + -0.03787823021411896, + -0.05430704355239868, + 0.9978055953979492, + -0.04392482185115417 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9989691972732544, + -0.026161305606365204, + 0.03709693253040314, + -0.042386589596668876 + ], + [ + 0.02404666692018509, + 0.9981216192245483, + 0.05634664371609688, + -0.06709436832616726 + ], + [ + -0.038501352071762085, + -0.05539650097489357, + 0.9977218508720398, + -0.04465972688049078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9989168047904968, + -0.02552872896194458, + 0.038903530687093735, + -0.04446307108737528 + ], + [ + 0.023336593061685562, + 0.9981694221496582, + 0.05579652637243271, + -0.06641700202599168 + ], + [ + -0.04025672748684883, + -0.0548282116651535, + 0.9976839423179626, + -0.04555387105792762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.998978853225708, + -0.023404471576213837, + 0.038645584136247635, + -0.04417579642807444 + ], + [ + 0.02119545266032219, + 0.9981711506843567, + 0.05661343038082123, + -0.0671464266628027 + ], + [ + -0.03989991173148155, + -0.05573651194572449, + 0.9976479411125183, + -0.04500550568724672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9991632103919983, + -0.02104797400534153, + 0.03506966307759285, + -0.0402689117534707 + ], + [ + 0.018993323668837547, + 0.998140275478363, + 0.05792469531297684, + -0.06852098608389497 + ], + [ + -0.0362236388027668, + -0.057210132479667664, + 0.997704803943634, + -0.04606125447278222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9992498755455017, + -0.02125014178454876, + 0.032373931258916855, + -0.0370886155962944 + ], + [ + 0.01926541142165661, + 0.9979864358901978, + 0.06043108180165291, + -0.07124057337641716 + ], + [ + -0.033592913299798965, + -0.05976205691695213, + 0.997647225856781, + -0.045745190307497983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9993074536323547, + -0.02058764360845089, + 0.030996127054095268, + -0.0356876108655706 + ], + [ + 0.018608609214425087, + 0.9978503584861755, + 0.06283574551343918, + -0.07410716935371359 + ], + [ + -0.032223135232925415, + -0.06221543624997139, + 0.9975424408912659, + -0.047703487301866215 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999360203742981, + -0.020107537508010864, + 0.02957819402217865, + -0.034143777564167976 + ], + [ + 0.018250450491905212, + 0.9979236125946045, + 0.06176885589957237, + -0.07294004767512281 + ], + [ + -0.030758798122406006, + -0.061189521104097366, + 0.9976521134376526, + -0.049086890183389194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9993911385536194, + -0.020459696650505066, + 0.02826191671192646, + -0.032559660342521966 + ], + [ + 0.018716417253017426, + 0.9979849457740784, + 0.06062747538089752, + -0.07161108020693063 + ], + [ + -0.029445389285683632, + -0.06006160378456116, + 0.9977602958679199, + -0.04918413264676929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9994579553604126, + -0.019081098958849907, + 0.0268264040350914, + -0.030906288623809813 + ], + [ + 0.017438070848584175, + 0.9980339407920837, + 0.06020066887140274, + -0.07101757975916068 + ], + [ + -0.027922358363866806, + -0.05970023572444916, + 0.9978257417678833, + -0.049464142620563506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9995573163032532, + -0.01834745518863201, + 0.023420264944434166, + -0.026737085740702847 + ], + [ + 0.016918985173106194, + 0.9980670809745789, + 0.0597984753549099, + -0.0701941650453955 + ], + [ + -0.02447214536368847, + -0.05937575921416283, + 0.9979357123374939, + -0.04737721619196236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.999606192111969, + -0.02021697536110878, + 0.01945992186665535, + -0.021888645309954883 + ], + [ + 0.018933206796646118, + 0.9977681040763855, + 0.06403429806232452, + -0.07485299713909627 + ], + [ + -0.02071106806397438, + -0.06364063918590546, + 0.9977579712867737, + -0.04493832342370297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997518658638, + -0.01794108934700489, + 0.01320101972669363, + -0.014876438293140382 + ], + [ + 0.01699984259903431, + 0.9975231289863586, + 0.0682542696595192, + -0.07971277904386322 + ], + [ + -0.01439287792891264, + -0.06801291555166245, + 0.9975805878639221, + -0.04643138661049307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997994303703308, + -0.01912284456193447, + 0.005951684899628162, + -0.006515789069235325 + ], + [ + 0.018681814894080162, + 0.9975808262825012, + 0.06695856899023056, + -0.07863434846202533 + ], + [ + -0.007217724807560444, + -0.06683395057916641, + 0.9977380037307739, + -0.05000023803363244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997750520706177, + -0.021198511123657227, + 0.0007047055405564606, + -0.0005248699207731989 + ], + [ + 0.021128039807081223, + 0.9982733726501465, + 0.054808177053928375, + -0.06631831733509898 + ], + [ + -0.0018653406295925379, + -0.05478096008300781, + 0.9984966516494751, + -0.05033263402059674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997901320457458, + -0.02048490382730961, + 0.00013627827866002917, + -3.709773501517096e-05 + ], + [ + 0.020453283563256264, + 0.9985747933387756, + 0.04929543286561966, + -0.06032074129829804 + ], + [ + -0.0011458962690085173, + -0.04928229749202728, + 0.9987842440605164, + -0.05453868282337984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9998041987419128, + -0.019729170948266983, + -0.0015403726138174534, + 0.0020227280425994345 + ], + [ + 0.019780058413743973, + 0.9986768364906311, + 0.047468822449445724, + -0.05670749080988268 + ], + [ + 0.000601814070250839, + -0.04748999699950218, + 0.9988715052604675, + -0.056951547513405476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.999810516834259, + -0.018220603466033936, + -0.00684805354103446, + 0.008366674254648387 + ], + [ + 0.01845313236117363, + 0.9991963505744934, + 0.03558354824781418, + -0.04251133762300015 + ], + [ + 0.006194196175783873, + -0.03570317476987839, + 0.99934321641922, + -0.054189232084900146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998173713684082, + -0.018322527408599854, + -0.005431136582046747, + 0.0074017998983617874 + ], + [ + 0.018474198877811432, + 0.999398946762085, + 0.029332831501960754, + -0.03469174818446239 + ], + [ + 0.004890420939773321, + -0.02942781150341034, + 0.9995549321174622, + -0.047455179191504916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998905658721924, + -0.01411125622689724, + -0.004444951191544533, + 0.006375387823209166 + ], + [ + 0.01422199234366417, + 0.9995619654655457, + 0.025953250005841255, + -0.030282500805333255 + ], + [ + 0.004076771438121796, + -0.026013625785708427, + 0.9996532797813416, + -0.044250100875894226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9998946785926819, + -0.013073284178972244, + -0.006306899711489677, + 0.00867405445780605 + ], + [ + 0.01322939246892929, + 0.9995903372764587, + 0.02538026124238968, + -0.029218021798878908 + ], + [ + 0.005972512997686863, + -0.025461025536060333, + 0.9996579885482788, + -0.03937682610005141 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9998610615730286, + -0.016508283093571663, + -0.002313007600605488, + 0.004493818363795678 + ], + [ + 0.016571538522839546, + 0.9993913769721985, + 0.030695728957653046, + -0.035315525432427726 + ], + [ + 0.0018048660131171346, + -0.03072979301214218, + 0.9995260834693909, + -0.0372663114219904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9998183846473694, + -0.01826774887740612, + 0.005426487419754267, + -0.004511215741513297 + ], + [ + 0.018081462010741234, + 0.9993050694465637, + 0.03259463980793953, + -0.03795092678628862 + ], + [ + -0.006018147338181734, + -0.032490599900484085, + 0.9994539022445679, + -0.0404536126802365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996355772018433, + -0.01951734535396099, + 0.018650198355317116, + -0.019614857053384185 + ], + [ + 0.018941747024655342, + 0.9993535280227661, + 0.030556393787264824, + -0.03589137670584023 + ], + [ + -0.019234521314501762, + -0.030191989615559578, + 0.9993590116500854, + -0.04235889319330455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9997288584709167, + -0.017087310552597046, + 0.015818821266293526, + -0.019419341899144155 + ], + [ + 0.016585424542427063, + 0.9993714094161987, + 0.03133247420191765, + -0.03617280736876031 + ], + [ + -0.016344266012310982, + -0.03106161765754223, + 0.999383807182312, + -0.04369345871110758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9997522830963135, + -0.01155173685401678, + 0.019025322049856186, + -0.02408386092633009 + ], + [ + 0.010955636389553547, + 0.9994548559188843, + 0.031143588945269585, + -0.03583660646652182 + ], + [ + -0.01937471330165863, + -0.030927440151572227, + 0.9993338584899902, + -0.040513659268617636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996300935745239, + -0.008749358355998993, + 0.0257515087723732, + -0.0315291584841907 + ], + [ + 0.007617348805069923, + 0.9990141987800598, + 0.04373346269130707, + -0.04933636892586946 + ], + [ + -0.026108764111995697, + -0.043521128594875336, + 0.9987112879753113, + -0.03657449930906295 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9995923042297363, + -0.006619160063564777, + 0.02777499333024025, + -0.034469925829519826 + ], + [ + 0.004647370427846909, + 0.9975034594535828, + 0.07046481221914291, + -0.07772904566178719 + ], + [ + -0.028172068297863007, + -0.07030700892210007, + 0.9971275329589844, + -0.03986722504099211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9996060132980347, + 0.0004820984322577715, + 0.028064284473657608, + -0.03476193944302698 + ], + [ + -0.0027404362335801125, + 0.9967518448829651, + 0.08048750460147858, + -0.08907315600663424 + ], + [ + -0.027934323996305466, + -0.08053269982337952, + 0.9963604807853699, + -0.042057056849201524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9991954565048218, + -0.0009359614923596382, + 0.040094781666994095, + -0.04585297279059887 + ], + [ + -0.003057516645640135, + 0.9950404763221741, + 0.09942381083965302, + -0.10964696317911148 + ], + [ + -0.03998899087309837, + -0.09946641325950623, + 0.9942370653152466, + -0.03863152042031288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9990751147270203, + -0.00031823478639125824, + 0.04299803450703621, + -0.048711353233084086 + ], + [ + -0.0038167419843375683, + 0.9953691959381104, + 0.09605026990175247, + -0.10918547943855325 + ], + [ + -0.0428294874727726, + -0.09612555056810379, + 0.9944473505020142, + -0.0401270921776692 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9990719556808472, + 0.003203765256330371, + 0.042953383177518845, + -0.04846830173706015 + ], + [ + -0.007268897257745266, + 0.9954677224159241, + 0.09482157230377197, + -0.10992144336303075 + ], + [ + -0.04245492443442345, + -0.0950457900762558, + 0.9945671558380127, + -0.04342306812604269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9991346001625061, + 0.003340437775477767, + 0.04145996645092964, + -0.04703498934395611 + ], + [ + -0.007237044163048267, + 0.9955275654792786, + 0.09419409930706024, + -0.11083218734711409 + ], + [ + -0.04095989093184471, + -0.09441262483596802, + 0.9946901798248291, + -0.04851814731955528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994572997093201, + -0.0013277382822707295, + 0.032913826406002045, + -0.03830417645474275 + ], + [ + -0.002476375550031662, + 0.9933313131332397, + 0.11526815593242645, + -0.13311186358332633 + ], + [ + -0.03284738212823868, + -0.11528711020946503, + 0.9927889704704285, + -0.050180463617046686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9995030760765076, + -0.006612177938222885, + 0.03082059696316719, + -0.03648534310671191 + ], + [ + 0.003053865395486355, + 0.9934646487236023, + 0.11409959197044373, + -0.13305431899925074 + ], + [ + -0.03137362003326416, + -0.1139487624168396, + 0.9929911494255066, + -0.04776931822299957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9996292591094971, + -0.004027395974844694, + 0.026928706094622612, + -0.033571177227422595 + ], + [ + 0.0008183466270565987, + 0.9929975271224976, + 0.11813235282897949, + -0.1383027631044388 + ], + [ + -0.027215903624892235, + -0.11806651949882507, + 0.9926326870918274, + -0.048890881314873694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9998488426208496, + -0.004306464456021786, + 0.016844002529978752, + -0.023723919790548584 + ], + [ + 0.0020618641283363104, + 0.9913709163665771, + 0.13107046484947205, + -0.15248331936697165 + ], + [ + -0.017263105139136314, + -0.13101592659950256, + 0.9912299513816833, + -0.04954770597318808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9999478459358215, + -0.0076241702772676945, + -0.006797368172556162, + 0.00023629388694340983 + ], + [ + 0.008627723902463913, + 0.986666202545166, + 0.16252797842025757, + -0.18599687318007152 + ], + [ + 0.00546759320423007, + -0.16257813572883606, + 0.9866805076599121, + -0.04780704701940218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9999532103538513, + -0.007561581674963236, + -0.006034099031239748, + -0.0003973940818104893 + ], + [ + 0.008438168093562126, + 0.9867949485778809, + 0.16175444424152374, + -0.18688498582690954 + ], + [ + 0.004731299821287394, + -0.16179777681827545, + 0.9868125915527344, + -0.052430536374449735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.999921977519989, + -0.010574542917311192, + -0.006651096045970917, + 9.548047673888513e-05 + ], + [ + 0.011505276896059513, + 0.9869643449783325, + 0.1605272740125656, + -0.18618711141248545 + ], + [ + 0.004866892471909523, + -0.160591259598732, + 0.9870089888572693, + -0.053472605397303904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9999740123748779, + -0.0028742447029799223, + -0.006611058488488197, + 0.00042710883208201266 + ], + [ + 0.0039030180778354406, + 0.9868985414505005, + 0.16129469871520996, + -0.18619807104269664 + ], + [ + 0.006060843355953693, + -0.16131630539894104, + 0.9868841171264648, + -0.05241769336163998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9999545812606812, + -0.007908944971859455, + -0.0053143990226089954, + 0.00044909634598297996 + ], + [ + 0.008664234541356564, + 0.9868043065071106, + 0.16168539226055145, + -0.1868204267323017 + ], + [ + 0.003965511452406645, + -0.16172410547733307, + 0.9868280291557312, + -0.05426369603723287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9999350309371948, + -0.010601108893752098, + -0.004190998151898384, + 3.3639555719370716e-05 + ], + [ + 0.011136950924992561, + 0.9869357943534851, + 0.1607285588979721, + -0.18709108773618938 + ], + [ + 0.002432345412671566, + -0.16076479852199554, + 0.9869897365570068, + -0.05279001655677956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.999953031539917, + -0.00913749635219574, + -0.0032296772114932537, + 5.454443220514804e-05 + ], + [ + 0.00953575037419796, + 0.987145185470581, + 0.15954138338565826, + -0.18735817479590575 + ], + [ + 0.0017303513595834374, + -0.15956468880176544, + 0.9871859550476074, + -0.057306615114212034 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9999201893806458, + -0.012389791198074818, + -0.0024820035323500633, + 0.0004102585930377245 + ], + [ + 0.012627079151570797, + 0.9871119856834412, + 0.15953221917152405, + -0.1879346800595522 + ], + [ + 0.00047344458289444447, + -0.15955081582069397, + 0.9871895909309387, + -0.06141837455332279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9998419284820557, + -0.01768697239458561, + -0.0018016553949564695, + 0.0004783273787082483 + ], + [ + 0.01774882711470127, + 0.9871823787689209, + 0.15860602259635925, + -0.18706197241942088 + ], + [ + -0.001026697689667344, + -0.1586129367351532, + 0.9873403310775757, + -0.06328320713092883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9997880458831787, + -0.020571019500494003, + -0.0008480364922434092, + -0.0003048772494851922 + ], + [ + 0.020442135632038116, + 0.9869359731674194, + 0.15981091558933258, + -0.18781309427072604 + ], + [ + -0.0024505150504410267, + -0.1597943753004074, + 0.9871472716331482, + -0.060680415456493705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9997873902320862, + -0.020618876442313194, + 2.982292789965868e-05, + -0.0005409836623584852 + ], + [ + 0.020348621532320976, + 0.986914336681366, + 0.15995614230632782, + -0.18786647357046604 + ], + [ + -0.0033275485038757324, + -0.1599215418100357, + 0.9871241450309753, + -0.058171465992927565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9998162388801575, + -0.01913588121533394, + 0.0011229765368625522, + -0.0006890170281015647 + ], + [ + 0.018711864948272705, + 0.9870218634605408, + 0.15949206054210663, + -0.18839341800659895 + ], + [ + -0.004160423297435045, + -0.1594417542219162, + 0.9871985912322998, + -0.058329453269640605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.999826967716217, + -0.01839297078549862, + 0.002770225517451763, + -0.0014379996915037433 + ], + [ + 0.017722608521580696, + 0.9872303009033203, + 0.15831047296524048, + -0.1883292112747828 + ], + [ + -0.005646650679409504, + -0.15823400020599365, + 0.9873855113983154, + -0.05921085663139819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9997996687889099, + -0.01974591240286827, + 0.003270087530836463, + -0.0015815481828758493 + ], + [ + 0.01898926869034767, + 0.9874516725540161, + 0.15677565336227417, + -0.18824933901429178 + ], + [ + -0.00632473174482584, + -0.15668216347694397, + 0.9876288175582886, + -0.06283836022019387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997034072875977, + -0.024118898436427116, + 0.003373469691723585, + -0.0017111796474394698 + ], + [ + 0.02329724095761776, + 0.9874736070632935, + 0.15605472028255463, + -0.18867491148412227 + ], + [ + -0.0070950803346931934, + -0.15592984855175018, + 0.9877426624298096, + -0.06778989200790723 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9996935129165649, + -0.024534059688448906, + 0.003306942991912365, + -0.0017665747902356089 + ], + [ + 0.023717982694506645, + 0.9874698519706726, + 0.1560150682926178, + -0.1888288039714098 + ], + [ + -0.007093189284205437, + -0.15588882565498352, + 0.9877491593360901, + -0.06906250466903051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9996748566627502, + -0.02528824843466282, + 0.003264555474743247, + -0.0017966701928526165 + ], + [ + 0.024469902738928795, + 0.9874590635299683, + 0.15596725046634674, + -0.18889869451522828 + ], + [ + -0.007167752832174301, + -0.15583665668964386, + 0.9877568483352661, + -0.06979200169444086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9996932744979858, + -0.024612916633486748, + 0.002759446855634451, + -0.0013802430278155953 + ], + [ + 0.02387634478509426, + 0.9873498678207397, + 0.15674877166748047, + -0.1898747173945109 + ], + [ + -0.006582583766430616, + -0.15663480758666992, + 0.9876346588134766, + -0.0730518067566057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9996299743652344, + -0.02703617513179779, + 0.002988900989294052, + -0.001662676326620082 + ], + [ + 0.026232782751321793, + 0.9872690439224243, + 0.15688107907772064, + -0.18964112895230453 + ], + [ + -0.0071923136711120605, + -0.15674461424350739, + 0.9876129627227783, + -0.07404480293393136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9996542930603027, + -0.026144273579120636, + 0.0027941123116761446, + -0.001936661250074394 + ], + [ + 0.02538168802857399, + 0.9872739911079407, + 0.15698982775211334, + -0.18960151437669992 + ], + [ + -0.006862939335405827, + -0.15686462819576263, + 0.9875962734222412, + -0.07345541518181563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997346997261047, + -0.022899946197867393, + 0.002476693596690893, + -0.001136883666428427 + ], + [ + 0.022221768274903297, + 0.9872050285339355, + 0.1578998863697052, + -0.1904409403602282 + ], + [ + -0.006060903426259756, + -0.15780296921730042, + 0.9874520301818848, + -0.07469850964844228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9996960759162903, + -0.02434530295431614, + 0.003878924995660782, + -0.001633351679580907 + ], + [ + 0.023426862433552742, + 0.9871585965156555, + 0.15801620483398438, + -0.19035629292329154 + ], + [ + -0.0076760658994317055, + -0.15787729620933533, + 0.9874289035797119, + -0.07417195950945218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9996185898780823, + -0.02723919227719307, + 0.004553632345050573, + -0.0021259755990467965 + ], + [ + 0.02618321403861046, + 0.987183690071106, + 0.15742570161819458, + -0.19006584733724594 + ], + [ + -0.00878342054784298, + -0.1572464406490326, + 0.9875203371047974, + -0.07522705521434546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9996711015701294, + -0.02531336061656475, + 0.004117131698876619, + -0.0016942201644026985 + ], + [ + 0.02434721402823925, + 0.9871762990951538, + 0.15776611864566803, + -0.190474835721155 + ], + [ + -0.00805792585015297, + -0.15761397778987885, + 0.9874679446220398, + -0.07760886948555708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9997134804725647, + -0.023340854793787003, + 0.005307832267135382, + -0.0015149029328798255 + ], + [ + 0.0222032368183136, + 0.9870772361755371, + 0.1586996614933014, + -0.19085750500361126 + ], + [ + -0.008943425491452217, + -0.15853634476661682, + 0.9873126149177551, + -0.0763996875161926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9996004104614258, + -0.02708158642053604, + 0.008098951540887356, + -0.002905544370878488 + ], + [ + 0.025466792285442352, + 0.9871586561203003, + 0.15769995748996735, + -0.19013734441250563 + ], + [ + -0.012265714816749096, + -0.15743069350719452, + 0.9874538779258728, + -0.07446904592216015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9996019601821899, + -0.026930714026093483, + 0.008402890525758266, + -0.0027315882888312142 + ], + [ + 0.025279326364398003, + 0.9872812628746033, + 0.15696072578430176, + -0.19062486708164214 + ], + [ + -0.012523080222308636, + -0.15668582916259766, + 0.9875690937042236, + -0.0785207542280356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9996011257171631, + -0.026799410581588745, + 0.00890686921775341, + -0.0025355331956719357 + ], + [ + 0.02506573498249054, + 0.9872270822525024, + 0.15733543038368225, + -0.19146411634981633 + ], + [ + -0.013009598478674889, + -0.15704941749572754, + 0.9875050783157349, + -0.08246867011611661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9995930194854736, + -0.026678498834371567, + 0.010100572369992733, + -0.0028460675431415438 + ], + [ + 0.024751361459493637, + 0.9871518015861511, + 0.15785647928714752, + -0.1916340918838978 + ], + [ + -0.014182171784341335, + -0.15754224359989166, + 0.9874104261398315, + -0.08260355701670051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9995445609092712, + -0.028047947213053703, + 0.011137043125927448, + -0.0031735604326240717 + ], + [ + 0.02594519965350628, + 0.9871693849563599, + 0.15755456686019897, + -0.19103629603981973 + ], + [ + -0.01541322935372591, + -0.1571938395500183, + 0.9874475002288818, + -0.08203934483850996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9994736313819885, + -0.030004793778061867, + 0.012336589395999908, + -0.003860292738924424 + ], + [ + 0.027690356597304344, + 0.9871320128440857, + 0.1574917435646057, + -0.19128585507472357 + ], + [ + -0.01690335012972355, + -0.15706723928451538, + 0.9874432682991028, + -0.08007496856153012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9994486570358276, + -0.030726000666618347, + 0.012579243630170822, + -0.003562768967822194 + ], + [ + 0.028381463140249252, + 0.987266480922699, + 0.15652267634868622, + -0.19132488157600164 + ], + [ + -0.01722838170826435, + -0.15607936680316925, + 0.9875942468643188, + -0.08259709127247333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9994149208068848, + -0.0316411517560482, + 0.01298839133232832, + -0.0035992040050526457 + ], + [ + 0.029226673766970634, + 0.9872865676879883, + 0.1562403440475464, + -0.19124182244141896 + ], + [ + -0.017766889184713364, + -0.15576931834220886, + 0.9876336455345154, + -0.0836747849235932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9992897510528564, + -0.035250138491392136, + 0.013319556601345539, + -0.003934696584474295 + ], + [ + 0.03274982050061226, + 0.9872556328773499, + 0.15573611855506897, + -0.19079228691756725 + ], + [ + -0.01863952726125717, + -0.15518930554389954, + 0.9877088665962219, + -0.08283132823805016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9992418885231018, + -0.036803532391786575, + 0.012692693620920181, + -0.003764175549149513 + ], + [ + 0.03438594564795494, + 0.9872353672981262, + 0.1555120348930359, + -0.19098301857709885 + ], + [ + -0.01825406588613987, + -0.15495768189430237, + 0.9877524375915527, + -0.0844539076834917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992443919181824, + -0.03681280091404915, + 0.012470798566937447, + -0.003584063045370082 + ], + [ + 0.034423407167196274, + 0.9871814846992493, + 0.15584538877010345, + -0.1912942703192433 + ], + [ + -0.01804804615676403, + -0.15529833734035492, + 0.9877027273178101, + -0.08538605887442828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992701411247253, + -0.03604699298739433, + 0.012639015913009644, + -0.0032853581476956608 + ], + [ + 0.033629585057497025, + 0.987112820148468, + 0.15645252168178558, + -0.19156603907545408 + ], + [ + -0.018115777522325516, + -0.15591327846050262, + 0.9876046180725098, + -0.08496752082059782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9992167353630066, + -0.03714737296104431, + 0.013636473566293716, + -0.0036709246411919597 + ], + [ + 0.03456202149391174, + 0.9870883822441101, + 0.1564032882452011, + -0.19112327072769403 + ], + [ + -0.01927037537097931, + -0.15580947697162628, + 0.9875991344451904, + -0.08374766852706671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9992517828941345, + -0.03618904575705528, + 0.013646716251969337, + -0.0035668269265443087 + ], + [ + 0.03360837325453758, + 0.9870774745941162, + 0.1566798985004425, + -0.19140374138951302 + ], + [ + -0.019140461459755898, + -0.15610402822494507, + 0.9875551462173462, + -0.0846752958620588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9992726445198059, + -0.03547495976090431, + 0.0139895835891366, + -0.003506226867903024 + ], + [ + 0.03283969685435295, + 0.9870243072509766, + 0.1571768820285797, + -0.19142079698542755 + ], + [ + -0.019383903592824936, + -0.1566031575202942, + 0.9874714016914368, + -0.08533250721792382 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9991658926010132, + -0.03829270228743553, + 0.014184147119522095, + -0.0035773941315710546 + ], + [ + 0.0355929397046566, + 0.9869327545166016, + 0.15715228021144867, + -0.1908719554543495 + ], + [ + -0.020016584545373917, + -0.15651632845401764, + 0.9874725341796875, + -0.0853208564221859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/push_in/transforms.json b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d6c93f874aca4c4298c6b09980a62182bd92fd7a --- /dev/null +++ b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/push_in/transforms.json @@ -0,0 +1,4248 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 121, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.00014601727889385074, + -3.883337922161445e-05, + 2.9296741558937356e-05 + ], + [ + 0.00014601477596443146, + 1.0, + -6.437551928684115e-05, + 5.471805343404412e-05 + ], + [ + 3.8842779758851975e-05, + 6.436984403990209e-05, + 1.0, + 4.0512270061299205e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.999973714351654, + -0.007241228595376015, + 0.00041343760676681995, + 0.00020850675374579927 + ], + [ + 0.007242008112370968, + 0.9999719262123108, + -0.001915249740704894, + 0.0017267731144481027 + ], + [ + -0.0003995572333224118, + 0.00191819341853261, + 0.9999980926513672, + 0.004025645457829038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999928891658783, + -0.011699074879288673, + 0.0023008196149021387, + -0.0018128017177029203 + ], + [ + 0.0117042176425457, + 0.9999290108680725, + -0.0022349010687321424, + 0.0017824949359055609 + ], + [ + -0.0022745102178305387, + 0.002261671470478177, + 0.9999948740005493, + 0.005025771943231424 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998741745948792, + -0.014967945404350758, + 0.005249336827546358, + -0.005185355356661603 + ], + [ + 0.01501436810940504, + 0.9998475313186646, + -0.008918392471969128, + 0.008572263524401933 + ], + [ + -0.005115046631544828, + 0.0089960852637887, + 0.9999464750289917, + 0.0011844751471653584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998762011528015, + -0.014773709699511528, + 0.005412248894572258, + -0.005369750602791707 + ], + [ + 0.014862677082419395, + 0.9997486472129822, + -0.016784140840172768, + 0.017212507519870995 + ], + [ + -0.005162924528121948, + 0.016862502321600914, + 0.999844491481781, + 0.0017238291461641594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997676014900208, + -0.019174007698893547, + 0.009855030104517937, + -0.009528981839927534 + ], + [ + 0.01939787156879902, + 0.9995439052581787, + -0.023145528510212898, + 0.023891248422053955 + ], + [ + -0.009406743571162224, + 0.02333131618797779, + 0.9996835589408875, + 0.007696890768905481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997360110282898, + -0.0197510477155447, + 0.011737699620425701, + -0.011230549500323832 + ], + [ + 0.02003033272922039, + 0.9995071291923523, + -0.024172678589820862, + 0.02504833593964577 + ], + [ + -0.011254479177296162, + 0.024401407688856125, + 0.9996389150619507, + 0.012958132252097132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997797012329102, + -0.01900407485663891, + 0.008909668773412704, + -0.007977078988527259 + ], + [ + 0.01918989233672619, + 0.9995898604393005, + -0.021256014704704285, + 0.021950910873711107 + ], + [ + -0.008502064272761345, + 0.021422307938337326, + 0.9997343420982361, + 0.016392978864411514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998177289962769, + -0.018536735326051712, + 0.0045695132575929165, + -0.0033475713804364204 + ], + [ + 0.018597546964883804, + 0.9997339248657227, + -0.013646028004586697, + 0.013929054072747627 + ], + [ + -0.004315345082432032, + 0.013728522695600986, + 0.9998964667320251, + 0.017127727816502254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997695088386536, + -0.0211392343044281, + 0.003754771314561367, + -0.0025049530318938195 + ], + [ + 0.02116980403661728, + 0.9997414946556091, + -0.008297104388475418, + 0.007755918325856328 + ], + [ + -0.0035784062929451466, + 0.008374679833650589, + 0.9999585151672363, + 0.01573074758052826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996964931488037, + -0.023791871964931488, + 0.006392530631273985, + -0.0055969237388732536 + ], + [ + 0.023828785866498947, + 0.9996994733810425, + -0.005761818960309029, + 0.004572968107337753 + ], + [ + -0.006253525149077177, + 0.005912396125495434, + 0.9999629855155945, + 0.011282498094563683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.999582052230835, + -0.026337379589676857, + 0.011918232776224613, + -0.011584605280465137 + ], + [ + 0.026418449357151985, + 0.9996285438537598, + -0.0066966828890144825, + 0.005329743032731737 + ], + [ + -0.011737433262169361, + 0.007008744869381189, + 0.9999065399169922, + 0.010832647670370838 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994670152664185, + -0.0264295544475317, + 0.019161073490977287, + -0.01929468059912324 + ], + [ + 0.02656654082238674, + 0.9996230006217957, + -0.006930187344551086, + 0.005616607312113046 + ], + [ + -0.018970688804984093, + 0.007435536943376064, + 0.9997923970222473, + 0.012855575531721118 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993761777877808, + -0.0231177881360054, + 0.02669876627624035, + -0.027425110832167168 + ], + [ + 0.02326444536447525, + 0.9997158646583557, + -0.005195450969040394, + 0.0038856826342331865 + ], + [ + -0.02657107077538967, + 0.005813341587781906, + 0.9996300339698792, + 0.014915335060407719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994233846664429, + -0.019085485488176346, + 0.0280831940472126, + -0.029602579927692812 + ], + [ + 0.019237082451581955, + 0.999801754951477, + -0.005137917585670948, + 0.004070680931520959 + ], + [ + -0.027979567646980286, + 0.005675193853676319, + 0.9995923638343811, + 0.011759443202366432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9993555545806885, + -0.019516557455062866, + 0.0301254503428936, + -0.031698378780856726 + ], + [ + 0.0197778157889843, + 0.9997691512107849, + -0.008398905396461487, + 0.007611513417214155 + ], + [ + -0.02995457872748375, + 0.008989308029413223, + 0.9995108246803284, + 0.013349852012470366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9991191029548645, + -0.022264603525400162, + 0.035571515560150146, + -0.036818305353323616 + ], + [ + 0.02244773507118225, + 0.9997367262840271, + -0.004757179878652096, + 0.003625243492424488 + ], + [ + -0.035456232726573944, + 0.005551489070057869, + 0.9993557929992676, + 0.021114533605674904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9991939663887024, + -0.017522074282169342, + 0.03611715883016586, + -0.03775360949958364 + ], + [ + 0.0173640139400959, + 0.9998382329940796, + 0.004685422405600548, + -0.006137711866758763 + ], + [ + -0.03619341552257538, + -0.004054507240653038, + 0.9993366003036499, + 0.02142618718246619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9992725253105164, + -0.017839321866631508, + 0.03370724618434906, + -0.03501332439482212 + ], + [ + 0.017419828101992607, + 0.9997676014900208, + 0.012698207050561905, + -0.014722301680594683 + ], + [ + -0.033925943076610565, + -0.01210179552435875, + 0.9993510842323303, + 0.02347853671759367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993216395378113, + -0.019090937450528145, + 0.03149361163377762, + -0.033048283190776906 + ], + [ + 0.018468080088496208, + 0.9996303915977478, + 0.01995101384818554, + -0.022939336081035436 + ], + [ + -0.031862854957580566, + -0.019355854019522667, + 0.9993048310279846, + 0.018856367987270157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9993649125099182, + -0.0207801666110754, + 0.02894841879606247, + -0.030762696514527003 + ], + [ + 0.0201392974704504, + 0.9995494484901428, + 0.022256677970290184, + -0.02591801363353928 + ], + [ + -0.0293978713452816, + -0.02165954001247883, + 0.9993330836296082, + 0.013389793581639726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.999366044998169, + -0.022587090730667114, + 0.027519788593053818, + -0.029096512040123344 + ], + [ + 0.02201375737786293, + 0.9995378851890564, + 0.020961377769708633, + -0.02468938344158232 + ], + [ + -0.02798052877187729, + -0.020342275500297546, + 0.9994014501571655, + 0.013861378775909542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9993366599082947, + -0.022056881338357925, + 0.02897876687347889, + -0.030585066641991336 + ], + [ + 0.02140936627984047, + 0.9995182752609253, + 0.022467974573373795, + -0.02617383555198709 + ], + [ + -0.029460379853844643, + -0.021832652390003204, + 0.9993274807929993, + 0.01609769445223113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9992475509643555, + -0.022314120084047318, + 0.031724296510219574, + -0.033735737521201375 + ], + [ + 0.02168882265686989, + 0.9995663166046143, + 0.019919704645872116, + -0.023492117831483483 + ], + [ + -0.032155029475688934, + -0.01921665295958519, + 0.9992981553077698, + 0.015773251770685115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989796876907349, + -0.021264927461743355, + 0.03984256088733673, + -0.04197856739163399 + ], + [ + 0.020425690338015556, + 0.9995633363723755, + 0.021353859454393387, + -0.024468374773859977 + ], + [ + -0.04027924686670303, + -0.020518258213996887, + 0.998977780342102, + 0.023441750304773454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9987099170684814, + -0.022043710574507713, + 0.045744720846414566, + -0.048187684190149106 + ], + [ + 0.02083542011678219, + 0.9994256496429443, + 0.026724621653556824, + -0.030204274070759613 + ], + [ + -0.04630756005644798, + -0.025737036019563675, + 0.9985955953598022, + 0.02614133975779017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.99858558177948, + -0.02133878506720066, + 0.04869823530316353, + -0.05168265893434485 + ], + [ + 0.01985272206366062, + 0.9993284344673157, + 0.030798086896538734, + -0.03473174646186332 + ], + [ + -0.04932272806763649, + -0.029787732288241386, + 0.9983385801315308, + 0.024071290381252768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.998427152633667, + -0.01936337724328041, + 0.05261404439806938, + -0.055966313229873776 + ], + [ + 0.017603803426027298, + 0.9992768168449402, + 0.03370317444205284, + -0.03775330872274935 + ], + [ + -0.053228605538606644, + -0.032723959535360336, + 0.9980460405349731, + 0.025037143109366302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9983951449394226, + -0.01595386490225792, + 0.054337989538908005, + -0.05812232319265604 + ], + [ + 0.013996138237416744, + 0.999245822429657, + 0.036220621317625046, + -0.04032516239831845 + ], + [ + -0.05487486347556114, + -0.035401973873376846, + 0.9978654384613037, + 0.024741140441037715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9984003901481628, + -0.01574649102985859, + 0.054302096366882324, + -0.05811531459291776 + ], + [ + 0.013627596199512482, + 0.9991395473480225, + 0.03917241469025612, + -0.04353271087942024 + ], + [ + -0.05487219989299774, + -0.03836974874138832, + 0.9977558851242065, + 0.025284349566015107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9983652234077454, + -0.015738844871520996, + 0.05494649335741997, + -0.059268915373831985 + ], + [ + 0.013511767610907555, + 0.9990812540054321, + 0.040670596063137054, + -0.04543339554220438 + ], + [ + -0.055536117404699326, + -0.039861686527729034, + 0.9976606369018555, + 0.022096385061740876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9982654452323914, + -0.015361731871962547, + 0.05683373659849167, + -0.06131265222405394 + ], + [ + 0.013062689453363419, + 0.9990898966789246, + 0.04060473293066025, + -0.045331374276429415 + ], + [ + -0.05740576982498169, + -0.039791904389858246, + 0.9975575804710388, + 0.022793582699572046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9982798099517822, + -0.015811199322342873, + 0.0564567893743515, + -0.06087316781282425 + ], + [ + 0.013605975545942783, + 0.9991374611854553, + 0.03923337906599045, + -0.04383543704946836 + ], + [ + -0.05702842026948929, + -0.03839774429798126, + 0.9976338744163513, + 0.02344976087100804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9982839226722717, + -0.018117031082510948, + 0.05568632856011391, + -0.05995938894338906 + ], + [ + 0.015979254618287086, + 0.9991270303726196, + 0.03859805688261986, + -0.043345474107190966 + ], + [ + -0.05633700266480446, + -0.037641990929841995, + 0.9977019429206848, + 0.023620134787634018 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9983024001121521, + -0.01767735183238983, + 0.05549616366624832, + -0.05973062821974357 + ], + [ + 0.01554376631975174, + 0.9991320967674255, + 0.038644663989543915, + -0.043332306258380415 + ], + [ + -0.05613113194704056, + -0.03771644085645676, + 0.9977107644081116, + 0.02432942653074861 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985113143920898, + -0.01583203859627247, + 0.05219676345586777, + -0.056228501194467144 + ], + [ + 0.013855645433068275, + 0.9991812705993652, + 0.0380111038684845, + -0.042518772557377814 + ], + [ + -0.05275581777095795, + -0.03723129630088806, + 0.997913122177124, + 0.02428546746571859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9987318515777588, + -0.01642521098256111, + 0.04759112745523453, + -0.05094430826604366 + ], + [ + 0.014571484178304672, + 0.999131441116333, + 0.03903961181640625, + -0.043490281403064726 + ], + [ + -0.04819102585315704, + -0.03829663246870041, + 0.998103678226471, + 0.02678853405639529 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9987943768501282, + -0.020211802795529366, + 0.04473523423075676, + -0.04767191487364471 + ], + [ + 0.01834467612206936, + 0.9989591836929321, + 0.04176144301891327, + -0.046707118165989714 + ], + [ + -0.045532744377851486, + -0.040890440344810486, + 0.9981256127357483, + 0.02768476834520698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9988439679145813, + -0.022300368174910545, + 0.04258378595113754, + -0.04534753932307164 + ], + [ + 0.02040952630341053, + 0.9988083243370056, + 0.04433288797736168, + -0.04974811237926285 + ], + [ + -0.04352167993783951, + -0.043412525206804276, + 0.9981088042259216, + 0.027286684438586235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9989587664604187, + -0.02335352636873722, + 0.03919193148612976, + -0.041725369617342946 + ], + [ + 0.021427063271403313, + 0.9985750317573547, + 0.04887480288743973, + -0.054520039912313224 + ], + [ + -0.04027748107910156, + -0.04798414558172226, + 0.9980356693267822, + 0.02790534291416407 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9990395903587341, + -0.02438175119459629, + 0.03640643134713173, + -0.038702766473094626 + ], + [ + 0.022424569353461266, + 0.998330295085907, + 0.053232595324516296, + -0.05927539169788361 + ], + [ + -0.03764354810118675, + -0.05236507207155228, + 0.9979182481765747, + 0.028752479081352554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9990977048873901, + -0.024009695276618004, + 0.03503238782286644, + -0.03741728472523391 + ], + [ + 0.021983107551932335, + 0.9981247186660767, + 0.057129863649606705, + -0.06352894343125323 + ], + [ + -0.03633836284279823, + -0.05630819872021675, + 0.9977519512176514, + 0.027176391488562032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9990502595901489, + -0.024743100628256798, + 0.03586596995592117, + -0.0382227099314332 + ], + [ + 0.022685742005705833, + 0.9981348514556885, + 0.056676387786865234, + -0.06331639617681503 + ], + [ + -0.037201426923274994, + -0.05580891668796539, + 0.9977481961250305, + 0.02607896819710731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9989938735961914, + -0.02604915387928486, + 0.036505572497844696, + -0.03896961805100242 + ], + [ + 0.02400948293507099, + 0.9981844425201416, + 0.055239103734493256, + -0.061950171484301486 + ], + [ + -0.03787823021411896, + -0.05430704355239868, + 0.9978055953979492, + 0.027584579152365528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9989691972732544, + -0.026161305606365204, + 0.03709693253040314, + -0.03966614787777265 + ], + [ + 0.02404666692018509, + 0.9981216192245483, + 0.05634664371609688, + -0.06296228112032017 + ], + [ + -0.038501352071762085, + -0.05539650097489357, + 0.9977218508720398, + 0.028506542183458806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9989168047904968, + -0.02552872896194458, + 0.038903530687093735, + -0.041545306285843256 + ], + [ + 0.023336593061685562, + 0.9981694221496582, + 0.05579652637243271, + -0.062232262548059226 + ], + [ + -0.04025672748684883, + -0.0548282116651535, + 0.9976839423179626, + 0.0292724246159196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.998978853225708, + -0.023404471576213837, + 0.038645584136247635, + -0.04121296831096212 + ], + [ + 0.02119545266032219, + 0.9981711506843567, + 0.05661343038082123, + -0.06280606366693973 + ], + [ + -0.03989991173148155, + -0.05573651194572449, + 0.9976479411125183, + 0.031480836464713016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9991632103919983, + -0.02104797400534153, + 0.03506966307759285, + -0.037521788145725925 + ], + [ + 0.018993323668837547, + 0.998140275478363, + 0.05792469531297684, + -0.06398355161771178 + ], + [ + -0.0362236388027668, + -0.057210132479667664, + 0.997704803943634, + 0.032092288502802456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9992498755455017, + -0.02125014178454876, + 0.032373931258916855, + -0.03449870109558106 + ], + [ + 0.01926541142165661, + 0.9979864358901978, + 0.06043108180165291, + -0.06640608683228492 + ], + [ + -0.033592913299798965, + -0.05976205691695213, + 0.997647225856781, + 0.03406658776104451 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9993074536323547, + -0.02058764360845089, + 0.030996127054095268, + -0.03315626048948616 + ], + [ + 0.018608609214425087, + 0.9978503584861755, + 0.06283574551343918, + -0.06897558347011606 + ], + [ + -0.032223135232925415, + -0.06221543624997139, + 0.9975424408912659, + 0.033762478704253834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999360203742981, + -0.020107537508010864, + 0.02957819402217865, + -0.031678928062319756 + ], + [ + 0.018250450491905212, + 0.9979236125946045, + 0.06176885589957237, + -0.06779264301682512 + ], + [ + -0.030758798122406006, + -0.061189521104097366, + 0.9976521134376526, + 0.0340507859364152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9993911385536194, + -0.020459696650505066, + 0.02826191671192646, + -0.030157397422008216 + ], + [ + 0.018716417253017426, + 0.9979849457740784, + 0.06062747538089752, + -0.06645774479955435 + ], + [ + -0.029445389285683632, + -0.06006160378456116, + 0.9977602958679199, + 0.03562549250200391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9994579553604126, + -0.019081098958849907, + 0.0268264040350914, + -0.028581333607435228 + ], + [ + 0.017438070848584175, + 0.9980339407920837, + 0.06020066887140274, + -0.06580018845697244 + ], + [ + -0.027922358363866806, + -0.05970023572444916, + 0.9978257417678833, + 0.037014088332653045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9995573163032532, + -0.01834745518863201, + 0.023420264944434166, + -0.024668295670611164 + ], + [ + 0.016918985173106194, + 0.9980670809745789, + 0.0597984753549099, + -0.06491196638904512 + ], + [ + -0.02447214536368847, + -0.05937575921416283, + 0.9979357123374939, + 0.040773771731182934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.999606192111969, + -0.02021697536110878, + 0.01945992186665535, + -0.0201372523419559 + ], + [ + 0.018933206796646118, + 0.9977681040763855, + 0.06403429806232452, + -0.06908991031348705 + ], + [ + -0.02071106806397438, + -0.06364063918590546, + 0.9977579712867737, + 0.044859893992106666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997518658638, + -0.01794108934700489, + 0.01320101972669363, + -0.013666344818193465 + ], + [ + 0.01699984259903431, + 0.9975231289863586, + 0.0682542696595192, + -0.07345613765840729 + ], + [ + -0.01439287792891264, + -0.06801291555166245, + 0.9975805878639221, + 0.04501350061036647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9997994303703308, + -0.01912284456193447, + 0.005951684899628162, + -0.005960298478603363 + ], + [ + 0.018681814894080162, + 0.9975808262825012, + 0.06695856899023056, + -0.07238488202293714 + ], + [ + -0.007217724807560444, + -0.06683395057916641, + 0.9977380037307739, + 0.043121975647906464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997750520706177, + -0.021198511123657227, + 0.0007047055405564606, + -0.0004579228944203351 + ], + [ + 0.021128039807081223, + 0.9982733726501465, + 0.054808177053928375, + -0.06111154051497578 + ], + [ + -0.0018653406295925379, + -0.05478096008300781, + 0.9984966516494751, + 0.04452454788610339 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997901320457458, + -0.02048490382730961, + 0.00013627827866002917, + -2.3924168078034804e-05 + ], + [ + 0.020453283563256264, + 0.9985747933387756, + 0.04929543286561966, + -0.05555551612128814 + ], + [ + -0.0011458962690085173, + -0.04928229749202728, + 0.9987842440605164, + 0.042010460769136754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9998041987419128, + -0.019729170948266983, + -0.0015403726138174534, + 0.001871258068907385 + ], + [ + 0.019780058413743973, + 0.9986768364906311, + 0.047468822449445724, + -0.05203972326902052 + ], + [ + 0.000601814070250839, + -0.04748999699950218, + 0.9988715052604675, + 0.041270817170540486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.999810516834259, + -0.018220603466033936, + -0.00684805354103446, + 0.007681868900544941 + ], + [ + 0.01845313236117363, + 0.9991963505744934, + 0.03558354824781418, + -0.038952982798218724 + ], + [ + 0.006194196175783873, + -0.03570317476987839, + 0.99934321641922, + 0.04574508955702186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998173713684082, + -0.018322527408599854, + -0.005431136582046747, + 0.006849634345853701 + ], + [ + 0.018474198877811432, + 0.999398946762085, + 0.029332831501960754, + -0.03170957698176304 + ], + [ + 0.004890420939773321, + -0.02942781150341034, + 0.9995549321174622, + 0.05416623890710374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998905658721924, + -0.01411125622689724, + -0.004444951191544533, + 0.005916076200082898 + ], + [ + 0.01422199234366417, + 0.9995619654655457, + 0.025953250005841255, + -0.02760066497139633 + ], + [ + 0.004076771438121796, + -0.026013625785708427, + 0.9996532797813416, + 0.05904740470151106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9998946785926819, + -0.013073284178972244, + -0.006306899711489677, + 0.008011829988099635 + ], + [ + 0.01322939246892929, + 0.9995903372764587, + 0.02538026124238968, + -0.026553094368427992 + ], + [ + 0.005972512997686863, + -0.025461025536060333, + 0.9996579885482788, + 0.06558726269751788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9998610615730286, + -0.016508283093571663, + -0.002313007600605488, + 0.004247097553064426 + ], + [ + 0.016571538522839546, + 0.9993913769721985, + 0.030695728957653046, + -0.0320413143436114 + ], + [ + 0.0018048660131171346, + -0.03072979301214218, + 0.9995260834693909, + 0.06934980414807797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9998183846473694, + -0.01826774887740612, + 0.005426487419754267, + -0.003923346271039918 + ], + [ + 0.018081462010741234, + 0.9993050694465637, + 0.03259463980793953, + -0.03441984080709517 + ], + [ + -0.006018147338181734, + -0.032490599900484085, + 0.9994539022445679, + 0.06782056006292503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996355772018433, + -0.01951734535396099, + 0.018650198355317116, + -0.0175633352342993 + ], + [ + 0.018941747024655342, + 0.9993535280227661, + 0.030556393787264824, + -0.0325301733892411 + ], + [ + -0.019234521314501762, + -0.030191989615559578, + 0.9993590116500854, + 0.06757059808820487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9997288584709167, + -0.017087310552597046, + 0.015818821266293526, + -0.017652906857741374 + ], + [ + 0.016585424542427063, + 0.9993714094161987, + 0.03133247420191765, + -0.032674014416212836 + ], + [ + -0.016344266012310982, + -0.03106161765754223, + 0.999383807182312, + 0.06790439975758394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9997522830963135, + -0.01155173685401678, + 0.019025322049856186, + -0.02192765776067972 + ], + [ + 0.010955636389553547, + 0.9994548559188843, + 0.031143588945269585, + -0.032306999719391265 + ], + [ + -0.01937471330165863, + -0.030927440151572227, + 0.9993338584899902, + 0.0727441780269146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996300935745239, + -0.008749358355998993, + 0.0257515087723732, + -0.028567734975367784 + ], + [ + 0.007617348805069923, + 0.9990141987800598, + 0.04373346269130707, + -0.044307020716369154 + ], + [ + -0.026108764111995697, + -0.043521128594875336, + 0.9987112879753113, + 0.07827729880809783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9995923042297363, + -0.006619160063564777, + 0.02777499333024025, + -0.031229509940991797 + ], + [ + 0.004647370427846909, + 0.9975034594535828, + 0.07046481221914291, + -0.06950815090288719 + ], + [ + -0.028172068297863007, + -0.07030700892210007, + 0.9971275329589844, + 0.07646432047088941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9996060132980347, + 0.0004820984322577715, + 0.028064284473657608, + -0.03144099911364416 + ], + [ + -0.0027404362335801125, + 0.9967518448829651, + 0.08048750460147858, + -0.07954880129545927 + ], + [ + -0.027934323996305466, + -0.08053269982337952, + 0.9963604807853699, + 0.07584560004373392 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9991954565048218, + -0.0009359614923596382, + 0.040094781666994095, + -0.04104159899055958 + ], + [ + -0.003057516645640135, + 0.9950404763221741, + 0.09942381083965302, + -0.09771610587835312 + ], + [ + -0.03998899087309837, + -0.09946641325950623, + 0.9942370653152466, + 0.0806769274175167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9990751147270203, + -0.00031823478639125824, + 0.04299803450703621, + -0.043479925701394674 + ], + [ + -0.0038167419843375683, + 0.9953691959381104, + 0.09605026990175247, + -0.09749936326717337 + ], + [ + -0.0428294874727726, + -0.09612555056810379, + 0.9944473505020142, + 0.08086400213340918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9990719556808472, + 0.003203765256330371, + 0.042953383177518845, + -0.04317071781183283 + ], + [ + -0.007268897257745266, + 0.9954677224159241, + 0.09482157230377197, + -0.09822678277889887 + ], + [ + -0.04245492443442345, + -0.0950457900762558, + 0.9945671558380127, + 0.07924021442731222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9991346001625061, + 0.003340437775477767, + 0.04145996645092964, + -0.04185249353758991 + ], + [ + -0.007237044163048267, + 0.9955275654792786, + 0.09419409930706024, + -0.09905792493373156 + ], + [ + -0.04095989093184471, + -0.09441262483596802, + 0.9946901798248291, + 0.07581812515854836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994572997093201, + -0.0013277382822707295, + 0.032913826406002045, + -0.034135091776649154 + ], + [ + -0.002476375550031662, + 0.9933313131332397, + 0.11526815593242645, + -0.11851123049855232 + ], + [ + -0.03284738212823868, + -0.11528711020946503, + 0.9927889704704285, + 0.07557280597587428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9995030760765076, + -0.006612177938222885, + 0.03082059696316719, + -0.032530033163105446 + ], + [ + 0.003053865395486355, + 0.9934646487236023, + 0.11409959197044373, + -0.11841153802971045 + ], + [ + -0.03137362003326416, + -0.1139487624168396, + 0.9929911494255066, + 0.07966454595327377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9996292591094971, + -0.004027395974844694, + 0.026928706094622612, + -0.030070445435121655 + ], + [ + 0.0008183466270565987, + 0.9929975271224976, + 0.11813235282897949, + -0.12294555723667144 + ], + [ + -0.027215903624892235, + -0.11806651949882507, + 0.9926326870918274, + 0.08015136800706386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9998488426208496, + -0.004306464456021786, + 0.016844002529978752, + -0.02150612612410138 + ], + [ + 0.0020618641283363104, + 0.9913709163665771, + 0.13107046484947205, + -0.13522570816179116 + ], + [ + -0.017263105139136314, + -0.13101592659950256, + 0.9912299513816833, + 0.08096423762540023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9999478459358215, + -0.0076241702772676945, + -0.006797368172556162, + -0.0006700218693974117 + ], + [ + 0.008627723902463913, + 0.986666202545166, + 0.16252797842025757, + -0.1643264760573705 + ], + [ + 0.00546759320423007, + -0.16257813572883606, + 0.9866805076599121, + 0.08375035400191942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9999532103538513, + -0.007561581674963236, + -0.006034099031239748, + -0.0012119974510278553 + ], + [ + 0.008438168093562126, + 0.9867949485778809, + 0.16175444424152374, + -0.16504813585430383 + ], + [ + 0.004731299821287394, + -0.16179777681827545, + 0.9868125915527344, + 0.08078916348516942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.999921977519989, + -0.010574542917311192, + -0.006651096045970917, + -0.000813502649543807 + ], + [ + 0.011505276896059513, + 0.9869643449783325, + 0.1605272740125656, + -0.16424838396410146 + ], + [ + 0.004866892471909523, + -0.160591259598732, + 0.9870089888572693, + 0.08141862307985624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9999740123748779, + -0.0028742447029799223, + -0.006611058488488197, + -0.00048742092549218795 + ], + [ + 0.0039030180778354406, + 0.9868985414505005, + 0.16129469871520996, + -0.16388563772042591 + ], + [ + 0.006060843355953693, + -0.16131630539894104, + 0.9868841171264648, + 0.08410127617418767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9999545812606812, + -0.007908944971859455, + -0.0053143990226089954, + -0.00029491951718227936 + ], + [ + 0.008664234541356564, + 0.9868043065071106, + 0.16168539226055145, + -0.16418447181582452 + ], + [ + 0.003965511452406645, + -0.16172410547733307, + 0.9868280291557312, + 0.08389222804456949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9999350309371948, + -0.010601108893752098, + -0.004190998151898384, + -0.0005600851824662338 + ], + [ + 0.011136950924992561, + 0.9869357943534851, + 0.1607285588979721, + -0.16432120855897664 + ], + [ + 0.002432345412671566, + -0.16076479852199554, + 0.9869897365570068, + 0.08703352945546311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.999953031539917, + -0.00913749635219574, + -0.0032296772114932537, + -0.000408375968108885 + ], + [ + 0.00953575037419796, + 0.987145185470581, + 0.15954138338565826, + -0.16449057651062807 + ], + [ + 0.0017303513595834374, + -0.15956468880176544, + 0.9871859550476074, + 0.08419003844261169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9999201893806458, + -0.012389791198074818, + -0.0024820035323500633, + 5.0368080846965315e-05 + ], + [ + 0.012627079151570797, + 0.9871119856834412, + 0.15953221917152405, + -0.1648025082796812 + ], + [ + 0.00047344458289444447, + -0.15955081582069397, + 0.9871895909309387, + 0.08172411613166332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9998419284820557, + -0.01768697239458561, + -0.0018016553949564695, + 0.00021408458744796613 + ], + [ + 0.01774882711470127, + 0.9871823787689209, + 0.15860602259635925, + -0.16379975577195485 + ], + [ + -0.001026697689667344, + -0.1586129367351532, + 0.9873403310775757, + 0.08152670809378226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9997880458831787, + -0.020571019500494003, + -0.0008480364922434092, + -0.00043066932916796454 + ], + [ + 0.020442135632038116, + 0.9869359731674194, + 0.15981091558933258, + -0.16410780845830839 + ], + [ + -0.0024505150504410267, + -0.1597943753004074, + 0.9871472716331482, + 0.08574642983575663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9997873902320862, + -0.020618876442313194, + 2.982292789965868e-05, + -0.0005365102231735363 + ], + [ + 0.020348621532320976, + 0.986914336681366, + 0.15995614230632782, + -0.16387305222451687 + ], + [ + -0.0033275485038757324, + -0.1599215418100357, + 0.9871241450309753, + 0.08989715576171876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9998162388801575, + -0.01913588121533394, + 0.0011229765368625522, + -0.0005186989200107443 + ], + [ + 0.018711864948272705, + 0.9870218634605408, + 0.15949206054210663, + -0.16420378882437944 + ], + [ + -0.004160423297435045, + -0.1594417542219162, + 0.9871985912322998, + 0.09139566640059153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.999826967716217, + -0.01839297078549862, + 0.002770225517451763, + -0.0010132317788278064 + ], + [ + 0.017722608521580696, + 0.9872303009033203, + 0.15831047296524048, + -0.16405493875344596 + ], + [ + -0.005646650679409504, + -0.15823400020599365, + 0.9873855113983154, + 0.09218825511634349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9997996687889099, + -0.01974591240286827, + 0.003270087530836463, + -0.0010746846155961975 + ], + [ + 0.01898926869034767, + 0.9874516725540161, + 0.15677565336227417, + -0.16394911274313925 + ], + [ + -0.00632473174482584, + -0.15668216347694397, + 0.9876288175582886, + 0.09024410650134088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997034072875977, + -0.024118898436427116, + 0.003373469691723585, + -0.0011826693957361083 + ], + [ + 0.02329724095761776, + 0.9874736070632935, + 0.15605472028255463, + -0.1642263386398554 + ], + [ + -0.0070950803346931934, + -0.15592984855175018, + 0.9877426624298096, + 0.0869564584394296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9996935129165649, + -0.024534059688448906, + 0.003306942991912365, + -0.0012429754831828177 + ], + [ + 0.023717982694506645, + 0.9874698519706726, + 0.1560150682926178, + -0.16412641815841197 + ], + [ + -0.007093189284205437, + -0.15588882565498352, + 0.9877491593360901, + 0.08733111222585042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9996748566627502, + -0.02528824843466282, + 0.003264555474743247, + -0.0012743413168936966 + ], + [ + 0.024469902738928795, + 0.9874590635299683, + 0.15596725046634674, + -0.16394393444061278 + ], + [ + -0.007167752832174301, + -0.15583665668964386, + 0.9877568483352661, + 0.08824909403920175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9996932744979858, + -0.024612916633486748, + 0.002759446855634451, + -0.000934132452821359 + ], + [ + 0.02387634478509426, + 0.9873498678207397, + 0.15674877166748047, + -0.1645336659749349 + ], + [ + -0.006582583766430616, + -0.15663480758666992, + 0.9876346588134766, + 0.08661579641823967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9996299743652344, + -0.02703617513179779, + 0.002988900989294052, + -0.001174489165035387 + ], + [ + 0.026232782751321793, + 0.9872690439224243, + 0.15688107907772064, + -0.16401721936961014 + ], + [ + -0.0071923136711120605, + -0.15674461424350739, + 0.9876129627227783, + 0.08726531431078911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9996542930603027, + -0.026144273579120636, + 0.0027941123116761446, + -0.0014756327186478302 + ], + [ + 0.02538168802857399, + 0.9872739911079407, + 0.15698982775211334, + -0.16369819279760123 + ], + [ + -0.006862939335405827, + -0.15686462819576263, + 0.9875962734222412, + 0.08949796993285418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997346997261047, + -0.022899946197867393, + 0.002476693596690893, + -0.000724101400313278 + ], + [ + 0.022221768274903297, + 0.9872050285339355, + 0.1578998863697052, + -0.16412429263194403 + ], + [ + -0.006060903426259756, + -0.15780296921730042, + 0.9874520301818848, + 0.0898768287152052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9996960759162903, + -0.02434530295431614, + 0.003878924995660782, + -0.000980399305311342 + ], + [ + 0.023426862433552742, + 0.9871585965156555, + 0.15801620483398438, + -0.16375689844290414 + ], + [ + -0.0076760658994317055, + -0.15787729620933533, + 0.9874289035797119, + 0.09204523925979932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9996185898780823, + -0.02723919227719307, + 0.004553632345050573, + -0.001351858100388199 + ], + [ + 0.02618321403861046, + 0.987183690071106, + 0.15742570161819458, + -0.16330347806215287 + ], + [ + -0.00878342054784298, + -0.1572464406490326, + 0.9875203371047974, + 0.0926514020934701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9996711015701294, + -0.02531336061656475, + 0.004117131698876619, + -0.0009874458894288788 + ], + [ + 0.02434721402823925, + 0.9871762990951538, + 0.15776611864566803, + -0.16339165202031533 + ], + [ + -0.00805792585015297, + -0.15761397778987885, + 0.9874679446220398, + 0.09190646100789308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9997134804725647, + -0.023340854793787003, + 0.005307832267135382, + -0.0005948786732430259 + ], + [ + 0.0222032368183136, + 0.9870772361755371, + 0.1586996614933014, + -0.16334956367810566 + ], + [ + -0.008943425491452217, + -0.15853634476661682, + 0.9873126149177551, + 0.09473449906955163 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9996004104614258, + -0.02708158642053604, + 0.008098951540887356, + -0.0014882278512232004 + ], + [ + 0.025466792285442352, + 0.9871586561203003, + 0.15769995748996735, + -0.16253985185176134 + ], + [ + -0.012265714816749096, + -0.15743069350719452, + 0.9874538779258728, + 0.0983353827148676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9996019601821899, + -0.026930714026093483, + 0.008402890525758266, + -0.001247077629280587 + ], + [ + 0.025279326364398003, + 0.9872812628746033, + 0.15696072578430176, + -0.16289513885974885 + ], + [ + -0.012523080222308636, + -0.15668582916259766, + 0.9875690937042236, + 0.09594978565971056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9996011257171631, + -0.026799410581588745, + 0.00890686921775341, + -0.000947141518505911 + ], + [ + 0.02506573498249054, + 0.9872270822525024, + 0.15733543038368225, + -0.16340596459805964 + ], + [ + -0.013009598478674889, + -0.15704941749572754, + 0.9875050783157349, + 0.09363640218352279 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9995930194854736, + -0.026678498834371567, + 0.010100572369992733, + -0.0010279645165428518 + ], + [ + 0.024751361459493637, + 0.9871518015861511, + 0.15785647928714752, + -0.16321992561221121 + ], + [ + -0.014182171784341335, + -0.15754224359989166, + 0.9874104261398315, + 0.09513031968846918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9995445609092712, + -0.028047947213053703, + 0.011137043125927448, + -0.0011503309314139186 + ], + [ + 0.02594519965350628, + 0.9871693849563599, + 0.15755456686019897, + -0.1624138830602169 + ], + [ + -0.01541322935372591, + -0.1571938395500183, + 0.9874475002288818, + 0.09734695103640358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9994736313819885, + -0.030004793778061867, + 0.012336589395999908, + -0.0015985846829911071 + ], + [ + 0.027690356597304344, + 0.9871320128440857, + 0.1574917435646057, + -0.16241236875454584 + ], + [ + -0.01690335012972355, + -0.15706723928451538, + 0.9874432682991028, + 0.10095629729330541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9994486570358276, + -0.030726000666618347, + 0.012579243630170822, + -0.001235608896240592 + ], + [ + 0.028381463140249252, + 0.987266480922699, + 0.15652267634868622, + -0.1623681864514947 + ], + [ + -0.01722838170826435, + -0.15607936680316925, + 0.9875942468643188, + 0.10010784439742565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9994149208068848, + -0.0316411517560482, + 0.01298839133232832, + -0.001174704289684693 + ], + [ + 0.029226673766970634, + 0.9872865676879883, + 0.1562403440475464, + -0.1620769582192103 + ], + [ + -0.017766889184713364, + -0.15576931834220886, + 0.9876336455345154, + 0.100683495576183 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9992897510528564, + -0.035250138491392136, + 0.013319556601345539, + -0.0014261800912208854 + ], + [ + 0.03274982050061226, + 0.9872556328773499, + 0.15573611855506897, + -0.16146198458969593 + ], + [ + -0.01863952726125717, + -0.15518930554389954, + 0.9877088665962219, + 0.103187174970905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9992418885231018, + -0.036803532391786575, + 0.012692693620920181, + -0.0013525637611746788 + ], + [ + 0.03438594564795494, + 0.9872353672981262, + 0.1555120348930359, + -0.16143573194742203 + ], + [ + -0.01825406588613987, + -0.15495768189430237, + 0.9877524375915527, + 0.10321905545890331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992443919181824, + -0.03681280091404915, + 0.012470798566937447, + -0.001193826653373738 + ], + [ + 0.034423407167196274, + 0.9871814846992493, + 0.15584538877010345, + -0.16142390413830676 + ], + [ + -0.01804804615676403, + -0.15529833734035492, + 0.9877027273178101, + 0.103923630528152 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992701411247253, + -0.03604699298739433, + 0.012639015913009644, + -0.0008418150711804627 + ], + [ + 0.033629585057497025, + 0.987112820148468, + 0.15645252168178558, + -0.16131855155030886 + ], + [ + -0.018115777522325516, + -0.15591327846050262, + 0.9876046180725098, + 0.10596937200675409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9992167353630066, + -0.03714737296104431, + 0.013636473566293716, + -0.0010118122957646846 + ], + [ + 0.03456202149391174, + 0.9870883822441101, + 0.1564032882452011, + -0.16062462951987982 + ], + [ + -0.01927037537097931, + -0.15580947697162628, + 0.9875991344451904, + 0.10883416268974543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9992517828941345, + -0.03618904575705528, + 0.013646716251969337, + -0.0008829727303236723 + ], + [ + 0.03360837325453758, + 0.9870774745941162, + 0.1566798985004425, + -0.16059002801775932 + ], + [ + -0.019140461459755898, + -0.15610402822494507, + 0.9875551462173462, + 0.10954388289401928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9992726445198059, + -0.03547495976090431, + 0.0139895835891366, + -0.0007316261227242648 + ], + [ + 0.03283969685435295, + 0.9870243072509766, + 0.1571768820285797, + -0.16024738204975922 + ], + [ + -0.019383903592824936, + -0.1566031575202942, + 0.9874714016914368, + 0.11051598745087785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9991658926010132, + -0.03829270228743553, + 0.014184147119522095, + -0.0007405647076666353 + ], + [ + 0.0355929397046566, + 0.9869327545166016, + 0.15715228021144867, + -0.1594414994120598 + ], + [ + -0.020016584545373917, + -0.15651632845401764, + 0.9874725341796875, + 0.1121736504137516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/tilt_down/transforms.json b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9b56e429d206a938d2123d504f18a52ccaf82ffa --- /dev/null +++ b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/tilt_down/transforms.json @@ -0,0 +1,4248 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 121, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.00014601727889385074, + -3.883337922161445e-05, + 2.9296741558937356e-05 + ], + [ + 0.00014601477596443146, + 1.0, + -6.437551928684115e-05, + 5.471805343404412e-05 + ], + [ + 3.8842779758851975e-05, + 6.436984403990209e-05, + 1.0, + 4.0512270061299205e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999737143516543, + -0.007242113342756892, + 0.00039763872528085715, + 0.0002081622224068269 + ], + [ + 0.00724200811237097, + 0.9999737248799055, + 0.0002663534041315858, + 0.0017283691558986902 + ], + [ + -0.0003995572333224119, + -0.000263466819578398, + 0.999999897678794, + 0.003192313713952899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999928891658783, + -0.011709002700115979, + 0.002249751030713939, + -0.0018166364170610905 + ], + [ + 0.0117042176425457, + 0.999929243829156, + 0.0021281197431233766, + 0.0017862197710201144 + ], + [ + -0.0022745102178305387, + -0.002101636977429731, + 0.9999952231422058, + 0.003359113819897175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998741745948792, + -0.015001981399774818, + 0.005151260121316902, + -0.005198478698730469 + ], + [ + 0.01501436810940504, + 0.9998844865739167, + -0.0023742613855531817, + 0.008594559505581856 + ], + [ + -0.005115046631544828, + 0.0024513049328760933, + 0.9999839366595372, + -0.0013153910404071212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998762011528015, + -0.014820377344019866, + 0.005283119510582951, + -0.005387791432440281 + ], + [ + 0.014862677082419395, + 0.9998570472487488, + -0.008059159692163647, + 0.017268454656004906 + ], + [ + -0.005162924528121948, + 0.008136681801412707, + 0.9999535716923409, + -0.0016089858254417777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997676014900208, + -0.019280366511366376, + 0.009645291949213656, + -0.009570044465363026 + ], + [ + 0.01939787156879902, + 0.9997369109363557, + -0.01224103509598908, + 0.02398768812417984 + ], + [ + -0.009406743571162224, + 0.012425288365167625, + 0.9998785828993562, + 0.003531542606651783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997360110282898, + -0.019902997336340305, + 0.011478160796516836, + -0.01128923799842596 + ], + [ + 0.02003033272922039, + 0.999737909578414, + -0.011087463565999918, + 0.02516919933259487 + ], + [ + -0.011254479177296162, + 0.011314448045523309, + 0.999872678128999, + 0.007959937676787376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997797012329102, + -0.0191379186933553, + 0.00861841788817312, + -0.008029052056372166 + ], + [ + 0.01918989233672619, + 0.9997979005700368, + -0.005988761970054012, + 0.022074904292821884 + ], + [ + -0.008502064272761345, + 0.006152829427574949, + 0.9999449048512788, + 0.010561195202171803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998177289962769, + -0.018613661094068926, + 0.004245306659660246, + -0.0033780348021537066 + ], + [ + 0.018597546964883804, + 0.9998198165736363, + 0.0038038131374716674, + 0.014020027592778206 + ], + [ + -0.004315345082432032, + -0.003724167757512177, + 0.9999837734149017, + 0.010461751371622086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997695088386536, + -0.021208879541064145, + 0.0033390063214665104, + -0.00253311381675303 + ], + [ + 0.02116980403661728, + 0.9997116877629165, + 0.011333112003563862, + 0.007818146608769894 + ], + [ + -0.0035784062929451466, + -0.011259812425777041, + 0.9999301895342076, + 0.008231058716773987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996964931488037, + -0.023925662464486713, + 0.005871992430420911, + -0.005650194827467203 + ], + [ + 0.023828785866498947, + 0.9995872653963577, + 0.016047881277492727, + 0.004620983265340328 + ], + [ + -0.006253525149077177, + -0.015903088432514482, + 0.9998539996457049, + 0.002949473215267062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995820522308352, + -0.026615785478430822, + 0.011282809912657085, + -0.011693855747580528 + ], + [ + 0.026418449357151992, + 0.9995013994047625, + 0.017292305711668583, + 0.005391129292547703 + ], + [ + -0.011737433262169365, + -0.016987004374180825, + 0.9997868036515623, + 0.001666837721131742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994670152664187, + -0.02692207612961206, + 0.018462662389077265, + -0.019486291334033012 + ], + [ + 0.02656654082238675, + 0.9994618659415065, + 0.0192392670722044, + 0.0056859091855585575 + ], + [ + -0.018970688804984096, + -0.018738524924883714, + 0.9996444328043683, + 0.002857651561498642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993761777877808, + -0.02386560923915975, + 0.02603245944236299, + -0.02771434746682644 + ], + [ + 0.02326444536447525, + 0.9994611472492221, + 0.023156379242979447, + 0.003941966686397791 + ], + [ + -0.02657107077538967, + -0.02253630314777682, + 0.9993928730961962, + 0.004086009692400694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994233846664429, + -0.019934202835243695, + 0.02748725343747806, + -0.029930217191576958 + ], + [ + 0.019237082451581955, + 0.9994923426155583, + 0.025396937886960784, + 0.0041306233033537865 + ], + [ + -0.027979567646980286, + -0.024853517716134574, + 0.9992994567788058, + 9.753229096531868e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9993555545806885, + -0.02049178515059564, + 0.029470756939731738, + -0.0320749469101429 + ], + [ + 0.0197778157889843, + 0.9995086667677624, + 0.024317121143795098, + 0.007716499734669924 + ], + [ + -0.02995457872748375, + -0.023718582412661962, + 0.9992697959812112, + 0.00085596670396626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9991191029548645, + -0.023492468520496367, + 0.03477282289666389, + -0.037292592227458954 + ], + [ + 0.02244773507118225, + 0.9992937368658454, + 0.030136026649113787, + 0.0036886725574731827 + ], + [ + -0.035456232726573944, + -0.029328906949490568, + 0.9989407566263567, + 0.0077897896990180016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9991939663887026, + -0.018849239544231212, + 0.03544260737752626, + -0.03826526924967766 + ], + [ + 0.017364013940095905, + 0.9989769197900862, + 0.04175594648136085, + -0.006204088684171438 + ], + [ + -0.036193415522575385, + -0.04110686477859828, + 0.9984990262406347, + 0.007268918678164482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9992725253105166, + -0.019148908670925373, + 0.032980890629365225, + -0.03551893308758736 + ], + [ + 0.01741982810199261, + 0.9984982876322973, + 0.051939109029502266, + -0.014912774786353111 + ], + [ + -0.03392594307661057, + -0.05132680492417403, + 0.9981055065009529, + 0.008488270454108715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993216395378113, + -0.02037962428670182, + 0.030675436107936015, + -0.03354693204164505 + ], + [ + 0.018468080088496208, + 0.9979449517463971, + 0.06135825978072147, + -0.023255227133631706 + ], + [ + -0.031862854957580566, + -0.06075012005796814, + 0.9976443340758452, + 0.0030340414959937334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9993649125099182, + -0.022023100790049002, + 0.028014448178888315, + -0.031245170161128044 + ], + [ + 0.0201392974704504, + 0.9976272762393523, + 0.06583522912903803, + -0.02628895826637745 + ], + [ + -0.0293978713452816, + -0.06522922181158365, + 0.9974371641021147, + -0.0032657578121870756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.999366044998169, + -0.02382376481120876, + 0.026456448403025953, + -0.029578108340501785 + ], + [ + 0.02201375737786293, + 0.997529044102321, + 0.06671708520705587, + -0.025056207552552223 + ], + [ + -0.02798052877187729, + -0.06609238400332579, + 0.9974211064167092, + -0.0036281466018408537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9993366599082947, + -0.023421827337154668, + 0.02788714664626616, + -0.031116344034671783 + ], + [ + 0.02140936627984047, + 0.9972892451349005, + 0.0703971164201, + -0.02658574841916561 + ], + [ + -0.029460379853844643, + -0.06975337192083889, + 0.9971291519578286, + -0.002223309362307191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9992475509643555, + -0.023877234808076936, + 0.030565153395878338, + -0.03434378653764725 + ], + [ + 0.02168882265686989, + 0.9973090840647993, + 0.07003004187865178, + -0.023873912170529366 + ], + [ + -0.032155029475688934, + -0.06931442488765499, + 0.9970765233696832, + -0.0033799628727138042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989796876907351, + -0.023320983140917014, + 0.03867503772920469, + -0.04277541860938072 + ], + [ + 0.02042569033801556, + 0.9970758949052521, + 0.07363769776659103, + -0.024895451962947845 + ], + [ + -0.04027924686670304, + -0.07277259605387534, + 0.9965348733491213, + 0.003462194697931409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9987099170684814, + -0.024504681772149668, + 0.04447499558689955, + -0.049140699207782745 + ], + [ + 0.02083542011678219, + 0.9964826032228765, + 0.08116807279285694, + -0.03076103702187538 + ], + [ + -0.04630756005644798, + -0.08013670572392236, + 0.9957076209865966, + 0.005337264854460955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.99858558177948, + -0.024065303979660297, + 0.047410157288844915, + -0.05273778736591339 + ], + [ + 0.01985272206366062, + 0.9959751557254994, + 0.08740326806790384, + -0.03539903834462166 + ], + [ + -0.04932272806763649, + -0.0863384208410932, + 0.9950441732207586, + 0.002440621145069599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.998427152633667, + -0.022427224676053847, + 0.0513828535556114, + -0.05715012922883034 + ], + [ + 0.017603803426027298, + 0.995559548346155, + 0.09247294927722147, + -0.03851163014769554 + ], + [ + -0.053228605538606644, + -0.0914229759204075, + 0.994388553850589, + 0.002581107197329402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9983951449394226, + -0.019241362630875572, + 0.0532626780828482, + -0.05939020961523056 + ], + [ + 0.013996138237416744, + 0.9951708115122323, + 0.09715556065321994, + -0.041170310229063034 + ], + [ + -0.05487486347556114, + -0.0962541697262114, + 0.9938429794691005, + 0.0014576135436072946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9984003901481628, + -0.0191482895379385, + 0.053197863278169985, + -0.059427615255117416 + ], + [ + 0.013627596199512482, + 0.9946637903045153, + 0.10226562181169076, + -0.0444793775677681 + ], + [ + -0.05487219989299774, + -0.10137707840124534, + 0.9933336458075372, + 0.0011719156755134463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9983652234077454, + -0.019298819402313896, + 0.05379947899230691, + -0.06064257770776749 + ], + [ + 0.013511767610907555, + 0.99428216009955, + 0.10592655756216479, + -0.046450160443782806 + ], + [ + -0.055536117404699326, + -0.10502646716015333, + 0.9929174898611205, + -0.0028451308608055115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9982654452323914, + -0.01916743459721164, + 0.055665661523190545, + -0.06278085708618164 + ], + [ + 0.013062689453363419, + 0.9940617721114752, + 0.10803036243977014, + -0.04638032987713814 + ], + [ + -0.05740576982498169, + -0.10711583826630461, + 0.9925878899133879, + -0.0029766547959297895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9982798099517822, + -0.019710910581131308, + 0.055216329962551755, + -0.06237868219614029 + ], + [ + 0.013605975545942783, + 0.9939668303697707, + 0.10883411460440365, + -0.044881660491228104 + ], + [ + -0.05702842026948929, + -0.10789563048970946, + 0.9925251971972205, + -0.0031538091134279966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9982839226722717, + -0.022075764114436035, + 0.054238866530500106, + -0.06149076297879219 + ], + [ + 0.015979254618287086, + 0.9937623225070927, + 0.11036792641720075, + -0.04440692067146301 + ], + [ + -0.05633700266480446, + -0.1093118268401576, + 0.9924096991171234, + -0.0038166686426848173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9983024001121521, + -0.021741479287861926, + 0.05403351763352621, + -0.061303019523620605 + ], + [ + 0.01554376631975174, + 0.9935207707377788, + 0.11258256951387753, + -0.044427238404750824 + ], + [ + -0.05613113194704056, + -0.11155156602737812, + 0.9921721359943225, + -0.003939045127481222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985113143920898, + -0.019767682703108604, + 0.05083693816439869, + -0.05775090679526329 + ], + [ + 0.013855645433068275, + 0.9933701504946133, + 0.11412186311207922, + -0.043627429753541946 + ], + [ + -0.05275581777095795, + -0.11324758839865327, + 0.9921651841096973, + -0.004820331931114197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.998731851577759, + -0.020108534363545236, + 0.04615571269119507, + -0.0523720420897007 + ], + [ + 0.014571484178304676, + 0.9929884396859513, + 0.11731021510523411, + -0.044661469757556915 + ], + [ + -0.04819102585315706, + -0.11648888876793921, + 0.9920221385338457, + -0.003154576290398836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9987943768501282, + -0.02375316280150349, + 0.042959811578396276, + -0.049051251262426376 + ], + [ + 0.01834467612206936, + 0.9923389773367765, + 0.12217537749346945, + -0.047994762659072876 + ], + [ + -0.045532744377851486, + -0.12123999695669999, + 0.9915783529548458, + -0.0030907713808119297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9988439679145813, + -0.0257500645998119, + 0.040590878529225945, + -0.046696025878190994 + ], + [ + 0.02040952630341053, + 0.9917067926546103, + 0.12689015377095225, + -0.05115198716521263 + ], + [ + -0.04352167993783951, + -0.12591502597751386, + 0.9910858886348914, + -0.004320094361901283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9989587664604187, + -0.026599659994840104, + 0.03706552003719491, + -0.042999107390642166 + ], + [ + 0.021427063271403313, + 0.9908091709608742, + 0.13355907736396452, + -0.056108471006155014 + ], + [ + -0.04027748107910156, + -0.13262580584268385, + 0.9903474496863942, + -0.004530816338956356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9990395903587344, + -0.027462000835099802, + 0.03414288424960012, + -0.03991631418466568 + ], + [ + 0.02242456935346127, + 0.9898918205250548, + 0.14004024760364756, + -0.06104981154203415 + ], + [ + -0.03764354810118676, + -0.13914011328414377, + 0.9895569512120758, + -0.004511462524533272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9990977048873904, + -0.027043113345688548, + 0.032747575244894335, + -0.03861422464251518 + ], + [ + 0.02198310755193234, + 0.989031051345396, + 0.14606284540388148, + -0.06548088043928146 + ], + [ + -0.03633836284279824, + -0.14521116643677479, + 0.9887331725717599, + -0.006913466844707727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9990502595901489, + -0.027921095834993574, + 0.03345147585611413, + -0.03947801887989044 + ], + [ + 0.022685742005705833, + 0.9887616222410848, + 0.14776958078784297, + -0.06530006974935532 + ], + [ + -0.037201426923274994, + -0.14687036920440985, + 0.9884559639672356, + -0.008842218667268753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9989938735961914, + -0.02935423364551443, + 0.03390492896772687, + -0.04027773439884186 + ], + [ + 0.02400948293507099, + 0.9886208952286656, + 0.14850005181112816, + -0.06392957270145416 + ], + [ + -0.03787823021411896, + -0.1475366018700604, + 0.9883310236431382, + -0.008170121349394321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9989691972732544, + -0.02959644755946635, + 0.034418695589093384, + -0.041026368737220764 + ], + [ + 0.02404666692018509, + 0.98812587881525, + 0.151752952647034, + -0.06502832472324371 + ], + [ + -0.038501352071762085, + -0.1507688680759541, + 0.9878190180629678, + -0.008076592348515987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9989168047904968, + -0.02921901398095365, + 0.036213946544320565, + -0.04300418868660927 + ], + [ + 0.023336593061685562, + 0.9878939475992036, + 0.15336556317072694, + -0.06432463228702545 + ], + [ + -0.04025672748684883, + -0.15235432581864014, + 0.9875057169241394, + -0.00814072322100401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.998978853225708, + -0.027158538569108114, + 0.03610629094470744, + -0.04269438236951828 + ], + [ + 0.02119545266032219, + 0.987476880906157, + 0.15633341368326825, + -0.06497624516487122 + ], + [ + -0.03989991173148155, + -0.15540848809445376, + 0.9870441606119346, + -0.006762334611266851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9991632103919983, + -0.024527099401986927, + 0.032731023097826696, + -0.03889534994959831 + ], + [ + 0.018993323668837547, + 0.9869685324011794, + 0.15978859755622649, + -0.06625226885080338 + ], + [ + -0.0362236388027668, + -0.1590332136955114, + 0.9866084897324897, + -0.0069844829849898815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9992498755455017, + -0.024517728568841202, + 0.02997533881118155, + -0.03579365834593773 + ], + [ + 0.01926541142165661, + 0.9862025936590186, + 0.16441802251809998, + -0.06882333010435104 + ], + [ + -0.033592913299798965, + -0.1637172055182008, + 0.9859351739967427, + -0.005839301273226738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9993074536323547, + -0.023777341072751413, + 0.02862252632477179, + -0.03442193567752838 + ], + [ + 0.018608609214425087, + 0.9854496692486118, + 0.16894560729128372, + -0.07154137641191483 + ], + [ + -0.032223135232925415, + -0.16829598490594497, + 0.9852096951165357, + -0.0069705042988061905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999360203742981, + -0.023208110652840872, + 0.027213346471450406, + -0.032911352813243866 + ], + [ + 0.018250450491905212, + 0.9852677098564134, + 0.17004254775586822, + -0.07036634534597397 + ], + [ + -0.030758798122406006, + -0.16943709906573126, + 0.9850608947672996, + -0.007518052123486996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9993911385536196, + -0.023471253982395728, + 0.025815409347063032, + -0.03135852888226509 + ], + [ + 0.01871641725301743, + 0.9850820775589362, + 0.1710641494730026, + -0.06903441250324249 + ], + [ + -0.02944538928568364, + -0.17047683289350643, + 0.9849216485112978, + -0.0067793200723826885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9994579553604128, + -0.021995278051501792, + 0.024493918313910394, + -0.02974381111562252 + ], + [ + 0.01743807084858418, + 0.9848035253937879, + 0.17279433983064404, + -0.06840888410806656 + ], + [ + -0.027922358363866813, + -0.17227355474154046, + 0.9846533153434741, + -0.006225027143955231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9995573163032532, + -0.02092694998257163, + 0.021147120049626076, + -0.025702690705657005 + ], + [ + 0.016918985173106194, + 0.9845035234541826, + 0.17454675043147727, + -0.0675530657172203 + ], + [ + -0.02447214536368847, + -0.174111700893324, + 0.9844218010349189, + -0.0033017222303897142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.999606192111969, + -0.0223641090970916, + 0.016948783912168905, + -0.02101294882595539 + ], + [ + 0.018933206796646118, + 0.9833256067716936, + 0.1808655077885237, + -0.07197145372629166 + ], + [ + -0.02071106806397438, + -0.18047338659383164, + 0.9833618138577696, + -3.921471579815261e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997518658638, + -0.019392297255417773, + 0.01095848602404926, + -0.014271391555666924 + ], + [ + 0.01699984259903431, + 0.9821803199543623, + 0.1871706635235242, + -0.07658445835113525 + ], + [ + -0.01439287792891264, + -0.18693792286974578, + 0.9822662566523961, + -0.0007089430000633001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.999799430370331, + -0.019705633709255262, + 0.0035768334321060525, + -0.006238043773919344 + ], + [ + 0.018681814894080166, + 0.9819848132396792, + 0.18803399026327625, + -0.07550961524248123 + ], + [ + -0.007217724807560446, + -0.18792945585136994, + 0.9821560062750198, + -0.0034391311928629875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997750520706179, + -0.021122222122694753, + -0.001930081956356964, + -0.000491396407596767 + ], + [ + 0.021128039807081226, + 0.9837665157483844, + 0.17820523366769309, + -0.06371492892503738 + ], + [ + -0.0018653406295925383, + -0.17820592115681633, + 0.9839914464097136, + -0.0029040430672466755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997901320457458, + -0.02033832416868657, + -0.002449985018888505, + -3.0510951546602882e-05 + ], + [ + 0.020453283563256264, + 0.9843701048067183, + 0.1749204229236765, + -0.05793812870979309 + ], + [ + -0.0011458962690085173, + -0.1749338250332254, + 0.9845795386300057, + -0.006264111027121544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9998041987419128, + -0.0193682300838288, + -0.004060122844842231, + 0.0019469930557534099 + ], + [ + 0.019780058413743973, + 0.9843218132804279, + 0.17526916656389455, + -0.0543736070394516 + ], + [ + 0.000601814070250839, + -0.17531515418766486, + 0.9845121535808892, + -0.007840365171432495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9998105168342593, + -0.017170873324698917, + -0.009167733484044227, + 0.008024271577596664 + ], + [ + 0.018453132361173633, + 0.9860035022220804, + 0.16570042098040286, + -0.040732160210609436 + ], + [ + 0.006194196175783874, + -0.16583819392046678, + 0.9861334972147323, + -0.004222071263939142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998173713684082, + -0.017439863409652385, + -0.007814308636367466, + 0.007125717122107744 + ], + [ + 0.018474198877811432, + 0.9866698591202774, + 0.16168258686902331, + -0.03320066258311272 + ], + [ + 0.004890420939773321, + -0.16179742455406754, + 0.9868118624225671, + 0.003355529857799411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998905658721924, + -0.013382956761319691, + -0.006307266580778625, + 0.006145732011646032 + ], + [ + 0.01422199234366417, + 0.9869320439978997, + 0.16050805126640383, + -0.028941582888364792 + ], + [ + 0.004076771438121796, + -0.16058018938813473, + 0.9870143825092839, + 0.007398651912808418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9998946785926819, + -0.01208587138837146, + -0.00803862276628893, + 0.008342942222952843 + ], + [ + 0.01322939246892929, + 0.9866861320843948, + 0.16209712147207547, + -0.02788555808365345 + ], + [ + 0.005972512997686863, + -0.16218639316435804, + 0.9867420796551016, + 0.013105218298733234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9998610615730288, + -0.016025717176989862, + -0.004588006519295161, + 0.004370457958430052 + ], + [ + 0.01657153852283955, + 0.9853933490059715, + 0.1694853972394804, + -0.03367841988801956 + ], + [ + 0.001804866013117135, + -0.1695378773058666, + 0.9855220037486987, + 0.016041746363043785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9998183846473696, + -0.01885132156343904, + 0.002790177427430434, + -0.0042172810062766075 + ], + [ + 0.018081462010741237, + 0.9846674241401278, + 0.17350243860838652, + -0.036185383796691895 + ], + [ + -0.006018147338181736, + -0.1734204780600954, + 0.984829467259787, + 0.013683473691344261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996355772018433, + -0.021991533759245976, + 0.01565659960765429, + -0.018589096143841743 + ], + [ + 0.018941747024655342, + 0.984626987867731, + 0.1736400355198968, + -0.034210775047540665 + ], + [ + -0.019234521314501762, + -0.1732801892860679, + 0.9846847040571748, + 0.012605852447450161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.999728858470917, + -0.019209124004584213, + 0.01316133895742912, + -0.018536124378442764 + ], + [ + 0.016585424542427066, + 0.9841504746745509, + 0.1765581521652002, + -0.03442341089248657 + ], + [ + -0.016344266012310985, + -0.17629198979209193, + 0.9842021908555484, + 0.012105470523238182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9997522830963135, + -0.014236972646745519, + 0.01710888989096059, + -0.023005759343504906 + ], + [ + 0.010955636389553547, + 0.9838733916754127, + 0.17853033721289455, + -0.03407180309295654 + ], + [ + -0.01937471330165863, + -0.1782986780683683, + 0.9837856721247232, + 0.016115259379148483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996300935745239, + -0.012512282432001249, + 0.024148173099369986, + -0.030048446729779243 + ], + [ + 0.007617348805069923, + 0.9811578214820056, + 0.19305780084684915, + -0.04682169482111931 + ], + [ + -0.026108764111995697, + -0.19280244147764752, + 0.9808901793390201, + 0.02085139974951744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9995923042297363, + -0.01076734907525126, + 0.026444805318505696, + -0.032849717885255814 + ], + [ + 0.004647370427846909, + 0.9751746800403472, + 0.2213883122279745, + -0.07361859828233719 + ], + [ + -0.028172068297863007, + -0.22117515831163562, + 0.9748271343342192, + 0.018298547714948654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9996060132980347, + -0.0038534115595574817, + 0.02780265637073972, + -0.03310146927833557 + ], + [ + -0.0027404362335801125, + 0.9724004557190994, + 0.23330201969090492, + -0.08431097865104675 + ], + [ + -0.027934323996305466, + -0.23328629442673335, + 0.9720068046286197, + 0.016894271597266197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9991954565048218, + -0.007196643974230716, + 0.03945473173584221, + -0.043447285890579224 + ], + [ + -0.003057516645640135, + 0.9672365662226814, + 0.2538583633506975, + -0.1036815345287323 + ], + [ + -0.03998899087309837, + -0.25377476009299155, + 0.9664363820516741, + 0.021022703498601913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9990751147270203, + -0.007133218113016078, + 0.04240341311969693, + -0.04609563946723938 + ], + [ + -0.0038167419843375683, + 0.9675399974698615, + 0.2526892238832123, + -0.10334242135286331 + ], + [ + -0.0428294874727726, + -0.2526173574034101, + 0.9666178795837654, + 0.020368454977869987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9990719556808474, + -0.003742332346008617, + 0.04290981457457544, + -0.04581950977444649 + ], + [ + -0.007268897257745268, + 0.9672811622458096, + 0.2536025830122843, + -0.10407411307096481 + ], + [ + -0.042454924434423454, + -0.2536791257568135, + 0.9663562649655626, + 0.017908573150634766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9991346001625061, + -0.0034578202045283646, + 0.041450341640054136, + -0.04444374144077301 + ], + [ + -0.007237044163048267, + 0.9668868419892225, + 0.2551029140591614, + -0.10494505614042282 + ], + [ + -0.04095989093184471, + -0.2551821144825532, + 0.9660250441973962, + 0.013649988919496536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994572997093201, + -0.006741877398437986, + 0.03224329305103739, + -0.03621963411569595 + ], + [ + -0.002476375550031662, + 0.9606836385307631, + 0.2776342775709849, + -0.12581154704093933 + ], + [ + -0.03284738212823868, + -0.2775634595434625, + 0.960145605413287, + 0.012696171179413795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9995030760765078, + -0.01167227101286882, + 0.0292811916365242, + -0.034507688134908676 + ], + [ + 0.0030538653954863557, + 0.9604024900415525, + 0.2785996810359228, + -0.1257329285144806 + ], + [ + -0.03137362003326417, + -0.27837180609653167, + 0.9599608746528544, + 0.0159476138651371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9996292591094971, + -0.008529587521654846, + 0.02585771194400599, + -0.031820811331272125 + ], + [ + 0.0008183466270565987, + 0.9586490741451597, + 0.2845896946428907, + -0.13062416017055511 + ], + [ + -0.027215903624892235, + -0.28446302672729074, + 0.9583006526841441, + 0.015630243346095085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9998488426208496, + -0.007131394740126648, + 0.015855890589979597, + -0.02261502295732498 + ], + [ + 0.0020618641283363104, + 0.9542045270320814, + 0.29914792522236444, + -0.1438545137643814 + ], + [ + -0.017263105139136314, + -0.2990700196084094, + 0.9540750038179839, + 0.01570826582610607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9999478459358215, + -0.006327991403242892, + -0.008018024151281644, + -0.00021686399122700095 + ], + [ + 0.008627723902463913, + 0.9434538386290252, + 0.3313916012671889, + -0.175161674618721 + ], + [ + 0.00546759320423007, + -0.33144348063065426, + 0.9434592166917036, + 0.01797165349125862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9999532103538513, + -0.006383049735168032, + -0.007269425329716208, + -0.0008046957664191723 + ], + [ + 0.008438168093562126, + 0.9429913350764556, + 0.3327102534359751, + -0.1759665608406067 + ], + [ + 0.004731299821287394, + -0.3327560127451395, + 0.9430010855838485, + 0.01417931355535984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.999921977519989, + -0.009222260977934434, + -0.008426620851661362, + -0.00035901108640246093 + ], + [ + 0.011505276896059513, + 0.9426482903014459, + 0.3335893055122947, + -0.17521774768829346 + ], + [ + 0.004866892471909523, + -0.3336602140232469, + 0.9426808358731589, + 0.013973008841276169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9999740123748779, + -0.0016366659289675115, + -0.007020591256281546, + -3.0156046705087647e-05 + ], + [ + 0.0039030180778354406, + 0.941715335439977, + 0.3363880764056999, + -0.17504185438156128 + ], + [ + 0.006060843355953693, + -0.33640673214725564, + 0.9416972558046726, + 0.015841791406273842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9999545812606812, + -0.006808036658673967, + -0.006666699662768664, + 7.70884144003503e-05 + ], + [ + 0.008664234541356564, + 0.9408153547553557, + 0.33880875677582767, + -0.1755024492740631 + ], + [ + 0.003965511452406645, + -0.33885114484555323, + 0.9408316252426288, + 0.014814266003668308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9999350309371948, + -0.009646615634061747, + -0.006073778238879071, + -0.00026322281337343156 + ], + [ + 0.011136950924992561, + 0.9403796049570979, + 0.3399443048534507, + -0.175706148147583 + ], + [ + 0.002432345412671566, + -0.33998986902414613, + 0.9404259404512572, + 0.017121756449341774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.999953031539917, + -0.008374724496936941, + -0.004877360359583202, + -0.00017691576795186847 + ], + [ + 0.00953575037419796, + 0.9400628773388845, + 0.3408677996814817, + -0.1759243756532669 + ], + [ + 0.0017303513595834374, + -0.34089830060285864, + 0.940098584405776, + 0.013441711664199829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9999201893806458, + -0.011699012446967205, + -0.004774973846231709, + 0.0002303133369423449 + ], + [ + 0.012627079151570797, + 0.9392861079966378, + 0.34290262255956283, + -0.1763685941696167 + ], + [ + 0.00047344458289444447, + -0.34293552678037365, + 0.9393588109680512, + 0.010152870789170265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9998419284820559, + -0.017018240839487282, + -0.005143387344757969, + 0.00034620598307810724 + ], + [ + 0.017748827114701275, + 0.93878160218782, + 0.34405526118542623, + -0.17543086409568787 + ], + [ + -0.0010266976896673443, + -0.3440921870133483, + 0.9389353331878068, + 0.009121750481426716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9997880458831789, + -0.02002083182523323, + -0.004801281308943431, + -0.0003677732893265784 + ], + [ + 0.02044213563203812, + 0.9375544969777931, + 0.34723725184683135, + -0.1759604513645172 + ], + [ + -0.002450515050441027, + -0.3472617924375078, + 0.9377650162932639, + 0.012533007189631462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9997873902320862, + -0.02022850867768112, + -0.003993293356039131, + -0.0005387469427660108 + ], + [ + 0.020348621532320976, + 0.9367451591250027, + 0.3494200656296321, + -0.17586976289749146 + ], + [ + -0.0033275485038757324, + -0.3494270615506611, + 0.9369576862879688, + 0.0158628448843956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9998162388801575, + -0.018981485541512157, + -0.0026732438772171753, + -0.0006038579740561545 + ], + [ + 0.018711864948272705, + 0.9361775594404281, + 0.35102913486667886, + -0.1762986034154892 + ], + [ + -0.004160423297435045, + -0.35101467264446345, + 0.9363607377013944, + 0.016533106565475464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.999826967716217, + -0.018576020603363455, + -0.0009523561713787079, + -0.0012256157351657748 + ], + [ + 0.017722608521580696, + 0.9358493290137295, + 0.3519544093440101, + -0.17619207501411438 + ], + [ + -0.005646650679409504, + -0.3519104157937807, + 0.9360166698282418, + 0.01648869924247265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9997996687889099, + -0.01999981282825869, + -0.0007758968460421347, + -0.0013281163992360234 + ], + [ + 0.01898926869034767, + 0.9356053621256283, + 0.35253654772046494, + -0.17609922587871552 + ], + [ + -0.00632473174482584, + -0.3524806712151123, + 0.9357977121382285, + 0.013702873140573502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997034072875977, + -0.024300477590940388, + -0.0016088344849201647, + -0.001446924521587789 + ], + [ + 0.02329724095761776, + 0.9350023076813085, + 0.3538755218995599, + -0.17645062506198883 + ], + [ + -0.0070950803346931934, + -0.3538080577028655, + 0.9352911542176727, + 0.009583283215761185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9996935129165649, + -0.024689496482042366, + -0.0018123797094840974, + -0.0015047751367092133 + ], + [ + 0.023717982694506645, + 0.9342325312756663, + 0.35587496061340623, + -0.1764776110649109 + ], + [ + -0.007093189284205437, + -0.35580889480202094, + 0.9345318390044327, + 0.009134303778409958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9996748566627505, + -0.0254143787816481, + -0.0020645053847877853, + -0.0015355057548731565 + ], + [ + 0.024469902738928802, + 0.9334532990580341, + 0.35786327534854256, + -0.17642131447792053 + ], + [ + -0.007167752832174303, + -0.3577974483015592, + 0.9337717285237958, + 0.009228546172380447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9996932744979861, + -0.02464345233647941, + -0.0024719363049453937, + -0.0011571877403184772 + ], + [ + 0.023876344785094268, + 0.9323994271718525, + 0.36064005201100147, + -0.1772041916847229 + ], + [ + -0.006582583766430618, + -0.3605884492530547, + 0.9327018025621066, + 0.006781994830816984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9996299743652344, + -0.027054769392780027, + -0.002815625682603634, + -0.0014185827458277345 + ], + [ + 0.026232782751321793, + 0.9315033580045596, + 0.36278551802176023, + -0.17682917416095734 + ], + [ + -0.0071923136711120605, + -0.3627251322312987, + 0.9318684009452175, + 0.006610255688428879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9996542930603027, + -0.026135638267087712, + -0.002873763553618476, + -0.0017061469843611121 + ], + [ + 0.02538168802857399, + 0.9306911930043392, + 0.3649241603402001, + -0.17664985358715057 + ], + [ + -0.006862939335405827, + -0.3648709377350258, + 0.9310328187839867, + 0.008021277375519276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997346997261047, + -0.02289318064214999, + -0.002538469444960919, + -0.0009304925333708525 + ], + [ + 0.022221768274903297, + 0.9296285371196719, + 0.36782730384107326, + -0.17728261649608612 + ], + [ + -0.006060903426259756, + -0.3677861449534832, + 0.9298906605533673, + 0.007589159533381462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9996960759162903, + -0.024604482638859136, + -0.0015359912543616247, + -0.0013068754924461246 + ], + [ + 0.023426862433552742, + 0.9287531177371708, + 0.36995791917240956, + -0.17705659568309784 + ], + [ + -0.0076760658994317055, + -0.36988144990862193, + 0.9290472503035019, + 0.008936639875173569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9996185898780823, + -0.027572511982998656, + -0.0015702695294697447, + -0.0017389168497174978 + ], + [ + 0.02618321403861046, + 0.9280985824885133, + 0.37141285741772423, + -0.1766846626996994 + ], + [ + -0.00878342054784298, + -0.3713123137449284, + 0.9284664910236397, + 0.00871217343956232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9996711015701296, + -0.02559434402482253, + -0.0016268229987240154, + -0.0013408330269157887 + ], + [ + 0.024347214028239257, + 0.9272030187621374, + 0.3737669804652402, + -0.17693324387073517 + ], + [ + -0.008057925850152971, + -0.3736836505057525, + 0.9275212326386492, + 0.007148795761168003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9997134804725647, + -0.0239366326623375, + -7.875702515157839e-05, + -0.0010548908030614257 + ], + [ + 0.0222032368183136, + 0.9260788543834564, + 0.37667626444713825, + -0.17710353434085846 + ], + [ + -0.008943425491452217, + -0.37657008221381016, + 0.92634493865362, + 0.009167405776679516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9996004104614258, + -0.028213213227670876, + 0.0017377970205351343, + -0.002196886111050844 + ], + [ + 0.025466792285442352, + 0.9255611730624089, + 0.37774065688632497, + -0.17633859813213348 + ], + [ + -0.012265714816749096, + -0.3775454647565296, + 0.9259098262416144, + 0.011933168396353722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9996019601821899, + -0.028139744241911315, + 0.0020066691662865414, + -0.0019893329590559006 + ], + [ + 0.025279326364398003, + 0.9250236438395486, + 0.3790675662725712, + -0.1767600029706955 + ], + [ + -0.012523080222308636, + -0.3788659585414521, + 0.9253668188122043, + 0.008714515715837479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9996011257171631, + -0.028132895133784672, + 0.002465955833791143, + -0.0017413373570889235 + ], + [ + 0.02506573498249054, + 0.924055056935192, + 0.38143675929216186, + -0.177435040473938 + ], + [ + -0.013009598478674889, + -0.3812228109613122, + 0.924391674366374, + 0.005583866033703089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9995930194854736, + -0.028299301579973245, + 0.0035935208838615857, + -0.001937016029842198 + ], + [ + 0.024751361459493637, + 0.9230258554845484, + 0.3839409037009927, + -0.1774270087480545 + ], + [ + -0.014182171784341335, + -0.38369572507382566, + 0.9233506910855714, + 0.006263381335884333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9995445609092715, + -0.029882141322640762, + 0.004216479862247707, + -0.0021619456820189953 + ], + [ + 0.025945199653506286, + 0.9222742393025052, + 0.38566444437179903, + -0.1767250895500183 + ], + [ + -0.015413229353725914, + -0.3853793830932597, + 0.9226295030982932, + 0.00765380309894681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9994736313819885, + -0.03207715175155253, + 0.004851332095145444, + -0.0027294387109577656 + ], + [ + 0.027690356597304344, + 0.9214092869317472, + 0.3876057094891214, + -0.1768491119146347 + ], + [ + -0.01690335012972355, + -0.387267351653621, + 0.9218125211282736, + 0.010440664365887642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9994486570358279, + -0.03284601188179117, + 0.004843964361291082, + -0.002399188932031393 + ], + [ + 0.02838146314024926, + 0.9209244014406084, + 0.38870644372855845, + -0.17684653401374817 + ], + [ + -0.017228381708264354, + -0.3883546691560348, + 0.9213489111763721, + 0.008755376562476158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.999414920806885, + -0.033843450575250976, + 0.00494789318917843, + -0.0023869541473686695 + ], + [ + 0.02922667376697064, + 0.9201619770362258, + 0.3904455760563934, + -0.17665939033031464 + ], + [ + -0.017766889184713367, + -0.39007250755809075, + 0.9206126966189077, + 0.008504355326294899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9992897510528564, + -0.037434852901704625, + 0.004314468674878729, + -0.0026804383378475904 + ], + [ + 0.03274982050061226, + 0.9194010185361502, + 0.39195559746653, + -0.1761271357536316 + ], + [ + -0.01863952726125717, + -0.39153592333416315, + 0.9199739922665506, + 0.010177923366427422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9992418885231018, + -0.03879546951271091, + 0.00324284029149611, + -0.002558369655162096 + ], + [ + 0.03438594564795494, + 0.9185792336464844, + 0.3937383077048469, + -0.17620937526226044 + ], + [ + -0.01825406588613987, + -0.39332829019904014, + 0.9192168499735033, + 0.009382573887705803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992443919181824, + -0.038756341027782165, + 0.0029409451155701706, + -0.00238894484937191 + ], + [ + 0.034423407167196274, + 0.9175830880730066, + 0.39605093790612833, + -0.17635908722877502 + ], + [ + -0.01804804615676403, + -0.39565042125806293, + 0.9182238263571886, + 0.009268785826861858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992701411247253, + -0.03806336805901552, + 0.0032109871825474305, + -0.0020635866094380617 + ], + [ + 0.033629585057497025, + 0.9164983646007057, + 0.3986224516083899, + -0.17644229531288147 + ], + [ + -0.018115777522325516, + -0.39822352092233043, + 0.9171095133203407, + 0.010500925593078136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9992167353630066, + -0.039386859076353545, + 0.003815240664836159, + -0.002341368468478322 + ], + [ + 0.03456202149391174, + 0.915615309839371, + 0.4005671820343731, + -0.17587395012378693 + ], + [ + -0.01927037537097931, + -0.40012157141374355, + 0.9162594455504716, + 0.01254324708133936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9992517828941347, + -0.03847095027689061, + 0.003983199977532596, + -0.0022248998284339905 + ], + [ + 0.03360837325453759, + 0.9146582557968141, + 0.402828507615756, + -0.17599688470363617 + ], + [ + -0.0191404614597559, + -0.4023932307303718, + 0.9152668038942484, + 0.012434293515980244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9992726445198059, + -0.03787741088744103, + 0.004413951007791533, + -0.0021189264953136444 + ], + [ + 0.03283969685435295, + 0.9135982774963842, + 0.4052897021935494, + -0.17583408951759338 + ], + [ + -0.019383903592824936, + -0.40484997834518593, + 0.9141776704435957, + 0.012591740116477013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9991658926010132, + -0.04065903751090084, + 0.0037899533862009106, + -0.002158979419618845 + ], + [ + 0.0355929397046566, + 0.9126298332981836, + 0.40723443922084207, + -0.17515672743320465 + ], + [ + -0.020016584545373917, + -0.40675986225103117, + 0.9133158168418535, + 0.013426396995782852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/tilt_up/transforms.json b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..766b54f6e211894163f3fcca52750763fe7a8619 --- /dev/null +++ b/dynpose_eval/camera_controls/68a5715a-c7dc-4df2-8634-d907ab058910/tilt_up/transforms.json @@ -0,0 +1,4248 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 121, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.00014601727889385074, + -3.883337922161445e-05, + 2.9296741558937356e-05 + ], + [ + 0.00014601477596443146, + 1.0, + -6.437551928684115e-05, + 5.471805343404412e-05 + ], + [ + 3.8842779758851975e-05, + 6.436984403990209e-05, + 1.0, + 4.0512270061299205e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999737143516543, + -0.007240309382315516, + 0.0004292345204364226, + 0.0002081622224068269 + ], + [ + 0.00724200811237097, + 0.9999653680330415, + -0.004096843769631956, + 0.0017283691558986902 + ], + [ + -0.0003995572333224119, + 0.004099844526723337, + 0.9999915279877227, + 0.003192313713952899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.999928891658783, + -0.01168892432493952, + 0.0023518443948014303, + -0.0018166364170610905 + ], + [ + 0.0117042176425457, + 0.9999097406999886, + -0.0065978793312928535, + 0.0017862197710201144 + ], + [ + -0.0022745102178305387, + 0.006624936859421416, + 0.9999754863979534, + 0.003359113819897175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998741745948792, + -0.014933268231962765, + 0.005347188669657272, + -0.005198478698730469 + ], + [ + 0.01501436810940504, + 0.9997677459229217, + -0.01546214152413429, + 0.008594559505581856 + ], + [ + -0.005115046631544828, + 0.015540480232349902, + 0.9998661790195362, + -0.0013153910404071212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998762011528015, + -0.014725916979810827, + 0.005540966114853868, + -0.005387791432440281 + ], + [ + 0.014862677082419395, + 0.9995641124470459, + -0.025507843810874464, + 0.017268454656004906 + ], + [ + -0.005162924528121948, + 0.025587038696951496, + 0.9996592692421392, + -0.0016089858254417777 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997676014900208, + -0.019065367371250367, + 0.010063595609793032, + -0.009570044465363026 + ], + [ + 0.01939787156879902, + 0.9992319638510144, + -0.03404726783800622, + 0.02398768812417984 + ], + [ + -0.009406743571162224, + 0.034234567817481736, + 0.9993695826360398, + 0.003531542606651783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997360110282898, + -0.019595713854401713, + 0.01199522724993045, + -0.01128923799842596 + ], + [ + 0.02003033272922039, + 0.9991050884051804, + -0.03725375174960673, + 0.02516919933259487 + ], + [ + -0.011254479177296162, + 0.037484186276600245, + 0.9992338690129619, + 0.007959937676787376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9997797012329102, + -0.018865798924184732, + 0.009198841761922582, + -0.008029052056372166 + ], + [ + 0.01918989233672619, + 0.9991486977812427, + -0.03651831015030546, + 0.022074904292821884 + ], + [ + -0.008502064272761345, + 0.036686790377445426, + 0.9992906231221222, + 0.010561195202171803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998177289962769, + -0.018454163088884794, + 0.0048923279375214564, + -0.0033780348021537066 + ], + [ + 0.018597546964883804, + 0.999343504519655, + -0.03109171243432282, + 0.014020027592778206 + ], + [ + -0.004315345082432032, + 0.031177031307709886, + 0.9995045818991675, + 0.010461751371622086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9997695088386536, + -0.021061439490563973, + 0.00416908877183912, + -0.00253311381675303 + ], + [ + 0.02116980403661728, + 0.9993858821711624, + -0.027924122088830338, + 0.007818146608769894 + ], + [ + -0.0035784062929451466, + 0.02800594349458303, + 0.9996013377575874, + 0.008231058716773987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996964931488037, + -0.02364675782288441, + 0.006910026333764868, + -0.005650194827467203 + ], + [ + 0.023828785866498947, + 0.9993358785599394, + -0.027568776884344743, + 0.004620983265340328 + ], + [ + -0.006253525149077177, + 0.027725066703163912, + 0.999596043162192, + 0.002949473215267062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9995820522308352, + -0.026043806276088852, + 0.012546792052654611, + -0.011693855747580528 + ], + [ + 0.026418449357151992, + 0.999180012550762, + -0.03068181493920016, + 0.005391129292547703 + ], + [ + -0.011737433262169365, + 0.031000457849174996, + 0.9994504403353662, + 0.001666837721131742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9994670152664187, + -0.025918919269018716, + 0.01984635255022358, + -0.019486291334033012 + ], + [ + 0.02656654082238675, + 0.9990990436297421, + -0.033094892157071204, + 0.0056859091855585575 + ], + [ + -0.018970688804984096, + 0.033604502866028216, + 0.9992551534719523, + 0.002857651561498642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993761777877808, + -0.022351372784235476, + 0.027343598586043478, + -0.02771434746682644 + ], + [ + 0.02326444536447525, + 0.9991664841484744, + -0.03354310234239193, + 0.003941966686397791 + ], + [ + -0.02657107077538967, + 0.0341583104989004, + 0.9990631659604406, + 0.004086009692400694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9994233846664429, + -0.018218964850474067, + 0.028652938138871167, + -0.029930217191576958 + ], + [ + 0.019237082451581955, + 0.9991785338874363, + -0.03566798031461834, + 0.0041306233033537865 + ], + [ + -0.027979567646980286, + 0.036198611498653645, + 0.9989528328138683, + 9.753229096531868e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9993555545806885, + -0.018520430940970757, + 0.030747884659268046, + -0.0320749469101429 + ], + [ + 0.0197778157889843, + 0.9989590578052043, + -0.0411059381784499, + 0.007716499734669924 + ], + [ + -0.02995457872748375, + 0.0416875724952929, + 0.9986815521533616, + 0.00085596670396626 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9991191029548645, + -0.02100961254050752, + 0.03632686981129828, + -0.037292592227458954 + ], + [ + 0.02244773507118225, + 0.998961690498869, + -0.03964459051552323, + 0.0036886725574731827 + ], + [ + -0.035456232726573944, + 0.04042512145531578, + 0.9985532682773678, + 0.0077897896990180016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9991939663887026, + -0.01617080950313233, + 0.03674203545160085, + -0.03826526924967766 + ], + [ + 0.017364013940095905, + 0.9993243883211911, + -0.032391545908152415, + -0.006204088684171438 + ], + [ + -0.036193415522575385, + 0.0330034267869531, + 0.9987997064255375, + 0.007268918678164482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9992725253105166, + -0.016502228121039148, + 0.03438162760886658, + -0.03551893308758736 + ], + [ + 0.01741982810199261, + 0.9994953461708483, + -0.026562274643266014, + -0.014912774786353111 + ], + [ + -0.03392594307661057, + 0.027141873966999453, + 0.9990557350262333, + 0.008488270454108715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9993216395378113, + -0.01776945263923925, + 0.032257681556197196, + -0.03354693204164505 + ], + [ + 0.018468080088496208, + 0.9995984798107621, + -0.02149050765920951, + -0.023255227133631706 + ], + [ + -0.031862854957580566, + 0.02207166511715914, + 0.9992485356504908, + 0.0030340414959937334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9993649125099182, + -0.01949767620389016, + 0.029827284452737756, + -0.031245170161128044 + ], + [ + 0.0201392974704504, + 0.9995689215550556, + -0.02136424003996098, + -0.02628895826637745 + ], + [ + -0.0293978713452816, + 0.021951371952087524, + 0.9993267158340333, + -0.0032657578121870756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.999366044998169, + -0.021303014539419855, + 0.028525374728739842, + -0.029578108340501785 + ], + [ + 0.02201375737786293, + 0.999449058804883, + -0.024838319996514063, + -0.025056207552552223 + ], + [ + -0.02798052877187729, + 0.025450524060502033, + 0.9992844127543575, + -0.0036281466018408537 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9993366599082947, + -0.020641133334263, + 0.0300036424215297, + -0.031116344034671783 + ], + [ + 0.02140936627984047, + 0.9994451878782917, + -0.02551291611970138, + -0.02658574841916561 + ], + [ + -0.029460379853844643, + 0.026138352695955876, + 0.9992241315624873, + -0.002223309362307191 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9992475509643555, + -0.020694833465312583, + 0.03280357925648652, + -0.03434378653764725 + ], + [ + 0.02168882265686989, + 0.9993073157605621, + -0.030240776959516026, + -0.023873912170529366 + ], + [ + -0.032155029475688934, + 0.03092949353143242, + 0.9990042289111543, + -0.0033799628727138042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9989796876907351, + -0.01915058609450405, + 0.04090087835549904, + -0.04277541860938072 + ], + [ + 0.02042569033801556, + 0.9993110442132982, + -0.030988508302280164, + -0.024895451962947845 + ], + [ + -0.04027924686670304, + 0.03179231874543948, + 0.9986825586772596, + 0.003462194697931409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9987099170684814, + -0.019517180453125647, + 0.04687839937934303, + -0.049140699207782745 + ], + [ + 0.02083542011678219, + 0.9993963620846923, + -0.027798309636194698, + -0.03076103702187538 + ], + [ + -0.04630756005644798, + 0.028739176713973323, + 0.9985137043710884, + 0.005337264854460955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.99858558177948, + -0.018543626562153057, + 0.04982966770619567, + -0.05273778736591339 + ], + [ + 0.01985272206366062, + 0.9994672145210672, + -0.02590616121469244, + -0.03539903834462166 + ], + [ + -0.04932272806763649, + 0.026858773238348402, + 0.9984216723779826, + 0.002440621145069599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.998427152633667, + -0.01623236252194648, + 0.05366272871503753, + -0.05715012922883034 + ], + [ + 0.017603803426027298, + 0.9995278142761548, + -0.025183509278105864, + -0.03851163014769554 + ], + [ + -0.053228605538606644, + 0.02608856905395462, + 0.9982415254435804, + 0.002581107197329402 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9983951449394226, + -0.012606852825654243, + 0.055210598387286716, + -0.05939020961523056 + ], + [ + 0.013996138237416744, + 0.9995932435772045, + -0.02484943553805503, + -0.041170310229063034 + ], + [ + -0.05487486347556114, + 0.025582285614532983, + 0.9981654570723422, + 0.0014576135436072946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9984003901481628, + -0.012281682493601431, + 0.055189038084731606, + -0.059427615255117416 + ], + [ + 0.013627596199512482, + 0.9996172192999354, + -0.024077541953895897, + -0.0444793775677681 + ], + [ + -0.05487219989299774, + 0.024791118550742723, + 0.9981855761127132, + 0.0011719156755134463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9983652234077454, + -0.012111474190716825, + 0.05585821840243744, + -0.06064257770776749 + ], + [ + 0.013511767610907555, + 0.9996021285999186, + -0.024759523172096533, + -0.046450160443782806 + ], + [ + -0.055536117404699326, + 0.025473787966084443, + 0.9981316479317295, + -0.0028451308608055115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9982654452323914, + -0.011485791042066052, + 0.05774195204520537, + -0.06278085708618164 + ], + [ + 0.013062689453363419, + 0.9995499047540418, + -0.02700655269486506, + -0.04638032987713814 + ], + [ + -0.05740576982498169, + 0.02771396912516203, + 0.9979661607116418, + -0.0029766547959297895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9982798099517822, + -0.011834457489792184, + 0.05742219698333604, + -0.06237868219614029 + ], + [ + 0.013605975545942783, + 0.9994403947231908, + -0.030558497551506778, + -0.044881660491228104 + ], + [ + -0.05702842026948929, + 0.03128721184423894, + 0.9978821796811321, + -0.0031538091134279966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9982839226722717, + -0.014064433398664452, + 0.05684527875667564, + -0.06149076297879219 + ], + [ + 0.015979254618287086, + 0.9993152437836145, + -0.03337178985339265, + -0.04440692067146301 + ], + [ + -0.05633700266480446, + 0.034222868787639756, + 0.9978250756724928, + -0.0038166686426848173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9983024001121521, + -0.013516005485977057, + 0.056653601343428776, + -0.061303019523620605 + ], + [ + 0.01554376631975174, + 0.999248566142526, + -0.03550577288051733, + -0.044427238404750824 + ], + [ + -0.05613113194704056, + 0.03632611077658751, + 0.9977623529691547, + -0.003939045127481222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985113143920898, + -0.011804129557796108, + 0.05325239982164596, + -0.05775090679526329 + ], + [ + 0.013855645433068275, + 0.9991694266513544, + -0.0383211740303781, + -0.043627429753541946 + ], + [ + -0.05275581777095795, + 0.039001969939985115, + 0.9978454866252294, + -0.004820331931114197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.998731851577759, + -0.012640620713932604, + 0.04873312709285669, + -0.0523720420897007 + ], + [ + 0.014571484178304676, + 0.9991144649673139, + -0.039471683661258014, + -0.044661469757556915 + ], + [ + -0.04819102585315706, + 0.04013173530463048, + 0.9980315768396774, + -0.003154576290398836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9987943768501282, + -0.01653881504842923, + 0.04621932226590834, + -0.049051251262426376 + ], + [ + 0.01834467612206936, + 0.9990737486594109, + -0.03892445949661143, + -0.047994762659072876 + ], + [ + -0.045532744377851486, + 0.03972541197314169, + 0.998172659690832, + -0.0030907713808119297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9988439679145813, + -0.018697490632417723, + 0.04428418556007904, + -0.046696025878190994 + ], + [ + 0.02040952630341053, + 0.9990490466290997, + -0.03852890020227945, + -0.05115198716521263 + ], + [ + -0.04352167993783951, + 0.03938817598268261, + 0.9982757154267992, + -0.004320094361901283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9989587664604187, + -0.01993842864859438, + 0.04103478707747495, + -0.042999107390642166 + ], + [ + 0.021427063271403313, + 0.9991161452969213, + -0.03616308357302564, + -0.056108471006155014 + ], + [ + -0.04027748107910156, + 0.03700468270682041, + 0.9985030440281761, + -0.004530816338956356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9990395903587344, + -0.021115941705398017, + 0.0383929035193074, + -0.03991631418466568 + ], + [ + 0.02242456935346127, + 0.9991708732928423, + -0.033980189147754386, + -0.06104981154203415 + ], + [ + -0.03764354810118676, + 0.03480849895839872, + 0.9986847847129373, + -0.004511462524533272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9990977048873904, + -0.02078430447847117, + 0.037037094259593006, + -0.03861422464251518 + ], + [ + 0.02198310755193234, + 0.9992377463329324, + -0.03225990756868313, + -0.06548088043928146 + ], + [ + -0.03633836284279824, + 0.033044988728543265, + 0.9987930707216969, + -0.006913466844707727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9990502595901489, + -0.02135750722319408, + 0.03797954337258802, + -0.03947801887989044 + ], + [ + 0.022685742005705833, + 0.9991335846860704, + -0.03489232831725742, + -0.06530006974935532 + ], + [ + -0.037201426923274994, + 0.03572078072345045, + 0.9986691763928351, + -0.008842218667268753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9989938735961914, + -0.022514994328313314, + 0.038785181082703166, + -0.04027773439884186 + ], + [ + 0.02400948293507099, + 0.9989698207284697, + -0.03850762449651741, + -0.06392957270145416 + ], + [ + -0.03787823021411896, + 0.039400098256251195, + 0.9985053297024787, + -0.008170121349394321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9989691972732544, + -0.022485280730329422, + 0.03943359563460064, + -0.041026368737220764 + ], + [ + 0.02404666692018509, + 0.9989270517531665, + -0.03957848275552856, + -0.06502832472324371 + ], + [ + -0.038501352071762085, + 0.04048593512944855, + 0.9984380567088198, + -0.008076592348515987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9989168047904968, + -0.021592588327609182, + 0.04121845256251704, + -0.04300418868660927 + ], + [ + 0.023336593061685562, + 0.9988319795099011, + -0.042309861476311994, + -0.06432463228702545 + ], + [ + -0.04025672748684883, + 0.04322592813881784, + 0.9982539259577438, + -0.00814072322100401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.998978853225708, + -0.019414886240154004, + 0.040795988225259046, + -0.04269438236951828 + ], + [ + 0.02119545266032219, + 0.9988208606082866, + -0.043676251805054564, + -0.06497624516487122 + ], + [ + -0.03989991173148155, + 0.044496338688230296, + 0.9982124267976555, + -0.006762334611266851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9991632103919983, + -0.01734774276244362, + 0.03703990144632538, + -0.03889534994959831 + ], + [ + 0.018993323668837547, + 0.9988267029507121, + -0.04454769726634242, + -0.06625226885080338 + ], + [ + -0.0362236388027668, + 0.04521393269562629, + 0.998320377113851, + -0.0069844829849898815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9992498755455017, + -0.017749733999986746, + 0.03441782814109882, + -0.03579365834593773 + ], + [ + 0.01926541142165661, + 0.998836129887676, + -0.044217954493029926, + -0.06882333010435104 + ], + [ + -0.033592913299798965, + 0.044847857285893064, + 0.9984288459392289, + -0.005839301273226738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9993074536323547, + -0.017162896318438686, + 0.033015843949000145, + -0.03442193567752838 + ], + [ + 0.018608609214425087, + 0.9988585563192235, + -0.04399151410323986, + -0.07154137641191483 + ], + [ + -0.032223135232925415, + 0.04457542815292571, + 0.9984862107671104, + -0.0069705042988061905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.999360203742981, + -0.016767939558921575, + 0.031591436010382015, + -0.032911352813243866 + ], + [ + 0.018250450491905212, + 0.9987168744663489, + -0.04723910233244616, + -0.07036634534597397 + ], + [ + -0.030758798122406006, + 0.047785436493098514, + 0.9983839186398825, + -0.007518052123486996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9993911385536196, + -0.017195112697507623, + 0.030358906808094534, + -0.03135852888226509 + ], + [ + 0.01871641725301743, + 0.9985456584305059, + -0.05055898330009512, + -0.06903441250324249 + ], + [ + -0.02944538928568364, + 0.05109641173629733, + 0.9982595659282648, + -0.0067793200723826885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9994579553604128, + -0.01592160775028442, + 0.028814001762640932, + -0.02974381111562252 + ], + [ + 0.01743807084858418, + 0.9984333437682287, + -0.053166959263581226, + -0.06840888410806656 + ], + [ + -0.027922358363866813, + 0.05364060675539913, + 0.9981698324368926, + -0.006225027143955231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9995573163032532, + -0.015522930873616949, + 0.025380633149298334, + -0.025702690705657005 + ], + [ + 0.016918985173106194, + 0.9983014930446625, + -0.0557484059385204, + -0.0675530657172203 + ], + [ + -0.02447214536368847, + 0.05615314332491924, + 0.9981222326125848, + -0.0033017222303897142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.999606192111969, + -0.017789571955212524, + 0.021701285248996813, + -0.02101294882595539 + ], + [ + 0.018933206796646118, + 0.9983784562562636, + -0.05368462465063479, + -0.07197145372629166 + ], + [ + -0.02071106806397438, + 0.05407436388188693, + 0.9983221240626987, + -3.921471579815261e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9997518658638, + -0.016231876625341486, + 0.015253713974028077, + -0.014271391555666924 + ], + [ + 0.01699984259903431, + 0.9985208910911924, + -0.051643666058297226, + -0.07658445835113525 + ], + [ + -0.01439287792891264, + 0.051890162787423824, + 0.9985490458513595, + -0.0007089430000633001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.999799430370331, + -0.01825497784751123, + 0.008237810453709351, + -0.006238043773919344 + ], + [ + 0.018681814894080166, + 0.9983052069160546, + -0.05511505032194961, + -0.07550961524248123 + ], + [ + -0.007217724807560446, + 0.05525789495869408, + 0.9984460256235299, + -0.0034391311928629875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9997750520706179, + -0.020947406592380674, + 0.0033286094412227074, + -0.000491396407596767 + ], + [ + 0.021128039807081226, + 0.9973627201001545, + -0.06943534668088064, + -0.06371492892503738 + ], + [ + -0.0018653406295925383, + 0.06949004776816167, + 0.9975808990773671, + -0.0029040430672466755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9997901320457458, + -0.02030392781212157, + 0.002720362472817666, + -3.0510951546602882e-05 + ], + [ + 0.020453283563256264, + 0.9968121704282097, + -0.0771177961250789, + -0.05793812870979309 + ], + [ + -0.0011458962690085173, + 0.07715725894586686, + 0.9970182889102839, + -0.006264111027121544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9998041987419128, + -0.019763683432768107, + 0.0010048638040393164, + 0.0019469930557534099 + ], + [ + 0.019780058413743973, + 0.9965082833847732, + -0.0811169155799488, + -0.0543736070394516 + ], + [ + 0.000601814070250839, + 0.0811209044464609, + 0.9967040597379511, + -0.007840365171432495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9998105168342593, + -0.018958574030359457, + -0.0044112015032984585, + 0.008024271577596664 + ], + [ + 0.018453132361173633, + 0.9952926723390118, + -0.095142168860918, + -0.040732160210609436 + ], + [ + 0.006194196175783874, + 0.09504273559981274, + 0.9954538961204908, + -0.004222071263939142 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9998173713684082, + -0.01888116623771174, + -0.002951917464231285, + 0.007125717122107744 + ], + [ + 0.018474198877811432, + 0.9944541400640705, + -0.10353566101840089, + -0.03320066258311272 + ], + [ + 0.004890420939773321, + 0.1034622183766307, + 0.9946213489458242, + 0.003355529857799411 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9998905658721924, + -0.01458176836772184, + -0.002501434521722706, + 0.006145732011646032 + ], + [ + 0.01422199234366417, + 0.993931683811728, + -0.10907567055211581, + -0.028941582888364792 + ], + [ + 0.004076771438121796, + 0.10902816007124967, + 0.9940303057832744, + 0.007398651912808418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9998946785926819, + -0.013814117584820517, + -0.004456220208619305, + 0.008342942222952843 + ], + [ + 0.01322939246892929, + 0.9936409501350346, + -0.11181530419375621, + -0.02788555808365345 + ], + [ + 0.005972512997686863, + 0.11174457061981331, + 0.9937190291157416, + 0.013105218298733234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9998610615730288, + -0.016669534057630796, + 7.01138002282076e-06, + 0.004370457958430052 + ], + [ + 0.01657153852283955, + 0.993937388576504, + -0.10869139677246083, + -0.03367841988801956 + ], + [ + 0.001804866013117135, + 0.10867641174794211, + 0.9940755249194202, + 0.016041746363043785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9998183846473696, + -0.01731743592347258, + 0.007953856159193818, + -0.0042172810062766075 + ], + [ + 0.018081462010741237, + 0.9938808334920547, + -0.10896752352398362, + -0.036185383796691895 + ], + [ + -0.006018147338181736, + 0.10909155410284066, + 0.99401346802607, + 0.013683473691344261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9996355772018433, + -0.016639202033925906, + 0.021257789725948738, + -0.018589096143841743 + ], + [ + 0.018941747024655342, + 0.9933962219939902, + -0.11315968054434762, + -0.034210775047540665 + ], + [ + -0.019234521314501762, + 0.11352110049830066, + 0.993349359563309, + 0.012605852447450161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.999728858470917, + -0.014601058241759255, + 0.018138919107724943, + -0.018536124378442764 + ], + [ + 0.016585424542427066, + 0.9932777098334751, + -0.1145614640535838, + -0.03442341089248657 + ], + [ + -0.016344266012310985, + 0.11483123792976176, + 0.993250524764641, + 0.012105470523238182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9997522830963135, + -0.008612729349264641, + 0.02052380073479347, + -0.023005759343504906 + ], + [ + 0.010955636389553547, + 0.9930800227603386, + -0.11692733019510564, + -0.03407180309295654 + ], + [ + -0.01937471330165863, + 0.11712322022220585, + 0.9929284055578236, + 0.016115259379148483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9996300935745239, + -0.004788541989572575, + 0.02677239887102767, + -0.030048446729779243 + ], + [ + 0.007617348805069923, + 0.9942749524999239, + -0.10658003544008952, + -0.04682169482111931 + ], + [ + -0.026108764111995697, + 0.10674454170807034, + 0.9939436242458678, + 0.02085139974951744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9995923042297363, + -0.0023168970016542653, + 0.028458663403710772, + -0.032849717885255814 + ], + [ + 0.004647370427846909, + 0.9966133717243725, + -0.08209889574849606, + -0.07361859828233719 + ], + [ + -0.028172068297863007, + 0.08219767524220131, + 0.9962178148744483, + 0.018298547714948654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9996060132980347, + 0.004806064361962823, + 0.027653900760388865, + -0.03310146927833557 + ], + [ + -0.0027404362335801125, + 0.997235566292967, + -0.07425431970541024, + -0.08431097865104675 + ], + [ + -0.027934323996305466, + 0.07414928621719483, + 0.9968558605762303, + 0.016894271597266197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9991954565048218, + 0.005347767467731437, + 0.039747565006553284, + -0.043447285890579224 + ], + [ + -0.003057516645640135, + 0.9983431875446058, + -0.05745888586297401, + -0.1036815345287323 + ], + [ + -0.03998899087309837, + 0.05729112677852773, + 0.9975563323471169, + 0.021022703498601913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9990751147270203, + 0.006504803251528485, + 0.04250435012450433, + -0.04609563946723938 + ], + [ + -0.0038167419843375683, + 0.998005009371185, + -0.06301977341042209, + -0.10334242135286331 + ], + [ + -0.0428294874727726, + 0.06279925099625676, + 0.9971067688401308, + 0.020368454977869987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9990719556808474, + 0.01006654168062859, + 0.04187985168078555, + -0.04581950977444649 + ], + [ + -0.007268897257745268, + 0.9977648878592037, + -0.06642548834158177, + -0.10407411307096481 + ], + [ + -0.042454924434423454, + 0.06605942683259146, + 0.9969120732589626, + 0.017908573150634766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9991346001625061, + 0.010049461519367536, + 0.0403620572544909, + -0.04444374144077301 + ], + [ + -0.007237044163048267, + 0.9975744267844235, + -0.06923095405305757, + -0.10494505614042282 + ], + [ + -0.04095989093184471, + 0.06887894096447501, + 0.9967838226315576, + 0.013649988919496536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9994572997093201, + 0.004122819097611192, + 0.03268157310043409, + -0.03621963411569595 + ], + [ + -0.002476375550031662, + 0.9987331048680077, + -0.05025963254718368, + -0.12581154704093933 + ], + [ + -0.03284738212823868, + 0.050151425858599885, + 0.9982013284666236, + 0.012696171179413795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9995030760765078, + -0.0013659279415894254, + 0.03149229008997437, + -0.034507688134908676 + ], + [ + 0.0030538653954863557, + 0.9985571546168602, + -0.05361281670284053, + -0.1257329285144806 + ], + [ + -0.03137362003326417, + 0.0536823544686845, + 0.9980651021413467, + 0.0159476138651371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9996292591094971, + 0.000591138511186242, + 0.027221786964293004, + -0.031820811331272125 + ], + [ + 0.0008183466270565987, + 0.9986603848253708, + -0.05173758244011591, + -0.13062416017055511 + ], + [ + -0.027215903624892235, + 0.05174067939935933, + 0.9982896656807585, + 0.015630243346095085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9998488426208496, + -0.0013539271755468982, + 0.017333001429187766, + -0.02261502295732498 + ], + [ + 0.0020618641283363104, + 0.9991614995802902, + -0.04089080984560211, + -0.1438545137643814 + ], + [ + -0.017263105139136314, + 0.04092036468149739, + 0.999013269828381, + 0.01570826582610607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9999478459358215, + -0.008688692595434032, + -0.005370177601541824, + -0.00021686399122700095 + ], + [ + 0.008627723902463913, + 0.9998992131741611, + -0.011273974807847911, + -0.175161674618721 + ], + [ + 0.00546759320423007, + 0.01122706355859657, + 0.9999220106873021, + 0.01797165349125862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9999532103538513, + -0.008504594060062914, + -0.004610829471959563, + -0.0008046957664191723 + ], + [ + 0.008438168093562126, + 0.9998629941974733, + -0.01423950860003316, + -0.1759665608406067 + ], + [ + 0.004731299821287394, + 0.014199952429561229, + 0.9998879801164521, + 0.01417931355535984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.999921977519989, + -0.011589300201348664, + -0.004663277534718052, + -0.00035901108640246093 + ], + [ + 0.011505276896059513, + 0.9997778748675397, + -0.01765856409112998, + -0.17521774768829346 + ], + [ + 0.004866892471909523, + 0.017603543760381236, + 0.9998331920833758, + 0.013973008841276169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9999740123748779, + -0.004017836500216662, + -0.005985346005733228, + -3.0156046705087647e-05 + ], + [ + 0.0039030180778354406, + 0.9998104484310262, + -0.019072969325878316, + -0.17504185438156128 + ], + [ + 0.006060843355953693, + 0.019049118232328046, + 0.999800151089515, + 0.015841791406273842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9999545812606812, + -0.008744981255794176, + -0.0037841181766980936, + 7.70884144003503e-05 + ], + [ + 0.008664234541356564, + 0.999744999601367, + -0.02085284593264714, + -0.1755024492740631 + ], + [ + 0.003965511452406645, + 0.020819104081596474, + 0.9997753799354473, + 0.014814266003668308 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9999350309371948, + -0.011192089952761589, + -0.002164508668427686, + -0.00026322281337343156 + ], + [ + 0.011136950924992561, + 0.999649938909866, + -0.023998572021366224, + -0.175706148147583 + ], + [ + 0.002432345412671566, + 0.02397289960132666, + 0.9997096381436923, + 0.017121756449341774 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.999953031539917, + -0.009579549353923257, + -0.0014686349623299227, + -0.00017691576795186847 + ], + [ + 0.00953575037419796, + 0.9995794828179042, + -0.027384808559645705, + -0.1759243756532669 + ], + [ + 0.0017303513595834374, + 0.027369516650375365, + 0.9996238839253421, + 0.013441711664199829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9999201893806458, + -0.012635556592546796, + -9.988524934975883e-05, + 0.0002303133369423449 + ], + [ + 0.012627079151570797, + 0.9994830271182412, + -0.029568221729663693, + -0.1763685941696167 + ], + [ + 0.00047344458289444447, + 0.029564600601831085, + 0.9995627472363591, + 0.010152870789170265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9998419284820559, + -0.017705784951340037, + 0.0016062795229691527, + 0.00034620598307810724 + ], + [ + 0.017748827114701275, + 0.9993085138523817, + -0.03267129470722482, + -0.17543086409568787 + ], + [ + -0.0010266976896673443, + 0.032694646321966364, + 0.9994648834121228, + 0.009121750481426716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9997880458831789, + -0.020348089307528804, + 0.0031370799662605257, + -0.0003677732893265784 + ], + [ + 0.02044213563203812, + 0.9992255669818237, + -0.03362157288520622, + -0.1759604513645172 + ], + [ + -0.002450515050441027, + 0.03367857242227167, + 0.9994297033958988, + 0.012533007189631462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9997873902320862, + -0.0202168723484663, + 0.004051793133444155, + -0.0005387469427660108 + ], + [ + 0.020348621532320976, + 0.999156949747001, + -0.035654805861370556, + -0.17586976289749146 + ], + [ + -0.0033275485038757324, + 0.03572967309731546, + 0.9993559764660399, + 0.0158628448843956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9998162388801575, + -0.01853851712057954, + 0.004875080425971807, + -0.0006038579740561545 + ], + [ + 0.018711864948272705, + 0.9990906692788696, + -0.03831071501533044, + -0.1762986034154892 + ], + [ + -0.004160423297435045, + 0.03839488913215921, + 0.9992540037492612, + 0.016533106565475464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.999826967716217, + -0.017471432324795116, + 0.006381581015222716, + -0.0012256157351657748 + ], + [ + 0.017722608521580696, + 0.9989733929971085, + -0.04168972242631587, + -0.17619207501411438 + ], + [ + -0.005646650679409504, + 0.041795603968119405, + 0.9991102413795204, + 0.01648869924247265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9997996687889099, + -0.018681932744390325, + 0.007181916040664608, + -0.0013281163992360234 + ], + [ + 0.01898926869034767, + 0.9987876192527768, + -0.04541698739746848, + -0.17609922587871552 + ], + [ + -0.00632473174482584, + 0.04554425522518973, + 0.9989422918464217, + 0.013702873140573502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9997034072875977, + -0.022926519040058574, + 0.008214394941412047, + -0.001446924521587789 + ], + [ + 0.02329724095761776, + 0.9985608207053684, + -0.04830618719459331, + -0.17645062506198883 + ], + [ + -0.0070950803346931934, + 0.04848323320326972, + 0.9987988090458749, + 0.009583283215761185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9996935129165649, + -0.023328509472454444, + 0.008284721029807535, + -0.0015047751367092133 + ], + [ + 0.023717982694506645, + 0.9984412224340931, + -0.050522622948991874, + -0.1764776110649109 + ], + [ + -0.007093189284205437, + 0.05070363894154004, + 0.998688574447174, + 0.009134303778409958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9996748566627505, + -0.024056900284603614, + 0.00845093959495282, + -0.0015355057548731565 + ], + [ + 0.024469902738928802, + 0.9983081285713443, + -0.05274529167513132, + -0.17642131447792053 + ], + [ + -0.007167752832174303, + 0.05293494460685333, + 0.9985722540912568, + 0.009228546172380447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9996932744979861, + -0.02348423530600382, + 0.007867712771084329, + -0.0011571877403184772 + ], + [ + 0.023876344785094268, + 0.9982480755167382, + -0.05413611208818854, + -0.1772041916847229 + ], + [ + -0.006582583766430618, + 0.05430735279757194, + 0.9985025756949482, + 0.006781994830816984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9996299743652344, + -0.025786413284351006, + 0.008657319724354079, + -0.0014185827458277345 + ], + [ + 0.026232782751321793, + 0.9980766823327639, + -0.056167377041400304, + -0.17682917416095734 + ], + [ + -0.0071923136711120605, + 0.056373706612801715, + 0.9983838156917126, + 0.006610255688428879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9996542930603027, + -0.024938030580919823, + 0.008332150702866175, + -0.0017061469843611121 + ], + [ + 0.02538168802857399, + 0.9979799070551064, + -0.058239545414790206, + -0.17664985358715057 + ], + [ + -0.006862939335405827, + 0.058430904119615684, + 0.9982678700129827, + 0.008021277375519276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9997346997261047, + -0.02182107143032849, + 0.007374441583578571, + -0.0009304925333708525 + ], + [ + 0.022221768274903297, + 0.9979801180131306, + -0.05951324666620446, + -0.17728261649608612 + ], + [ + -0.006060903426259756, + 0.059661327436442875, + 0.9982002880247249, + 0.007589159533381462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9996960759162903, + -0.022908856777831513, + 0.009106267961805171, + -0.0013068754924461246 + ], + [ + 0.023426862433552742, + 0.997828019592111, + -0.06156670351561879, + -0.17705659568309784 + ], + [ + -0.0076760658994317055, + 0.06176133429290441, + 0.9980614299076797, + 0.008936639875173569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9996185898780823, + -0.025562562025831445, + 0.010452970205798238, + -0.0017389168497174978 + ], + [ + 0.02618321403861046, + 0.9975854795957046, + -0.06432495916978294, + -0.1766846626996994 + ], + [ + -0.00878342054784298, + 0.06457409711626529, + 0.997874263258644, + 0.00871217343956232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9996711015701296, + -0.02375954613620633, + 0.009654064767321014, + -0.0013408330269157887 + ], + [ + 0.024347214028239257, + 0.9975114185311387, + -0.0661676929303073, + -0.17693324387073517 + ], + [ + -0.008057925850152971, + 0.06638099458759156, + 0.9977618309037416, + 0.007148795761168003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9997134804725647, + -0.02154862773279252, + 0.010422342765147304, + -0.0010548908030614257 + ], + [ + 0.0222032368183136, + 0.9974781667373216, + -0.06741186554589233, + -0.17710353434085846 + ], + [ + -0.008943425491452217, + 0.06762394517168457, + 0.9976707744677659, + 0.009167405776679516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9996004104614258, + -0.02453505392686852, + 0.014036967903370634, + -0.002196886111050844 + ], + [ + 0.025466792285442352, + 0.9971810071174114, + -0.0705799404213383, + -0.17633859813213348 + ], + [ + -0.012265714816749096, + 0.07090920827988498, + 0.9974073733786615, + 0.011933168396353722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9996019601821899, + -0.024287852655147223, + 0.014351729531487275, + -0.0019893329590559006 + ], + [ + 0.025279326364398003, + 0.9969745632580042, + -0.07350293652989634, + -0.1767600029706955 + ], + [ + -0.012523080222308636, + 0.07383648613835246, + 0.9971917254043442, + 0.008714515715837479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9996011257171631, + -0.024012160095206795, + 0.014864618876543466, + -0.0017413373570889235 + ], + [ + 0.02506573498249054, + 0.9968457991074793, + -0.07530074626840523, + -0.177435040473938 + ], + [ + -0.013009598478674889, + 0.07564330860383298, + 0.9970500935753319, + 0.005583866033703089 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9995930194854736, + -0.02358343799584153, + 0.016049464618900024, + -0.001937016029842198 + ], + [ + 0.024751361459493637, + 0.9967275819729492, + -0.07695111930359048, + -0.1774270087480545 + ], + [ + -0.014182171784341335, + 0.07731704733682956, + 0.9969057038452763, + 0.006263381335884333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9995445609092715, + -0.02463511971758773, + 0.01743077591374335, + -0.0021619456820189953 + ], + [ + 0.025945199653506286, + 0.9965032969565666, + -0.07942301485284954, + -0.1767250895500183 + ], + [ + -0.015413229353725914, + 0.07983910524092155, + 0.9966886104371183, + 0.00765380309894681 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9994736313819885, + -0.026212685233852843, + 0.019114764461548327, + -0.0027294387109577656 + ], + [ + 0.027690356597304344, + 0.9962764181380634, + -0.08164899714403433, + -0.1768491119146347 + ], + [ + -0.01690335012972355, + 0.082135317040669, + 0.9964778549773708, + 0.010440664365887642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9994486570358279, + -0.026812894312794888, + 0.01958042864298727, + -0.002399188932031393 + ], + [ + 0.02838146314024926, + 0.9959940746569427, + -0.0847953761304614, + -0.17684653401374817 + ], + [ + -0.017228381708264354, + 0.08530435017530967, + 0.9962059691762281, + 0.008755376562476158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.999414920806885, + -0.027559098071436656, + 0.020257268012738305, + -0.0023869541473686695 + ], + [ + 0.02922667376697064, + 0.9957578974384792, + -0.08724689985394217, + -0.17665939033031464 + ], + [ + -0.017766889184713367, + 0.08778789981334979, + 0.9959807141581382, + 0.008504355326294899 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9992897510528564, + -0.030933892329919575, + 0.021519227612526337, + -0.0026804383378475904 + ], + [ + 0.03274982050061226, + 0.9954121348691872, + -0.08990052850691213, + -0.1761271357536316 + ], + [ + -0.01863952726125717, + 0.09054141529855723, + 0.9957182221008739, + 0.010177923366427422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9992418885231018, + -0.03254677284831572, + 0.021361461678171063, + -0.002558369655162096 + ], + [ + 0.03438594564795494, + 0.9951388326356052, + -0.09228416560539547, + -0.17620937526226044 + ], + [ + -0.01825406588613987, + 0.09294874022211104, + 0.9955035373303466, + 0.009382573887705803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9992443919181824, + -0.03256415956178366, + 0.021219770028660576, + -0.00238894484937191 + ], + [ + 0.034423407167196274, + 0.994965696951161, + -0.09411870602812998, + -0.17635908722877502 + ], + [ + -0.01804804615676403, + 0.09477803760810342, + 0.9953348053388247, + 0.009268785826861858 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9992701411247253, + -0.031734254347928516, + 0.021261879683215853, + -0.0020635866094380617 + ], + [ + 0.033629585057497025, + 0.9948435306267318, + -0.09568417221353898, + -0.17644229531288147 + ], + [ + -0.018115777522325516, + 0.09632937563202949, + 0.9951846479065045, + 0.010500925593078136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9992167353630066, + -0.03250066964499551, + 0.02257403822664479, + -0.002341368468478322 + ], + [ + 0.03456202149391174, + 0.9945963356381452, + -0.09789582253793971, + -0.17587395012378693 + ], + [ + -0.01927037537097931, + 0.09859935441599874, + 0.9949406066594173, + 0.01254324708133936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9992517828941347, + -0.031521989188171756, + 0.022410803084423118, + -0.0022248998284339905 + ], + [ + 0.03360837325453759, + 0.9944402706025282, + -0.09979518850715248, + -0.17599688470363617 + ], + [ + -0.0191404614597559, + 0.10047369764429036, + 0.9947555833118518, + 0.012434293515980244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9992726445198059, + -0.030694847891914453, + 0.02262758343101302, + -0.0021189264953136444 + ], + [ + 0.03283969685435295, + 0.9942963804397327, + -0.10147050405385147, + -0.17583408951759338 + ], + [ + -0.019383903592824936, + 0.1021397761202225, + 0.9945812104790075, + 0.012591740116477013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9991658926010132, + -0.033316782684764075, + 0.02361171466705926, + -0.002158979419618845 + ], + [ + 0.0355929397046566, + 0.9939778394982054, + -0.1036395469879326, + -0.17515672743320465 + ], + [ + -0.020016584545373917, + 0.10439353447167482, + 0.9943346301886962, + 0.013426396995782852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 4946.489908854166, + "fy": 4951.4501953125, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7ee8fb3b-e82b-492b-9325-5f3532ef1835/boom_down/transforms.json b/dynpose_eval/camera_controls/7ee8fb3b-e82b-492b-9325-5f3532ef1835/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..49caf8fb7624b3ac0df29f479f90a2826bcef48b --- /dev/null +++ b/dynpose_eval/camera_controls/7ee8fb3b-e82b-492b-9325-5f3532ef1835/boom_down/transforms.json @@ -0,0 +1,6243 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 178, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.0001449466944904998, + -0.00017759522597771138, + 0.00019445232464931905 + ], + [ + 0.00014496569929178804, + 1.0, + 0.00010704631131375208, + -4.231783532304689e-05 + ], + [ + 0.00017757971363607794, + -0.00010707205365179107, + 1.0, + 8.633989637019113e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999821782112122, + -0.0016788872890174389, + -0.005726850125938654, + 0.0037819759736079615 + ], + [ + 0.0016282761935144663, + 0.9999597072601318, + -0.008830741047859192, + 0.000999355874659683 + ], + [ + 0.005741444882005453, + 0.008821258321404457, + 0.9999446272850037, + 0.0076517493216752335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999748468399048, + -0.0019023750210180879, + -0.006829217541962862, + 0.0045745539572353 + ], + [ + 0.0018017111578956246, + 0.9998900890350342, + -0.014716191217303276, + 0.0007981294731867347 + ], + [ + 0.006856462452560663, + 0.014703517779707909, + 0.9998683929443359, + 0.013983865549503746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999624490737915, + -0.0007518602069467306, + -0.008630159310996532, + 0.0057448578891896845 + ], + [ + 0.0005690472899004817, + 0.9997758269309998, + -0.021165966987609863, + 0.0011744490929216274 + ], + [ + 0.00864413846284151, + 0.021160263568162918, + 0.9997387528419495, + 0.021537964784745442 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999101758003235, + -0.0001262724690604955, + -0.013402440585196018, + 0.0070061339954003736 + ], + [ + -0.00016433600103482604, + 0.9997649192810059, + -0.021679937839508057, + -0.0014725876843167396 + ], + [ + 0.013402027077972889, + 0.021680191159248352, + 0.9996750950813293, + 0.028199771183442936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9998485445976257, + 0.0010520718060433865, + -0.01737205497920513, + 0.005242587171105594 + ], + [ + -0.0014407022390514612, + 0.9997486472129822, + -0.02237367443740368, + -0.0024773580032679656 + ], + [ + 0.017344148829579353, + 0.022395314648747444, + 0.9995987415313721, + 0.03270831403696099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9997682571411133, + 0.002340344712138176, + -0.021398650482296944, + 0.0028398892779092667 + ], + [ + -0.002839137800037861, + 0.999724268913269, + -0.023308975622057915, + -0.002600391221753621 + ], + [ + 0.021338200196623802, + 0.02336432971060276, + 0.9994992613792419, + 0.03671647752871958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9995920658111572, + 0.0008607878116890788, + -0.028547223657369614, + 0.0015266589176483284 + ], + [ + -0.001472881413064897, + 0.9997693300247192, + -0.021427350118756294, + -0.0052875242506464325 + ], + [ + 0.028522193431854248, + 0.021460654214024544, + 0.9993627667427063, + 0.041574250261620274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9994107484817505, + -0.003440356347709894, + -0.03415147587656975, + -0.0023311525970002855 + ], + [ + 0.0027756630443036556, + 0.9998061656951904, + -0.01949146017432213, + -0.00796713987417982 + ], + [ + 0.034211914986371994, + 0.01938518136739731, + 0.9992265701293945, + 0.042909269826223624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9991627335548401, + -0.010949338786303997, + -0.03942045569419861, + -0.008163870452761145 + ], + [ + 0.010236837901175022, + 0.9997813701629639, + -0.018231084570288658, + -0.008800957784435506 + ], + [ + 0.03961145877838135, + 0.017812279984354973, + 0.9990563988685608, + 0.0429529601518633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9989312291145325, + -0.015597977675497532, + -0.043510016053915024, + -0.014127843644954053 + ], + [ + 0.014891042374074459, + 0.9997525811195374, + -0.016524728387594223, + -0.00982322444939344 + ], + [ + 0.04375700280070305, + 0.015859156847000122, + 0.9989163279533386, + 0.042051400063233185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9987574815750122, + -0.018412815406918526, + -0.04630877450108528, + -0.02121739666698511 + ], + [ + 0.017648832872509956, + 0.9997022151947021, + -0.01685274764895439, + -0.00798601128350375 + ], + [ + 0.046605292707681656, + 0.01601451262831688, + 0.9987850189208984, + 0.04085586256437046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9985324740409851, + -0.021318048238754272, + -0.049784060567617416, + -0.027341215855489345 + ], + [ + 0.020541563630104065, + 0.999660074710846, + -0.016056977212429047, + -0.008250826909759286 + ], + [ + 0.050109442323446274, + 0.015010771341621876, + 0.998630940914154, + 0.03994727180797165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9984667897224426, + -0.02185991406440735, + -0.050855256617069244, + -0.03417371633951947 + ], + [ + 0.02097928524017334, + 0.9996216893196106, + -0.017786234617233276, + -0.0054075169035017814 + ], + [ + 0.05122482031583786, + 0.016692057251930237, + 0.9985476136207581, + 0.038304255864882876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.998485803604126, + -0.023024123162031174, + -0.04995959997177124, + -0.040762879846796475 + ], + [ + 0.02216489240527153, + 0.9995979070663452, + -0.017684997990727425, + -0.004620348792628379 + ], + [ + 0.05034669488668442, + 0.01655087061226368, + 0.9985946416854858, + 0.035597078916800896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9986106157302856, + -0.021513676270842552, + -0.04810446500778198, + -0.04524851203659328 + ], + [ + 0.02048950456082821, + 0.9995549321174622, + -0.021683335304260254, + 0.0007370962619276372 + ], + [ + 0.04854954034090042, + 0.02066757157444954, + 0.9986069202423096, + 0.034433745510749895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9987781047821045, + -0.020910928025841713, + -0.044777464121580124, + -0.04908173569599114 + ], + [ + 0.01985844038426876, + 0.9995189309120178, + -0.02382209710776806, + 0.003811556340779289 + ], + [ + 0.04525406286120415, + 0.02290377952158451, + 0.9987128973007202, + 0.031551826101238446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9989684820175171, + -0.020734820514917374, + -0.04039900749921799, + -0.05000322082074685 + ], + [ + 0.019718322902917862, + 0.9994828701019287, + -0.025399524718523026, + 0.006122523254457083 + ], + [ + 0.04090476781129837, + 0.02457672357559204, + 0.9988607168197632, + 0.02932417226039757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.999312698841095, + -0.019524501636624336, + -0.03151073679327965, + -0.05288333446418835 + ], + [ + 0.01859288103878498, + 0.999389111995697, + -0.02959216758608818, + 0.010995993070833196 + ], + [ + 0.032069262117147446, + 0.02898595482110977, + 0.9990652799606323, + 0.02616926979084136 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.999767541885376, + -0.016898194327950478, + -0.013390394859015942, + -0.052849264164050086 + ], + [ + 0.016370190307497978, + 0.9991204142570496, + -0.03860579431056976, + 0.020923885550497276 + ], + [ + 0.014030984602868557, + 0.03837762027978897, + 0.9991648197174072, + 0.02462993009952502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9998365044593811, + -0.017259113490581512, + 0.0053949253633618355, + -0.050569820433518306 + ], + [ + 0.017451737076044083, + 0.9991264939308167, + -0.037970151752233505, + 0.021797414879593472 + ], + [ + -0.004734882153570652, + 0.038058090955019, + 0.9992642998695374, + 0.022634184440482135 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9996451139450073, + -0.0202751737087965, + 0.017280198633670807, + -0.0453449261548408 + ], + [ + 0.020928287878632545, + 0.9990397095680237, + -0.03849233686923981, + 0.023762852269209038 + ], + [ + -0.016483165323734283, + 0.03884032368659973, + 0.9991094470024109, + 0.022930278363874405 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9994038343429565, + -0.018428757786750793, + 0.029194921255111694, + -0.039270379731042235 + ], + [ + 0.019727811217308044, + 0.9987988471984863, + -0.04485119506716728, + 0.03106932440551661 + ], + [ + -0.028333302587270737, + 0.045400407165288925, + 0.9985669851303101, + 0.021597092293497534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9987068772315979, + -0.019684957340359688, + 0.04687248915433884, + -0.03129627545401033 + ], + [ + 0.021690169349312782, + 0.9988540410995483, + -0.04266302287578583, + 0.03131384429874393 + ], + [ + -0.045978955924510956, + 0.043624527752399445, + 0.9979894161224365, + 0.020111326685985604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9972721338272095, + -0.020877640694379807, + 0.07079878449440002, + -0.026227243225705826 + ], + [ + 0.024085626006126404, + 0.9987071752548218, + -0.044764526188373566, + 0.03539436931200957 + ], + [ + -0.06977267563343048, + 0.04634764790534973, + 0.9964856505393982, + 0.018842025839928854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9970021843910217, + -0.02387610822916031, + 0.07359714806079865, + -0.000387190983451161 + ], + [ + 0.026720844209194183, + 0.9989237189292908, + -0.03791358694434166, + 0.032060979176207455 + ], + [ + -0.0726127028465271, + 0.03976650908589363, + 0.9965671300888062, + 0.00980832866566666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9937612414360046, + -0.025830870494246483, + 0.10849591344594955, + -0.010408766434059642 + ], + [ + 0.029536357149481773, + 0.9990291595458984, + -0.03268596529960632, + 0.028470010692411563 + ], + [ + -0.10754627734422684, + 0.03568661957979202, + 0.9935594201087952, + 0.01718951431076742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9917033314704895, + -0.027741486206650734, + 0.12551862001419067, + -0.0009008686353207835 + ], + [ + 0.031458571553230286, + 0.9991203546524048, + -0.02772885002195835, + 0.025912720485890318 + ], + [ + -0.12463897466659546, + 0.031447429209947586, + 0.9917036890983582, + 0.016160477868328662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9887085556983948, + -0.030550163239240646, + 0.14670391380786896, + 0.0031489899155741695 + ], + [ + 0.034869853407144547, + 0.9990280866622925, + -0.026963504031300545, + 0.026702821901920488 + ], + [ + -0.14573757350444794, + 0.03177459165453911, + 0.9888128638267517, + 0.014943943503128606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.98575359582901, + -0.030661258846521378, + 0.16537760198116302, + 0.007466271033478996 + ], + [ + 0.03559989109635353, + 0.9990018606185913, + -0.026981092989444733, + 0.028230657353786763 + ], + [ + -0.16438524425029755, + 0.032484132796525955, + 0.9858611822128296, + 0.011818060850314165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9826326370239258, + -0.02888583205640316, + 0.18329952657222748, + 0.014178311767972122 + ], + [ + 0.03466301038861275, + 0.9989956617355347, + -0.02839169092476368, + 0.029788698069751263 + ], + [ + -0.1822953075170517, + 0.034252315759658813, + 0.9826470613479614, + 0.00803977798007555 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9778207540512085, + -0.025363732129335403, + 0.20790202915668488, + 0.025327293749498783 + ], + [ + 0.032151177525520325, + 0.9990524649620056, + -0.029332995414733887, + 0.03138275701068552 + ], + [ + -0.20696105062961578, + 0.03536670655012131, + 0.9777097105979919, + 0.005554237706576195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9699828028678894, + -0.025080673396587372, + 0.24187667667865753, + 0.03317785906252888 + ], + [ + 0.033161185681819916, + 0.9990176558494568, + -0.029394082725048065, + 0.03170431221146031 + ], + [ + -0.24090184271335602, + 0.03653267025947571, + 0.9698616862297058, + 0.0011077926436960065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9609953165054321, + -0.02830970473587513, + 0.2751118540763855, + 0.039088840053369434 + ], + [ + 0.037344515323638916, + 0.998919665813446, + -0.027657050639390945, + 0.030429741595003567 + ], + [ + -0.27403169870376587, + 0.036852214485406876, + 0.9610143303871155, + -0.0033516414810792873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9531146883964539, + -0.0340653620660305, + 0.3006857931613922, + 0.039841032773256305 + ], + [ + 0.0432862751185894, + 0.9987730383872986, + -0.02405574358999729, + 0.027644820888079492 + ], + [ + -0.2994973957538605, + 0.035943448543548584, + 0.9534198641777039, + -0.008820879864532732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9445669054985046, + -0.033531468361616135, + 0.32660213112831116, + 0.042259582997126094 + ], + [ + 0.044314805418252945, + 0.998688817024231, + -0.025629952549934387, + 0.02600977726617439 + ], + [ + -0.3253144919872284, + 0.03868251293897629, + 0.9448143243789673, + -0.010343992903744433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9382522106170654, + -0.032908838242292404, + 0.34438323974609375, + 0.04750618889170178 + ], + [ + 0.043937649577856064, + 0.99873948097229, + -0.02426726184785366, + 0.021703195073878617 + ], + [ + -0.3431505560874939, + 0.037900201976299286, + 0.9385154843330383, + -0.010213693076649965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9295825958251953, + -0.02691067010164261, + 0.36763033270835876, + 0.05142268341476634 + ], + [ + 0.04015015810728073, + 0.9987896680831909, + -0.02841111831367016, + 0.02082791390758413 + ], + [ + -0.36642083525657654, + 0.04117089509963989, + 0.9295378923416138, + -0.007916009714458622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9187841415405273, + -0.020238034427165985, + 0.39424118399620056, + 0.054962000924315156 + ], + [ + 0.03555968031287193, + 0.998867928981781, + -0.031596265733242035, + 0.01916686330032719 + ], + [ + -0.39315542578697205, + 0.04304923862218857, + 0.9184637069702148, + -0.004475568253336485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9100361466407776, + -0.023960022255778313, + 0.4138358533382416, + 0.06164243499416921 + ], + [ + 0.03619113191962242, + 0.9991083741188049, + -0.021739482879638672, + 0.008557344256442483 + ], + [ + -0.41294601559638977, + 0.03476090356707573, + 0.9100918769836426, + -0.0010549808662953012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9025766253471375, + -0.02114487998187542, + 0.43000975251197815, + 0.06600569192804186 + ], + [ + 0.03371266648173332, + 0.9991975426673889, + -0.021628238260746002, + 0.0047619417730697805 + ], + [ + -0.42920735478401184, + 0.03401791304349899, + 0.9025651216506958, + 0.0011481425098780185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.8982327580451965, + -0.0247101541608572, + 0.43882495164871216, + 0.07142900805709894 + ], + [ + 0.03343704715371132, + 0.9993667602539062, + -0.0121682807803154, + -0.003933724180116491 + ], + [ + -0.43824636936187744, + 0.025602955371141434, + 0.8984901905059814, + 0.0010400240693641248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.8963234424591064, + -0.023764755576848984, + 0.44276347756385803, + 0.07508714015958673 + ], + [ + 0.03112698346376419, + 0.9994715452194214, + -0.009367644786834717, + -0.007609673538955589 + ], + [ + -0.44230684638023376, + 0.022178329527378082, + 0.8965895175933838, + -0.0008024808761300676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.8955583572387695, + -0.026190264150500298, + 0.44417262077331543, + 0.0786261971334869 + ], + [ + 0.03286676108837128, + 0.9994328022003174, + -0.007336548995226622, + -0.011068491401982173 + ], + [ + -0.44372856616973877, + 0.021168824285268784, + 0.8959112167358398, + -0.0027751814158328172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.8945464491844177, + -0.029526297003030777, + 0.44599875807762146, + 0.08116422538871819 + ], + [ + 0.03663286939263344, + 0.9993019700050354, + -0.007318662013858557, + -0.01304832900648063 + ], + [ + -0.4454713761806488, + 0.022885097190737724, + 0.8950036764144897, + -0.004443437856027467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8936667442321777, + -0.033744826912879944, + 0.44746074080467224, + 0.08261683595887685 + ], + [ + 0.042659275233745575, + 0.9990410804748535, + -0.009857202880084515, + -0.01339594287387395 + ], + [ + -0.44669899344444275, + 0.02789740264415741, + 0.8942492604255676, + -0.005900601082939213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.8944761157035828, + -0.045226577669382095, + 0.4448225200176239, + 0.08617237336133833 + ], + [ + 0.05467969551682472, + 0.9984683394432068, + -0.00843567680567503, + -0.015479876172576245 + ], + [ + -0.44375964999198914, + 0.03186826780438423, + 0.8955790400505066, + -0.006406528461135208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8949023485183716, + -0.05268659442663193, + 0.4431409537792206, + 0.08673412628513945 + ], + [ + 0.06298630684614182, + 0.9979777932167053, + -0.008544781245291233, + -0.015170741998879921 + ], + [ + -0.44179466366767883, + 0.035558559000492096, + 0.8964112401008606, + -0.006776040312597307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8966277241706848, + -0.06268113851547241, + 0.4383260905742645, + 0.08741480869761968 + ], + [ + 0.07191064953804016, + 0.9974010586738586, + -0.004468939267098904, + -0.016124180262371644 + ], + [ + -0.4369067847728729, + 0.03552728891372681, + 0.8988049030303955, + -0.00708361286354267 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8987119793891907, + -0.06817345321178436, + 0.43320801854133606, + 0.08714852880286632 + ], + [ + 0.07722876965999603, + 0.9970079064369202, + -0.0033170077949762344, + -0.014189369980729904 + ], + [ + -0.4316856563091278, + 0.036437153816223145, + 0.9012879133224487, + -0.006916177977865699 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.901665210723877, + -0.07100129127502441, + 0.42656612396240234, + 0.08774332222291979 + ], + [ + 0.0790317952632904, + 0.9968714714050293, + -0.0011277422308921814, + -0.012780882060359423 + ], + [ + -0.425151526927948, + 0.03472913056612015, + 0.9044556617736816, + -0.0070424664576174845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9028691053390503, + -0.07626142352819443, + 0.4230975806713104, + 0.08718461486495148 + ], + [ + 0.08459848910570145, + 0.9964146614074707, + -0.000929705798625946, + -0.010515526517973103 + ], + [ + -0.4215097725391388, + 0.03663281351327896, + 0.9060836434364319, + -0.006922245170857946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9038110971450806, + -0.07660949230194092, + 0.42101842164993286, + 0.08705347480073487 + ], + [ + 0.0863129049539566, + 0.9962599873542786, + -0.004008354619145393, + -0.006397240794142757 + ], + [ + -0.41913676261901855, + 0.03996212035417557, + 0.9070432186126709, + -0.006565006086760658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9042888283729553, + -0.07769268751144409, + 0.4197922646999359, + 0.08810289992114245 + ], + [ + 0.08760349452495575, + 0.9961459040641785, + -0.004348859190940857, + -0.005021024474316394 + ], + [ + -0.417836457490921, + 0.04070788994431496, + 0.9076098203659058, + -0.006200064493522132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9048140645027161, + -0.07971969991922379, + 0.4182778000831604, + 0.08999889727871296 + ], + [ + 0.08915334194898605, + 0.996013343334198, + -0.0030250530689954758, + -0.004897339881981828 + ], + [ + -0.41636908054351807, + 0.04002796858549118, + 0.9083141088485718, + -0.005820920032654274 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9051375389099121, + -0.08219495415687561, + 0.41709715127944946, + 0.09118829755964926 + ], + [ + 0.0910492092370987, + 0.9958454966545105, + -0.0013392232358455658, + -0.005179050825746715 + ], + [ + -0.41525423526763916, + 0.03918854519724846, + 0.9088609218597412, + -0.005989703552344929 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9060748219490051, + -0.08456563204526901, + 0.41458067297935486, + 0.0926499620500931 + ], + [ + 0.09290141612291336, + 0.9956753253936768, + 5.8570876717567444e-05, + -0.004852465274980511 + ], + [ + -0.41279271245002747, + 0.03846205770969391, + 0.9100126028060913, + -0.006314465297270293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9072688817977905, + -0.08816580474376678, + 0.411205530166626, + 0.09435013648817095 + ], + [ + 0.09557479619979858, + 0.9954189658164978, + 0.0025531593710184097, + -0.005132381845328771 + ], + [ + -0.4095469117164612, + 0.036984480917453766, + 0.9115390777587891, + -0.006491714565998922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9078720211982727, + -0.08848970383405685, + 0.4098023772239685, + 0.09505721831557441 + ], + [ + 0.0957203283905983, + 0.9954041242599487, + 0.0028823930770158768, + -0.0035446029640523735 + ], + [ + -0.4081740379333496, + 0.036609575152397156, + 0.9121697545051575, + -0.0065761640410091585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9074844121932983, + -0.089390330016613, + 0.41046491265296936, + 0.09543457205096881 + ], + [ + 0.09660694748163223, + 0.9953175783157349, + 0.003173133358359337, + -0.002503160635630289 + ], + [ + -0.4088265597820282, + 0.03677418828010559, + 0.9118708968162537, + -0.006622437884410222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9067622423171997, + -0.09022815525531769, + 0.4118752181529999, + 0.09578937393123821 + ], + [ + 0.09848219156265259, + 0.9951381087303162, + 0.0011885762214660645, + -0.0004141883198487545 + ], + [ + -0.4099799692630768, + 0.03948461636900902, + 0.911239504814148, + -0.006590982741218502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9068957567214966, + -0.09228407591581345, + 0.41112494468688965, + 0.09690151641850418 + ], + [ + 0.09982629865407944, + 0.9949999451637268, + 0.003139173611998558, + -0.0011362280759770957 + ], + [ + -0.4093589782714844, + 0.03819417208433151, + 0.911573588848114, + -0.00656531060293401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.907798171043396, + -0.0940626710653305, + 0.4087233245372772, + 0.0984476330505926 + ], + [ + 0.1008693277835846, + 0.9948874711990356, + 0.0049245841801166534, + -0.0017847468160976793 + ], + [ + -0.4070969521999359, + 0.03675711154937744, + 0.9126451015472412, + -0.005832679024608121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9089545011520386, + -0.09468276053667068, + 0.40600109100341797, + 0.0986168207127159 + ], + [ + 0.10074400156736374, + 0.994891345500946, + 0.0064712828025221825, + -0.002095532480437874 + ], + [ + -0.40453970432281494, + 0.035020068287849426, + 0.9138497114181519, + -0.005156028554853746 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9105595946311951, + -0.0963728129863739, + 0.4019869267940521, + 0.09830347414912477 + ], + [ + 0.10149306058883667, + 0.9947990775108337, + 0.00859755277633667, + -0.002524871766398852 + ], + [ + -0.4007247984409332, + 0.03297029435634613, + 0.9156050682067871, + -0.0048970451815274815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9112963676452637, + -0.09340152144432068, + 0.40101757645606995, + 0.09663730320957421 + ], + [ + 0.09967955946922302, + 0.9950058460235596, + 0.005230283364653587, + 0.0009295004025354214 + ], + [ + -0.39950332045555115, + 0.035206906497478485, + 0.91605544090271, + -0.004126946941691603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9125754237174988, + -0.09390103071928024, + 0.39798083901405334, + 0.09741468581102662 + ], + [ + 0.09955837577581406, + 0.9950106143951416, + 0.006477701477706432, + 0.0016421811181609944 + ], + [ + -0.39660343527793884, + 0.03371093049645424, + 0.9173708558082581, + -0.003392142682509907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9131593704223633, + -0.0931708961725235, + 0.39681121706962585, + 0.09706562647206635 + ], + [ + 0.09853138029575348, + 0.9951099753379822, + 0.0069061387330293655, + 0.002539996141936146 + ], + [ + -0.39551427960395813, + 0.032791949808597565, + 0.917874276638031, + -0.0028559032448772655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9141047596931458, + -0.0950777530670166, + 0.39417344331741333, + 0.09755337448780146 + ], + [ + 0.09925095736980438, + 0.9950137734413147, + 0.009838055819272995, + 0.0016967197890672345 + ], + [ + -0.3931434154510498, + 0.030129075050354004, + 0.9189833998680115, + -0.002638725156627469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9146631360054016, + -0.0946643203496933, + 0.3929758071899414, + 0.09711267634973687 + ], + [ + 0.09905509650707245, + 0.9950399398803711, + 0.009142391383647919, + 0.0028068863360558582 + ], + [ + -0.39189207553863525, + 0.030564043670892715, + 0.919503390789032, + -0.002307237076999272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9155396819114685, + -0.09539839625358582, + 0.390750914812088, + 0.09657693616414474 + ], + [ + 0.09884200990200043, + 0.9950385093688965, + 0.011340451426804066, + 0.002334422773897317 + ], + [ + -0.3898940980434418, + 0.02823997288942337, + 0.920426607131958, + -0.002559908626253827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9165377616882324, + -0.09395841509103775, + 0.3887549340724945, + 0.09621376276942296 + ], + [ + 0.09768655151128769, + 0.9951648116111755, + 0.010213897563517094, + 0.0036856823806035374 + ], + [ + -0.38783493638038635, + 0.028614703565835953, + 0.921284556388855, + -0.0020197263087466948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9174314737319946, + -0.09302245825529099, + 0.38686737418174744, + 0.09627474021103423 + ], + [ + 0.09702663868665695, + 0.9952391386032104, + 0.00921323150396347, + 0.004888924173379355 + ], + [ + -0.38588258624076843, + 0.02908392995595932, + 0.9220893383026123, + -0.0017850299050115933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9173360466957092, + -0.0903267189860344, + 0.38773149251937866, + 0.09545667788992494 + ], + [ + 0.09542331844568253, + 0.9954178929328918, + 0.006132048554718494, + 0.0072422698729455795 + ], + [ + -0.3865087628364563, + 0.03137347474694252, + 0.9217519760131836, + -0.0018817655813201505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9169456958770752, + -0.08798080682754517, + 0.3891914188861847, + 0.09542297413625286 + ], + [ + 0.09366562962532043, + 0.9955940246582031, + 0.004385669715702534, + 0.008782342926593821 + ], + [ + -0.38786253333091736, + 0.0324324369430542, + 0.9211464524269104, + -0.00249324895462579 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9157648086547852, + -0.08348595350980759, + 0.3929438889026642, + 0.09547702494566723 + ], + [ + 0.09035653620958328, + 0.9959089756011963, + 0.0010156035423278809, + 0.011294215349322657 + ], + [ + -0.3914211094379425, + 0.03457499295473099, + 0.9195619225502014, + -0.0019886573318834023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9153273701667786, + -0.08466140925884247, + 0.3937109112739563, + 0.09711371744419896 + ], + [ + 0.09026236832141876, + 0.9959087371826172, + 0.004306245595216751, + 0.00926387723808908 + ], + [ + -0.39246469736099243, + 0.03159565478563309, + 0.919224202632904, + -0.0025535236123296837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9152169227600098, + -0.08384023606777191, + 0.3941432237625122, + 0.09863503583743748 + ], + [ + 0.08875435590744019, + 0.9960367679595947, + 0.00578081700950861, + 0.008496452834309831 + ], + [ + -0.39306581020355225, + 0.029691223055124283, + 0.9190308451652527, + -0.0016934579643447184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9152005314826965, + -0.08290913701057434, + 0.39437806606292725, + 0.09908854234016548 + ], + [ + 0.08751960098743439, + 0.9961427450180054, + 0.0063171787187457085, + 0.008596082120123555 + ], + [ + -0.3933805823326111, + 0.028734322637319565, + 0.9189265966415405, + -0.0010728119114824272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9154087901115417, + -0.08005186915397644, + 0.3944850564002991, + 0.09957894367181648 + ], + [ + 0.08458167314529419, + 0.99639892578125, + 0.005923647433519363, + 0.009763795861416617 + ], + [ + -0.3935387134552002, + 0.027943652123212814, + 0.9188832640647888, + -0.0011409325120012976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9152448177337646, + -0.07842323929071426, + 0.39519208669662476, + 0.10019407513956566 + ], + [ + 0.0827256515622139, + 0.9965532422065735, + 0.006170951761305332, + 0.01068819158494809 + ], + [ + -0.3943139314651489, + 0.027044586837291718, + 0.9185777902603149, + -0.0004583705811219364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9154046773910522, + -0.07756735384464264, + 0.39499059319496155, + 0.10067060844878019 + ], + [ + 0.08142688870429993, + 0.9966546297073364, + 0.007011060602962971, + 0.011350344045687528 + ], + [ + -0.3942130506038666, + 0.02574489638209343, + 0.918658435344696, + -6.384247187840738e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9158753752708435, + -0.07616949081420898, + 0.3941706418991089, + 0.10102505518049844 + ], + [ + 0.08067083358764648, + 0.9967274069786072, + 0.005164727568626404, + 0.013979393740495047 + ], + [ + -0.39327406883239746, + 0.027067821472883224, + 0.919022798538208, + 0.0009601159860501013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9162116050720215, + -0.0784335732460022, + 0.3929433822631836, + 0.1006330606627599 + ], + [ + 0.0816279798746109, + 0.9966257214546204, + 0.00860280729830265, + 0.013474174159563194 + ], + [ + -0.3922922611236572, + 0.024193180724978447, + 0.9195224046707153, + 0.0015561611333725143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9162376523017883, + -0.07735464721918106, + 0.3930964767932892, + 0.09959149802640332 + ], + [ + 0.08017627149820328, + 0.9967376589775085, + 0.00926431454718113, + 0.015378917766324544 + ], + [ + -0.3925307095050812, + 0.023028695955872536, + 0.9194505214691162, + 0.0023618808631800997 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9164636135101318, + -0.07586991786956787, + 0.3928591012954712, + 0.09911468364087875 + ], + [ + 0.07866890728473663, + 0.9968602061271667, + 0.008996902033686638, + 0.01763433494768237 + ], + [ + -0.39230817556381226, + 0.022660458460450172, + 0.9195546507835388, + 0.002820792142301798 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9167317748069763, + -0.07562603056430817, + 0.39228004217147827, + 0.09875775097453661 + ], + [ + 0.07803292572498322, + 0.9969022870063782, + 0.009830988943576813, + 0.019232244646481877 + ], + [ + -0.39180833101272583, + 0.02159837633371353, + 0.9197933077812195, + 0.0024898382716701697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9172578454017639, + -0.07336487621068954, + 0.3914788067340851, + 0.0998400036435006 + ], + [ + 0.07577923685312271, + 0.9970812201499939, + 0.009302277117967606, + 0.02139483545670065 + ], + [ + -0.39101865887641907, + 0.02113337814807892, + 0.9201400876045227, + 0.0028639943504674458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9175142049789429, + -0.07309137284755707, + 0.3909287750720978, + 0.10031859078312998 + ], + [ + 0.07468466460704803, + 0.997144877910614, + 0.011148939840495586, + 0.02207011087550282 + ], + [ + -0.39062753319740295, + 0.018967069685459137, + 0.9203534126281738, + 0.0022122322276529284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9180799722671509, + -0.07404793798923492, + 0.3894175589084625, + 0.10124351234085815 + ], + [ + 0.07432016730308533, + 0.9971306324005127, + 0.014389699324965477, + 0.021470932077384944 + ], + [ + -0.38936570286750793, + 0.015730682760477066, + 0.9209489226341248, + 0.0012724397069969252 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9182950258255005, + -0.07275141030550003, + 0.3891547620296478, + 0.10146534834372795 + ], + [ + 0.0728330984711647, + 0.9972378015518188, + 0.014565370045602322, + 0.022667696731070344 + ], + [ + -0.3891395032405853, + 0.01496803853660822, + 0.9210572242736816, + 0.0003060010514395722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9186602234840393, + -0.07150401175022125, + 0.38852357864379883, + 0.10263956685019078 + ], + [ + 0.0716005265712738, + 0.9973315596580505, + 0.014250490814447403, + 0.02370007706984962 + ], + [ + -0.38850581645965576, + 0.014727132394909859, + 0.921328604221344, + -0.00042181919265727873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9185911417007446, + -0.07105685770511627, + 0.3887689411640167, + 0.1035796914060237 + ], + [ + 0.07112890481948853, + 0.9973656535148621, + 0.014227708801627159, + 0.024390825818655856 + ], + [ + -0.38875576853752136, + 0.014583257958292961, + 0.9212254285812378, + -0.001681203357770113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9182748198509216, + -0.07192949205636978, + 0.38935524225234985, + 0.10505553886799489 + ], + [ + 0.07171361893415451, + 0.9973108172416687, + 0.015110215172171593, + 0.024354753851638003 + ], + [ + -0.3893950581550598, + 0.014046741649508476, + 0.920963704586029, + -0.002371907255501818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9179708957672119, + -0.06952615827322006, + 0.39050671458244324, + 0.10758328601128637 + ], + [ + 0.06943384557962418, + 0.9974830150604248, + 0.0143734160810709, + 0.02554977090008515 + ], + [ + -0.39052316546440125, + 0.013920005410909653, + 0.9204878807067871, + -0.0025658549259464114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.916756272315979, + -0.07082439213991165, + 0.39311808347702026, + 0.10830990909098906 + ], + [ + 0.07057031244039536, + 0.9973922371864319, + 0.01511993259191513, + 0.025826239000774374 + ], + [ + -0.393163800239563, + 0.013881171122193336, + 0.9193636775016785, + -0.004034287930271552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9166540503501892, + -0.071175217628479, + 0.3932931423187256, + 0.11111170417171413 + ], + [ + 0.07104392349720001, + 0.9973617196083069, + 0.014911866746842861, + 0.026634972138425056 + ], + [ + -0.3933168649673462, + 0.014272063039243221, + 0.9192922115325928, + -0.004383837879966881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9162554144859314, + -0.0724838525056839, + 0.3939823508262634, + 0.11283077856915145 + ], + [ + 0.0721224993467331, + 0.9972714781761169, + 0.0157455001026392, + 0.027055413252805582 + ], + [ + -0.39404863119125366, + 0.013988087885081768, + 0.9189831614494324, + -0.005102264929015589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9153152704238892, + -0.07636887580156326, + 0.39543116092681885, + 0.11258185446093985 + ], + [ + 0.07521743327379227, + 0.9969966411590576, + 0.018440261483192444, + 0.026444550854085536 + ], + [ + -0.39565181732177734, + 0.012864664196968079, + 0.9183104634284973, + -0.0062118426607237695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9149703979492188, + -0.07715995609760284, + 0.39607518911361694, + 0.11361335973113271 + ], + [ + 0.0766477882862091, + 0.996910810470581, + 0.017146077007055283, + 0.028139963203062446 + ], + [ + -0.3961746096611023, + 0.014670130796730518, + 0.9180579781532288, + -0.0063022502508582705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9145676493644714, + -0.07745231688022614, + 0.3969472646713257, + 0.11479794297177913 + ], + [ + 0.07729959487915039, + 0.9968728423118591, + 0.016411233693361282, + 0.02953002781812418 + ], + [ + -0.3969770073890686, + 0.015674680471420288, + 0.9176946878433228, + -0.00619552648063265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9128147959709167, + -0.07733151316642761, + 0.4009850025177002, + 0.11461551592680021 + ], + [ + 0.07723776996135712, + 0.9968773722648621, + 0.016425197944045067, + 0.030521134139791045 + ], + [ + -0.40100306272506714, + 0.015978021547198296, + 0.9159373641014099, + -0.006459772960403881 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9115240573883057, + -0.07646302133798599, + 0.4040758013725281, + 0.11507405022443351 + ], + [ + 0.07681561261415482, + 0.9969269037246704, + 0.015365357510745525, + 0.03213357235289227 + ], + [ + -0.4040089249610901, + 0.01703343354165554, + 0.914596438407898, + -0.006606938538409896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9109803438186646, + -0.07693591713905334, + 0.4052106440067291, + 0.11660084822083597 + ], + [ + 0.07653898000717163, + 0.9969180822372437, + 0.017209067940711975, + 0.03174741282048872 + ], + [ + -0.4052858054637909, + 0.015337285585701466, + 0.9140613675117493, + -0.006330646640268591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9107965230941772, + -0.07630492746829987, + 0.4057428240776062, + 0.11705089416881065 + ], + [ + 0.07582804560661316, + 0.9969712495803833, + 0.017276683822274208, + 0.03249283644902168 + ], + [ + -0.4058322310447693, + 0.015031138435006142, + 0.9138239622116089, + -0.006679232933132325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9110193848609924, + -0.07502412050962448, + 0.4054812490940094, + 0.11753007624361475 + ], + [ + 0.07457097619771957, + 0.9970718026161194, + 0.016939958557486534, + 0.03387112432490971 + ], + [ + -0.4055648148059845, + 0.014804498292505741, + 0.9139463901519775, + -0.007034756756245585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9109312295913696, + -0.07555815577507019, + 0.4055802524089813, + 0.11708519803938892 + ], + [ + 0.07453429698944092, + 0.9970497488975525, + 0.018343161791563034, + 0.03390408693312926 + ], + [ + -0.4057696759700775, + 0.013520275242626667, + 0.91387540102005, + -0.007767095483081825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.911040723323822, + -0.07538416981697083, + 0.40536656975746155, + 0.11717207298777198 + ], + [ + 0.07414287328720093, + 0.9970706105232239, + 0.018788350746035576, + 0.03440003129259005 + ], + [ + -0.40559545159339905, + 0.012938084080815315, + 0.9139611124992371, + -0.008065921568053927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.911186158657074, + -0.07465244084596634, + 0.4051750600337982, + 0.11738987739308406 + ], + [ + 0.07337681204080582, + 0.9971289038658142, + 0.018703440204262733, + 0.03494647541162322 + ], + [ + -0.40540799498558044, + 0.012688136659562588, + 0.9140477776527405, + -0.008597357501670466 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9112441539764404, + -0.07306347042322159, + 0.4053342640399933, + 0.11783191748173896 + ], + [ + 0.07227014750242233, + 0.9972352981567383, + 0.017283808439970016, + 0.036302210264286754 + ], + [ + -0.40547648072242737, + 0.01354379951953888, + 0.9140051603317261, + -0.009170532418088724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9113534092903137, + -0.07226596027612686, + 0.4052315652370453, + 0.11873324295390124 + ], + [ + 0.07137493044137955, + 0.9972989559173584, + 0.017330801114439964, + 0.036627050457616994 + ], + [ + -0.4053894579410553, + 0.013128888793289661, + 0.9140498042106628, + -0.01020948491506489 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.911105215549469, + -0.07115229964256287, + 0.4059859812259674, + 0.11938434813992452 + ], + [ + 0.07049903273582458, + 0.9973739385604858, + 0.016585327684879303, + 0.03736609246392371 + ], + [ + -0.40609994530677795, + 0.013510637916624546, + 0.9137288331985474, + -0.010996716966757835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9110108017921448, + -0.06999901682138443, + 0.40639814734458923, + 0.12038635631739084 + ], + [ + 0.06980375200510025, + 0.9974430203437805, + 0.015325014479458332, + 0.038484223784699956 + ], + [ + -0.4064317047595978, + 0.014406857080757618, + 0.9135676026344299, + -0.011753591819334839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9107740521430969, + -0.07030995935201645, + 0.4068748354911804, + 0.12136741639614779 + ], + [ + 0.07018592208623886, + 0.9974173307418823, + 0.01525002159178257, + 0.03863455194790484 + ], + [ + -0.4068962335586548, + 0.014667559415102005, + 0.913356602191925, + -0.012078475566991305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9107613563537598, + -0.07194488495588303, + 0.4066174030303955, + 0.12223042671458195 + ], + [ + 0.07116851955652237, + 0.9973185062408447, + 0.017053937539458275, + 0.03772835713827004 + ], + [ + -0.4067540168762207, + 0.013406290672719479, + 0.9134393334388733, + -0.012551123434204167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9109779596328735, + -0.07331150770187378, + 0.4058873951435089, + 0.12301375864252533 + ], + [ + 0.07244417071342468, + 0.9972184896469116, + 0.017523471266031265, + 0.037892761340333245 + ], + [ + -0.40604308247566223, + 0.013440677896142006, + 0.9137550592422485, + -0.012684429537946896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9110540151596069, + -0.07451371848583221, + 0.40549761056900024, + 0.12307951724798666 + ], + [ + 0.07353626191616058, + 0.9971298575401306, + 0.018013296648859978, + 0.03811590570935422 + ], + [ + -0.405676007270813, + 0.013407686725258827, + 0.9139186143875122, + -0.012576512537770352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9110687971115112, + -0.07541497051715851, + 0.40529778599739075, + 0.12277374361026085 + ], + [ + 0.07456435263156891, + 0.9970553517341614, + 0.017911868169903755, + 0.03885435187968157 + ], + [ + -0.4054551422595978, + 0.013901820406317711, + 0.9140092134475708, + -0.012233937389643516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9110342860221863, + -0.07644078880548477, + 0.4051831364631653, + 0.12234091311693192 + ], + [ + 0.07551499456167221, + 0.9969767928123474, + 0.01829531602561474, + 0.03926708611349265 + ], + [ + -0.4053567051887512, + 0.013929741457104683, + 0.9140524864196777, + -0.01202297608057658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9110439419746399, + -0.07621356099843979, + 0.4052042067050934, + 0.12207375008423449 + ], + [ + 0.0754236951470375, + 0.9969901442527771, + 0.01794123835861683, + 0.039943881629634706 + ], + [ + -0.4053519666194916, + 0.014216741546988487, + 0.9140501618385315, + -0.011630201380763013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9111400246620178, + -0.07540169358253479, + 0.40514010190963745, + 0.1220158469879021 + ], + [ + 0.07492099702358246, + 0.9970433712005615, + 0.017068754881620407, + 0.040869566564590246 + ], + [ + -0.40522927045822144, + 0.014801472425460815, + 0.9140952825546265, + -0.011426578449495768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9111580848693848, + -0.07565480470657349, + 0.4050522446632385, + 0.12189684607888346 + ], + [ + 0.0749296247959137, + 0.9970322251319885, + 0.017670687288045883, + 0.04085035156984787 + ], + [ + -0.4051870107650757, + 0.014249615371227264, + 0.9141227602958679, + -0.011502360836681673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.91124427318573, + -0.07462883740663528, + 0.405048668384552, + 0.12209546773952279 + ], + [ + 0.07408282905817032, + 0.9971063733100891, + 0.017048148438334465, + 0.04140506322353574 + ], + [ + -0.40514886379241943, + 0.014472125098109245, + 0.9141361713409424, + -0.01128842943574244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.9113031029701233, + -0.07588014751672745, + 0.4046836197376251, + 0.12231834433593992 + ], + [ + 0.07483232766389847, + 0.997025728225708, + 0.018432971090078354, + 0.040430440684243785 + ], + [ + -0.404878705739975, + 0.013485395349562168, + 0.9142709374427795, + -0.011452010196586282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.911133885383606, + -0.07585600763559341, + 0.4050690829753876, + 0.12215569108556219 + ], + [ + 0.07489045709371567, + 0.997024655342102, + 0.018256328999996185, + 0.04023452096192513 + ], + [ + -0.4052487313747406, + 0.013701848685741425, + 0.9141038060188293, + -0.011526101678188912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9111089110374451, + -0.07468819618225098, + 0.40534213185310364, + 0.12277874720972137 + ], + [ + 0.07429884374141693, + 0.9970958828926086, + 0.016719108447432518, + 0.040655018677566684 + ], + [ + -0.4054136574268341, + 0.01488352008163929, + 0.9140121936798096, + -0.01103975829578894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9105252027511597, + -0.07363715022802353, + 0.40684330463409424, + 0.12275851629043029 + ], + [ + 0.07385507971048355, + 0.9971532821655273, + 0.015191620215773582, + 0.04103381497375036 + ], + [ + -0.40680378675460815, + 0.016215095296502113, + 0.9133716225624084, + -0.010768224734623553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9100772738456726, + -0.07380403578281403, + 0.40781405568122864, + 0.12302132056089445 + ], + [ + 0.073924720287323, + 0.997143566608429, + 0.015487486496567726, + 0.040733404186064914 + ], + [ + -0.40779218077659607, + 0.01605272851884365, + 0.9129336476325989, + -0.010965222291816762 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9099772572517395, + -0.07469954341650009, + 0.4078742563724518, + 0.12339725878279088 + ], + [ + 0.07425259798765182, + 0.9970953464508057, + 0.01695227436721325, + 0.03993829194940417 + ], + [ + -0.4079558551311493, + 0.01485954038798809, + 0.9128807187080383, + -0.011235670812722653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9101150631904602, + -0.07430058717727661, + 0.4076395332813263, + 0.12401972625215174 + ], + [ + 0.0742335319519043, + 0.9971123933792114, + 0.016006741672754288, + 0.040714476446984185 + ], + [ + -0.40765175223350525, + 0.015692543238401413, + 0.913002610206604, + -0.011269159709750596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.910097062587738, + -0.07466430217027664, + 0.40761327743530273, + 0.12404427155431381 + ], + [ + 0.07458793371915817, + 0.997084379196167, + 0.016104359179735184, + 0.041171890699257294 + ], + [ + -0.40762728452682495, + 0.015746504068374634, + 0.9130126237869263, + -0.011186202051444242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9100652933120728, + -0.07539112120866776, + 0.4075504541397095, + 0.1236885086670097 + ], + [ + 0.07521132379770279, + 0.9970312714576721, + 0.01648898236453533, + 0.04154355608053127 + ], + [ + -0.40758365392684937, + 0.015646355226635933, + 0.9130338430404663, + -0.011035957712532773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9101517796516418, + -0.07576480507850647, + 0.40728795528411865, + 0.12350353143982969 + ], + [ + 0.07571451365947723, + 0.9969968199729919, + 0.01626753807067871, + 0.04245807214056031 + ], + [ + -0.4072973132133484, + 0.016031675040721893, + 0.9131549000740051, + -0.01059954987554732 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9102035760879517, + -0.07643451541662216, + 0.40704697370529175, + 0.12323784815136996 + ], + [ + 0.07652992755174637, + 0.9969376921653748, + 0.0160734374076128, + 0.043515862175131925 + ], + [ + -0.40702903270721436, + 0.016521168872714043, + 0.9132658243179321, + -0.009864006354605074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9102643728256226, + -0.076772540807724, + 0.40684738755226135, + 0.12262562883775786 + ], + [ + 0.07683373987674713, + 0.9969120621681213, + 0.016213586553931236, + 0.04465524096904838 + ], + [ + -0.4068358242511749, + 0.01650095544755459, + 0.9133522510528564, + -0.009362800981281167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.9107410907745361, + -0.07789460569620132, + 0.40556517243385315, + 0.12262735648427979 + ], + [ + 0.07739830762147903, + 0.9968439936637878, + 0.017651770263910294, + 0.04518118680659998 + ], + [ + -0.4056601822376251, + 0.015313862822949886, + 0.9138956665992737, + -0.008952531576851162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9110119342803955, + -0.0785859152674675, + 0.4048228859901428, + 0.12192321695850394 + ], + [ + 0.07755320519208908, + 0.9968075752258301, + 0.018978998064994812, + 0.04579965266383301 + ], + [ + -0.4050219655036926, + 0.014105211943387985, + 0.9141981601715088, + -0.008859402528506213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9117239713668823, + -0.07992400228977203, + 0.40295353531837463, + 0.1219433635894188 + ], + [ + 0.07835988700389862, + 0.9967164397239685, + 0.020396828651428223, + 0.0462264824574445 + ], + [ + -0.40326061844825745, + 0.01297911535948515, + 0.9149931073188782, + -0.008709976358581228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9118669629096985, + -0.08050880581140518, + 0.40251338481903076, + 0.12052785600140943 + ], + [ + 0.07849016040563583, + 0.9966822266578674, + 0.02153743803501129, + 0.046965114128286564 + ], + [ + -0.402911901473999, + 0.01195406075567007, + 0.9151607155799866, + -0.008791262520698168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9118328094482422, + -0.08073803782463074, + 0.4025447964668274, + 0.11895032158005708 + ], + [ + 0.07862786948680878, + 0.9966657757759094, + 0.021794773638248444, + 0.04796604184528529 + ], + [ + -0.40296226739883423, + 0.011778045445680618, + 0.9151408076286316, + -0.00861730752249727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9110606908798218, + -0.07900825887918472, + 0.4046308994293213, + 0.11693707925114928 + ], + [ + 0.07750871032476425, + 0.996788740158081, + 0.020115626975893974, + 0.049921543910931065 + ], + [ + -0.4049208164215088, + 0.013035858049988747, + 0.9142588376998901, + -0.008226356569067233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.909347414970398, + -0.07653176784515381, + 0.40893787145614624, + 0.1149426654486333 + ], + [ + 0.07539884746074677, + 0.996973991394043, + 0.018918350338935852, + 0.0512399402336549 + ], + [ + -0.40914827585220337, + 0.013630093075335026, + 0.9123660922050476, + -0.007879485380914757 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9075655341148376, + -0.07056927680969238, + 0.41393813490867615, + 0.11450249459278786 + ], + [ + 0.06923188269138336, + 0.997433602809906, + 0.01825321465730667, + 0.05209220839127647 + ], + [ + -0.4141639173030853, + 0.012091721408069134, + 0.9101219773292542, + -0.00731018645804649 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.906324028968811, + -0.06590068340301514, + 0.41741329431533813, + 0.11521973254653693 + ], + [ + 0.06506127119064331, + 0.997748851776123, + 0.01625662110745907, + 0.05359168463086679 + ], + [ + -0.417544960975647, + 0.01242367085069418, + 0.9085713624954224, + -0.006204473351965011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.905787467956543, + -0.06700015813112259, + 0.4184017479419708, + 0.11723934048313206 + ], + [ + 0.06613544374704361, + 0.9976727962493896, + 0.016585921868681908, + 0.05376231999341714 + ], + [ + -0.4185393154621124, + 0.012647864408791065, + 0.9081106185913086, + -0.00471130891434722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9052379131317139, + -0.061397142708301544, + 0.42044588923454285, + 0.11802005639436555 + ], + [ + 0.06153608113527298, + 0.998016893863678, + 0.013249251060187817, + 0.056860321248739465 + ], + [ + -0.42042556405067444, + 0.013878866098821163, + 0.9072209000587463, + -0.0035446114432971694 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9048389196395874, + -0.05762648954987526, + 0.42183613777160645, + 0.1191599166620586 + ], + [ + 0.05857835337519646, + 0.9982252717018127, + 0.010715640150010586, + 0.05970300692159913 + ], + [ + -0.4217050075531006, + 0.015014535747468472, + 0.9066087603569031, + -0.0018838337348974022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9043599367141724, + -0.056416045874357224, + 0.4230252206325531, + 0.11998988092577054 + ], + [ + 0.05672990158200264, + 0.998319149017334, + 0.011859734542667866, + 0.06026916603036857 + ], + [ + -0.4229832589626312, + 0.013272709213197231, + 0.9060403108596802, + -0.0012012321225730543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.9024948477745056, + -0.05313096567988396, + 0.42741093039512634, + 0.12018542564184652 + ], + [ + 0.05358855053782463, + 0.9985028505325317, + 0.010968431830406189, + 0.062139685689813665 + ], + [ + -0.4273538291454315, + 0.01300537958741188, + 0.9039909243583679, + -0.0013258388097592668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.8973574638366699, + -0.04395781457424164, + 0.4391096830368042, + 0.12154053327559078 + ], + [ + 0.04675886034965515, + 0.9988963603973389, + 0.0044405460357666016, + 0.06725108229928772 + ], + [ + -0.4388202428817749, + 0.016547508537769318, + 0.8984225392341614, + -0.0009738247218084031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.8934953212738037, + -0.04657081887125969, + 0.4466511607170105, + 0.12574250724608615 + ], + [ + 0.04670364782214165, + 0.9988512992858887, + 0.010719400830566883, + 0.06381834645645093 + ], + [ + -0.44663727283477783, + 0.011282502673566341, + 0.8946439623832703, + -0.0023382712447605394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.8915848135948181, + -0.04631602764129639, + 0.45047900080680847, + 0.13121956303968269 + ], + [ + 0.04470890760421753, + 0.9988989233970642, + 0.014214303344488144, + 0.06170398475297091 + ], + [ + -0.45064136385917664, + 0.00746716745197773, + 0.8926738500595093, + -0.003337371386692854 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.8871873021125793, + -0.04026366025209427, + 0.4596494138240814, + 0.13550814504677294 + ], + [ + 0.04061762988567352, + 0.9991331100463867, + 0.009122847579419613, + 0.06428325078160749 + ], + [ + -0.4596182405948639, + 0.01057619322091341, + 0.8880535960197449, + -0.0018010240111310605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.8833027482032776, + -0.03864983469247818, + 0.46720707416534424, + 0.13912331751089985 + ], + [ + 0.03848665952682495, + 0.9992101192474365, + 0.009896964766085148, + 0.06409260487910046 + ], + [ + -0.4672205448150635, + 0.009239221923053265, + 0.8840925693511963, + -0.0002960151834886962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.8792515397071838, + -0.03834674879908562, + 0.4748118221759796, + 0.14229983201218863 + ], + [ + 0.039805833250284195, + 0.9991829991340637, + 0.006983987521380186, + 0.0670586838329074 + ], + [ + -0.4746917188167572, + 0.01275959424674511, + 0.8800596594810486, + 0.0026944407951191994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.8768242597579956, + -0.03861268609762192, + 0.47925806045532227, + 0.1449139165970902 + ], + [ + 0.03985369950532913, + 0.9991767406463623, + 0.007587162312120199, + 0.06907429657666024 + ], + [ + -0.4791564345359802, + 0.012447595596313477, + 0.8776412606239319, + 0.0059303254741480795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.8748658895492554, + -0.03925425931811333, + 0.48277199268341064, + 0.1465496515571061 + ], + [ + 0.042122457176446915, + 0.9991004467010498, + 0.004903866909444332, + 0.07413575100886115 + ], + [ + -0.4825301766395569, + 0.01604531705379486, + 0.8757323622703552, + 0.010325282379606013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.8744405508041382, + -0.042197100818157196, + 0.48329412937164307, + 0.14869351363872405 + ], + [ + 0.04392583668231964, + 0.9990047216415405, + 0.007748025469481945, + 0.07667239253635462 + ], + [ + -0.4831400513648987, + 0.014453909359872341, + 0.875423789024353, + 0.014341851790556632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.8747140765190125, + -0.04535537585616112, + 0.48251238465309143, + 0.15095807944903267 + ], + [ + 0.0454222671687603, + 0.9989010691642761, + 0.011552107520401478, + 0.07941318838357252 + ], + [ + -0.48250606656074524, + 0.011812017299234867, + 0.8758129477500916, + 0.018421560423817002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.8754120469093323, + -0.047100286930799484, + 0.48107725381851196, + 0.1532840956633879 + ], + [ + 0.046879883855581284, + 0.9988225102424622, + 0.01248367503285408, + 0.08327877895148883 + ], + [ + -0.4810987710952759, + 0.011624481528997421, + 0.8765893578529358, + 0.02256526866833032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.876038670539856, + -0.05111844465136528, + 0.4795238673686981, + 0.15531021710169518 + ], + [ + 0.04864364489912987, + 0.9986612200737, + 0.01759307086467743, + 0.08577687242515596 + ], + [ + -0.47978124022483826, + 0.007913575507700443, + 0.8773524761199951, + 0.026446758564245904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.8772143721580505, + -0.05377790331840515, + 0.477077454328537, + 0.15819016238727138 + ], + [ + 0.050329968333244324, + 0.9985320568084717, + 0.020015176385641098, + 0.08941652018703142 + ], + [ + -0.4774535000324249, + 0.006453691981732845, + 0.8786333203315735, + 0.03019123473862386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.8788747191429138, + -0.0576532781124115, + 0.4735561013221741, + 0.1612637031886537 + ], + [ + 0.052034638822078705, + 0.9983330368995667, + 0.02497115544974804, + 0.09233739847254198 + ], + [ + -0.4742063879966736, + 0.0026948004961013794, + 0.8804095983505249, + 0.033370638866040664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.8811286687850952, + -0.05906262621283531, + 0.46917369961738586, + 0.16498965229312915 + ], + [ + 0.05211612209677696, + 0.9982542991638184, + 0.02779037319123745, + 0.09542133033428193 + ], + [ + -0.46999600529670715, + -3.538280725479126e-05, + 0.8826685547828674, + 0.036324431469379845 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.883420467376709, + -0.062354620546102524, + 0.4644138216972351, + 0.16843480157145 + ], + [ + 0.05333021655678749, + 0.9980460405349731, + 0.0325566902756691, + 0.09624323095826401 + ], + [ + -0.4655364751815796, + -0.003993958234786987, + 0.8850197196006775, + 0.03983180346967137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.8869006633758545, + -0.06038105487823486, + 0.4579971730709076, + 0.1734567506838653 + ], + [ + 0.05176080763339996, + 0.9981669187545776, + 0.03136194497346878, + 0.0987368485164213 + ], + [ + -0.4590512812137604, + -0.004108628258109093, + 0.8884002566337585, + 0.04333597849423097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.8891281485557556, + -0.05987915024161339, + 0.4537242650985718, + 0.1769732395934183 + ], + [ + 0.050892423838377, + 0.998191237449646, + 0.03200392425060272, + 0.09919908180264599 + ], + [ + -0.454819917678833, + -0.005364464595913887, + 0.8905673027038574, + 0.04649651043201234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.891101062297821, + -0.05941860377788544, + 0.4498981535434723, + 0.18052063633998236 + ], + [ + 0.0498148649930954, + 0.9982075691223145, + 0.03316756337881088, + 0.09857002981270185 + ], + [ + -0.45106253027915955, + -0.007144037634134293, + 0.892463743686676, + 0.04907634942502962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.8937203884124756, + -0.05969426780939102, + 0.44463518261909485, + 0.18416725270828957 + ], + [ + 0.049515530467033386, + 0.9981778860092163, + 0.034483227878808975, + 0.09782758929166879 + ], + [ + -0.44588348269462585, + -0.008802021853625774, + 0.8950477838516235, + 0.05052709815613294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.8968778848648071, + -0.059595946222543716, + 0.43824467062950134, + 0.1879883234594333 + ], + [ + 0.04964744672179222, + 0.9981832504272461, + 0.03413613513112068, + 0.09817162977773591 + ], + [ + -0.4394828975200653, + -0.008858217857778072, + 0.8982073068618774, + 0.05212095533944877 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.900227427482605, + -0.059182215481996536, + 0.4313792884349823, + 0.191170841013476 + ], + [ + 0.049954187124967575, + 0.9982160329818726, + 0.03270094841718674, + 0.09915943821960545 + ], + [ + -0.4325450360774994, + -0.007889090105891228, + 0.9015778303146362, + 0.052942585126407406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9028884172439575, + -0.058145180344581604, + 0.42592450976371765, + 0.1942740620950521 + ], + [ + 0.0497979000210762, + 0.9982868432998657, + 0.030718166381120682, + 0.10093821432378333 + ], + [ + -0.4269809424877167, + -0.006524928845465183, + 0.9042370915412903, + 0.05350817419051872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9051194190979004, + -0.056402698159217834, + 0.4213995635509491, + 0.19682045775955007 + ], + [ + 0.04912074655294418, + 0.9983967542648315, + 0.028125640004873276, + 0.10297965362752225 + ], + [ + -0.42231032252311707, + -0.004757602699100971, + 0.9064388275146484, + 0.05364565077516655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9059553742408752, + -0.055804360657930374, + 0.4196793735027313, + 0.19761192020512908 + ], + [ + 0.049247857183218, + 0.9984362721443176, + 0.026450524106621742, + 0.10546263088024943 + ], + [ + -0.42049917578697205, + -0.003294687718153, + 0.9072869420051575, + 0.053434847179526665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9080445766448975, + -0.0559297613799572, + 0.41512277722358704, + 0.19894570694383928 + ], + [ + 0.049485962837934494, + 0.9984291791915894, + 0.02627282589673996, + 0.10751729006168702 + ], + [ + -0.41594013571739197, + -0.0033141467720270157, + 0.9093859791755676, + 0.05233700351821164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9094035029411316, + -0.05094366893172264, + 0.41278332471847534, + 0.19972951477656595 + ], + [ + 0.046937111765146255, + 0.9987006783485413, + 0.01984747312963009, + 0.11307777988456064 + ], + [ + -0.41325807571411133, + 0.0013254936784505844, + 0.9106130003929138, + 0.05194387549671244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.91143399477005, + -0.04876886308193207, + 0.4085458219051361, + 0.2015797906002756 + ], + [ + 0.04556935280561447, + 0.9988067150115967, + 0.017567697912454605, + 0.11628034756345265 + ], + [ + -0.40891507267951965, + 0.0026053707115352154, + 0.9125687479972839, + 0.050258160609815083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.9160639047622681, + -0.04853561520576477, + 0.3980843722820282, + 0.2061767578125 + ], + [ + 0.0461060106754303, + 0.9988135099411011, + 0.015680035576224327, + 0.1192832887172699 + ], + [ + -0.3983730971813202, + 0.00399016635492444, + 0.9172148108482361, + 0.044530802266672255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/7ee8fb3b-e82b-492b-9325-5f3532ef1835/pan_left/transforms.json b/dynpose_eval/camera_controls/7ee8fb3b-e82b-492b-9325-5f3532ef1835/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1feb2460c320b055a44e2df313b44d6ad5a761a4 --- /dev/null +++ b/dynpose_eval/camera_controls/7ee8fb3b-e82b-492b-9325-5f3532ef1835/pan_left/transforms.json @@ -0,0 +1,6243 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 178, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + -0.0001449466944904998, + -0.00017759522597771138, + 0.00019445232464931905 + ], + [ + 0.00014496569929178804, + 1.0, + 0.00010704631131375208, + -4.231783532304689e-05 + ], + [ + 0.00017757971363607794, + -0.00010707205365179107, + 1.0, + 8.633989637019113e-05 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999726138349903, + -0.0016788872890174393, + -0.007205909548646574, + 0.003782924497500062 + ], + [ + 0.0016152129335586063, + 0.9999597072601321, + -0.00883313975865752, + 0.00043440688750706613 + ], + [ + 0.007220448747472476, + 0.008821258321404459, + 0.9999350413628695, + 0.007646765559911728 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999502694627823, + -0.0019023750210180883, + -0.00978729411205609, + 0.004576703533530235 + ], + [ + 0.0017581701194727376, + 0.9998900890350344, + -0.014721456615148955, + -0.0003316898364573717 + ], + [ + 0.009814223993569609, + 0.014703517779707912, + 0.9998437354376216, + 0.013967251405119896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999143104543615, + -0.0007518602069467306, + -0.013067170924391396, + 0.005746132228523493 + ], + [ + 0.0004751227214343974, + 0.9997758269309998, + -0.021168283627595093, + -0.0005200862069614232 + ], + [ + 0.013080157339558706, + 0.021160263568162918, + 0.9996905543955659, + 0.021502099931240082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9998133823649675, + -0.0001262724690604955, + -0.019318010420253173, + 0.0070064193569123745 + ], + [ + -0.0002925989179182464, + 0.9997649192810059, + -0.02167858613746299, + -0.0037319434341043234 + ], + [ + 0.019316206103786322, + 0.021680191159248352, + 0.9995783082067257, + 0.028150776401162148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996927292104673, + 0.0010520718060433865, + -0.024765855364155903, + 0.0052396152168512344 + ], + [ + -0.0016061250128414136, + 0.9997486472129822, + -0.022362408037053253, + -0.005301506724208593 + ], + [ + 0.02473610258518353, + 0.022395314648747444, + 0.9994431393524199, + 0.032645050436258316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9995389866384369, + 0.002340344712138176, + -0.030270190274417796, + 0.0028319559060037136 + ], + [ + -0.003045880081727985, + 0.999724268913269, + -0.023282861991710268, + -0.005989287048578262 + ], + [ + 0.030207355182705033, + 0.02336432971060276, + 0.999270537931619, + 0.03663727641105652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9992429265126616, + 0.0008607878116890788, + -0.038894933160665134, + 0.0015232546720653772 + ], + [ + -0.0016946497480830867, + 0.9997693300247192, + -0.021410952220768685, + -0.00924141425639391 + ], + [ + 0.038867530237283565, + 0.021460654214024544, + 0.9990138988838219, + 0.041489377617836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9989366875453256, + -0.003440356347709895, + -0.04597457733762805, + -0.0023156029637902975 + ], + [ + 0.0025448367191608905, + 0.9998061656951907, + -0.019522938588632327, + -0.01248603779822588 + ], + [ + 0.046032832932497755, + 0.019385181367397312, + 0.998751806942945, + 0.04282165318727493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9985494635576064, + -0.010949338786303997, + -0.0527172579022767, + -0.008108195848762989 + ], + [ + 0.009993248914903117, + 0.9997813701629639, + -0.018365736330153995, + -0.0138845918700099 + ], + [ + 0.05290682859555773, + 0.017812279984354973, + 0.9984405957665827, + 0.042862389236688614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9981784323140523, + -0.015597977675497535, + -0.05827983579544265, + -0.014039719477295876 + ], + [ + 0.014645006415291064, + 0.9997525811195376, + -0.01674316512390436, + -0.015471544116735458 + ], + [ + 0.05852657513195985, + 0.015859156847000126, + 0.998159879753342, + 0.041961800307035446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9978718808217373, + -0.01841281540691853, + -0.06255173109628756, + -0.021102966740727425 + ], + [ + 0.01737231456368519, + 0.9997022151947024, + -0.017137651291279605, + -0.01419884990900755 + ], + [ + 0.06284865807092266, + 0.016014512628316883, + 0.9978945903791006, + 0.040756337344646454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.997491617431923, + -0.021318048238754272, + -0.06749835223216243, + -0.02719668671488762 + ], + [ + 0.020253345993084457, + 0.999660074710846, + -0.016419023407453003, + -0.015028183348476887 + ], + [ + 0.06782543034437973, + 0.015010771341621876, + 0.9975842938617544, + 0.039845503866672516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.997304421959554, + -0.021859914064407352, + -0.0700433954356052, + -0.034013163298368454 + ], + [ + 0.020633430821764942, + 0.9996216893196108, + -0.01818631583282505, + -0.012749371118843555 + ], + [ + 0.07041444482084018, + 0.01669205725193024, + 0.9973781253088889, + 0.03818165883421898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9972372855291202, + -0.023024123162031177, + -0.07062335292825608, + -0.04058076813817024 + ], + [ + 0.021793958188300645, + 0.9995979070663454, + -0.018140148724745897, + -0.012526772916316986 + ], + [ + 0.07101261843583945, + 0.016550870612263683, + 0.9973380851606255, + 0.03546616807579994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9972976730321849, + -0.021513676270842556, + -0.07024637191695192, + -0.045066192746162415 + ], + [ + 0.020003426491970698, + 0.9995549321174624, + -0.022132549686954377, + -0.007733708247542381 + ], + [ + 0.07069125573073981, + 0.020667571574449543, + 0.9972841046493996, + 0.03425859659910202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9974388511617389, + -0.020910928025841713, + -0.06839928419539189, + -0.048892710357904434 + ], + [ + 0.019289170960111648, + 0.9995189309120178, + -0.02428534226192979, + -0.005223643034696579 + ], + [ + 0.0688742064580911, + 0.02290377952158451, + 0.9973623840535659, + 0.031344786286354065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9976369911499521, + -0.020734820514917374, + -0.0655022271420977, + -0.049804072827100754 + ], + [ + 0.0190734968490294, + 0.9994828701019287, + -0.02588725230650528, + -0.003477029735222459 + ], + [ + 0.06600511815476447, + 0.02457672357559204, + 0.997516544230101, + 0.029088124632835388 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9981197212921077, + -0.01952450163662434, + -0.05810179486120823, + -0.05268478021025658 + ], + [ + 0.017798532996946184, + 0.9993891119956972, + -0.03007663263934572, + 0.0008327139657922089 + ], + [ + 0.058653535830302514, + 0.02898595482110978, + 0.9978575218587865, + 0.02587449736893177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9989965196141595, + -0.016898194327950478, + -0.04147763591146102, + -0.05266787111759186 + ], + [ + 0.015278939892572202, + 0.9991204142570496, + -0.03905053752271392, + 0.01019886415451765 + ], + [ + 0.042101036787782035, + 0.03837762027978897, + 0.9983760354652143, + 0.024217966943979263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.999558633528121, + -0.017259113490581512, + -0.024180136654400965, + -0.05037480220198631 + ], + [ + 0.016321038161558925, + 0.9991264939308167, + -0.03846971879787984, + 0.010507849976420403 + ], + [ + 0.024822966685282822, + 0.038058090955019, + 0.9989671568313475, + 0.022204149514436722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9996995857621294, + -0.0202751737087965, + -0.01377306523518796, + -0.04510437324643135 + ], + [ + 0.019722776978778143, + 0.9990397095680237, + -0.03912371786309853, + 0.011909838765859604 + ], + [ + 0.01455307844842386, + 0.03884032368659973, + 0.9991394245730808, + 0.02246946096420288 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9998246058256667, + -0.018428757786750793, + -0.0033354328124068, + -0.039041321724653244 + ], + [ + 0.01825816570583981, + 0.9987988471984863, + -0.04546928215220613, + 0.018654875457286835 + ], + [ + 0.004169369057422433, + 0.045400407165288925, + 0.9989601674688544, + 0.021032793447375298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9997232843752113, + -0.019684957340359688, + 0.012876783265006499, + -0.031040482223033905 + ], + [ + 0.020226540557979858, + 0.9988540410995483, + -0.04337607663629905, + 0.018334385007619858 + ], + [ + -0.012008169723704309, + 0.043624527752399445, + 0.9989758470254406, + 0.019544454291462898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9991565598237214, + -0.020877640694379807, + 0.03536022844081085, + -0.02594415657222271 + ], + [ + 0.022481724787597815, + 0.9987071752548218, + -0.04559114207333795, + 0.021852577105164528 + ], + [ + -0.03436267891929992, + 0.04634764790534973, + 0.9983341546263279, + 0.018213583156466484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9990414554093324, + -0.023876108229160316, + 0.03668877562355043, + -4.995781637262553e-05 + ], + [ + 0.025300955122472803, + 0.998923718929291, + -0.03887550977323383, + 0.017951887100934982 + ], + [ + -0.03572108683332507, + 0.03976650908589364, + 0.9985703046573956, + 0.00924665480852127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9971978322930497, + -0.02583087049424649, + 0.07020862827988515, + -0.010029329918324947 + ], + [ + 0.028257844260807467, + 0.9990291595458987, + -0.03379738094824454, + 0.013795006088912487 + ], + [ + -0.06926745370805108, + 0.03568661957979203, + 0.9969596495918629, + 0.016665304079651833 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9959239469750965, + -0.027741486206650734, + 0.08582490000856294, + -0.00047769342199899256 + ], + [ + 0.03032641796466629, + 0.9991203546524048, + -0.02896272123165114, + 0.010671901516616344 + ], + [ + -0.08494594173811287, + 0.031447429209947586, + 0.9958891845780125, + 0.015680771321058273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9939347221569513, + -0.030550163239240646, + 0.10564286312163382, + 0.0036322693340480328 + ], + [ + 0.03372359050399151, + 0.9990280866622925, + -0.028384091843862192, + 0.010898987762629986 + ], + [ + -0.10467303277413657, + 0.03177459165453911, + 0.9939989316946427, + 0.014441294595599174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9919383862388873, + -0.030661258846521378, + 0.12295584911932968, + 0.007968630641698837 + ], + [ + 0.034410182912387184, + 0.9990018606185913, + -0.02848281827546832, + 0.011862830258905888 + ], + [ + -0.12195979079073495, + 0.032484132796525955, + 0.992003320836976, + 0.011285834945738316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9897962620389301, + -0.02888583205640316, + 0.1395312704735334, + 0.014667902141809464 + ], + [ + 0.033369486425628446, + 0.9989956617355347, + -0.02990133405816841, + 0.012856568209826946 + ], + [ + -0.1385274000440852, + 0.034252315759658813, + 0.9897661267974099, + 0.007459230255335569 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9863224088349718, + -0.025363732129335403, + 0.162864319636684, + 0.02577151730656624 + ], + [ + 0.03077288475483456, + 0.9990524649620056, + -0.030775841176871082, + 0.013885227963328362 + ], + [ + -0.16192941985624668, + 0.03536670655012131, + 0.9861683515811807, + 0.0049348208121955395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9803405002498904, + -0.025080673396587372, + 0.19571271841746377, + 0.03363129496574402 + ], + [ + 0.031733317597195096, + 0.9990176558494568, + -0.03093012915179398, + 0.013642976060509682 + ], + [ + -0.19474470659658608, + 0.03653267025947571, + 0.9801733966455265, + 0.0004473149892874062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9732736893187389, + -0.02830970473587513, + 0.22789659119568437, + 0.039616648107767105 + ], + [ + 0.035950632752074024, + 0.998919665813446, + -0.02944617597503688, + 0.011805815622210503 + ], + [ + -0.2268167945601719, + 0.036852214485406876, + 0.9732399790438718, + -0.004038716666400433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9670245891581781, + -0.0340653620660305, + 0.25239453125933997, + 0.04049539566040039 + ], + [ + 0.042022318186479175, + 0.9987730383872986, + -0.026201244007569745, + 0.00845935009419918 + ], + [ + -0.25119229570064716, + 0.035943448543548584, + 0.9672696408202909, + -0.009511318989098072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9602015585194705, + -0.033531468361616135, + 0.2772878613234903, + 0.04292263463139534 + ], + [ + 0.042929212937637413, + 0.998688817024231, + -0.027888691678250047, + 0.006261693313717842 + ], + [ + -0.2759891444819521, + 0.03868251293897629, + 0.9603820168957314, + -0.011108901351690292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9552512467011528, + -0.032908838242292404, + 0.29395932069202885, + 0.048175521194934845 + ], + [ + 0.04258382010414905, + 0.99873948097229, + -0.026571325020710582, + 0.0013898496981710196 + ], + [ + -0.29271437212156465, + 0.037900201976299286, + 0.9554485411729468, + -0.010984544642269611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.948299954672698, + -0.026910670101642616, + 0.3162326041952761, + 0.05198522284626961 + ], + [ + 0.038535985665399036, + 0.9987896680831911, + -0.030564761550994725, + -5.074017099104822e-05 + ], + [ + -0.31502736274371324, + 0.0411708950996399, + 0.9481891596784673, + -0.008776644244790077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9394801415316725, + -0.02023803442716599, + 0.3420050782849853, + 0.055396489799022675 + ], + [ + 0.033728577892747434, + 0.9988679289817812, + -0.03354396973484454, + -0.002277758903801441 + ], + [ + -0.3409390353221962, + 0.043049238622188575, + 0.9390992194868306, + -0.005399789195507765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9323812105960683, + -0.02396002225577832, + 0.36068154905455857, + 0.0621703676879406 + ], + [ + 0.034877597102397816, + 0.9991083741188052, + -0.02378983744922248, + -0.01345690805464983 + ], + [ + -0.3597899783755811, + 0.034760903567075736, + 0.9323855467611254, + -0.0018208990804851055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9264235518791838, + -0.02114487998187542, + 0.37588875269419403, + 0.06648354232311249 + ], + [ + 0.03237482043409096, + 0.9991975426673889, + -0.023583798960993302, + -0.017818793654441833 + ], + [ + -0.3750884390948947, + 0.03401791304349899, + 0.9263646231794365, + 0.0003793761134147644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9231768809383889, + -0.024710154160857208, + 0.3835803335884716, + 0.0720013901591301 + ], + [ + 0.032638116444695955, + 0.9993667602539065, + -0.014172386335778985, + -0.0270828977227211 + ], + [ + -0.3829872130005639, + 0.02560295537114144, + 0.9233987748380452, + 0.00044696126133203506 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.922082100443038, + -0.02376475557684899, + 0.3862639131587881, + 0.07565104961395264 + ], + [ + 0.03048537968951928, + 0.9994715452194216, + -0.011281998652349103, + -0.03132594749331474 + ], + [ + -0.3857916443305813, + 0.022178329527378086, + 0.9223193137833942, + -0.001328746322542429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9219784358553025, + -0.026190264150500298, + 0.3863545678294087, + 0.07926245778799057 + ], + [ + 0.03233401187739349, + 0.9994328022003174, + -0.0094106647752438, + -0.035348497331142426 + ], + [ + -0.38588898395919385, + 0.021168824285268784, + 0.9223023586476868, + -0.003289452288299799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9216578767015502, + -0.029526297003030777, + 0.38687853425748653, + 0.08189821243286133 + ], + [ + 0.036079356134821154, + 0.9993019700050354, + -0.00968555597307554, + -0.03788973391056061 + ], + [ + -0.38632253342602657, + 0.022885097190737724, + 0.922079838169684, + -0.0050123329274356365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.921448576951044, + -0.033744826912879944, + 0.3870321489784827, + 0.08347475528717041 + ], + [ + 0.04190921431342667, + 0.9990410804748535, + -0.012672646437065869, + -0.038795292377471924 + ], + [ + -0.38623334514125446, + 0.02789740264415741, + 0.9219791394695162, + -0.006609857082366943 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9226481625213977, + -0.045226577669382095, + 0.3829816758996268, + 0.08734775334596634 + ], + [ + 0.05397967653675292, + 0.9984683394432068, + -0.012133600700945765, + -0.04142877086997032 + ], + [ + -0.38184628187754105, + 0.03186826780438423, + 0.9236762749768432, + -0.00723474333062768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.923522017837602, + -0.05268659442663193, + 0.379909464042709, + 0.08813314884901047 + ], + [ + 0.06224064012233832, + 0.9979777932167053, + -0.01289925787817972, + -0.04167071729898453 + ], + [ + -0.37846161602324263, + 0.035558559000492096, + 0.9249337497472324, + -0.007720250636339188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9254624067412945, + -0.06268113851547243, + 0.3736179480943482, + 0.08911463618278503 + ], + [ + 0.07141248068889465, + 0.9974010586738589, + -0.009558793700781758, + -0.04317234456539154 + ], + [ + -0.3720477756558368, + 0.035527288913726814, + 0.9275334198408123, + -0.008047064766287804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9277221830125183, + -0.06817345321178436, + 0.3669931339584369, + 0.08903581649065018 + ], + [ + 0.07678583700121419, + 0.9970079064369202, + -0.008900597728895607, + -0.041790153831243515 + ], + [ + -0.3652882394375126, + 0.036437153816223145, + 0.9301811171448379, + -0.007924890145659447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9307183925996342, + -0.07100129127502443, + 0.3587786002798863, + 0.08974900841712952 + ], + [ + 0.07873244420113776, + 0.9968714714050295, + -0.006964100458258909, + -0.04094109311699867 + ], + [ + -0.3571616911900817, + 0.034729130566120155, + 0.9333966955747568, + -0.008023515343666077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9321871150484085, + -0.07626142352819443, + 0.3538521819678079, + 0.08938197791576385 + ], + [ + 0.08428784541658961, + 0.9964146614074707, + -0.007302590421801102, + -0.039225779473781586 + ], + [ + -0.3520266345314927, + 0.03663281351327896, + 0.9352728510063075, + -0.007977766916155815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9334889259270936, + -0.07660949230194092, + 0.35032761218989855, + 0.08930414915084839 + ], + [ + 0.08574974532021325, + 0.9962599873542786, + -0.010628529807181115, + -0.03566589578986168 + ], + [ + -0.34820316943171314, + 0.03996212035417557, + 0.9365669111215145, + -0.007739034481346607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9343863133256938, + -0.07769268751144409, + 0.3476867096851009, + 0.09042929112911224 + ], + [ + 0.08699389155340362, + 0.9961459040641785, + -0.011195876992948476, + -0.034849122166633606 + ], + [ + -0.34547683656692113, + 0.04070788994431496, + 0.9375439438388512, + -0.0074190013110637665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9353022803345495, + -0.0797196999192238, + 0.34475274294097424, + 0.09243102371692657 + ], + [ + 0.08862776451820104, + 0.9960133433341982, + -0.010128607172231822, + -0.03528418764472008 + ], + [ + -0.3425708534781856, + 0.04002796858549119, + 0.9386388772649775, + -0.007042112294584513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9360376429463713, + -0.08219495415687562, + 0.342165937721344, + 0.09374237805604935 + ], + [ + 0.0906392751040379, + 0.9958454966545107, + -0.00873348900445557, + -0.036123402416706085 + ], + [ + -0.3400265528374292, + 0.039188545197248466, + 0.9395989562344914, + -0.007207426708191633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9372685840616887, + -0.08456563204526901, + 0.3381956810914848, + 0.09532548487186432 + ], + [ + 0.0925877609536385, + 0.9956753253936768, + -0.0076277827566205245, + -0.03635405749082565 + ], + [ + -0.3360880600069214, + 0.03846205770969391, + 0.9410449386923836, + -0.007531343959271908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9386733846053164, + -0.08816580474376678, + 0.33334529987961276, + 0.09718937426805496 + ], + [ + 0.09545032754519836, + 0.9954189658164978, + -0.0055041132729260886, + -0.037188246846199036 + ], + [ + -0.33133298604496386, + 0.036984480917453766, + 0.9427887438532359, + -0.007682740222662687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9396461023716244, + -0.08848970383405687, + 0.33050687973303616, + 0.09795688092708588 + ], + [ + 0.09561528850793827, + 0.995404124259949, + -0.005329733632944323, + -0.0361623652279377 + ], + [ + -0.3285162894530414, + 0.03660957515239716, + 0.9437885111828923, + -0.007775799836963415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9398055343619903, + -0.08939033001661302, + 0.3298104917609507, + 0.09841424971818924 + ], + [ + 0.09651588567471493, + 0.9953175783157351, + -0.005258791634410035, + -0.035680413246154785 + ], + [ + -0.3277960659919508, + 0.0367741882801056, + 0.9440325352252897, + -0.007848244160413742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9396979926282854, + -0.09022815525531769, + 0.3298888328983994, + 0.09884795546531677 + ], + [ + 0.0981999767557467, + 0.9951381087303162, + -0.007544490280200863, + -0.034147683531045914 + ], + [ + -0.3276042265919414, + 0.03948461636900902, + 0.9439896615164717, + -0.007929444313049316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9402502706646789, + -0.09228407591581345, + 0.32773932052509674, + 0.1000819280743599 + ], + [ + 0.09970310358487929, + 0.9949999451637268, + -0.005868172584592429, + -0.03542718663811684 + ], + [ + -0.32555905378255023, + 0.03819417208433151, + 0.9447499581778847, + -0.007881606929004192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.941412692310688, + -0.09406267106533053, + 0.3238740775778164, + 0.10174248367547989 + ], + [ + 0.10089646088427295, + 0.9948874711990359, + -0.004333243345078559, + -0.03663391247391701 + ], + [ + -0.3218106800656093, + 0.03675711154937745, + 0.9460903213036066, + -0.007120216265320778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9427887171275772, + -0.09468276053667068, + 0.3196632695782461, + 0.10198688507080078 + ], + [ + 0.10090907602357924, + 0.994891345500946, + -0.0029308239426335597, + -0.03750691935420036 + ], + [ + -0.3177527332283466, + 0.035020068287849426, + 0.9475267109472668, + -0.006402505561709404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9444789833112952, + -0.09637281298637393, + 0.3141205417853399, + 0.10178814083337784 + ], + [ + 0.10185131243956481, + 0.994799077510834, + -0.0010341256061614514, + -0.038495007902383804 + ], + [ + -0.31238716284512114, + 0.03297029435634614, + 0.9493825706747823, + -0.006089191418141127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9455828831583152, + -0.09340152144432068, + 0.3116876279035788, + 0.10006730258464813 + ], + [ + 0.0997213108458425, + 0.9950058460235596, + -0.004362407963475739, + -0.03561026230454445 + ], + [ + -0.30972352709760875, + 0.035206906497478485, + 0.9501746211221841, + -0.005419855937361717 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9470198538974669, + -0.09390103071928024, + 0.3071417401128065, + 0.10091608017683029 + ], + [ + 0.09971572240803163, + 0.9950106143951416, + -0.003256609923963615, + -0.035459909588098526 + ], + [ + -0.3053035068360569, + 0.03371093049645424, + 0.9516582058040817, + -0.0046491604298353195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9479384716004507, + -0.0931708961725235, + 0.3045190172095101, + 0.10059243440628052 + ], + [ + 0.09873122811525353, + 0.9951099753379822, + -0.0028761519500916564, + -0.03512800857424736 + ], + [ + -0.3027619638671123, + 0.032791949808597565, + 0.9525019298246885, + -0.004097180441021919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9490636021573169, + -0.0950777530670166, + 0.30039722730169793, + 0.10120607912540436 + ], + [ + 0.09973719684263968, + 0.9950137734413147, + -0.00017733329750093646, + -0.036529798060655594 + ], + [ + -0.29888254648412876, + 0.030129075050354004, + 0.9538141631117923, + -0.003796226345002651 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9499403345147602, + -0.0946643203496933, + 0.2977448543061784, + 0.10080298036336899 + ], + [ + 0.09947110920822484, + 0.9950399398803711, + -0.0009969438914235306, + -0.035982806235551834 + ], + [ + -0.29617363499816307, + 0.030564043670892715, + 0.9546449929028495, + -0.0034987167455255985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9510215931800896, + -0.09539839625358582, + 0.2940359091781834, + 0.10034975409507751 + ], + [ + 0.09948475334629824, + 0.9950385093688965, + 0.0010642422924575874, + -0.03701738268136978 + ], + [ + -0.2926786092291554, + 0.02823997288942337, + 0.9557937949710932, + -0.0036767437122762203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9522388163550662, + -0.09395841509103778, + 0.290539332953195, + 0.09998271614313126 + ], + [ + 0.09821903737762872, + 0.9951648116111758, + -8.213536060140252e-05, + -0.03623335808515549 + ], + [ + -0.2891268319611607, + 0.02861470356583596, + 0.9568630240310736, + -0.0031675477512180805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9533555228248161, + -0.09302245825529099, + 0.28715870402925514, + 0.10005870461463928 + ], + [ + 0.0974562698841906, + 0.9952391386032104, + -0.001152262919869022, + -0.035595379769802094 + ], + [ + -0.2856843944478281, + 0.02908392995595932, + 0.9578823231191769, + -0.002968105021864176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9537774637483921, + -0.0903267189860344, + 0.2866176590936125, + 0.09918201714754105 + ], + [ + 0.09552843482874557, + 0.9954178929328918, + -0.004186867783160914, + -0.03381168842315674 + ], + [ + -0.28492617141408316, + 0.03137347474694252, + 0.958035910536181, + -0.0031756998505443335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9539718136303763, + -0.08798080682754518, + 0.28670045085577767, + 0.09910126775503159 + ], + [ + 0.09358420201669124, + 0.9955940246582033, + -0.005872086925622059, + -0.032841362059116364 + ], + [ + -0.2849206500319694, + 0.032432436943054206, + 0.9580022728396418, + -0.0038491813465952873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.953636613304299, + -0.08348595350980759, + 0.28914925966011296, + 0.09901456534862518 + ], + [ + 0.08991357897718343, + 0.9959089756011963, + -0.008993519992901775, + -0.03090531751513481 + ], + [ + -0.287215482334013, + 0.03457499295473099, + 0.9572418090668067, + -0.00345369940623641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9537146112323744, + -0.08466140925884247, + 0.28854967779306406, + 0.10074889659881592 + ], + [ + 0.09017573077281621, + 0.9959087371826172, + -0.005846064120958047, + -0.03349830582737923 + ], + [ + -0.2868742043071415, + 0.03159565478563309, + 0.9574470556035453, + -0.003910173196345568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9540797574163882, + -0.08384023606777191, + 0.2875807939214529, + 0.1022823229432106 + ], + [ + 0.0888363187799242, + 0.9960367679595947, + -0.004343040809579168, + -0.034833960235118866 + ], + [ + -0.2860769306622784, + 0.029691223055124283, + 0.9577465297556464, + -0.00298511004075408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.954514823451283, + -0.08290913701057434, + 0.2864044755752096, + 0.10274216532707214 + ], + [ + 0.08766499360159388, + 0.9961427450180054, + -0.0037995000719574248, + -0.03530173376202583 + ], + [ + -0.2849847025022581, + 0.028734322637319565, + 0.9581012952247002, + -0.0023390701971948147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9551567096549998, + -0.08005186915397645, + 0.2850743284437563, + 0.10315188020467758 + ], + [ + 0.08469550488785366, + 0.9963989257812502, + -0.00397749704784069, + -0.03470824658870697 + ], + [ + -0.2837293754143118, + 0.02794365212321282, + 0.9584971640507548, + -0.002388135064393282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9554979561947134, + -0.07842323929071426, + 0.28438269547191164, + 0.10373862832784653 + ], + [ + 0.08287568049047975, + 0.9965532422065735, + -0.0036380840112749764, + -0.03435376286506653 + ], + [ + -0.28311721843582255, + 0.027044586837291718, + 0.9587039553126857, + -0.0016807247884571552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9560521704252485, + -0.07756735384464265, + 0.2827499593759405, + 0.10422030091285706 + ], + [ + 0.08168116562251448, + 0.9966546297073366, + -0.0027713457720441844, + -0.03425927460193634 + ], + [ + -0.2815891009166738, + 0.025744896382093437, + 0.9591896727661904, + -0.0012419987469911575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9568373733093644, + -0.07616949081420898, + 0.28046468405326946, + 0.10455381125211716 + ], + [ + 0.08070309114731727, + 0.9967274069786072, + -0.004633452476467449, + -0.03219667822122574 + ], + [ + -0.27919389541090156, + 0.027067821472883224, + 0.9598532003459048, + -0.0002938734833151102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9574345730635296, + -0.07843357324600221, + 0.27778993004739605, + 0.1043110191822052 + ], + [ + 0.08206710763104613, + 0.9966257214546206, + -0.001457819226071001, + -0.03326025232672691 + ], + [ + -0.27673828023299063, + 0.024193180724978454, + 0.9606407211245073, + 0.00042167864739894867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9578892212361155, + -0.07735464721918106, + 0.27652217886176433, + 0.10326256603002548 + ], + [ + 0.08070632036266621, + 0.9967376589775085, + -0.0007428922542348161, + -0.03192388638854027 + ], + [ + -0.2755626198924231, + 0.023028695955872536, + 0.9610072121750263, + 0.0012689935974776745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.958491587986524, + -0.07586991786956787, + 0.2748412343841534, + 0.10275815427303314 + ], + [ + 0.07917613488771076, + 0.9968602061271667, + -0.0009385541120651553, + -0.030237482860684395 + ], + [ + -0.2739070658215743, + 0.022660458460450172, + 0.9614891469407539, + 0.0017325780354440212 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9590895907838821, + -0.07562603056430817, + 0.272814836980709, + 0.1024322360754013 + ], + [ + 0.07864962838508702, + 0.9969022870063782, + -0.00014763365872913248, + -0.02920481562614441 + ], + [ + -0.2719585532437098, + 0.02159837633371353, + 0.9620665479101137, + 0.0014404256362468004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9599109614709336, + -0.07336487621068954, + 0.27053383729392744, + 0.10344607383012772 + ], + [ + 0.07634642100444247, + 0.9970812201499939, + -0.0004990966174605675, + -0.02761424146592617 + ], + [ + -0.2697076267018444, + 0.02113337814807892, + 0.9627103242955436, + 0.0018252350855618715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9604928567500078, + -0.07309137284755707, + 0.26853509202657583, + 0.10395251214504242 + ], + [ + 0.0754999696700983, + 0.997144877910614, + 0.0013610903160630355, + -0.027505453675985336 + ], + [ + -0.26786788922045646, + 0.018967069685459137, + 0.9632689488158492, + 0.0012692366726696491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9612515052401803, + -0.07404793798923492, + 0.26554173746845494, + 0.10496682673692703 + ], + [ + 0.07556593663372832, + 0.9971306324005127, + 0.004509981739304639, + -0.028667274862527847 + ], + [ + -0.2651137534483909, + 0.015730682760477066, + 0.9640888270294233, + 0.0004814618732780218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9618214855291991, + -0.07275141030550004, + 0.2638306525796676, + 0.10516457259654999 + ], + [ + 0.07412192815987363, + 0.9972378015518191, + 0.00476969635702713, + -0.02803931012749672 + ], + [ + -0.2634489145421935, + 0.014968038536608223, + 0.9645572211100848, + -0.0004550856538116932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9624878584830092, + -0.07150401175022125, + 0.2617332604899884, + 0.10631576180458069 + ], + [ + 0.072865223998376, + 0.9973315596580505, + 0.004513427234688364, + -0.027575161308050156 + ], + [ + -0.26135758524125935, + 0.014727132394909859, + 0.9651297213412773, + -0.001178976846858859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.962838775193155, + -0.07105685770511627, + 0.26056183183538917, + 0.10727304220199585 + ], + [ + 0.0724014675119037, + 0.9973656535148621, + 0.004447055282600993, + -0.027449648827314377 + ], + [ + -0.26019142163925313, + 0.014583257958292961, + 0.9654469234200442, + -0.002439203206449747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9629901779125167, + -0.07192949205636978, + 0.25976155736684375, + 0.1088348850607872 + ], + [ + 0.07310816814192503, + 0.9973108172416687, + 0.005133955016794314, + -0.028046322986483574 + ], + [ + -0.259432291311918, + 0.014046741649508476, + 0.9656591234514658, + -0.003109956393018365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9632319238276293, + -0.06952615827322006, + 0.25951940299128945, + 0.11127563565969467 + ], + [ + 0.07075579676471874, + 0.9974830150604248, + 0.0046120739374493295, + -0.027423903346061707 + ], + [ + -0.2591868732375032, + 0.013920005410909653, + 0.9657269003366193, + -0.0033051094505935907 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9627777980305763, + -0.07082439213991165, + 0.260850152399284, + 0.11211121827363968 + ], + [ + 0.07199235811470418, + 0.9973922371864319, + 0.005087409223097929, + -0.02770611271262169 + ], + [ + -0.2605302466262355, + 0.013881171122193336, + 0.9653659077889057, + -0.004779322538524866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9630861467442393, + -0.071175217628479, + 0.25961359318740984, + 0.1149720549583435 + ], + [ + 0.07243920402359376, + 0.9973617196083069, + 0.004707924827327029, + -0.027459222823381424 + ], + [ + -0.2592637344753923, + 0.014272063039243221, + 0.9657011144438533, + -0.005157915875315666 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9631730887951366, + -0.07248385250568391, + 0.2589279404742006, + 0.11680305749177933 + ], + [ + 0.0736327754310577, + 0.9972714781761172, + 0.005271628573899505, + -0.027597317472100258 + ], + [ + -0.2586035258258153, + 0.013988087885081772, + 0.9658822864105912, + -0.005868843756616116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9628340006818006, + -0.07636887580156326, + 0.2590724501643655, + 0.11681018769741058 + ], + [ + 0.07709221154350845, + 0.9969966411590576, + 0.007382169816310454, + -0.028756393119692802 + ], + [ + -0.25885815482239505, + 0.012864664196968079, + 0.9658296555160395, + -0.006924123503267765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9629689262488234, + -0.07715995609760284, + 0.2583355020780682, + 0.11792908608913422 + ], + [ + 0.07832926268619513, + 0.996910810470581, + 0.0057791013952382805, + -0.027619455009698868 + ], + [ + -0.2579833577303482, + 0.014670130796730518, + 0.9660379701259658, + -0.007122782990336418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9630801420180186, + -0.07745231688022614, + 0.2578328067656545, + 0.11917378008365631 + ], + [ + 0.07887412031700641, + 0.9968728423118591, + 0.00484036197378739, + -0.026790471747517586 + ], + [ + -0.2574013913752334, + 0.015674680471420288, + 0.9661774206684445, + -0.007081101648509502 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9623280663123052, + -0.07733151316642761, + 0.26066169027144354, + 0.11902821809053421 + ], + [ + 0.07882213539652752, + 0.9968773722648621, + 0.004746704924056651, + -0.0263628289103508 + ], + [ + -0.2602148071354743, + 0.015978021547198296, + 0.9654185441658818, + -0.007371513172984123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9619010131368869, + -0.07646302133798599, + 0.2624877166244551, + 0.11948039382696152 + ], + [ + 0.07825241835149664, + 0.9969269037246704, + 0.0036457612186309904, + -0.025316452607512474 + ], + [ + -0.2619598339567789, + 0.01703343354165554, + 0.9649284439739375, + -0.007588526234030724 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9619230096779982, + -0.07693591713905336, + 0.2622689007342326, + 0.12107791006565094 + ], + [ + 0.07826409424204363, + 0.9969180822372439, + 0.005394351897936743, + -0.026265334337949753 + ], + [ + -0.2618756219435255, + 0.015337285585701469, + 0.9649797543573517, + -0.007223155349493027 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9622097675914231, + -0.07630492746829987, + 0.2613999023002365, + 0.12153434753417969 + ], + [ + 0.07757980766740241, + 0.9969712495803833, + 0.005454332837505211, + -0.026086265221238136 + ], + [ + -0.2610243902468745, + 0.015031138435006142, + 0.9652151580674365, + -0.007562418468296528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9627750683669666, + -0.07502412050962448, + 0.25968352025171293, + 0.12198065966367722 + ], + [ + 0.0762937653346882, + 0.9970718026161194, + 0.00520135156144522, + -0.02527720294892788 + ], + [ + -0.25931332762836695, + 0.014804498292505741, + 0.9656797715571898, + -0.00791298970580101 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9630864956539076, + -0.07555815577507019, + 0.25837075701025763, + 0.12161014974117279 + ], + [ + 0.07648424519043735, + 0.9970497488975525, + 0.006480219893699692, + -0.025806237012147903 + ], + [ + -0.25809814756601673, + 0.013520275242626667, + 0.9660241325916293, + -0.008576784282922745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9635420446060461, + -0.07538416981697083, + 0.25671771210363364, + 0.12172919511795044 + ], + [ + 0.07617737760948395, + 0.9970706105232239, + 0.006868400365447753, + -0.02587485872209072 + ], + [ + -0.25648347122487597, + 0.012938084080815315, + 0.9664620088252486, + -0.008848054334521294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9640338212509448, + -0.07465244084596634, + 0.25508005897350694, + 0.12194494158029556 + ], + [ + 0.07541763908469741, + 0.9971289038658142, + 0.006793742388146604, + -0.025895288214087486 + ], + [ + -0.2548548491583848, + 0.012688136659562588, + 0.9668960585764114, + -0.009371548891067505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9644928528560179, + -0.07306347042322159, + 0.2538017150271871, + 0.12233130633831024 + ], + [ + 0.07410740746339779, + 0.9972352981567383, + 0.005458609096225298, + -0.02510945498943329 + ], + [ + -0.25349888081214944, + 0.01354379951953888, + 0.9672408836267505, + -0.010004585608839989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9649583708770543, + -0.07226596027612688, + 0.2522558236470379, + 0.12322434782981873 + ], + [ + 0.0732396178414132, + 0.9972989559173586, + 0.005540373744053361, + -0.025351980701088905 + ], + [ + -0.2519748601435776, + 0.013128888793289665, + 0.9676447318323593, + -0.011025404557585716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9652088724817094, + -0.07115229964256287, + 0.251613122145971, + 0.12384644150733948 + ], + [ + 0.07226177090152282, + 0.9973739385604858, + 0.004839749712280789, + -0.025181086733937263 + ], + [ + -0.2512967425809265, + 0.013510637916624546, + 0.9678158364920273, + -0.01184399425983429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.965554821318903, + -0.06999901682138443, + 0.25060730670693177, + 0.1248156726360321 + ], + [ + 0.0713752601338402, + 0.9974430203437805, + 0.00360445607710608, + -0.024630814790725708 + ], + [ + -0.2502187838560374, + 0.014406857080757618, + 0.9680821532404252, + -0.012665212154388428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.965770287891019, + -0.07030995935201646, + 0.2496883193904555, + 0.12585613131523132 + ], + [ + 0.07174488208441845, + 0.9974173307418825, + 0.003361355729213997, + -0.025042373687028885 + ], + [ + -0.24927978525280095, + 0.014667559415102008, + 0.9683204099450323, + -0.013014879077672958 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.966082825770482, + -0.07194488495588304, + 0.24800793218331554, + 0.12686416506767273 + ], + [ + 0.07302116831597621, + 0.997318506240845, + 0.004868669144306701, + -0.026505716145038605 + ], + [ + -0.24769319396167905, + 0.013406290672719482, + 0.9687457498142927, + -0.013414579443633556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9665384996948019, + -0.07331150770187378, + 0.24582259676640378, + 0.12777693569660187 + ], + [ + 0.07436501243180947, + 0.9972184896469116, + 0.005007478565512293, + -0.026898270472884178 + ], + [ + -0.24550593928254622, + 0.013440677896142006, + 0.9693018760397286, + -0.013557693921029568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9669094259515278, + -0.07451371848583221, + 0.2439956817685445, + 0.1279629021883011 + ], + [ + 0.07553202370919423, + 0.9971298575401306, + 0.0051936564341241095, + -0.027232717722654343 + ], + [ + -0.24368237409847027, + 0.013407686725258827, + 0.969762423046445, + -0.013455208390951157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 117, + "c2w": [ + [ + 0.9672494134585999, + -0.07541497051715851, + 0.24236588161000955, + 0.12775880098342896 + ], + [ + 0.07653489253182505, + 0.9970553517341614, + 0.004804990098112503, + -0.02705269679427147 + ], + [ + -0.24201457321643974, + 0.013901820406317711, + 0.9701730057070554, + -0.013152871280908585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 118, + "c2w": [ + [ + 0.9675529414027904, + -0.07644078880548477, + 0.2408280506188831, + 0.12743696570396423 + ], + [ + 0.07754470040069811, + 0.9969767928123474, + 0.004904327873671361, + -0.027198033407330513 + ], + [ + -0.2404748774466626, + 0.013929741457104683, + 0.9705554284472825, + -0.012951625511050224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 119, + "c2w": [ + [ + 0.9679212861552583, + -0.07621356099843979, + 0.23941574122798592, + 0.12719771265983582 + ], + [ + 0.07739998007523737, + 0.9969901442527771, + 0.004457006599368314, + -0.027085399255156517 + ], + [ + -0.2390348152732553, + 0.014216741546988487, + 0.9709069328656665, + -0.012586016207933426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 120, + "c2w": [ + [ + 0.9683576001269644, + -0.07540169358253479, + 0.23790377254848205, + 0.12712782621383667 + ], + [ + 0.07675764086155598, + 0.9970433712005615, + 0.0035725001868274903, + -0.02672659419476986 + ], + [ + -0.23746975796179942, + 0.014801472425460815, + 0.9712821738703378, + -0.012430068105459213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 121, + "c2w": [ + [ + 0.9687105541776596, + -0.0756548047065735, + 0.23638155332932573, + 0.12706872820854187 + ], + [ + 0.07687848471330161, + 0.9970322251319887, + 0.004049746840848549, + -0.027308348566293716 + ], + [ + -0.2359864062768495, + 0.014249615371227268, + 0.9716518669956912, + -0.012476487085223198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 122, + "c2w": [ + [ + 0.9691432716719188, + -0.0746288374066353, + 0.23492949611944802, + 0.1272393763065338 + ], + [ + 0.07593961608146164, + 0.9971063733100893, + 0.003475577051049917, + -0.027322042733430862 + ], + [ + -0.23450905110452513, + 0.014472125098109249, + 0.9720061967581384, + -0.012285943143069744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 123, + "c2w": [ + [ + 0.969481505847542, + -0.07588014751672745, + 0.2331261190568408, + 0.12759137153625488 + ], + [ + 0.07693235413861298, + 0.997025728225708, + 0.004589615833135429, + -0.02885439805686474 + ], + [ + -0.23278102566153244, + 0.013485395349562168, + 0.972435657257662, + -0.012389130890369415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 124, + "c2w": [ + [ + 0.969729182056236, + -0.07585600763559343, + 0.23210177195637963, + 0.12746989727020264 + ], + [ + 0.07696399677629621, + 0.9970246553421023, + 0.004291539639807401, + -0.02961353398859501 + ], + [ + -0.23173675031774257, + 0.013701848685741428, + 0.9726820554585752, + -0.012486005201935768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 125, + "c2w": [ + [ + 0.9700970684365458, + -0.07468819618225098, + 0.23094018584446838, + 0.12805333733558655 + ], + [ + 0.07610613461703325, + 0.9970958828926086, + 0.002775435505017739, + -0.029761357232928276 + ], + [ + -0.23047676733164127, + 0.01488352008163929, + 0.9729640196553706, + -0.012090854346752167 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 126, + "c2w": [ + [ + 0.9701421386039873, + -0.07363715022802353, + 0.23108840359375973, + 0.12800048291683197 + ], + [ + 0.07539105027860409, + 0.9971532821655273, + 0.001244050525971885, + -0.02994997799396515 + ], + [ + -0.23052216050590865, + 0.016215095296502113, + 0.9729319479469586, + -0.011922519654035568 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 127, + "c2w": [ + [ + 0.9702241090367014, + -0.07380403578281403, + 0.23069054299100003, + 0.12831686437129974 + ], + [ + 0.07551647406710008, + 0.997143566608429, + 0.0014101957358160864, + -0.030813055112957954 + ], + [ + -0.23013564792950014, + 0.01605272851884365, + 0.9730261513620091, + -0.01211702823638916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 128, + "c2w": [ + [ + 0.9704773602906593, + -0.07469954341650009, + 0.22933318750249182, + 0.12879925966262817 + ], + [ + 0.07611616192176301, + 0.9970953464508057, + 0.0026754080879492705, + -0.03216803818941116 + ], + [ + -0.22886691167723247, + 0.01485954038798809, + 0.9733442983158723, + -0.01231025904417038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 129, + "c2w": [ + [ + 0.9709062940881944, + -0.07430058717727663, + 0.22764091336998696, + 0.12943485379219055 + ], + [ + 0.07592199805667692, + 0.9971123933792116, + 0.0016380647467769789, + -0.03195642679929733 + ], + [ + -0.22710529499968157, + 0.015692543238401416, + 0.973743755988313, + -0.01241285353899002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 130, + "c2w": [ + [ + 0.9712192475800979, + -0.07466430217027664, + 0.2261822725200335, + 0.12952809035778046 + ], + [ + 0.07629086289075314, + 0.997084379196167, + 0.0015538598610423979, + -0.03206029534339905 + ], + [ + -0.22563885956072133, + 0.015746504068374634, + 0.9740837537610088, + -0.012342724949121475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 131, + "c2w": [ + [ + 0.9715094581411033, + -0.07539112120866776, + 0.22468997196815987, + 0.12926830351352692 + ], + [ + 0.0769788618784063, + 0.9970312714576721, + 0.0016984082919306342, + -0.03224802389740944 + ], + [ + -0.22415095328303444, + 0.015646355226635933, + 0.974428849956687, + -0.012193964794278145 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 132, + "c2w": [ + [ + 0.9718746504378589, + -0.07576480507850647, + 0.22297848407157683, + 0.1291537880897522 + ], + [ + 0.07743195890204874, + 0.9969968199729919, + 0.0012696905778894747, + -0.03189423307776451 + ], + [ + -0.22240505224752488, + 0.016031675040721893, + 0.9748225303175724, + -0.011795132420957088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 133, + "c2w": [ + [ + 0.9722070899235743, + -0.07643451541662216, + 0.22129429054602207, + 0.12898123264312744 + ], + [ + 0.07819550170441916, + 0.9969376921653748, + 0.0008054280639351164, + -0.03139527514576912 + ], + [ + -0.22067817004260898, + 0.016521168872714043, + 0.9752067701776521, + -0.011105427518486977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 134, + "c2w": [ + [ + 0.9725536484296833, + -0.076772540807724, + 0.21964841479017339, + 0.12843778729438782 + ], + [ + 0.0785220678685628, + 0.9969120621681213, + 0.0007673526140432438, + -0.030817197635769844 + ], + [ + -0.219029064365982, + 0.01650095544755459, + 0.9755787981298156, + -0.01061202585697174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 135, + "c2w": [ + [ + 0.973090379133006, + -0.07789460569620134, + 0.2168583813350915, + 0.12856847047805786 + ], + [ + 0.07936173549333533, + 0.9968439936637881, + 0.0019488344221218505, + -0.030849287286400795 + ], + [ + -0.21632578298939203, + 0.01531386282294989, + 0.9762011209254069, + -0.01012053806334734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 136, + "c2w": [ + [ + 0.9735271396130912, + -0.0785859152674675, + 0.21463741952289775, + 0.12796145677566528 + ], + [ + 0.0797814891706522, + 0.9968075752258301, + 0.003100965789952368, + -0.030791211873292923 + ], + [ + -0.21419586817956573, + 0.014105211943387985, + 0.9766888955323737, + -0.009943192824721336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 137, + "c2w": [ + [ + 0.9741648015396843, + -0.07992400228977203, + 0.21122284685072285, + 0.12812957167625427 + ], + [ + 0.08086150618428355, + 0.9967164397239685, + 0.004209433205142645, + -0.030920496210455894 + ], + [ + -0.21086572747785667, + 0.01297911535948515, + 0.9774288505091108, + -0.009714574553072453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 138, + "c2w": [ + [ + 0.9745269584495095, + -0.0805088058114052, + 0.20932173862209996, + 0.12680481374263763 + ], + [ + 0.0812264148732556, + 0.9966822266578677, + 0.005180351769152048, + -0.030742313712835312 + ], + [ + -0.20904433743107728, + 0.011954060755670074, + 0.9778331149425595, + -0.009723274037241936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 139, + "c2w": [ + [ + 0.9748084770308335, + -0.08073803782463074, + 0.20791781707593288, + 0.12529076635837555 + ], + [ + 0.08142133184953863, + 0.9966657757759094, + 0.005284007742654388, + -0.030303191393613815 + ], + [ + -0.20765117297665983, + 0.011778045445680618, + 0.978132034592371, + -0.009542250074446201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 140, + "c2w": [ + [ + 0.9747882116047808, + -0.07900825887918472, + 0.2086760402052736, + 0.12318632006645203 + ], + [ + 0.07998858157061108, + 0.996788740158081, + 0.0037503924012332393, + -0.028920503333210945 + ], + [ + -0.20830223658935132, + 0.013035858049988747, + 0.9779776419303712, + -0.009257441386580467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 141, + "c2w": [ + [ + 0.9743113749795588, + -0.07653176784515381, + 0.21180238055760875, + 0.1210392639040947 + ], + [ + 0.07768200706758305, + 0.996973991394043, + 0.002897577593033377, + -0.028180021792650223 + ], + [ + -0.211383228213443, + 0.013630093075335026, + 0.9773082055669048, + -0.008965272456407547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 142, + "c2w": [ + [ + 0.9739233681871046, + -0.07056927680969238, + 0.2156229374252874, + 0.12016398459672928 + ], + [ + 0.07151609134931002, + 0.997433602809906, + 0.0034179093663124147, + -0.027927888557314873 + ], + [ + -0.215310764347815, + 0.012091721408069134, + 0.9764707055357615, + -0.008280256763100624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 143, + "c2w": [ + [ + 0.9737569544301818, + -0.06590068340301514, + 0.21784053217043442, + 0.12054391205310822 + ], + [ + 0.06702424089747645, + 0.997748851776123, + 0.0022355918435532384, + -0.02701740339398384 + ], + [ + -0.21749746680025642, + 0.01242367085069418, + 0.97598184774022, + -0.007208193652331829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 144, + "c2w": [ + [ + 0.973762600846462, + -0.0670001581311226, + 0.21747955531671456, + 0.12269020080566406 + ], + [ + 0.06814698258538722, + 0.9976727962493899, + 0.0022312526435444707, + -0.02740428037941456 + ], + [ + -0.2171229406009662, + 0.012647864408791069, + 0.9760623355352732, + -0.005740287713706493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 145, + "c2w": [ + [ + 0.9739812942591836, + -0.061397142708301544, + 0.21815330292821913, + 0.1230497658252716 + ], + [ + 0.06294608140907129, + 0.998016893863678, + -0.00015089859295559888, + -0.024898124858736992 + ], + [ + -0.21771140813646755, + 0.013878866098821163, + 0.9759145245245435, + -0.004681580699980259 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 146, + "c2w": [ + [ + 0.9742110640596214, + -0.05762648954987526, + 0.21815590821341901, + 0.12391328811645508 + ], + [ + 0.059513873864519035, + 0.9982252717018127, + -0.0020850049429265508, + -0.022636478766798973 + ], + [ + -0.21764859450940416, + 0.015014535747468472, + 0.9759117004418597, + -0.0031223208643496037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 147, + "c2w": [ + [ + 0.9743214714496797, + -0.05641604587435724, + 0.21797913362754057, + 0.12467528134584427 + ], + [ + 0.0579525945891954, + 0.9983191490173342, + -0.0006571280747433035, + -0.022642085328698158 + ], + [ + -0.2175756737364625, + 0.013272709213197235, + 0.9759532306742362, + -0.0023035418707877398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 148, + "c2w": [ + [ + 0.973774644657687, + -0.05313096567988396, + 0.22122385744433357, + 0.12462801486253738 + ], + [ + 0.054691617731630546, + 0.9985028505325317, + -0.0009306962235053519, + -0.02135094814002514 + ], + [ + -0.22084322853657729, + 0.01300537958741188, + 0.9752226181837151, + -0.0024132942780852318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 149, + "c2w": [ + [ + 0.9716450691464966, + -0.04395781457424164, + 0.23232217122643048, + 0.12524093687534332 + ], + [ + 0.04659864878716364, + 0.9988963603973389, + -0.005888582300086149, + -0.016836803406476974 + ], + [ + -0.23180690070036444, + 0.016547508537769318, + 0.9726211108928644, + -0.0023668070789426565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 150, + "c2w": [ + [ + 0.9698796432369909, + -0.046570818871259696, + 0.23909125066074244, + 0.12968918681144714 + ], + [ + 0.047917679582712425, + 0.9988512992858889, + 0.00017960364556373837, + -0.020830068737268448 + ], + [ + -0.23882494676839666, + 0.011282502673566343, + 0.9709970739992984, + -0.0032944155391305685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 151, + "c2w": [ + [ + 0.9692169963042346, + -0.04631602764129639, + 0.24181237370284484, + 0.1351708173751831 + ], + [ + 0.04674678580646485, + 0.9988989233970642, + 0.003958643138258786, + -0.023512816056609154 + ], + [ + -0.24172949249452727, + 0.00746716745197773, + 0.9703149457053953, + -0.0039744009263813496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 152, + "c2w": [ + [ + 0.967331143020789, + -0.04026366025209427, + 0.2502985265652047, + 0.13896581530570984 + ], + [ + 0.0416292210294067, + 0.9991331100463867, + -0.0001617466280444857, + -0.021518010646104813 + ], + [ + -0.2500750124207651, + 0.01057619322091341, + 0.9681686860531445, + -0.0027092620730400085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 153, + "c2w": [ + [ + 0.9656105366585908, + -0.03864983469247818, + 0.2571040385282049, + 0.14246423542499542 + ], + [ + 0.03972599147102169, + 0.9992101192474365, + 0.001009195104619711, + -0.02227979525923729 + ], + [ + -0.2569399499585441, + 0.009239221923053265, + 0.9663832421946199, + -0.0010946597903966904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 154, + "c2w": [ + [ + 0.963760466297011, + -0.03834674879908562, + 0.263998674539278, + 0.14563621580600739 + ], + [ + 0.0403547443121477, + 0.9991829991340637, + -0.0021851896827067663, + -0.01987588219344616 + ], + [ + -0.2636991873313341, + 0.01275959424674511, + 0.9645205911539165, + 0.0015842840075492859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 155, + "c2w": [ + [ + 0.9627965560326951, + -0.03861268609762192, + 0.2674544123829998, + 0.14829525351524353 + ], + [ + 0.0405351571874325, + 0.9991767406463623, + -0.0016683608727334107, + -0.018424231559038162 + ], + [ + -0.2671697769010388, + 0.012447595596313477, + 0.9635690849220135, + 0.004840281791985035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 156, + "c2w": [ + [ + 0.9620882473698223, + -0.03925425931811333, + 0.2698987326557583, + 0.15000934898853302 + ], + [ + 0.04212761559017668, + 0.9991004467010498, + -0.004859353242299801, + -0.013920559547841549 + ], + [ + -0.26946516603058457, + 0.01604531705379486, + 0.9628764541682011, + 0.00891111884266138 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 157, + "c2w": [ + [ + 0.9621926405583295, + -0.042197100818157196, + 0.2690814278822085, + 0.15243642032146454 + ], + [ + 0.044529899651333964, + 0.9990047216415405, + -0.00256886433267427, + -0.011939890682697296 + ], + [ + -0.2687052069565895, + 0.014453909359872341, + 0.963114028231885, + 0.013059781864285469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 158, + "c2w": [ + [ + 0.9626746419998266, + -0.045355375856161124, + 0.2668341257310012, + 0.1550067514181137 + ], + [ + 0.04686273558270211, + 0.9989010691642763, + 0.0007194140802780997, + -0.009754251688718796 + ], + [ + -0.26657350801346735, + 0.01181201729923487, + 0.9637421794961665, + 0.017367154359817505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 159, + "c2w": [ + [ + 0.9634126134561007, + -0.047100286930799484, + 0.26385168608374265, + 0.15751513838768005 + ], + [ + 0.048498310026722245, + 0.9988225102424622, + 0.00121637872006543, + -0.006445955019444227 + ], + [ + -0.26359828128016816, + 0.011624481528997421, + 0.9645625308690715, + 0.021521035581827164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 160, + "c2w": [ + [ + 0.9640467841843399, + -0.05111844465136528, + 0.2607694183781987, + 0.15993109345436096 + ], + [ + 0.05141256512782057, + 0.9986612200737, + 0.005698111836373006, + -0.004497588146477938 + ], + [ + -0.2607115933195867, + 0.007913575507700443, + 0.9653843125586479, + 0.0257314071059227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 161, + "c2w": [ + [ + 0.9649968713717828, + -0.05377790331840515, + 0.2566885084921235, + 0.1630818247795105 + ], + [ + 0.053631021587357684, + 0.9985320568084717, + 0.007578028877622187, + -0.0014104070141911507 + ], + [ + -0.2567192270074663, + 0.006453691981732845, + 0.9664644819002854, + 0.02960420399904251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 162, + "c2w": [ + [ + 0.9661526813406757, + -0.0576532781124115, + 0.2514461162679112, + 0.16654044389724731 + ], + [ + 0.05647432555185696, + 0.9983330368995667, + 0.011908517762615891, + 0.0009645442478358746 + ], + [ + -0.25171355636566856, + 0.0026948004961013794, + 0.9677980392759287, + 0.03312399610877037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 163, + "c2w": [ + [ + 0.9676659403429747, + -0.059062626212835326, + 0.2452229990596438, + 0.17042875289916992 + ], + [ + 0.057244129829751376, + 0.9982542991638186, + 0.014543198566649058, + 0.003491697134450078 + ], + [ + -0.24565385362862158, + -3.5382807254791267e-05, + 0.9693576258506178, + 0.03632768988609314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 164, + "c2w": [ + [ + 0.9691089727210608, + -0.062354620546102524, + 0.2386204495743076, + 0.1742122918367386 + ], + [ + 0.059588994226929606, + 0.9980460405349731, + 0.01879366506891745, + 0.0037689085584133863 + ], + [ + -0.2393260964846486, + -0.003993958234786987, + 0.970931065188447, + 0.04020186513662338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 165, + "c2w": [ + [ + 0.9712874365291378, + -0.06038105487823488, + 0.23011934485855345, + 0.17908549308776855 + ], + [ + 0.05780513148023463, + 0.9981669187545779, + 0.01792538908736734, + 0.005687389988452196 + ], + [ + -0.23077986287977115, + -0.004108628258109094, + 0.9729973019798757, + 0.043718986213207245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 166, + "c2w": [ + [ + 0.9727488068626511, + -0.05987915024161339, + 0.2239962768456517, + 0.18258902430534363 + ], + [ + 0.05714528744602582, + 0.998191237449646, + 0.018673673829603128, + 0.005583406426012516 + ], + [ + -0.22470925449077012, + -0.005364464595913887, + 0.9744111191426373, + 0.04699961841106415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 167, + "c2w": [ + [ + 0.9740565853945949, + -0.05941860377788545, + 0.21836487867684562, + 0.18612679839134216 + ], + [ + 0.056412506812881555, + 0.9982075691223147, + 0.019980918643905016, + 0.0043888636864721775 + ], + [ + -0.21916073300289204, + -0.007144037634134294, + 0.9756626020949609, + 0.04975039139389992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 168, + "c2w": [ + [ + 0.9756230106326098, + -0.05969426780939102, + 0.21117840659268333, + 0.1898331493139267 + ], + [ + 0.05647543033247302, + 0.9981778860092163, + 0.02124632982742118, + 0.003085281467065215 + ], + [ + -0.21206190844264333, + -0.008802021853625774, + 0.9772166405179843, + 0.051362544298172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 169, + "c2w": [ + [ + 0.9774128278779973, + -0.059595946222543716, + 0.20276216509562803, + 0.19367855787277222 + ], + [ + 0.0565487493169099, + 0.9981832504272461, + 0.020793836547799715, + 0.0028648674488067627 + ], + [ + -0.20363304742375493, + -0.008858217857778072, + 0.9790072345542774, + 0.05296673998236656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 170, + "c2w": [ + [ + 0.9792477366693578, + -0.059182215481996536, + 0.19383338698624822, + 0.19685500860214233 + ], + [ + 0.05651945711369021, + 0.9982160329818726, + 0.019243799164237744, + 0.0032855819445103407 + ], + [ + -0.19462648991560125, + -0.007889090105891228, + 0.9808457176198838, + 0.053700294345617294 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 171, + "c2w": [ + [ + 0.9807447060319576, + -0.058145180344581604, + 0.1864376667979165, + 0.19989147782325745 + ], + [ + 0.0559003788243343, + 0.9982868432998657, + 0.01727959026201812, + 0.004493553191423416 + ], + [ + -0.1871230008142301, + -0.006524928845465183, + 0.982314830150206, + 0.05413854867219925 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 172, + "c2w": [ + [ + 0.9820397986630901, + -0.05640269815921785, + 0.18004607418882765, + 0.20230139791965485 + ], + [ + 0.054618060136880794, + 0.9983967542648318, + 0.014858225818932086, + 0.005960308015346527 + ], + [ + -0.1805954653786752, + -0.004757602699100972, + 0.9835459493182663, + 0.054107971489429474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 173, + "c2w": [ + [ + 0.9826783860512974, + -0.055804360657930374, + 0.17671758895816353, + 0.20306624472141266 + ], + [ + 0.05433897755249643, + 0.9984362721443176, + 0.01312467832759736, + 0.007875356823205948 + ], + [ + -0.177173679128825, + -0.003294687718153, + 0.9841740899833468, + 0.053756870329380035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 174, + "c2w": [ + [ + 0.9837992943440765, + -0.0559297613799572, + 0.17032563457134675, + 0.20444388687610626 + ], + [ + 0.054543364708065034, + 0.9984291791915894, + 0.012811840809222078, + 0.009366624988615513 + ], + [ + -0.1707746454083782, + -0.0033141467720270157, + 0.9853045600764014, + 0.05266280099749565 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 175, + "c2w": [ + [ + 0.9847649946998033, + -0.050943668931722655, + 0.1662609681829611, + 0.20476631820201874 + ], + [ + 0.05045367644946152, + 0.9987006783485415, + 0.007172250917130001, + 0.01433618739247322 + ], + [ + -0.16641032030150377, + 0.0013254936784505846, + 0.9860557179615491, + 0.05181282386183739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 176, + "c2w": [ + [ + 0.9858812213020882, + -0.04876886308193208, + 0.1601868686957143, + 0.206429123878479 + ], + [ + 0.04855576232003406, + 0.9988067150115969, + 0.00524670092402716, + 0.01696397364139557 + ], + [ + -0.1602516043092579, + 0.002605370711535216, + 0.9870727834370353, + 0.04999909549951553 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 177, + "c2w": [ + [ + 0.987881601245355, + -0.04853561520576477, + 0.14742519114582642, + 0.21103031933307648 + ], + [ + 0.04859327829356954, + 0.9988135099411011, + 0.003212637663704971, + 0.01940193772315979 + ], + [ + -0.14740620156857234, + 0.00399016635492444, + 0.9890680186601568, + 0.04413178563117981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 758.6610514322916, + "fy": 758.6656901041666, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/boom_up/transforms.json b/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..39531a37ea8b4decd3a609bdecfa7909b62b0a94 --- /dev/null +++ b/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/boom_up/transforms.json @@ -0,0 +1,4108 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 117, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00011037875810870901, + 2.6177083782386035e-05, + -0.0004883921355940402 + ], + [ + -0.00011037995136575773, + 1.0, + 4.573888145387173e-05, + -4.7455494495807216e-05 + ], + [ + -2.617203426780179e-05, + -4.574177000904456e-05, + 1.0, + 0.0010702626314014196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999948740005493, + -0.0026546455919742584, + 0.0017747802194207907, + -0.0037249540958296636 + ], + [ + 0.0026563764549791813, + 0.9999960064888, + -0.000973614864051342, + 0.00042981777163543576 + ], + [ + -0.0017721885815262794, + 0.0009783243294805288, + 0.9999979734420776, + 0.017749941371710456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999789595603943, + -0.0064499578438699245, + 0.0007018729229457676, + -0.007502638575107116 + ], + [ + 0.0064507280476391315, + 0.9999786019325256, + -0.0011000819504261017, + -0.0002572470280373918 + ], + [ + -0.0006947623915039003, + 0.0011045862920582294, + 0.9999991655349731, + 0.04840110903846678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999756217002869, + -0.00696758134290576, + 0.0004346150381024927, + -0.007799260871854194 + ], + [ + 0.0069676912389695644, + 0.9999756813049316, + -0.0002527574833948165, + -0.0014808616641073906 + ], + [ + -0.0004328433715272695, + 0.00025577956694178283, + 0.9999998807907104, + 0.06387042414488829 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999753832817078, + -0.006167152896523476, + 0.0033523710444569588, + -0.00840302627405216 + ], + [ + 0.0061624180525541306, + 0.9999799728393555, + 0.0014209491200745106, + -0.0035804016686221264 + ], + [ + -0.003361067268997431, + -0.0014002553652971983, + 0.9999933838844299, + 0.08137135256708054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999915361404419, + -0.0052946521900594234, + 0.011884434148669243, + -0.010561134017891539 + ], + [ + 0.005224383901804686, + 0.9999687075614929, + 0.005935891065746546, + -0.004019787304247891 + ], + [ + -0.01191549189388752, + -0.005873299669474363, + 0.9999117851257324, + 0.1112221021120886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999880313873291, + -0.004555518738925457, + 0.014784524217247963, + -0.012108344949203832 + ], + [ + 0.004423832520842552, + 0.9999503493309021, + 0.00892751757055521, + -0.004394276667354179 + ], + [ + -0.014824459329247475, + -0.008861045353114605, + 0.999850869178772, + 0.12765070498150227 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998446106910706, + -0.004259975161403418, + 0.017107317224144936, + -0.01417230404070418 + ], + [ + 0.0040526981465518475, + 0.9999181628227234, + 0.01213269867002964, + -0.004084816213761424 + ], + [ + -0.017157601192593575, + -0.012061482295393944, + 0.9997800588607788, + 0.14620826401876222 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998160600662231, + -0.0038962652906775475, + 0.01877894438803196, + -0.016551037974141796 + ], + [ + 0.0035464991815388203, + 0.9998202919960022, + 0.018622901290655136, + -0.0033606626270017747 + ], + [ + -0.018848130479454994, + -0.018552877008914948, + 0.9996501803398132, + 0.1764009689976429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998149871826172, + -0.004476454108953476, + 0.01870623230934143, + -0.018255285690699157 + ], + [ + 0.00407046265900135, + 0.9997565746307373, + 0.021685542538762093, + -0.002760510066331461 + ], + [ + -0.01879875361919403, + -0.021605389192700386, + 0.9995898008346558, + 0.1948550988133226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999803900718689, + -0.006351545453071594, + 0.018756994977593422, + -0.022471291559009718 + ], + [ + 0.005835426971316338, + 0.9996063113212585, + 0.027443772181868553, + -0.0025887977299762204 + ], + [ + -0.018923921510577202, + -0.027328936383128166, + 0.9994473457336426, + 0.233849815494413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997815489768982, + -0.008249042555689812, + 0.01920357719063759, + -0.024722002412931158 + ], + [ + 0.007684275507926941, + 0.9995411038398743, + 0.029299773275852203, + -0.0022318945651681257 + ], + [ + -0.019436459988355637, + -0.029145807027816772, + 0.999386191368103, + 0.25477003642711143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9996839165687561, + -0.01348142046481371, + 0.021219342947006226, + -0.02738511262076168 + ], + [ + 0.01282875519245863, + 0.9994493722915649, + 0.030599307268857956, + -0.0005548157247489902 + ], + [ + -0.02162018045783043, + -0.03031741827726364, + 0.9993064999580383, + 0.2952651269733906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996019601821899, + -0.015430680476129055, + 0.023617474362254143, + -0.028791833467428283 + ], + [ + 0.01471517700701952, + 0.9994363188743591, + 0.030175210908055305, + -0.00011840704186209458 + ], + [ + -0.024069784209132195, + -0.029815664514899254, + 0.9992655515670776, + 0.3159649346393116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9992930889129639, + -0.02008109912276268, + 0.031782008707523346, + -0.031156850959463366 + ], + [ + 0.019222058355808258, + 0.9994477033615112, + 0.027107777073979378, + 0.004306011030386234 + ], + [ + -0.03230880945920944, + -0.026477700099349022, + 0.9991271495819092, + 0.3554184616286436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9991138577461243, + -0.021894365549087524, + 0.03594698756933212, + -0.0334846467293542 + ], + [ + 0.02100144699215889, + 0.9994660019874573, + 0.025032373145222664, + 0.006535740376546464 + ], + [ + -0.036475859582424164, + -0.02425525151193142, + 0.9990401268005371, + 0.37572453011244794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988429546356201, + -0.02500884234905243, + 0.0410764142870903, + -0.03516900282481621 + ], + [ + 0.024170760065317154, + 0.9994919896125793, + 0.020774558186531067, + 0.01264353440753345 + ], + [ + -0.04157509654760361, + -0.019757673144340515, + 0.9989399909973145, + 0.4102529061251673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9987733960151672, + -0.026365509256720543, + 0.041911110281944275, + -0.035909581680557336 + ], + [ + 0.025593576952815056, + 0.999494731426239, + 0.018849462270736694, + 0.01670389928180596 + ], + [ + -0.04238691180944443, + -0.017753686755895615, + 0.9989435076713562, + 0.4269635767997082 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9987753629684448, + -0.026411596685647964, + 0.0418354757130146, + -0.03649349034731758 + ], + [ + 0.025687802582979202, + 0.9995124936103821, + 0.01774517446756363, + 0.019908748130346165 + ], + [ + -0.042283762246370316, + -0.016648780554533005, + 0.9989669322967529, + 0.4441397356254787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9988797903060913, + -0.024173231795430183, + 0.04067971557378769, + -0.03616053772415837 + ], + [ + 0.023472091183066368, + 0.9995691180229187, + 0.017625965178012848, + 0.026386670228736153 + ], + [ + -0.04108826071023941, + -0.01665138080716133, + 0.9990167617797852, + 0.479194747601989 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.998918890953064, + -0.02250632457435131, + 0.04067562520503998, + -0.036845748441229606 + ], + [ + 0.02177532948553562, + 0.9995949268341064, + 0.018325913697481155, + 0.02951854184783738 + ], + [ + -0.04107159376144409, + -0.01742037758231163, + 0.9990043044090271, + 0.4999478792707468 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9989449381828308, + -0.02100496180355549, + 0.040839001536369324, + -0.03769207795086349 + ], + [ + 0.02024162746965885, + 0.9996142387390137, + 0.01901583932340145, + 0.03225534131814693 + ], + [ + -0.04122267663478851, + -0.018169129267334938, + 0.9989847540855408, + 0.5201288716305561 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9990360140800476, + -0.018793685361742973, + 0.03967101499438286, + -0.04090831064908155 + ], + [ + 0.018047189339995384, + 0.9996548295021057, + 0.01909220963716507, + 0.038142502307891846 + ], + [ + -0.04001613333821297, + -0.018357854336500168, + 0.999030351638794, + 0.563879564976127 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9991240501403809, + -0.017915356904268265, + 0.037818048149347305, + -0.04227733171769771 + ], + [ + 0.01724540814757347, + 0.9996898174285889, + 0.01796753704547882, + 0.04070657409470657 + ], + [ + -0.038128215819597244, + -0.017299611121416092, + 0.9991230964660645, + 0.5860529389971032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9992895126342773, + -0.01440250314772129, + 0.03482815995812416, + -0.04412386881123329 + ], + [ + 0.0139387808740139, + 0.9998114109039307, + 0.013520952314138412, + 0.04340520639871729 + ], + [ + -0.03501632437109947, + -0.013025883585214615, + 0.9993018507957458, + 0.6301809833738311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9993483424186707, + -0.013236389495432377, + 0.03358178585767746, + -0.04563984728883952 + ], + [ + 0.012908111326396465, + 0.9998669624328613, + 0.009973506443202496, + 0.0442788256653424 + ], + [ + -0.0337093323469162, + -0.009533529169857502, + 0.999386191368103, + 0.6528364487739023 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9995242357254028, + -0.01551754679530859, + 0.02665630541741848, + -0.04924919175722733 + ], + [ + 0.015526345930993557, + 0.9998794794082642, + -0.00012315294588916004, + 0.04669063671909529 + ], + [ + -0.026651179417967796, + 0.0005369692808017135, + 0.9996446371078491, + 0.698388104290292 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9996351003646851, + -0.01670266129076481, + 0.021228160709142685, + -0.04994163535182075 + ], + [ + 0.016821173951029778, + 0.9998438358306885, + -0.005416519474238157, + 0.04645792050608273 + ], + [ + -0.021134376525878906, + 0.005771625321358442, + 0.9997599720954895, + 0.7199676129979017 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9996569156646729, + -0.015349903143942356, + 0.021223731338977814, + -0.04563778513271747 + ], + [ + 0.01560657937079668, + 0.9998064041137695, + -0.011981576681137085, + 0.042728259697042664 + ], + [ + -0.021035708487033844, + 0.012308696284890175, + 0.9997029304504395, + 0.759895228189898 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9994627833366394, + -0.01620803400874138, + 0.02848534844815731, + -0.0448023815639317 + ], + [ + 0.016609616577625275, + 0.999765157699585, + -0.013918299227952957, + 0.042082151770591734 + ], + [ + -0.02825307287275791, + 0.0143839530646801, + 0.9994972944259644, + 0.7784483988769353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9992712736129761, + -0.01924976333975792, + 0.03295990452170372, + -0.04790102854242612 + ], + [ + 0.01979174092411995, + 0.9996728897094727, + -0.016196995973587036, + 0.04117402665573975 + ], + [ + -0.0326373390853405, + 0.016837526112794876, + 0.9993253946304321, + 0.8216697160347268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9993029832839966, + -0.02092505432665348, + 0.0309144239872694, + -0.04734216186796026 + ], + [ + 0.02145523764193058, + 0.999626636505127, + -0.016919037327170372, + 0.04101400914891013 + ], + [ + -0.03054885007441044, + 0.01757051981985569, + 0.9993788003921509, + 0.8414355600397263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9993822574615479, + -0.0208118986338377, + 0.02831966243684292, + -0.04640800310619946 + ], + [ + 0.021303044632077217, + 0.9996259212493896, + -0.017153102904558182, + 0.03915879901113181 + ], + [ + -0.027952080592513084, + 0.01774580031633377, + 0.999451756477356, + 0.8617847498120933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9991852641105652, + -0.01730204001069069, + 0.03646127134561539, + -0.04115958706764825 + ], + [ + 0.017935864627361298, + 0.9996923804283142, + -0.01712866686284542, + 0.032888588463437965 + ], + [ + -0.03615369647741318, + 0.017768675461411476, + 0.999188244342804, + 0.8998611757515704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9988375306129456, + -0.017403144389390945, + 0.04495224356651306, + -0.041308664447017786 + ], + [ + 0.018225960433483124, + 0.9996725916862488, + -0.017959628254175186, + 0.03165100979907759 + ], + [ + -0.044624969363212585, + 0.018758047372102737, + 0.9988276958465576, + 0.9219311359820181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985164403915405, + -0.017846425995230675, + 0.051443539559841156, + -0.04164622212631692 + ], + [ + 0.01885138265788555, + 0.9996395111083984, + -0.019116559997200966, + 0.029654871929308463 + ], + [ + -0.05108383297920227, + 0.020057981833815575, + 0.9984928965568542, + 0.9441885630487753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9981259107589722, + -0.019927561283111572, + 0.05785771459341049, + -0.04382241650901992 + ], + [ + 0.021257270127534866, + 0.9995217323303223, + -0.02245856076478958, + 0.027478701621294017 + ], + [ + -0.057382501661777496, + 0.023646369576454163, + 0.9980722069740295, + 0.9859666223669874 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9980279207229614, + -0.022041548043489456, + 0.05877399444580078, + -0.044218486621333604 + ], + [ + 0.023487940430641174, + 0.9994351863861084, + -0.024033112451434135, + 0.02699328072626015 + ], + [ + -0.0582110732793808, + 0.025366196408867836, + 0.9979819655418396, + 1.0052871496625373 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9979934096336365, + -0.026076043024659157, + 0.05769968777894974, + -0.04329716918090808 + ], + [ + 0.027535339817404747, + 0.9993170499801636, + -0.024642309173941612, + 0.027038903123345864 + ], + [ + -0.05701770633459091, + 0.026181640103459358, + 0.9980298280715942, + 1.0412532455352104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9979886412620544, + -0.02806660532951355, + 0.05684119835495949, + -0.04301056378874286 + ], + [ + 0.02945845201611519, + 0.9992826581001282, + -0.023798389360308647, + 0.02712787256158631 + ], + [ + -0.0561324842274189, + 0.025424977764487267, + 0.9980995655059814, + 1.0587195603289352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9979932904243469, + -0.03043103776872158, + 0.05552814155817032, + -0.043859430749354694 + ], + [ + 0.03165809437632561, + 0.9992706179618835, + -0.02135354094207287, + 0.0270061918116849 + ], + [ + -0.05483783036470413, + 0.023068604990839958, + 0.9982287287712097, + 1.0982351447616159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9979739189147949, + -0.03142860531806946, + 0.05531974509358406, + -0.04501969935051326 + ], + [ + 0.03261088579893112, + 0.9992557764053345, + -0.020600229501724243, + 0.026346274234097578 + ], + [ + -0.05463114008307457, + 0.022362519055604935, + 0.9982561469078064, + 1.1204907476227601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9979171752929688, + -0.033487848937511444, + 0.0551348552107811, + -0.04617596195432647 + ], + [ + 0.03473196178674698, + 0.9991596937179565, + -0.021763205528259277, + 0.02764864389238686 + ], + [ + -0.05435971915721893, + 0.023632816970348358, + 0.9982417225837708, + 1.1606898441011535 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9979024529457092, + -0.03403647243976593, + 0.05506591871380806, + -0.047372735433023554 + ], + [ + 0.035374365746974945, + 0.9990976452827454, + -0.02350655198097229, + 0.027770341675857013 + ], + [ + -0.05421615019440651, + 0.025405168533325195, + 0.9982059597969055, + 1.1810916762927484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.997848629951477, + -0.035037945955991745, + 0.05541156232357025, + -0.04823005729965095 + ], + [ + 0.03666544333100319, + 0.9989173412322998, + -0.028632167726755142, + 0.03016768072185845 + ], + [ + -0.054348357021808624, + 0.030602257698774338, + 0.9980529546737671, + 1.2201434029458926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9977869391441345, + -0.03539004549384117, + 0.056292224675416946, + -0.0484597188549052 + ], + [ + 0.03720330074429512, + 0.9988112449645996, + -0.03149626776576042, + 0.03134402863938233 + ], + [ + -0.05511065199971199, + 0.03352082148194313, + 0.9979174137115479, + 1.239434438902114 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9976845383644104, + -0.035805344581604004, + 0.057823702692985535, + -0.04908685879460697 + ], + [ + 0.03783510625362396, + 0.9986917972564697, + -0.03439754620194435, + 0.032706690348427866 + ], + [ + -0.056516438722610474, + 0.03650566563010216, + 0.9977340698242188, + 1.2595669422619815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.997402012348175, + -0.037015512585639954, + 0.06179863587021828, + -0.049959385793270736 + ], + [ + 0.03953543305397034, + 0.9984146356582642, + -0.04006386920809746, + 0.03616218520649549 + ], + [ + -0.060217682272195816, + 0.04240301623940468, + 0.9972842335700989, + 1.2975467353834418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.997257649898529, + -0.03728679567575455, + 0.0639287531375885, + -0.05146650756741392 + ], + [ + 0.040061935782432556, + 0.9982847571372986, + -0.04269180819392204, + 0.037511506368374005 + ], + [ + -0.06222726032137871, + 0.04513584449887276, + 0.997040867805481, + 1.3174739694287037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9971264600753784, + -0.03772471472620964, + 0.06569398194551468, + -0.052843832574656295 + ], + [ + 0.040751177817583084, + 0.9981393814086914, + -0.04535499960184097, + 0.038749053303537694 + ], + [ + -0.06386075168848038, + 0.04790177941322327, + 0.9968085289001465, + 1.337576052931876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9969212412834167, + -0.039093464612960815, + 0.06796884536743164, + -0.05574325960257958 + ], + [ + 0.04264533519744873, + 0.9977560639381409, + -0.05161629244685173, + 0.04257990291406368 + ], + [ + -0.06579846143722534, + 0.0543559305369854, + 0.9963513612747192, + 1.3757271880027035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9969285726547241, + -0.03960591182112694, + 0.06756309419870377, + -0.0567306162564662 + ], + [ + 0.04340917989611626, + 0.9974986910820007, + -0.05578499287366867, + 0.0437923838866168 + ], + [ + -0.06518469005823135, + 0.0585465133190155, + 0.996154248714447, + 1.3944893467785984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9972398281097412, + -0.03850594907999039, + 0.06348264217376709, + -0.060159857725274976 + ], + [ + 0.0426759272813797, + 0.9969267249107361, + -0.06569555401802063, + 0.04599072835568723 + ], + [ + -0.06075787544250488, + 0.06822340190410614, + 0.9958182573318481, + 1.433063888601188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9974597692489624, + -0.03569437563419342, + 0.061643801629543304, + -0.06070057807554459 + ], + [ + 0.04001668095588684, + 0.9967180490493774, + -0.07036882638931274, + 0.0446615993976593 + ], + [ + -0.058929719030857086, + 0.07265685498714447, + 0.9956145286560059, + 1.452307893965265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9974639415740967, + -0.028916243463754654, + 0.06503456830978394, + -0.06238962250665344 + ], + [ + 0.033966291695833206, + 0.9963794946670532, + -0.07793700695037842, + 0.04285130284983536 + ], + [ + -0.06254546344280243, + 0.07994833588600159, + 0.994834840297699, + 1.491792540766042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9973003268241882, + -0.026601051911711693, + 0.06844323873519897, + -0.06164973215521153 + ], + [ + 0.0321207270026207, + 0.9962083697319031, + -0.08085267245769501, + 0.0421605369654195 + ], + [ + -0.06603296101093292, + 0.08283284306526184, + 0.9943733811378479, + 1.5062298082329075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9967742562294006, + -0.022786609828472137, + 0.07695355266332626, + -0.0619997583072761 + ], + [ + 0.029348839074373245, + 0.9959271550178528, + -0.08525095880031586, + 0.04013052120290954 + ], + [ + -0.07469754666090012, + 0.08723445236682892, + 0.9933833479881287, + 1.5419118286206805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9964554905891418, + -0.02239976078271866, + 0.08108459413051605, + -0.06329740221001978 + ], + [ + 0.02946016937494278, + 0.9957766532897949, + -0.08695349842309952, + 0.039170460968182004 + ], + [ + -0.07879440486431122, + 0.0890340581536293, + 0.9929070472717285, + 1.561053665207121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9961106777191162, + -0.020854152739048004, + 0.08560720086097717, + -0.06217571459710598 + ], + [ + 0.028418127447366714, + 0.9957051277160645, + -0.08811192214488983, + 0.04048130661249161 + ], + [ + -0.08340202271938324, + 0.09020201861858368, + 0.9924251437187195, + 1.5885757841169834 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9961450099945068, + -0.01947135291993618, + 0.08553370088338852, + -0.06108285882189099 + ], + [ + 0.02692367322742939, + 0.9958568811416626, + -0.08685701340436935, + 0.041728474508071774 + ], + [ + -0.0834880992770195, + 0.0888250544667244, + 0.9925420880317688, + 1.602042881046133 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9962313175201416, + -0.018189188092947006, + 0.08480732887983322, + -0.05789055501849487 + ], + [ + 0.025272905826568604, + 0.9962109327316284, + -0.08321678638458252, + 0.04522588515076143 + ], + [ + -0.08297234028577805, + 0.08504649996757507, + 0.9929162263870239, + 1.6066356748342514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9964768290519714, + -0.012320689857006073, + 0.08295881003141403, + -0.06137405005123081 + ], + [ + 0.01843813620507717, + 0.9971333146095276, + -0.07338345795869827, + 0.04082082104066322 + ], + [ + -0.08181685954332352, + 0.07465452700853348, + 0.9938474297523499, + 1.6501404066216843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9966033101081848, + -0.011274993419647217, + 0.08157625049352646, + -0.06040160365659615 + ], + [ + 0.016916049644351006, + 0.997487485408783, + -0.0687936469912529, + 0.043142571223193205 + ], + [ + -0.08059563487768173, + 0.06993991881608963, + 0.9942900538444519, + 1.662760135338738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9967882037162781, + -0.010095455683767796, + 0.07944409549236298, + -0.06378203685122445 + ], + [ + 0.015290160663425922, + 0.9977645874023438, + -0.06505410373210907, + 0.0398043003061722 + ], + [ + -0.07860974967479706, + 0.06605987250804901, + 0.9947143197059631, + 1.6897874953803318 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9971027374267578, + -0.008991418406367302, + 0.07553316652774811, + -0.0656982027251145 + ], + [ + 0.013503525406122208, + 0.9981405138969421, + -0.05944015830755234, + 0.03483260931639836 + ], + [ + -0.07485826313495636, + 0.06028790771961212, + 0.995370090007782, + 1.730304189386039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.997094988822937, + -0.00975099578499794, + 0.07554127275943756, + -0.06614716728378472 + ], + [ + 0.01417771726846695, + 0.9981991648674011, + -0.05828728899359703, + 0.031167766400452317 + ], + [ + -0.07483687996864319, + 0.05918896570801735, + 0.9954376220703125, + 1.7484635292423953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9967232346534729, + -0.014304063282907009, + 0.07961256057024002, + -0.06875379868012307 + ], + [ + 0.019064422696828842, + 0.9980546236038208, + -0.05935894325375557, + 0.02646585564161169 + ], + [ + -0.07860860973596573, + 0.060682203620672226, + 0.9950569868087769, + 1.7926081924153299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9964664578437805, + -0.017214946448802948, + 0.0822085589170456, + -0.0678849947542466 + ], + [ + 0.022250298410654068, + 0.9979060292243958, + -0.06073308363556862, + 0.02639904695338216 + ], + [ + -0.08099089562892914, + 0.0623476468026638, + 0.9947628974914551, + 1.8059572774884773 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9960726499557495, + -0.024137405678629875, + 0.08518622815608978, + -0.06878304811001852 + ], + [ + 0.02961643598973751, + 0.9975326061248779, + -0.06365197151899338, + 0.02881229309172466 + ], + [ + -0.0834396481513977, + 0.06592490524053574, + 0.9943298101425171, + 1.8430127730914232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9960083365440369, + -0.026973906904459, + 0.08508729189634323, + -0.0686048643181807 + ], + [ + 0.03252515196800232, + 0.9973846077919006, + -0.06454502046108246, + 0.028853003937622586 + ], + [ + -0.08312372118234634, + 0.0670548528432846, + 0.9942806959152222, + 1.8568821113299707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9961208701133728, + -0.031757257878780365, + 0.08206545561552048, + -0.06914661073222242 + ], + [ + 0.0371914878487587, + 0.9971552491188049, + -0.06556110084056854, + 0.031239069741347734 + ], + [ + -0.07974996417760849, + 0.06835891306400299, + 0.9944682121276855, + 1.8911986465341057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9962724447250366, + -0.03364046663045883, + 0.07943273335695267, + -0.06976491112005094 + ], + [ + 0.03892369568347931, + 0.9970648884773254, + -0.06592849642038345, + 0.03223575276547465 + ], + [ + -0.07698173075914383, + 0.06877455860376358, + 0.9946576952934265, + 1.9085811787959317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9966006278991699, + -0.0349639393389225, + 0.0745968371629715, + -0.06974728382353125 + ], + [ + 0.04004723206162453, + 0.9968966841697693, + -0.06777310371398926, + 0.03221121754111914 + ], + [ + -0.07199572026729584, + 0.07053011655807495, + 0.9949080944061279, + 1.9393901738627204 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9966874122619629, + -0.03493974357843399, + 0.07344001531600952, + -0.06863970933160905 + ], + [ + 0.040057823061943054, + 0.9967833757400513, + -0.06941410899162292, + 0.03255302921451371 + ], + [ + -0.07077847421169281, + 0.07212601602077484, + 0.9948810338973999, + 1.952119040913109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9967162609100342, + -0.03442671522498131, + 0.07329055666923523, + -0.06942698933055688 + ], + [ + 0.039676908403635025, + 0.9966562986373901, + -0.07142825424671173, + 0.03263440666527584 + ], + [ + -0.07058645784854889, + 0.07410164177417755, + 0.9947494864463806, + 1.9699390641317285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9967023134231567, + -0.03207947686314583, + 0.07453445345163345, + -0.06930522217640075 + ], + [ + 0.037737730890512466, + 0.9964094161987305, + -0.07579032331705093, + 0.03442416545645943 + ], + [ + -0.07183551043272018, + 0.0783531591296196, + 0.9943341612815857, + 2.0003912258443646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9967591762542725, + -0.030801961198449135, + 0.07431258261203766, + -0.06919928368437907 + ], + [ + 0.03660108894109726, + 0.996282696723938, + -0.07798153162002563, + 0.036073424692811634 + ], + [ + -0.07163435220718384, + 0.08044873178005219, + 0.9941813349723816, + 2.016612947141302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9969074130058289, + -0.029681619256734848, + 0.0727638527750969, + -0.06931521845339188 + ], + [ + 0.035502929240465164, + 0.9961574673652649, + -0.08006126433610916, + 0.03769780680023391 + ], + [ + -0.07010791450738907, + 0.08239700645208359, + 0.9941306114196777, + 2.0325087158394783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9974901676177979, + -0.027158785611391068, + 0.06538926064968109, + -0.07364001395501966 + ], + [ + 0.032643165439367294, + 0.9959037899971008, + -0.08432116359472275, + 0.03883996662394752 + ], + [ + -0.06283135712146759, + 0.08624403923749924, + 0.9942907691001892, + 2.0704861940880273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9978688955307007, + -0.026563968509435654, + 0.05959908664226532, + -0.0766773149082116 + ], + [ + 0.03165927901864052, + 0.9957706928253174, + -0.0862460657954216, + 0.04106127239506821 + ], + [ + -0.057055987417697906, + 0.08794913440942764, + 0.9944896101951599, + 2.089063079790052 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9984339475631714, + -0.024770474061369896, + 0.05016022548079491, + -0.06817663242590838 + ], + [ + 0.02910229004919529, + 0.9957342743873596, + -0.08755754679441452, + 0.04084313815010003 + ], + [ + -0.047777410596609116, + 0.08888020366430283, + 0.9948958158493042, + 2.103132797212436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9984226822853088, + -0.02346242405474186, + 0.05100656673312187, + -0.06745983523252452 + ], + [ + 0.02785084955394268, + 0.9958099722862244, + -0.08710262924432755, + 0.03894619931434763 + ], + [ + -0.048749204725027084, + 0.08838581293821335, + 0.9948927164077759, + 2.1158706495538353 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9981670379638672, + -0.02650533989071846, + 0.05440574511885643, + -0.06924944002952041 + ], + [ + 0.031202241778373718, + 0.9956861734390259, + -0.08738138526678085, + 0.036906740326305906 + ], + [ + -0.051854971796274185, + 0.08891879767179489, + 0.9946881532669067, + 2.149635581633654 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9980738759040833, + -0.029673537239432335, + 0.05447906628251076, + -0.06928853610819527 + ], + [ + 0.034449249505996704, + 0.9954423308372498, + -0.08892595767974854, + 0.03653566369722629 + ], + [ + -0.05159201845526695, + 0.09063144028186798, + 0.9945472478866577, + 2.1661645477316505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9980079531669617, + -0.03434896841645241, + 0.052918169647455215, + -0.06594561784174935 + ], + [ + 0.039134930819272995, + 0.9949679970741272, + -0.09223385155200958, + 0.037340874456126105 + ], + [ + -0.04948375001549721, + 0.0941210687160492, + 0.9943302273750305, + 2.1848766886982425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9979659914970398, + -0.03529789671301842, + 0.053084373474121094, + -0.06219711169150883 + ], + [ + 0.0401323027908802, + 0.9948617219924927, + -0.09294911473989487, + 0.038665956464307066 + ], + [ + -0.04953070729970932, + 0.09489045292139053, + 0.9942547678947449, + 2.1904788614282835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9978243708610535, + -0.0360628180205822, + 0.05519069358706474, + -0.05515537734047092 + ], + [ + 0.041006240993738174, + 0.9949852228164673, + -0.09123022109270096, + 0.04538526016062702 + ], + [ + -0.051623906940221786, + 0.0932948961853981, + 0.9942992925643921, + 2.198053907641563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.997809648513794, + -0.03642880544066429, + 0.05521656572818756, + -0.053407308738678695 + ], + [ + 0.04121232405304909, + 0.9952563643455505, + -0.08812668919563293, + 0.04921659380197524 + ], + [ + -0.05174428969621658, + 0.09020926058292389, + 0.9945777058601379, + 2.2082487631589176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9979071617126465, + -0.03614548593759537, + 0.053617432713508606, + -0.057037878139265655 + ], + [ + 0.040579602122306824, + 0.9956341981887817, + -0.08405830711126328, + 0.0502707526601594 + ], + [ + -0.05034502595663071, + 0.08605816215276718, + 0.9950172901153564, + 2.22995120898403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9983837008476257, + -0.034283071756362915, + 0.04532897472381592, + -0.06504954292342581 + ], + [ + 0.03760337829589844, + 0.9965081214904785, + -0.07454922795295715, + 0.057883001709806495 + ], + [ + -0.04261491447687149, + 0.07613325119018555, + 0.9961865544319153, + 2.2795720071628174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9986771941184998, + -0.032354023307561874, + 0.03996283933520317, + -0.062287242537171675 + ], + [ + 0.03511856868863106, + 0.9968910813331604, + -0.07053253054618835, + 0.053016007974230006 + ], + [ + -0.03755658492445946, + 0.07184267044067383, + 0.9967086315155029, + 2.2762360449494987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9989317059516907, + -0.03023657202720642, + 0.03494587168097496, + -0.062239070365141175 + ], + [ + 0.03252691775560379, + 0.9972262978553772, + -0.0669454038143158, + 0.05238255390833163 + ], + [ + -0.032824743539094925, + 0.06801056861877441, + 0.9971444606781006, + 2.2859862041884456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9992716908454895, + -0.02494915947318077, + 0.02887313812971115, + -0.06206539893715546 + ], + [ + 0.026703156530857086, + 0.9977158308029175, + -0.06204855069518089, + 0.04487986384794629 + ], + [ + -0.027259130030870438, + 0.06277436017990112, + 0.9976553916931152, + 2.3000345236268536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9993716478347778, + -0.021720677614212036, + 0.028009431436657906, + -0.05976785244099025 + ], + [ + 0.023398280143737793, + 0.9978618025779724, + -0.061027396470308304, + 0.03959561863849902 + ], + [ + -0.026623984798789024, + 0.06164442375302315, + 0.9977430105209351, + 2.2995252574023244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9994088411331177, + -0.018985342234373093, + 0.028662163764238358, + -0.059162433464722386 + ], + [ + 0.02070784568786621, + 0.997920036315918, + -0.06104741618037224, + 0.038384862757962324 + ], + [ + -0.027443543076515198, + 0.06160486117005348, + 0.9977232813835144, + 2.305377850353975 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9994065165519714, + -0.014442091807723045, + 0.03127434849739075, + -0.05925108472302813 + ], + [ + 0.016352377831935883, + 0.9979599714279175, + -0.06171328201889992, + 0.04019520303298686 + ], + [ + -0.030319279059767723, + 0.06218806281685829, + 0.9976038336753845, + 2.321929087749971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9994049072265625, + -0.012836148031055927, + 0.032016411423683167, + -0.05910215714368327 + ], + [ + 0.014789684675633907, + 0.9979946613311768, + -0.061545830219984055, + 0.041703839651469524 + ], + [ + -0.031162196770310402, + 0.061982717365026474, + 0.9975906014442444, + 2.3307745172031993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9994067549705505, + -0.01140555553138256, + 0.03249618411064148, + -0.05680310448856446 + ], + [ + 0.01332230307161808, + 0.9981458783149719, + -0.059391364455223083, + 0.04720302321787538 + ], + [ + -0.031758539378643036, + 0.05978905409574509, + 0.9977056980133057, + 2.3427341341008914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9994088411331177, + -0.011717505753040314, + 0.032322004437446594, + -0.058228896699588875 + ], + [ + 0.013559676706790924, + 0.998260498046875, + -0.057376910001039505, + 0.049960139702106346 + ], + [ + -0.03159346431493759, + 0.057781267911195755, + 0.997829258441925, + 2.355939249353933 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9994773864746094, + -0.013606631197035313, + 0.029322553426027298, + -0.0606518902823907 + ], + [ + 0.01511716190725565, + 0.9985366463661194, + -0.051923900842666626, + 0.0526880141476105 + ], + [ + -0.028573133051395416, + 0.05234003812074661, + 0.9982204437255859, + 2.377744495232814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9995158910751343, + -0.015233620069921017, + 0.027126912027597427, + -0.059233792078006886 + ], + [ + 0.016546372324228287, + 0.9986693263053894, + -0.048844996839761734, + 0.05391793518230832 + ], + [ + -0.026346728205680847, + 0.04927020147442818, + 0.9984379410743713, + 2.3812785106871663 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9995524883270264, + -0.018517937511205673, + 0.023491740226745605, + -0.05863451735790948 + ], + [ + 0.01950128749012947, + 0.9989126920700073, + -0.04234502464532852, + 0.05471210007009834 + ], + [ + -0.022682055830955505, + 0.0427841916680336, + 0.998826801776886, + 2.3943992810966126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9995616674423218, + -0.019865572452545166, + 0.021950889378786087, + -0.05790224244882321 + ], + [ + 0.020716529339551926, + 0.9990148544311523, + -0.03924422338604927, + 0.05465904566748388 + ], + [ + -0.021149657666683197, + 0.03968176618218422, + 0.9989885091781616, + 2.3980729551472026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9995684623718262, + -0.021389050409197807, + 0.020134737715125084, + -0.05821490786038339 + ], + [ + 0.022113332524895668, + 0.9990902543067932, + -0.03646431118249893, + 0.05531478960966242 + ], + [ + -0.019336482509970665, + 0.0368938222527504, + 0.9991320967674255, + 2.405053569871033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9995900988578796, + -0.023702139034867287, + 0.016056975349783897, + -0.05872639066957194 + ], + [ + 0.024192025884985924, + 0.9992254972457886, + -0.031034912914037704, + 0.058594005477839495 + ], + [ + -0.015308944508433342, + 0.031410641968250275, + 0.9993892908096313, + 2.421768977467356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.999614417552948, + -0.023539114743471146, + 0.014728832989931107, + -0.05809927627380038 + ], + [ + 0.023948300629854202, + 0.9993139505386353, + -0.028250886127352715, + 0.05692702788731148 + ], + [ + -0.014053726568818092, + 0.028592722490429878, + 0.999492347240448, + 2.424639601156051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9996283650398254, + -0.02345893532037735, + 0.013886390253901482, + -0.05872782428973708 + ], + [ + 0.02381093055009842, + 0.9993848204612732, + -0.025750290602445602, + 0.05661020864700449 + ], + [ + -0.013273773714900017, + 0.026071369647979736, + 0.9995719790458679, + 2.4316221614336144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.999656617641449, + -0.023069940507411957, + 0.012428012676537037, + -0.05892106707625348 + ], + [ + 0.023338712751865387, + 0.9994869828224182, + -0.02193371206521988, + 0.05656289319539892 + ], + [ + -0.011915626935660839, + 0.022216234356164932, + 0.9996821880340576, + 2.4417984001499056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9996839165687561, + -0.022280683740973473, + 0.011645294725894928, + -0.05967690129603805 + ], + [ + 0.022518260404467583, + 0.9995324611663818, + -0.020684361457824707, + 0.055482038341719525 + ], + [ + -0.011178988963365555, + 0.020940054208040237, + 0.9997182488441467, + 2.448301988030816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9997571706771851, + -0.01946873962879181, + 0.010323376394808292, + -0.06093218479433964 + ], + [ + 0.019668787717819214, + 0.9996135234832764, + -0.01964418590068817, + 0.05516844946762611 + ], + [ + -0.009936938993632793, + 0.019842464476823807, + 0.9997537136077881, + 2.46107690071944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9997907280921936, + -0.017972754314541817, + 0.009771748445928097, + -0.06111637498091521 + ], + [ + 0.018161846324801445, + 0.999642550945282, + -0.01961921527981758, + 0.05546161737935296 + ], + [ + -0.009415644221007824, + 0.0197925828397274, + 0.9997597932815552, + 2.466407247240944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9998564720153809, + -0.014168188907206059, + 0.009291637688875198, + -0.060936059315431994 + ], + [ + 0.01434903685003519, + 0.999703049659729, + -0.01969452016055584, + 0.055735287789640764 + ], + [ + -0.009009843692183495, + 0.01982502080500126, + 0.9997628927230835, + 2.4776096816287088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9998725652694702, + -0.012564260512590408, + 0.009846135042607784, + -0.06053473307140942 + ], + [ + 0.01275731436908245, + 0.9997226595878601, + -0.019795941188931465, + 0.05528926099168843 + ], + [ + -0.009594683535397053, + 0.019919028505682945, + 0.9997555613517761, + 2.4817010033490328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9998719096183777, + -0.010265344753861427, + 0.012280291877686977, + -0.060201973678415704 + ], + [ + 0.010509476065635681, + 0.9997450709342957, + -0.019983414560556412, + 0.05355744901402243 + ], + [ + -0.012072023935616016, + 0.020109914243221283, + 0.9997248649597168, + 2.49018417111887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9998563528060913, + -0.009789111092686653, + 0.013838435523211956, + -0.05992697232948809 + ], + [ + 0.01007082499563694, + 0.9997404217720032, + -0.02043641172349453, + 0.05357187246454173 + ], + [ + -0.013634788803756237, + 0.020572839304804802, + 0.999695360660553, + 2.498452877873105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9998027086257935, + -0.009921079501509666, + 0.017206624150276184, + -0.061183612368165934 + ], + [ + 0.010293487459421158, + 0.9997116923332214, + -0.02169146202504635, + 0.05428336843334394 + ], + [ + -0.016986459493637085, + 0.021864300593733788, + 0.9996166229248047, + 2.5127073536257676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9997776746749878, + -0.010436177253723145, + 0.01832324080169201, + -0.06133832782506943 + ], + [ + 0.010843290016055107, + 0.9996933937072754, + -0.022261453792452812, + 0.05389215350151061 + ], + [ + -0.01808529905974865, + 0.022455187514424324, + 0.9995842576026917, + 2.515906956605613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/orbit_left/transforms.json b/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2a29575ceacb5aeee6a7b7343f8104b70ebcfbf9 --- /dev/null +++ b/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/orbit_left/transforms.json @@ -0,0 +1,4108 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 117, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00011037875810870901, + 2.6177083782386035e-05, + -0.0004883921355940402 + ], + [ + -0.00011037995136575773, + 1.0, + 4.573888145387173e-05, + -4.7455494495807216e-05 + ], + [ + -2.617203426780179e-05, + -4.574177000904456e-05, + 1.0, + 0.0010702626314014196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999883217529831, + -0.0026546455919742584, + 0.004031653488832477, + -0.005957908481915352 + ], + [ + 0.002658567030803644, + 0.9999960064888, + -0.0009676172367177895, + 0.0012856703984403 + ], + [ + -0.0040290688526348935, + 0.0009783243294805288, + 0.9999914270356579, + 0.018048481141081194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999656045845923, + -0.0064499578438699245, + 0.005215538022050774, + -0.011975650290288513 + ], + [ + 0.006455627847280946, + 0.9999786019325256, + -0.0010709536589704662, + 0.0014374220156914267 + ], + [ + -0.005208518768110314, + 0.0011045862920582294, + 0.9999858424486147, + 0.04899359906683184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999497587204388, + -0.00696758134290576, + 0.0072050621123478115, + -0.014510330299102106 + ], + [ + 0.006969242858446198, + 0.9999756813049316, + -0.00020557608572489548, + 0.001058420691971694 + ], + [ + -0.007203454735514384, + 0.00025577956694178283, + 0.9999740292501065, + 0.0647552114478305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999043727589813, + -0.006167152896523476, + 0.012379454692612417, + -0.017344928337615563 + ], + [ + 0.006149339408733819, + 0.9999799728393555, + 0.0014765220934611102, + -0.0001855236067185827 + ], + [ + -0.012388313062203116, + -0.0014002553652971983, + 0.9999222941235446, + 0.08257148466903978 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997175914586632, + -0.0052946521900594234, + 0.02316693928107673, + -0.0217215500509692 + ], + [ + 0.005157069389375542, + 0.9999687075614929, + 0.00599446621568688, + 0.00024085757880118913 + ], + [ + -0.023197954693381245, + -0.005873299669474363, + 0.9997136649453412, + 0.11279830013488763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9995884459356095, + -0.004555518738925457, + 0.028322481877735197, + -0.025491440612012854 + ], + [ + 0.004302540007685776, + 0.9999503493309021, + 0.008986601895449663, + 0.0007343919848281707 + ], + [ + -0.02836201461971849, + -0.008861045353114605, + 0.9995584631819497, + 0.12956552429566792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999449586258491, + -0.004259975161403418, + 0.03290030939545957, + -0.02977879844114357 + ], + [ + 0.0038605251128199644, + 0.9999181628227234, + 0.012195207465971629, + 0.0019108233336498353 + ], + [ + -0.03294956732617596, + -0.012061482295393944, + 0.9993842481184922, + 0.14845920122462494 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9993140627463809, + -0.0038962652906775483, + 0.03682671199003242, + -0.03438008538520292 + ], + [ + 0.0032097005002597787, + 0.9998202919960024, + 0.018683894980029526, + 0.0035151089344849003 + ], + [ + -0.03689289198751524, + -0.01855287700891495, + 0.9991469609605934, + 0.1789585704684589 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9992288080663503, + -0.004476454108953476, + 0.03900924060384713, + -0.03831763617666066 + ], + [ + 0.0036291760781100566, + 0.9997565746307373, + 0.021763742841084534, + 0.004971813643429263 + ], + [ + -0.03909716915279849, + -0.021605389192700386, + 0.9990017890046741, + 0.197707566033098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9991259945108388, + -0.006351545453071594, + 0.04131478967177237, + -0.044778560206762484 + ], + [ + 0.005214617359511717, + 0.9996063113212585, + 0.027568471218073508, + 0.005978912214528307 + ], + [ + -0.0414736273188335, + -0.027328936383128166, + 0.998765763298072, + 0.23697225688493953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9989967765716345, + -0.008249042555689812, + 0.04401549103493495, + -0.049275999865742035 + ], + [ + 0.0069545919273753445, + 0.9995411038398743, + 0.029481493436082144, + 0.007152588452841765 + ], + [ + -0.04423848800877429, + -0.029145807027816772, + 0.998595759881254, + 0.2581998747375095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9987427119539523, + -0.013481420464813713, + 0.04828238685292478, + -0.05421570025795617 + ], + [ + 0.011995440298834797, + 0.9994493722915652, + 0.030935480878097048, + 0.009548693637841037 + ], + [ + -0.04867285716152676, + -0.03031741827726365, + 0.9983545793139569, + 0.29905283551511613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9984789291680661, + -0.015430680476129055, + 0.05293101078498418, + -0.05786861372800631 + ], + [ + 0.013823642764497641, + 0.9994363188743591, + 0.030593899529368397, + 0.010770578903437262 + ], + [ + -0.053373257295406915, + -0.029815664514899254, + 0.9981293966546664, + 0.320144804478193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9977902821186913, + -0.02008109912276268, + 0.06333503403488759, + -0.062483208389409364 + ], + [ + 0.018356096333757146, + 0.9994477033615112, + 0.027701495134964962, + 0.01587935369534698 + ], + [ + -0.06385632961995784, + -0.026477700099349022, + 0.9976077833336153, + 0.3602169371596438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9973247006949724, + -0.021894365549087524, + 0.06974330103555675, + -0.06704769853107415 + ], + [ + 0.02014214547018176, + 0.9994660019874573, + 0.025728864275442884, + 0.018867289924832387 + ], + [ + -0.0702693744563685, + -0.02425525151193142, + 0.9972331113152134, + 0.38103357177020863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9967088466259079, + -0.02500884234905243, + 0.07711027748330682, + -0.07097877097450397 + ], + [ + 0.02340499135107606, + 0.9994919896125793, + 0.02163363792423157, + 0.025664392590452913 + ], + [ + -0.07761213789738362, + -0.019757673144340515, + 0.9967878160961112, + 0.41615948740159503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9964307543833784, + -0.026365509256720543, + 0.08019095629624759, + -0.0739705359802748 + ], + [ + 0.024851719139400968, + 0.999494731426239, + 0.01981730216129137, + 0.03047502008692713 + ], + [ + -0.08067293276623368, + -0.017753686755895615, + 0.9965824901785045, + 0.43329949819209446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9962522716469171, + -0.026411596685647964, + 0.08236409374988628, + -0.07679451836551256 + ], + [ + 0.024945926576336413, + 0.9995124936103821, + 0.018773789326463043, + 0.034480587455304995 + ], + [ + -0.08281979060784526, + -0.016648780554533005, + 0.9964254767195415, + 0.45086148457815894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9962177239976177, + -0.024173231795430183, + 0.0834620939954891, + -0.07867472626460824 + ], + [ + 0.022694928303315525, + 0.9995691180229187, + 0.018615959343264352, + 0.04186224848499103 + ], + [ + -0.08387613524322052, + -0.01665138080716133, + 0.9963370561320208, + 0.48623948193856414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9960660675295661, + -0.02250632457435131, + 0.08570791273217601, + -0.08157055492911562 + ], + [ + 0.020926239436982037, + 0.9995949268341064, + 0.019289805340574652, + 0.045888897548856535 + ], + [ + -0.08610733204791353, + -0.01742037758231163, + 0.996133526897604, + 0.5073493136028754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9958883751986471, + -0.021004961803555492, + 0.08812013227285852, + -0.08462615756400421 + ], + [ + 0.01931798480459667, + 0.9996142387390139, + 0.019953473153394654, + 0.049520682163476326 + ], + [ + -0.08850526289211738, + -0.01816912926733494, + 0.9959099690256555, + 0.5278937811077669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9958358937445903, + -0.018793685361742973, + 0.08920549080379832, + -0.09004742694803196 + ], + [ + 0.01707737874298706, + 0.9996548295021057, + 0.019964384467638246, + 0.056338982600437695 + ], + [ + -0.08954990279415628, + -0.018357854336500168, + 0.9958131096407754, + 0.5719517226145515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9958160896686176, + -0.017915356904268265, + 0.0896068518130637, + -0.0936496656791417 + ], + [ + 0.016289930458058082, + 0.9996898174285889, + 0.018838117085544375, + 0.05976440793090792 + ], + [ + -0.08991655222336073, + -0.017299611121416092, + 0.9957990441699501, + 0.5944167385543685 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9959384099081596, + -0.01440250314772129, + 0.0888775250360123, + -0.09768704129053547 + ], + [ + 0.013186328849728923, + 0.9998114109039307, + 0.014255753056285288, + 0.06343987558752626 + ], + [ + -0.08906608146426169, + -0.013025883585214615, + 0.9959405429586983, + 0.6388314705735296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9958643088660316, + -0.013236389495432377, + 0.0898839483062294, + -0.10142212122295433 + ], + [ + 0.012325140991374708, + 0.9998669624328613, + 0.0106855541891837, + 0.06518090975731738 + ], + [ + -0.09001342622007137, + -0.009533529169857502, + 0.9958949049395932, + 0.661850354588788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9962406533600323, + -0.01551754679530859, + 0.08522802950751251, + -0.107376981886396 + ], + [ + 0.01550684545744188, + 0.9998794794082642, + 0.0007876094057180345, + 0.06820008652109757 + ], + [ + -0.08522997333037796, + 0.0005369692808017135, + 0.9963611481330227, + 0.7075808065618232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9964869899057852, + -0.01670266129076481, + 0.08206489893197079, + -0.11038242395495192 + ], + [ + 0.017119810542013378, + 0.9998438358306885, + -0.004382084356920985, + 0.06867384170787863 + ], + [ + -0.081978893298359, + 0.005771625321358442, + 0.996617341174178, + 0.7293042913541872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9963212921526879, + -0.015349903143942356, + 0.08431060794084061, + -0.10828586798923204 + ], + [ + 0.016332075891592714, + 0.9998064041137695, + -0.010972091710070622, + 0.06578797303542291 + ], + [ + -0.08412586625986242, + 0.012308696284890175, + 0.9963790889058116, + 0.7697288675162971 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9954598258716363, + -0.01620803400874138, + 0.09379235270983939, + -0.10963492953601466 + ], + [ + 0.017484354436624824, + 0.999765157699585, + -0.012802178181428273, + 0.06588299580113287 + ], + [ + -0.0935628315875117, + 0.0143839530646801, + 0.9955094546195447, + 0.7891503671475562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9947518145820844, + -0.01924976333975792, + 0.10049010379051923, + -0.11499559707433071 + ], + [ + 0.020842201662477532, + 0.9996728897094727, + -0.014820874374897647, + 0.0655601241289253 + ], + [ + -0.10017193898288808, + 0.016837526112794876, + 0.994827634767073, + 0.8330961224067313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9946971107385536, + -0.02092505432665348, + 0.10069663300793037, + -0.11673880619828468 + ], + [ + 0.022585500132479883, + 0.999626636505127, + -0.015377783654208773, + 0.06609010618990029 + ], + [ + -0.1003372535694296, + 0.01757051981985569, + 0.9947982983802633, + 0.8531184667128219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9947336160048035, + -0.020811898633837703, + 0.10035902051875907, + -0.11807017754335124 + ], + [ + 0.022485241937368564, + 0.9996259212493899, + -0.015571208844166165, + 0.06505244884490753 + ], + [ + -0.09999741176820667, + 0.017745800316333774, + 0.9948294577337276, + 0.8736646404617819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9937023306367474, + -0.01730204001069069, + 0.11070814970423308, + -0.11486792968910585 + ], + [ + 0.019160663276199707, + 0.9996923804283142, + -0.015746601260127877, + 0.05984146634320829 + ], + [ + -0.11040164923783406, + 0.017768675461411476, + 0.9937281888159368, + 0.9127142907192369 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9924523239839034, + -0.017403144389390945, + 0.12138987347212861, + -0.11714237575855088 + ], + [ + 0.019549095663120887, + 0.9996725916862488, + -0.016509595376786444, + 0.059389755626733536 + ], + [ + -0.12106280839291343, + 0.018758047372102737, + 0.9924676066778361, + 0.9358417743766484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9913435217517085, + -0.017846425995230675, + 0.13007513742279056, + -0.11963190000661593 + ], + [ + 0.020301070662893973, + 0.9996395111083984, + -0.017569405914281737, + 0.058147730242435414 + ], + [ + -0.12971469465072955, + 0.020057981833815575, + 0.9913484354443759, + 0.9590485032311682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9901376242060173, + -0.019927561283111572, + 0.1386734797935929, + -0.12400164674450713 + ], + [ + 0.023009854591767683, + 0.9995217323303223, + -0.020659261278333257, + 0.056553397131192756 + ], + [ + -0.13819547596859794, + 0.023646369576454163, + 0.9901226652555666, + 1.0018639762634853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.98964805822005, + -0.02204154804348946, + 0.14181267160235658, + -0.1266742985058015 + ], + [ + 0.025410649305543577, + 0.9994351863861086, + -0.021990287438942335, + 0.05667158161788417 + ], + [ + -0.14124787891517687, + 0.025366196408867843, + 0.9896492152783505, + 1.0217483746723721 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9893831196912728, + -0.026076043024659157, + 0.1429725222269099, + -0.1281227466281859 + ], + [ + 0.029544920061007063, + 0.9993170499801636, + -0.022193152972770337, + 0.05716548929598288 + ], + [ + -0.1422961667518834, + 0.026181640103459358, + 0.9894778206124653, + 1.0580854353096218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.989128642519294, + -0.02806660532951355, + 0.14434950109525224, + -0.13014473725438153 + ], + [ + 0.0314364149489622, + 0.9992826581001282, + -0.021116712492414123, + 0.057888432307276805 + ], + [ + -0.1436532813195482, + 0.025424977764487267, + 0.9893014369821249, + 1.075893032717313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9889233489217525, + -0.03043103776872158, + 0.14527419658805446, + -0.13332518891553607 + ], + [ + 0.0334542675940319, + 0.9992706179618835, + -0.018412512866309922, + 0.05838748138980166 + ], + [ + -0.14460792188932936, + 0.023068604990839958, + 0.9892200622258644, + 1.1156536807950515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9885929298766237, + -0.03142860531806946, + 0.14729642232357745, + -0.13675809804880848 + ], + [ + 0.03437484630878822, + 0.9992557764053345, + -0.01749883622878465, + 0.05843348340912152 + ], + [ + -0.14663684124363913, + 0.022362519055604935, + 0.9889375779573168, + 1.1383012129302696 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9882189909052834, + -0.033487848937511444, + 0.14933776152720052, + -0.14022340495209473 + ], + [ + 0.03663587867972864, + 0.9991596937179565, + -0.018378212039954062, + 0.06030187444032919 + ], + [ + -0.14859682278574898, + 0.023632816970348358, + 0.9886154459808154, + 1.1789550916426277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.987871461789409, + -0.03403647243976594, + 0.15149764348304462, + -0.14367919841806492 + ], + [ + 0.037485564151118825, + 0.9990976452827456, + -0.019968380462803244, + 0.061115076684879345 + ], + [ + -0.15068128139239004, + 0.025405168533325202, + 0.9882558780770856, + 1.1998432839739137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9874392075077806, + -0.035037945955991745, + 0.15406537901678302, + -0.1468044411106581 + ], + [ + 0.03932340618539868, + 0.9989173412322998, + -0.0248560956179806, + 0.0640880399627953 + ], + [ + -0.15302766838203413, + 0.030602257698774338, + 0.9877479318903001, + 1.2395392270583605 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.986938324789931, + -0.03539004549384117, + 0.15716339760380904, + -0.14927025363121724 + ], + [ + 0.04020486796196519, + 0.9988112449645996, + -0.027562094651965297, + 0.06593932742457921 + ], + [ + -0.15600114157484657, + 0.03352082148194313, + 0.9871879215123748, + 1.259459043126225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.986320553437904, + -0.03580534458160401, + 0.16090302840680318, + -0.15212289292087205 + ], + [ + 0.04119603519652654, + 0.99869179725647, + -0.030291469657718142, + 0.06796198881139313 + ], + [ + -0.1596079359120747, + 0.036505665630102165, + 0.9865052907753576, + 1.2802967079413061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9852531167218265, + -0.037015512585639954, + 0.1670513143364517, + -0.15519986131510877 + ], + [ + 0.043554987205480164, + 0.9984146356582642, + -0.03565287046254438, + 0.07191613755924771 + ], + [ + -0.16546677674821098, + 0.04240301623940468, + 0.9853033835211835, + 1.3193480179739816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9844997687883787, + -0.03728679567575455, + 0.17137651827042352, + -0.15891187286229524 + ], + [ + 0.04444288739506669, + 0.9982847571372986, + -0.038110089812171816, + 0.07392736664194449 + ], + [ + -0.16966156141089167, + 0.04513584449887276, + 0.9844682212143923, + 1.3400639811275097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9837852803149038, + -0.03772471472620964, + 0.1753379561932869, + -0.1625063908211859 + ], + [ + 0.04550773240695203, + 0.9981393814086914, + -0.04058054673831438, + 0.07580375012021975 + ], + [ + -0.17348083673511147, + 0.04790177941322327, + 0.98367161094543, + 1.3609287701773427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9829269813982334, + -0.039093464612960815, + 0.17979509031674734, + -0.16764652164081595 + ], + [ + 0.04818636676922087, + 0.9977560639381409, + -0.046485915260902524, + 0.0800710231488849 + ], + [ + -0.1775743389838422, + 0.0543559305369854, + 0.9826051225064644, + 1.4000441437670545 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9825725828322854, + -0.03960591182112694, + 0.18161076548316188, + -0.17090138629936696 + ], + [ + 0.049528712768345556, + 0.9974986910820007, + -0.05043043664969967, + 0.08187264141367996 + ], + [ + -0.179159169768115, + 0.0585465133190155, + 0.982076536191468, + 1.4194040881369123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9829470960923598, + -0.03850594907999039, + 0.17981192093213993, + -0.1766184016199847 + ], + [ + 0.05007461271675368, + 0.9969267249107361, + -0.06024677375866202, + 0.08472571126281665 + ], + [ + -0.17693944626098554, + 0.06822340190410614, + 0.9818543442998976, + 1.4583822043645198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9829765759256571, + -0.03569437563419342, + 0.1802304101171787, + -0.17932488610205777 + ], + [ + 0.048127873022516074, + 0.9967180490493774, + -0.06509081594559285, + 0.08437366151222456 + ], + [ + -0.17731552772710218, + 0.07265685498714447, + 0.9814683922994341, + 1.4780963056873737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9821592360357674, + -0.028916243463754654, + 0.18581454433227407, + -0.1828833092545219 + ], + [ + 0.043189209754019624, + 0.9963794946670532, + -0.07322962641426664, + 0.08390582101563585 + ], + [ + -0.1830242801221893, + 0.07994833588600159, + 0.9798522375099102, + 1.5188302317765159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9811529867517241, + -0.0266010519117117, + 0.19139288231375648, + -0.18418986332747933 + ], + [ + 0.04188399623813971, + 0.9962083697319033, + -0.07625369896504497, + 0.08414658540665329 + ], + [ + -0.18863876294075774, + 0.08283284306526185, + 0.9785469790314454, + 1.534325478878336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.979123938183551, + -0.022786609828472137, + 0.20198287260338713, + -0.18637802410676213 + ], + [ + 0.03986060930819387, + 0.9959271550178528, + -0.08087157817778838, + 0.08314036583253168 + ], + [ + -0.19931743766657442, + 0.08723445236682892, + 0.9760444449815245, + 1.571797150542816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9778194957243703, + -0.022399760782718662, + 0.20824814503830857, + -0.18976799198036398 + ], + [ + 0.040371852242766224, + 0.9957766532897951, + -0.08245560025919732, + 0.08289827818651918 + ], + [ + -0.20552165610589804, + 0.08903405815362932, + 0.9745941779178002, + 1.5920741391899718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9764148308292012, + -0.020854152739048008, + 0.21489335318262273, + -0.19066613212937983 + ], + [ + 0.03967592011431989, + 0.9957051277160647, + -0.08364880247059138, + 0.0850878162229457 + ], + [ + -0.21222598192635625, + 0.0902020186185837, + 0.9730486605890786, + 1.6207869343589214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9759711400629816, + -0.01947135291993618, + 0.2170281748712112, + -0.1917240896619085 + ], + [ + 0.03821677421558657, + 0.9958568811416626, + -0.0825136541800148, + 0.08733026000467704 + ], + [ + -0.21452234511710802, + 0.0888250544667244, + 0.9726716931631193, + 1.6347527186238642 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9756624235650975, + -0.01818918809294701, + 0.21852221004449401, + -0.19070408128825642 + ], + [ + 0.03627581476575129, + 0.9962109327316286, + -0.07904314371390314, + 0.09190404412588075 + ], + [ + -0.21625648232740627, + 0.08504649996757509, + 0.9726254035992085, + 1.639642022346885 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9756636300631342, + -0.012320689857006073, + 0.2189262797640516, + -0.19615907025877632 + ], + [ + 0.028334526625743584, + 0.9971333146095276, + -0.07015875832416107, + 0.08943188403733864 + ], + [ + -0.2174342859861644, + 0.07465452700853348, + 0.9732158257080341, + 1.683009806549322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9754851248007866, + -0.011274993419647217, + 0.21977628092122922, + -0.19738299961324063 + ], + [ + 0.026345439197592368, + 0.997487485408783, + -0.06576196800137014, + 0.09286361342085173 + ], + [ + -0.21848261734019261, + 0.06993991881608963, + 0.9733312454943172, + 1.6957555140244056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.975471795746083, + -0.010095455683767796, + 0.21989284454123587, + -0.20297419596290261 + ], + [ + 0.024354393619763756, + 0.9977645874023438, + -0.06223093231597125, + 0.09064009146980312 + ], + [ + -0.21877303733496328, + 0.06605987250804901, + 0.9735370710493084, + 1.7228330353419452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.975847232368172, + -0.008991418406367302, + 0.21826888763408622, + -0.20715728684833457 + ], + [ + 0.021918682306887222, + 0.9981405138969421, + -0.05687749101314526, + 0.08685672383170165 + ], + [ + -0.2173516162548891, + 0.06028790771961212, + 0.9742297729761032, + 1.7630324367284802 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.975343288088176, + -0.00975099578499794, + 0.22047759751792034, + -0.2098578335835064 + ], + [ + 0.022545425552030846, + 0.9981991648674011, + -0.055588843411655174, + 0.08393227960763221 + ], + [ + -0.21953850934217203, + 0.05918896570801735, + 0.9738066856169435, + 1.7816397650554239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.973871375042532, + -0.014304063282907009, + 0.22664931319419487, + -0.21480077778070486 + ], + [ + 0.027662458041912606, + 0.9980546236038208, + -0.05587239722837531, + 0.0792935185964645 + ], + [ + -0.22540920051783433, + 0.060682203620672226, + 0.9723725689484943, + 1.8269278341329445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9727124744364712, + -0.01721494644880295, + 0.23137435217116395, + -0.2162234585696214 + ], + [ + 0.031145003165993373, + 0.997906029224396, + -0.0566883762780201, + 0.07951524474315963 + ], + [ + -0.22991396556182872, + 0.06234764680266382, + 0.9712117770290914, + 1.8412434482314965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9713434444399504, + -0.024137405678629882, + 0.23645153922286866, + -0.21962209155432963 + ], + [ + 0.03899862634536703, + 0.9975326061248782, + -0.05837648415383895, + 0.08152347475127443 + ], + [ + -0.23445906464928254, + 0.06592490524053575, + 0.9698880828350595, + 1.87939818217431 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9707591352119486, + -0.026973906904459, + 0.23853543784943723, + -0.2218229559491599 + ], + [ + 0.042142303762838555, + 0.9973846077919006, + -0.05871942958190109, + 0.08186464143615624 + ], + [ + -0.23632767614292863, + 0.0670548528432846, + 0.9693569439487922, + 1.8938201790864755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9708048605149245, + -0.03175725787878037, + 0.23775922628029453, + -0.22495361583989681 + ], + [ + 0.04704280027161657, + 0.9971552491188052, + -0.05889346020091159, + 0.0842554520185382 + ], + [ + -0.23521256417331618, + 0.068358913064003, + 0.9695370706547426, + 1.9282276710550483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9708354871218082, + -0.03364046663045883, + 0.23737480951423537, + -0.2279919150398236 + ], + [ + 0.048944232829777855, + 0.9970648884773254, + -0.05887344731385377, + 0.08572191104329939 + ], + [ + -0.23469756596469024, + 0.06877455860376358, + 0.9696324923430291, + 1.9457300515792764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9714035067396926, + -0.03496393933892251, + 0.23484617675739836, + -0.23043998181442485 + ], + [ + 0.05048413878421323, + 0.9968966841697695, + -0.06040137510058072, + 0.0862207572598901 + ], + [ + -0.23200550416877797, + 0.07053011655807497, + 0.9701540836831184, + 1.9763755475288287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9711463490559952, + -0.03493974357843399, + 0.23591100509784382, + -0.23160166890312836 + ], + [ + 0.050899916231894896, + 0.9967833757400513, + -0.0619043313763175, + 0.08726865732338764 + ], + [ + -0.23298924238243454, + 0.07212601602077484, + 0.9698009470786022, + 1.9895196896664948 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9706647431857331, + -0.03442671522498131, + 0.23795959067778838, + -0.23459658878318754 + ], + [ + 0.05099870386990711, + 0.9966562986373901, + -0.06383874034465951, + 0.0881105681872707 + ], + [ + -0.23496617001226186, + 0.07410164177417755, + 0.9691748489136064, + 2.007943518821631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9699019279923453, + -0.03207947686314583, + 0.24137343766690203, + -0.23652534423476868 + ], + [ + 0.049966020052985956, + 0.9964094161987305, + -0.06834988135565752, + 0.09086244487724081 + ], + [ + -0.23831412824589895, + 0.0783531591296196, + 0.9680222833845723, + 2.0393840032576187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9694486029265651, + -0.030801961198449135, + 0.2433528747833031, + -0.23857990350714064 + ], + [ + 0.04937419227553997, + 0.996282696723938, + -0.070590000160201, + 0.09339973628030629 + ], + [ + -0.24027394911221295, + 0.08044873178005219, + 0.9673657201915061, + 2.0562254020066675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9693107041020896, + -0.029681619256734855, + 0.2440404214259632, + -0.24091066001478922 + ], + [ + 0.04881136189799023, + 0.9961574673652651, + -0.07271667608886734, + 0.09591172586835406 + ], + [ + -0.24094435745457204, + 0.0823970064520836, + 0.9670349574079736, + 2.0725083195664586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9706227218356611, + -0.027158785611391074, + 0.2390688640514019, + -0.24756471399743427 + ], + [ + 0.04690581882350329, + 0.995903789997101, + -0.07730122276113482, + 0.09819294511556242 + ], + [ + -0.23599018222438065, + 0.08624403923749925, + 0.9679207337635015, + 2.110001257783111 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9714803168458208, + -0.02656396850943566, + 0.2356276252424503, + -0.2529924310287044 + ], + [ + 0.046453254070004696, + 0.9957706928253176, + -0.07926404607056038, + 0.1012948778929055 + ], + [ + -0.23252551963060225, + 0.08794913440942766, + 0.9686056231546709, + 2.12818749019444 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9731968788653987, + -0.024770474061369896, + 0.22863558523009506, + -0.2469225635127809 + ], + [ + 0.04435210641998895, + 0.9957342743873596, + -0.08090833049120191, + 0.10226227570784538 + ], + [ + -0.22565615419393947, + 0.08888020366430283, + 0.9701441467288098, + 2.141170022735225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9725134597604052, + -0.02346242405474186, + 0.23166159141415335, + -0.24832657939862285 + ], + [ + 0.04322130656313112, + 0.9958099722862244, + -0.08058819082922121, + 0.10137535502641988 + ], + [ + -0.22880012523135282, + 0.08838581293821335, + 0.9694526831241859, + 2.1545243740657596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9711113848561846, + -0.02650533989071846, + 0.23714995041576836, + -0.25243556166233416 + ], + [ + 0.04674853393277916, + 0.9956861734390259, + -0.08014774456136285, + 0.09947799569293411 + ], + [ + -0.23400258205620103, + 0.08891879767179489, + 0.9681612737248647, + 2.1893674876669507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9704685036418141, + -0.029673537239432335, + 0.23939572649575833, + -0.25491628456426846 + ], + [ + 0.05040714883869501, + 0.9954423308372498, + -0.08095490156093386, + 0.09921356639975715 + ], + [ + -0.23590242503522366, + 0.09063144028186798, + 0.9675412190236209, + 2.2064514001750686 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9701551444339083, + -0.03434896841645241, + 0.2400400028990326, + -0.25417456980658243 + ], + [ + 0.0558148150111143, + 0.9949679970741272, + -0.0832065658924974, + 0.09977977038919095 + ], + [ + -0.2359740651908012, + 0.0941210687160492, + 0.9671905102639312, + 2.225501134165091 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9695380493785943, + -0.03529789671301842, + 0.24238407888918784, + -0.25272431014101177 + ], + [ + 0.05711790994601326, + 0.9948617219924927, + -0.08359236820205629, + 0.10163337291822115 + ], + [ + -0.23818801487894853, + 0.09489045292139053, + 0.9665724515084569, + 2.231650329991162 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9684433254627954, + -0.0360628180205822, + 0.2466110563406285, + -0.24790039769937727 + ], + [ + 0.0578324176915854, + 0.9949852228164673, + -0.08160806642119169, + 0.10897835438403702 + ], + [ + -0.24243133889824664, + 0.0932948961853981, + 0.9656723858958725, + 2.239994229529647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9678647983181135, + -0.03642880544066429, + 0.24881860053997967, + -0.2484174803242875 + ], + [ + 0.05761310497582984, + 0.9952563643455505, + -0.07839323400320482, + 0.11360878727232622 + ], + [ + -0.24478252258528618, + 0.09020926058292389, + 0.9653723639855064, + 2.2504758235780224 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9677118879606749, + -0.03614548593759537, + 0.2494538722645209, + -0.2543285356084223 + ], + [ + 0.056366893503170264, + 0.9956341981887817, + -0.07439943830176707, + 0.11566114676184569 + ], + [ + -0.24567561154720452, + 0.08605816215276718, + 0.9655244808693295, + 2.2720853508616745 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9692670665661189, + -0.034283071756362915, + 0.24361051647665907, + -0.26475056323833523 + ], + [ + 0.05172106784921957, + 0.9965081214904785, + -0.06554794114373723, + 0.12492312509334512 + ], + [ + -0.24051265875162403, + 0.07613325119018555, + 0.9676555911826414, + 2.319919014199695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9700847467373812, + -0.032354023307561874, + 0.24060081198450273, + -0.2642832265145968 + ], + [ + 0.04862487007792204, + 0.9968910813331604, + -0.061998175310990354, + 0.12144426178428981 + ], + [ + -0.2378469145500144, + 0.07184267044067383, + 0.9686420589917274, + 2.315701548903701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9708115718822831, + -0.030236572027206428, + 0.23792994557757835, + -0.2664991261750075 + ], + [ + 0.04549593853020523, + 0.9972262978553774, + -0.05890506809942087, + 0.12221951128126254 + ], + [ + -0.23548891046286208, + 0.06801056861877443, + 0.9694944622319623, + 2.324640493222653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.971856665817924, + -0.02494915947318077, + 0.23424814051754833, + -0.2683846246699659 + ], + [ + 0.0389206267054039, + 0.9977158308029175, + -0.0552111042177431, + 0.1168508646668987 + ], + [ + -0.23233560659855698, + 0.06277436017990112, + 0.9706078026942003, + 2.3375696521196603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.971603237917546, + -0.02172067761421204, + 0.23561699177594328, + -0.26811517930783296 + ], + [ + 0.03560002577512776, + 0.9978618025779726, + -0.05481296195645036, + 0.11307427856239012 + ], + [ + -0.23392261885875876, + 0.06164442375302316, + 0.970299005459763, + 2.3372483866972464 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9709679221107078, + -0.018985342234373093, + 0.23845512281916645, + -0.26951817519676047 + ], + [ + 0.033097739824325074, + 0.997920036315918, + -0.055318545840010475, + 0.11322205397325086 + ], + [ + -0.23690891098808067, + 0.06160486117005348, + 0.9695767438247072, + 2.343674742153514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9698692275946809, + -0.014442091807723045, + 0.2431977622540533, + -0.2713991897114455 + ], + [ + 0.02910843510265122, + 0.9979599714279175, + -0.056821021146908346, + 0.11673642559645345 + ], + [ + -0.24188101161179829, + 0.06218806281685829, + 0.968311026410513, + 2.361287374376268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9691567938172667, + -0.012836148031055927, + 0.246110398371992, + -0.27332922401083354 + ], + [ + 0.02767444428223746, + 0.9979946613311768, + -0.056927577885776216, + 0.11939307338214827 + ], + [ + -0.24488613266981707, + 0.061982717365026474, + 0.9675685363959814, + 2.370710283156768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9684964911329111, + -0.01140555553138256, + 0.2487657744259799, + -0.2731288058796487 + ], + [ + 0.025902599594720948, + 0.9981458783149719, + -0.05508060697941466, + 0.1260931319165662 + ], + [ + -0.24767630975862515, + 0.05978905409574509, + 0.9669962307351729, + 2.3830348056410124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9679728340275814, + -0.011717505753040314, + 0.25078145124890683, + -0.27681658460674163 + ], + [ + 0.025816511798557512, + 0.998260498046875, + -0.053004550297262365, + 0.12967931806467684 + ], + [ + -0.24972413485609007, + 0.057781267911195755, + 0.9665915541016064, + 2.39645323043302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9681358361966595, + -0.013606631197035316, + 0.2500557155622185, + -0.28173365844484166 + ], + [ + 0.026246575759022228, + 0.9985366463661196, + -0.047283584083433916, + 0.1330587669906735 + ], + [ + -0.2490464131030246, + 0.052340038120746626, + 0.9670761926159678, + 2.4175517223958143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9680978870016589, + -0.015233620069921017, + 0.25010871046566163, + -0.2827620536186827 + ], + [ + 0.027057197370195494, + 0.9986693263053894, + -0.0439035787133419, + 0.13488350711200095 + ], + [ + -0.24910709043956383, + 0.04927020147442818, + 0.9672218617032541, + 2.420732823641447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9683880701290402, + -0.018517937511205673, + 0.24876009408943478, + -0.2848001192538034 + ], + [ + 0.028565847980398802, + 0.9989126920700073, + -0.03684282365871142, + 0.13603546541813874 + ], + [ + -0.24780736554240382, + 0.0427841916680336, + 0.9678641253747836, + 2.4328691059244587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9681847005956835, + -0.01986557245254517, + 0.24944689634678016, + -0.2864738622921651 + ], + [ + 0.02912458372432765, + 0.9990148544311526, + -0.033481969475156054, + 0.13661291410640056 + ], + [ + -0.24853602059835694, + 0.039681766182184226, + 0.9678094832943915, + 2.4363069682446596 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9680442631941535, + -0.021389050409197807, + 0.24986561013497302, + -0.28921921044585186 + ], + [ + 0.02991889402370994, + 0.9990902543067932, + -0.030389229107839165, + 0.13784192583857746 + ], + [ + -0.24898829950835694, + 0.0368938222527504, + 0.9678035301933278, + 2.443002528296253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9684472768009572, + -0.023702139034867294, + 0.2480888233050812, + -0.2923104270843442 + ], + [ + 0.03074639776032288, + 0.9992254972457888, + -0.02455766602846748, + 0.1416180156667038 + ], + [ + -0.24731460185174037, + 0.03141064196825028, + 0.9684259424849458, + 2.458668065305075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9682203375970148, + -0.023539114743471146, + 0.2489885542841027, + -0.2939612177103246 + ], + [ + 0.02991124621437335, + 0.9993139505386353, + -0.021839208317648816, + 0.14090031910214482 + ], + [ + -0.2483036576664572, + 0.028592722490429878, + 0.9682601680396392, + 2.4613475289254056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9678691034992274, + -0.02345893532037735, + 0.25035794079293755, + -0.2968582727937274 + ], + [ + 0.029234472019911476, + 0.9993848204612732, + -0.019374816785947206, + 0.141500070935657 + ], + [ + -0.24974941025400613, + 0.026071369647979736, + 0.9679594859497394, + 2.4682673041511793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9676778079508518, + -0.023069940507411957, + 0.25113237284919016, + -0.2993147303228357 + ], + [ + 0.027906885081656542, + 0.9994869828224182, + -0.0157158837776713, + 0.14249572021795529 + ], + [ + -0.2506409699113856, + 0.022216234356164932, + 0.9678251719394938, + 2.4781128710915588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9673239570125403, + -0.022280683740973473, + 0.252562681576479, + -0.3022751610985509 + ], + [ + 0.026844566660688667, + 0.9995324611663818, + -0.014638446002264017, + 0.14245954873038158 + ], + [ + -0.25211844495579916, + 0.020940054208040237, + 0.9674698117147222, + 2.4846606665291153 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9671444595521745, + -0.01946873962879181, + 0.2534809002236095, + -0.3055726395905558 + ], + [ + 0.023860537867516005, + 0.9996135234832764, + -0.014262888300139871, + 0.14368522217296703 + ], + [ + -0.25310525501403935, + 0.019842464476823807, + 0.9672352146781075, + 2.4973681662058334 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9667379904035021, + -0.017972754314541817, + 0.2551365221943099, + -0.3078854370473686 + ], + [ + 0.02242578972325943, + 0.999642550945282, + -0.014555075589280986, + 0.14516388143462922 + ], + [ + -0.25478373427041695, + 0.0197925828397274, + 0.966795504421538, + 2.5028989840645095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9663424259794007, + -0.014168188907206059, + 0.25686886715643775, + -0.30961635551208555 + ], + [ + 0.01878345786449875, + 0.999703049659729, + -0.01552258656058352, + 0.14720065275396305 + ], + [ + -0.25657267081507384, + 0.01982502080500126, + 0.9663216253091953, + 2.5143358647533507 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9656371486652642, + -0.012564260512590408, + 0.25959004270473607, + -0.3112863093360737 + ], + [ + 0.01730266481545669, + 0.9997226595878601, + -0.01597642474870983, + 0.1479749572507299 + ], + [ + -0.259317320234148, + 0.019919028505682945, + 0.9655867479582193, + 2.5189130365118766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9644341164327039, + -0.010265344753861427, + 0.26412397898178763, + -0.3128874950580327 + ], + [ + 0.01521083793968677, + 0.9997450709342957, + -0.016685812951301254, + 0.14763339375523588 + ], + [ + -0.26388535182143846, + 0.020109914243221283, + 0.9643443681977416, + 2.5283706311388974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9634240371962405, + -0.009789111092686653, + 0.26780282503537167, + -0.3147457124432901 + ], + [ + 0.014939512747472954, + 0.9997404217720032, + -0.017201145284341492, + 0.14857629523082463 + ], + [ + -0.26756491601453947, + 0.020572839304804802, + 0.9633201634503913, + 2.537419277159005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.961900928186793, + -0.009921079501509666, + 0.27321809684482506, + -0.31812314435559264 + ], + [ + 0.015515594820166926, + 0.9997116923332214, + -0.018323256431041338, + 0.1500187865300652 + ], + [ + -0.2729575493184219, + 0.021864300593733788, + 0.9617775776674155, + 2.5530009344015636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9609686728283233, + -0.010436177253723145, + 0.2764603945858669, + -0.32051909933461664 + ], + [ + 0.016235502081606557, + 0.9996933937072754, + -0.018696463181145814, + 0.15029650226093116 + ], + [ + -0.27618050049021337, + 0.022455187514424324, + 0.960843430137387, + 2.55689330282236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/pan_right/transforms.json b/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..2399fba424898e934a9e52f4431644df87566aff --- /dev/null +++ b/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/pan_right/transforms.json @@ -0,0 +1,4108 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 117, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00011037875810870901, + 2.6177083782386035e-05, + -0.0004883921355940402 + ], + [ + -0.00011037995136575773, + 1.0, + 4.573888145387173e-05, + -4.7455494495807216e-05 + ], + [ + -2.617203426780179e-05, + -4.574177000904456e-05, + 1.0, + 0.0010702626314014196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999883217529831, + -0.0026546455919742584, + 0.004031653488832477, + -0.0037272425834089518 + ], + [ + 0.002658567030803644, + 0.9999960064888, + -0.0009676172367177895, + 0.0012918832944706082 + ], + [ + -0.0040290688526348935, + 0.0009783243294805288, + 0.9999914270356579, + 0.017750784754753113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999656045845923, + -0.0064499578438699245, + 0.005215538022050774, + -0.007513759192079306 + ], + [ + 0.006455627847280946, + 0.9999786019325256, + -0.0010709536589704662, + 0.0014668540097773075 + ], + [ + -0.005208518768110314, + 0.0011045862920582294, + 0.9999858424486147, + 0.04840301349759102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999497587204388, + -0.00696758134290576, + 0.0072050621123478115, + -0.007817280478775501 + ], + [ + 0.006969242858446198, + 0.9999756813049316, + -0.00020557608572489548, + 0.0011052823392674327 + ], + [ + -0.007203454735514384, + 0.00025577956694178283, + 0.9999740292501065, + 0.06387108564376831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999043727589813, + -0.006167152896523476, + 0.012379454692612417, + -0.00842429231852293 + ], + [ + 0.006149339408733819, + 0.9999799728393555, + 0.0014765220934611102, + -0.00013219486572779715 + ], + [ + -0.012388313062203116, + -0.0014002553652971983, + 0.9999222941235446, + 0.08136652410030365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9997175914586632, + -0.0052946521900594234, + 0.02316693928107673, + -0.01058395579457283 + ], + [ + 0.005157069389375542, + 0.9999687075614929, + 0.00599446621568688, + 0.0002904226421378553 + ], + [ + -0.023197954693381245, + -0.005873299669474363, + 0.9997136649453412, + 0.11119678616523743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9995884459356095, + -0.004555518738925457, + 0.028322481877735197, + -0.012131907977163792 + ], + [ + 0.004302540007685776, + 0.9999503493309021, + 0.008986601895449663, + 0.0007778803119435906 + ], + [ + -0.02836201461971849, + -0.008861045353114605, + 0.9995584631819497, + 0.1276048719882965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999449586258491, + -0.004259975161403418, + 0.03290030939545957, + -0.01419801078736782 + ], + [ + 0.0038605251128199644, + 0.9999181628227234, + 0.012195207465971629, + 0.0019491726998239756 + ], + [ + -0.03294956732617596, + -0.012061482295393944, + 0.9993842481184922, + 0.14613547921180725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9993140627463809, + -0.0038962652906775483, + 0.03682671199003242, + -0.016577908769249916 + ], + [ + 0.0032097005002597787, + 0.9998202919960024, + 0.018683894980029526, + 0.003534649731591344 + ], + [ + -0.03689289198751524, + -0.01855287700891495, + 0.9991469609605934, + 0.17627301812171936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9992288080663503, + -0.004476454108953476, + 0.03900924060384713, + -0.018290016800165176 + ], + [ + 0.0036291760781100566, + 0.9997565746307373, + 0.021763742841084534, + 0.004996221978217363 + ], + [ + -0.03909716915279849, + -0.021605389192700386, + 0.9990017890046741, + 0.19468747079372406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9991259945108388, + -0.006351545453071594, + 0.04131478967177237, + -0.022526046261191368 + ], + [ + 0.005214617359511717, + 0.9996063113212585, + 0.027568471218073508, + 0.0060284980572760105 + ], + [ + -0.0414736273188335, + -0.027328936383128166, + 0.998765763298072, + 0.2336142212152481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9989967765716345, + -0.008249042555689812, + 0.04401549103493495, + -0.024800226092338562 + ], + [ + 0.0069545919273753445, + 0.9995411038398743, + 0.029481493436082144, + 0.007246512454003096 + ], + [ + -0.04423848800877429, + -0.029145807027816772, + 0.998595759881254, + 0.2544936537742615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9987427119539523, + -0.013481420464813713, + 0.04828238685292478, + -0.02752457559108734 + ], + [ + 0.011995440298834797, + 0.9994493722915652, + 0.030935480878097048, + 0.009784315712749958 + ], + [ + -0.04867285716152676, + -0.03031741827726365, + 0.9983545793139569, + 0.29495149850845337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9984789291680661, + -0.015430680476129055, + 0.05293101078498418, + -0.02896476350724697 + ], + [ + 0.013823642764497641, + 0.9994363188743591, + 0.030593899529368397, + 0.011082172393798828 + ], + [ + -0.053373257295406915, + -0.029815664514899254, + 0.9981293966546664, + 0.31563079357147217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9977902821186913, + -0.02008109912276268, + 0.06333503403488759, + -0.031399209052324295 + ], + [ + 0.018356096333757146, + 0.9994477033615112, + 0.027701495134964962, + 0.016368310898542404 + ], + [ + -0.06385632961995784, + -0.026477700099349022, + 0.9976077833336153, + 0.3550989031791687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9973247006949724, + -0.021894365549087524, + 0.06974330103555675, + -0.033767763525247574 + ], + [ + 0.02014214547018176, + 0.9994660019874573, + 0.025728864275442884, + 0.01945986971259117 + ], + [ + -0.0702693744563685, + -0.02425525151193142, + 0.9972331113152134, + 0.37541088461875916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9967088466259079, + -0.02500884234905243, + 0.07711027748330682, + -0.03551395237445831 + ], + [ + 0.02340499135107606, + 0.9994919896125793, + 0.02163363792423157, + 0.02642963081598282 + ], + [ + -0.07761213789738362, + -0.019757673144340515, + 0.9967878160961112, + 0.4099803864955902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9964307543833784, + -0.026365509256720543, + 0.08019095629624759, + -0.036295972764492035 + ], + [ + 0.024851719139400968, + 0.999494731426239, + 0.01981730216129137, + 0.031351666897535324 + ], + [ + -0.08067293276623368, + -0.017753686755895615, + 0.9965824901785045, + 0.42670339345932007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9962522716469171, + -0.026411596685647964, + 0.08236409374988628, + -0.03690332546830177 + ], + [ + 0.024945926576336413, + 0.9995124936103821, + 0.018773789326463043, + 0.035418424755334854 + ], + [ + -0.08281979060784526, + -0.016648780554533005, + 0.9964254767195415, + 0.44388139247894287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9962177239976177, + -0.024173231795430183, + 0.0834620939954891, + -0.03655647858977318 + ], + [ + 0.022694928303315525, + 0.9995691180229187, + 0.018615959343264352, + 0.04275892302393913 + ], + [ + -0.08387613524322052, + -0.01665138080716133, + 0.9963370561320208, + 0.4789220094680786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9960660675295661, + -0.02250632457435131, + 0.08570791273217601, + -0.03723378852009773 + ], + [ + 0.020926239436982037, + 0.9995949268341064, + 0.019289805340574652, + 0.0467529371380806 + ], + [ + -0.08610733204791353, + -0.01742037758231163, + 0.996133526897604, + 0.4996475279331207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9958883751986471, + -0.021004961803555492, + 0.08812013227285852, + -0.038072340190410614 + ], + [ + 0.01931798480459667, + 0.9996142387390139, + 0.019953473153394654, + 0.05035180598497391 + ], + [ + -0.08850526289211738, + -0.01816912926733494, + 0.9959099690256555, + 0.5197999477386475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9958358937445903, + -0.018793685361742973, + 0.08920549080379832, + -0.041264742612838745 + ], + [ + 0.01707737874298706, + 0.9996548295021057, + 0.019964384467638246, + 0.057101473212242126 + ], + [ + -0.08954990279415628, + -0.018357854336500168, + 0.9958131096407754, + 0.5635313987731934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9958160896686176, + -0.017915356904268265, + 0.0896068518130637, + -0.04263255000114441 + ], + [ + 0.016289930458058082, + 0.9996898174285889, + 0.018838117085544375, + 0.06052801012992859 + ], + [ + -0.08991655222336073, + -0.017299611121416092, + 0.9957990441699501, + 0.5857099294662476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9959384099081596, + -0.01440250314772129, + 0.0888775250360123, + -0.04442185163497925 + ], + [ + 0.013186328849728923, + 0.9998114109039307, + 0.014255753056285288, + 0.06409095972776413 + ], + [ + -0.08906608146426169, + -0.013025883585214615, + 0.9959405429586983, + 0.629911482334137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9958643088660316, + -0.013236389495432377, + 0.0898839483062294, + -0.045925114303827286 + ], + [ + 0.012325140991374708, + 0.9998669624328613, + 0.0106855541891837, + 0.06582768261432648 + ], + [ + -0.09001342622007137, + -0.009533529169857502, + 0.9958949049395932, + 0.6526309847831726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9962406533600323, + -0.01551754679530859, + 0.08522802950751251, + -0.04959699884057045 + ], + [ + 0.01550684545744188, + 0.9998794794082642, + 0.0007876094057180345, + 0.0691017284989357 + ], + [ + -0.08522997333037796, + 0.0005369692808017135, + 0.9963611481330227, + 0.6984001398086548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9964869899057852, + -0.01670266129076481, + 0.08206489893197079, + -0.050330404192209244 + ], + [ + 0.017119810542013378, + 0.9998438358306885, + -0.004382084356920985, + 0.06973014771938324 + ], + [ + -0.081978893298359, + 0.005771625321358442, + 0.996617341174178, + 0.7201019525527954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9963212921526879, + -0.015349903143942356, + 0.08431060794084061, + -0.04600830003619194 + ], + [ + 0.016332075891592714, + 0.9998064041137695, + -0.010972091710070622, + 0.06686151772737503 + ], + [ + -0.08412586625986242, + 0.012308696284890175, + 0.9963790889058116, + 0.760192334651947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9954598258716363, + -0.01620803400874138, + 0.09379235270983939, + -0.04520758241415024 + ], + [ + 0.017484354436624824, + 0.999765157699585, + -0.012802178181428273, + 0.06707628071308136 + ], + [ + -0.0935628315875117, + 0.0143839530646801, + 0.9955094546195447, + 0.7788079977035522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9947518145820844, + -0.01924976333975792, + 0.10049010379051923, + -0.04839886724948883 + ], + [ + 0.020842201662477532, + 0.9996728897094727, + -0.014820874374897647, + 0.06702763587236404 + ], + [ + -0.10017193898288808, + 0.016837526112794876, + 0.994827634767073, + 0.8221051692962646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9946971107385536, + -0.02092505432665348, + 0.10069663300793037, + -0.04790136590600014 + ], + [ + 0.022585500132479883, + 0.999626636505127, + -0.015377783654208773, + 0.06772816926240921 + ], + [ + -0.1003372535694296, + 0.01757051981985569, + 0.9947982983802633, + 0.8419051170349121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9947336160048035, + -0.020811898633837703, + 0.10035902051875907, + -0.04698212444782257 + ], + [ + 0.022485241937368564, + 0.9996259212493899, + -0.015571208844166165, + 0.0667346864938736 + ], + [ + -0.09999741176820667, + 0.017745800316333774, + 0.9948294577337276, + 0.8622742891311646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9937023306367474, + -0.01730204001069069, + 0.11070814970423308, + -0.04165180027484894 + ], + [ + 0.019160663276199707, + 0.9996923804283142, + -0.015746601260127877, + 0.061328113079071045 + ], + [ + -0.11040164923783406, + 0.017768675461411476, + 0.9937281888159368, + 0.9003666639328003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9924523239839034, + -0.017403144389390945, + 0.12138987347212861, + -0.041818756610155106 + ], + [ + 0.019549095663120887, + 0.9996725916862488, + -0.016509595376786444, + 0.06095175817608833 + ], + [ + -0.12106280839291343, + 0.018758047372102737, + 0.9924676066778361, + 0.9224809408187866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9913435217517085, + -0.017846425995230675, + 0.13007513742279056, + -0.04218469187617302 + ], + [ + 0.020301070662893973, + 0.9996395111083984, + -0.017569405914281737, + 0.05981640890240669 + ], + [ + -0.12971469465072955, + 0.020057981833815575, + 0.9913484354443759, + 0.9447937607765198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9901376242060173, + -0.019927561283111572, + 0.1386734797935929, + -0.044440858066082 + ], + [ + 0.023009854591767683, + 0.9995217323303223, + -0.020659261278333257, + 0.05849834159016609 + ], + [ + -0.13819547596859794, + 0.023646369576454163, + 0.9901226652555666, + 0.9867004752159119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.98964805822005, + -0.02204154804348946, + 0.14181267160235658, + -0.04492153599858284 + ], + [ + 0.025410649305543577, + 0.9994351863861086, + -0.021990287438942335, + 0.05887181684374809 + ], + [ + -0.14124787891517687, + 0.025366196408867843, + 0.9896492152783505, + 1.0060962438583374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9893831196912728, + -0.026076043024659157, + 0.1429725222269099, + -0.04415138438344002 + ], + [ + 0.029544920061007063, + 0.9993170499801636, + -0.022193152972770337, + 0.05977515131235123 + ], + [ + -0.1422961667518834, + 0.026181640103459358, + 0.9894778206124653, + 1.0421109199523926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.989128642519294, + -0.02806660532951355, + 0.14434950109525224, + -0.04395418241620064 + ], + [ + 0.0314364149489622, + 0.9992826581001282, + -0.021116712492414123, + 0.060724444687366486 + ], + [ + -0.1436532813195482, + 0.025424977764487267, + 0.9893014369821249, + 1.0595743656158447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9889233489217525, + -0.03043103776872158, + 0.14527419658805446, + -0.04490877687931061 + ], + [ + 0.0334542675940319, + 0.9992706179618835, + -0.018412512866309922, + 0.06146379932761192 + ], + [ + -0.14460792188932936, + 0.023068604990839958, + 0.9892200622258644, + 1.099030613899231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9885929298766237, + -0.03142860531806946, + 0.14729642232357745, + -0.04613053798675537 + ], + [ + 0.03437484630878822, + 0.9992557764053345, + -0.01749883622878465, + 0.061664797365665436 + ], + [ + -0.14663684124363913, + 0.022362519055604935, + 0.9889375779573168, + 1.1212811470031738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9882189909052834, + -0.033487848937511444, + 0.14933776152720052, + -0.04738845303654671 + ], + [ + 0.03663587867972864, + 0.9991596937179565, + -0.018378212039954062, + 0.06382511556148529 + ], + [ + -0.14859682278574898, + 0.023632816970348358, + 0.9886154459808154, + 1.1615455150604248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.987871461789409, + -0.03403647243976594, + 0.15149764348304462, + -0.04863443225622177 + ], + [ + 0.037485564151118825, + 0.9990976452827456, + -0.019968380462803244, + 0.06480585783720016 + ], + [ + -0.15068128139239004, + 0.025405168533325202, + 0.9882558780770856, + 1.1820334196090698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9874392075077806, + -0.035037945955991745, + 0.15406537901678302, + -0.049559082835912704 + ], + [ + 0.03932340618539868, + 0.9989173412322998, + -0.0248560956179806, + 0.06805764883756638 + ], + [ + -0.15302766838203413, + 0.030602257698774338, + 0.9877479318903001, + 1.221304178237915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.986938324789931, + -0.03539004549384117, + 0.15716339760380904, + -0.04983260855078697 + ], + [ + 0.04020486796196519, + 0.9988112449645996, + -0.027562094651965297, + 0.07009101659059525 + ], + [ + -0.15600114157484657, + 0.03352082148194313, + 0.9871879215123748, + 1.2407348155975342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.986320553437904, + -0.03580534458160401, + 0.16090302840680318, + -0.050506725907325745 + ], + [ + 0.04119603519652654, + 0.99869179725647, + -0.030291469657718142, + 0.07230998575687408 + ], + [ + -0.1596079359120747, + 0.036505665630102165, + 0.9865052907753576, + 1.2610145807266235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9852531167218265, + -0.037015512585639954, + 0.1670513143364517, + -0.05145915225148201 + ], + [ + 0.043554987205480164, + 0.9984146356582642, + -0.03565287046254438, + 0.07661519199609756 + ], + [ + -0.16546677674821098, + 0.04240301623940468, + 0.9853033835211835, + 1.2992647886276245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9844997687883787, + -0.03728679567575455, + 0.17137651827042352, + -0.053009409457445145 + ], + [ + 0.04444288739506669, + 0.9982847571372986, + -0.038110089812171816, + 0.07881984114646912 + ], + [ + -0.16966156141089167, + 0.04513584449887276, + 0.9844682212143923, + 1.3193416595458984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9837852803149038, + -0.03772471472620964, + 0.1753379561932869, + -0.05443737655878067 + ], + [ + 0.04550773240695203, + 0.9981393814086914, + -0.04058054673831438, + 0.08091183751821518 + ], + [ + -0.17348083673511147, + 0.04790177941322327, + 0.98367161094543, + 1.3395994901657104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9829269813982334, + -0.039093464612960815, + 0.17979509031674734, + -0.05742832273244858 + ], + [ + 0.04818636676922087, + 0.9977560639381409, + -0.046485915260902524, + 0.08558662980794907 + ], + [ + -0.1775743389838422, + 0.0543559305369854, + 0.9826051225064644, + 1.3780701160430908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9825725828322854, + -0.03960591182112694, + 0.18161076548316188, + -0.058471910655498505 + ], + [ + 0.049528712768345556, + 0.9974986910820007, + -0.05043043664969967, + 0.0876479297876358 + ], + [ + -0.179159169768115, + 0.0585465133190155, + 0.982076536191468, + 1.3970633745193481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9829470960923598, + -0.03850594907999039, + 0.17981192093213993, + -0.06188598647713661 + ], + [ + 0.05007461271675368, + 0.9969267249107361, + -0.06024677375866202, + 0.0906805470585823 + ], + [ + -0.17693944626098554, + 0.06822340190410614, + 0.9818543442998976, + 1.436122179031372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9829765759256571, + -0.03569437563419342, + 0.1802304101171787, + -0.062331441789865494 + ], + [ + 0.048127873022516074, + 0.9967180490493774, + -0.06509081594559285, + 0.09020130336284637 + ], + [ + -0.17731552772710218, + 0.07265685498714447, + 0.9814683922994341, + 1.4556275606155396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9821592360357674, + -0.028916243463754654, + 0.18581454433227407, + -0.0637357234954834 + ], + [ + 0.043189209754019624, + 0.9963794946670532, + -0.07322962641426664, + 0.08923448622226715 + ], + [ + -0.1830242801221893, + 0.07994833588600159, + 0.9798522375099102, + 1.4955142736434937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9811529867517241, + -0.0266010519117117, + 0.19139288231375648, + -0.06291098892688751 + ], + [ + 0.04188399623813971, + 0.9962083697319033, + -0.07625369896504497, + 0.08939455449581146 + ], + [ + -0.18863876294075774, + 0.08283284306526185, + 0.9785469790314454, + 1.5101572275161743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.979123938183551, + -0.022786609828472137, + 0.20198287260338713, + -0.06309980154037476 + ], + [ + 0.03986060930819387, + 0.9959271550178528, + -0.08087157817778838, + 0.08820976316928864 + ], + [ + -0.19931743766657442, + 0.08723445236682892, + 0.9760444449815245, + 1.5461231470108032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9778194957243703, + -0.022399760782718662, + 0.20824814503830857, + -0.06439808011054993 + ], + [ + 0.040371852242766224, + 0.9957766532897951, + -0.08245560025919732, + 0.088100865483284 + ], + [ + -0.20552165610589804, + 0.08903405815362932, + 0.9745941779178002, + 1.565428614616394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9764148308292012, + -0.020854152739048008, + 0.21489335318262273, + -0.06321842223405838 + ], + [ + 0.03967592011431989, + 0.9957051277160647, + -0.08364880247059138, + 0.09026656299829483 + ], + [ + -0.21222598192635625, + 0.0902020186185837, + 0.9730486605890786, + 1.5930858850479126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9759711400629816, + -0.01947135291993618, + 0.2170281748712112, + -0.06207321211695671 + ], + [ + 0.03821677421558657, + 0.9958568811416626, + -0.0825136541800148, + 0.09237981587648392 + ], + [ + -0.21452234511710802, + 0.0888250544667244, + 0.9726716931631193, + 1.6065607070922852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9756624235650975, + -0.01818918809294701, + 0.21852221004449401, + -0.05883137509226799 + ], + [ + 0.03627581476575129, + 0.9962109327316286, + -0.07904314371390314, + 0.0967540368437767 + ], + [ + -0.21625648232740627, + 0.08504649996757509, + 0.9726254035992085, + 1.611034631729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9756636300631342, + -0.012320689857006073, + 0.2189262797640516, + -0.062021948397159576 + ], + [ + 0.028334526625743584, + 0.9971333146095276, + -0.07015875832416107, + 0.09325627982616425 + ], + [ + -0.2174342859861644, + 0.07465452700853348, + 0.9732158257080341, + 1.6540662050247192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9754851248007866, + -0.011274993419647217, + 0.21977628092122922, + -0.06100423261523247 + ], + [ + 0.026345439197592368, + 0.997487485408783, + -0.06576196800137014, + 0.09645655751228333 + ], + [ + -0.21848261734019261, + 0.06993991881608963, + 0.9733312454943172, + 1.6664983034133911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.975471795746083, + -0.010095455683767796, + 0.21989284454123587, + -0.0643303245306015 + ], + [ + 0.024354393619763756, + 0.9977645874023438, + -0.06223093231597125, + 0.09399323910474777 + ], + [ + -0.21877303733496328, + 0.06605987250804901, + 0.9735370710493084, + 1.6933752298355103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.975847232368172, + -0.008991418406367302, + 0.21826888763408622, + -0.06619428098201752 + ], + [ + 0.021918682306887222, + 0.9981405138969421, + -0.05687749101314526, + 0.08990243077278137 + ], + [ + -0.2173516162548891, + 0.06028790771961212, + 0.9742297729761032, + 1.7336304187774658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.975343288088176, + -0.00975099578499794, + 0.22047759751792034, + -0.06669355928897858 + ], + [ + 0.022545425552030846, + 0.9981991648674011, + -0.055588843411655174, + 0.08710134029388428 + ], + [ + -0.21953850934217203, + 0.05918896570801735, + 0.9738066856169435, + 1.7517801523208618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.973871375042532, + -0.014304063282907009, + 0.22664931319419487, + -0.06956765055656433 + ], + [ + 0.027662458041912606, + 0.9980546236038208, + -0.05587239722837531, + 0.0832517221570015 + ], + [ + -0.22540920051783433, + 0.060682203620672226, + 0.9723725689484943, + 1.7960608005523682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9727124744364712, + -0.01721494644880295, + 0.23137435217116395, + -0.06887930631637573 + ], + [ + 0.031145003165993373, + 0.997906029224396, + -0.0566883762780201, + 0.08403672277927399 + ], + [ + -0.22991396556182872, + 0.06234764680266382, + 0.9712117770290914, + 1.809558391571045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9713434444399504, + -0.024137405678629882, + 0.23645153922286866, + -0.07019799947738647 + ], + [ + 0.03899862634536703, + 0.9975326061248782, + -0.05837648415383895, + 0.08728834241628647 + ], + [ + -0.23445906464928254, + 0.06592490524053575, + 0.9698880828350595, + 1.8468773365020752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9707591352119486, + -0.026973906904459, + 0.23853543784943723, + -0.07020934671163559 + ], + [ + 0.042142303762838555, + 0.9973846077919006, + -0.05871942958190109, + 0.08818019181489944 + ], + [ + -0.23632767614292863, + 0.0670548528432846, + 0.9693569439487922, + 1.8608707189559937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9708048605149245, + -0.03175725787878037, + 0.23775922628029453, + -0.07106299698352814 + ], + [ + 0.04704280027161657, + 0.9971552491188052, + -0.05889346020091159, + 0.09141223132610321 + ], + [ + -0.23521256417331618, + 0.068358913064003, + 0.9695370706547426, + 1.8953237533569336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9708354871218082, + -0.03364046663045883, + 0.23737480951423537, + -0.07182393968105316 + ], + [ + 0.048944232829777855, + 0.9970648884773254, + -0.05887344731385377, + 0.09326300024986267 + ], + [ + -0.23469756596469024, + 0.06877455860376358, + 0.9696324923430291, + 1.9127906560897827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9714035067396926, + -0.03496393933892251, + 0.23484617675739836, + -0.07191745936870575 + ], + [ + 0.05048413878421323, + 0.9968966841697695, + -0.06040137510058072, + 0.09408756345510483 + ], + [ + -0.23200550416877797, + 0.07053011655807497, + 0.9701540836831184, + 1.9437679052352905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9711463490559952, + -0.03493974357843399, + 0.23591100509784382, + -0.07083850353956223 + ], + [ + 0.050899916231894896, + 0.9967833757400513, + -0.0619043313763175, + 0.09528163820505142 + ], + [ + -0.23298924238243454, + 0.07212601602077484, + 0.9698009470786022, + 1.9566580057144165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9706647431857331, + -0.03442671522498131, + 0.23795959067778838, + -0.07162317633628845 + ], + [ + 0.05099870386990711, + 0.9966562986373901, + -0.06383874034465951, + 0.09621420502662659 + ], + [ + -0.23496617001226186, + 0.07410164177417755, + 0.9691748489136064, + 1.9746662378311157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9699019279923453, + -0.03207947686314583, + 0.24137343766690203, + -0.07137932628393173 + ], + [ + 0.049966020052985956, + 0.9964094161987305, + -0.06834988135565752, + 0.09884718805551529 + ], + [ + -0.23831412824589895, + 0.0783531591296196, + 0.9680222833845723, + 2.0054571628570557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9694486029265651, + -0.030801961198449135, + 0.2433528747833031, + -0.07121734321117401 + ], + [ + 0.04937419227553997, + 0.996282696723938, + -0.070590000160201, + 0.10134711861610413 + ], + [ + -0.24027394911221295, + 0.08044873178005219, + 0.9673657201915061, + 2.021883726119995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9693107041020896, + -0.029681619256734855, + 0.2440404214259632, + -0.07128546386957169 + ], + [ + 0.04881136189799023, + 0.9961574673652651, + -0.07271667608886734, + 0.10382205247879028 + ], + [ + -0.24094435745457204, + 0.0823970064520836, + 0.9670349574079736, + 2.037978172302246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9706227218356611, + -0.027158785611391074, + 0.2390688640514019, + -0.07546620815992355 + ], + [ + 0.04690581882350329, + 0.995903789997101, + -0.07730122276113482, + 0.1058059111237526 + ], + [ + -0.23599018222438065, + 0.08624403923749925, + 0.9679207337635015, + 2.0762853622436523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9714803168458208, + -0.02656396850943566, + 0.2356276252424503, + -0.07848641276359558 + ], + [ + 0.046453254070004696, + 0.9957706928253176, + -0.07926404607056038, + 0.10887669026851654 + ], + [ + -0.23252551963060225, + 0.08794913440942766, + 0.9686056231546709, + 2.095052719116211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9731968788653987, + -0.024770474061369896, + 0.22863558523009506, + -0.06988494098186493 + ], + [ + 0.04435210641998895, + 0.9957342743873596, + -0.08090833049120191, + 0.10951446741819382 + ], + [ + -0.22565615419393947, + 0.08888020366430283, + 0.9701441467288098, + 2.109262466430664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9725134597604052, + -0.02346242405474186, + 0.23166159141415335, + -0.06909815967082977 + ], + [ + 0.04322130656313112, + 0.9958099722862244, + -0.08058819082922121, + 0.10848120599985123 + ], + [ + -0.22880012523135282, + 0.08838581293821335, + 0.9694526831241859, + 2.122042417526245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9711113848561846, + -0.02650533989071846, + 0.23714995041576836, + -0.07112309336662292 + ], + [ + 0.04674853393277916, + 0.9956861734390259, + -0.08014774456136285, + 0.10729145258665085 + ], + [ + -0.23400258205620103, + 0.08891879767179489, + 0.9681612737248647, + 2.155921220779419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9704685036418141, + -0.029673537239432335, + 0.23939572649575833, + -0.07141172885894775 + ], + [ + 0.05040714883869501, + 0.9954423308372498, + -0.08095490156093386, + 0.10776127874851227 + ], + [ + -0.23590242503522366, + 0.09063144028186798, + 0.9675412190236209, + 2.172649383544922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9701551444339083, + -0.03434896841645241, + 0.2400400028990326, + -0.06843295693397522 + ], + [ + 0.0558148150111143, + 0.9949679970741272, + -0.0832065658924974, + 0.10939028114080429 + ], + [ + -0.2359740651908012, + 0.0941210687160492, + 0.9671905102639312, + 2.191692352294922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9695380493785943, + -0.03529789671301842, + 0.24238407888918784, + -0.06478359550237656 + ], + [ + 0.05711790994601326, + 0.9948617219924927, + -0.08359236820205629, + 0.11156530678272247 + ], + [ + -0.23818801487894853, + 0.09489045292139053, + 0.9665724515084569, + 2.197432041168213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9684433254627954, + -0.0360628180205822, + 0.2466110563406285, + -0.05782900005578995 + ], + [ + 0.0578324176915854, + 0.9949852228164673, + -0.08160806642119169, + 0.11915140599012375 + ], + [ + -0.24243133889824664, + 0.0932948961853981, + 0.9656723858958725, + 2.204970598220825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.9678647983181135, + -0.03642880544066429, + 0.24881860053997967, + -0.056139469146728516 + ], + [ + 0.05761310497582984, + 0.9952563643455505, + -0.07839323400320482, + 0.12386082112789154 + ], + [ + -0.24478252258528618, + 0.09020926058292389, + 0.9653723639855064, + 2.2150144577026367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9677118879606749, + -0.03614548593759537, + 0.2494538722645209, + -0.059779949486255646 + ], + [ + 0.056366893503170264, + 0.9956341981887817, + -0.07439943830176707, + 0.12580162286758423 + ], + [ + -0.24567561154720452, + 0.08605816215276718, + 0.9655244808693295, + 2.2364797592163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9692670665661189, + -0.034283071756362915, + 0.24361051647665907, + -0.06767988204956055 + ], + [ + 0.05172106784921957, + 0.9965081214904785, + -0.06554794114373723, + 0.13433922827243805 + ], + [ + -0.24051265875162403, + 0.07613325119018555, + 0.9676555911826414, + 2.2854132652282715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9700847467373812, + -0.032354023307561874, + 0.24060081198450273, + -0.06479746848344803 + ], + [ + 0.04862487007792204, + 0.9968910813331604, + -0.061998175310990354, + 0.13036100566387177 + ], + [ + -0.2378469145500144, + 0.07184267044067383, + 0.9686420589917274, + 2.2818100452423096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9708115718822831, + -0.030236572027206428, + 0.23792994557757835, + -0.06461107730865479 + ], + [ + 0.04549593853020523, + 0.9972262978553774, + -0.05890506809942087, + 0.13061323761940002 + ], + [ + -0.23548891046286208, + 0.06801056861877443, + 0.9694944622319623, + 2.2913215160369873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.971856665817924, + -0.02494915947318077, + 0.23424814051754833, + -0.06404412537813187 + ], + [ + 0.0389206267054039, + 0.9977158308029175, + -0.0552111042177431, + 0.12400905042886734 + ], + [ + -0.23233560659855698, + 0.06277436017990112, + 0.9706078026942003, + 2.3050131797790527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.971603237917546, + -0.02172067761421204, + 0.23561699177594328, + -0.06150925159454346 + ], + [ + 0.03560002577512776, + 0.9978618025779726, + -0.05481296195645036, + 0.11959660798311234 + ], + [ + -0.23392261885875876, + 0.06164442375302316, + 0.970299005459763, + 2.3044674396514893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9709679221107078, + -0.018985342234373093, + 0.23845512281916645, + -0.060700900852680206 + ], + [ + 0.033097739824325074, + 0.997920036315918, + -0.055318545840010475, + 0.11925079673528671 + ], + [ + -0.23690891098808067, + 0.06160486117005348, + 0.9695767438247072, + 2.3103699684143066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9698692275946809, + -0.014442091807723045, + 0.2431977622540533, + -0.06043384224176407 + ], + [ + 0.02910843510265122, + 0.9979599714279175, + -0.056821021146908346, + 0.12192468345165253 + ], + [ + -0.24188101161179829, + 0.06218806281685829, + 0.968311026410513, + 2.327022075653076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9691567938172667, + -0.012836148031055927, + 0.246110398371992, + -0.06016445904970169 + ], + [ + 0.02767444428223746, + 0.9979946613311768, + -0.056927577885776216, + 0.12429650127887726 + ], + [ + -0.24488613266981707, + 0.061982717365026474, + 0.9675685363959814, + 2.335904121398926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9684964911329111, + -0.01140555553138256, + 0.2487657744259799, + -0.05775684490799904 + ], + [ + 0.025902599594720948, + 0.9981458783149719, + -0.05508060697941466, + 0.13066866993904114 + ], + [ + -0.24767630975862515, + 0.05978905409574509, + 0.9669962307351729, + 2.347733736038208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9679728340275814, + -0.011717505753040314, + 0.25078145124890683, + -0.05921882390975952 + ], + [ + 0.025816511798557512, + 0.998260498046875, + -0.053004550297262365, + 0.13429594039916992 + ], + [ + -0.24972413485609007, + 0.057781267911195755, + 0.9665915541016064, + 2.360820770263672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9681358361966595, + -0.013606631197035316, + 0.2500557155622185, + -0.061813145875930786 + ], + [ + 0.026246575759022228, + 0.9985366463661196, + -0.047283584083433916, + 0.1379079520702362 + ], + [ + -0.2490464131030246, + 0.052340038120746626, + 0.9670761926159678, + 2.382211446762085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9680978870016589, + -0.015233620069921017, + 0.25010871046566163, + -0.060547035187482834 + ], + [ + 0.027057197370195494, + 0.9986693263053894, + -0.0439035787133419, + 0.14001011848449707 + ], + [ + -0.24910709043956383, + 0.04927020147442818, + 0.9672218617032541, + 2.385525941848755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9683880701290402, + -0.018517937511205673, + 0.24876009408943478, + -0.06024685502052307 + ], + [ + 0.028565847980398802, + 0.9989126920700073, + -0.03684282365871142, + 0.14168639481067657 + ], + [ + -0.24780736554240382, + 0.0427841916680336, + 0.9678641253747836, + 2.3981244564056396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9681847005956835, + -0.01986557245254517, + 0.24944689634678016, + -0.059649042785167694 + ], + [ + 0.02912458372432765, + 0.9990148544311526, + -0.033481969475156054, + 0.14250345528125763 + ], + [ + -0.24853602059835694, + 0.039681766182184226, + 0.9678094832943915, + 2.401562213897705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9680442631941535, + -0.021389050409197807, + 0.24986561013497302, + -0.06011410802602768 + ], + [ + 0.02991889402370994, + 0.9990902543067932, + -0.030389229107839165, + 0.14402711391448975 + ], + [ + -0.24898829950835694, + 0.0368938222527504, + 0.9678035301933278, + 2.408329486846924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9684472768009572, + -0.023702139034867294, + 0.2480888233050812, + -0.060851410031318665 + ], + [ + 0.03074639776032288, + 0.9992254972457888, + -0.02455766602846748, + 0.14817973971366882 + ], + [ + -0.24731460185174037, + 0.03141064196825028, + 0.9684259424849458, + 2.4245851039886475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.9682203375970148, + -0.023539114743471146, + 0.2489885542841027, + -0.06022997200489044 + ], + [ + 0.02991124621437335, + 0.9993139505386353, + -0.021839208317648816, + 0.14738216996192932 + ], + [ + -0.2483036576664572, + 0.028592722490429878, + 0.9682601680396392, + 2.427227735519409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9678691034992274, + -0.02345893532037735, + 0.25035794079293755, + -0.060871485620737076 + ], + [ + 0.029234472019911476, + 0.9993848204612732, + -0.019374816785947206, + 0.14793330430984497 + ], + [ + -0.24974941025400613, + 0.026071369647979736, + 0.9679594859497394, + 2.434004545211792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.9676778079508518, + -0.023069940507411957, + 0.25113237284919016, + -0.061049070209264755 + ], + [ + 0.027906885081656542, + 0.9994869828224182, + -0.0157158837776713, + 0.1487569510936737 + ], + [ + -0.2506409699113856, + 0.022216234356164932, + 0.9678251719394938, + 2.44384765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9673239570125403, + -0.022280683740973473, + 0.252562681576479, + -0.06175130978226662 + ], + [ + 0.026844566660688667, + 0.9995324611663818, + -0.014638446002264017, + 0.14854195713996887 + ], + [ + -0.25211844495579916, + 0.020940054208040237, + 0.9674698117147222, + 2.450251579284668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9671444595521745, + -0.01946873962879181, + 0.2534809002236095, + -0.0627615749835968 + ], + [ + 0.023860537867516005, + 0.9996135234832764, + -0.014262888300139871, + 0.14909765124320984 + ], + [ + -0.25310525501403935, + 0.019842464476823807, + 0.9672352146781075, + 2.4629414081573486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9667379904035021, + -0.017972754314541817, + 0.2551365221943099, + -0.0628206878900528 + ], + [ + 0.02242578972325943, + 0.999642550945282, + -0.014555075589280986, + 0.15025530755519867 + ], + [ + -0.25478373427041695, + 0.0197925828397274, + 0.966795504421538, + 2.4682841300964355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9663424259794007, + -0.014168188907206059, + 0.25686886715643775, + -0.06229180842638016 + ], + [ + 0.01878345786449875, + 0.999703049659729, + -0.01552258656058352, + 0.15139652788639069 + ], + [ + -0.25657267081507384, + 0.01982502080500126, + 0.9663216253091953, + 2.479506731033325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9656371486652642, + -0.012564260512590408, + 0.25959004270473607, + -0.06174783408641815 + ], + [ + 0.01730266481545669, + 0.9997226595878601, + -0.01597642474870983, + 0.15181420743465424 + ], + [ + -0.259317320234148, + 0.019919028505682945, + 0.9655867479582193, + 2.483624219894409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9644341164327039, + -0.010265344753861427, + 0.26412397898178763, + -0.06120195984840393 + ], + [ + 0.01521083793968677, + 0.9997450709342957, + -0.016685812951301254, + 0.15094640851020813 + ], + [ + -0.26388535182143846, + 0.020109914243221283, + 0.9643443681977416, + 2.492143154144287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9634240371962405, + -0.009789111092686653, + 0.26780282503537167, + -0.06088900566101074 + ], + [ + 0.014939512747472954, + 0.9997404217720032, + -0.017201145284341492, + 0.15182222425937653 + ], + [ + -0.26756491601453947, + 0.020572839304804802, + 0.9633201634503913, + 2.500474691390991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.961900928186793, + -0.009921079501509666, + 0.27321809684482506, + -0.06216716766357422 + ], + [ + 0.015515594820166926, + 0.9997116923332214, + -0.018323256431041338, + 0.1533927172422409 + ], + [ + -0.2729575493184219, + 0.021864300593733788, + 0.9617775776674155, + 2.5148749351501465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9609686728283233, + -0.010436177253723145, + 0.2764603945858669, + -0.06238194555044174 + ], + [ + 0.016235502081606557, + 0.9996933937072754, + -0.018696463181145814, + 0.15386149287223816 + ], + [ + -0.27618050049021337, + 0.022455187514424324, + 0.960843430137387, + 2.5181524753570557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/pull_out/transforms.json b/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..fe8c554ed0f90bc822558b0ac7ccc0301e987d2c --- /dev/null +++ b/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/pull_out/transforms.json @@ -0,0 +1,4108 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 117, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00011037875810870901, + 2.6177083782386035e-05, + -0.0004883921355940402 + ], + [ + -0.00011037995136575773, + 1.0, + 4.573888145387173e-05, + -4.7455494495807216e-05 + ], + [ + -2.617203426780179e-05, + -4.574177000904456e-05, + 1.0, + 0.0010702626314014196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999948740005493, + -0.0026546455919742584, + 0.0017747802194207907, + -0.0037287725663567284 + ], + [ + 0.0026563764549791813, + 0.9999960064888, + -0.000973614864051342, + 0.001292722617629273 + ], + [ + -0.0017721885815262794, + 0.0009783243294805288, + 0.9999979734420776, + 0.016888717536268562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999789595603943, + -0.0064499578438699245, + 0.0007018729229457676, + -0.007514969317808522 + ], + [ + 0.0064507280476391315, + 0.9999786019325256, + -0.0011000819504261017, + 0.0014687507027952836 + ], + [ + -0.0006947623915039003, + 0.0011045862920582294, + 0.9999991655349731, + 0.04667887700528934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999756217002869, + -0.00696758134290576, + 0.0004346150381024927, + -0.007818404483184388 + ], + [ + 0.0069676912389695644, + 0.9999756813049316, + -0.0002527574833948165, + 0.0011059360224141435 + ], + [ + -0.0004328433715272695, + 0.00025577956694178283, + 0.9999998807907104, + 0.061284879055516474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999753832817078, + -0.006167152896523476, + 0.0033523710444569588, + -0.00843585221867623 + ], + [ + 0.0061624180525541306, + 0.9999799728393555, + 0.0014209491200745106, + -0.00013709469027977823 + ], + [ + -0.003361067268997431, + -0.0014002553652971983, + 0.9999933838844299, + 0.07791827105242631 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999915361404419, + -0.0052946521900594234, + 0.011884434148669243, + -0.010635181803834336 + ], + [ + 0.005224383901804686, + 0.9999687075614929, + 0.005935891065746546, + 0.00026483690478549946 + ], + [ + -0.01191549189388752, + -0.005873299669474363, + 0.9999117851257324, + 0.10688682157417824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999880313873291, + -0.004555518738925457, + 0.014784524217247963, + -0.012208379654149558 + ], + [ + 0.004423832520842552, + 0.9999503493309021, + 0.00892751757055521, + 0.0007317034969234775 + ], + [ + -0.014824459329247475, + -0.008861045353114605, + 0.999850869178772, + 0.12243322956150976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998446106910706, + -0.004259975161403418, + 0.017107317224144936, + -0.014301244598203177 + ], + [ + 0.0040526981465518475, + 0.9999181628227234, + 0.01213269867002964, + 0.0018759581388841414 + ], + [ + -0.017157601192593575, + -0.012061482295393944, + 0.9997800588607788, + 0.14010232368419911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998160600662231, + -0.0038962652906775475, + 0.01877894438803196, + -0.016707418730546687 + ], + [ + 0.0035464991815388203, + 0.9998202919960022, + 0.018622901290655136, + 0.0034062159295868257 + ], + [ + -0.018848130479454994, + -0.018552877008914948, + 0.9996501803398132, + 0.16937887894696202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998149871826172, + -0.004476454108953476, + 0.01870623230934143, + -0.01843515136118593 + ], + [ + 0.00407046265900135, + 0.9997565746307373, + 0.021685542538762093, + 0.004827972079209726 + ], + [ + -0.01879875361919403, + -0.021605389192700386, + 0.9995898008346558, + 0.18693203268380001 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999803900718689, + -0.006351545453071594, + 0.018756994977593422, + -0.02268774449375683 + ], + [ + 0.005835426971316338, + 0.9996063113212585, + 0.027443772181868553, + 0.0057919138143288675 + ], + [ + -0.018923921510577202, + -0.027328936383128166, + 0.9994473457336426, + 0.22499829582099257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997815489768982, + -0.008249042555689812, + 0.01920357719063759, + -0.02498232897949116 + ], + [ + 0.007684275507926941, + 0.9995411038398743, + 0.029299773275852203, + 0.006968669776387256 + ], + [ + -0.019436459988355637, + -0.029145807027816772, + 0.999386191368103, + 0.2450167157526674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9996839165687561, + -0.01348142046481371, + 0.021219342947006226, + -0.027744086035366718 + ], + [ + 0.01282875519245863, + 0.9994493722915649, + 0.030599307268857956, + 0.009467771154796256 + ], + [ + -0.02162018045783043, + -0.03031741827726364, + 0.9993064999580383, + 0.2846138450606116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996019601821899, + -0.015430680476129055, + 0.023617474362254143, + -0.02922944209923775 + ], + [ + 0.01471517700701952, + 0.9994363188743591, + 0.030175210908055305, + 0.010744001926725795 + ], + [ + -0.024069784209132195, + -0.029815664514899254, + 0.9992655515670776, + 0.30443212790735835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9992930889129639, + -0.02008109912276268, + 0.031782008707523346, + -0.03178278501948406 + ], + [ + 0.019222058355808258, + 0.9994477033615112, + 0.027107777073979378, + 0.01604114807178748 + ], + [ + -0.03230880945920944, + -0.026477700099349022, + 0.9991271495819092, + 0.34304047206352495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9991138577461243, + -0.021894365549087524, + 0.03594698756933212, + -0.0342325952610579 + ], + [ + 0.02100144699215889, + 0.9994660019874573, + 0.025032373145222664, + 0.019136175232265015 + ], + [ + -0.036475859582424164, + -0.02425525151193142, + 0.9990401268005371, + 0.36249226228944187 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988429546356201, + -0.02500884234905243, + 0.0410764142870903, + -0.03608052360600439 + ], + [ + 0.024170760065317154, + 0.9994919896125793, + 0.020774558186531067, + 0.02614308518582377 + ], + [ + -0.04157509654760361, + -0.019757673144340515, + 0.9989399909973145, + 0.3962019038611445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9987733960151672, + -0.026365509256720543, + 0.041911110281944275, + -0.036910187311727426 + ], + [ + 0.025593576952815056, + 0.999494731426239, + 0.018849462270736694, + 0.03107542477805039 + ], + [ + -0.04238691180944443, + -0.017753686755895615, + 0.9989435076713562, + 0.4120637041227571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9987753629684448, + -0.026411596685647964, + 0.0418354757130146, + -0.0375524966431589 + ], + [ + 0.025687802582979202, + 0.9995124936103821, + 0.01774517446756363, + 0.03514306859980369 + ], + [ + -0.042283762246370316, + -0.016648780554533005, + 0.9989669322967529, + 0.42838018146054496 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9988797903060913, + -0.024173231795430183, + 0.04067971557378769, + -0.037222784275895565 + ], + [ + 0.023472091183066368, + 0.9995691180229187, + 0.017625965178012848, + 0.042470221870161334 + ], + [ + -0.04108826071023941, + -0.01665138080716133, + 0.9990167617797852, + 0.46255880388720283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.998918890953064, + -0.02250632457435131, + 0.04067562520503998, + -0.03793509240294325 + ], + [ + 0.02177532948553562, + 0.9995949268341064, + 0.018325913697481155, + 0.04643697310881368 + ], + [ + -0.04107159376144409, + -0.01742037758231163, + 0.9990043044090271, + 0.4824233157881375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9989449381828308, + -0.02100496180355549, + 0.040839001536369324, + -0.03881166694236213 + ], + [ + 0.02024162746965885, + 0.9996142387390137, + 0.01901583932340145, + 0.050007553721360606 + ], + [ + -0.04122267663478851, + -0.018169129267334938, + 0.9989847540855408, + 0.5017148789146851 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9990360140800476, + -0.018793685361742973, + 0.03967101499438286, + -0.04201712393169773 + ], + [ + 0.018047189339995384, + 0.9996548295021057, + 0.01909220963716507, + 0.05673937958119244 + ], + [ + -0.04001613333821297, + -0.018357854336500168, + 0.999030351638794, + 0.5445842714145266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9991240501403809, + -0.017915356904268265, + 0.037818048149347305, + -0.04338239061100216 + ], + [ + 0.01724540814757347, + 0.9996898174285889, + 0.01796753704547882, + 0.06017175724023375 + ], + [ + -0.038128215819597244, + -0.017299611121416092, + 0.9991230964660645, + 0.5658997301397652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9992895126342773, + -0.01440250314772129, + 0.03482815995812416, + -0.04514243425480251 + ], + [ + 0.0139387808740139, + 0.9998114109039307, + 0.013520952314138412, + 0.06381121588678196 + ], + [ + -0.03501632437109947, + -0.013025883585214615, + 0.9993018507957458, + 0.6092362716280181 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9993483424186707, + -0.013236389495432377, + 0.03358178585767746, + -0.04664885968869102 + ], + [ + 0.012908111326396465, + 0.9998669624328613, + 0.009973506443202496, + 0.0656127363547747 + ], + [ + -0.0337093323469162, + -0.009533529169857502, + 0.999386191368103, + 0.6310924892795498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9995242357254028, + -0.01551754679530859, + 0.02665630541741848, + -0.050194467755098796 + ], + [ + 0.015526345930993557, + 0.9998794794082642, + -0.00012315294588916004, + 0.06910448882358494 + ], + [ + -0.026651179417967796, + 0.0005369692808017135, + 0.9996446371078491, + 0.6759943117355478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9996351003646851, + -0.01670266129076481, + 0.021228160709142685, + -0.050824507932853084 + ], + [ + 0.016821173951029778, + 0.9998438358306885, + -0.005416519474238157, + 0.06985622187955948 + ], + [ + -0.021134376525878906, + 0.005771625321358442, + 0.9997599720954895, + 0.696831677340228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9996569156646729, + -0.015349903143942356, + 0.021223731338977814, + -0.046520596999546575 + ], + [ + 0.01560657937079668, + 0.9998064041137695, + -0.011981576681137085, + 0.06715072819898868 + ], + [ + -0.021035708487033844, + 0.012308696284890175, + 0.9997029304504395, + 0.736061574261764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9994627833366394, + -0.01620803400874138, + 0.02848534844815731, + -0.04591971612535417 + ], + [ + 0.016609616577625275, + 0.999765157699585, + -0.013918299227952957, + 0.06742423819378018 + ], + [ + -0.02825307287275791, + 0.0143839530646801, + 0.9994972944259644, + 0.7538205653429031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9992712736129761, + -0.01924976333975792, + 0.03295990452170372, + -0.04925127857332599 + ], + [ + 0.01979174092411995, + 0.9996728897094727, + -0.016196995973587036, + 0.06744652369926715 + ], + [ + -0.0326373390853405, + 0.016837526112794876, + 0.9993253946304321, + 0.7962605470213396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9993029832839966, + -0.02092505432665348, + 0.0309144239872694, + -0.04872752723669441 + ], + [ + 0.02145523764193058, + 0.999626636505127, + -0.016919037327170372, + 0.06818031594960083 + ], + [ + -0.03054885007441044, + 0.01757051981985569, + 0.9993788003921509, + 0.8151975801278805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9993822574615479, + -0.0208118986338377, + 0.02831966243684292, + -0.047763356515045825 + ], + [ + 0.021303044632077217, + 0.9996259212493896, + -0.017153102904558182, + 0.06720787553951658 + ], + [ + -0.027952080592513084, + 0.01774580031633377, + 0.999451756477356, + 0.8347032061938582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9991852641105652, + -0.01730204001069069, + 0.03646127134561539, + -0.04268906058037075 + ], + [ + 0.017935864627361298, + 0.9996923804283142, + -0.01712866686284542, + 0.06181539411913475 + ], + [ + -0.03615369647741318, + 0.017768675461411476, + 0.999188244342804, + 0.8719414811195998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9988375306129456, + -0.017403144389390945, + 0.04495224356651306, + -0.04313632236986325 + ], + [ + 0.018225960433483124, + 0.9996725916862488, + -0.017959628254175186, + 0.06147816107319347 + ], + [ + -0.044624969363212585, + 0.018758047372102737, + 0.9988276958465576, + 0.8932049566301806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985164403915405, + -0.017846425995230675, + 0.051443539559841156, + -0.04373686763875444 + ], + [ + 0.01885138265788555, + 0.9996395111083984, + -0.019116559997200966, + 0.060393201660942926 + ], + [ + -0.05108383297920227, + 0.020057981833815575, + 0.9984928965568542, + 0.914666819932132 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9981259107589722, + -0.019927561283111572, + 0.05785771459341049, + -0.046236442312084396 + ], + [ + 0.021257270127534866, + 0.9995217323303223, + -0.02245856076478958, + 0.05919533140700439 + ], + [ + -0.057382501661777496, + 0.023646369576454163, + 0.9980722069740295, + 0.9557258205167178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9980279207229614, + -0.022041548043489456, + 0.05877399444580078, + -0.04679622375245752 + ], + [ + 0.023487940430641174, + 0.9994351863861084, + -0.024033112451434135, + 0.05963839025814729 + ], + [ + -0.0582110732793808, + 0.025366196408867836, + 0.9979819655418396, + 0.9742640604746753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9979934096336365, + -0.026076043024659157, + 0.05769968777894974, + -0.046041546569302164 + ], + [ + 0.027535339817404747, + 0.9993170499801636, + -0.024642309173941612, + 0.06058239937149759 + ], + [ + -0.05701770633459091, + 0.026181640103459358, + 0.9980298280715942, + 1.0094168393776335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9979886412620544, + -0.02806660532951355, + 0.05684119835495949, + -0.045865222705720826 + ], + [ + 0.02945845201611519, + 0.9992826581001282, + -0.023798389360308647, + 0.06152456295034238 + ], + [ + -0.0561324842274189, + 0.025424977764487267, + 0.9980995655059814, + 1.0260175698790057 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9979932904243469, + -0.03043103776872158, + 0.05552814155817032, + -0.04682354038131648 + ], + [ + 0.03165809437632561, + 0.9992706179618835, + -0.02135354094207287, + 0.06220012832561444 + ], + [ + -0.05483783036470413, + 0.023068604990839958, + 0.9982287287712097, + 1.0646089335967754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9979739189147949, + -0.03142860531806946, + 0.05531974509358406, + -0.04808580483920102 + ], + [ + 0.03261088579893112, + 0.9992557764053345, + -0.020600229501724243, + 0.06239290892564017 + ], + [ + -0.05463114008307457, + 0.022362519055604935, + 0.9982561469078064, + 1.0859979556038462 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9979171752929688, + -0.033487848937511444, + 0.0551348552107811, + -0.04938471503555775 + ], + [ + 0.03473196178674698, + 0.9991596937179565, + -0.021763205528259277, + 0.06461309369268088 + ], + [ + -0.05435971915721893, + 0.023632816970348358, + 0.9982417225837708, + 1.1254022802772192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9979024529457092, + -0.03403647243976593, + 0.05506591871380806, + -0.05067566889819914 + ], + [ + 0.035374365746974945, + 0.9990976452827454, + -0.02350655198097229, + 0.06567722140201207 + ], + [ + -0.05421615019440651, + 0.025405168533325195, + 0.9982059597969055, + 1.1450309573062536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.997848629951477, + -0.035037945955991745, + 0.05541156232357025, + -0.05166090071715158 + ], + [ + 0.03666544333100319, + 0.9989173412322998, + -0.028632167726755142, + 0.06914369657892605 + ], + [ + -0.054348357021808624, + 0.030602257698774338, + 0.9980529546737671, + 1.1834469971985653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9977869391441345, + -0.03539004549384117, + 0.056292224675416946, + -0.05201635864595401 + ], + [ + 0.03720330074429512, + 0.9988112449645996, + -0.03149626776576042, + 0.07131285456426699 + ], + [ + -0.05511065199971199, + 0.03352082148194313, + 0.9979174137115479, + 1.2020225021345863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9976845383644104, + -0.035805344581604004, + 0.057823702692985535, + -0.05279973480722 + ], + [ + 0.03783510625362396, + 0.9986917972564697, + -0.03439754620194435, + 0.0736740263821236 + ], + [ + -0.056516438722610474, + 0.03650566563010216, + 0.9977340698242188, + 1.2214492641646286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.997402012348175, + -0.037015512585639954, + 0.06179863587021828, + -0.05396306249794775 + ], + [ + 0.03953543305397034, + 0.9984146356582642, + -0.04006386920809746, + 0.07823846945539117 + ], + [ + -0.060217682272195816, + 0.04240301623940468, + 0.9972842335700989, + 1.2588575826122843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.997257649898529, + -0.03728679567575455, + 0.0639287531375885, + -0.05565473717348329 + ], + [ + 0.040061935782432556, + 0.9982847571372986, + -0.04269180819392204, + 0.08058639872690727 + ], + [ + -0.06222726032137871, + 0.04513584449887276, + 0.997040867805481, + 1.2780847960504993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9971264600753784, + -0.03772471472620964, + 0.06569398194551468, + -0.0572123809685481 + ], + [ + 0.040751177817583084, + 0.9981393814086914, + -0.04535499960184097, + 0.08282769526001708 + ], + [ + -0.06386075168848038, + 0.04790177941322327, + 0.9968085289001465, + 1.2974929229966525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9969212412834167, + -0.039093464612960815, + 0.06796884536743164, + -0.06035801434311373 + ], + [ + 0.04264533519744873, + 0.9977560639381409, + -0.05161629244685173, + 0.0878114699996237 + ], + [ + -0.06579846143722534, + 0.0543559305369854, + 0.9963513612747192, + 1.3351239366778012 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9969285726547241, + -0.03960591182112694, + 0.06756309419870377, + -0.06144235703837255 + ], + [ + 0.04340917989611626, + 0.9974986910820007, + -0.05578499287366867, + 0.09010054585363331 + ], + [ + -0.06518469005823135, + 0.0585465133190155, + 0.996154248714447, + 1.3532669377224198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9972398281097412, + -0.03850594907999039, + 0.06348264217376709, + -0.06473176009182273 + ], + [ + 0.0426759272813797, + 0.9969267249107361, + -0.06569555401802063, + 0.09362552016973495 + ], + [ + -0.06075787544250488, + 0.06822340190410614, + 0.9958182573318481, + 1.3914820502544272 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9974597692489624, + -0.03569437563419342, + 0.061643801629543304, + -0.065147925829836 + ], + [ + 0.04001668095588684, + 0.9967180490493774, + -0.07036882638931274, + 0.09341643077546152 + ], + [ + -0.058929719030857086, + 0.07265685498714447, + 0.9956145286560059, + 1.4101382761166013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9974639415740967, + -0.028916243463754654, + 0.06503456830978394, + -0.0667631947788699 + ], + [ + 0.033966291695833206, + 0.9963794946670532, + -0.07793700695037842, + 0.09286258826995718 + ], + [ + -0.06254546344280243, + 0.07994833588600159, + 0.994834840297699, + 1.4492029965951525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9973003268241882, + -0.026601051911711693, + 0.06844323873519897, + -0.06615614248760815 + ], + [ + 0.0321207270026207, + 0.9962083697319031, + -0.08085267245769501, + 0.09322808637958148 + ], + [ + -0.06603296101093292, + 0.08283284306526184, + 0.9943733811378479, + 1.463010213755328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9967742562294006, + -0.022786609828472137, + 0.07695355266332626, + -0.06681480063446636 + ], + [ + 0.029348839074373245, + 0.9959271550178528, + -0.08525095880031586, + 0.09232532669757974 + ], + [ + -0.07469754666090012, + 0.08723445236682892, + 0.9933833479881287, + 1.4981667095217213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9964554905891418, + -0.02239976078271866, + 0.08108459413051605, + -0.06838240930489425 + ], + [ + 0.02946016937494278, + 0.9957766532897949, + -0.08695349842309952, + 0.09237358049200527 + ], + [ + -0.07879440486431122, + 0.0890340581536293, + 0.9929070472717285, + 1.516639216603904 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9961106777191162, + -0.020854152739048004, + 0.08560720086097717, + -0.06749878227710723 + ], + [ + 0.028418127447366714, + 0.9957051277160645, + -0.08811192214488983, + 0.09467215910553932 + ], + [ + -0.08340202271938324, + 0.09020201861858368, + 0.9924251437187195, + 1.5434646278619766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9961450099945068, + -0.01947135291993618, + 0.08553370088338852, + -0.06642363311016354 + ], + [ + 0.02692367322742939, + 0.9958568811416626, + -0.08685701340436935, + 0.0967975432823958 + ], + [ + -0.0834880992770195, + 0.0888250544667244, + 0.9925420880317688, + 1.5560779629596349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9962313175201416, + -0.018189188092947006, + 0.08480732887983322, + -0.06321796106881108 + ], + [ + 0.025272905826568604, + 0.9962109327316284, + -0.08321678638458252, + 0.10105835338091028 + ], + [ + -0.08297234028577805, + 0.08504649996757507, + 0.9929162263870239, + 1.5596768958815213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9964768290519714, + -0.012320689857006073, + 0.08295881003141403, + -0.06638443754536325 + ], + [ + 0.01843813620507717, + 0.9971333146095276, + -0.07338345795869827, + 0.09711523752916476 + ], + [ + -0.08181685954332352, + 0.07465452700853348, + 0.9938474297523499, + 1.601803538460156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9966033101081848, + -0.011274993419647217, + 0.08157625049352646, + -0.06536434255540371 + ], + [ + 0.016916049644351006, + 0.997487485408783, + -0.0687936469912529, + 0.1001334593342296 + ], + [ + -0.08059563487768173, + 0.06993991881608963, + 0.9942900538444519, + 1.6133552143286014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9967882037162781, + -0.010095455683767796, + 0.07944409549236298, + -0.06864496075130742 + ], + [ + 0.015290160663425922, + 0.9977645874023438, + -0.06505410373210907, + 0.09752634991088818 + ], + [ + -0.07860974967479706, + 0.06605987250804901, + 0.9947143197059631, + 1.6393519521273416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9971027374267578, + -0.008991418406367302, + 0.07553316652774811, + -0.07036162810078983 + ], + [ + 0.013503525406122208, + 0.9981405138969421, + -0.05944015830755234, + 0.09318188778285323 + ], + [ + -0.07485826313495636, + 0.06028790771961212, + 0.995370090007782, + 1.6787134482942778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.997094988822937, + -0.00975099578499794, + 0.07554127275943756, + -0.07092647543498154 + ], + [ + 0.01417771726846695, + 0.9981991648674011, + -0.05828728899359703, + 0.09036743838404274 + ], + [ + -0.07483687996864319, + 0.05918896570801735, + 0.9954376220703125, + 1.6960013200496804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9967232346534729, + -0.014304063282907009, + 0.07961256057024002, + -0.07409733072694005 + ], + [ + 0.019064422696828842, + 0.9980546236038208, + -0.05935894325375557, + 0.08662904134212897 + ], + [ + -0.07860860973596573, + 0.060682203620672226, + 0.9950569868087769, + 1.7394454892339377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9964664578437805, + -0.017214946448802948, + 0.0822085589170456, + -0.07362755928830854 + ], + [ + 0.022250298410654068, + 0.9979060292243958, + -0.06073308363556862, + 0.08754458192029389 + ], + [ + -0.08099089562892914, + 0.0623476468026638, + 0.9947628974914551, + 1.7521022586986936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9960726499557495, + -0.024137405678629875, + 0.08518622815608978, + -0.07519167492101933 + ], + [ + 0.02961643598973751, + 0.9975326061248779, + -0.06365197151899338, + 0.09101966488464125 + ], + [ + -0.0834396481513977, + 0.06592490524053574, + 0.9943298101425171, + 1.7885890372868243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9960083365440369, + -0.026973906904459, + 0.08508729189634323, + -0.07527057355719394 + ], + [ + 0.03252515196800232, + 0.9973846077919006, + -0.06454502046108246, + 0.09201950768715349 + ], + [ + -0.08312372118234634, + 0.0670548528432846, + 0.9942806959152222, + 1.801728160319657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9961208701133728, + -0.031757257878780365, + 0.08206545561552048, + -0.07601522275343023 + ], + [ + 0.0371914878487587, + 0.9971552491188049, + -0.06556110084056854, + 0.09536850465268924 + ], + [ + -0.07974996417760849, + 0.06835891306400299, + 0.9944682121276855, + 1.835312740556125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9962724447250366, + -0.03364046663045883, + 0.07943273335695267, + -0.07668577077445285 + ], + [ + 0.03892369568347931, + 0.9970648884773254, + -0.06592849642038345, + 0.0972982789100758 + ], + [ + -0.07698173075914383, + 0.06877455860376358, + 0.9946576952934265, + 1.8519107454295816 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9966006278991699, + -0.0349639393389225, + 0.0745968371629715, + -0.0765476078822695 + ], + [ + 0.04004723206162453, + 0.9968966841697693, + -0.06777310371398926, + 0.09829416989252485 + ], + [ + -0.07199572026729584, + 0.07053011655807495, + 0.9949080944061279, + 1.8820149890307722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9966874122619629, + -0.03493974357843399, + 0.07344001531600952, + -0.07546015967582834 + ], + [ + 0.040057823061943054, + 0.9967833757400513, + -0.06941410899162292, + 0.09964993989159321 + ], + [ + -0.07077847421169281, + 0.07212601602077484, + 0.9948810338973999, + 1.8940491130639767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9967162609100342, + -0.03442671522498131, + 0.07329055666923523, + -0.0762986083996707 + ], + [ + 0.039676908403635025, + 0.9966562986373901, + -0.07142825424671173, + 0.10077083503891682 + ], + [ + -0.07058645784854889, + 0.07410164177417755, + 0.9947494864463806, + 1.9112080809371226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9967023134231567, + -0.03207947686314583, + 0.07453445345163345, + -0.07619836422261493 + ], + [ + 0.037737730890512466, + 0.9964094161987305, + -0.07579032331705093, + 0.10374742447687635 + ], + [ + -0.07183551043272018, + 0.0783531591296196, + 0.9943341612815857, + 1.9411683162224704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9967591762542725, + -0.030801961198449135, + 0.07431258261203766, + -0.07608609862368683 + ], + [ + 0.03660108894109726, + 0.996282696723938, + -0.07798153162002563, + 0.10645625344638167 + ], + [ + -0.07163435220718384, + 0.08044873178005219, + 0.9941813349723816, + 1.9567477076218045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9969074130058289, + -0.029681619256734848, + 0.0727638527750969, + -0.07611547823481518 + ], + [ + 0.035502929240465164, + 0.9961574673652649, + -0.08006126433610916, + 0.10913646399075615 + ], + [ + -0.07010791450738907, + 0.08239700645208359, + 0.9941306114196777, + 1.9719884679235262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9974901676177979, + -0.027158785611391068, + 0.06538926064968109, + -0.07986307223809176 + ], + [ + 0.032643165439367294, + 0.9959037899971008, + -0.08432116359472275, + 0.11147578246891499 + ], + [ + -0.06283135712146759, + 0.08624403923749924, + 0.9942907691001892, + 2.009427879493812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9978688955307007, + -0.026563968509435654, + 0.05959908664226532, + -0.08254531607802572 + ], + [ + 0.03165927901864052, + 0.9957706928253174, + -0.0862460657954216, + 0.11475034474941163 + ], + [ + -0.057055987417697906, + 0.08794913440942764, + 0.9944896101951599, + 2.0273245473874026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9984339475631714, + -0.024770474061369896, + 0.05016022548079491, + -0.07334426687709217 + ], + [ + 0.02910229004919529, + 0.9957342743873596, + -0.08755754679441452, + 0.1155529189212569 + ], + [ + -0.047777410596609116, + 0.08888020366430283, + 0.9948958158493042, + 2.0406489618893326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9984226822853088, + -0.02346242405474186, + 0.05100656673312187, + -0.07265982510650466 + ], + [ + 0.02785084955394268, + 0.9958099722862244, + -0.08710262924432755, + 0.11456337235225686 + ], + [ + -0.048749204725027084, + 0.08838581293821335, + 0.9948927164077759, + 2.0525714606046677 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9981670379638672, + -0.02650533989071846, + 0.05440574511885643, + -0.07496901672847311 + ], + [ + 0.031202241778373718, + 0.9956861734390259, + -0.08738138526678085, + 0.11346841257964743 + ], + [ + -0.051854971796274185, + 0.08891879767179489, + 0.9946881532669067, + 2.085607058220896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9980738759040833, + -0.029673537239432335, + 0.05447906628251076, + -0.07530979998088602 + ], + [ + 0.034449249505996704, + 0.9954423308372498, + -0.08892595767974854, + 0.11412408434111497 + ], + [ + -0.05159201845526695, + 0.09063144028186798, + 0.9945472478866577, + 2.1014878132219974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9980079531669617, + -0.03434896841645241, + 0.052918169647455215, + -0.07226496232223922 + ], + [ + 0.039134930819272995, + 0.9949679970741272, + -0.09223385155200958, + 0.11606928418422567 + ], + [ + -0.04948375001549721, + 0.0941210687160492, + 0.9943302273750305, + 2.1196891289332815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9979659914970398, + -0.03529789671301842, + 0.053084373474121094, + -0.0686733987310837 + ], + [ + 0.0401323027908802, + 0.9948617219924927, + -0.09294911473989487, + 0.11837623329383545 + ], + [ + -0.04953070729970932, + 0.09489045292139053, + 0.9942547678947449, + 2.124577165934546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9978243708610535, + -0.0360628180205822, + 0.05519069358706474, + -0.06192072389069302 + ], + [ + 0.041006240993738174, + 0.9949852228164673, + -0.09123022109270096, + 0.12591502582975503 + ], + [ + -0.051623906940221786, + 0.0932948961853981, + 0.9942992925643921, + 2.1312553058410515 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.997809648513794, + -0.03642880544066429, + 0.05521656572818756, + -0.060280711576342585 + ], + [ + 0.04121232405304909, + 0.9952563643455505, + -0.08812668919563293, + 0.13047032281756402 + ], + [ + -0.05174428969621658, + 0.09020926058292389, + 0.9945777058601379, + 2.1404211297631264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9979071617126465, + -0.03614548593759537, + 0.053617432713508606, + -0.06384747886452181 + ], + [ + 0.040579602122306824, + 0.9956341981887817, + -0.08405830711126328, + 0.13217845995878352 + ], + [ + -0.05034502595663071, + 0.08605816215276718, + 0.9950172901153564, + 2.1609956889316955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9983837008476257, + -0.034283071756362915, + 0.04532897472381592, + -0.07115770855854298 + ], + [ + 0.03760337829589844, + 0.9965081214904785, + -0.07454922795295715, + 0.14005895352055286 + ], + [ + -0.04261491447687149, + 0.07613325119018555, + 0.9961865544319153, + 2.208981710620995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9986771941184998, + -0.032354023307561874, + 0.03996283933520317, + -0.06789803360428276 + ], + [ + 0.03511856868863106, + 0.9968910813331604, + -0.07053253054618835, + 0.1358333571717657 + ], + [ + -0.03755658492445946, + 0.07184267044067383, + 0.9967086315155029, + 2.2044792031419687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9989317059516907, + -0.03023657202720642, + 0.03494587168097496, + -0.06735252069052437 + ], + [ + 0.03252691775560379, + 0.9972262978553772, + -0.0669454038143158, + 0.13586498912552308 + ], + [ + -0.032824743539094925, + 0.06801056861877441, + 0.9971444606781006, + 2.213097252311378 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9992716908454895, + -0.02494915947318077, + 0.02887313812971115, + -0.06633406391945379 + ], + [ + 0.026703156530857086, + 0.9977158308029175, + -0.06204855069518089, + 0.1289301423805541 + ], + [ + -0.027259130030870438, + 0.06277436017990112, + 0.9976553916931152, + 2.225888786644771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9993716478347778, + -0.021720677614212036, + 0.028009431436657906, + -0.06375483532179275 + ], + [ + 0.023398280143737793, + 0.9978618025779724, + -0.061027396470308304, + 0.12448932166564568 + ], + [ + -0.026623984798789024, + 0.06164442375302315, + 0.9977430105209351, + 2.224475974152828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9994088411331177, + -0.018985342234373093, + 0.028662163764238358, + -0.06302352446805815 + ], + [ + 0.02070784568786621, + 0.997920036315918, + -0.06104741618037224, + 0.12419774252921342 + ], + [ + -0.027443543076515198, + 0.06160486117005348, + 0.9977232813835144, + 2.22951997837116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9994065165519714, + -0.014442091807723045, + 0.03127434849739075, + -0.06299510354111934 + ], + [ + 0.016352377831935883, + 0.9979599714279175, + -0.06171328201889992, + 0.1269787884445797 + ], + [ + -0.030319279059767723, + 0.06218806281685829, + 0.9976038336753845, + 2.245321761688282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9994049072265625, + -0.012836148031055927, + 0.032016411423683167, + -0.06281409309855823 + ], + [ + 0.014789684675633907, + 0.9979946613311768, + -0.061545830219984055, + 0.12938994929708283 + ], + [ + -0.031162196770310402, + 0.061982717365026474, + 0.9975906014442444, + 2.2533448992104366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9994067549705505, + -0.01140555553138256, + 0.03249618411064148, + -0.060474198234492335 + ], + [ + 0.01332230307161808, + 0.9981458783149719, + -0.059391364455223083, + 0.13563501679434858 + ], + [ + -0.031758539378643036, + 0.05978905409574509, + 0.9977056980133057, + 2.26430489749744 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9994088411331177, + -0.011717505753040314, + 0.032322004437446594, + -0.061949476008785184 + ], + [ + 0.013559676706790924, + 0.998260498046875, + -0.057376910001039505, + 0.13914330003718878 + ], + [ + -0.03159346431493759, + 0.057781267911195755, + 0.997829258441925, + 2.276521401878061 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9994773864746094, + -0.013606631197035313, + 0.029322553426027298, + -0.06431567414246242 + ], + [ + 0.01511716190725565, + 0.9985366463661194, + -0.051923900842666626, + 0.1423393884352569 + ], + [ + -0.028573133051395416, + 0.05234003812074661, + 0.9982204437255859, + 2.297018495099298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9995158910751343, + -0.015233620069921017, + 0.027126912027597427, + -0.06288556208641365 + ], + [ + 0.016546372324228287, + 0.9986693263053894, + -0.048844996839761734, + 0.1442208940741317 + ], + [ + -0.026346728205680847, + 0.04927020147442818, + 0.9984379410743713, + 2.29945370554924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9995524883270264, + -0.018517937511205673, + 0.023491740226745605, + -0.06229225654026558 + ], + [ + 0.01950128749012947, + 0.9989126920700073, + -0.04234502464532852, + 0.1453733323013474 + ], + [ + -0.022682055830955505, + 0.0427841916680336, + 0.998826801776886, + 2.3111576400440317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9995616674423218, + -0.019865572452545166, + 0.021950889378786087, + -0.061579207196060956 + ], + [ + 0.020716529339551926, + 0.9990148544311523, + -0.03924422338604927, + 0.14595424044106542 + ], + [ + -0.021149657666683197, + 0.03968176618218422, + 0.9989885091781616, + 2.3137201208492804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9995684623718262, + -0.021389050409197807, + 0.020134737715125084, + -0.06190193387487068 + ], + [ + 0.022113332524895668, + 0.9990902543067932, + -0.03646431118249893, + 0.1472648932694875 + ], + [ + -0.019336482509970665, + 0.0368938222527504, + 0.9991320967674255, + 2.319613447220161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9995900988578796, + -0.023702139034867287, + 0.016056975349783897, + -0.06229100092474757 + ], + [ + 0.024192025884985924, + 0.9992254972457886, + -0.031034912914037704, + 0.15096218018182392 + ], + [ + -0.015308944508433342, + 0.031410641968250275, + 0.9993892908096313, + 2.3349846848126115 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.999614417552948, + -0.023539114743471146, + 0.014728832989931107, + -0.061563185335875584 + ], + [ + 0.023948300629854202, + 0.9993139505386353, + -0.028250886127352715, + 0.14993936224069832 + ], + [ + -0.014053726568818092, + 0.028592722490429878, + 0.999492347240448, + 2.336756445467472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9996283650398254, + -0.02345893532037735, + 0.013886390253901482, + -0.06214041438531773 + ], + [ + 0.02381093055009842, + 0.9993848204612732, + -0.025750290602445602, + 0.15028634810627534 + ], + [ + -0.013273773714900017, + 0.026071369647979736, + 0.9995719790458679, + 2.3426643471265662 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.999656617641449, + -0.023069940507411957, + 0.012428012676537037, + -0.062195447240634985 + ], + [ + 0.023338712751865387, + 0.9994869828224182, + -0.02193371206521988, + 0.15078014694796554 + ], + [ + -0.011915626935660839, + 0.022216234356164932, + 0.9996821880340576, + 2.351635592353755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9996839165687561, + -0.022280683740973473, + 0.011645294725894928, + -0.06283552687743614 + ], + [ + 0.022518260404467583, + 0.9995324611663818, + -0.020684361457824707, + 0.1504677425170767 + ], + [ + -0.011178988963365555, + 0.020940054208040237, + 0.9997182488441467, + 2.3571743630129713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9997571706771851, + -0.01946873962879181, + 0.010323376394808292, + -0.06373161638621241 + ], + [ + 0.019668787717819214, + 0.9996135234832764, + -0.01964418590068817, + 0.15094352733215383 + ], + [ + -0.009936938993632793, + 0.019842464476823807, + 0.9997537136077881, + 2.368999033344203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9997907280921936, + -0.017972754314541817, + 0.009771748445928097, + -0.06374731920820115 + ], + [ + 0.018161846324801445, + 0.999642550945282, + -0.01961921527981758, + 0.15211575038345723 + ], + [ + -0.009415644221007824, + 0.0197925828397274, + 0.9997597932815552, + 2.3734793221128396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9998564720153809, + -0.014168188907206059, + 0.009291637688875198, + -0.06318092203281563 + ], + [ + 0.01434903685003519, + 0.999703049659729, + -0.01969452016055584, + 0.15328108972934043 + ], + [ + -0.009009843692183495, + 0.01982502080500126, + 0.9997628927230835, + 2.3838397645744784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9998725652694702, + -0.012564260512590408, + 0.009846135042607784, + -0.06269849540087684 + ], + [ + 0.01275731436908245, + 0.9997226595878601, + -0.019795941188931465, + 0.15372553968737865 + ], + [ + -0.009594683535397053, + 0.019919028505682945, + 0.9997555613517761, + 2.38709609672941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9998719096183777, + -0.010265344753861427, + 0.012280291877686977, + -0.062398229660626886 + ], + [ + 0.010509476065635681, + 0.9997450709342957, + -0.019983414560556412, + 0.1528930687217106 + ], + [ + -0.012072023935616016, + 0.020109914243221283, + 0.9997248649597168, + 2.3947561629887284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9998563528060913, + -0.009789111092686653, + 0.013838435523211956, + -0.062248989841740196 + ], + [ + 0.01007082499563694, + 0.9997404217720032, + -0.02043641172349453, + 0.15383063023909926 + ], + [ + -0.013634788803756237, + 0.020572839304804802, + 0.999695360660553, + 2.40222876801573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9998027086257935, + -0.009921079501509666, + 0.017206624150276184, + -0.06387299678192057 + ], + [ + 0.010293487459421158, + 0.9997116923332214, + -0.02169146202504635, + 0.15554316390851705 + ], + [ + -0.016986459493637085, + 0.021864300593733788, + 0.9996166229248047, + 2.415775011325705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9997776746749878, + -0.010436177253723145, + 0.01832324080169201, + -0.06421426963061094 + ], + [ + 0.010843290016055107, + 0.9996933937072754, + -0.022261453792452812, + 0.15608763825148345 + ], + [ + -0.01808529905974865, + 0.022455187514424324, + 0.9995842576026917, + 2.4181940495967864 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/push_in/transforms.json b/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b4875834a590affe2ab48c4f2284c5b3edabfe2b --- /dev/null +++ b/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/push_in/transforms.json @@ -0,0 +1,4108 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 117, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00011037875810870901, + 2.6177083782386035e-05, + -0.0004883921355940402 + ], + [ + -0.00011037995136575773, + 1.0, + 4.573888145387173e-05, + -4.7455494495807216e-05 + ], + [ + -2.617203426780179e-05, + -4.574177000904456e-05, + 1.0, + 0.0010702626314014196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999948740005493, + -0.0026546455919742584, + 0.0017747802194207907, + -0.003725712600461175 + ], + [ + 0.0026563764549791813, + 0.9999960064888, + -0.000973614864051342, + 0.0012910439713119434 + ], + [ + -0.0017721885815262794, + 0.0009783243294805288, + 0.9999979734420776, + 0.018612851973237664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999789595603943, + -0.0064499578438699245, + 0.0007018729229457676, + -0.007512549066350089 + ], + [ + 0.0064507280476391315, + 0.9999786019325256, + -0.0011000819504261017, + 0.0014649573167593315 + ], + [ + -0.0006947623915039003, + 0.0011045862920582294, + 0.9999991655349731, + 0.0501271499898927 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999756217002869, + -0.00696758134290576, + 0.0004346150381024927, + -0.007816156474366615 + ], + [ + 0.0069676912389695644, + 0.9999756813049316, + -0.0002527574833948165, + 0.0011046286561207218 + ], + [ + -0.0004328433715272695, + 0.00025577956694178283, + 0.9999998807907104, + 0.06645729223202015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999753832817078, + -0.006167152896523476, + 0.0033523710444569588, + -0.00841273241836963 + ], + [ + 0.0061624180525541306, + 0.9999799728393555, + 0.0014209491200745106, + -0.00012729504117581607 + ], + [ + -0.003361067268997431, + -0.0014002553652971983, + 0.9999933838844299, + 0.08481477714818099 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999915361404419, + -0.0052946521900594234, + 0.011884434148669243, + -0.010532729785311324 + ], + [ + 0.005224383901804686, + 0.9999687075614929, + 0.005935891065746546, + 0.0003160083794902111 + ], + [ + -0.01191549189388752, + -0.005873299669474363, + 0.9999117851257324, + 0.11550675075629661 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999880313873291, + -0.004555518738925457, + 0.014784524217247963, + -0.012055436300178026 + ], + [ + 0.004423832520842552, + 0.9999503493309021, + 0.00892751757055521, + 0.0008240571269637038 + ], + [ + -0.014824459329247475, + -0.008861045353114605, + 0.999850869178772, + 0.13277651441508326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998446106910706, + -0.004259975161403418, + 0.017107317224144936, + -0.014094776976532464 + ], + [ + 0.0040526981465518475, + 0.9999181628227234, + 0.01213269867002964, + 0.0020223872607638095 + ], + [ + -0.017157601192593575, + -0.012061482295393944, + 0.9997800588607788, + 0.1521686347394154 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998160600662231, + -0.0038962652906775475, + 0.01877894438803196, + -0.016448398807953145 + ], + [ + 0.0035464991815388203, + 0.9998202919960022, + 0.018622901290655136, + 0.003663083533595862 + ], + [ + -0.018848130479454994, + -0.018552877008914948, + 0.9996501803398132, + 0.1831671572964767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998149871826172, + -0.004476454108953476, + 0.01870623230934143, + -0.018144882239144424 + ], + [ + 0.00407046265900135, + 0.9997565746307373, + 0.021685542538762093, + 0.0051644718772250004 + ], + [ + -0.01879875361919403, + -0.021605389192700386, + 0.9995898008346558, + 0.2024429089036481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999803900718689, + -0.006351545453071594, + 0.018756994977593422, + -0.022364348028625906 + ], + [ + 0.005835426971316338, + 0.9996063113212585, + 0.027443772181868553, + 0.006265082300223154 + ], + [ + -0.018923921510577202, + -0.027328936383128166, + 0.9994473457336426, + 0.24223014660950365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997815489768982, + -0.008249042555689812, + 0.01920357719063759, + -0.024618123205185964 + ], + [ + 0.007684275507926941, + 0.9995411038398743, + 0.029299773275852203, + 0.007524355131618935 + ], + [ + -0.019436459988355637, + -0.029145807027816772, + 0.999386191368103, + 0.2639705917958556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9996839165687561, + -0.01348142046481371, + 0.021219342947006226, + -0.027305065146807965 + ], + [ + 0.01282875519245863, + 0.9994493722915649, + 0.030599307268857956, + 0.01010086027070366 + ], + [ + -0.02162018045783043, + -0.03031741827726364, + 0.9993064999580383, + 0.30528915195629514 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996019601821899, + -0.015430680476129055, + 0.023617474362254143, + -0.02870008491525619 + ], + [ + 0.01471517700701952, + 0.9994363188743591, + 0.030175210908055305, + 0.011420342860871862 + ], + [ + -0.024069784209132195, + -0.029815664514899254, + 0.9992655515670776, + 0.326829459235586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9992930889129639, + -0.02008109912276268, + 0.031782008707523346, + -0.03101563308516453 + ], + [ + 0.019222058355808258, + 0.9994477033615112, + 0.027107777073979378, + 0.016695473725297328 + ], + [ + -0.03230880945920944, + -0.026477700099349022, + 0.9991271495819092, + 0.36715733429481245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9991138577461243, + -0.021894365549087524, + 0.03594698756933212, + -0.033302931789437246 + ], + [ + 0.02100144699215889, + 0.9994660019874573, + 0.025032373145222664, + 0.019783564192917328 + ], + [ + -0.036475859582424164, + -0.02425525151193142, + 0.9990401268005371, + 0.38832950694807644 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988429546356201, + -0.02500884234905243, + 0.0410764142870903, + -0.03494738114291224 + ], + [ + 0.024170760065317154, + 0.9994919896125793, + 0.020774558186531067, + 0.026716176446141868 + ], + [ + -0.04157509654760361, + -0.019757673144340515, + 0.9989399909973145, + 0.4237588691300359 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9987733960151672, + -0.026365509256720543, + 0.041911110281944275, + -0.035681758217256644 + ], + [ + 0.025593576952815056, + 0.999494731426239, + 0.018849462270736694, + 0.031627909017020256 + ], + [ + -0.04238691180944443, + -0.017753686755895615, + 0.9989435076713562, + 0.441343082795883 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9987753629684448, + -0.026411596685647964, + 0.0418354757130146, + -0.03625415429344465 + ], + [ + 0.025687802582979202, + 0.9995124936103821, + 0.01774517446756363, + 0.035693780910866016 + ], + [ + -0.042283762246370316, + -0.016648780554533005, + 0.9989669322967529, + 0.4593826034973408 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9988797903060913, + -0.024173231795430183, + 0.04067971557378769, + -0.03589017290365079 + ], + [ + 0.023472091183066368, + 0.9995691180229187, + 0.017625965178012848, + 0.04304762417771693 + ], + [ + -0.04108826071023941, + -0.01665138080716133, + 0.9990167617797852, + 0.4952852150489544 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.998918890953064, + -0.02250632457435131, + 0.04067562520503998, + -0.03653248463725221 + ], + [ + 0.02177532948553562, + 0.9995949268341064, + 0.018325913697481155, + 0.047068901167347514 + ], + [ + -0.04107159376144409, + -0.01742037758231163, + 0.9990043044090271, + 0.516871740078104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9989449381828308, + -0.02100496180355549, + 0.040839001536369324, + -0.0373330134384591 + ], + [ + 0.02024162746965885, + 0.9996142387390137, + 0.01901583932340145, + 0.05069605824858721 + ], + [ + -0.04122267663478851, + -0.018169129267334938, + 0.9989847540855408, + 0.5378850165626098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9990360140800476, + -0.018793685361742973, + 0.03967101499438286, + -0.04051236129397976 + ], + [ + 0.018047189339995384, + 0.9996548295021057, + 0.01909220963716507, + 0.05746356684329181 + ], + [ + -0.04001613333821297, + -0.018357854336500168, + 0.999030351638794, + 0.5824785261318601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9991240501403809, + -0.017915356904268265, + 0.037818048149347305, + -0.04188270939128666 + ], + [ + 0.01724540814757347, + 0.9996898174285889, + 0.01796753704547882, + 0.06088426301962343 + ], + [ + -0.038128215819597244, + -0.017299611121416092, + 0.9991230964660645, + 0.6055201287927299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9992895126342773, + -0.01440250314772129, + 0.03482815995812416, + -0.04370126901515599 + ], + [ + 0.0139387808740139, + 0.9998114109039307, + 0.013520952314138412, + 0.0643707035687463 + ], + [ + -0.03501632437109947, + -0.013025883585214615, + 0.9993018507957458, + 0.6505866930402558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9993483424186707, + -0.013236389495432377, + 0.03358178585767746, + -0.04520136891896355 + ], + [ + 0.012908111326396465, + 0.9998669624328613, + 0.009973506443202496, + 0.06604262887387825 + ], + [ + -0.0337093323469162, + -0.009533529169857502, + 0.999386191368103, + 0.6741694802867955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9995242357254028, + -0.01551754679530859, + 0.02665630541741848, + -0.048999529926042104 + ], + [ + 0.015526345930993557, + 0.9998794794082642, + -0.00012315294588916004, + 0.06909896817428646 + ], + [ + -0.026651179417967796, + 0.0005369692808017135, + 0.9996446371078491, + 0.7208059678817618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9996351003646851, + -0.01670266129076481, + 0.021228160709142685, + -0.0498363004515654 + ], + [ + 0.016821173951029778, + 0.9998438358306885, + -0.005416519474238157, + 0.069604073559207 + ], + [ + -0.021134376525878906, + 0.005771625321358442, + 0.9997599720954895, + 0.7433722277653628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9996569156646729, + -0.015349903143942356, + 0.021223731338977814, + -0.045496003072837306 + ], + [ + 0.01560657937079668, + 0.9998064041137695, + -0.011981576681137085, + 0.06657230725576138 + ], + [ + -0.021035708487033844, + 0.012308696284890175, + 0.9997029304504395, + 0.78432309504213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9994627833366394, + -0.01620803400874138, + 0.02848534844815731, + -0.044495448702946305 + ], + [ + 0.016609616577625275, + 0.999765157699585, + -0.013918299227952957, + 0.06672832323238254 + ], + [ + -0.02825307287275791, + 0.0143839530646801, + 0.9994972944259644, + 0.8037954300642014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9992712736129761, + -0.01924976333975792, + 0.03295990452170372, + -0.04754645592565167 + ], + [ + 0.01979174092411995, + 0.9996728897094727, + -0.016196995973587036, + 0.06660874804546094 + ], + [ + -0.0326373390853405, + 0.016837526112794876, + 0.9993253946304321, + 0.8479497915711897 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9993029832839966, + -0.02092505432665348, + 0.0309144239872694, + -0.04707520457530587 + ], + [ + 0.02145523764193058, + 0.999626636505127, + -0.016919037327170372, + 0.06727602257521759 + ], + [ + -0.03054885007441044, + 0.01757051981985569, + 0.9993788003921509, + 0.8686126539419438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9993822574615479, + -0.0208118986338377, + 0.02831966243684292, + -0.046200892380599316 + ], + [ + 0.021303044632077217, + 0.9996259212493896, + -0.017153102904558182, + 0.06626149744823061 + ], + [ + -0.027952080592513084, + 0.01774580031633377, + 0.999451756477356, + 0.8898453720684709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9991852641105652, + -0.01730204001069069, + 0.03646127134561539, + -0.040614539969327124 + ], + [ + 0.017935864627361298, + 0.9996923804283142, + -0.01712866686284542, + 0.060840832039007336 + ], + [ + -0.03615369647741318, + 0.017768675461411476, + 0.999188244342804, + 0.9287918467460008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9988375306129456, + -0.017403144389390945, + 0.04495224356651306, + -0.04050119085044696 + ], + [ + 0.018225960433483124, + 0.9996725916862488, + -0.017959628254175186, + 0.0604253552789832 + ], + [ + -0.044624969363212585, + 0.018758047372102737, + 0.9988276958465576, + 0.9517569250073926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985164403915405, + -0.017846425995230675, + 0.051443539559841156, + -0.0406325161135916 + ], + [ + 0.01885138265788555, + 0.9996395111083984, + -0.019116559997200966, + 0.05923961614387046 + ], + [ + -0.05108383297920227, + 0.020057981833815575, + 0.9984928965568542, + 0.9749207016209076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9981259107589722, + -0.019927561283111572, + 0.05785771459341049, + -0.042645273820079606 + ], + [ + 0.021257270127534866, + 0.9995217323303223, + -0.02245856076478958, + 0.05780135177332779 + ], + [ + -0.057382501661777496, + 0.023646369576454163, + 0.9980722069740295, + 1.017675129915106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9980279207229614, + -0.022041548043489456, + 0.05877399444580078, + -0.04304684824470816 + ], + [ + 0.023487940430641174, + 0.9994351863861084, + -0.024033112451434135, + 0.0581052434293489 + ], + [ + -0.0582110732793808, + 0.025366196408867836, + 0.9979819655418396, + 1.0379284272419995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9979934096336365, + -0.026076043024659157, + 0.05769968777894974, + -0.04226122219757787 + ], + [ + 0.027535339817404747, + 0.9993170499801636, + -0.024642309173941612, + 0.05896790325320486 + ], + [ + -0.05701770633459091, + 0.026181640103459358, + 0.9980298280715942, + 1.0748050005271517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9979886412620544, + -0.02806660532951355, + 0.05684119835495949, + -0.04204314212668045 + ], + [ + 0.02945845201611519, + 0.9992826581001282, + -0.023798389360308647, + 0.05992432642439059 + ], + [ + -0.0561324842274189, + 0.025424977764487267, + 0.9980995655059814, + 1.0931311613526837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9979932904243469, + -0.03043103776872158, + 0.05552814155817032, + -0.042994013377304734 + ], + [ + 0.03165809437632561, + 0.9992706179618835, + -0.02135354094207287, + 0.06072747032960941 + ], + [ + -0.05483783036470413, + 0.023068604990839958, + 0.9982287287712097, + 1.1334522942016865 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9979739189147949, + -0.03142860531806946, + 0.05531974509358406, + -0.044175271134309725 + ], + [ + 0.03261088579893112, + 0.9992557764053345, + -0.020600229501724243, + 0.0609366858056907 + ], + [ + -0.05463114008307457, + 0.022362519055604935, + 0.9982561469078064, + 1.1565643384025015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9979171752929688, + -0.033487848937511444, + 0.0551348552107811, + -0.04539219103753567 + ], + [ + 0.03473196178674698, + 0.9991596937179565, + -0.021763205528259277, + 0.0630371374302897 + ], + [ + -0.05435971915721893, + 0.023632816970348358, + 0.9982417225837708, + 1.1976887498436304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9979024529457092, + -0.03403647243976593, + 0.05506591871380806, + -0.0465931956142444 + ], + [ + 0.035374365746974945, + 0.9990976452827454, + -0.02350655198097229, + 0.06393449427238826 + ], + [ + -0.05421615019440651, + 0.025405168533325195, + 0.9982059597969055, + 1.219035881911886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.997848629951477, + -0.035037945955991745, + 0.05541156232357025, + -0.04745726495467383 + ], + [ + 0.03666544333100319, + 0.9989173412322998, + -0.028632167726755142, + 0.0669716010962067 + ], + [ + -0.054348357021808624, + 0.030602257698774338, + 0.9980529546737671, + 1.2591613592772648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9977869391441345, + -0.03539004549384117, + 0.056292224675416946, + -0.04764885845561993 + ], + [ + 0.03720330074429512, + 0.9988112449645996, + -0.03149626776576042, + 0.0688691786169235 + ], + [ + -0.05511065199971199, + 0.03352082148194313, + 0.9979174137115479, + 1.279447129060482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9976845383644104, + -0.035805344581604004, + 0.057823702692985535, + -0.04821371700743149 + ], + [ + 0.03783510625362396, + 0.9986917972564697, + -0.03439754620194435, + 0.07094594513162457 + ], + [ + -0.056516438722610474, + 0.03650566563010216, + 0.9977340698242188, + 1.3005798972886184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.997402012348175, + -0.037015512585639954, + 0.06179863587021828, + -0.04895524200501627 + ], + [ + 0.03953543305397034, + 0.9984146356582642, + -0.04006386920809746, + 0.07499191453680396 + ], + [ + -0.060217682272195816, + 0.04240301623940468, + 0.9972842335700989, + 1.3396719946429647 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.997257649898529, + -0.03728679567575455, + 0.0639287531375885, + -0.050364081741406996 + ], + [ + 0.040061935782432556, + 0.9982847571372986, + -0.04269180819392204, + 0.07705328356603096 + ], + [ + -0.06222726032137871, + 0.04513584449887276, + 0.997040867805481, + 1.3605985230412976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9971264600753784, + -0.03772471472620964, + 0.06569398194551468, + -0.05166237214901324 + ], + [ + 0.040751177817583084, + 0.9981393814086914, + -0.04535499960184097, + 0.07899597977641327 + ], + [ + -0.06386075168848038, + 0.04790177941322327, + 0.9968085289001465, + 1.3817060573347684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9969212412834167, + -0.039093464612960815, + 0.06796884536743164, + -0.05449863112178342 + ], + [ + 0.04264533519744873, + 0.9977560639381409, + -0.05161629244685173, + 0.08336178961627443 + ], + [ + -0.06579846143722534, + 0.0543559305369854, + 0.9963513612747192, + 1.4210162954083805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9969285726547241, + -0.03960591182112694, + 0.06756309419870377, + -0.05550146427262446 + ], + [ + 0.04340917989611626, + 0.9974986910820007, + -0.05578499287366867, + 0.0851953137216383 + ], + [ + -0.06518469005823135, + 0.0585465133190155, + 0.996154248714447, + 1.4408598113162765 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9972398281097412, + -0.03850594907999039, + 0.06348264217376709, + -0.0590402128624505 + ], + [ + 0.0426759272813797, + 0.9969267249107361, + -0.06569555401802063, + 0.08773557394742966 + ], + [ + -0.06075787544250488, + 0.06822340190410614, + 0.9958182573318481, + 1.480762307808317 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9974597692489624, + -0.03569437563419342, + 0.061643801629543304, + -0.05951495774989498 + ], + [ + 0.04001668095588684, + 0.9967180490493774, + -0.07036882638931274, + 0.08698617595023123 + ], + [ + -0.058929719030857086, + 0.07265685498714447, + 0.9956145286560059, + 1.5011168451144778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9974639415740967, + -0.028916243463754654, + 0.06503456830978394, + -0.06070825221209691 + ], + [ + 0.033966291695833206, + 0.9963794946670532, + -0.07793700695037842, + 0.08560638417457712 + ], + [ + -0.06254546344280243, + 0.07994833588600159, + 0.994834840297699, + 1.5418255506918348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9973003268241882, + -0.026601051911711693, + 0.06844323873519897, + -0.05966583536616687 + ], + [ + 0.0321207270026207, + 0.9962083697319031, + -0.08085267245769501, + 0.08556102261204145 + ], + [ + -0.06603296101093292, + 0.08283284306526184, + 0.9943733811378479, + 1.5573042412770206 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9967742562294006, + -0.022786609828472137, + 0.07695355266332626, + -0.05938480244628314 + ], + [ + 0.029348839074373245, + 0.9959271550178528, + -0.08525095880031586, + 0.08409419964099753 + ], + [ + -0.07469754666090012, + 0.08723445236682892, + 0.9933833479881287, + 1.5940795844998852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9964554905891418, + -0.02239976078271866, + 0.08108459413051605, + -0.0604137509162056 + ], + [ + 0.02946016937494278, + 0.9957766532897949, + -0.08695349842309952, + 0.08382815047456273 + ], + [ + -0.07879440486431122, + 0.0890340581536293, + 0.9929070472717285, + 1.614218012628884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9961106777191162, + -0.020854152739048004, + 0.08560720086097717, + -0.05893806219100952 + ], + [ + 0.028418127447366714, + 0.9957051277160645, + -0.08811192214488983, + 0.08586096689105034 + ], + [ + -0.08340202271938324, + 0.09020201861858368, + 0.9924251437187195, + 1.6427071422338486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9961450099945068, + -0.01947135291993618, + 0.08553370088338852, + -0.05772279112374988 + ], + [ + 0.02692367322742939, + 0.9958568811416626, + -0.08685701340436935, + 0.08796208847057203 + ], + [ + -0.0834880992770195, + 0.0888250544667244, + 0.9925420880317688, + 1.6570434512249355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9962313175201416, + -0.018189188092947006, + 0.08480732887983322, + -0.054444789115724895 + ], + [ + 0.025272905826568604, + 0.9962109327316284, + -0.08321678638458252, + 0.09244972030664313 + ], + [ + -0.08297234028577805, + 0.08504649996757507, + 0.9929162263870239, + 1.6623923675767307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9964768290519714, + -0.012320689857006073, + 0.08295881003141403, + -0.05765945924895591 + ], + [ + 0.01843813620507717, + 0.9971333146095276, + -0.07338345795869827, + 0.08939732212316373 + ], + [ + -0.08181685954332352, + 0.07465452700853348, + 0.9938474297523499, + 1.7063288715892824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9966033101081848, + -0.011274993419647217, + 0.08157625049352646, + -0.05664412267506123 + ], + [ + 0.016916049644351006, + 0.997487485408783, + -0.0687936469912529, + 0.09277965569033705 + ], + [ + -0.08059563487768173, + 0.06993991881608963, + 0.9942900538444519, + 1.7196413924981808 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9967882037162781, + -0.010095455683767796, + 0.07944409549236298, + -0.06001568830989558 + ], + [ + 0.015290160663425922, + 0.9977645874023438, + -0.06505410373210907, + 0.09046012829860736 + ], + [ + -0.07860974967479706, + 0.06605987250804901, + 0.9947143197059631, + 1.7473985075436789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9971027374267578, + -0.008991418406367302, + 0.07553316652774811, + -0.062026933863245204 + ], + [ + 0.013503525406122208, + 0.9981405138969421, + -0.05944015830755234, + 0.08662297376270951 + ], + [ + -0.07485826313495636, + 0.06028790771961212, + 0.995370090007782, + 1.7885473892606538 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.997094988822937, + -0.00975099578499794, + 0.07554127275943756, + -0.062460643142975614 + ], + [ + 0.01417771726846695, + 0.9981991648674011, + -0.05828728899359703, + 0.08383524220372582 + ], + [ + -0.07483687996864319, + 0.05918896570801735, + 0.9954376220703125, + 1.8075589845920432 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9967232346534729, + -0.014304063282907009, + 0.07961256057024002, + -0.06503797038618861 + ], + [ + 0.019064422696828842, + 0.9980546236038208, + -0.05935894325375557, + 0.07987440297187402 + ], + [ + -0.07860860973596573, + 0.060682203620672226, + 0.9950569868087769, + 1.8526761118707986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9964664578437805, + -0.017214946448802948, + 0.0822085589170456, + -0.06413105334444293 + ], + [ + 0.022250298410654068, + 0.9979060292243958, + -0.06073308363556862, + 0.08052886363825408 + ], + [ + -0.08099089562892914, + 0.0623476468026638, + 0.9947628974914551, + 1.8670145244433962 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9960726499557495, + -0.024137405678629875, + 0.08518622815608978, + -0.06520432403375362 + ], + [ + 0.02961643598973751, + 0.9975326061248779, + -0.06365197151899338, + 0.08355701994793169 + ], + [ + -0.0834396481513977, + 0.06592490524053574, + 0.9943298101425171, + 1.9051656357173261 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9960083365440369, + -0.026973906904459, + 0.08508729189634323, + -0.06514811986607724 + ], + [ + 0.03252515196800232, + 0.9973846077919006, + -0.06454502046108246, + 0.0843408759426454 + ], + [ + -0.08312372118234634, + 0.0670548528432846, + 0.9942806959152222, + 1.9200132775923302 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9961208701133728, + -0.031757257878780365, + 0.08206545561552048, + -0.06611077121362605 + ], + [ + 0.0371914878487587, + 0.9971552491188049, + -0.06556110084056854, + 0.08745595799951718 + ], + [ + -0.07974996417760849, + 0.06835891306400299, + 0.9944682121276855, + 1.9553347661577423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9962724447250366, + -0.03364046663045883, + 0.07943273335695267, + -0.06696210858765347 + ], + [ + 0.03892369568347931, + 0.9970648884773254, + -0.06592849642038345, + 0.08922772158964955 + ], + [ + -0.07698173075914383, + 0.06877455860376358, + 0.9946576952934265, + 1.9736705667499839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9966006278991699, + -0.0349639393389225, + 0.0745968371629715, + -0.067287310855142 + ], + [ + 0.04004723206162453, + 0.9968966841697693, + -0.06777310371398926, + 0.08988095701768481 + ], + [ + -0.07199572026729584, + 0.07053011655807495, + 0.9949080944061279, + 2.005520821439809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9966874122619629, + -0.03493974357843399, + 0.07344001531600952, + -0.06621684740329611 + ], + [ + 0.040057823061943054, + 0.9967833757400513, + -0.06941410899162292, + 0.09091333651850964 + ], + [ + -0.07077847421169281, + 0.07212601602077484, + 0.9948810338973999, + 2.0192668983648563 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9967162609100342, + -0.03442671522498131, + 0.07329055666923523, + -0.0669477442729062 + ], + [ + 0.039676908403635025, + 0.9966562986373901, + -0.07142825424671173, + 0.09165757501433636 + ], + [ + -0.07058645784854889, + 0.07410164177417755, + 0.9947494864463806, + 2.038124394725109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9967023134231567, + -0.03207947686314583, + 0.07453445345163345, + -0.06656028834524853 + ], + [ + 0.037737730890512466, + 0.9964094161987305, + -0.07579032331705093, + 0.09394695163415423 + ], + [ + -0.07183551043272018, + 0.0783531591296196, + 0.9943341612815857, + 2.069746009491641 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9967591762542725, + -0.030801961198449135, + 0.07431258261203766, + -0.0663485877986612 + ], + [ + 0.03660108894109726, + 0.996282696723938, + -0.07798153162002563, + 0.09623798378582658 + ], + [ + -0.07163435220718384, + 0.08044873178005219, + 0.9941813349723816, + 2.0870197446181855 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9969074130058289, + -0.029681619256734848, + 0.0727638527750969, + -0.06645544950432819 + ], + [ + 0.035502929240465164, + 0.9961574673652649, + -0.08006126433610916, + 0.09850764096682442 + ], + [ + -0.07010791450738907, + 0.08239700645208359, + 0.9941306114196777, + 2.103967876680966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9974901676177979, + -0.027158785611391068, + 0.06538926064968109, + -0.07106934408175535 + ], + [ + 0.032643165439367294, + 0.9959037899971008, + -0.08432116359472275, + 0.1001360397785902 + ], + [ + -0.06283135712146759, + 0.08624403923749924, + 0.9942907691001892, + 2.1431428449934926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9978688955307007, + -0.026563968509435654, + 0.05959908664226532, + -0.07442750944916544 + ], + [ + 0.03165927901864052, + 0.9957706928253174, + -0.0862460657954216, + 0.10300303578762145 + ], + [ + -0.057055987417697906, + 0.08794913440942764, + 0.9944896101951599, + 2.1627808908450192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9984339475631714, + -0.024770474061369896, + 0.05016022548079491, + -0.06642561508663769 + ], + [ + 0.02910229004919529, + 0.9957342743873596, + -0.08755754679441452, + 0.10347601591513074 + ], + [ + -0.047777410596609116, + 0.08888020366430283, + 0.9948958158493042, + 2.1778759709719955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9984226822853088, + -0.02346242405474186, + 0.05100656673312187, + -0.06553649423515488 + ], + [ + 0.02785084955394268, + 0.9958099722862244, + -0.08710262924432755, + 0.1023990396474456 + ], + [ + -0.048749204725027084, + 0.08838581293821335, + 0.9948927164077759, + 2.1915133744478226 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9981670379638672, + -0.02650533989071846, + 0.05440574511885643, + -0.06727717000477274 + ], + [ + 0.031202241778373718, + 0.9956861734390259, + -0.08738138526678085, + 0.10111449259365426 + ], + [ + -0.051854971796274185, + 0.08891879767179489, + 0.9946881532669067, + 2.226235383337942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9980738759040833, + -0.029673537239432335, + 0.05447906628251076, + -0.06751365773700949 + ], + [ + 0.034449249505996704, + 0.9954423308372498, + -0.08892595767974854, + 0.10139847315590957 + ], + [ + -0.05159201845526695, + 0.09063144028186798, + 0.9945472478866577, + 2.2438109538678463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9980079531669617, + -0.03434896841645241, + 0.052918169647455215, + -0.06460095154571122 + ], + [ + 0.039134930819272995, + 0.9949679970741272, + -0.09223385155200958, + 0.10271127809738291 + ], + [ + -0.04948375001549721, + 0.0941210687160492, + 0.9943302273750305, + 2.263695575656562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9979659914970398, + -0.03529789671301842, + 0.053084373474121094, + -0.06089379227366941 + ], + [ + 0.0401323027908802, + 0.9948617219924927, + -0.09294911473989487, + 0.10475438027160949 + ], + [ + -0.04953070729970932, + 0.09489045292139053, + 0.9942547678947449, + 2.2702869164018797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9978243708610535, + -0.0360628180205822, + 0.05519069358706474, + -0.05373727622088687 + ], + [ + 0.041006240993738174, + 0.9949852228164673, + -0.09123022109270096, + 0.11238778615049247 + ], + [ + -0.051623906940221786, + 0.0932948961853981, + 0.9942992925643921, + 2.278685890600599 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.997809648513794, + -0.03642880544066429, + 0.05521656572818756, + -0.051998226717114446 + ], + [ + 0.04121232405304909, + 0.9952563643455505, + -0.08812668919563293, + 0.11725131943821906 + ], + [ + -0.05174428969621658, + 0.09020926058292389, + 0.9945777058601379, + 2.289607785642147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9979071617126465, + -0.03614548593759537, + 0.053617432713508606, + -0.05571242010798948 + ], + [ + 0.040579602122306824, + 0.9956341981887817, + -0.08405830711126328, + 0.11942478577638495 + ], + [ + -0.05034502595663071, + 0.08605816215276718, + 0.9950172901153564, + 2.3119638295009217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9983837008476257, + -0.034283071756362915, + 0.04532897472381592, + -0.06420205554057812 + ], + [ + 0.03760337829589844, + 0.9965081214904785, + -0.07454922795295715, + 0.12861950302432323 + ], + [ + -0.04261491447687149, + 0.07613325119018555, + 0.9961865544319153, + 2.361844819835548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9986771941184998, + -0.032354023307561874, + 0.03996283933520317, + -0.0616969033626133 + ], + [ + 0.03511856868863106, + 0.9968910813331604, + -0.07053253054618835, + 0.12488865415597784 + ], + [ + -0.03755658492445946, + 0.07184267044067383, + 0.9967086315155029, + 2.3591408873426505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9989317059516907, + -0.03023657202720642, + 0.03494587168097496, + -0.0618696339267852 + ], + [ + 0.03252691775560379, + 0.9972262978553772, + -0.0669454038143158, + 0.12536148611327697 + ], + [ + -0.032824743539094925, + 0.06801056861877441, + 0.9971444606781006, + 2.3695457797625967 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9992716908454895, + -0.02494915947318077, + 0.02887313812971115, + -0.06175418683680995 + ], + [ + 0.026703156530857086, + 0.9977158308029175, + -0.06204855069518089, + 0.11908795847718058 + ], + [ + -0.027259130030870438, + 0.06277436017990112, + 0.9976553916931152, + 2.3841375729133345 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.9993716478347778, + -0.021720677614212036, + 0.028009431436657906, + -0.05926366786729416 + ], + [ + 0.023398280143737793, + 0.9978618025779724, + -0.061027396470308304, + 0.11470389430057899 + ], + [ + -0.026623984798789024, + 0.06164442375302315, + 0.9977430105209351, + 2.3844589051501504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9994088411331177, + -0.018985342234373093, + 0.028662163764238358, + -0.05837827723730227 + ], + [ + 0.02070784568786621, + 0.997920036315918, + -0.06104741618037224, + 0.11430385094136 + ], + [ + -0.027443543076515198, + 0.06160486117005348, + 0.9977232813835144, + 2.3912199584574534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9994065165519714, + -0.014442091807723045, + 0.03127434849739075, + -0.05787258094240879 + ], + [ + 0.016352377831935883, + 0.9979599714279175, + -0.06171328201889992, + 0.11687057845872538 + ], + [ + -0.030319279059767723, + 0.06218806281685829, + 0.9976038336753845, + 2.4087223896178704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9994049072265625, + -0.012836148031055927, + 0.032016411423683167, + -0.057514825000845156 + ], + [ + 0.014789684675633907, + 0.9979946613311768, + -0.061545830219984055, + 0.11920305326067168 + ], + [ + -0.031162196770310402, + 0.061982717365026474, + 0.9975906014442444, + 2.418463343587415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9994067549705505, + -0.01140555553138256, + 0.03249618411064148, + -0.05503949158150574 + ], + [ + 0.01332230307161808, + 0.9981458783149719, + -0.059391364455223083, + 0.1257023230837337 + ], + [ + -0.031758539378643036, + 0.05978905409574509, + 0.9977056980133057, + 2.431162574578976 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9994088411331177, + -0.011717505753040314, + 0.032322004437446594, + -0.05648817181073386 + ], + [ + 0.013559676706790924, + 0.998260498046875, + -0.057376910001039505, + 0.12944858076115107 + ], + [ + -0.03159346431493759, + 0.057781267911195755, + 0.997829258441925, + 2.445120138649283 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9994773864746094, + -0.013606631197035313, + 0.029322553426027298, + -0.059310617609399145 + ], + [ + 0.01511716190725565, + 0.9985366463661194, + -0.051923900842666626, + 0.13347651570521551 + ], + [ + -0.028573133051395416, + 0.05234003812074661, + 0.9982204437255859, + 2.467404398424872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9995158910751343, + -0.015233620069921017, + 0.027126912027597427, + -0.05820850828855202 + ], + [ + 0.016546372324228287, + 0.9986693263053894, + -0.048844996839761734, + 0.13579934289486245 + ], + [ + -0.026346728205680847, + 0.04927020147442818, + 0.9984379410743713, + 2.4715981781482697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9995524883270264, + -0.018517937511205673, + 0.023491740226745605, + -0.05820145350078056 + ], + [ + 0.01950128749012947, + 0.9989126920700073, + -0.04234502464532852, + 0.13799945732000574 + ], + [ + -0.022682055830955505, + 0.0427841916680336, + 0.998826801776886, + 2.4850912727672476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.9995616674423218, + -0.019865572452545166, + 0.021950889378786087, + -0.05771887837427443 + ], + [ + 0.020716529339551926, + 0.9990148544311523, + -0.03924422338604927, + 0.13905267012144984 + ], + [ + -0.021149657666683197, + 0.03968176618218422, + 0.9989885091781616, + 2.48940430694613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9995684623718262, + -0.021389050409197807, + 0.020134737715125084, + -0.05832628217718468 + ], + [ + 0.022113332524895668, + 0.9990902543067932, + -0.03646431118249893, + 0.140789334559492 + ], + [ + -0.019336482509970665, + 0.0368938222527504, + 0.9991320967674255, + 2.497045526473687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9995900988578796, + -0.023702139034867287, + 0.016056975349783897, + -0.05941181913788976 + ], + [ + 0.024192025884985924, + 0.9992254972457886, + -0.031034912914037704, + 0.14539729924551373 + ], + [ + -0.015308944508433342, + 0.031410641968250275, + 0.9993892908096313, + 2.5141855231646835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.999614417552948, + -0.023539114743471146, + 0.014728832989931107, + -0.0588967586739053 + ], + [ + 0.023948300629854202, + 0.9993139505386353, + -0.028250886127352715, + 0.14482497768316033 + ], + [ + -0.014053726568818092, + 0.028592722490429878, + 0.999492347240448, + 2.5176990255713463 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9996283650398254, + -0.02345893532037735, + 0.013886390253901482, + -0.059602556856156425 + ], + [ + 0.02381093055009842, + 0.9993848204612732, + -0.025750290602445602, + 0.1455802605134146 + ], + [ + -0.013273773714900017, + 0.026071369647979736, + 0.9995719790458679, + 2.5253447432970177 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.999656617641449, + -0.023069940507411957, + 0.012428012676537037, + -0.059902693177894525 + ], + [ + 0.023338712751865387, + 0.9994869828224182, + -0.02193371206521988, + 0.14673375523938187 + ], + [ + -0.011915626935660839, + 0.022216234356164932, + 0.9996821880340576, + 2.536059720146245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9996839165687561, + -0.022280683740973473, + 0.011645294725894928, + -0.060667092687097086 + ], + [ + 0.022518260404467583, + 0.9995324611663818, + -0.020684361457824707, + 0.14661617176286104 + ], + [ + -0.011178988963365555, + 0.020940054208040237, + 0.9997182488441467, + 2.5433287955563646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9997571706771851, + -0.01946873962879181, + 0.010323376394808292, + -0.061791533580981196 + ], + [ + 0.019668787717819214, + 0.9996135234832764, + -0.01964418590068817, + 0.14725177515426585 + ], + [ + -0.009936938993632793, + 0.019842464476823807, + 0.9997537136077881, + 2.5568837829704942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9997907280921936, + -0.017972754314541817, + 0.009771748445928097, + -0.06189405657190444 + ], + [ + 0.018161846324801445, + 0.999642550945282, + -0.01961921527981758, + 0.1483948647269401 + ], + [ + -0.009415644221007824, + 0.0197925828397274, + 0.9997597932815552, + 2.5630889380800315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9998564720153809, + -0.014168188907206059, + 0.009291637688875198, + -0.06140269481994469 + ], + [ + 0.01434903685003519, + 0.999703049659729, + -0.01969452016055584, + 0.14951196604344094 + ], + [ + -0.009009843692183495, + 0.01982502080500126, + 0.9997628927230835, + 2.575173697492172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9998725652694702, + -0.012564260512590408, + 0.009846135042607784, + -0.06079717277195947 + ], + [ + 0.01275731436908245, + 0.9997226595878601, + -0.019795941188931465, + 0.14990287518192982 + ], + [ + -0.009594683535397053, + 0.019919028505682945, + 0.9997555613517761, + 2.5801523430594084 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9998719096183777, + -0.010265344753861427, + 0.012280291877686977, + -0.060005690036180975 + ], + [ + 0.010509476065635681, + 0.9997450709342957, + -0.019983414560556412, + 0.14899974829870566 + ], + [ + -0.012072023935616016, + 0.020109914243221283, + 0.9997248649597168, + 2.589530145299846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9998563528060913, + -0.009789111092686653, + 0.013838435523211956, + -0.05952902148028129 + ], + [ + 0.01007082499563694, + 0.9997404217720032, + -0.02043641172349453, + 0.1498138182796538 + ], + [ + -0.013634788803756237, + 0.020572839304804802, + 0.999695360660553, + 2.5987206147662523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9998027086257935, + -0.009921079501509666, + 0.017206624150276184, + -0.06046133854522787 + ], + [ + 0.010293487459421158, + 0.9997116923332214, + -0.02169146202504635, + 0.15124227057596476 + ], + [ + -0.016986459493637085, + 0.021864300593733788, + 0.9996166229248047, + 2.613974858974588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9997776746749878, + -0.010436177253723145, + 0.01832324080169201, + -0.06054962147027254 + ], + [ + 0.010843290016055107, + 0.9996933937072754, + -0.022261453792452812, + 0.15163534749299287 + ], + [ + -0.01808529905974865, + 0.022455187514424324, + 0.9995842576026917, + 2.618110901117325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/tilt_down/transforms.json b/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..36267a651a6737cf24c2ec95d55cfc66c733b7c1 --- /dev/null +++ b/dynpose_eval/camera_controls/ded2a57e-4010-4090-a0bf-215053555139/tilt_down/transforms.json @@ -0,0 +1,4108 @@ +{ + "format_version": "1.0", + "camera_model": "opencv_pinhole", + "pose_type": "c2w", + "coordinate_system": "opencv", + "image_hw": [ + 480, + 832 + ], + "num_frames": 117, + "frames": [ + { + "frame_index": 0, + "c2w": [ + [ + 1.0, + 0.00011037875810870901, + 2.6177083782386035e-05, + -0.0004883921355940402 + ], + [ + -0.00011037995136575773, + 1.0, + 4.573888145387173e-05, + -4.7455494495807216e-05 + ], + [ + -2.617203426780179e-05, + -4.574177000904456e-05, + 1.0, + 0.0010702626314014196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999948740005493, + -0.0026586443137715343, + 0.0017687844580632087, + -0.0037272425834089518 + ], + [ + 0.0026563764549791813, + 0.9999956570619657, + 0.0012832679608132435, + 0.0012918832944706082 + ], + [ + -0.0017721885815262794, + -0.0012785629465739401, + 0.9999976346389763, + 0.017750784754753113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999789595603943, + -0.006453060228502614, + 0.0006727521646055046, + -0.007513759192079306 + ], + [ + 0.0064507280476391315, + 0.9999733805652076, + 0.0034135998911229135, + 0.0014668540097773075 + ], + [ + -0.0006947623915039003, + -0.0034091884146916296, + 0.9999939642897213, + 0.04840301349759102 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999756217002869, + -0.006970364253678865, + 0.00038743021615401837, + -0.007817280478775501 + ], + [ + 0.0069676912389695644, + 0.9999544722632971, + 0.006517705749624657, + 0.0011052823392674327 + ], + [ + -0.0004328433715272695, + -0.006514847580919674, + 0.999978691655787, + 0.06387108564376831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999753832817078, + -0.006197164932977475, + 0.0032965608233863405, + -0.00842429231852293 + ], + [ + 0.0061624180525541306, + 0.9999263979299344, + 0.010448152902143334, + -0.00013219486572779715 + ], + [ + -0.003361067268997431, + -0.010427581058037021, + 0.9999399952402139, + 0.08136652410030365 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999915361404419, + -0.005428421618330606, + 0.01182393147736393, + -0.01058395579457283 + ], + [ + 0.005224383901804686, + 0.999838058869521, + 0.017219376904372873, + 0.0002904226421378553 + ], + [ + -0.01191549189388752, + -0.017156147168109436, + 0.9997818463528343, + 0.11119678616523743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999880313873291, + -0.004755297340698497, + 0.014721482755233533, + -0.012131907977163792 + ], + [ + 0.004423832520842552, + 0.9997377843114928, + 0.02246696056241114, + 0.0007778803119435906 + ], + [ + -0.014824459329247475, + -0.022399147385164304, + 0.9996392133758627, + 0.1276048719882965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9998446106910706, + -0.004529697803457692, + 0.01703788510328235, + -0.01419801078736782 + ], + [ + 0.0040526981465518475, + 0.9996017161549454, + 0.027927473567722683, + 0.0019491726998239756 + ], + [ + -0.017157601192593575, + -0.02785408437151812, + 0.9994647544734375, + 0.14613547921180725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998160600662234, + -0.0042346681053473155, + 0.018705539863411853, + -0.016577908769249916 + ], + [ + 0.003546499181538821, + 0.9993211112117697, + 0.036670770729923786, + 0.003534649731591344 + ], + [ + -0.018848130479454998, + -0.03659768664017164, + 0.9991522915108172, + 0.17627301812171936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998149871826172, + -0.004855465962454499, + 0.01861145397028565, + -0.018290016800165176 + ], + [ + 0.00407046265900135, + 0.9991098959117573, + 0.04198674985972489, + 0.004996221978217363 + ], + [ + -0.01879875361919403, + -0.04190322576786167, + 0.9989447844826472, + 0.19468747079372406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.999803900718689, + -0.006773216970082398, + 0.018608882881787588, + -0.022526046261191368 + ], + [ + 0.005835426971316338, + 0.9987324209590734, + 0.04999489564036756, + 0.0060284980572760105 + ], + [ + -0.018923921510577202, + -0.049876501710611275, + 0.9985760873538719, + 0.2336142212152481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9997815489768982, + -0.008723195933071016, + 0.018992891636494195, + -0.024800226092338562 + ], + [ + 0.007684275507926941, + 0.9985057850867367, + 0.0541026074026973, + 0.007246512454003096 + ], + [ + -0.019436459988355637, + -0.053944843166873785, + 0.9983547422936633, + 0.2544936537742615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9996839165687563, + -0.014051083392436365, + 0.020846492950867296, + -0.02752457559108734 + ], + [ + 0.012828755192458633, + 0.9982542500252589, + 0.05765256009792894, + 0.009784315712749958 + ], + [ + -0.021620180457830433, + -0.05736690558403221, + 0.9981190634654247, + 0.29495149850845337 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9996019601821899, + -0.01611686702468738, + 0.023154645160672765, + -0.02896476350724697 + ], + [ + 0.01471517700701952, + 0.9981209854713777, + 0.05948106589597349, + 0.011082172393798828 + ], + [ + -0.024069784209132195, + -0.059116664719110056, + 0.9979608390871905, + 0.31563079357147217 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9992930889129639, + -0.021075108554187788, + 0.03113175900736273, + -0.031399209052324295 + ], + [ + 0.019222058355808258, + 0.9980924840784582, + 0.05866801989657221, + 0.016368310898542404 + ], + [ + -0.03230880945920944, + -0.0580281307252628, + 0.9977919951967712, + 0.3550989031791687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9991138577461243, + -0.02309851493056653, + 0.035185334531721936, + -0.033767763525247574 + ], + [ + 0.02100144699215889, + 0.9980460690659329, + 0.05884685935640937, + 0.01945986971259117 + ], + [ + -0.036475859582424164, + -0.05805576843471942, + 0.9976467410536631, + 0.37541088461875916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9988429546356201, + -0.02647549665202284, + 0.040146756822353184, + -0.03551395237445831 + ], + [ + 0.024170760065317154, + 0.9980904044922505, + 0.05684508798527651, + 0.02642963081598282 + ], + [ + -0.04157509654760361, + -0.055808937373022484, + 0.9975754777314283, + 0.4099803864955902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9987733960151672, + -0.02795372156177893, + 0.04086894535314126, + -0.036295972764492035 + ], + [ + 0.025593576952815056, + 0.9980361516266697, + 0.057173948813533125, + 0.031351666897535324 + ], + [ + -0.04238691180944443, + -0.05605783601441723, + 0.9975273650048704, + 0.42670339345932007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9987753629684448, + -0.02808886472559695, + 0.04072830890236766, + -0.03690332546830177 + ], + [ + 0.025687802582979202, + 0.997967170400192, + 0.05832360502885825, + 0.035418424755334854 + ], + [ + -0.042283762246370316, + -0.05720595887712833, + 0.9974665869016799, + 0.44388139247894287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9988797903060913, + -0.025894860307470565, + 0.03960606777068947, + -0.03655647858977318 + ], + [ + 0.023472091183066368, + 0.9978946814758258, + 0.06045908563509944, + 0.04275892302393913 + ], + [ + -0.04108826071023941, + -0.05946171885375442, + 0.9973846112662408, + 0.4789220094680786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.998918890953064, + -0.024318786892644224, + 0.03961865388598013, + -0.03723378852009773 + ], + [ + 0.02177532948553562, + 0.9977498896897458, + 0.06341146969934111, + 0.0467529371380806 + ], + [ + -0.04107159376144409, + -0.06248020554762345, + 0.9972007288894253, + 0.4996475279331207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.998944938182831, + -0.022916203291380922, + 0.03979799107448143, + -0.038072340190410614 + ], + [ + 0.020241627469658855, + 0.9975908396009656, + 0.06635318514730014, + 0.05035180598497391 + ], + [ + -0.04122267663478852, + -0.06547760279948742, + 0.997002176369397, + 0.5197999477386475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9990360140800476, + -0.020739444714935586, + 0.03868937157769394, + -0.041264742612838745 + ], + [ + 0.018047189339995384, + 0.9974752975495627, + 0.0686827590747844, + 0.057101473212242126 + ], + [ + -0.04001613333821297, + -0.0679183151929181, + 0.9968880362271019, + 0.5635313987731934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9991240501403809, + -0.01985342258946763, + 0.03683756764931258, + -0.04263255000114441 + ], + [ + 0.01724540814757347, + 0.9974110424655945, + 0.06981243317334034, + 0.06052801012992859 + ], + [ + -0.038128215819597244, + -0.06911600248233248, + 0.9968797403086047, + 0.5857099294662476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9992895126342773, + -0.016266939204266882, + 0.03399734565982306, + -0.04442185163497925 + ], + [ + 0.0139387808740139, + 0.9976130917358879, + 0.0676298212503401, + 0.06409095972776413 + ], + [ + -0.03501632437109947, + -0.06710789155424109, + 0.9971310814221583, + 0.629911482334137 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9993483424186707, + -0.015109082060460218, + 0.032781915556537845, + -0.045925114303827286 + ], + [ + 0.012908111326396465, + 0.9977134299515318, + 0.06634248329569531, + 0.06582768261432648 + ], + [ + -0.0337093323469162, + -0.0658760943544396, + 0.9972582352972977, + 0.6526309847831726 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9995242357254028, + -0.017054111577790663, + 0.025700392124314995, + -0.04959699884057045 + ], + [ + 0.015526345930993557, + 0.9981657804676448, + 0.05851549548458845, + 0.0691017284989357 + ], + [ + -0.026651179417967796, + -0.058088618935686245, + 0.9979556108287766, + 0.6984001398086548 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9996351003646851, + -0.017964420865625354, + 0.020171595976766113, + -0.050330404192209244 + ], + [ + 0.016821173951029778, + 0.9983179552805921, + 0.05548238365659336, + 0.06973014771938324 + ], + [ + -0.021134376525878906, + -0.0551228297317655, + 0.9982558725625343, + 0.7201019525527954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9996569156646729, + -0.01665956242838292, + 0.0202120082666798, + -0.04600830003619194 + ], + [ + 0.01560657937079668, + 0.9985674274894244, + 0.05118101839378791, + 0.06686151772737503 + ], + [ + -0.021035708487033844, + -0.05084801726865323, + 0.9984848182597853, + 0.760192334651947 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9994627833366394, + -0.01803636228949783, + 0.027364302987714414, + -0.04520758241415024 + ], + [ + 0.016609616577625275, + 0.9985348840766501, + 0.05149927072790249, + 0.06707628071308136 + ], + [ + -0.02825307287275791, + -0.0510170947954834, + 0.9982980495369199, + 0.7788079977035522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9992712736129761, + -0.02143556078162113, + 0.031582042820152395, + -0.04839886724948883 + ], + [ + 0.01979174092411995, + 0.9984782215641157, + 0.05147300419459098, + 0.06702763587236404 + ], + [ + -0.0326373390853405, + -0.05081043186803852, + 0.9981748577540166, + 0.8221051692962646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9993029832839966, + -0.023034983306947043, + 0.02937599450379048, + -0.04790136590600014 + ], + [ + 0.02145523764193058, + 0.9983638451698634, + 0.05300281966345347, + 0.06772816926240921 + ], + [ + -0.03054885007441044, + -0.05233560562282521, + 0.9981621582809512, + 0.8419051170349121 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9993822574615481, + -0.022801130118900982, + 0.026744099734012625, + -0.04698212444782257 + ], + [ + 0.02130304463207722, + 0.9982578573146466, + 0.055022374380942124, + 0.0667346864938736 + ], + [ + -0.02795208059251309, + -0.054418654655009474, + 0.9981269142649538, + 0.8622742891311646 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9991852641105652, + -0.019967107335702096, + 0.03507277464522428, + -0.04165180027484894 + ], + [ + 0.017935864627361298, + 0.9981955922545437, + 0.057304505220168014, + 0.061328113079071045 + ], + [ + -0.03615369647741318, + -0.05662875877893908, + 0.997740475845129, + 0.9003666639328003 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9988375306129456, + -0.020797928344318924, + 0.04348585761929596, + -0.041818756610155106 + ], + [ + 0.018225960433483124, + 0.9981076903201023, + 0.058727143124798195, + 0.06095175817608833 + ], + [ + -0.044624969363212585, + -0.05786630457236469, + 0.9973264867266365, + 0.9224809408187866 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9985164403915405, + -0.021850139678084367, + 0.04987488425346359, + -0.04218469187617302 + ], + [ + 0.01885138265788555, + 0.9980309226835712, + 0.0598236776079847, + 0.05981640890240669 + ], + [ + -0.05108383297920227, + -0.058794713003414996, + 0.996962170211382, + 0.9447937607765198 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9981259107589722, + -0.0245574824142426, + 0.056049557483880984, + -0.044440858066082 + ], + [ + 0.021257270127534866, + 0.9980472077737774, + 0.05873543570282294, + 0.05849834159016609 + ], + [ + -0.057382501661777496, + -0.05743390361673032, + 0.9966988651761878, + 0.9867004752159119 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9980279207229616, + -0.026866963099390507, + 0.056730754949008616, + -0.04492153599858284 + ], + [ + 0.02348794043064118, + 0.9979571923647678, + 0.05941148448043549, + 0.05887181684374809 + ], + [ + -0.05821107327938081, + -0.057961835483538726, + 0.996620225108033, + 1.0060962438583374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9979934096336365, + -0.03092257508670613, + 0.055254034600372655, + -0.04415138438344002 + ], + [ + 0.027535339817404747, + 0.9977550452496429, + 0.061046535211787316, + 0.05977515131235123 + ], + [ + -0.05701770633459091, + -0.05940260249977816, + 0.9966044083864853, + 1.0421109199523926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9979886412620544, + -0.03295458947078971, + 0.0541539582852652, + -0.04395418241620064 + ], + [ + 0.02945845201611519, + 0.997506285269638, + 0.0641358321328288, + 0.060724444687366486 + ], + [ + -0.0561324842274189, + -0.06241154056289516, + 0.9964707581068899, + 1.0595743656158447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9979932904243469, + -0.03531315320033365, + 0.052558574710843575, + -0.04490877687931061 + ], + [ + 0.03165809437632561, + 0.9971265956379303, + 0.068820737457549, + 0.06146379932761192 + ], + [ + -0.05483783036470413, + -0.06701872776596468, + 0.9962435674116247, + 1.099030613899231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9979739189147949, + -0.036405726079139, + 0.052179062257852044, + -0.04613053798675537 + ], + [ + 0.03261088579893112, + 0.9968843509327876, + 0.07181968393321166, + 0.061664797365665436 + ], + [ + -0.05463114008307457, + -0.06997256728231917, + 0.9960518344572503, + 1.1212811470031738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9979171752929688, + -0.038555895712299816, + 0.05171780342781046, + -0.04738845303654671 + ], + [ + 0.03473196178674698, + 0.9967341444830539, + 0.07290250947025653, + 0.06382511556148529 + ], + [ + -0.05435971915721893, + -0.07095440728641782, + 0.9959972484056375, + 1.1615455150604248 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9979024529457095, + -0.03921188140577725, + 0.05150888483123979, + -0.04863443225622177 + ], + [ + 0.03537436574697495, + 0.9966742365726816, + 0.07341068687747823, + 0.06480585783720016 + ], + [ + -0.05421615019440652, + -0.07143460485294216, + 0.9959707114126259, + 1.1820334196090698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.997848629951477, + -0.040358838277250585, + 0.05166491138930408, + -0.049559082835912704 + ], + [ + 0.03666544333100319, + 0.9968347566906354, + 0.07054164370683483, + 0.06805764883756638 + ], + [ + -0.054348357021808624, + -0.06849556404972444, + 0.9961699434407811, + 1.221304178237915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9977869391441345, + -0.04091490920940251, + 0.05241412103002509, + -0.04983260855078697 + ], + [ + 0.03720330074429512, + 0.9968578422368639, + 0.06993111125793543, + 0.07009101659059525 + ], + [ + -0.05511065199971199, + -0.06782636802995698, + 0.9961738773233485, + 1.2407348155975342 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9976845383644106, + -0.041604868937635826, + 0.053801841738144326, + -0.050506725907325745 + ], + [ + 0.03783510625362397, + 0.9968793333493899, + 0.06928269504680583, + 0.07230998575687408 + ], + [ + -0.05651643872261049, + -0.0670866761640308, + 0.9961452281632225, + 1.2610145807266235 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.997402012348175, + -0.04335040034585214, + 0.057532272310867764, + -0.05145915225148201 + ], + [ + 0.03953543305397034, + 0.9970447497701027, + 0.06586854536439384, + 0.07661519199609756 + ], + [ + -0.060217682272195816, + -0.0634228642383877, + 0.9961683585647046, + 1.2992647886276245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.997257649898529, + -0.04398013292022919, + 0.05952258829899094, + -0.053009409457445145 + ], + [ + 0.040061935782432556, + 0.9970485655154803, + 0.0654920210641364, + 0.07881984114646912 + ], + [ + -0.06222726032137871, + -0.06292782371113748, + 0.9960762147225046, + 1.3193416595458984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9971264600753784, + -0.04474441568448517, + 0.06112929436927522, + -0.05443737655878067 + ], + [ + 0.040751177817583084, + 0.9970476465223905, + 0.06507911548239004, + 0.08091183751821518 + ], + [ + -0.06386075168848038, + -0.062401016817820405, + 0.9960059923811349, + 1.3395994901657104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9969212412834167, + -0.04649846966177978, + 0.06313442195141411, + -0.05742832273244858 + ], + [ + 0.04264533519744873, + 0.9972224056886204, + 0.06106454260772765, + 0.08558662980794907 + ], + [ + -0.06579846143722534, + -0.05818415228965349, + 0.9961351347688034, + 1.3780701160430908 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9969285726547241, + -0.04710329556477447, + 0.06256739962491088, + -0.058471910655498505 + ], + [ + 0.04340917989611626, + 0.9973051449210328, + 0.05914433239337237, + 0.0876479297876358 + ], + [ + -0.06518469005823135, + -0.056246678740846975, + 0.9962867521874824, + 1.3970633745193481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9972398281097412, + -0.045674210151461746, + 0.05853734277325436, + -0.06188598647713661 + ], + [ + 0.0426759272813797, + 0.9977615099831579, + 0.05148562765578384, + 0.0906805470585823 + ], + [ + -0.06075787544250488, + -0.04884537828877873, + 0.9969566506236038, + 1.436122179031372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9974597692489624, + -0.04279529322611974, + 0.05694391634712015, + -0.062331441789865494 + ], + [ + 0.04001668095588684, + 0.9979932492876505, + 0.04907255245535758, + 0.09020130336284637 + ], + [ + -0.058929719030857086, + -0.046669189371667946, + 0.9971706448802707, + 1.4556275606155396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9974639415740967, + -0.036608060835589824, + 0.06103682571327609, + -0.0637357234954834 + ], + [ + 0.033966291695833206, + 0.9984639817705275, + 0.04377158384499302, + 0.08923448622226715 + ], + [ + -0.06254546344280243, + -0.041587388725282906, + 0.9971753030335746, + 1.4955142736434937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9973003268241885, + -0.03487037197121157, + 0.06462313865762298, + -0.06291098892688751 + ], + [ + 0.032120727002620704, + 0.9985538330132494, + 0.043110476012163675, + 0.08939455449581146 + ], + [ + -0.06603296101093294, + -0.040918350215833704, + 0.9969781289584063, + 1.5101572275161743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9967742562294006, + -0.03230483523911602, + 0.07346751986528414, + -0.06309980154037476 + ], + [ + 0.029348839074373245, + 0.9987294253423395, + 0.04096533941868082, + 0.08820976316928864 + ], + [ + -0.07469754666090012, + -0.038677020201591236, + 0.9964559266962939, + 1.5461231470108032 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9964554905891421, + -0.03261687274665695, + 0.07754095885828295, + -0.06439808011054993 + ], + [ + 0.029460169374942786, + 0.9987035853186056, + 0.04151147789230731, + 0.088100865483284 + ], + [ + -0.07879440486431123, + -0.03907997317833089, + 0.9961246025119286, + 1.565428614616394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9961106777191164, + -0.0318497245264342, + 0.08215280624120817, + -0.06321842223405838 + ], + [ + 0.02841812744736672, + 0.998687646004408, + 0.042607486458437795, + 0.09026656299829483 + ], + [ + -0.08340202271938325, + -0.04010714722810236, + 0.9957085350589359, + 1.5930858850479126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9961450099945068, + -0.030654736162606347, + 0.08219145163666766, + -0.06207321211695671 + ], + [ + 0.02692367322742939, + 0.9985727462499796, + 0.04612525275269659, + 0.09237981587648392 + ], + [ + -0.0834880992770195, + -0.04373454993553045, + 0.9955485804105275, + 1.6065607070922852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9962313175201418, + -0.02947166750087822, + 0.08157542773366548, + -0.05883137509226799 + ], + [ + 0.02527290582656861, + 0.9983254832755449, + 0.052033503368966096, + 0.0967540368437767 + ], + [ + -0.08297234028577806, + -0.04977575432009336, + 0.9953079493610248, + 1.611034631729126 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9964768290519714, + -0.023589043199918665, + 0.08048304542755041, + -0.062021948397159576 + ], + [ + 0.01843813620507717, + 0.9977696758992896, + 0.06415335425358269, + 0.09325627982616425 + ], + [ + -0.08181685954332352, + -0.06244337019741609, + 0.9946893170968552, + 1.6540662050247192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9966033101081848, + -0.022542321422754235, + 0.07920640041100782, + -0.06100423261523247 + ], + [ + 0.016916049644351006, + 0.9973329110483568, + 0.07099939403477183, + 0.09645655751228333 + ], + [ + -0.08059563487768173, + -0.06941837645618137, + 0.9943266024944682, + 1.6664983034133911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9967882037162781, + -0.02125125102958341, + 0.07721183111246771, + -0.0643303245306015 + ], + [ + 0.015290160663425922, + 0.9969145249281632, + 0.07699115711438428, + 0.09399323910474777 + ], + [ + -0.07860974967479706, + -0.07556329780667444, + 0.9940375609646029, + 1.6933752298355103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9971027374267578, + -0.0197699786297148, + 0.07345238454704862, + -0.06619428098201752 + ], + [ + 0.013503525406122208, + 0.9963021698193508, + 0.08485048211608447, + 0.08990243077278137 + ], + [ + -0.07485826313495636, + -0.0836127878130837, + 0.993682620162712, + 1.7336304187774658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.997094988822937, + -0.020688305957053982, + 0.0733045687903702, + -0.06669355928897858 + ], + [ + 0.01417771726846695, + 0.995997637717646, + 0.08824786944209553, + 0.08710134029388428 + ], + [ + -0.07483687996864319, + -0.08695221635063108, + 0.9933975564527509, + 1.7517801523208618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9967232346534729, + -0.025960541593345533, + 0.07660819999929329, + -0.06956765055656433 + ], + [ + 0.019064422696828842, + 0.9958120331705698, + 0.08941426303371838, + 0.0832517221570015 + ], + [ + -0.07860860973596573, + -0.08766079236664198, + 0.993043967966613, + 1.7960608005523682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9964664578437807, + -0.02940209073787061, + 0.0786773067707235, + -0.06887930631637573 + ], + [ + 0.02225029841065407, + 0.9956677953411016, + 0.09028062876872248, + 0.08403672277927399 + ], + [ + -0.08099089562892915, + -0.08821101973162214, + 0.9928037405677582, + 1.809558391571045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9960726499557497, + -0.0368758669580666, + 0.08049520641906022, + -0.07019799947738647 + ], + [ + 0.029616435989737518, + 0.9955386733240728, + 0.08958584529205087, + 0.08728834241628647 + ], + [ + -0.08343964815139772, + -0.08685002439683437, + 0.9927209767761016, + 1.8468773365020752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9960083365440369, + -0.039844274600653845, + 0.07987410517490401, + -0.07020934671163559 + ], + [ + 0.03252515196800232, + 0.9953262542080709, + 0.09092724130125, + 0.08818019181489944 + ], + [ + -0.08312372118234634, + -0.0879663727448622, + 0.9926491690550115, + 1.8608707189559937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.996120870113373, + -0.04427280914443295, + 0.07604722745651506, + -0.07106299698352814 + ], + [ + 0.037191487848758704, + 0.9950518601111203, + 0.09213384002641431, + 0.09141223132610321 + ], + [ + -0.0797499641776085, + -0.08894812885552669, + 0.9928384542818778, + 1.8953237533569336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9962724447250366, + -0.0458833472958761, + 0.07304764585253774, + -0.07182393968105316 + ], + [ + 0.03892369568347931, + 0.9948108065994096, + 0.09400222097156101, + 0.09326300024986267 + ], + [ + -0.07698173075914383, + -0.0908085409838683, + 0.9928885534650678, + 1.9127906560897827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9966006278991701, + -0.04657176792492877, + 0.06795760149653103, + -0.07191745936870575 + ], + [ + 0.040047232061624534, + 0.9947285562038586, + 0.09439963966189399, + 0.09408756345510483 + ], + [ + -0.07199572026729585, + -0.09135722824207629, + 0.9932121981250804, + 1.9437679052352905 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9966874122619629, + -0.0465114250849083, + 0.06671513222285777, + -0.07083850353956223 + ], + [ + 0.040057823061943054, + 0.9946703384141101, + 0.09500702372978977, + 0.09528163820505142 + ], + [ + -0.07077847421169281, + -0.09201983825091646, + 0.9932385328631103, + 1.9566580057144165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9967162609100342, + -0.04613113990465477, + 0.06654789515202948, + -0.07162317633628845 + ], + [ + 0.039676908403635025, + 0.9946628966274231, + 0.09524439716361185, + 0.09621420502662659 + ], + [ + -0.07058645784854889, + -0.0922912282888584, + 0.9932270250450802, + 1.9746662378311157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9967023134231567, + -0.04417706726034067, + 0.06806514758246072, + -0.07137932628393173 + ], + [ + 0.037737730890512466, + 0.994936886172233, + 0.09314768022822291, + 0.09884718805551529 + ], + [ + -0.07183551043272018, + -0.09027187422648217, + 0.993323024277996, + 2.0054571628570557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9967591762542725, + -0.043033931285797654, + 0.06796470779920218, + -0.07121734321117401 + ], + [ + 0.03660108894109726, + 0.9949732723396901, + 0.09321222234758784, + 0.10134711861610413 + ], + [ + -0.07163435220718384, + -0.09042255762426554, + 0.9933238577247463, + 2.021883726119995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9969074130058291, + -0.04181595640630254, + 0.06653572410520499, + -0.07128546386957169 + ], + [ + 0.03550292924046517, + 0.9949966264098817, + 0.0933874684721106, + 0.10382205247879028 + ], + [ + -0.07010791450738908, + -0.0907364489393282, + 0.9934041655176447, + 2.037978172302246 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9974901676177981, + -0.03819065926857716, + 0.059622383287058205, + -0.07546620815992355 + ], + [ + 0.0326431654393673, + 0.9952796052624484, + 0.09139433740217691, + 0.1058059111237526 + ], + [ + -0.0628313571214676, + -0.08921869120163486, + 0.9940282656756361, + 2.0762853622436523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9978688955307009, + -0.03671284052235345, + 0.05394314499862593, + -0.07848641276359558 + ], + [ + 0.031659279018640525, + 0.9952812002050532, + 0.09172234773156387, + 0.10887669026851654 + ], + [ + -0.05705598741769792, + -0.08981907517616237, + 0.9943224671926044, + 2.095052719116211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9984339475631714, + -0.03337519519617067, + 0.0448967810775638, + -0.06988494098186493 + ], + [ + 0.02910229004919529, + 0.9952713369924184, + 0.09267165128398899, + 0.10951446741819382 + ], + [ + -0.047777410596609116, + -0.09121993078071883, + 0.9946840197903157, + 2.109262466430664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 81, + "c2w": [ + [ + 0.9984226822853088, + -0.03234404101467439, + 0.04589137395269405, + -0.06909815967082977 + ], + [ + 0.02785084955394268, + 0.9950513889144131, + 0.09537873109589555, + 0.10848120599985123 + ], + [ + -0.048749204725027084, + -0.09395017951546492, + 0.9943826893399764, + 2.122042417526245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 82, + "c2w": [ + [ + 0.9981670379638672, + -0.036063970779818405, + 0.04859946662518926, + -0.07112309336662292 + ], + [ + 0.031202241778373718, + 0.9947632046409054, + 0.0973274327276098, + 0.10729145258665085 + ], + [ + -0.051854971796274185, + -0.09563262655385395, + 0.9940651264214724, + 2.155921220779419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 83, + "c2w": [ + [ + 0.9980738759040833, + -0.03929999146502811, + 0.04799998068919295, + -0.07141172885894775 + ], + [ + 0.034449249505996704, + 0.9945890802491532, + 0.09800929252423321, + 0.10776127874851227 + ], + [ + -0.05159201845526695, + -0.09616695495641686, + 0.9940272647271308, + 2.172649383544922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 84, + "c2w": [ + [ + 0.9980079531669617, + -0.04370574301908607, + 0.0454971684532225, + -0.06843295693397522 + ], + [ + 0.039134930819272995, + 0.9945228728054086, + 0.09691570585150464, + 0.10939028114080429 + ], + [ + -0.04948375001549721, + -0.09494211595140437, + 0.9942521668402846, + 2.191692352294922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 85, + "c2w": [ + [ + 0.9979659914970398, + -0.04477152346622232, + 0.045380644618784244, + -0.06478359550237656 + ], + [ + 0.0401323027908802, + 0.9943336594002298, + 0.09843758225670646, + 0.11156530678272247 + ], + [ + -0.04953070729970932, + -0.09641613355695632, + 0.9941079773983241, + 2.197432041168213 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 86, + "c2w": [ + [ + 0.9978243708610535, + -0.046030646210978764, + 0.04719871938523972, + -0.05782900005578995 + ], + [ + 0.041006240993738174, + 0.9938986123311284, + 0.10239187111297174, + 0.11915140599012375 + ], + [ + -0.051623906940221786, + -0.10023366456969039, + 0.9936237886319075, + 2.204970598220825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 87, + "c2w": [ + [ + 0.997809648513794, + -0.04650105374741348, + 0.047048687516541766, + -0.056139469146728516 + ], + [ + 0.04121232405304909, + 0.9933254565511418, + 0.10773152503502735, + 0.12386082112789154 + ], + [ + -0.05174428969621658, + -0.10555656997052532, + 0.9930661278207966, + 2.2150144577026367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 88, + "c2w": [ + [ + 0.9979071617126465, + -0.046013854556620264, + 0.045431821813512206, + -0.059779949486255646 + ], + [ + 0.040579602122306824, + 0.9926474897978323, + 0.11403603200520412, + 0.12580162286758423 + ], + [ + -0.05034502595663071, + -0.11195377111466984, + 0.9924372867011918, + 2.2364797592163086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 89, + "c2w": [ + [ + 0.9983837008476257, + -0.04263762741405, + 0.03757762215820638, + -0.06767988204956055 + ], + [ + 0.03760337829589844, + 0.9913467403899071, + 0.12576829450688473, + 0.13433922827243805 + ], + [ + -0.04261491447687149, + -0.1241519609661924, + 0.9913476755185178, + 2.2854132652282715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 90, + "c2w": [ + [ + 0.9986771941184998, + -0.03975044540060242, + 0.03261462007093208, + -0.06479746848344803 + ], + [ + 0.03511856868863106, + 0.9906251836320259, + 0.13201670902147872, + 0.13036100566387177 + ], + [ + -0.03755658492445946, + -0.13069669815094184, + 0.9907107744069384, + 2.2818100452423096 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 91, + "c2w": [ + [ + 0.9989317059516909, + -0.036727858418011794, + 0.028045118140704813, + -0.06461107730865479 + ], + [ + 0.0325269177556038, + 0.9899213397343253, + 0.1378322072840821, + 0.13061323761940002 + ], + [ + -0.03282474353909493, + -0.13677273824930763, + 0.9900584482628568, + 2.2913215160369873 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 92, + "c2w": [ + [ + 0.9992716908454895, + -0.03036534786139668, + 0.02310983152539105, + -0.06404412537813187 + ], + [ + 0.026703156530857086, + 0.9890773018153667, + 0.1449585896446374, + 0.12400905042886734 + ], + [ + -0.027259130030870438, + -0.1442359102981525, + 0.9891677830635218, + 2.3050131797790527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 93, + "c2w": [ + [ + 0.999371647834778, + -0.027079842340812902, + 0.022869154427352344, + -0.06150925159454346 + ], + [ + 0.023398280143737796, + 0.988677634850399, + 0.1482196158095357, + 0.11959660798311234 + ], + [ + -0.02662398479878903, + -0.1475913793175496, + 0.9886900094439939, + 2.3044674396514893 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 94, + "c2w": [ + [ + 0.9994088411331177, + -0.024594814139206812, + 0.024022030906277716, + -0.060700900852680206 + ], + [ + 0.02070784568786621, + 0.9884017451766132, + 0.15044326516959228, + 0.11925079673528671 + ], + [ + -0.027443543076515198, + -0.14985688885529946, + 0.9883267769301203, + 2.3103699684143066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 95, + "c2w": [ + [ + 0.9994065165519714, + -0.02076552537890571, + 0.027485484268190925, + -0.06043384224176407 + ], + [ + 0.016352377831935883, + 0.9882403883162789, + 0.1520314725655323, + 0.12192468345165253 + ], + [ + -0.030319279059767723, + -0.15149178879039452, + 0.9879934220680946, + 2.327022075653076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 96, + "c2w": [ + [ + 0.9994049072265625, + -0.019418628080993202, + 0.02850849312359026, + -0.06016445904970169 + ], + [ + 0.014789684675633907, + 0.9878926349604965, + 0.15443242876353547, + 0.12429650127887726 + ], + [ + -0.031162196770310402, + -0.15391889486539606, + 0.9875919395910727, + 2.335904121398926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 97, + "c2w": [ + [ + 0.9994067549705505, + -0.018190664891497278, + 0.02924360425011608, + -0.05775684490799904 + ], + [ + 0.01332230307161808, + 0.9872212960005227, + 0.1587974851566236, + 0.13066866993904114 + ], + [ + -0.031758539378643036, + -0.15831369148850472, + 0.9868779893812426, + 2.347733736038208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 98, + "c2w": [ + [ + 0.9994088411331177, + -0.01852275841981178, + 0.028964104205863886, + -0.05921882390975952 + ], + [ + 0.013559676706790924, + 0.9865302970963414, + 0.16301565775429883, + 0.13429594039916992 + ], + [ + -0.03159346431493759, + -0.1625265460594317, + 0.9861982689855924, + 2.360820770263672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 99, + "c2w": [ + [ + 0.9994773864746096, + -0.019765635005550466, + 0.025578745567007743, + -0.061813145875930786 + ], + [ + 0.015117161907255653, + 0.9852208943339645, + 0.1706203826704152, + 0.1379079520702362 + ], + [ + -0.028573133051395423, + -0.17014452594828794, + 0.9850047584413081, + 2.382211446762085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 100, + "c2w": [ + [ + 0.9995158910751343, + -0.020917705320334275, + 0.023030026937009205, + -0.060547035187482834 + ], + [ + 0.016546372324228287, + 0.9842736378774078, + 0.17587399693846192, + 0.14001011848449707 + ], + [ + -0.026346728205680847, + -0.17540779649976804, + 0.9841432720174723, + 2.385525941848755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 101, + "c2w": [ + [ + 0.9995524883270264, + -0.023347523197784138, + 0.018699439271773564, + -0.06024685502052307 + ], + [ + 0.01950128749012947, + 0.9826424283234001, + 0.18448177565671475, + 0.14168639481067657 + ], + [ + -0.022682055830955505, + -0.18403455949823033, + 0.9826580015014492, + 2.3981244564056396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 102, + "c2w": [ + [ + 0.999561667442322, + -0.024350167016402472, + 0.0168389987725022, + -0.059649042785167694 + ], + [ + 0.02071652933955193, + 0.9816155125326018, + 0.18974133444937202, + 0.14250345528125763 + ], + [ + -0.0211496576666832, + -0.1893093226510694, + 0.9816896986292242, + 2.401562213897705 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 103, + "c2w": [ + [ + 0.9995684623718262, + -0.025452218995435236, + 0.014665731774190172, + -0.06011410802602768 + ], + [ + 0.022113332524895668, + 0.9806177456603583, + 0.19467875882289742, + 0.14402711391448975 + ], + [ + -0.019336482509970665, + -0.19427043977877803, + 0.9807574099334911, + 2.408329486846924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 104, + "c2w": [ + [ + 0.9995900988578799, + -0.026786562647047568, + 0.010104351229423063, + -0.060851410031318665 + ], + [ + 0.02419202588498593, + 0.9790447130988934, + 0.20220338750570171, + 0.14817973971366882 + ], + [ + -0.015308944508433345, + -0.20187605389366786, + 0.9792913978373121, + 2.4245851039886475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 105, + "c2w": [ + [ + 0.999614417552948, + -0.02633903340997763, + 0.008791118425983449, + -0.06022997200489044 + ], + [ + 0.023948300629854202, + 0.9780182669640868, + 0.20713945493961058, + 0.14738216996192932 + ], + [ + -0.014053726568818092, + -0.20684905265048248, + 0.9782719281412674, + 2.427227735519409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 106, + "c2w": [ + [ + 0.9996283650398254, + -0.02608128985818901, + 0.007932200198080297, + -0.060871485620737076 + ], + [ + 0.02381093055009842, + 0.9770246080963152, + 0.2117923794869957, + 0.14793330430984497 + ], + [ + -0.013273773714900017, + -0.2115247927570734, + 0.9772825178309862, + 2.434004545211792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 107, + "c2w": [ + [ + 0.999656617641449, + -0.025372651280700428, + 0.006550284046639758, + -0.061049070209264755 + ], + [ + 0.023338712751865387, + 0.9757306021328703, + 0.2177271425841232, + 0.1487569510936737 + ], + [ + -0.011915626935660839, + -0.21749950090365328, + 0.9759877075292448, + 2.44384765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 108, + "c2w": [ + [ + 0.9996839165687561, + -0.024432543186168023, + 0.005923899954782368, + -0.06175130978226662 + ], + [ + 0.022518260404467583, + 0.9749793495077744, + 0.2211521009794836, + 0.14854195713996887 + ], + [ + -0.011178988963365555, + -0.2209488038197457, + 0.9752213538642736, + 2.450251579284668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 109, + "c2w": [ + [ + 0.9997571706771851, + -0.021396639408300357, + 0.005271408251477193, + -0.0627615749835968 + ], + [ + 0.019668787717819214, + 0.9743030611774893, + 0.22438055920806776, + 0.14909765124320984 + ], + [ + -0.009936938993632793, + -0.22422239015021828, + 0.9744873170156708, + 2.4629414081573486 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 110, + "c2w": [ + [ + 0.9997907280921936, + -0.019822816934627153, + 0.005055976079614961, + -0.0628206878900528 + ], + [ + 0.018161846324801445, + 0.9738161796077858, + 0.22661021954599372, + 0.15025530755519867 + ], + [ + -0.009415644221007824, + -0.22647097539463865, + 0.9739724266639412, + 2.4682841300964355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 111, + "c2w": [ + [ + 0.9998564720153809, + -0.016029350897000864, + 0.005489263855237827, + -0.06229180842638016 + ], + [ + 0.01434903685003519, + 0.9733795438565827, + 0.22874948136524395, + 0.15139652788639069 + ], + [ + -0.009009843692183495, + -0.2286378895777838, + 0.9734698703942323, + 2.479506731033325 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 112, + "c2w": [ + [ + 0.9998725652694702, + -0.01462741196776765, + 0.006391074763348907, + -0.06174783408641815 + ], + [ + 0.01275731436908245, + 0.9729051536360057, + 0.23085241477940027, + 0.15181420743465424 + ], + [ + -0.009594683535397053, + -0.23074146717363622, + 0.9729677926205846, + 2.483624219894409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 113, + "c2w": [ + [ + 0.9998719096183777, + -0.013031311435369468, + 0.009293427451227236, + -0.06120195984840393 + ], + [ + 0.010509476065635681, + 0.972450648485572, + 0.23287181017656286, + 0.15094640851020813 + ], + [ + -0.012072023935616016, + -0.23274430456727077, + 0.9724630085309626, + 2.492143154144287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 114, + "c2w": [ + [ + 0.9998563528060913, + -0.01298817411054293, + 0.010892030434647057, + -0.06088900566101074 + ], + [ + 0.01007082499563694, + 0.9720333778751467, + 0.23462666119950515, + 0.15182222425937653 + ], + [ + -0.013634788803756237, + -0.2344832581461803, + 0.9720245148618661, + 2.500474691390991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 115, + "c2w": [ + [ + 0.9998027086257935, + -0.014004678130175125, + 0.014084201205405204, + -0.06216716766357422 + ], + [ + 0.010293487459421158, + 0.971795702788342, + 0.23559944684707962, + 0.1533927172422409 + ], + [ + -0.016986459493637085, + -0.23540799861479864, + 0.9717481745062448, + 2.5148749351501465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 116, + "c2w": [ + [ + 0.9997776746749878, + -0.014822976824579179, + 0.014997810080338651, + -0.06238194555044174 + ], + [ + 0.010843290016055107, + 0.9713913555655792, + 0.23723677640574445, + 0.15386149287223816 + ], + [ + -0.01808529905974865, + -0.23702139749789447, + 0.9713360801605061, + 2.5181524753570557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 750.5439453125, + "fy": 750.750244140625, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_017/boom_up/transforms.json b/spatialvid_eval/camera_controls/scene_017/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..33aef00138f37c42346e3dbb6677ffcd3bbf323d --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_017/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": [ + [ + 0.9703277012114079, + -0.22038030216138393, + -0.09948203195070904, + -0.13204256365302253 + ], + [ + 0.2136316359375161, + 0.9740946292959383, + -0.07416992182461331, + -0.05210480348800095 + ], + [ + 0.11325050281762711, + 0.05071662051108865, + 0.9922712068862469, + -0.094497417975298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9789075908510504, + -0.20330556531400107, + -0.020168680833099854, + -0.12037004506215296 + ], + [ + 0.20194472806709807, + 0.9778369036771449, + -0.055256824130603226, + -0.04872336650454505 + ], + [ + 0.03095570028441956, + 0.05001836582145653, + 0.9982684547257079, + -0.07420994836819281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9807474969004055, + -0.18660895135796543, + 0.057545170055094554, + -0.10682959025905664 + ], + [ + 0.1890473691935833, + 0.9811414595852634, + -0.0402806216918777, + -0.04666208744480018 + ], + [ + -0.04894322756596945, + 0.05038388190661422, + 0.9975299619156541, + -0.05482702743803775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.976341383365475, + -0.17055266389284285, + 0.13292588900227667, + -0.09078420592109433 + ], + [ + 0.1756230690053628, + 0.9840784675591534, + -0.027314965121082085, + -0.04021797581149963 + ], + [ + -0.12615086508275788, + 0.050013583409743004, + 0.9907495146167817, + -0.03695785777822828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.967946482042514, + -0.15719166902918202, + 0.1958836059739081, + -0.07247951288992448 + ], + [ + 0.16354612959182274, + 0.9863961049498943, + -0.01659480747739991, + -0.0337420958603667 + ], + [ + -0.19061026047161236, + 0.04809889112544437, + 0.98048672876049, + -0.018709492802338048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9572006048605094, + -0.1443597760957546, + 0.2508530587819467, + -0.0528133985495177 + ], + [ + 0.15102554691366696, + 0.9885019974173508, + -0.007421945926498197, + -0.027696674176017524 + ], + [ + -0.2468973192120623, + 0.0449895115275958, + 0.9679967239709056, + 0.0025331557467427913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9464903145773975, + -0.13431985240569896, + 0.2934523158213111, + -0.03732877054954466 + ], + [ + 0.14060553199332362, + 0.9900656426091895, + -0.00032817331904113484, + -0.020422440925242952 + ], + [ + -0.2904929754470041, + 0.041571631848703404, + 0.955973655830213, + 0.022440811431133398 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9348677547861727, + -0.12609520074857178, + 0.3318467739925127, + -0.02199797212286353 + ], + [ + 0.13123211016241376, + 0.991327083459907, + 0.006981895243730827, + -0.015276146650415845 + ], + [ + -0.32984907809994035, + 0.037021803670968155, + 0.9433074640484764, + 0.042660577148655676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.921980181254684, + -0.11884653009527459, + 0.36854856892666576, + -0.005739182673303567 + ], + [ + 0.12218954290050353, + 0.9924030924089488, + 0.014346350857334442, + -0.01143257568280446 + ], + [ + -0.36745375352463927, + 0.03180573000999551, + 0.9294977862045639, + 0.06166624266756159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.907263895107424, + -0.11199787228135295, + 0.40537476640629094, + 0.010732842728879503 + ], + [ + 0.1129984163243196, + 0.993361487249005, + 0.02154793629656173, + -0.005081601429715792 + ], + [ + -0.40509700386784014, + 0.026257042005806634, + 0.9138965943707222, + 0.07913509747373945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.8910062697868019, + -0.10558976363589154, + 0.4415411974164196, + 0.02763964054494464 + ], + [ + 0.10358094771541393, + 0.9942059223978362, + 0.02873275377412507, + 0.0012801531927003965 + ], + [ + -0.4420167581336547, + 0.020134191922805585, + 0.8967807981020948, + 0.09751497627379942 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.8745219270371076, + -0.09930447133049038, + 0.47471046028613645, + 0.04448542499161046 + ], + [ + 0.09422307476989807, + 0.994951284886375, + 0.034553623310120046, + 0.005266086945081926 + ], + [ + -0.4757451117060583, + 0.014510777950312853, + 0.8794634875940369, + 0.11714624336262876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.8581588651963664, + -0.09407541784175336, + 0.5046911707596877, + 0.0590312981623316 + ], + [ + 0.08531414438064286, + 0.9955304854645085, + 0.04050369463887311, + 0.012806355533971539 + ], + [ + -0.5062458482333299, + 0.008298690782272189, + 0.8623492754550309, + 0.13700520001789218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.8397321694432252, + -0.08970493921324818, + 0.5355398281014424, + 0.07453197913735357 + ], + [ + 0.07553740116769786, + 0.9959683692247511, + 0.0483850031375478, + 0.016713837269294606 + ], + [ + -0.5377211030143835, + -0.0001771568166316663, + 0.8431227573660063, + 0.1582981332637479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.8174008989506305, + -0.08506489607196382, + 0.5697540994595539, + 0.090669449817387 + ], + [ + 0.06575663834593401, + 0.996350708919189, + 0.05441809763003087, + 0.019478937944068228 + ], + [ + -0.5723039707254732, + -0.00701628765769521, + 0.8200115467475816, + 0.1774945736300054 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.7912476447032432, + -0.07893470643232894, + 0.6063798123882529, + 0.10743146645706371 + ], + [ + 0.05494185749764094, + 0.9967997995247041, + 0.05806506662545903, + 0.02792440487440269 + ], + [ + -0.6090226244124923, + -0.012628213965249702, + 0.7930523130070101, + 0.19564163995884742 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.7592535121856334, + -0.07166199951514611, + 0.6468374309355261, + 0.1264960868268805 + ], + [ + 0.04156014473638394, + 0.9972292000546448, + 0.06169827329726787, + 0.033065630155594286 + ], + [ + -0.6494665954483504, + -0.019961973446148494, + 0.7601280556675067, + 0.2177954748428993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.7294593721716649, + -0.06437672748134367, + 0.6809880037928079, + 0.14193202139280595 + ], + [ + 0.02917685583413558, + 0.9975836417882888, + 0.06305226974542014, + 0.038868393811466756 + ], + [ + -0.6834015916242474, + -0.026124980291054097, + 0.7295750475244048, + 0.23915319871321122 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.7003364957990483, + -0.058713567950115744, + 0.7113940606938438, + 0.15687809385516835 + ], + [ + 0.017475356622943968, + 0.9977230087146234, + 0.06514145985729863, + 0.04561116043419614 + ], + [ + -0.7135989101468767, + -0.03318907681762575, + 0.6997678762398166, + 0.26104677672141935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.673106168878578, + -0.055028456782401786, + 0.7374957317583273, + 0.1739250494403876 + ], + [ + 0.008298843402984753, + 0.9977270888126697, + 0.06687140979198807, + 0.04963397560491763 + ], + [ + -0.7394992999427221, + -0.03889119686436251, + 0.6720329308826178, + 0.28218241887507756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.6481729104608189, + -0.05266964862528134, + 0.7596695243712496, + 0.1921068206725749 + ], + [ + 0.0009410564366672605, + 0.9976597868551991, + 0.06836712736997021, + 0.05453606736891915 + ], + [ + -0.7614926083407075, + -0.04359882803158958, + 0.6467056128075105, + 0.30079015724640756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.6248396828547585, + -0.05139553865607731, + 0.7790596057659622, + 0.2103347138026663 + ], + [ + -0.006008405034395734, + 0.9974848886151734, + 0.07062433046279341, + 0.061268393111379243 + ], + [ + -0.7807299595884019, + -0.048809789905580055, + 0.6229593362415125, + 0.3177588444209824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.601888875622868, + -0.051074742915860824, + 0.796944886449194, + 0.22906805276489425 + ], + [ + -0.013474157555836492, + 0.9971610833698772, + 0.0740825275673933, + 0.06716340454609418 + ], + [ + -0.7984661724078238, + -0.05532761018417313, + 0.599491974151204, + 0.3357624836578519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.5789794066791976, + -0.05166791643261809, + 0.8137034306508218, + 0.24772583051415537 + ], + [ + -0.021579142911053117, + 0.9966694918548014, + 0.07864009535292271, + 0.07363073583024896 + ], + [ + -0.8150565546222109, + -0.06309001836585898, + 0.5759361616967343, + 0.35550891064520024 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.5568457344234945, + -0.05382211408816439, + 0.8288703204298244, + 0.2647934121757405 + ], + [ + -0.028959153407062337, + 0.9960337310681967, + 0.08413188461168312, + 0.08281041789147535 + ], + [ + -0.830110953721432, + -0.07085186383891358, + 0.5530784916286717, + 0.3753070632974257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.5317429603641282, + -0.05819037069681906, + 0.8449043169858704, + 0.28575984093365764 + ], + [ + -0.036327328433888036, + 0.9951513443362567, + 0.09140091397025216, + 0.0876911947551005 + ], + [ + -0.8461263199499528, + -0.07929490919288443, + 0.5270508211397099, + 0.39637312680777265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.5102561024306225, + -0.06412270151747264, + 0.8576287011769202, + 0.30679896370894316 + ], + [ + -0.04108584229233699, + 0.9942604843334145, + 0.09878280648074969, + 0.09376596661728721 + ], + [ + -0.8590405482254254, + -0.08564092738396253, + 0.5046929443348456, + 0.4121668537724173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.488754113342365, + -0.06990144025506435, + 0.8696167002428061, + 0.32832437224849303 + ], + [ + -0.0467363020710832, + 0.9932557507797777, + 0.10610717040625077, + 0.10234825950479969 + ], + [ + -0.8711688325230875, + -0.09250298477978071, + 0.48219089896761075, + 0.4282382562253015 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.46995192762143717, + -0.07319322623960499, + 0.8796521683924469, + 0.350410328350646 + ], + [ + -0.051834365833639, + 0.9925480678413483, + 0.11027933416116954, + 0.10430847554198514 + ], + [ + -0.8811687603651869, + -0.09742219796865813, + 0.46265595327352665, + 0.4445830105543376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.4568559794757895, + -0.07568466742605597, + 0.8863150935947242, + 0.37010569288936856 + ], + [ + -0.05595671903138659, + 0.9919554050091481, + 0.11354875634889082, + 0.11187900100587711 + ], + [ + -0.8877789474933835, + -0.10147071296558736, + 0.448945692481614, + 0.46077905273534064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.4506117123391503, + -0.07823251120090209, + 0.8892855328262006, + 0.39143313314408934 + ], + [ + -0.05824127812170023, + 0.9914542715255803, + 0.11673209068817177, + 0.11820045289781603 + ], + [ + -0.8908181847187053, + -0.10439397331686119, + 0.4422045455550959, + 0.47854931498883196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.44912890280767526, + -0.07996462646811454, + 0.8898813893865795, + 0.4138298008649827 + ], + [ + -0.057377130539886925, + 0.9913496603302464, + 0.118041161694191, + 0.12209249128025605 + ], + [ + -0.8916227305053314, + -0.1040745380817051, + 0.4406556444314508, + 0.49363542342462097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.450979787771764, + -0.08150375323093977, + 0.88880502318034, + 0.4354312061954233 + ], + [ + -0.05563177277318053, + 0.9913186699168439, + 0.11913186195309972, + 0.12816769967763922 + ], + [ + -0.8907987072731122, + -0.10317186090969413, + 0.4425304850933807, + 0.506001939001711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.4576732062579627, + -0.08440978716053911, + 0.885104640200846, + 0.4578721551921015 + ], + [ + -0.05320893855242471, + 0.9910989314676193, + 0.12203162254869782, + 0.13249469233383548 + ], + [ + -0.8875269264262808, + -0.10294608236963682, + 0.4491080705053777, + 0.5179817966449806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.4696834050104106, + -0.08718554686112505, + 0.8785193108158483, + 0.4803998737788606 + ], + [ + -0.04996162402904429, + 0.9908918649642944, + 0.1250485828466797, + 0.13582637549269988 + ], + [ + -0.8814200673811591, + -0.10262549569239146, + 0.4610495336205036, + 0.5311243964050282 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.48430046200818117, + -0.0883307132128375, + 0.8704313572028375, + 0.5007070020835285 + ], + [ + -0.04683780155543718, + 0.99084610932736, + 0.12661045761028947, + 0.14290521327130434 + ], + [ + -0.8736471157418857, + -0.1020865942920268, + 0.4757300121095361, + 0.5461677668889577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.5012267995877606, + -0.08985181346505201, + 0.8606383369290801, + 0.5223687803484971 + ], + [ + -0.04283215710540382, + 0.9907989218580264, + 0.12838575763172036, + 0.15129700196425616 + ], + [ + -0.864255229485312, + -0.10121337886867691, + 0.49276642564736167, + 0.5643902984620843 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.5194569083060713, + -0.09220946249371167, + 0.8495068778060122, + 0.5443430839986394 + ], + [ + -0.03669203169620247, + 0.990836616160708, + 0.12998651809015785, + 0.15559576517436668 + ], + [ + -0.8537085071750796, + -0.0986925280951848, + 0.5113135727467817, + 0.5797910140012934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.5391575477583006, + -0.09432878782368585, + 0.8369057405006672, + 0.5661419209539972 + ], + [ + -0.030031726869192504, + 0.9909226967682686, + 0.13103550820581578, + 0.16231744601282033 + ], + [ + -0.841669313968681, + -0.09578250788748563, + 0.5314305948157988, + 0.5922438866281637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.5585742204322591, + -0.0977149332442587, + 0.823678718973341, + 0.5884610621467717 + ], + [ + -0.023701503844672497, + 0.9907507755820133, + 0.1336081561849432, + 0.16780923132778375 + ], + [ + -0.8291158417157369, + -0.09415249600891773, + 0.5510918512474084, + 0.6045084001198331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.5766784388472054, + -0.09956038865643557, + 0.8108820550359525, + 0.6096053534541701 + ], + [ + -0.018892277810145783, + 0.9906560947747516, + 0.1350688110734026, + 0.16963711178830418 + ], + [ + -0.8167527532906725, + -0.09321068016175907, + 0.5694090876477894, + 0.6185510325395825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.5949546828788226, + -0.10164090308604073, + 0.79730674908746, + 0.6275576628254583 + ], + [ + -0.01362040625393613, + 0.9905547213982524, + 0.13643983453928862, + 0.1777141084697719 + ], + [ + -0.8036438327107586, + -0.09203516032193781, + 0.5879507797515688, + 0.6327241190513652 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.6116673389439786, + -0.10472939772444907, + 0.7841522937041414, + 0.6468895970205173 + ], + [ + -0.008735421167265292, + 0.9902442400047001, + 0.13906846355138983, + 0.18155839510529248 + ], + [ + -0.7910668485572014, + -0.09191353757628909, + 0.6047852037905604, + 0.6484091804714668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.625557327265626, + -0.10757802849447633, + 0.7727256939493654, + 0.6668566648320914 + ], + [ + -0.0032693513491145326, + 0.9900775220010206, + 0.1404842046995839, + 0.18540548540061666 + ], + [ + -0.7801713540281023, + -0.0904072354049176, + 0.6189985380761389, + 0.6622262231711483 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.6367850624905385, + -0.10981250006866775, + 0.763181498083903, + 0.6869835207042239 + ], + [ + 0.0009286453613999365, + 0.989914680359022, + 0.14166179169941548, + 0.19301535507534154 + ], + [ + -0.7710408042423659, + -0.08949938792173202, + 0.6304648584615336, + 0.6742707690393778 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.6454176513780681, + -0.11275162855267978, + 0.7554621933282546, + 0.7112809604627046 + ], + [ + 0.0041354254662622145, + 0.9895464322659782, + 0.14415532125414965, + 0.19798814285754046 + ], + [ + -0.763818665355745, + -0.08991623128441618, + 0.6391370101987334, + 0.688440980840722 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.6498090140151614, + -0.11456257425804815, + 0.7514144408274392, + 0.7327691511425507 + ], + [ + 0.00499129197649012, + 0.9891981787102496, + 0.14649931822616402, + 0.20162905794317668 + ], + [ + -0.7600811353461217, + -0.09144604866091621, + 0.6433617084310009, + 0.7035383309419819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.6518044669558208, + -0.11650685911421503, + 0.7493844731750046, + 0.7524072983339123 + ], + [ + 0.0043823663317958395, + 0.9886914197407081, + 0.1499002047911785, + 0.20746623354194077 + ], + [ + -0.7583744007558355, + -0.09442154579566976, + 0.6449440595646913, + 0.7207620943063475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.6526280577050749, + -0.11881946777194463, + 0.7483037834826798, + 0.7722847901947608 + ], + [ + 0.0040227496701962795, + 0.9881565940117941, + 0.15339609902504503, + 0.21172710334867179 + ], + [ + -0.7576677608168323, + -0.09710035936803889, + 0.6453766996331718, + 0.7389023876288436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.653275504353073, + -0.12106504056753803, + 0.7473783321481956, + 0.7931365271760683 + ], + [ + 0.004835014504632494, + 0.98777985462943, + 0.155780555343093, + 0.2144059133600943 + ], + [ + -0.7571048395347756, + -0.09815403578377632, + 0.6458777339499939, + 0.7553069836808602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.6543996533703933, + -0.12401271574169023, + 0.7459101420433164, + 0.8141989118926528 + ], + [ + 0.006339695243707678, + 0.9873245560014172, + 0.15858760790434273, + 0.2206220646425649 + ], + [ + -0.7561222797490671, + -0.09905083266169636, + 0.6468910500355516, + 0.7687815886443045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.6562125648141993, + -0.12718212478850927, + 0.7437807317444102, + 0.836326633260882 + ], + [ + 0.007741043072357262, + 0.9867762701127439, + 0.16190327048745165, + 0.2275932824713549 + ], + [ + -0.7545363782032793, + -0.10048532169755484, + 0.6485195094144947, + 0.7817779421202005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.6578790955976722, + -0.1293852597854307, + 0.7419262430497021, + 0.8585649564018354 + ], + [ + 0.008516832894057975, + 0.986347305784668, + 0.16445806738734764, + 0.23137877787471972 + ], + [ + -0.7530754006957362, + -0.10187466280475872, + 0.6499992261113647, + 0.7964830057038739 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6588299613884598, + -0.12974452697323938, + 0.7410191898307161, + 0.8789417462214348 + ], + [ + 0.008036898436622898, + 0.9861732030072555, + 0.16552287435254928, + 0.24137933160805508 + ], + [ + -0.7522489549613212, + -0.10309593295033889, + 0.6507631968455956, + 0.8112852973262192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.6611726273422249, + -0.13161923040677992, + 0.7385980876231043, + 0.9019442528826507 + ], + [ + 0.008640584339940742, + 0.9857611845084027, + 0.1679292333658909, + 0.24509466161518567 + ], + [ + -0.7501840421894111, + -0.10464829336266532, + 0.6528955793544919, + 0.8263768989765075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.6646146674907918, + -0.13322269119018615, + 0.7352136140661085, + 0.9256028466062987 + ], + [ + 0.010382339147797903, + 0.9855279183175639, + 0.16919494451805983, + 0.24761018094586165 + ], + [ + -0.7471141484337749, + -0.10481620470468074, + 0.6563794728976386, + 0.8383352369114669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.6679791813743606, + -0.13389124162965188, + 0.7320361662276729, + 0.9512224114736536 + ], + [ + 0.011477025323977347, + 0.9854181346477823, + 0.16976271026641254, + 0.25664152768736054 + ], + [ + -0.7440914534787721, + -0.10499635861378874, + 0.6597754720643174, + 0.8500585716316088 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.6703911054583138, + -0.13460165814558303, + 0.7296973066599874, + 0.975373796996712 + ], + [ + 0.012622553882734096, + 0.9853354940152284, + 0.17016061638123936, + 0.261455033424765 + ], + [ + -0.7419005572553896, + -0.10486352014988548, + 0.6622591677628307, + 0.861068936837403 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.6727428416470718, + -0.1341224968872796, + 0.7276181861672679, + 1.000346873278775 + ], + [ + 0.013401658506057866, + 0.9854797284365622, + 0.1692634053476621, + 0.26959028453398337 + ], + [ + -0.7397550030664952, + -0.10411945384663536, + 0.6647718967952605, + 0.873475973428842 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.6752952705593784, + -0.13337993595784442, + 0.7253868555770896, + 1.0259311497491626 + ], + [ + 0.014371581243361672, + 0.9857049619950208, + 0.16786657067731017, + 0.2796449139960977 + ], + [ + -0.7374074553547053, + -0.10293454513561637, + 0.6675587795880018, + 0.8863620175055837 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.6779563400226649, + -0.1330217221852048, + 0.7229664047865263, + 1.0523822164316203 + ], + [ + 0.015470042142333162, + 0.9858550267285839, + 0.1668848227673737, + 0.2855339785722769 + ], + [ + -0.7349393708457777, + -0.10195630289916109, + 0.670424517361908, + 0.898282161886048 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.6802748861499691, + -0.1326554768460581, + 0.72085269211982, + 1.078548018834156 + ], + [ + 0.016321477950631033, + 0.9859833277676979, + 0.16604362897035152, + 0.2908913029647506 + ], + [ + -0.7327753329849156, + -0.10118992947364691, + 0.6729048294833117, + 0.9085266818092148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.6817850406380217, + -0.13233523738998706, + 0.7194835253896695, + 1.1037526328500762 + ], + [ + 0.016830201599860595, + 0.986079248415358, + 0.16542206672240262, + 0.2984712160170301 + ], + [ + -0.7313589424327288, + -0.10067323770267222, + 0.6745213091772135, + 0.9185047583951824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.6826527914767244, + -0.1324236141270776, + 0.7186439679775786, + 1.1284581519975774 + ], + [ + 0.017069593759030097, + 0.9860643854074251, + 0.16548612268096252, + 0.3035896035193555 + ], + [ + -0.7305434930638542, + -0.10070260300806405, + 0.6754000225714112, + 0.930422896086443 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6836227496934768, + -0.13198089936111967, + 0.7178028826254187, + 1.1512862470376721 + ], + [ + 0.017024821055081588, + 0.9861293174345319, + 0.16510337599258007, + 0.3098572469204435 + ], + [ + -0.7296369587470012, + -0.10064795825020405, + 0.6763873867322577, + 0.9440884284758188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.6848295391773742, + -0.13094697993118778, + 0.7168412590783307, + 1.1750910469340767 + ], + [ + 0.016634877804925445, + 0.9862746461763414, + 0.16427295319116958, + 0.3192825731987485 + ], + [ + -0.7285134062668447, + -0.10057440408291808, + 0.6776082984533509, + 0.9601460578184192 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.6867251971893333, + -0.13007423283388075, + 0.7151847296314069, + 1.1998781634785856 + ], + [ + 0.017492522662390778, + 0.9865321997235126, + 0.16262911965448631, + 0.3211571483588198 + ], + [ + -0.7267066225074441, + -0.09917112917258161, + 0.6797518458543957, + 0.974495796508011 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.6893265824896606, + -0.12702666333845364, + 0.7132272355106921, + 1.2251674585507335 + ], + [ + 0.019116869553942158, + 0.9873542203874932, + 0.15737277013976453, + 0.3301566869638063 + ], + [ + -0.7241984589679702, + -0.09484656179379812, + 0.6830378625993676, + 0.9850016932342804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.6906969039106179, + -0.12545428425853644, + 0.7121790571825778, + 1.2512958433613979 + ], + [ + 0.019640597809295356, + 0.98772775710131, + 0.1549455542095656, + 0.33866928526262274 + ], + [ + -0.7228776064078762, + -0.0930327921369356, + 0.6846845008770285, + 0.9967360316445109 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.691430961778042, + -0.1236522522165267, + 0.7117818104001202, + 1.2755030365577384 + ], + [ + 0.01942815498144084, + 0.9880697170899183, + 0.1527768993135623, + 0.34297207037698774 + ], + [ + -0.722181259718576, + -0.09180607110441938, + 0.6855843299111068, + 1.0113710494632413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.6918532119095182, + -0.121688639327967, + 0.7117099185967494, + 1.2969368313735592 + ], + [ + 0.018387275586963077, + 0.9883453661879582, + 0.15111368313716692, + 0.3534973976677532 + ], + [ + -0.7218040185999054, + -0.09146208063071262, + 0.6860274386201536, + 1.0274095536598338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.692573093301235, + -0.1212912322819763, + 0.7110773146477666, + 1.3211540515110647 + ], + [ + 0.01806511469050276, + 0.9883694424420496, + 0.15099502269283963, + 0.3592281674143456 + ], + [ + -0.7211214613824622, + -0.0917293966965435, + 0.6867092220986335, + 1.0444495814245456 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6934844760656325, + -0.12136530103945875, + 0.7101758550947622, + 1.346225589681898 + ], + [ + 0.018669724775144093, + 0.9884059133226591, + 0.15068242062570025, + 0.3637723670154906 + ], + [ + -0.7202296320152314, + -0.09123713176334318, + 0.6877100137083965, + 1.058215389533741 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6944208058464656, + -0.12136687930095283, + 0.7092600545753956, + 1.3708760160552982 + ], + [ + 0.01957718999181582, + 0.9884949892218629, + 0.14998129855183104, + 0.3703301946997856 + ], + [ + -0.7193027721617439, + -0.09026481536023367, + 0.6888075094454278, + 1.0692835672971934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.6953572522457263, + -0.12168264511276647, + 0.7082878127058477, + 1.3961138042699008 + ], + [ + 0.02039067555635779, + 0.9885052607994188, + 0.14980510579492465, + 0.3745249181269358 + ], + [ + -0.7183749105443681, + -0.08972559974853186, + 0.6898454933172629, + 1.080679572978581 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.6962951772372394, + -0.12196030257264541, + 0.7073179700478069, + 1.420840950035776 + ], + [ + 0.020671068486705926, + 0.9884566592425628, + 0.15008710712999415, + 0.37683747402515866 + ], + [ + -0.7174578266935134, + -0.08988391065936777, + 0.6907786545057681, + 1.0935369428308195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6972391968394411, + -0.12153871441321487, + 0.706460079048685, + 1.445368825356312 + ], + [ + 0.020092846755474465, + 0.9884482283584116, + 0.15022109493802363, + 0.38392944709892207 + ], + [ + -0.7165568922981289, + -0.09054524147574342, + 0.6916269076215494, + 1.1092953311264964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6979991331039785, + -0.12150565634958524, + 0.705714946462912, + 1.4687666533421504 + ], + [ + 0.019887957349798972, + 0.9884087837306379, + 0.15050762570904377, + 0.3888865244236405 + ], + [ + -0.7158223797413341, + -0.09101896351408059, + 0.6923249735075829, + 1.1246071031616682 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6987193785385455, + -0.12200669254908902, + 0.7049153119545217, + 1.4931228288944745 + ], + [ + 0.020604024158530444, + 0.98837324131107, + 0.15064464825782614, + 0.39070297645653196 + ], + [ + -0.715099087010453, + -0.09073424289363707, + 0.6931093657737826, + 1.1367137262405698 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6990504302680728, + -0.12219593814406247, + 0.7045542198036396, + 1.5166887158329543 + ], + [ + 0.02133828663937072, + 0.9884167193526875, + 0.1502566684955021, + 0.3968974303756638 + ], + [ + -0.7147539251136148, + -0.09000300886727962, + 0.6935605849019377, + 1.145558309498013 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6990877348610552, + -0.12273595765400083, + 0.7044233270311219, + 1.5422438332618098 + ], + [ + 0.02228692901596633, + 0.9884195538535016, + 0.15010022769830467, + 0.4013642696985045 + ], + [ + -0.7146884858187356, + -0.08923379549700294, + 0.6937273945717604, + 1.15491804086242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_017/orbit_left/transforms.json b/spatialvid_eval/camera_controls/scene_017/orbit_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..b114487b92c7a321220a998138b790ab61505059 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_017/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": [ + [ + 0.9703277012114079, + -0.22038030216138393, + -0.09948203195070904, + -0.13204256365302253 + ], + [ + 0.2136316359375161, + 0.9740946292959383, + -0.07416992182461331, + -0.05210480348800095 + ], + [ + 0.11325050281762711, + 0.05071662051108865, + 0.9922712068862469, + -0.094497417975298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9789683509300058, + -0.20330556531400107, + -0.01696511095571913, + -0.12379976650681929 + ], + [ + 0.20212447394556066, + 0.9778369036771449, + -0.054595666854842705, + -0.04817794502877306 + ], + [ + 0.027688714481098265, + 0.05001836582145653, + 0.9983644115106145, + -0.07382238481156131 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9803498613527812, + -0.18660895135796543, + 0.06396286906216334, + -0.11359299580029575 + ], + [ + 0.18930695428379415, + 0.9811414595852634, + -0.03904245564373015, + -0.04546677350770053 + ], + [ + -0.05547095100479566, + 0.05038388190661422, + 0.9971882660955474, + -0.053534631517595396 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9749893565576497, + -0.17055266389284285, + 0.1425045383079267, + -0.10073001858709935 + ], + [ + 0.1758827652821782, + 0.9840784675591534, + -0.025589501033091072, + -0.03826713142881727 + ], + [ + -0.1358712901094068, + 0.050013583409743004, + 0.989463306039452, + -0.03427996118401737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9652995185379111, + -0.15719166902918202, + 0.2085368521348142, + -0.08545789184384585 + ], + [ + 0.16374933751660237, + 0.9863961049498943, + -0.01445263306636879, + -0.030954830707809883 + ], + [ + -0.20342810517072393, + 0.04809889112544437, + 0.9779077168624613, + -0.014331856310758149 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9529680815611005, + -0.1443597760957546, + 0.26648093847654375, + -0.06866528063890978 + ], + [ + 0.15112676620564316, + 0.9885019974173508, + -0.004949912941956548, + -0.023977360724224947 + ], + [ + -0.2627023716337193, + 0.0449895115275958, + 0.9638274782296506, + 0.008869678751354993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9405463170399345, + -0.13431985240569896, + 0.31197884984775237, + -0.055958962510027604 + ], + [ + 0.1405848721927774, + 0.9900656426091895, + 0.0024324957129095923, + -0.01572714148777335 + ], + [ + -0.3092062729201263, + 0.041571631848703404, + 0.9500859330672571, + 0.03083453318944993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9270213816922781, + -0.12609520074857178, + 0.35317326942099836, + -0.043283545439153914 + ], + [ + 0.13103775616708865, + 0.991327083459907, + 0.009985993068741367, + -0.00955318804381176 + ], + [ + -0.3513694129317951, + 0.037021803670968155, + 0.9355046347875108, + 0.05326696193955237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9120167648358031, + -0.11884653009527461, + 0.39255690408238797, + -0.029534452189982695 + ], + [ + 0.12177212791110442, + 0.992403092408949, + 0.017539984069472873, + -0.0046221588350940715 + ], + [ + -0.3916592518024281, + 0.031805730009995516, + 0.9195604526164085, + 0.07466188983142603 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.8949328761182078, + -0.11199787228135295, + 0.43191622318135076, + -0.015390124371939047 + ], + [ + 0.11231486251067747, + 0.993361487249005, + 0.02486618808045496, + 0.0028861249670844246 + ], + [ + -0.4318339019831586, + 0.026257042005806634, + 0.901570878435581, + 0.0947290369366604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.8760823908638273, + -0.10558976363589154, + 0.4704576986654986, + -0.0006257615586638988 + ], + [ + 0.10258537982836388, + 0.9942059223978362, + 0.032106443504974595, + 0.010479017580770276 + ], + [ + -0.47112194203177465, + 0.020134191922805585, + 0.8818382675138481, + 0.11588658116716238 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.8568707198453259, + -0.09930447133049038, + 0.505876656355603, + 0.014221948544584747 + ], + [ + 0.09291846104192082, + 0.994951284886375, + 0.03792229292319382, + 0.015755382851880453 + ], + [ + -0.507088482485408, + 0.014510777950312853, + 0.8617718423422308, + 0.13839686354568564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.8376831734323439, + -0.09407541784175338, + 0.5379932310970257, + 0.026883528382673202 + ], + [ + 0.08365820267808793, + 0.9955304854645087, + 0.043821885348216336, + 0.024634193497647606 + ], + [ + -0.5397112247053885, + 0.00829869078227219, + 0.8418093166853825, + 0.1611911662853588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.8161961088463086, + -0.08970493921324818, + 0.5707687235517486, + 0.04072205119552499 + ], + [ + 0.07341126224000782, + 0.9959683692247511, + 0.05155379792138532, + 0.02998927442554833 + ], + [ + -0.5730922251090775, + -0.0001771568166316663, + 0.8194908603120531, + 0.18557919519299285 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.7904490927623918, + -0.08506489607196382, + 0.6065922808669575, + 0.055555435640529935 + ], + [ + 0.06319535146724255, + 0.996350708919189, + 0.05737257523557066, + 0.03426123208917213 + ], + [ + -0.6092590412164957, + -0.00701628765769521, + 0.792940219943131, + 0.20818305563856482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.7605409051096562, + -0.07893470643232894, + 0.6444740830905672, + 0.07142742781528394 + ], + [ + 0.052026559845138, + 0.9967997995247041, + 0.06069099388039674, + 0.044319123629184866 + ], + [ + -0.6472022626085802, + -0.012628213965249702, + 0.7622137229717022, + 0.23002659651666077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.7243601261529755, + -0.07166199951514612, + 0.6856872213080372, + 0.09016908323053939 + ], + [ + 0.03827414987087685, + 0.997229200054645, + 0.06378880787438497, + 0.051279366298087624 + ], + [ + -0.6883585527116719, + -0.019961973446148498, + 0.7250958712645027, + 0.2561952472682352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.6904654018106134, + -0.06437672748134367, + 0.7204950838564418, + 0.10537531757914759 + ], + [ + 0.02562577878446156, + 0.9975836417882888, + 0.06457706325085552, + 0.05891889340501183 + ], + [ + -0.7229113696465135, + -0.026124980291054097, + 0.6904466938443504, + 0.28146715841445197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.6572414992477333, + -0.058713567950115744, + 0.7513895984142703, + 0.12022748046055742 + ], + [ + 0.013610117449587835, + 0.9977230087146234, + 0.06605726746125323, + 0.06754168254889678 + ], + [ + -0.7535571487084439, + -0.03318907681762575, + 0.656544064637244, + 0.3072208476466391 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.6259794729827772, + -0.055028456782401786, + 0.7778956024739772, + 0.1372108782676987 + ], + [ + 0.004127598013412596, + 0.9977270888126697, + 0.06725785592802475, + 0.0733610326749947 + ], + [ + -0.7798286108747513, + -0.03889119686436251, + 0.6247838125844917, + 0.33215392695378465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.5971003584302105, + -0.05266964862528134, + 0.8004355502326241, + 0.15532148385432687 + ], + [ + -0.003532382503872262, + 0.9976597868551991, + 0.06828229613805514, + 0.07999905955174812 + ], + [ + -0.8021587649813227, + -0.04359882803158958, + 0.5955169669773577, + 0.35448137382911965 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.5698681128597743, + -0.05139553865607731, + 0.8201273270364129, + 0.1735022490112891 + ], + [ + -0.010843872297962723, + 0.9974848886151734, + 0.07004503849638943, + 0.08849227971900227 + ], + [ + -0.8216646179428838, + -0.048809789905580055, + 0.5678775044233996, + 0.3750924218421151 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.5430033171746445, + -0.051074742915860824, + 0.838175857546262, + 0.1922916043091093 + ], + [ + -0.01876820539444462, + 0.9971610833698772, + 0.07292138423593612, + 0.09623854345276148 + ], + [ + -0.8395207871182255, + -0.05532761018417313, + 0.5405031947617921, + 0.39668947201535576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.5161527037377756, + -0.0516679164326181, + 0.8549367303114873, + 0.21112954819312002 + ], + [ + -0.027431489405665473, + 0.9966694918548016, + 0.07679477452847489, + 0.10466108193279443 + ], + [ + -0.8560571825603541, + -0.063090018365859, + 0.5130163250515763, + 0.41998587616486255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.49009674904556255, + -0.053822114088164404, + 0.8700048026361993, + 0.22841498576187377 + ], + [ + -0.035470793590249274, + 0.9960337310681969, + 0.08160042509966028, + 0.11580000128832521 + ], + [ + -0.8709460370063401, + -0.07085186383891359, + 0.48624378043683314, + 0.4432897724735161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.4609179190884235, + -0.05819037069681906, + 0.8855329201228853, + 0.24993020785708875 + ], + [ + -0.04367520308018788, + 0.9951513443362567, + 0.08812649148607558, + 0.12270111647696628 + ], + [ + -0.8863673891220851, + -0.07929490919288443, + 0.4561416105520196, + 0.46794279445785764 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.4355270820389151, + -0.06412270151747264, + 0.8978888795172648, + 0.2712916483598558 + ], + [ + -0.04933199106893467, + 0.9942604843334145, + 0.09493389252663446, + 0.1306293481756527 + ], + [ + -0.8988228498807999, + -0.08564092738396253, + 0.42986406698975455, + 0.4872317647043377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.41011046072458857, + -0.06990144025506435, + 0.9093531759742931, + 0.29327245033015475 + ], + [ + -0.055917133556621174, + 0.9932557507797777, + 0.10156912777862999, + 0.141173359833762 + ], + [ + -0.9103200998434985, + -0.09250298477978071, + 0.403435885399099, + 0.506759333349844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.38749084797995714, + -0.07319322623960499, + 0.9189633259082822, + 0.3157678845062363 + ], + [ + -0.06170765449571466, + 0.9925480678413483, + 0.10507377599117641, + 0.1450583473065541 + ], + [ + -0.9198059622052964, + -0.09742219796865813, + 0.3800867101524919, + 0.5265129903836795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.3708130815562515, + -0.07568466742605597, + 0.9256184363242579, + 0.33544669065804317 + ], + [ + -0.06646478992501394, + 0.9919554050091481, + 0.10773535247708191, + 0.15448989186774262 + ], + [ + -0.9263261252102203, + -0.10147071296558736, + 0.36279967497680427, + 0.5459391773400606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.3612766689154541, + -0.07823251120090209, + 0.9291710513616716, + 0.35612745520824596 + ], + [ + -0.06940257616252916, + 0.9914542715255803, + 0.11046135023475466, + 0.16252430115180946 + ], + [ + -0.9298722766699508, + -0.10439397331686119, + 0.3527597587817534, + 0.5667452159006487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.3566985044386918, + -0.07996462646811454, + 0.9307909730143583, + 0.37743672956478336 + ], + [ + -0.06903655712981159, + 0.9913496603302464, + 0.11162349547818162, + 0.167820364677498 + ], + [ + -0.9316652460572216, + -0.1040745380817051, + 0.3480924587120739, + 0.5848438043359637 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.35560385008994433, + -0.08150375323093977, + 0.931076280446709, + 0.39759631155553377 + ], + [ + -0.06777968655725236, + 0.9913186699168439, + 0.11266414143151238, + 0.17520359930039764 + ], + [ + -0.9321758503047636, + -0.10317186090969413, + 0.34699243684123976, + 0.6001288771318998 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.35960827379257465, + -0.08440978716053911, + 0.9292776104326615, + 0.4179684266297967 + ], + [ + -0.06605183884095664, + 0.9910989314676193, + 0.1155857371368624, + 0.18077348877282826 + ], + [ + -0.9307626142071099, + -0.10294608236963682, + 0.35083195424460834, + 0.6148026621762783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.36923243710671017, + -0.08718554686112506, + 0.9252383951213687, + 0.4377525069557 + ], + [ + -0.06353749241179196, + 0.9908918649642946, + 0.11872783584991337, + 0.185245857210489 + ], + [ + -0.9271625501745965, + -0.10262549569239149, + 0.36032986718787285, + 0.6303940402185826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.3816482603334332, + -0.0883307132128375, + 0.9200773285369962, + 0.45497949107070007 + ], + [ + -0.061000834862746094, + 0.99084610932736, + 0.12042792772808725, + 0.19344577009166336 + ], + [ + -0.9222925260081599, + -0.1020865942920268, + 0.3727664466329328, + 0.6477193743433736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.3965953341759879, + -0.08985181346505201, + 0.9135856788100821, + 0.47314477308814024 + ], + [ + -0.05762539198739949, + 0.9907989218580264, + 0.12246146595264731, + 0.20284014092203193 + ], + [ + -0.9161830903853966, + -0.10121337886867691, + 0.3877684835437901, + 0.6680500413159961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.41304468151691137, + -0.09220946249371167, + 0.9060306319861456, + 0.4912850644320853 + ], + [ + -0.05212401680803067, + 0.990836616160708, + 0.12460291708862277, + 0.2078626318311336 + ], + [ + -0.9092178935449906, + -0.0986925280951848, + 0.40445346698451207, + 0.6854765908330772 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.4311889813470173, + -0.09432878782368588, + 0.8973171914950901, + 0.5089233027400379 + ], + [ + -0.04605273661554295, + 0.9909226967682688, + 0.1262986717258801, + 0.21519918614079853 + ], + [ + -0.9010855718604873, + -0.09578250788748566, + 0.42293084939224135, + 0.6997695681083576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.44919251368077606, + -0.0977149332442587, + 0.8880753782614491, + 0.5269020152841666 + ], + [ + -0.04051451252917411, + 0.9907507755820133, + 0.12950472948183242, + 0.22131823834376915 + ], + [ + -0.8925159157839534, + -0.09415249600891773, + 0.44107895842765105, + 0.7136858387667807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.46590352787671985, + -0.0995603886564356, + 0.8792164874037601, + 0.5438147205857115 + ], + [ + -0.03636066935161629, + 0.9906560947747518, + 0.13144734158567334, + 0.22391593624408057 + ], + [ + -0.8840881202891085, + -0.09321068016175908, + 0.4579300870956758, + 0.7292871544598148 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.4829517621039571, + -0.10164090308604073, + 0.8697279587897224, + 0.5573543239980576 + ], + [ + -0.031749545970214586, + 0.9905547213982524, + 0.13339156737333868, + 0.23266936421284634 + ], + [ + -0.8750711752831128, + -0.09203516032193781, + 0.4751630956346959, + 0.7448738536084397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.49846037051292413, + -0.10472939772444907, + 0.8605631948209221, + 0.5723056007049343 + ], + [ + -0.027707136229444186, + 0.9902442400047001, + 0.13656009570689664, + 0.2372209742892065 + ], + [ + -0.8664696034080372, + -0.09191353757628909, + 0.49069575908105295, + 0.7618928490336996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.5109968325988814, + -0.10757802849447633, + 0.852824252035056, + 0.588202159492395 + ], + [ + -0.022940399857691383, + 0.9900775220010206, + 0.13863707470474043, + 0.2416499185121828 + ], + [ + -0.8592764253302194, + -0.0904072354049176, + 0.5034585947803054, + 0.7772374336294073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.5206843059845963, + -0.10981250006866775, + 0.8466575862354324, + 0.6045998056215786 + ], + [ + -0.01940838675714431, + 0.989914680359022, + 0.140329042372493, + 0.24998332406117796 + ], + [ + -0.8535286568269543, + -0.08949938792173202, + 0.5133017548545991, + 0.7909217402909022 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.5275826537996801, + -0.11275162855267978, + 0.8419878940153507, + 0.6254548268609743 + ], + [ + -0.01706131295294974, + 0.9895464322659782, + 0.143201850511771, + 0.2558110558779696 + ], + [ + -0.8493323583909943, + -0.08991623128441618, + 0.520143841972198, + 0.8068344395800409 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.5297731639864189, + -0.11456257425804815, + 0.8403664744022029, + 0.6441988077882772 + ], + [ + -0.01703518179095535, + 0.9891981787102496, + 0.14559109113429486, + 0.26063545425090434 + ], + [ + -0.8479682761171955, + -0.09144604866091621, + 0.5220990546660063, + 0.8240013411950678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.5293031298463716, + -0.11650685911421503, + 0.8403953525062927, + 0.6614532279641562 + ], + [ + -0.018634293409027832, + 0.9886914197407081, + 0.14880201490655148, + 0.26788627732870085 + ], + [ + -0.8482281295995681, + -0.09442154579566976, + 0.5211464399241108, + 0.8434412120558936 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.5275326212838596, + -0.11881946777194463, + 0.8411844432464096, + 0.6791067795712017 + ], + [ + -0.0200232137438554, + 0.9881565940117941, + 0.15213683519246207, + 0.27352790764723867 + ], + [ + -0.8492987721601559, + -0.09710035936803889, + 0.5189056906778433, + 0.8639300805458809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.5255639354026984, + -0.12106504056753806, + 0.84209607869673, + 0.6977578145375795 + ], + [ + -0.02009984406293527, + 0.9877798546294302, + 0.1545540522176891, + 0.27739215812431695 + ], + [ + -0.8505166348006807, + -0.09815403578377635, + 0.516708079273668, + 0.8827961012886367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.5241536688185837, + -0.12401271574169023, + 0.8425460093065481, + 0.7164763536287871 + ], + [ + -0.019578185424438923, + 0.9873245560014172, + 0.15750211354801222, + 0.28468166678697615 + ], + [ + -0.8513986293854984, + -0.09905083266169636, + 0.5150818443990429, + 0.898679114375669 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.5235351075673299, + -0.12718212478850927, + 0.8424581285017934, + 0.7361021931404597 + ], + [ + -0.019262437134940982, + 0.9867762701127439, + 0.16093958884626078, + 0.2927399288176735 + ], + [ + -0.851786328641219, + -0.10048532169755484, + 0.5141621830349372, + 0.9139556743287395 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.5227318876408963, + -0.1293852597854307, + 0.8426214026439407, + 0.7559106893568511 + ], + [ + -0.019457075853292795, + 0.986347305784668, + 0.16352496619955587, + 0.29770099798032196 + ], + [ + -0.8522750705274821, + -0.10187466280475872, + 0.5130777302083886, + 0.9309491403380575 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.5210647546460443, + -0.12974452697323938, + 0.8435981740059351, + 0.7741060385671389 + ], + [ + -0.020648596518034194, + 0.9861732030072555, + 0.16442642467756158, + 0.30907177503388633 + ], + [ + -0.8532673420021962, + -0.10309593295033889, + 0.5111810556755857, + 0.9481319473191616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.5210331042787132, + -0.13161923040677992, + 0.8433272688777561, + 0.7945390145816178 + ], + [ + -0.021015313729892585, + 0.9857611845084027, + 0.16683298146777115, + 0.3139863904740845 + ], + [ + -0.8532777161244294, + -0.10464829336266532, + 0.5108481906219887, + 0.9653890756892574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.5222628525334039, + -0.13322269119018618, + 0.8423142094347672, + 0.815406629761447 + ], + [ + -0.020074125008755776, + 0.9855279183175641, + 0.16832038415409495, + 0.31748137152331407 + ], + [ + -0.852548263952725, + -0.10481620470468077, + 0.5120302929148837, + 0.9794455319167814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.5233908128051361, + -0.13389124162965188, + 0.8415076900932332, + 0.8382904800929134 + ], + [ + -0.019651955240334352, + 0.9854181346477823, + 0.16901153973180957, + 0.3275906330537062 + ], + [ + -0.8518661031678693, + -0.10499635861378874, + 0.5131275737586452, + 0.9932552669812014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.5234380195486584, + -0.13460165814558303, + 0.8413649822255725, + 0.8598730448581451 + ], + [ + -0.019153073179951415, + 0.9853354940152284, + 0.16954976856819726, + 0.3334636139776376 + ], + [ + -0.8518484603958276, + -0.10486352014988548, + 0.513184024169725, + 1.00648845952286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.5233836242082998, + -0.1341224968872796, + 0.8414753340052858, + 0.8823618804865798 + ], + [ + -0.018773433087512073, + 0.9854797284365622, + 0.16875207569303755, + 0.34270427185469343 + ], + [ + -0.8518903333884559, + -0.10411945384663536, + 0.5132660121320954, + 1.0211601345549077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.5235602528523693, + -0.13337993595784442, + 0.8414834842806155, + 0.90542341894142 + ], + [ + -0.018105647198949897, + 0.9857049619950208, + 0.1675049654126769, + 0.35381585831290946 + ], + [ + -0.8517962474516255, + -0.10293454513561637, + 0.5136610090760768, + 1.0363017801592707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.5238858503336313, + -0.1330217221852048, + 0.8413375287285662, + 0.9292804400062284 + ], + [ + -0.01738482419287341, + 0.9858550267285839, + 0.16669623319609292, + 0.36073499625621 + ], + [ + -0.8516110518939918, + -0.10195630289916109, + 0.514162939729366, + 1.0504307898950176 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.5238214297948354, + -0.1326554768460581, + 0.8414354604783659, + 0.95290999082532 + ], + [ + -0.016928906832835766, + 0.9859833277676979, + 0.16598279874005578, + 0.36716556792299243 + ], + [ + -0.8516598627393097, + -0.10118992947364691, + 0.514233484296753, + 1.062906926793389 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.522820110456882, + -0.13233523738998706, + 0.842108376069725, + 0.975740713370805 + ], + [ + -0.016848456138961403, + 0.986079248415358, + 0.16542020847023636, + 0.3758848565050956 + ], + [ + -0.8522765171161218, + -0.10067323770267222, + 0.5133124171329525, + 1.075214451483625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.5210827623951898, + -0.1324236141270776, + 0.8431706477078773, + 0.9981751713075715 + ], + [ + -0.017168491700310696, + 0.9860643854074251, + 0.16547589166949142, + 0.38220360658069913 + ], + [ + -0.8533334621514234, + -0.10070260300806405, + 0.5115476401275503, + 1.0895152263416714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.519444341419209, + -0.1319808993611197, + 0.8442503292101196, + 1.0187469373501912 + ], + [ + -0.017674134194387143, + 0.9861293174345321, + 0.16503513043162543, + 0.389723122863458 + ], + [ + -0.8543214858283995, + -0.10064795825020408, + 0.50990664572255, + 1.1055496176124457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.5180613628650309, + -0.13094697993118778, + 0.8452604999367521, + 1.0402844173498202 + ], + [ + -0.018419957646632016, + 0.9862746461763414, + 0.16408238013275306, + 0.400467172288344 + ], + [ + -0.8551450926402627, + -0.10057440408291808, + 0.5085387495330547, + 1.1239335831935504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.517499108765525, + -0.13007423283388075, + 0.8457395381437269, + 1.0626182486357887 + ], + [ + -0.017766809582012294, + 0.9865321997235126, + 0.16259938310450012, + 0.4033826500968698 + ], + [ + -0.8554992769746586, + -0.09917112917258161, + 0.5082185299991248, + 1.1405933630322678 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.5176935366245216, + -0.12702666333845367, + 0.8460837009057051, + 1.0854633419784487 + ], + [ + -0.0155700803448634, + 0.9873542203874934, + 0.15776316452537364, + 0.41319477781270153 + ], + [ + -0.8554244412776912, + -0.09484656179379815, + 0.509169082899429, + 1.1535281736158352 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.5164898298320014, + -0.12545428425853644, + 0.8470534093203858, + 1.1093084190143885 + ], + [ + -0.015039780138543537, + 0.98772775710131, + 0.15545958595403567, + 0.4227929834319186 + ], + [ + -0.8561612352200343, + -0.0930327921369356, + 0.5082645363329134, + 1.167689112183938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.5145194559027468, + -0.1236522522165267, + 0.848516263850801, + 1.1314074476558131 + ], + [ + -0.015269953031508965, + 0.9880697170899183, + 0.15324836933639704, + 0.42834606517501944 + ], + [ + -0.8573427307862109, + -0.09180607110441938, + 0.5064929291474991, + 1.1848149491701165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.5121674874383148, + -0.121688639327967, + 0.850221347573461, + 1.1508269477053217 + ], + [ + -0.016407386054376773, + 0.9883453661879582, + 0.151341451088767, + 0.4403189518915769 + ], + [ + -0.8587288643652234, + -0.09146208063071262, + 0.5042017704379019, + 1.2033250109439448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.5102286089939942, + -0.1212912322819763, + 0.8514430125002929, + 1.1728076650725308 + ], + [ + -0.01718874206089736, + 0.9883694424420496, + 0.15109729446007997, + 0.44736257890381437 + ], + [ + -0.859867032575629, + -0.0917293966965435, + 0.5022095220834334, + 1.222718225375287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.5085361838946879, + -0.12136530103945875, + 0.8524443755304093, + 1.1955432115951183 + ], + [ + -0.01702223371620179, + 0.9884059133226591, + 0.1508774140423645, + 0.4530009679877886 + ], + [ + -0.8608723443282047, + -0.09123713176334318, + 0.5005742627807179, + 1.2388621141493523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.506870289284107, + -0.12136687930095283, + 0.8534357564865638, + 1.2178510732181422 + ], + [ + -0.01646828913111759, + 0.9884949892218629, + 0.15035442040845703, + 0.4605700919869867 + ], + [ + -0.8618650157038162, + -0.09026481536023367, + 0.4990400362835063, + 1.252343223462244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.5052169881660259, + -0.1216826451127665, + 0.8543706038639266, + 1.240708584887884 + ], + [ + -0.016128232913475322, + 0.988505260799419, + 0.1503237488720991, + 0.46580162052044477 + ], + [ + -0.8628416279778919, + -0.08972559974853188, + 0.497447124605448, + 1.2661073517816124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.503563835757729, + -0.12196030257264544, + 0.8553064643233746, + 1.2630510677616902 + ], + [ + -0.016416609822576818, + 0.988456659242563, + 0.15061184455734453, + 0.4692840620352182 + ], + [ + -0.863802036486889, + -0.08988391065936778, + 0.4957488521072767, + 1.2812629463398584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.5018883061845418, + -0.1215387144132149, + 0.8563506694187814, + 1.2852552447904018 + ], + [ + -0.017502809062008583, + 0.9884482283584118, + 0.15054484889911235, + 0.47775436465262655 + ], + [ + -0.864755329437264, + -0.09054524147574343, + 0.4939633381698979, + 1.2992674599049994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.5000049396482713, + -0.12150565634958527, + 0.8574563754514775, + 1.3063357490611787 + ], + [ + -0.018265229296675817, + 0.9884087837306381, + 0.15071316346909083, + 0.48400262167864533 + ], + [ + -0.8658299150099102, + -0.0910189635140806, + 0.49198994558299053, + 1.316873186640341 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.4980950577108922, + -0.12200669254908902, + 0.8584961738162931, + 1.3283252627029227 + ], + [ + -0.018100069732749365, + 0.98837324131107, + 0.15096596747584892, + 0.4868747360883561 + ], + [ + -0.866933504347163, + -0.09073424289363707, + 0.49009549702773836, + 1.331348069547625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.4956953391856316, + -0.1221959381440625, + 0.8598571296504641, + 1.3496629107496751 + ], + [ + -0.017784956084925526, + 0.9884167193526877, + 0.15071855971023754, + 0.49410573430251475 + ], + [ + -0.8683143590006444, + -0.09000300886727963, + 0.4877803115626311, + 1.3426871391996804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.49294872509408216, + -0.12273595765400083, + 0.8613579041994535, + 1.373035660328078 + ], + [ + -0.017321277277353064, + 0.9884195538535016, + 0.15075396815184228, + 0.4995524846303171 + ], + [ + -0.8698859280282677, + -0.08923379549700294, + 0.48511421537571847, + 1.3546078405087614 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_017/pan_right/transforms.json b/spatialvid_eval/camera_controls/scene_017/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..13b8eb1afa8a75df060fc7995fa90b4231974150 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_017/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": [ + [ + 0.9703277012114079, + -0.22038030216138393, + -0.09948203195070904, + -0.13204256365302253 + ], + [ + 0.2136316359375161, + 0.9740946292959383, + -0.07416992182461331, + -0.05210480348800095 + ], + [ + 0.11325050281762711, + 0.05071662051108865, + 0.9922712068862469, + -0.094497417975298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9789683509300058, + -0.20330556531400107, + -0.01696511095571913, + -0.12062417701879546 + ], + [ + 0.20212447394556066, + 0.9778369036771449, + -0.054595666854842705, + -0.04750107037494862 + ], + [ + 0.027688714481098265, + 0.05001836582145653, + 0.9983644115106145, + -0.07414742541091598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9803498613527812, + -0.18660895135796543, + 0.06396286906216334, + -0.10729611263745155 + ], + [ + 0.18930695428379415, + 0.9811414595852634, + -0.03904245564373015, + -0.04420923379583702 + ], + [ + -0.05547095100479566, + 0.05038388190661422, + 0.9971882660955474, + -0.054701067733271214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9749893565576497, + -0.17055266389284285, + 0.1425045383079267, + -0.09142377841069249 + ], + [ + 0.1758827652821782, + 0.9840784675591534, + -0.025589501033091072, + -0.0365276815581528 + ], + [ + -0.1358712901094068, + 0.050013583409743004, + 0.989463306039452, + -0.03677030684044174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9652995185379111, + -0.15719166902918202, + 0.2085368521348142, + -0.07326547123507039 + ], + [ + 0.16374933751660237, + 0.9863961049498943, + -0.01445263306636879, + -0.02881011533561723 + ], + [ + -0.20342810517072393, + 0.04809889112544437, + 0.9779077168624613, + -0.018468998346710827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9529680815611005, + -0.1443597760957546, + 0.26648093847654375, + -0.05371564715011617 + ], + [ + 0.15112676620564316, + 0.9885019974173508, + -0.004949912941956548, + -0.02151853669215908 + ], + [ + -0.2627023716337193, + 0.0449895115275958, + 0.9638274782296506, + 0.0028143401937902653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9405463170399345, + -0.13431985240569896, + 0.31197884984775237, + -0.0383361694425874 + ], + [ + 0.1405848721927774, + 0.9900656426091895, + 0.0024324957129095923, + -0.01299694860567403 + ], + [ + -0.3092062729201263, + 0.041571631848703404, + 0.9500859330672571, + 0.022752598669998673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9270213816922781, + -0.12609520074857178, + 0.35317326942099836, + -0.02310130512941353 + ], + [ + 0.13103775616708865, + 0.991327083459907, + 0.009985993068741367, + -0.006602034670141657 + ], + [ + -0.3513694129317951, + 0.037021803670968155, + 0.9355046347875108, + 0.04298451793077665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9120167648358031, + -0.11884653009527461, + 0.39255690408238797, + -0.006927647974256313 + ], + [ + 0.12177212791110442, + 0.992403092408949, + 0.017539984069472873, + -0.0015085447587149694 + ], + [ + -0.3916592518024281, + 0.031805730009995516, + 0.9195604526164085, + 0.06198429996766155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.8949328761182078, + -0.11199787228135295, + 0.43191622318135076, + 0.009472866665714282 + ], + [ + 0.11231486251067747, + 0.993361487249005, + 0.02486618808045496, + 0.0060937153018355145 + ], + [ + -0.4318339019831586, + 0.026257042005806634, + 0.901570878435581, + 0.07943048919630477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.8760823908638273, + -0.10558976363589154, + 0.4704576986654986, + 0.026319768499495997 + ], + [ + 0.10258537982836388, + 0.9942059223978362, + 0.032106443504974595, + 0.01370772722267335 + ], + [ + -0.47112194203177465, + 0.020134191922805585, + 0.8818382675138481, + 0.09776665367283449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.8568707198453259, + -0.09930447133049038, + 0.505876656355603, + 0.04311998851081622 + ], + [ + 0.09291846104192082, + 0.994951284886375, + 0.03792229292319382, + 0.018946667112269583 + ], + [ + -0.507088482485408, + 0.014510777950312853, + 0.8617718423422308, + 0.11734576655944556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.8376831734323439, + -0.09407541784175338, + 0.5379932310970257, + 0.0576201668947053 + ], + [ + 0.08365820267808793, + 0.9955304854645087, + 0.043821885348216336, + 0.02773931281593917 + ], + [ + -0.5397112247053885, + 0.00829869078227219, + 0.8418093166853825, + 0.13712968037962625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.8161961088463086, + -0.08970493921324818, + 0.5707687235517486, + 0.07307427387513829 + ], + [ + 0.07341126224000782, + 0.9959683692247511, + 0.05155379792138532, + 0.03289832326919681 + ], + [ + -0.5730922251090775, + -0.0001771568166316663, + 0.8194908603120531, + 0.15829525446547763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.7904490927623918, + -0.08506489607196382, + 0.6065922808669575, + 0.08918081413612763 + ], + [ + 0.06319535146724255, + 0.996350708919189, + 0.05737257523557066, + 0.036915075350154036 + ], + [ + -0.6092590412164957, + -0.00701628765769521, + 0.792940219943131, + 0.17737178859599573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.7605409051096562, + -0.07893470643232894, + 0.6444740830905672, + 0.10595144071145754 + ], + [ + 0.052026559845138, + 0.9967997995247041, + 0.06069099388039674, + 0.046614401115490894 + ], + [ + -0.6472022626085802, + -0.012628213965249702, + 0.7622137229717022, + 0.195404860946999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.7243601261529755, + -0.07166199951514612, + 0.6856872213080372, + 0.12506284683657756 + ], + [ + 0.03827414987087685, + 0.997229200054645, + 0.06378880787438497, + 0.053010214156687184 + ], + [ + -0.6883585527116719, + -0.019961973446148498, + 0.7250958712645027, + 0.21739623537397632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.6904654018106134, + -0.06437672748134367, + 0.7204950838564418, + 0.1405640159338274 + ], + [ + 0.02562577878446156, + 0.9975836417882888, + 0.06457706325085552, + 0.0600670461994679 + ], + [ + -0.7229113696465135, + -0.026124980291054097, + 0.6904466938443504, + 0.23859804288202632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.6572414992477333, + -0.058713567950115744, + 0.7513895984142703, + 0.15555703857629075 + ], + [ + 0.013610117449587835, + 0.9977230087146234, + 0.06605726746125323, + 0.06805992813027517 + ], + [ + -0.7535571487084439, + -0.03318907681762575, + 0.656544064637244, + 0.26030002249302275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.6259794729827772, + -0.055028456782401786, + 0.7778956024739772, + 0.17261812359180556 + ], + [ + 0.004127598013412596, + 0.9977270888126697, + 0.06725785592802475, + 0.07332999396421853 + ], + [ + -0.7798286108747513, + -0.03889119686436251, + 0.6247838125844917, + 0.28125875294954894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.5971003584302105, + -0.05266964862528134, + 0.8004355502326241, + 0.19079007945694287 + ], + [ + -0.003532382503872262, + 0.9976597868551991, + 0.06828229613805514, + 0.07947756204029913 + ], + [ + -0.8021587649813227, + -0.04359882803158958, + 0.5955169669773577, + 0.2997001865456178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.5698681128597743, + -0.05139553865607731, + 0.8201273270364129, + 0.20898558091294428 + ], + [ + -0.010843872297962723, + 0.9974848886151734, + 0.07004503849638943, + 0.08745237143752754 + ], + [ + -0.8216646179428838, + -0.048809789905580055, + 0.5678775044233996, + 0.31647758743596094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.5430033171746445, + -0.051074742915860824, + 0.838175857546262, + 0.2276634973347081 + ], + [ + -0.01876820539444462, + 0.9971610833698772, + 0.07292138423593612, + 0.09458533433876581 + ], + [ + -0.8395207871182255, + -0.05532761018417313, + 0.5405031947617921, + 0.3342409743777871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.5161527037377756, + -0.0516679164326181, + 0.8549367303114873, + 0.2462403779167176 + ], + [ + -0.027431489405665473, + 0.9966694918548016, + 0.07679477452847489, + 0.1022849837210745 + ], + [ + -0.8560571825603541, + -0.063090018365859, + 0.5130163250515763, + 0.3536950726171818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.49009674904556255, + -0.053822114088164404, + 0.8700048026361993, + 0.26317874875309555 + ], + [ + -0.035470793590249274, + 0.9960337310681969, + 0.08160042509966028, + 0.11269142982352126 + ], + [ + -0.8709460370063401, + -0.07085186383891359, + 0.48624378043683314, + 0.3731815073822583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.4609179190884235, + -0.05819037069681906, + 0.8855329201228853, + 0.28394139184938205 + ], + [ + -0.04367520308018788, + 0.9951513443362567, + 0.08812649148607558, + 0.11878967426560852 + ], + [ + -0.8863673891220851, + -0.07929490919288443, + 0.4561416105520196, + 0.39389516089549503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.4355270820389151, + -0.06412270151747264, + 0.8978888795172648, + 0.3047149759096253 + ], + [ + -0.04933199106893467, + 0.9942604843334145, + 0.09493389252663446, + 0.1260794323581232 + ], + [ + -0.8988228498807999, + -0.08564092738396253, + 0.42986406698975455, + 0.4093835236324385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.41011046072458857, + -0.06990144025506435, + 0.9093531759742931, + 0.3259651986398846 + ], + [ + -0.055917133556621174, + 0.9932557507797777, + 0.10156912777862999, + 0.13587064109361718 + ], + [ + -0.9103200998434985, + -0.09250298477978071, + 0.403435885399099, + 0.42511628048898387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.38749084797995714, + -0.07319322623960499, + 0.9189633259082822, + 0.34784856543225984 + ], + [ + -0.06170765449571466, + 0.9925480678413483, + 0.10507377599117641, + 0.13904765791643234 + ], + [ + -0.9198059622052964, + -0.09742219796865813, + 0.3800867101524919, + 0.44117323362543454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.3708130815562515, + -0.07568466742605597, + 0.9256184363242579, + 0.367362123695174 + ], + [ + -0.06646478992501394, + 0.9919554050091481, + 0.10773535247708191, + 0.14783738443745872 + ], + [ + -0.9263261252102203, + -0.10147071296558736, + 0.36279967497680427, + 0.45710073939033813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.3612766689154541, + -0.07823251120090209, + 0.9291710513616716, + 0.3884994139740555 + ], + [ + -0.06940257616252916, + 0.9914542715255803, + 0.11046135023475466, + 0.1553799880800253 + ], + [ + -0.9298722766699508, + -0.10439397331686119, + 0.3527597587817534, + 0.4746345409894497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.3566985044386918, + -0.07996462646811454, + 0.9307909730143583, + 0.4107311715893433 + ], + [ + -0.06903655712981159, + 0.9913496603302464, + 0.11162349547818162, + 0.1605072906180531 + ], + [ + -0.9316652460572216, + -0.1040745380817051, + 0.3480924587120739, + 0.4896025350739549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.35560385008994433, + -0.08150375323093977, + 0.931076280446709, + 0.4321710560661857 + ], + [ + -0.06777968655725236, + 0.9913186699168439, + 0.11266414143151238, + 0.167820446474313 + ], + [ + -0.9321758503047636, + -0.10317186090969413, + 0.34699243684123976, + 0.5018750645653232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.35960827379257465, + -0.08440978716053911, + 0.9292776104326615, + 0.4543902514717293 + ], + [ + -0.06605183884095664, + 0.9910989314676193, + 0.1155857371368624, + 0.17337752325687478 + ], + [ + -0.9307626142071099, + -0.10294608236963682, + 0.35083195424460834, + 0.513735270747233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.36923243710671017, + -0.08718554686112506, + 0.9252383951213687, + 0.47669448803726283 + ], + [ + -0.06353749241179196, + 0.9908918649642946, + 0.11872783584991337, + 0.1779392797536824 + ], + [ + -0.9271625501745965, + -0.10262549569239149, + 0.36032986718787285, + 0.5267628128381016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.3816482603334332, + -0.0883307132128375, + 0.9200773285369962, + 0.49684253338046686 + ], + [ + -0.061000834862746094, + 0.99084610932736, + 0.12042792772808725, + 0.18625473055437636 + ], + [ + -0.9222925260081599, + -0.1020865942920268, + 0.3727664466329328, + 0.5417014783886815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.3965953341759879, + -0.08985181346505201, + 0.9135856788100821, + 0.5183254487425698 + ], + [ + -0.05762539198739949, + 0.9907989218580264, + 0.12246146595264731, + 0.19588295344786735 + ], + [ + -0.9161830903853966, + -0.10121337886867691, + 0.3877684835437901, + 0.5598356964129939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.41304468151691137, + -0.09220946249371167, + 0.9060306319861456, + 0.5400783963583052 + ], + [ + -0.05212401680803067, + 0.990836616160708, + 0.12460291708862277, + 0.20142195867179943 + ], + [ + -0.9092178935449906, + -0.0986925280951848, + 0.40445346698451207, + 0.5752264845768911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.4311889813470173, + -0.09432878782368588, + 0.8973171914950901, + 0.5616613035323721 + ], + [ + -0.04605273661554295, + 0.9909226967682688, + 0.1262986717258801, + 0.2093862741093131 + ], + [ + -0.9010855718604873, + -0.09578250788748566, + 0.42293084939224135, + 0.5876942175035081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.44919251368077606, + -0.0977149332442587, + 0.8880753782614491, + 0.5836974591511142 + ], + [ + -0.04051451252917411, + 0.9907507755820133, + 0.12950472948183242, + 0.2161083316374069 + ], + [ + -0.8925159157839534, + -0.09415249600891773, + 0.44107895842765105, + 0.5999184659393983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.46590352787671985, + -0.0995603886564356, + 0.8792164874037601, + 0.6046273340213484 + ], + [ + -0.03636066935161629, + 0.9906560947747518, + 0.13144734158567334, + 0.21916991652704176 + ], + [ + -0.8840881202891085, + -0.09321068016175908, + 0.4579300870956758, + 0.6138904985314946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.4829517621039571, + -0.10164090308604073, + 0.8697279587897224, + 0.6223485665422988 + ], + [ + -0.031749545970214586, + 0.9905547213982524, + 0.13339156737333868, + 0.22848003794143235 + ], + [ + -0.8750711752831128, + -0.09203516032193781, + 0.4751630956346959, + 0.6280073170848659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.49846037051292413, + -0.10472939772444907, + 0.8605631948209221, + 0.6413913036399838 + ], + [ + -0.027707136229444186, + 0.9902442400047001, + 0.13656009570689664, + 0.23354621770553924 + ], + [ + -0.8664696034080372, + -0.09191353757628909, + 0.49069575908105295, + 0.6435837197487116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.5109968325988814, + -0.10757802849447633, + 0.852824252035056, + 0.6610743458005133 + ], + [ + -0.022940399857691383, + 0.9900775220010206, + 0.13863707470474043, + 0.2386221522081715 + ], + [ + -0.8592764253302194, + -0.0904072354049176, + 0.5034585947803054, + 0.657366834268134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.5206843059845963, + -0.10981250006866775, + 0.8466575862354324, + 0.6809438332004472 + ], + [ + -0.01940838675714431, + 0.989914680359022, + 0.140329042372493, + 0.24746066249508775 + ], + [ + -0.8535286568269543, + -0.08949938792173202, + 0.5133017548545991, + 0.6693483027036825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.5275826537996801, + -0.11275162855267978, + 0.8419878940153507, + 0.7049386813566164 + ], + [ + -0.01706131295294974, + 0.9895464322659782, + 0.143201850511771, + 0.2536501296725017 + ], + [ + -0.8493323583909943, + -0.08991623128441618, + 0.520143841972198, + 0.6833831928309736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.5297731639864189, + -0.11456257425804815, + 0.8403664744022029, + 0.726181803122713 + ], + [ + -0.01703518179095535, + 0.9891981787102496, + 0.14559109113429486, + 0.25850795321901604 + ], + [ + -0.8479682761171955, + -0.09144604866091621, + 0.5220990546660063, + 0.6982801831439792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.5293031298463716, + -0.11650685911421503, + 0.8403953525062927, + 0.7455625203609522 + ], + [ + -0.018634293409027832, + 0.9886914197407081, + 0.14880201490655148, + 0.26555185445170737 + ], + [ + -0.8482281295995681, + -0.09442154579566976, + 0.5211464399241108, + 0.7152148284908519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.5275326212838596, + -0.11881946777194463, + 0.8411844432464096, + 0.7651556221284441 + ], + [ + -0.0200232137438554, + 0.9881565940117941, + 0.15213683519246207, + 0.27101649898937946 + ], + [ + -0.8492987721601559, + -0.09710035936803889, + 0.5189056906778433, + 0.7330763660667613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.5255639354026984, + -0.12106504056753806, + 0.84209607869673, + 0.7857212934413066 + ], + [ + -0.02009984406293527, + 0.9877798546294302, + 0.1545540522176891, + 0.2749074294561469 + ], + [ + -0.8505166348006807, + -0.09815403578377635, + 0.516708079273668, + 0.7492950489891039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.5241536688185837, + -0.12401271574169023, + 0.8425460093065481, + 0.8064481171587972 + ], + [ + -0.019578185424438923, + 0.9873245560014172, + 0.15750211354801222, + 0.2823298493926535 + ], + [ + -0.8513986293854984, + -0.09905083266169636, + 0.5150818443990429, + 0.7625909116029485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.5235351075673299, + -0.12718212478850927, + 0.8424581285017934, + 0.8282187728056145 + ], + [ + -0.019262437134940982, + 0.9867762701127439, + 0.16093958884626078, + 0.29050026969104237 + ], + [ + -0.851786328641219, + -0.10048532169755484, + 0.5141621830349372, + 0.7753720028619814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.5227318876408963, + -0.1293852597854307, + 0.8426214026439407, + 0.8501549145157824 + ], + [ + -0.019457075853292795, + 0.986347305784668, + 0.16352496619955587, + 0.29549135275072314 + ], + [ + -0.8522750705274821, + -0.10187466280475872, + 0.5130777302083886, + 0.7898611526215645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.5210647546460443, + -0.12974452697323938, + 0.8435981740059351, + 0.8703461713094577 + ], + [ + -0.020648596518034194, + 0.9861732030072555, + 0.16442642467756158, + 0.30671330630728577 + ], + [ + -0.8532673420021962, + -0.10309593295033889, + 0.5111810556755857, + 0.8044551917682593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.5210331042787132, + -0.13161923040677992, + 0.8433272688777561, + 0.8930599548301931 + ], + [ + -0.021015313729892585, + 0.9857611845084027, + 0.16683298146777115, + 0.31163354156950285 + ], + [ + -0.8532777161244294, + -0.10464829336266532, + 0.5108481906219887, + 0.8193131391745275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.5222628525334039, + -0.13322269119018618, + 0.8423142094347672, + 0.9164437865869733 + ], + [ + -0.020074125008755776, + 0.9855279183175641, + 0.16832038415409495, + 0.3153652253301942 + ], + [ + -0.852548263952725, + -0.10481620470468077, + 0.5120302929148837, + 0.8311291228380201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.5233908128051361, + -0.13389124162965188, + 0.8415076900932332, + 0.941850024559578 + ], + [ + -0.019651955240334352, + 0.9854181346477823, + 0.16901153973180957, + 0.3256207971127053 + ], + [ + -0.8518661031678693, + -0.10499635861378874, + 0.5131275737586452, + 0.8427088265286435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.5234380195486584, + -0.13460165814558303, + 0.8413649822255725, + 0.9657834288538392 + ], + [ + -0.019153073179951415, + 0.9853354940152284, + 0.16954976856819726, + 0.33166018737335 + ], + [ + -0.8518484603958276, + -0.10486352014988548, + 0.513184024169725, + 0.8535974110267237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.5233836242082998, + -0.1341224968872796, + 0.8414753340052858, + 0.9906229922544472 + ], + [ + -0.018773433087512073, + 0.9854797284365622, + 0.16875207569303755, + 0.34103756484563413 + ], + [ + -0.8518903333884559, + -0.10411945384663536, + 0.5132660121320954, + 0.865927313024961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.5235602528523693, + -0.13337993595784442, + 0.8414834842806155, + 1.0160943794722714 + ], + [ + -0.018105647198949897, + 0.9857049619950208, + 0.1675049654126769, + 0.3523406549432305 + ], + [ + -0.8517962474516255, + -0.10293454513561637, + 0.5136610090760768, + 0.8787705948018321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.5238858503336313, + -0.1330217221852048, + 0.8413375287285662, + 1.04240558726773 + ], + [ + -0.01738482419287341, + 0.9858550267285839, + 0.16669623319609292, + 0.3594731055769207 + ], + [ + -0.8516110518939918, + -0.10195630289916109, + 0.514162939729366, + 0.890635439168611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.5238214297948354, + -0.1326554768460581, + 0.8414354604783659, + 1.0684330387246441 + ], + [ + -0.016928906832835766, + 0.9859833277676979, + 0.16598279874005578, + 0.3660725317070376 + ], + [ + -0.8516598627393097, + -0.10118992947364691, + 0.514233484296753, + 0.9008109496868493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.522820110456882, + -0.13233523738998706, + 0.842108376069725, + 1.0934966519523521 + ], + [ + -0.016848456138961403, + 0.986079248415358, + 0.16542020847023636, + 0.37489235776922036 + ], + [ + -0.8522765171161218, + -0.10067323770267222, + 0.5133124171329525, + 0.9107025824732253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.5210827623951898, + -0.1324236141270776, + 0.8431706477078773, + 1.11802979238507 + ], + [ + -0.017168491700310696, + 0.9860643854074251, + 0.16547589166949142, + 0.3812421738701902 + ], + [ + -0.8533334621514234, + -0.10070260300806405, + 0.5115476401275503, + 0.922492566099558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.519444341419209, + -0.1319808993611197, + 0.8442503292101196, + 1.1407277750887825 + ], + [ + -0.017674134194387143, + 0.9861293174345321, + 0.16503513043162543, + 0.38874759231520606 + ], + [ + -0.8543214858283995, + -0.10064795825020408, + 0.50990664572255, + 0.9360365918158025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.5180613628650309, + -0.13094697993118778, + 0.8452604999367521, + 1.1644516048146678 + ], + [ + -0.018419957646632016, + 0.9862746461763414, + 0.16408238013275306, + 0.3994173882005762 + ], + [ + -0.8551450926402627, + -0.10057440408291808, + 0.5085387495330547, + 0.9519743874866822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.517499108765525, + -0.13007423283388075, + 0.8457395381437269, + 1.1891470392697905 + ], + [ + -0.017766809582012294, + 0.9865321997235126, + 0.16259938310450012, + 0.40254605483600964 + ], + [ + -0.8554992769746586, + -0.09917112917258161, + 0.5082185299991248, + 0.966314178351273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.5176935366245216, + -0.12702666333845367, + 0.8460837009057051, + 1.214528975496138 + ], + [ + -0.0155700803448634, + 0.9873542203874934, + 0.15776316452537364, + 0.4128476029212589 + ], + [ + -0.8554244412776912, + -0.09484656179379815, + 0.509169082899429, + 0.9770582936840498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.5164898298320014, + -0.12545428425853644, + 0.8470534093203858, + 1.2406322291994223 + ], + [ + -0.015039780138543537, + 0.98772775710131, + 0.15545958595403567, + 0.4226261446162341 + ], + [ + -0.8561612352200343, + -0.0930327921369356, + 0.5082645363329134, + 0.9888282443128713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.5145194559027468, + -0.1236522522165267, + 0.848516263850801, + 1.2648380298040631 + ], + [ + -0.015269953031508965, + 0.9880697170899183, + 0.15324836933639704, + 0.42819308347599316 + ], + [ + -0.8573427307862109, + -0.09180607110441938, + 0.5064929291474991, + 1.0034527758304852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.5121674874383148, + -0.121688639327967, + 0.850221347573461, + 1.2862890754323622 + ], + [ + -0.016407386054376773, + 0.9883453661879582, + 0.151341451088767, + 0.43997761720919953 + ], + [ + -0.8587288643652234, + -0.09146208063071262, + 0.5042017704379019, + 1.0194066216046465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.5102286089939942, + -0.1212912322819763, + 0.8514430125002929, + 1.3103894546460393 + ], + [ + -0.01718874206089736, + 0.9883694424420496, + 0.15109729446007997, + 0.4469459554310775 + ], + [ + -0.859867032575629, + -0.0917293966965435, + 0.5022095220834334, + 1.0363085974677273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.5085361838946879, + -0.12136530103945875, + 0.8524443755304093, + 1.3353027125883468 + ], + [ + -0.01702223371620179, + 0.9884059133226591, + 0.1508774140423645, + 0.4527288992145299 + ], + [ + -0.8608723443282047, + -0.09123713176334318, + 0.5005742627807179, + 1.05000404767504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.506870289284107, + -0.12136687930095283, + 0.8534357564865638, + 1.3598012883190862 + ], + [ + -0.01646828913111759, + 0.9884949892218629, + 0.15035442040845703, + 0.4605303624662806 + ], + [ + -0.8618650157038162, + -0.09026481536023367, + 0.4990400362835063, + 1.061046902895572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.5052169881660259, + -0.1216826451127665, + 0.8543706038639266, + 1.38485815959697 + ], + [ + -0.016128232913475322, + 0.988505260799419, + 0.1503237488720991, + 0.465961654750882 + ], + [ + -0.8628416279778919, + -0.08972559974853188, + 0.497447124605448, + 1.0723799550018418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.503563835757729, + -0.12196030257264544, + 0.8553064643233746, + 1.4094071716695904 + ], + [ + -0.016416609822576818, + 0.988456659242563, + 0.15061184455734453, + 0.4695052858291489 + ], + [ + -0.863802036486889, + -0.08988391065936778, + 0.4957488521072767, + 1.0851103262065038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.5018883061845418, + -0.1215387144132149, + 0.8563506694187814, + 1.4338226474870566 + ], + [ + -0.017502809062008583, + 0.9884482283584118, + 0.15054484889911235, + 0.4778320287929712 + ], + [ + -0.864755329437264, + -0.09054524147574343, + 0.4939633381698979, + 1.1006935331863008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.5000049396482713, + -0.12150565634958527, + 0.8574563754514775, + 1.4570717339185029 + ], + [ + -0.018265229296675817, + 0.9884087837306381, + 0.15071316346909083, + 0.4840208698577144 + ], + [ + -0.8658299150099102, + -0.0910189635140806, + 0.49198994558299053, + 1.115846527923438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.4980950577108922, + -0.12200669254908902, + 0.8584961738162931, + 1.4812271763709384 + ], + [ + -0.018100069732749365, + 0.98837324131107, + 0.15096596747584892, + 0.4870693674843613 + ], + [ + -0.866933504347163, + -0.09073424289363707, + 0.49009549702773836, + 1.1278671375584401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.4956953391856316, + -0.1221959381440625, + 0.8598571296504641, + 1.5046218669412281 + ], + [ + -0.017784956084925526, + 0.9884167193526877, + 0.15071855971023754, + 0.49450358141174167 + ], + [ + -0.8683143590006444, + -0.09000300886727963, + 0.4877803115626311, + 1.1366705123723693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.49294872509408216, + -0.12273595765400083, + 0.8613579041994535, + 1.5299702374964097 + ], + [ + -0.017321277277353064, + 0.9884195538535016, + 0.15075396815184228, + 0.5002062250838547 + ], + [ + -0.8698859280282677, + -0.08923379549700294, + 0.48511421537571847, + 1.1459946613127197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_017/pull_out/transforms.json b/spatialvid_eval/camera_controls/scene_017/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..0b9a8c9d713d7c047b8fffb3a456d7f312f43372 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_017/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": [ + [ + 0.9703277012114079, + -0.22038030216138393, + -0.09948203195070904, + -0.13204256365302253 + ], + [ + 0.2136316359375161, + 0.9740946292959383, + -0.07416992182461331, + -0.05210480348800095 + ], + [ + 0.11325050281762711, + 0.05071662051108865, + 0.9922712068862469, + -0.094497417975298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9789075908510504, + -0.20330556531400107, + -0.020168680833099854, + -0.12059896616775409 + ], + [ + 0.20194472806709807, + 0.9778369036771449, + -0.055256824130603226, + -0.04743199934478537 + ], + [ + 0.03095570028441956, + 0.05001836582145653, + 0.9982684547257079, + -0.07539526097932311 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9807474969004055, + -0.18660895135796543, + 0.057545170055094554, + -0.10743997556258929 + ], + [ + 0.1890473691935833, + 0.9811414595852634, + -0.0402806216918777, + -0.04410853224160733 + ], + [ + -0.04894322756596945, + 0.05038388190661422, + 0.9975299619156541, + -0.05719489263806035 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.976341383365475, + -0.17055266389284285, + 0.13292588900227667, + -0.09192225049445103 + ], + [ + 0.1756230690053628, + 0.9840784675591534, + -0.027314965121082085, + -0.036425250438948745 + ], + [ + -0.12615086508275788, + 0.050013583409743004, + 0.9907495146167817, + -0.040485617520254674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.967946482042514, + -0.15719166902918202, + 0.1958836059739081, + -0.07424488926493994 + ], + [ + 0.16354612959182274, + 0.9863961049498943, + -0.01659480747739991, + -0.02872714129823023 + ], + [ + -0.19061026047161236, + 0.04809889112544437, + 0.98048672876049, + -0.023371431990513277 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9572006048605094, + -0.1443597760957546, + 0.2508530587819467, + -0.055283478767503336 + ], + [ + 0.15102554691366696, + 0.9885019974173508, + -0.007421945926498197, + -0.021472149530118466 + ], + [ + -0.2468973192120623, + 0.0449895115275958, + 0.9679967239709056, + -0.0032356393310278954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9464903145773975, + -0.13431985240569896, + 0.2934523158213111, + -0.040537061811247235 + ], + [ + 0.14060553199332362, + 0.9900656426091895, + -0.00032817331904113484, + -0.01299448730578122 + ], + [ + -0.2904929754470041, + 0.041571631848703404, + 0.955973655830213, + 0.015582796251272076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9348677547861727, + -0.12609520074857178, + 0.3318467739925127, + -0.02600496440184802 + ], + [ + 0.13123211016241376, + 0.991327083459907, + 0.006981895243730827, + -0.0066631262535243015 + ], + [ + -0.32984907809994035, + 0.037021803670968155, + 0.9433074640484764, + 0.034730577620352476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.921980181254684, + -0.11884653009527459, + 0.36854856892666576, + -0.010613133663522971 + ], + [ + 0.12218954290050353, + 0.9924030924089488, + 0.014346350857334442, + -0.0016520082672883138 + ], + [ + -0.36745375352463927, + 0.03180573000999551, + 0.9294977862045639, + 0.05268932210561591 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.907263895107424, + -0.11199787228135295, + 0.40537476640629094, + 0.004912400543643509 + ], + [ + 0.1129984163243196, + 0.993361487249005, + 0.02154793629656173, + 0.005851301018499195 + ], + [ + -0.40509700386784014, + 0.026257042005806634, + 0.9138965943707222, + 0.06914915250963415 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.8910062697868019, + -0.10558976363589154, + 0.4415411974164196, + 0.020800503531790752 + ], + [ + 0.10358094771541393, + 0.9942059223978362, + 0.02873275377412507, + 0.013348567800496786 + ], + [ + -0.4420167581336547, + 0.020134191922805585, + 0.8967807981020948, + 0.0865568936965583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.8745219270371076, + -0.09930447133049038, + 0.47471046028613645, + 0.036592719681881845 + ], + [ + 0.09422307476989807, + 0.994951284886375, + 0.034553623310120046, + 0.018471554791755433 + ], + [ + -0.4757451117060583, + 0.014510777950312853, + 0.8794634875940369, + 0.10525314360502755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.8581588651963664, + -0.09407541784175336, + 0.5046911707596877, + 0.05004979933330998 + ], + [ + 0.08531414438064286, + 0.9955304854645085, + 0.04050369463887311, + 0.027131757396356072 + ], + [ + -0.5062458482333299, + 0.008298690782272189, + 0.8623492754550309, + 0.12419444124780078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.8397321694432252, + -0.08970493921324818, + 0.5355398281014424, + 0.06437175166848985 + ], + [ + 0.07553740116769786, + 0.9959683692247511, + 0.0483850031375478, + 0.03211206696821166 + ], + [ + -0.5377211030143835, + -0.0001771568166316663, + 0.8431227573660063, + 0.14459450965828002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.8174008989506305, + -0.08506489607196382, + 0.5697540994595539, + 0.07921011739558544 + ], + [ + 0.06575663834593401, + 0.996350708919189, + 0.05441809763003087, + 0.0359627586416285 + ], + [ + -0.5723039707254732, + -0.00701628765769521, + 0.8200115467475816, + 0.16302158652791304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.7912476447032432, + -0.07893470643232894, + 0.6063798123882529, + 0.0945818192291778 + ], + [ + 0.05494185749764094, + 0.9967997995247041, + 0.05806506662545903, + 0.04552568111626354 + ], + [ + -0.6090226244124923, + -0.012628213965249702, + 0.7930523130070101, + 0.18053513007811756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.7592535121856334, + -0.07166199951514611, + 0.6468374309355261, + 0.11212609821786704 + ], + [ + 0.04156014473638394, + 0.9972292000546448, + 0.06169827329726787, + 0.05177624869074183 + ], + [ + -0.6494665954483504, + -0.019961973446148494, + 0.7601280556675067, + 0.20219367426062618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.7294593721716649, + -0.06437672748134367, + 0.6809880037928079, + 0.1260930208532302 + ], + [ + 0.02917685583413558, + 0.9975836417882888, + 0.06305226974542014, + 0.05872718546737772 + ], + [ + -0.6834015916242474, + -0.026124980291054097, + 0.7295750475244048, + 0.2230945731221327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.7003364957990483, + -0.058713567950115744, + 0.7113940606938438, + 0.13955067221067927 + ], + [ + 0.017475356622943968, + 0.9977230087146234, + 0.06514145985729863, + 0.06659424528348595 + ], + [ + -0.7135989101468767, + -0.03318907681762575, + 0.6997678762398166, + 0.24455524527762687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.673106168878578, + -0.055028456782401786, + 0.7374957317583273, + 0.15510259996254527 + ], + [ + 0.008298843402984753, + 0.9977270888126697, + 0.06687140979198807, + 0.07174179798165882 + ], + [ + -0.7394992999427221, + -0.03889119686436251, + 0.6720329308826178, + 0.26529797084108675 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.6481729104608189, + -0.05266964862528134, + 0.7596695243712496, + 0.17179834134766164 + ], + [ + 0.0009410564366672605, + 0.9976597868551991, + 0.06836712736997021, + 0.07776838385604987 + ], + [ + -0.7614926083407075, + -0.04359882803158958, + 0.6467056128075105, + 0.28353254622543006 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.6248396828547585, + -0.05139553865607731, + 0.7790596057659622, + 0.18853526626158776 + ], + [ + -0.006008405034395734, + 0.9974848886151734, + 0.07062433046279341, + 0.08559848276287922 + ], + [ + -0.7807299595884019, + -0.048809789905580055, + 0.6229593362415125, + 0.30012490485962123 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.601888875622868, + -0.051074742915860824, + 0.796944886449194, + 0.20574751295735524 + ], + [ + -0.013474157555836492, + 0.9971610833698772, + 0.0740825275673933, + 0.0925480648306625 + ], + [ + -0.7984661724078238, + -0.05532761018417313, + 0.599491974151204, + 0.317754945088629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.5789794066791976, + -0.05166791643261809, + 0.8137034306508218, + 0.22284640428550648 + ], + [ + -0.021579142911053117, + 0.9966694918548014, + 0.07864009535292271, + 0.10002408097967798 + ], + [ + -0.8150565546222109, + -0.06309001836585898, + 0.5759361616967343, + 0.3371369079684007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.5568457344234945, + -0.05382211408816439, + 0.8288703204298244, + 0.23831263914020082 + ], + [ + -0.028959153407062337, + 0.9960337310681967, + 0.08413188461168312, + 0.11016747328517076 + ], + [ + -0.830110953721432, + -0.07085186383891358, + 0.5530784916286717, + 0.35658915263339813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.5317429603641282, + -0.05819037069681906, + 0.8449043169858704, + 0.2575381319435736 + ], + [ + -0.036327328433888036, + 0.9951513443362567, + 0.09140091397025216, + 0.11593339570403814 + ], + [ + -0.8461263199499528, + -0.07929490919288443, + 0.5270508211397099, + 0.3774248227348791 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.5102561024306225, + -0.06412270151747264, + 0.8576287011769202, + 0.2768420431213754 + ], + [ + -0.04108584229233699, + 0.9942604843334145, + 0.09878280648074969, + 0.12286899114749883 + ], + [ + -0.8590405482254254, + -0.08564092738396253, + 0.5046929443348456, + 0.392981002941556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.488754113342365, + -0.06990144025506435, + 0.8696167002428061, + 0.2966156350066899 + ], + [ + -0.0467363020710832, + 0.9932557507797777, + 0.10610717040625077, + 0.1322895240924062 + ], + [ + -0.8711688325230875, + -0.09250298477978071, + 0.48219089896761075, + 0.408842337648827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.46995192762143717, + -0.07319322623960499, + 0.8796521683924469, + 0.3170607395385242 + ], + [ + -0.051834365833639, + 0.9925480678413483, + 0.11027933416116954, + 0.1351878812207914 + ], + [ + -0.8811687603651869, + -0.09742219796865813, + 0.46265595327352665, + 0.42498027526086113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.4568559794757895, + -0.07568466742605597, + 0.8863150935947242, + 0.33523320155236525 + ], + [ + -0.05595671903138659, + 0.9919554050091481, + 0.11354875634889082, + 0.14372124201981143 + ], + [ + -0.8877789474933835, + -0.10147071296558736, + 0.448945692481614, + 0.4408264580378796 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.4506117123391503, + -0.07823251120090209, + 0.8892855328262006, + 0.35515120649307297 + ], + [ + -0.05824127812170023, + 0.9914542715255803, + 0.11673209068817177, + 0.15100253467921884 + ], + [ + -0.8908181847187053, + -0.10439397331686119, + 0.4422045455550959, + 0.4580518705311336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.44912890280767526, + -0.07996462646811454, + 0.8898813893865795, + 0.3762482677506133 + ], + [ + -0.057377130539886925, + 0.9913496603302464, + 0.118041161694191, + 0.1559331956024032 + ], + [ + -0.8916227305053314, + -0.1040745380817051, + 0.4406556444314508, + 0.4725271288522362 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.450979787771764, + -0.08150375323093977, + 0.88880502318034, + 0.3966188551389721 + ], + [ + -0.05563177277318053, + 0.9913186699168439, + 0.11913186195309972, + 0.163055171996189 + ], + [ + -0.8907987072731122, + -0.10317186090969413, + 0.4425304850933807, + 0.4841738451615879 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.4576732062579627, + -0.08440978716053911, + 0.885104640200846, + 0.41787968506344436 + ], + [ + -0.05320893855242471, + 0.9910989314676193, + 0.12203162254869782, + 0.16834371882674098 + ], + [ + -0.8875269264262808, + -0.10294608236963682, + 0.4491080705053777, + 0.4952095628388862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.4696834050104106, + -0.08718554686112505, + 0.8785193108158483, + 0.43935741732758926 + ], + [ + -0.04996162402904429, + 0.9908918649642944, + 0.1250485828466797, + 0.17262471498269852 + ], + [ + -0.8814200673811591, + -0.10262549569239146, + 0.4610495336205036, + 0.5071682076592301 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.48430046200818117, + -0.0883307132128375, + 0.8704313572028375, + 0.45876116150284274 + ], + [ + -0.04683780155543718, + 0.99084610932736, + 0.12661045761028947, + 0.18071552303392618 + ], + [ + -0.8736471157418857, + -0.1020865942920268, + 0.4757300121095361, + 0.5208882903588894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.5012267995877606, + -0.08985181346505201, + 0.8606383369290801, + 0.4795967235807612 + ], + [ + -0.04283215710540382, + 0.9907989218580264, + 0.12838575763172036, + 0.19010559435443994 + ], + [ + -0.864255229485312, + -0.10121337886867691, + 0.49276642564736167, + 0.5376612072588627 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.5194569083060713, + -0.09220946249371167, + 0.8495068778060122, + 0.5007887032597772 + ], + [ + -0.03669203169620247, + 0.990836616160708, + 0.12998651809015785, + 0.19541008221012962 + ], + [ + -0.8537085071750796, + -0.0986925280951848, + 0.5113135727467817, + 0.5515782318373524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.5391575477583006, + -0.09432878782368585, + 0.8369057405006672, + 0.5219082808585904 + ], + [ + -0.030031726869192504, + 0.9909226967682686, + 0.13103550820581578, + 0.20316208746953685 + ], + [ + -0.841669313968681, + -0.09578250788748563, + 0.5314305948157988, + 0.5624512642497577 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.5585742204322591, + -0.0977149332442587, + 0.823678718973341, + 0.5435431216011638 + ], + [ + -0.023701503844672497, + 0.9907507755820133, + 0.1336081561849432, + 0.2095949340233909 + ], + [ + -0.8291158417157369, + -0.09415249600891773, + 0.5510918512474084, + 0.5730527381910872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.5766784388472054, + -0.09956038865643557, + 0.8108820550359525, + 0.5640832312695507 + ], + [ + -0.018892277810145783, + 0.9906560947747516, + 0.1350688110734026, + 0.21241647597337163 + ], + [ + -0.8167527532906725, + -0.09321068016175907, + 0.5694090876477894, + 0.5854200441491051 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.5949546828788226, + -0.10164090308604073, + 0.79730674908746, + 0.5814865956515665 + ], + [ + -0.01362040625393613, + 0.9905547213982524, + 0.13643983453928862, + 0.2214874964212938 + ], + [ + -0.8036438327107586, + -0.09203516032193781, + 0.5879507797515688, + 0.597874839622598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.6116673389439786, + -0.10472939772444907, + 0.7841522937041414, + 0.6002233082205163 + ], + [ + -0.008735421167265292, + 0.9902442400047001, + 0.13906846355138983, + 0.22624512336909128 + ], + [ + -0.7910668485572014, + -0.09191353757628909, + 0.6047852037905604, + 0.6118324965497072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.625557327265626, + -0.10757802849447633, + 0.7727256939493654, + 0.6195403397507349 + ], + [ + -0.0032693513491145326, + 0.9900775220010206, + 0.1404842046995839, + 0.23107112620556888 + ], + [ + -0.7801713540281023, + -0.0904072354049176, + 0.6189985380761389, + 0.6240956628465416 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.6367850624905385, + -0.10981250006866775, + 0.763181498083903, + 0.6389688508058324 + ], + [ + 0.0009286453613999365, + 0.989914680359022, + 0.14166179169941548, + 0.2396692639516199 + ], + [ + -0.7710408042423659, + -0.08949938792173202, + 0.6304648584615336, + 0.6346727354882982 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.6454176513780681, + -0.11275162855267978, + 0.7554621933282546, + 0.6624439329819021 + ], + [ + 0.0041354254662622145, + 0.9895464322659782, + 0.14415532125414965, + 0.2455413928519558 + ], + [ + -0.763818665355745, + -0.08991623128441618, + 0.6391370101987334, + 0.6474317360072949 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.6498090140151614, + -0.11456257425804815, + 0.7514144408274392, + 0.6829754727751352 + ], + [ + 0.00499129197649012, + 0.9891981787102496, + 0.14649931822616402, + 0.2500842424210116 + ], + [ + -0.7600811353461217, + -0.09144604866091621, + 0.6433617084310009, + 0.6612868849091966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.6518044669558208, + -0.11650685911421503, + 0.7493844731750046, + 0.7015361825619206 + ], + [ + 0.0043823663317958395, + 0.9886914197407081, + 0.1499002047911785, + 0.25674521742022566 + ], + [ + -0.7583744007558355, + -0.09442154579566976, + 0.6449440595646913, + 0.6773243649914263 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.6526280577050749, + -0.11881946777194463, + 0.7483037834826798, + 0.7202573951194833 + ], + [ + 0.0040227496701962795, + 0.9881565940117941, + 0.15339609902504503, + 0.2618127330478768 + ], + [ + -0.7576677608168323, + -0.09710035936803889, + 0.6453766996331718, + 0.694353764088771 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.653275504353073, + -0.12106504056753803, + 0.7473783321481956, + 0.7399443705972296 + ], + [ + 0.004835014504632494, + 0.98777985462943, + 0.155780555343093, + 0.26536587044138243 + ], + [ + -0.7571048395347756, + -0.09815403578377632, + 0.6458777339499939, + 0.7097350377846668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.6543996533703933, + -0.12401271574169023, + 0.7459101420433164, + 0.7598287332810899 + ], + [ + 0.006339695243707678, + 0.9873245560014172, + 0.15858760790434273, + 0.27241812389863207 + ], + [ + -0.7561222797490671, + -0.09905083266169636, + 0.6468910500355516, + 0.7221602209757265 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.6562125648141993, + -0.12718212478850927, + 0.7437807317444102, + 0.7808027511569083 + ], + [ + 0.007741043072357262, + 0.9867762701127439, + 0.16190327048745165, + 0.2801789361974673 + ], + [ + -0.7545363782032793, + -0.10048532169755484, + 0.6485195094144947, + 0.7340288841368073 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.6578790955976722, + -0.1293852597854307, + 0.7419262430497021, + 0.8019297087175518 + ], + [ + 0.008516832894057975, + 0.986347305784668, + 0.16445806738734764, + 0.28480157837054554 + ], + [ + -0.7530754006957362, + -0.10187466280475872, + 0.6499992261113647, + 0.7476112029243258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6588299613884598, + -0.12974452697323938, + 0.7410191898307161, + 0.8212536499831727 + ], + [ + 0.008036898436622898, + 0.9861732030072555, + 0.16552287435254928, + 0.2957474158814294 + ], + [ + -0.7522489549613212, + -0.10309593295033889, + 0.6507631968455956, + 0.7613421299772386 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.6611726273422249, + -0.13161923040677992, + 0.7385980876231043, + 0.8432045839156336 + ], + [ + 0.008640584339940742, + 0.9857611845084027, + 0.1679292333658909, + 0.3002983183173052 + ], + [ + -0.7501840421894111, + -0.10464829336266532, + 0.6528955793544919, + 0.7752426875680993 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.6646146674907918, + -0.13322269119018615, + 0.7352136140661085, + 0.8658978506199284 + ], + [ + 0.010382339147797903, + 0.9855279183175639, + 0.16919494451805983, + 0.30373307289457757 + ], + [ + -0.7471141484337749, + -0.10481620470468074, + 0.6563794728976386, + 0.7860030340763074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.6679791813743606, + -0.13389124162965188, + 0.7320361662276729, + 0.8906074929236409 + ], + [ + 0.011477025323977347, + 0.9854181346477823, + 0.16976271026641254, + 0.3137374073940564 + ], + [ + -0.7440914534787721, + -0.10499635861378874, + 0.6597754720643174, + 0.7965245434841414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.6703911054583138, + -0.13460165814558303, + 0.7296973066599874, + 0.9137924957543151 + ], + [ + 0.012622553882734096, + 0.9853354940152284, + 0.17016061638123936, + 0.3195362434561867 + ], + [ + -0.7419005572553896, + -0.10486352014988548, + 0.6622591677628307, + 0.806411445323622 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.6727428416470718, + -0.1341224968872796, + 0.7276181861672679, + 0.9378706737573203 + ], + [ + 0.013401658506057866, + 0.9854797284365622, + 0.1692634053476621, + 0.3287659679579286 + ], + [ + -0.7397550030664952, + -0.10411945384663536, + 0.6647718967952605, + 0.8177313505073046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.6752952705593784, + -0.13337993595784442, + 0.7253868555770896, + 0.9625970988734611 + ], + [ + 0.014371581243361672, + 0.9857049619950208, + 0.16786657067731017, + 0.3399604953557789 + ], + [ + -0.7374074553547053, + -0.10293454513561637, + 0.6675587795880018, + 0.8295381348072169 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.6779563400226649, + -0.1330217221852048, + 0.7229664047865263, + 0.9881831069087406 + ], + [ + 0.015470042142333162, + 0.9858550267285839, + 0.1668848227673737, + 0.34695674386936765 + ], + [ + -0.7349393708457777, + -0.10195630289916109, + 0.670424517361908, + 0.8403536003664679 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.6802748861499691, + -0.1326554768460581, + 0.72085269211982, + 1.0134680209505078 + ], + [ + 0.016321477950631033, + 0.9859833277676979, + 0.16604362897035152, + 0.35341170499804825 + ], + [ + -0.7327753329849156, + -0.10118992947364691, + 0.6729048294833117, + 0.8495019564387467 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.6817850406380217, + -0.13233523738998706, + 0.7194835253896695, + 1.0377366787346527 + ], + [ + 0.016830201599860595, + 0.986079248415358, + 0.16542206672240262, + 0.36207214759823414 + ], + [ + -0.7313589424327288, + -0.10067323770267222, + 0.6745213091772135, + 0.8584271810119912 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.6826527914767244, + -0.1324236141270776, + 0.7186439679775786, + 1.0614365799068357 + ], + [ + 0.017069593759030097, + 0.9860643854074251, + 0.16548612268096252, + 0.3682101417090644 + ], + [ + -0.7305434930638542, + -0.10070260300806405, + 0.6754000225714112, + 0.8693048143220593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6836227496934768, + -0.13198089936111967, + 0.7178028826254187, + 1.083303544478749 + ], + [ + 0.017024821055081588, + 0.9861293174345319, + 0.16510337599258007, + 0.37553932223579967 + ], + [ + -0.7296369587470012, + -0.10064795825020405, + 0.6763873867322577, + 0.8819256008772218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.6848295391773742, + -0.13094697993118778, + 0.7168412590783307, + 1.1062082525145533 + ], + [ + 0.016634877804925445, + 0.9862746461763414, + 0.16427295319116958, + 0.38607021075379366 + ], + [ + -0.7285134062668447, + -0.10057440408291808, + 0.6776082984533509, + 0.8969187132373474 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.6867251971893333, + -0.13007423283388075, + 0.7151847296314069, + 1.1301442990751993 + ], + [ + 0.017492522662390778, + 0.9865321997235126, + 0.16262911965448631, + 0.3891291524645145 + ], + [ + -0.7267066225074441, + -0.09917112917258161, + 0.6797518458543957, + 0.9102346510682853 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.6893265824896606, + -0.12702666333845364, + 0.7132272355106921, + 1.1547961945221175 + ], + [ + 0.019116869553942158, + 0.9873542203874932, + 0.15737277013976453, + 0.3996676334220536 + ], + [ + -0.7241984589679702, + -0.09484656179379812, + 0.6830378625993676, + 0.9198538726913528 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.6906969039106179, + -0.12545428425853644, + 0.7121790571825778, + 1.1800970093389032 + ], + [ + 0.019640597809295356, + 0.98772775710131, + 0.1549455542095656, + 0.409455772508421 + ], + [ + -0.7228776064078762, + -0.0930327921369356, + 0.6846845008770285, + 0.9306300617383239 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.691430961778042, + -0.1236522522165267, + 0.7117818104001202, + 1.2034468486570526 + ], + [ + 0.01942815498144084, + 0.9880697170899183, + 0.1527768993135623, + 0.4150160759101984 + ], + [ + -0.722181259718576, + -0.09180607110441938, + 0.6855843299111068, + 0.9443211273756522 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.6918532119095182, + -0.121688639327967, + 0.7117099185967494, + 1.2240144575551466 + ], + [ + 0.018387275586963077, + 0.9883453661879582, + 0.15111368313716692, + 0.4267551699346974 + ], + [ + -0.7218040185999054, + -0.09146208063071262, + 0.6860274386201536, + 0.9593792207253831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.692573093301235, + -0.1212912322819763, + 0.7110773146477666, + 1.24728134297105 + ], + [ + 0.01806511469050276, + 0.9883694424420496, + 0.15099502269283963, + 0.433545147167088 + ], + [ + -0.7211214613824622, + -0.0917293966965435, + 0.6867092220986335, + 0.9753631540064736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6934844760656325, + -0.12136530103945875, + 0.7101758550947622, + 1.271386885629818 + ], + [ + 0.018669724775144093, + 0.9884059133226591, + 0.15068242062570025, + 0.43916748135821687 + ], + [ + -0.7202296320152314, + -0.09123713176334318, + 0.6877100137083965, + 0.9881101464412844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6944208058464656, + -0.12136687930095283, + 0.7092600545753956, + 1.2950813083390813 + ], + [ + 0.01957718999181582, + 0.9884949892218629, + 0.14998129855183104, + 0.446844568973426 + ], + [ + -0.7193027721617439, + -0.09026481536023367, + 0.6888075094454278, + 0.9981932176586767 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.6953572522457263, + -0.12168264511276647, + 0.7082878127058477, + 1.319341536921679 + ], + [ + 0.02039067555635779, + 0.9885052607994188, + 0.14980510579492465, + 0.45210468246485147 + ], + [ + -0.7183749105443681, + -0.08972559974853186, + 0.6898454933172629, + 1.008569246869995 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.6962951772372394, + -0.12196030257264541, + 0.7073179700478069, + 1.3430961119776086 + ], + [ + 0.020671068486705926, + 0.9884566592425628, + 0.15008710712999415, + 0.45543461953571196 + ], + [ + -0.7174578266935134, + -0.08988391065936777, + 0.6907786545057681, + 1.020349827346588 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6972391968394411, + -0.12153871441321487, + 0.706460079048685, + 1.3667089399774315 + ], + [ + 0.020092846755474465, + 0.9884482283584116, + 0.15022109493802363, + 0.46356102477385897 + ], + [ + -0.7165568922981289, + -0.09054524147574342, + 0.6916269076215494, + 1.0349889769622536 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6979991331039785, + -0.12150565634958524, + 0.705714946462912, + 1.3891466703214477 + ], + [ + 0.019887957349798972, + 0.9884087837306379, + 0.15050762570904377, + 0.46953451088321896 + ], + [ + -0.7158223797413341, + -0.09101896351408059, + 0.6923249735075829, + 1.049210249223333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6987193785385455, + -0.12200669254908902, + 0.7049153119545217, + 1.4124979334553724 + ], + [ + 0.020604024158530444, + 0.98837324131107, + 0.15064464825782614, + 0.47238151427922326 + ], + [ + -0.715099087010453, + -0.09073424289363707, + 0.6931093657737826, + 1.0602889743954964 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6990504302680728, + -0.12219593814406247, + 0.7045542198036396, + 1.4350471377356186 + ], + [ + 0.02133828663937072, + 0.9884167193526875, + 0.1502566684955021, + 0.4796657353978108 + ], + [ + -0.7147539251136148, + -0.09000300886727962, + 0.6935605849019377, + 1.068181404613303 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6990877348610552, + -0.12273595765400083, + 0.7044233270311219, + 1.4595279047932974 + ], + [ + 0.02228692901596633, + 0.9884195538535016, + 0.15010022769830467, + 0.4851962023140242 + ], + [ + -0.7146884858187356, + -0.08923379549700294, + 0.6937273945717604, + 1.0766219218555437 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_017/push_in/transforms.json b/spatialvid_eval/camera_controls/scene_017/push_in/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..1a5155a09eb4df0a9a88b768f18482505cfddd85 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_017/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": [ + [ + 0.9703277012114079, + -0.22038030216138393, + -0.09948203195070904, + -0.13204256365302253 + ], + [ + 0.2136316359375161, + 0.9740946292959383, + -0.07416992182461331, + -0.05210480348800095 + ], + [ + 0.11325050281762711, + 0.05071662051108865, + 0.9922712068862469, + -0.094497417975298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9789075908510504, + -0.20330556531400107, + -0.020168680833099854, + -0.12064938786983684 + ], + [ + 0.20194472806709807, + 0.9778369036771449, + -0.055256824130603226, + -0.04757014140511187 + ], + [ + 0.03095570028441956, + 0.05001836582145653, + 0.9982684547257079, + -0.07289958984250886 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9807474969004055, + -0.18660895135796543, + 0.057545170055094554, + -0.10715224971231381 + ], + [ + 0.1890473691935833, + 0.9811414595852634, + -0.0402806216918777, + -0.04430993535006671 + ], + [ + -0.04894322756596945, + 0.05038388190661422, + 0.9975299619156541, + -0.052207242828482076 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.976341383365475, + -0.17055266389284285, + 0.13292588900227667, + -0.09092530632693395 + ], + [ + 0.1756230690053628, + 0.9840784675591534, + -0.027314965121082085, + -0.03663011267735686 + ], + [ + -0.12615086508275788, + 0.050013583409743004, + 0.9907495146167817, + -0.033054996160628805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.967946482042514, + -0.15719166902918202, + 0.1958836059739081, + -0.07228605320520085 + ], + [ + 0.16354612959182274, + 0.9863961049498943, + -0.01659480747739991, + -0.02889308937300423 + ], + [ + -0.19061026047161236, + 0.04809889112544437, + 0.98048672876049, + -0.013566564702908377 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9572006048605094, + -0.1443597760957546, + 0.2508530587819467, + -0.052147815532729 + ], + [ + 0.15102554691366696, + 0.9885019974173508, + -0.007421945926498197, + -0.021564923854199697 + ], + [ + -0.2468973192120623, + 0.0449895115275958, + 0.9679967239709056, + 0.008864319718608425 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9464903145773975, + -0.13431985240569896, + 0.2934523158213111, + -0.036135277073927566 + ], + [ + 0.14060553199332362, + 0.9900656426091895, + -0.00032817331904113484, + -0.012999409905566838 + ], + [ + -0.2904929754470041, + 0.041571631848703404, + 0.955973655830213, + 0.02992240108872527 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9348677547861727, + -0.12609520074857178, + 0.3318467739925127, + -0.020197645856979043 + ], + [ + 0.13123211016241376, + 0.991327083459907, + 0.006981895243730827, + -0.006540943086759013 + ], + [ + -0.32984907809994035, + 0.037021803670968155, + 0.9433074640484764, + 0.051238458241200824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.921980181254684, + -0.11884653009527459, + 0.36854856892666576, + -0.0032421622849896545 + ], + [ + 0.12218954290050353, + 0.9924030924089488, + 0.014346350857334442, + -0.001365081250141625 + ], + [ + -0.36745375352463927, + 0.03180573000999551, + 0.9294977862045639, + 0.0712792778297072 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.907263895107424, + -0.11199787228135295, + 0.40537476640629094, + 0.014033332787785055 + ], + [ + 0.1129984163243196, + 0.993361487249005, + 0.02154793629656173, + 0.006336129585171834 + ], + [ + -0.40509700386784014, + 0.026257042005806634, + 0.9138965943707222, + 0.0897118258829754 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.8910062697868019, + -0.10558976363589154, + 0.4415411974164196, + 0.03183903346720124 + ], + [ + 0.10358094771541393, + 0.9942059223978362, + 0.02873275377412507, + 0.014066886644849914 + ], + [ + -0.4420167581336547, + 0.020134191922805585, + 0.8967807981020948, + 0.10897641364911068 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.8745219270371076, + -0.09930447133049038, + 0.47471046028613645, + 0.049647257339750596 + ], + [ + 0.09422307476989807, + 0.994951284886375, + 0.034553623310120046, + 0.019421779432783733 + ], + [ + -0.4757451117060583, + 0.014510777950312853, + 0.8794634875940369, + 0.12943838951386358 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.8581588651963664, + -0.09407541784175336, + 0.5046911707596877, + 0.06519053445610062 + ], + [ + 0.08531414438064286, + 0.9955304854645085, + 0.04050369463887311, + 0.028346868235522266 + ], + [ + -0.5062458482333299, + 0.008298690782272189, + 0.8623492754550309, + 0.1500649195114517 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.8397321694432252, + -0.08970493921324818, + 0.5355398281014424, + 0.08177679608178673 + ], + [ + 0.07553740116769786, + 0.9959683692247511, + 0.0483850031375478, + 0.03368457957018196 + ], + [ + -0.5377211030143835, + -0.0001771568166316663, + 0.8431227573660063, + 0.17199599927267523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.8174008989506305, + -0.08506489607196382, + 0.5697540994595539, + 0.09915151087666983 + ], + [ + 0.06575663834593401, + 0.996350708919189, + 0.05441809763003087, + 0.037867392058679575 + ], + [ + -0.5723039707254732, + -0.00701628765769521, + 0.8200115467475816, + 0.1917219906640784 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.7912476447032432, + -0.07893470643232894, + 0.6063798123882529, + 0.11732106219373728 + ], + [ + 0.05494185749764094, + 0.9967997995247041, + 0.05806506662545903, + 0.04770312111471825 + ], + [ + -0.6090226244124923, + -0.012628213965249702, + 0.7930523130070101, + 0.21027459181588043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.7592535121856334, + -0.07166199951514611, + 0.6468374309355261, + 0.1379995954552881 + ], + [ + 0.04156014473638394, + 0.9972292000546448, + 0.06169827329726787, + 0.05424417962263254 + ], + [ + -0.6494665954483504, + -0.019961973446148494, + 0.7601280556675067, + 0.23259879648732645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.7294593721716649, + -0.06437672748134367, + 0.6809880037928079, + 0.15503501101442457 + ], + [ + 0.02917685583413558, + 0.9975836417882888, + 0.06305226974542014, + 0.06140690693155808 + ], + [ + -0.6834015916242474, + -0.026124980291054097, + 0.7295750475244048, + 0.25410151264191994 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.7003364957990483, + -0.058713567950115744, + 0.7113940606938438, + 0.17156340494190223 + ], + [ + 0.017475356622943968, + 0.9977230087146234, + 0.06514145985729863, + 0.06952561097706439 + ], + [ + -0.7135989101468767, + -0.03318907681762575, + 0.6997678762398166, + 0.2760447997084186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.673106168878578, + -0.055028456782401786, + 0.7374957317583273, + 0.19013364722106585 + ], + [ + 0.008298843402984753, + 0.9977270888126697, + 0.06687140979198807, + 0.07491818994677825 + ], + [ + -0.7394992999427221, + -0.03889119686436251, + 0.6720329308826178, + 0.29721953505801113 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.6481729104608189, + -0.05266964862528134, + 0.7596695243712496, + 0.2097818175662241 + ], + [ + 0.0009410564366672605, + 0.9976597868551991, + 0.06836712736997021, + 0.08118674022454839 + ], + [ + -0.7614926083407075, + -0.04359882803158958, + 0.6467056128075105, + 0.31586782686580556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.6248396828547585, + -0.05139553865607731, + 0.7790596057659622, + 0.2294358955643008 + ], + [ + -0.006008405034395734, + 0.9974848886151734, + 0.07062433046279341, + 0.08930626011217586 + ], + [ + -0.7807299595884019, + -0.048809789905580055, + 0.6229593362415125, + 0.33283027001230064 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.601888875622868, + -0.051074742915860824, + 0.796944886449194, + 0.24957948171206093 + ], + [ + -0.013474157555836492, + 0.9971610833698772, + 0.0740825275673933, + 0.09662260384686913 + ], + [ + -0.7984661724078238, + -0.05532761018417313, + 0.599491974151204, + 0.3507270036669452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.5789794066791976, + -0.05166791643261809, + 0.8137034306508218, + 0.26963435154792875 + ], + [ + -0.021579142911053117, + 0.9966694918548014, + 0.07864009535292271, + 0.10454588646247102 + ], + [ + -0.8150565546222109, + -0.06309001836585898, + 0.5759361616967343, + 0.37025323726596293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.5568457344234945, + -0.05382211408816439, + 0.8288703204298244, + 0.2880448583659903 + ], + [ + -0.028959153407062337, + 0.9960337310681967, + 0.08413188461168312, + 0.11521538636187176 + ], + [ + -0.830110953721432, + -0.07085186383891358, + 0.5530784916286717, + 0.3897738621311185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.5317429603641282, + -0.05819037069681906, + 0.8449043169858704, + 0.3103446517551905 + ], + [ + -0.036327328433888036, + 0.9951513443362567, + 0.09140091397025216, + 0.1216459528271789 + ], + [ + -0.8461263199499528, + -0.07929490919288443, + 0.5270508211397099, + 0.41036549905611097 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.5102561024306225, + -0.06412270151747264, + 0.8576287011769202, + 0.33258790869787525 + ], + [ + -0.04108584229233699, + 0.9942604843334145, + 0.09878280648074969, + 0.12928987356874755 + ], + [ + -0.8590405482254254, + -0.08564092738396253, + 0.5046929443348456, + 0.425786044323321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.488754113342365, + -0.06990144025506435, + 0.8696167002428061, + 0.3553147622730793 + ], + [ + -0.0467363020710832, + 0.9932557507797777, + 0.10610717040625077, + 0.13945175809482815 + ], + [ + -0.8711688325230875, + -0.09250298477978071, + 0.48219089896761075, + 0.44139022332914074 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.46995192762143717, + -0.07319322623960499, + 0.8796521683924469, + 0.37863639132599547 + ], + [ + -0.051834365833639, + 0.9925480678413483, + 0.11027933416116954, + 0.14290743461207328 + ], + [ + -0.8811687603651869, + -0.09742219796865813, + 0.46265595327352665, + 0.45736619199000794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.4568559794757895, + -0.07568466742605597, + 0.8863150935947242, + 0.3994910458379828 + ], + [ + -0.05595671903138659, + 0.9919554050091481, + 0.11354875634889082, + 0.15195352685510602 + ], + [ + -0.8877789474933835, + -0.10147071296558736, + 0.448945692481614, + 0.47337502074279664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.4506117123391503, + -0.07823251120090209, + 0.8892855328262006, + 0.42184762145503807 + ], + [ + -0.05824127812170023, + 0.9914542715255803, + 0.11673209068817177, + 0.15975744148083174 + ], + [ + -0.8908181847187053, + -0.10439397331686119, + 0.4422045455550959, + 0.49121721144776576 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.44912890280767526, + -0.07996462646811454, + 0.8898813893865795, + 0.4452140754280733 + ], + [ + -0.057377130539886925, + 0.9913496603302464, + 0.118041161694191, + 0.165081385633703 + ], + [ + -0.8916227305053314, + -0.1040745380817051, + 0.4406556444314508, + 0.5066779412956737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.450979787771764, + -0.08150375323093977, + 0.88880502318034, + 0.46772325699339934 + ], + [ + -0.05563177277318053, + 0.9913186699168439, + 0.11913186195309972, + 0.172585720952437 + ], + [ + -0.8907987072731122, + -0.10317186090969413, + 0.4425304850933807, + 0.5195762839690584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.4576732062579627, + -0.08440978716053911, + 0.885104640200846, + 0.4909008178800142 + ], + [ + -0.05320893855242471, + 0.9910989314676193, + 0.12203162254869782, + 0.17841132768700857 + ], + [ + -0.8875269264262808, + -0.10294608236963682, + 0.4491080705053777, + 0.5322609786555799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.4696834050104106, + -0.08718554686112505, + 0.8785193108158483, + 0.5140315587469364 + ], + [ + -0.04996162402904429, + 0.9908918649642944, + 0.1250485828466797, + 0.18325384452466628 + ], + [ + -0.8814200673811591, + -0.10262549569239146, + 0.4610495336205036, + 0.546357418016973 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.48430046200818117, + -0.0883307132128375, + 0.8704313572028375, + 0.534923905258091 + ], + [ + -0.04683780155543718, + 0.99084610932736, + 0.12661045761028947, + 0.19179393807482653 + ], + [ + -0.8736471157418857, + -0.1020865942920268, + 0.4757300121095361, + 0.5625146664184737 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.5012267995877606, + -0.08985181346505201, + 0.8606383369290801, + 0.5570541739043784 + ], + [ + -0.04283215710540382, + 0.9907989218580264, + 0.12838575763172036, + 0.20166031254129477 + ], + [ + -0.864255229485312, + -0.10121337886867691, + 0.49276642564736167, + 0.5820101855671251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.5194569083060713, + -0.09220946249371167, + 0.8495068778060122, + 0.5793680894568333 + ], + [ + -0.03669203169620247, + 0.990836616160708, + 0.12998651809015785, + 0.20743383513346925 + ], + [ + -0.8537085071750796, + -0.0986925280951848, + 0.5113135727467817, + 0.5988747373164297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.5391575477583006, + -0.09432878782368585, + 0.8369057405006672, + 0.6014143262061538 + ], + [ + -0.030031726869192504, + 0.9909226967682686, + 0.13103550820581578, + 0.21561046074908935 + ], + [ + -0.841669313968681, + -0.09578250788748563, + 0.5314305948157988, + 0.6129371707572586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.5585742204322591, + -0.0977149332442587, + 0.823678718973341, + 0.6238517967010645 + ], + [ + -0.023701503844672497, + 0.9907507755820133, + 0.1336081561849432, + 0.22262172925142287 + ], + [ + -0.8291158417157369, + -0.09415249600891773, + 0.5510918512474084, + 0.6267841936877095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.5766784388472054, + -0.09956038865643557, + 0.8108820550359525, + 0.645171436773146 + ], + [ + -0.018892277810145783, + 0.9906560947747516, + 0.1350688110734026, + 0.2259233570807119 + ], + [ + -0.8167527532906725, + -0.09321068016175907, + 0.5694090876477894, + 0.6423609529138841 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.5949546828788226, + -0.10164090308604073, + 0.79730674908746, + 0.663210537433031 + ], + [ + -0.01362040625393613, + 0.9905547213982524, + 0.13643983453928862, + 0.23547257946157088 + ], + [ + -0.8036438327107586, + -0.09203516032193781, + 0.5879507797515688, + 0.6581397945471338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.6116673389439786, + -0.10472939772444907, + 0.7841522937041414, + 0.6825592990594512 + ], + [ + -0.008735421167265292, + 0.9902442400047001, + 0.13906846355138983, + 0.2408473120419872 + ], + [ + -0.7910668485572014, + -0.09191353757628909, + 0.6047852037905604, + 0.6753349429477161 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.625557327265626, + -0.10757802849447633, + 0.7727256939493654, + 0.7026083518502917 + ], + [ + -0.0032693513491145326, + 0.9900775220010206, + 0.1404842046995839, + 0.24617317821077414 + ], + [ + -0.7801713540281023, + -0.0904072354049176, + 0.6189985380761389, + 0.6906380056897264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.6367850624905385, + -0.10981250006866775, + 0.763181498083903, + 0.7229188155950619 + ], + [ + 0.0009286453613999365, + 0.989914680359022, + 0.14166179169941548, + 0.2552520610385556 + ], + [ + -0.7710408042423659, + -0.08949938792173202, + 0.6304648584615336, + 0.7040238699190668 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.6454176513780681, + -0.11275162855267978, + 0.7554621933282546, + 0.7474334297313308 + ], + [ + 0.0041354254662622145, + 0.9895464322659782, + 0.14415532125414965, + 0.26175886649304764 + ], + [ + -0.763818665355745, + -0.08991623128441618, + 0.6391370101987334, + 0.7193346496546523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.6498090140151614, + -0.11456257425804815, + 0.7514144408274392, + 0.7693881334702908 + ], + [ + 0.00499129197649012, + 0.9891981787102496, + 0.14649931822616402, + 0.26693166401702045 + ], + [ + -0.7600811353461217, + -0.09144604866091621, + 0.6433617084310009, + 0.7352734813787618 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.6518044669558208, + -0.11650685911421503, + 0.7493844731750046, + 0.7895888581599837 + ], + [ + 0.0043823663317958395, + 0.9886914197407081, + 0.1499002047911785, + 0.2743584914831891 + ], + [ + -0.7583744007558355, + -0.09442154579566976, + 0.6449440595646913, + 0.7531052919902775 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.6526280577050749, + -0.11881946777194463, + 0.7483037834826798, + 0.810053849137405 + ], + [ + 0.0040227496701962795, + 0.9881565940117941, + 0.15339609902504503, + 0.28022026493088215 + ], + [ + -0.7576677608168323, + -0.09710035936803889, + 0.6453766996331718, + 0.7717989680447516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.653275504353073, + -0.12106504056753803, + 0.7473783321481956, + 0.8314982162853836 + ], + [ + 0.004835014504632494, + 0.98777985462943, + 0.155780555343093, + 0.2844489884709113 + ], + [ + -0.7571048395347756, + -0.09815403578377632, + 0.6458777339499939, + 0.788855060193541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.6543996533703933, + -0.12401271574169023, + 0.7459101420433164, + 0.8530675010365044 + ], + [ + 0.006339695243707678, + 0.9873245560014172, + 0.15858760790434273, + 0.2922415748866749 + ], + [ + -0.7561222797490671, + -0.09905083266169636, + 0.6468910500355516, + 0.8030216022301704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.6562125648141993, + -0.12718212478850927, + 0.7437807317444102, + 0.8756347944543207 + ], + [ + 0.007741043072357262, + 0.9867762701127439, + 0.16190327048745165, + 0.3008216031846174 + ], + [ + -0.7545363782032793, + -0.10048532169755484, + 0.6485195094144947, + 0.8167151215871554 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.6578790955976722, + -0.1293852597854307, + 0.7419262430497021, + 0.898380120314013 + ], + [ + 0.008516832894057975, + 0.986347305784668, + 0.16445806738734764, + 0.30618112713090073 + ], + [ + -0.7530754006957362, + -0.10187466280475872, + 0.6499992261113647, + 0.8321111023188033 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6588299613884598, + -0.12974452697323938, + 0.7410191898307161, + 0.9194386926357426 + ], + [ + 0.008036898436622898, + 0.9861732030072555, + 0.16552287435254928, + 0.31767919673314216 + ], + [ + -0.7522489549613212, + -0.10309593295033889, + 0.6507631968455956, + 0.84756825355928 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.6611726273422249, + -0.13161923040677992, + 0.7385980876231043, + 0.9429153257447526 + ], + [ + 0.008640584339940742, + 0.9857611845084027, + 0.1679292333658909, + 0.3229687648217005 + ], + [ + -0.7501840421894111, + -0.10464829336266532, + 0.6528955793544919, + 0.8633835907809557 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.6646146674907918, + -0.13322269119018615, + 0.7352136140661085, + 0.9669897225540183 + ], + [ + 0.010382339147797903, + 0.9855279183175639, + 0.16919494451805983, + 0.3269973777658108 + ], + [ + -0.7471141484337749, + -0.10481620470468074, + 0.6563794728976386, + 0.8762552115997327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.6679791813743606, + -0.13389124162965188, + 0.7320361662276729, + 0.9930925561955151 + ], + [ + 0.011477025323977347, + 0.9854181346477823, + 0.16976271026641254, + 0.3375041868313542 + ], + [ + -0.7440914534787721, + -0.10499635861378874, + 0.6597754720643174, + 0.8888931095731457 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.6703911054583138, + -0.13460165814558303, + 0.7296973066599874, + 1.0177743619533632 + ], + [ + 0.012622553882734096, + 0.9853354940152284, + 0.17016061638123936, + 0.34378413129051333 + ], + [ + -0.7419005572553896, + -0.10486352014988548, + 0.6622591677628307, + 0.9007833767298254 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.6727428416470718, + -0.1341224968872796, + 0.7276181861672679, + 1.0433753107515742 + ], + [ + 0.013401658506057866, + 0.9854797284365622, + 0.1692634053476621, + 0.35330916173333965 + ], + [ + -0.7397550030664952, + -0.10411945384663536, + 0.6647718967952605, + 0.9141232755426173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.6752952705593784, + -0.13337993595784442, + 0.7253868555770896, + 1.0695916600710818 + ], + [ + 0.014371581243361672, + 0.9857049619950208, + 0.16786657067731017, + 0.36472081453068217 + ], + [ + -0.7374074553547053, + -0.10293454513561637, + 0.6675587795880018, + 0.9280030547964472 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.6779563400226649, + -0.1330217221852048, + 0.7229664047865263, + 1.0966280676267195 + ], + [ + 0.015470042142333162, + 0.9858550267285839, + 0.1668848227673737, + 0.37198946728447374 + ], + [ + -0.7349393708457777, + -0.10195630289916109, + 0.670424517361908, + 0.9409172779707541 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.6802748861499691, + -0.1326554768460581, + 0.72085269211982, + 1.1233980564987804 + ], + [ + 0.016321477950631033, + 0.9859833277676979, + 0.16604362897035152, + 0.3787333584160269 + ], + [ + -0.7327753329849156, + -0.10118992947364691, + 0.6729048294833117, + 0.9521199429349518 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.6817850406380217, + -0.13233523738998706, + 0.7194835253896695, + 1.1492566251700516 + ], + [ + 0.016830201599860595, + 0.986079248415358, + 0.16542206672240262, + 0.3877125679402066 + ], + [ + -0.7313589424327288, + -0.10067323770267222, + 0.6745213091772135, + 0.9629779839344594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.6826527914767244, + -0.1324236141270776, + 0.7186439679775786, + 1.1746230048633042 + ], + [ + 0.017069593759030097, + 0.9860643854074251, + 0.16548612268096252, + 0.394274206031316 + ], + [ + -0.7305434930638542, + -0.10070260300806405, + 0.6754000225714112, + 0.9756803178770567 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6836227496934768, + -0.13198089936111967, + 0.7178028826254187, + 1.198152005698816 + ], + [ + 0.017024821055081588, + 0.9861293174345319, + 0.16510337599258007, + 0.40195586239461245 + ], + [ + -0.7296369587470012, + -0.10064795825020405, + 0.6763873867322577, + 0.9901475827543831 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.6848295391773742, + -0.13094697993118778, + 0.7168412590783307, + 1.2226949571147823 + ], + [ + 0.016634877804925445, + 0.9862746461763414, + 0.16427295319116958, + 0.41276456564735875 + ], + [ + -0.7285134062668447, + -0.10057440408291808, + 0.6776082984533509, + 1.0070300617360168 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.6867251971893333, + -0.13007423283388075, + 0.7151847296314069, + 1.2481497794643817 + ], + [ + 0.017492522662390778, + 0.9865321997235126, + 0.16262911965448631, + 0.41596295720750476 + ], + [ + -0.7267066225074441, + -0.09917112917258161, + 0.6797518458543957, + 1.0223937056342607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.6893265824896606, + -0.12702666333845364, + 0.7132272355106921, + 1.2742617564701584 + ], + [ + 0.019116869553942158, + 0.9873542203874932, + 0.15737277013976453, + 0.4260275724204642 + ], + [ + -0.7241984589679702, + -0.09484656179379812, + 0.6830378625993676, + 1.034262714676747 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.6906969039106179, + -0.12545428425853644, + 0.7121790571825778, + 1.3011674490599414 + ], + [ + 0.019640597809295356, + 0.98772775710131, + 0.1549455542095656, + 0.4357965167240472 + ], + [ + -0.7228776064078762, + -0.0930327921369356, + 0.6846845008770285, + 1.0470264268874188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.691430961778042, + -0.1236522522165267, + 0.7117818104001202, + 1.3262292109510736 + ], + [ + 0.01942815498144084, + 0.9880697170899183, + 0.1527768993135623, + 0.4413700910417879 + ], + [ + -0.722181259718576, + -0.09180607110441938, + 0.6855843299111068, + 1.0625844242853182 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.6918532119095182, + -0.121688639327967, + 0.7117099185967494, + 1.3485636933095777 + ], + [ + 0.018387275586963077, + 0.9883453661879582, + 0.15111368313716692, + 0.45320006448370165 + ], + [ + -0.7218040185999054, + -0.09146208063071262, + 0.6860274386201536, + 1.0794340224839098 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.692573093301235, + -0.1212912322819763, + 0.7110773146477666, + 1.3734975663210285 + ], + [ + 0.01806511469050276, + 0.9883694424420496, + 0.15099502269283963, + 0.46034676369506705 + ], + [ + -0.7211214613824622, + -0.0917293966965435, + 0.6867092220986335, + 1.097254040928981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6934844760656325, + -0.12136530103945875, + 0.7101758550947622, + 1.3992185395468755 + ], + [ + 0.018669724775144093, + 0.9884059133226591, + 0.15068242062570025, + 0.46629031707084295 + ], + [ + -0.7202296320152314, + -0.09123713176334318, + 0.6877100137083965, + 1.1118979489087957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6944208058464656, + -0.12136687930095283, + 0.7092600545753956, + 1.424521268299091 + ], + [ + 0.01957718999181582, + 0.9884949892218629, + 0.14998129855183104, + 0.4742161559591352 + ], + [ + -0.7193027721617439, + -0.09026481536023367, + 0.6888075094454278, + 1.1239005881324673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.6953572522457263, + -0.12168264511276647, + 0.7082878127058477, + 1.450374782272261 + ], + [ + 0.02039067555635779, + 0.9885052607994188, + 0.14980510579492465, + 0.4798186270369126 + ], + [ + -0.7183749105443681, + -0.08972559974853186, + 0.6898454933172629, + 1.1361906631336887 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.6962951772372394, + -0.12196030257264541, + 0.7073179700478069, + 1.4757182313615722 + ], + [ + 0.020671068486705926, + 0.9884566592425628, + 0.15008710712999415, + 0.48357595212258586 + ], + [ + -0.7174578266935134, + -0.08988391065936777, + 0.6907786545057681, + 1.1498708250664196 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6972391968394411, + -0.12153871441321487, + 0.706460079048685, + 1.5009363549966817 + ], + [ + 0.020092846755474465, + 0.9884482283584116, + 0.15022109493802363, + 0.49210303281208345 + ], + [ + -0.7165568922981289, + -0.09054524147574342, + 0.6916269076215494, + 1.166398089410348 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6979991331039785, + -0.12150565634958524, + 0.705714946462912, + 1.524996797515558 + ], + [ + 0.019887957349798972, + 0.9884087837306379, + 0.15050762570904377, + 0.4985072288322099 + ], + [ + -0.7158223797413341, + -0.09101896351408059, + 0.6923249735075829, + 1.1824828066235429 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6987193785385455, + -0.12200669254908902, + 0.7049153119545217, + 1.5499564192865043 + ], + [ + 0.020604024158530444, + 0.98837324131107, + 0.15064464825782614, + 0.5017572206894994 + ], + [ + -0.715099087010453, + -0.09073424289363707, + 0.6931093657737826, + 1.1954453007213839 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6990504302680728, + -0.12219593814406247, + 0.7045542198036396, + 1.5741965961468376 + ], + [ + 0.02133828663937072, + 0.9884167193526875, + 0.1502566684955021, + 0.5093414274256725 + ], + [ + -0.7147539251136148, + -0.09000300886727962, + 0.6935605849019377, + 1.2051596201314356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6990877348610552, + -0.12273595765400083, + 0.7044233270311219, + 1.600412570199522 + ], + [ + 0.02228692901596633, + 0.9884195538535016, + 0.15010022769830467, + 0.5152162478536851 + ], + [ + -0.7146884858187356, + -0.08923379549700294, + 0.6937273945717604, + 1.2153674007698956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_017/tilt_down/transforms.json b/spatialvid_eval/camera_controls/scene_017/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..0860afe8f66269d07e6635a8f2660965a5aa49c4 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_017/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": [ + [ + 0.9703277012114079, + -0.22038030216138393, + -0.09948203195070904, + -0.13204256365302253 + ], + [ + 0.2136316359375161, + 0.9740946292959383, + -0.07416992182461331, + -0.05210480348800095 + ], + [ + 0.11325050281762711, + 0.05071662051108865, + 0.9922712068862469, + -0.094497417975298 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9789075908510504, + -0.20323847495848515, + -0.020833887557107515, + -0.12062417701879546 + ], + [ + 0.20194472806709807, + 0.9780124949646802, + -0.05205657017963924, + -0.04750107037494862 + ], + [ + 0.03095570028441956, + 0.04675127794521868, + 0.9984267938263629, + -0.07414742541091598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9807474969004055, + -0.18698158407310006, + 0.05632259352252411, + -0.10729611263745155 + ], + [ + 0.1890473691935833, + 0.9813840793382049, + -0.03385824895781061, + -0.04420923379583702 + ], + [ + -0.04894322756596945, + 0.04385403104639625, + 0.9978383558655218, + -0.054701067733271214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.976341383365475, + -0.1718494206829903, + 0.1312451132001158, + -0.09142377841069249 + ], + [ + 0.1756230690053628, + 0.9842992035289756, + -0.01765263621564594, + -0.0365276815581528 + ], + [ + -0.12615086508275788, + 0.04028466883499182, + 0.9911927686861557, + -0.03677030684044174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.967946482042514, + -0.15974223921880548, + 0.19380924877539546, + -0.07326547123507039 + ], + [ + 0.16354612959182274, + 0.9865288173210568, + -0.0036818596730408965, + -0.02881011533561723 + ], + [ + -0.19061026047161236, + 0.035260595634208775, + 0.9810323231160455, + -0.018468998346710827 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9572006048605094, + -0.14844484221982474, + 0.24845750315296683, + -0.05371564715011617 + ], + [ + 0.15102554691366696, + 0.9884911103609697, + 0.008752651984687465, + -0.02151853669215908 + ], + [ + -0.2468973192120623, + 0.029145386524604563, + 0.9686032522195187, + 0.0028143401937902653 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9464903145773975, + -0.14005551349639492, + 0.2907585554208859, + -0.0383361694425874 + ], + [ + 0.14060553199332362, + 0.9898812412872159, + 0.0191105342823128, + -0.01299694860567403 + ], + [ + -0.2904929754470041, + 0.022794325761955544, + 0.9566055874439603, + 0.022752598669998673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9348677547861727, + -0.13366321527512165, + 0.3288714428821343, + -0.02310130512941353 + ], + [ + 0.13123211016241376, + 0.9909070714401443, + 0.02968684948317636, + -0.006602034670141657 + ], + [ + -0.32984907809994035, + 0.015405215098568077, + 0.9439079748706365, + 0.04298451793077665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9219801812546842, + -0.12845328119540325, + 0.3653112370619265, + -0.006927647974256313 + ], + [ + 0.12218954290050356, + 0.9916874769702017, + 0.040319519171766266, + -0.0015085447587149694 + ], + [ + -0.3674537535246393, + 0.00746341547892752, + 0.9300118474783228, + 0.06198429996766155 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.907263895107424, + -0.12388684610783789, + 0.4019008260702609, + 0.009472866665714282 + ], + [ + 0.1129984163243196, + 0.9922961274563684, + 0.05079127231415398, + 0.0060937153018355145 + ], + [ + -0.40509700386784014, + -0.0006669306918259037, + 0.914273467109678, + 0.07943048919630477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.8910062697868019, + -0.11998005256156734, + 0.43784999050808787, + 0.026319768499495997 + ], + [ + 0.10358094771541393, + 0.9927335027454797, + 0.061246875814751044, + 0.01370772722267335 + ], + [ + -0.4420167581336547, + -0.009218433381784085, + 0.8969594227249079, + 0.09776665367283449 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.8745219270371076, + -0.11632479773808937, + 0.4708289929077184, + 0.04311998851081622 + ], + [ + 0.09422307476989807, + 0.9930631460860785, + 0.07033917874503551, + 0.018946667112269583 + ], + [ + -0.4757451117060583, + -0.01715019873973626, + 0.8794159762995994, + 0.11734576655944556 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.8581588651963666, + -0.1138169714832125, + 0.5006086885854804, + 0.0576201668947053 + ], + [ + 0.08531414438064287, + 0.9931727999498764, + 0.07955681120006246, + 0.02773931281593917 + ], + [ + -0.50624584823333, + -0.025563380881901215, + 0.86201024048697, + 0.13712968037962625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.8397321694432252, + -0.11240005306400698, + 0.5312401638368314, + 0.07307427387513829 + ], + [ + 0.07553740116769786, + 0.9930094322298855, + 0.09069933035756642, + 0.03289832326919681 + ], + [ + -0.5377211030143835, + -0.03603464407607075, + 0.8423523727035533, + 0.15829525446547763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.8174008989506305, + -0.11106972807849422, + 0.5652603700059563, + 0.08918081413612763 + ], + [ + 0.06575663834593401, + 0.9928129323349109, + 0.09999272924567039, + 0.036915075350154036 + ], + [ + -0.5723039707254732, + -0.044564525052167465, + 0.8188297553208063, + 0.17737178859599573 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.7912476447032432, + -0.10859327327448698, + 0.6017762588795801, + 0.10595144071145754 + ], + [ + 0.05494185749764094, + 0.9927499927325233, + 0.10690577264247283, + 0.046614401115490894 + ], + [ + -0.6090226244124923, + -0.05152623534771165, + 0.79147740967422, + 0.195404860946999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.7592535121856336, + -0.10541664471713277, + 0.6422004634460818, + 0.12506284683657756 + ], + [ + 0.04156014473638395, + 0.992633493962695, + 0.11380466173625695, + 0.053010214156687184 + ], + [ + -0.6494665954483505, + -0.05971664491575904, + 0.7580415976163408, + 0.21739623537397632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.7294593721716649, + -0.10214256892399956, + 0.6763548772386627, + 0.1405640159338274 + ], + [ + 0.02917685583413558, + 0.9925343607905699, + 0.11842404204252303, + 0.0600670461994679 + ], + [ + -0.6834015916242474, + -0.06665161861246276, + 0.7269936906891176, + 0.23859804288202632 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.7003364957990483, + -0.1004920758015734, + 0.7067037111498709, + 0.15555703857629075 + ], + [ + 0.017475356622943968, + 0.9921576379970233, + 0.12376523451708156, + 0.06805992813027517 + ], + [ + -0.7135989101468767, + -0.07432741126433838, + 0.6966003383375087, + 0.26030002249302275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.673106168878578, + -0.10074811330996677, + 0.7326512834098398, + 0.17261812359180556 + ], + [ + 0.008298843402984753, + 0.991643883128568, + 0.128738254811333, + 0.07332999396421853 + ], + [ + -0.7394992999427221, + -0.08057435521415644, + 0.6683177078800523, + 0.28125875294954894 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.6481729104608189, + -0.10224164293923298, + 0.7545982537707318, + 0.19079007945694287 + ], + [ + 0.0009410564366672605, + 0.9910522966033118, + 0.1334708200697225, + 0.07947756204029913 + ], + [ + -0.7614926083407075, + -0.0858020503623755, + 0.6424694666644308, + 0.2997001865456178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.6248396828547585, + -0.1047708887132518, + 0.7736914317789749, + 0.20898558091294428 + ], + [ + -0.006008405034395734, + 0.9902807248509965, + 0.13895317577345095, + 0.08745237143752754 + ], + [ + -0.7807299595884019, + -0.09147210977571424, + 0.6181371881178743, + 0.31647758743596094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.601888875622868, + -0.10826879345386577, + 0.7912064520499592, + 0.2276634973347081 + ], + [ + -0.013474157555836492, + 0.9892489761848736, + 0.14561905848940304, + 0.09458533433876581 + ], + [ + -0.7984661724078238, + -0.09830733177756297, + 0.5939591232056091, + 0.3342409743777871 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.5789794066791977, + -0.11270910038496625, + 0.8075143994578775, + 0.2462403779167176 + ], + [ + -0.02157914291105312, + 0.9879342309223668, + 0.15336328101294824, + 0.1022849837210745 + ], + [ + -0.8150565546222112, + -0.10621965007588657, + 0.5695614090729179, + 0.3536950726171818 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.5568457344234946, + -0.11868861428922621, + 0.822092355451906, + 0.26317874875309555 + ], + [ + -0.028959153407062344, + 0.9863623798962542, + 0.1620204399430646, + 0.11269142982352126 + ], + [ + -0.8301109537214322, + -0.11402748950801843, + 0.5458145620521622, + 0.3731815073822583 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.5317429603641282, + -0.12704222615658675, + 0.8373229346413319, + 0.28394139184938205 + ], + [ + -0.036327328433888036, + 0.9843534203718565, + 0.1724200365708223, + 0.11878967426560852 + ], + [ + -0.8461263199499528, + -0.1221008459242029, + 0.5188078971185234, + 0.39389516089549503 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.5102561024306225, + -0.13677389022088382, + 0.8490769181211769, + 0.3047149759096253 + ], + [ + -0.04108584229233699, + 0.9822689407214976, + 0.18291987769784998, + 0.1260794323581232 + ], + [ + -0.8590405482254254, + -0.1282210242031813, + 0.49558925074788285, + 0.4093835236324385 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.488754113342365, + -0.146365796134497, + 0.8600560856204866, + 0.3259651986398846 + ], + [ + -0.0467363020710832, + 0.980017944877559, + 0.19334049184453536, + 0.13587064109361718 + ], + [ + -0.8711688325230875, + -0.13469180168028508, + 0.47214720564722157, + 0.42511628048898387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.46995192762143717, + -0.15337577262316637, + 0.8692646651608141, + 0.34784856543225984 + ], + [ + -0.051834365833639, + 0.9782935192302549, + 0.20063645917606124, + 0.13904765791643234 + ], + [ + -0.8811687603651869, + -0.1393472734011311, + 0.4518007892336516, + 0.44117323362543454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.4568559794757895, + -0.15933121637725872, + 0.8751549448554584, + 0.367362123695174 + ], + [ + -0.05595671903138659, + 0.9767318947364617, + 0.20703538682979844, + 0.14783738443745872 + ], + [ + -0.8877789474933835, + -0.14355615379448203, + 0.4373101543473185, + 0.45710073939033813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.4506117123391503, + -0.1650210251404231, + 0.8773352528904688, + 0.3884994139740555 + ], + [ + -0.05824127812170023, + 0.9752384025022213, + 0.2133495062278474, + 0.1553799880800253 + ], + [ + -0.8908181847187053, + -0.14723491279760853, + 0.429842811069292, + 0.4746345409894497 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.44912890280767526, + -0.1696747635181171, + 0.8772079019752645, + 0.4107311715893433 + ], + [ + -0.057377130539886925, + 0.9742983497622888, + 0.21783156461240868, + 0.1605072906180531 + ], + [ + -0.8916227305053314, + -0.1481661239135054, + 0.4278500977803619, + 0.4896025350739549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.450979787771764, + -0.17396269036047432, + 0.8754165941903778, + 0.4321710560661857 + ], + [ + -0.05563177277318053, + 0.9734354520634837, + 0.22210026232329017, + 0.167820446474313 + ], + [ + -0.8907987072731122, + -0.1488637062164812, + 0.42932186071995604, + 0.5018750645653232 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.4576732062579627, + -0.17931681629558954, + 0.8708505702284235, + 0.4543902514717293 + ], + [ + -0.05320893855242471, + 0.9721724178935325, + 0.2281438115425605, + 0.17337752325687478 + ], + [ + -0.8875269264262808, + -0.15075234419622427, + 0.4353960100732005, + 0.513735270747233 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.4696834050104107, + -0.18419309447130297, + 0.8634062792260156, + 0.47669448803726283 + ], + [ + -0.049961624029044305, + 0.9708798395386052, + 0.2342993241600852, + 0.1779392797536824 + ], + [ + -0.8814200673811593, + -0.15318368427015303, + 0.4468035627557317, + 0.5267628128381016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.48430046200818117, + -0.18723090888718216, + 0.8546330494755875, + 0.49684253338046686 + ], + [ + -0.04683780155543718, + 0.9698839417279799, + 0.23902167249780962, + 0.18625473055437636 + ], + [ + -0.8736471157418857, + -0.15578743959471308, + 0.46094575691767453, + 0.5417014783886815 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.5012267995877606, + -0.19038619202742676, + 0.8441118369388663, + 0.5183254487425698 + ], + [ + -0.04283215710540382, + 0.9688410286594699, + 0.24395177290554557, + 0.19588295344786735 + ], + [ + -0.864255229485312, + -0.15843029720150328, + 0.47745443681668154, + 0.5598356964129939 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.5194569083060713, + -0.19414337390322167, + 0.8321495483280467, + 0.5400783963583052 + ], + [ + -0.03669203169620247, + 0.9678815799765907, + 0.24871457929125013, + 0.20142195867179943 + ], + [ + -0.8537085071750796, + -0.15972976401251127, + 0.49564925831217055, + 0.5752264845768911 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.5391575477583007, + -0.1974055170719363, + 0.8187430613598004, + 0.5616613035323721 + ], + [ + -0.03003172686919251, + 0.9670177872267881, + 0.25293219361769903, + 0.2093862741093131 + ], + [ + -0.8416693139686813, + -0.16095856925485033, + 0.5154465102286769, + 0.5876942175035081 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.5585742204322591, + -0.2017588419701875, + 0.8045422362780856, + 0.5836974591511142 + ], + [ + -0.023701503844672497, + 0.9656869199289028, + 0.25862523348221433, + 0.2161083316374069 + ], + [ + -0.8291158417157369, + -0.16353024908278532, + 0.5346258305122632, + 0.5999184659393983 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.5766784388472055, + -0.20454998271321567, + 0.7909496082183576, + 0.6046273340213484 + ], + [ + -0.018892277810145786, + 0.9645508769559733, + 0.26321984652112995, + 0.21916991652704176 + ], + [ + -0.8167527532906728, + -0.16673604989769342, + 0.552371278812195, + 0.6138904985314946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.5949546828788226, + -0.2073831065147913, + 0.7765443789332549, + 0.6223485665422988 + ], + [ + -0.01362040625393613, + 0.9634004647175574, + 0.2677200573649133, + 0.22848003794143235 + ], + [ + -0.8036438327107586, + -0.16985815174512361, + 0.5703549758104098, + 0.6280073170848659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.6116673389439786, + -0.21118027242465137, + 0.7624080003566607, + 0.6413913036399838 + ], + [ + -0.008735421167265292, + 0.9618514878542178, + 0.2734326383767266, + 0.23354621770553924 + ], + [ + -0.7910668485572014, + -0.17390976928073157, + 0.5864883914132489, + 0.6435837197487116 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.625557327265626, + -0.21489196792689325, + 0.7499996482831134, + 0.6610743458005133 + ], + [ + -0.0032693513491145326, + 0.9605879005263162, + 0.2779571850199239, + 0.2386221522081715 + ], + [ + -0.7801713540281023, + -0.1763301661172905, + 0.6002002423116857, + 0.657366834268134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.6367850624905385, + -0.21818700719830758, + 0.7395263444115884, + 0.6809438332004472 + ], + [ + 0.0009286453613999365, + 0.9593430143235392, + 0.282241241646962, + 0.24746066249508775 + ], + [ + -0.7710408042423659, + -0.17904024899019694, + 0.6110979196780287, + 0.6693483027036825 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.6454176513780681, + -0.22238058848472814, + 0.7307413558536321, + 0.7049386813566164 + ], + [ + 0.0041354254662622145, + 0.9576841076340743, + 0.287791675073029, + 0.2536501296725017 + ], + [ + -0.763818665355745, + -0.18272390059954638, + 0.6190258658601072, + 0.6833831928309736 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.6498090140151614, + -0.22595417643547103, + 0.7257361472711774, + 0.726181803122713 + ], + [ + 0.00499129197649012, + 0.9560413484559518, + 0.29318940473170424, + 0.25850795321901604 + ], + [ + -0.7600811353461217, + -0.18689475699947736, + 0.6223720892657841, + 0.6982801831439792 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.6518044669558208, + -0.2299382668800394, + 0.7226889581837005, + 0.7455625203609522 + ], + [ + 0.0043823663317958395, + 0.95405497350998, + 0.299599570070128, + 0.26555185445170737 + ], + [ + -0.7583744007558355, + -0.19211325031104798, + 0.6228649671743888, + 0.7152148284908519 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.6526280577050749, + -0.2344171050107632, + 0.7205034622918022, + 0.7651556221284441 + ], + [ + 0.0040227496701962795, + 0.951994309897411, + 0.30608928666002577, + 0.27101649898937946 + ], + [ + -0.7576677608168323, + -0.19686405157195486, + 0.6222411987465007, + 0.7330763660667613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.6532755043530731, + -0.23884268932625058, + 0.7184603574085647, + 0.7857212934413066 + ], + [ + 0.004835014504632495, + 0.9502349168678212, + 0.31149675022373124, + 0.2749074294561469 + ], + [ + -0.7571048395347758, + -0.20001943035767736, + 0.6219200024379441, + 0.7492950489891039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.6543996533703933, + -0.24386170477824712, + 0.715746157943832, + 0.8064481171587972 + ], + [ + 0.006339695243707678, + 0.9483039863183688, + 0.317300106834064, + 0.2823298493926535 + ], + [ + -0.7561222797490671, + -0.20310346741338162, + 0.6221158088264076, + 0.7625909116029485 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.6562125648141993, + -0.24897429383974398, + 0.712317956243538, + 0.8282187728056145 + ], + [ + 0.007741043072357262, + 0.9461690717012569, + 0.3235802280859163, + 0.29050026969104237 + ], + [ + -0.7545363782032793, + -0.20682332741492804, + 0.622815354021475, + 0.7753720028619814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.6578790955976722, + -0.25316126788737253, + 0.70929857466179, + 0.8501549145157824 + ], + [ + 0.008516832894057975, + 0.9442496714356733, + 0.32912007163203777, + 0.29549135275072314 + ], + [ + -0.7530754006957362, + -0.2104802376359381, + 0.6233582520763443, + 0.7898611526215645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.6588299613884598, + -0.25567842564399407, + 0.7075108653844753, + 0.8703461713094577 + ], + [ + 0.008036898436622898, + 0.9428123259216171, + 0.33322713928158615, + 0.30671330630728577 + ], + [ + -0.7522489549613212, + -0.21385383033857214, + 0.6232078698228395, + 0.8044551917682593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.6611726273422249, + -0.25941226345474927, + 0.703957409523235, + 0.8930599548301931 + ], + [ + 0.008640584339940742, + 0.9408881653038816, + 0.33860714802461056, + 0.31163354156950285 + ], + [ + -0.7501840421894111, + -0.21779517432757767, + 0.6243309738303685, + 0.8193131391745275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.6646146674907919, + -0.26268624618428543, + 0.6994878696744595, + 0.9164437865869733 + ], + [ + 0.010382339147797905, + 0.9393189582548654, + 0.3428878850248506, + 0.3153652253301942 + ], + [ + -0.747114148433775, + -0.22062599739968097, + 0.6270124548057013, + 0.8311291228380201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.6679791813743606, + -0.26505221584394345, + 0.6953784121804865, + 0.941850024559578 + ], + [ + 0.011477025323977347, + 0.9379804201805788, + 0.34649820958783817, + 0.3256207971127053 + ], + [ + -0.7440914534787721, + -0.2234727147418232, + 0.6295934042108192, + 0.8427088265286435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.6703911054583138, + -0.26759075944420313, + 0.692077272551595, + 0.9657834288538392 + ], + [ + 0.012622553882734096, + 0.9366864872886623, + 0.34994156035587426, + 0.33166018737335 + ], + [ + -0.7419005572553896, + -0.22586192682898365, + 0.6313239684609173, + 0.8535974110267237 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.6727428416470718, + -0.26899132272405624, + 0.6892464996732199, + 0.9906229922544472 + ], + [ + 0.013401658506057866, + 0.935847210890613, + 0.35215109458519084, + 0.34103756484563413 + ], + [ + -0.7397550030664952, + -0.22767008184525175, + 0.6331894418502779, + 0.865927313024961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.6752952705593784, + -0.27008852227117774, + 0.6863151518781352, + 1.0160943794722714 + ], + [ + 0.014371581243361672, + 0.9351788626480203, + 0.35388409473854726, + 0.3523406549432305 + ], + [ + -0.7374074553547053, + -0.22911282153936122, + 0.6354034622140263, + 0.8787705948018321 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.6779563400226649, + -0.2715094958097827, + 0.6831235574244171, + 1.04240558726773 + ], + [ + 0.015470042142333162, + 0.934354485013637, + 0.35600895231864027, + 0.3594731055769207 + ], + [ + -0.7349393708457777, + -0.23079057610747242, + 0.6376518102858282, + 0.890635439168611 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.6802748861499691, + -0.27296543545453167, + 0.6802322767413826, + 1.0684330387246441 + ], + [ + 0.016321477950631033, + 0.9334770084047268, + 0.3582656613984501, + 0.3660725317070376 + ], + [ + -0.7327753329849156, + -0.232616735913132, + 0.6394761649521947, + 0.9008109496868493 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.6817850406380217, + -0.27460045987946957, + 0.6780588070338701, + 1.0934966519523521 + ], + [ + 0.016830201599860595, + 0.9325187916364203, + 0.3607290500625903, + 0.37489235776922036 + ], + [ + -0.7313589424327288, + -0.23452780363729703, + 0.6403989433507414, + 0.9107025824732253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.6826527914767244, + -0.2767325674976362, + 0.6763166805389339, + 1.11802979238507 + ], + [ + 0.017069593759030097, + 0.9313056563038925, + 0.3638384304952924, + 0.3812421738701902 + ], + [ + -0.7305434930638542, + -0.23683086923486624, + 0.6404821185009931, + 0.922492566099558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.6836227496934769, + -0.27833641105328155, + 0.6746767954980439, + 1.1407277750887825 + ], + [ + 0.01702482105508159, + 0.9302531037995154, + 0.3665232848529701, + 0.38874759231520606 + ], + [ + -0.7296369587470013, + -0.23907740410450273, + 0.6406808123216116, + 0.9360365918158025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.6848295391773742, + -0.2793291646154166, + 0.6730406526097505, + 1.1644516048146678 + ], + [ + 0.016634877804925445, + 0.9293660453295198, + 0.3687845368626301, + 0.3994173882005762 + ], + [ + -0.7285134062668447, + -0.24135859542146584, + 0.641103927070843, + 0.9519743874866822 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.6867251971893333, + -0.280322706363486, + 0.6706919440714358, + 1.1891470392697905 + ], + [ + 0.017492522662390778, + 0.9287580846174879, + 0.3702734555818994, + 0.40254605483600964 + ], + [ + -0.7267066225074441, + -0.24254401776730322, + 0.6427051300939779, + 0.966314178351273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.6893265824896607, + -0.2791156633542201, + 0.6685232300701741, + 1.214528975496138 + ], + [ + 0.01911686955394216, + 0.9294870169961323, + 0.36835910540407374, + 0.4128476029212589 + ], + [ + -0.7241984589679703, + -0.24113965187410724, + 0.6460559266212577, + 0.9770582936840498 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.6906969039106179, + -0.2795369639226814, + 0.6669309355017029, + 1.2406322291994223 + ], + [ + 0.019640597809295356, + 0.9291765962598243, + 0.36911393888703464, + 0.4226261446162341 + ], + [ + -0.7228776064078762, + -0.2418469325087618, + 0.6472696713041036, + 0.9888282443128713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.691430961778042, + -0.2798727635733291, + 0.6660288742273264, + 1.2648380298040631 + ], + [ + 0.01942815498144084, + 0.9287825157085161, + 0.3701156377514705, + 0.42819308347599316 + ], + [ + -0.722181259718576, + -0.2429696991889895, + 0.6476263995447554, + 1.0034527758304852 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.6918532119095182, + -0.2801221931605372, + 0.6654853041723869, + 1.2862890754323622 + ], + [ + 0.018387275586963077, + 0.9282124692457306, + 0.37159590960239697, + 0.43997761720919953 + ], + [ + -0.7218040185999054, + -0.24485336190396562, + 0.6473374621457908, + 1.0194066216046465 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.692573093301235, + -0.28176609203069736, + 0.664040947394743, + 1.3103894546460393 + ], + [ + 0.01806511469050276, + 0.9270422087303964, + 0.3745215546046545, + 0.4469459554310775 + ], + [ + -0.7211214613824622, + -0.24738757570665684, + 0.6471346268896492, + 1.0363085974677273 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.6934844760656325, + -0.2837992290050541, + 0.6622214728262079, + 1.3353027125883468 + ], + [ + 0.018669724775144093, + 0.9259200667484917, + 0.3772578314220781, + 0.4527288992145299 + ], + [ + -0.7202296320152314, + -0.24925895692754066, + 0.6474096458646557, + 1.05000404767504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.6944208058464656, + -0.2857496512686935, + 0.6603990318037763, + 1.3598012883190862 + ], + [ + 0.01957718999181582, + 0.9249329877066057, + 0.3796257392276717, + 0.4605303624662806 + ], + [ + -0.7193027721617439, + -0.2506912544385062, + 0.6478868858901824, + 1.061046902895572 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.6953572522457264, + -0.2879826723205594, + 0.6584407886760836, + 1.38485815959697 + ], + [ + 0.020390675556357794, + 0.9237379386279275, + 0.3824819487110247, + 0.465961654750882 + ], + [ + -0.7183749105443682, + -0.2525355443943226, + 0.6482000360365886, + 1.0723799550018418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.6962951772372395, + -0.29016955275555656, + 0.6564866006323373, + 1.4094071716695904 + ], + [ + 0.02067106848670593, + 0.9223656596019493, + 0.3857645615069892, + 0.4695052858291489 + ], + [ + -0.7174578266935135, + -0.25503572424407905, + 0.6482368751278492, + 1.0851103262065038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6972391968394412, + -0.29169655358666624, + 0.6548057903045396, + 1.4338226474870566 + ], + [ + 0.02009284675547447, + 0.9210571583684376, + 0.3889087149030225, + 0.4778320287929712 + ], + [ + -0.716556892298129, + -0.2580054876236561, + 0.6480581674943442, + 1.1006935331863008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6979991331039787, + -0.2936200414203431, + 0.6531343517703003, + 1.4570717339185029 + ], + [ + 0.019887957349798976, + 0.9196698900496966, + 0.39218842727499237, + 0.4840208698577144 + ], + [ + -0.7158223797413342, + -0.26075767411966105, + 0.6477682888573334, + 1.115846527923438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6987193785385455, + -0.296038743749905, + 0.6512697538299216, + 1.4812271763709384 + ], + [ + 0.020604024158530444, + 0.918312546398247, + 0.3953195433014185, + 0.4870693674843613 + ], + [ + -0.715099087010453, + -0.2627986478780769, + 0.6477423611516165, + 1.1278671375584401 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6990504302680729, + -0.29825907095887116, + 0.6499000096420788, + 1.5046218669412281 + ], + [ + 0.021338286639370724, + 0.9171551741136775, + 0.39795862111506886, + 0.49450358141174167 + ], + [ + -0.7147539251136149, + -0.2643253926267053, + 0.6475020566356681, + 1.1366705123723693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6990877348610552, + -0.30087200416245646, + 0.648654280860079, + 1.5299702374964097 + ], + [ + 0.02228692901596633, + 0.9158911766736695, + 0.4008074915546851, + 0.5002062250838547 + ], + [ + -0.7146884858187356, + -0.26574308947287495, + 0.6469938010796822, + 1.1459946613127197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 484.6257019042969, + "fy": 484.62535858154297, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_046/boom_down/transforms.json b/spatialvid_eval/camera_controls/scene_046/boom_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..9d3010ff3c76173ec9b3640342f1f1e0da574fc0 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_046/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": [ + [ + 0.9999999991093138, + 2.963544293243884e-05, + 3.005184086164626e-05, + 1.4134943032059272e-05 + ], + [ + -2.9631415112791348e-05, + 0.999999990580224, + -0.00013402063784018133, + 9.088899676610836e-05 + ], + [ + -3.0055812339529126e-05, + 0.00013401974724223953, + 0.9999999905676779, + -0.00013768277433612243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999738343250409, + -0.001630142084133511, + -0.007047928920026186, + -0.0015564803354051618 + ], + [ + 0.0016211075397173358, + 0.9999978573098522, + -0.0012873950635297392, + 0.0006431683393751345 + ], + [ + 0.00705001245537029, + 0.0012759359272573165, + 0.9999743343265812, + -0.0008964575798212725 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999409323237427, + -0.0024630497263854944, + -0.01058608754782071, + -0.0023448890825319853 + ], + [ + 0.002443402766024046, + 0.9999952693171046, + -0.0018684556016031317, + 0.001544300201516436 + ], + [ + 0.010590639567455706, + 0.0018424791606768366, + 0.9999422201427918, + -0.001273631164525763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998948177841295, + -0.003297954923852547, + -0.014123627783369522, + -0.0031353875895964957 + ], + [ + 0.003263633634283807, + 0.9999916671281346, + -0.002452421210871238, + 0.0024454217904400347 + ], + [ + 0.01413159806759668, + 0.0024060689131021203, + 0.9998972491053476, + -0.0016493994667004328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997629537669284, + -0.004973712730326665, + -0.021196661456539485, + -0.004716466423115736 + ], + [ + 0.004897857892478827, + 0.9999814203703954, + -0.0036290359700654412, + 0.002997642161533218 + ], + [ + 0.02121431741282389, + 0.0035243574851499416, + 0.999768739079706, + -0.002401170163093038 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999578249416549, + -0.006657324727276736, + -0.028266646791281293, + -0.006301783739841637 + ], + [ + 0.006523691787907442, + 0.9999671175917042, + -0.004817175603554694, + 0.003549811565601102 + ], + [ + 0.028297786818121524, + 0.004630741065389347, + 0.9995888112110808, + -0.0031502195442543257 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9994660851313346, + -0.007502047563120355, + -0.031800376642497234, + -0.007100729617435586 + ], + [ + 0.007333434809234933, + 0.9999584454280406, + -0.005415547159369496, + 0.004450846431849112 + ], + [ + 0.03183968288382761, + 0.0051794497292022785, + 0.9994795685227188, + -0.0035205006656411028 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993407147384791, + -0.0083486997129599, + -0.035333200804469556, + -0.00790180418361661 + ], + [ + 0.008141047248683059, + 0.9999487595668467, + -0.006016775749475612, + 0.00535185074783457 + ], + [ + 0.03538162256992823, + 0.005725159720705713, + 0.9993574752462163, + -0.0038894362537510558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9990503626000395, + -0.01004774606510997, + -0.042395940698854495, + -0.009497808122611365 + ], + [ + 0.009749836662198301, + 0.9999263472902824, + -0.007227771425145575, + 0.005903844595499197 + ], + [ + 0.04246544093483752, + 0.006807554166127814, + 0.9990747437166476, + -0.004631825585040174 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.998672099394489, + -0.01187591461102048, + -0.05012983685546718, + -0.011603033781438926 + ], + [ + 0.011465433715067792, + 0.9998984132499789, + -0.00846799916745019, + 0.006710408815094182 + ], + [ + 0.05022530956330078, + 0.007881994184614743, + 0.9987068100533532, + -0.005547757535423755 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9984592607274839, + -0.012793090697343613, + -0.053994828436953454, + -0.012665392915834083 + ], + [ + 0.01231959286873141, + 0.9998827648892362, + -0.009093080281472493, + 0.007738571498865147 + ], + [ + 0.054104826948020074, + 0.008413875912214418, + 0.9984998119143833, + -0.005999520942747601 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9982306218520546, + -0.013712308240569886, + -0.05785843239819516, + -0.013730073060477464 + ], + [ + 0.013171307355573647, + 0.9998659959659155, + -0.00972145943946739, + 0.00876667965399881 + ], + [ + 0.057983982783230165, + 0.008942187305340748, + 0.9982774639481704, + -0.006450003737851455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9977259585111707, + -0.015556808243756416, + -0.06558122772740152, + -0.015846980025930654 + ], + [ + 0.014867347310918332, + 0.9998290975336428, + -0.010988071213759096, + 0.00957292921590766 + ], + [ + 0.06574095905067734, + 0.009988064994237086, + 0.9977867331553215, + -0.007359666681685552 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9971581419947919, + -0.01740929538655795, + -0.07329772361839253, + -0.017968628032410557 + ], + [ + 0.01655344394398329, + 0.9997877203383858, + -0.012267752612734602, + 0.010379013751837331 + ], + [ + 0.07349573693139004, + 0.011019559642627547, + 0.9972346493971189, + -0.008266948655705628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9968505626068129, + -0.01833849673329173, + -0.07715345337730638, + -0.019042700215263934 + ], + [ + 0.017392729428624756, + 0.9997653530291921, + -0.01291246860356948, + 0.011406842246067202 + ], + [ + 0.07737214481648928, + 0.011529892453035538, + 0.9969356111537586, + -0.008712507803619813 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9965272090082843, + -0.019269649918639657, + -0.08100742125368915, + -0.020119131998458165 + ], + [ + 0.018229488260416163, + 0.9997418670548915, + -0.013560420913943392, + 0.012434593847053331 + ], + [ + 0.08124781513322638, + 0.01203660457159886, + 0.9966212483619162, + -0.009156859007480067 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9958332003370517, + -0.021137751581095047, + -0.08870982225527194, + -0.02225268017421025 + ], + [ + 0.019895371915676568, + 0.9996915406472536, + -0.014865992555422588, + 0.013240235196154736 + ], + [ + 0.08899669253855974, + 0.01303913403631106, + 0.9959465697017992, + -0.010058291505770542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.994980088035978, + -0.023475839536703475, + -0.09728057036204407, + -0.02348480756242743 + ], + [ + 0.022005492854328523, + 0.9996272356451856, + -0.016160075513530672, + 0.014066565074152283 + ], + [ + 0.09762367897265373, + 0.013938246461153837, + 0.9951257923445823, + -0.010798889334884716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9945238186500283, + -0.024647720672170862, + -0.10156211893925955, + -0.02411853010223839 + ], + [ + 0.02305628739143001, + 0.9995927671015082, + -0.0168139100174163, + 0.015104364543217232 + ], + [ + 0.10193518406070325, + 0.014380188594612656, + 0.9946871007641015, + -0.01115952427164919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9940477526028384, + -0.025821461678259945, + -0.10584100180007885, + -0.024755226516815287 + ], + [ + 0.024104209637106605, + 0.9995567554478789, + -0.017472255615104897, + 0.016142041192061637 + ], + [ + 0.10624524753143813, + 0.01481704273150687, + 0.9942295522773783, + -0.011519175192998422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9930362694125469, + -0.028174428373298862, + -0.11439042449894792, + -0.026002348340973213 + ], + [ + 0.026191352592676676, + 0.9994801057533247, + -0.018802426776584925, + 0.016967652827490052 + ], + [ + 0.11486070120183726, + 0.015675451800844564, + 0.9932579219569616, + -0.01225519654853807 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9919457202387393, + -0.030534549395582138, + -0.12292814727822732, + -0.027255540382958902 + ], + [ + 0.02826675298539382, + 0.9993972927582885, + -0.020150481459918216, + 0.01779291105204443 + ], + [ + 0.12346934346513519, + 0.016513404270850175, + 0.9922109799350519, + -0.01298960886713684 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9913708232103126, + -0.03171723317516503, + -0.127192405461252, + -0.02790424278848398 + ], + [ + 0.029299997250004674, + 0.9993535770958402, + -0.020831181121062838, + 0.018829996454016177 + ], + [ + 0.12777089280605747, + 0.016924688046195027, + 0.9916592932484837, + -0.013345658250820031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9907761932471629, + -0.03290163394047814, + -0.13145347990337639, + -0.02855595126679775 + ], + [ + 0.030330243028943816, + 0.9993083231578095, + -0.021516310681254012, + 0.019866928341408806 + ], + [ + 0.13207047835328609, + 0.01733083239702633, + 0.9910888108519642, + -0.013700827183519624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9895277829885482, + -0.03527549064038737, + -0.13996573314153984, + -0.029824314839904754 + ], + [ + 0.03238165589990793, + 0.9992132041446595, + -0.022899804019754173, + 0.020691292108443993 + ], + [ + 0.14066341050517991, + 0.018127670094171905, + 0.9898915054297659, + -0.014431261397796448 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9880606614170252, + -0.03786904254811246, + -0.14933875912381242, + -0.03106887360648454 + ], + [ + 0.03462806800850104, + 0.9991061643193693, + -0.024243954401795054, + 0.021646096362104107 + ], + [ + 0.15012337015318247, + 0.018783184914357286, + 0.9884888293239958, + -0.01484317458325371 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9872912621714466, + -0.03916803306902548, + -0.15401892359517302, + -0.0317181350546808 + ], + [ + 0.03574635022052384, + 0.9990500453972282, + -0.02492398920132957, + 0.022747721574043547 + ], + [ + 0.15484883624303955, + 0.019101622373507023, + 0.9877534945202049, + -0.015036875190291284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9864979954926077, + -0.04046845765742149, + -0.15869470320050552, + -0.03237069237895689 + ], + [ + 0.03686131340939751, + 0.9989921956163946, + -0.02560930829346182, + 0.023849148072196756 + ], + [ + 0.15957113919127489, + 0.019413836106367148, + 0.9869955189892374, + -0.015229989754443255 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9848399379543066, + -0.043073481894755856, + -0.16803265089743727, + -0.033631869705498266 + ], + [ + 0.03908117381941346, + 0.9988713091753315, + -0.026995732241532348, + 0.02480279003429965 + ], + [ + 0.16900579417006587, + 0.02001956202872222, + 0.9854117203855066, + -0.01563957966323364 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9830866508649557, + -0.04568386063830623, + -0.17735168949943822, + -0.034899753693483304 + ], + [ + 0.04128743226364865, + 0.9987435168119334, + -0.028403090733342642, + 0.025755879440615255 + ], + [ + 0.17842641292196612, + 0.020600303476203563, + 0.9837375883173769, + -0.01604856094443231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9821743494288753, + -0.0469909782368083, + -0.18200383316928725, + -0.03556558338230646 + ], + [ + 0.04238539330689768, + 0.9986770347863855, + -0.029114577525569577, + 0.026856382132181934 + ], + [ + 0.18313117090813769, + 0.02088128718782962, + 0.9828666980253192, + -0.016239802481503963 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9812383055953713, + -0.04829933874290004, + -0.18665090813956303, + -0.036234729027794975 + ], + [ + 0.04347987309669419, + 0.9986088310169563, + -0.029831246210032265, + 0.027956651901109342 + ], + [ + 0.1878320746513235, + 0.021156003685639472, + 0.9819732864188481, + -0.01643058441383193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.979295082807603, + -0.05091966056493994, + -0.19592939788812064, + -0.03751933198026809 + ], + [ + 0.045658282023710244, + 0.9984672649549389, + -0.03128005907998966, + 0.028908383040419455 + ], + [ + 0.1972218600244241, + 0.021686608341453632, + 0.9801189871373532, + -0.016837972834198085 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9770993525240382, + -0.05368304238411287, + -0.20590042801677488, + -0.03935100087944642 + ], + [ + 0.047947864056948855, + 0.9983128910172702, + -0.032747121417259516, + 0.02990498762746393 + ], + [ + 0.20731101666212026, + 0.02212470540201443, + 0.9780248666477721, + -0.017502313470796487 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9759604903437328, + -0.055066233881505146, + -0.21087634095395394, + -0.04030390523278137 + ], + [ + 0.0490868341921527, + 0.9982329110419724, + -0.03348937177167818, + 0.031026923807675178 + ], + [ + 0.21234783727886883, + 0.022333051712135996, + 0.9769389084299029, + -0.017820563071250482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9747943393814892, + -0.05645037375656384, + -0.21584566526235902, + -0.041260309056382706 + ], + [ + 0.05022188086512623, + 0.9981510720530076, + -0.034237407054286136, + 0.032148578706100245 + ], + [ + 0.2173792966042883, + 0.02253425530555788, + 0.9758270588304306, + -0.01813860429978478 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9723803034610349, + -0.059221342436555566, + -0.22576398747594392, + -0.043109595437609304 + ], + [ + 0.05248007586456688, + 0.9979818263206376, + -0.035750747837973676, + 0.03314353991898948 + ], + [ + 0.2274255638187476, + 0.022915211841423117, + 0.9735258116701312, + -0.01880281383731225 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9698575171450986, + -0.061995635767943064, + -0.2356542755454984, + -0.04496596300566295 + ], + [ + 0.05472219425681413, + 0.9978051729166292, + -0.037286973013849575, + 0.03413773541273452 + ], + [ + 0.2374486847570747, + 0.02326753202521887, + 0.9711213848230257, + -0.019467395414783276 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9685554310644461, + -0.06338393136932494, + -0.2405885579152387, + -0.04593641650315415 + ], + [ + 0.05583714559594764, + 0.997714074534015, + -0.038063613181507, + 0.035258108921095946 + ], + [ + 0.24245121184944074, + 0.023432940935852575, + 0.96988056334367, + -0.019785214276883324 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9672262650867149, + -0.06477294071945179, + -0.24551541352216252, + -0.04691037553490013 + ], + [ + 0.05694798305737996, + 0.99762113177328, + -0.03884590924533136, + 0.03637816477006746 + ], + [ + 0.24744752848250565, + 0.02359117610367359, + 0.968614049587319, + -0.020102969336668913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.964486844177412, + -0.06755294391999754, + -0.2553462887461625, + -0.048784371694258005 + ], + [ + 0.059157191124289785, + 0.9974297236564671, + -0.04042738063328459, + 0.03737050920972304 + ], + [ + 0.2574209667975419, + 0.02388610755912085, + 0.9660040888726577, + -0.020768254194540314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9615234873425913, + -0.07046768679075109, + -0.2655313322508336, + -0.04963542042495353 + ], + [ + 0.06150738007123365, + 0.9972258768594634, + -0.041921268094458765, + 0.038102245544907126 + ], + [ + 0.26774881042745047, + 0.02397614731843465, + 0.963190385580364, + -0.021880267530673427 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.959998170128858, + -0.07192517041378244, + -0.2706109443651391, + -0.05010863641298583 + ], + [ + 0.06267626596297884, + 0.9971210141146388, + -0.042677498707540874, + 0.03909097076135814 + ], + [ + 0.27290144564326146, + 0.024009437143393618, + 0.9617423500573713, + -0.02242179238483846 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9584438219664363, + -0.073382669703891, + -0.27568174390318273, + -0.050585496952181105 + ], + [ + 0.06384096534029847, + 0.9970141960396723, + -0.04343988996055169, + 0.040079328721951954 + ], + [ + 0.27804634735739503, + 0.024034905502116455, + 0.9602669170802018, + -0.022963654418251284 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9552482228416822, + -0.07629753790840202, + -0.2857962884064873, + -0.05145477001922849 + ], + [ + 0.06615766293608255, + 0.996794706958475, + -0.04498306141653531, + 0.04080892089649565 + ], + [ + 0.28831232438562837, + 0.024062374959343772, + 0.9572340391558756, + -0.024078585474472985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9519370788701056, + -0.07921193666722891, + -0.2958737348290276, + -0.052331303850467414 + ], + [ + 0.06845719091840012, + 0.9965674363275117, + -0.04655059465971683, + 0.04153752663616199 + ], + [ + 0.29854549215121734, + 0.024058552347106334, + 0.9540921209061258, + -0.025195208035959007 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9502383029448926, + -0.08066884916362248, + -0.30089816282428083, + -0.0528227047291788 + ], + [ + 0.06960042876862314, + 0.9964508915372938, + -0.04734343745184284, + 0.04252423277061383 + ], + [ + 0.3036493832228785, + 0.024044906511555886, + 0.9524803906323828, + -0.025739162235192695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9485107930151953, + -0.08212551130044751, + -0.30591285675388913, + -0.053317733180506505 + ], + [ + 0.07073926943659317, + 0.9963324118054299, + -0.048142298922593973, + 0.04351053386526841 + ], + [ + 0.3087446052860884, + 0.02402343813061289, + 0.9508415446998106, + -0.026283610123557077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9449697822531131, + -0.08503790722842913, + -0.3159124324282177, + -0.054212360803980376 + ], + [ + 0.07300362076358913, + 0.9960896619945209, + -0.049757980496071386, + 0.044236780720330604 + ], + [ + 0.3189084225665892, + 0.023957036583234642, + 0.9474827061293729, + -0.02740405042698335 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9412891792298363, + -0.08795950298393664, + -0.32594141636134516, + -0.05446377758807515 + ], + [ + 0.07533032464181151, + 0.9958436134395486, + -0.05119413795564903, + 0.04499209299611889 + ], + [ + 0.3290896887691564, + 0.02363521538893991, + 0.9440028354508996, + -0.028652982066109743 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.939405567133001, + -0.08941871198258819, + -0.33094028824985877, + -0.054648013359237996 + ], + [ + 0.07648761656808997, + 0.995717734112093, + -0.051921464601957, + 0.045991665391095934 + ], + [ + 0.33416586443150875, + 0.023462479026189087, + 0.9422222068740941, + -0.02926381726289794 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9374931582678222, + -0.09087680187220207, + -0.33592854163125907, + -0.054835825809696315 + ], + [ + 0.07764082098124628, + 0.9955899565610694, + -0.05265492675985662, + 0.04699080207600191 + ], + [ + 0.3392321935170395, + 0.023281865823175117, + 0.9404145222216688, + -0.029875586449159785 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9335821864123478, + -0.093789444961944, + -0.3458725794671659, + -0.0551049152729042 + ], + [ + 0.07993482550885747, + 0.9953287225678801, + -0.05414016717983623, + 0.04774357998443312 + ], + [ + 0.3493346889222555, + 0.022897031360475193, + 0.9367182079315362, + -0.031130664743661194 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.929556744851729, + -0.09669707389470948, + -0.35577230639955504, + -0.055380954155936746 + ], + [ + 0.08221205598068716, + 0.9950599436010313, + -0.05564967647831359, + 0.04849520495337643 + ], + [ + 0.35939593201939024, + 0.02248075934913461, + 0.9329143473583201, + -0.032388787861916804 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9275012521560426, + -0.09814889623269425, + -0.36070517242933625, + -0.055582909336136306 + ], + [ + 0.08334429330782415, + 0.9949227350505054, + -0.056413474034502274, + 0.04949240364186082 + ], + [ + 0.3644106969093975, + 0.022260850116873364, + 0.9309722329533151, + -0.03300511397926046 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9254173288581177, + -0.09959933092896474, + -0.3656265044107293, + -0.05578839867181297 + ], + [ + 0.0844722322165815, + 0.9947836527298733, + -0.05718326893208117, + 0.05048913048727409 + ], + [ + 0.3694146849185268, + 0.022033101005381858, + 0.9290034085118484, + -0.03362252886138186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9211644477265652, + -0.10249585898411014, + -0.37543396108466476, + -0.05608182645936875 + ], + [ + 0.08671507613466282, + 0.9944998839479876, + -0.058740755854848795, + 0.05123801691074162 + ], + [ + 0.379389714957551, + 0.02155411140707805, + 0.9249858725763759, + -0.03488768314371128 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9168758843440001, + -0.10524109023291871, + -0.3850492509212223, + -0.05663631833608426 + ], + [ + 0.08884873554500237, + 0.9942257955375647, + -0.06017449359779273, + 0.05211847136806913 + ], + [ + 0.38915872712874106, + 0.020961402965527644, + 0.9209321933156941, + -0.035794349569467275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9146908761218109, + -0.10661105284544777, + -0.3898393060617404, + -0.05698257915153764 + ], + [ + 0.08990959212007234, + 0.9940862593604168, + -0.0608997060388346, + 0.05317956644046544 + ], + [ + 0.3940264792933546, + 0.020654112471839233, + 0.918866987791859, + -0.03623611567082996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9124788030220669, + -0.1079791925873869, + -0.39461744513337516, + -0.05733213043681634 + ], + [ + 0.09096642461487246, + 0.9939450673705184, + -0.06163045223428627, + 0.054240190556228515 + ], + [ + 0.39888286955972807, + 0.020339543210011465, + 0.9167762864264134, + -0.03667918680757715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9079737254355883, + -0.11070984119587848, + -0.40413740853947444, + -0.05790267739969519 + ], + [ + 0.09306789209918778, + 0.9936577327527631, + -0.06310845902770965, + 0.055117930195745186 + ], + [ + 0.40856098856698575, + 0.019688605918691544, + 0.9125186449701429, + -0.037593961263968 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9033611860721906, + -0.11343271209107819, + -0.4136080116800299, + -0.058479457933456776 + ], + [ + 0.09515288867741081, + 0.9933638257740117, + -0.06460833862562414, + 0.05599445035619151 + ], + [ + 0.4181919359272599, + 0.019008668319522432, + 0.9081597740783992, + -0.03851257433706066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.901014788739456, + -0.11479112990767514, + -0.4183244517922814, + -0.058841913367610764 + ], + [ + 0.09618913299759733, + 0.9932144185156232, + -0.06536642521847887, + 0.057053005276701485 + ], + [ + 0.4229893629465924, + 0.018657849479286424, + 0.9059425387334697, + -0.03896169125605673 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8986417321688883, + -0.11614748222842763, + -0.42302813095170994, + -0.0592076021885085 + ], + [ + 0.09722116698313132, + 0.993063381303728, + -0.0661299130805761, + 0.05811105832022684 + ], + [ + 0.427774569013795, + 0.018299811081088798, + 0.9037001908926756, + -0.03941225376234287 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8938159236471618, + -0.11885382952445195, + -0.43239664874064826, + -0.059800068651483726 + ], + [ + 0.09927248163341446, + 0.9927564349869925, + -0.06767300187120906, + 0.05898469024315281 + ], + [ + 0.4373077509318974, + 0.017562118303034873, + 0.8991404245030894, + -0.0403397730092902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8889815632196568, + -0.12131748626476914, + -0.4415810772462211, + -0.06021293207464378 + ], + [ + 0.10116066278421355, + 0.9924736016962878, + -0.06901210213474886, + 0.059851916079342746 + ], + [ + 0.446629936928319, + 0.01667985198962892, + 0.8945632912080677, + -0.04152985942869966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8865264091788514, + -0.12254558922599926, + -0.44615412627219336, + -0.06049795943982809 + ], + [ + 0.10209925467691744, + 0.9923301849091791, + -0.06968892532197855, + 0.06090530644518964 + ], + [ + 0.45127227703778744, + 0.016229068961804524, + 0.8922387288712385, + -0.04211637667817014 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8840460322542674, + -0.12377116191708, + -0.4507142246847584, + -0.06078584515229045 + ], + [ + 0.10303414510072213, + 0.9921854401282231, + -0.0703705715546463, + 0.061958227049584 + ], + [ + 0.4559019387969855, + 0.015771869745221177, + 0.8898902574620589, + -0.04270455824101876 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8790098930670908, + -0.12621457692862204, + -0.4597950504963173, + -0.06121237340677159 + ], + [ + 0.10489271513290395, + 0.9918919831136915, + -0.07174825535743781, + 0.06282277550083508 + ], + [ + 0.46512270015795776, + 0.014838275018262324, + 0.8851218556742643, + -0.04390455388495275 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8738737194367432, + -0.12864745291565063, + -0.4688225200820751, + -0.061644101207917294 + ], + [ + 0.10673616112971268, + 0.9915932640869075, + -0.07314499658052226, + 0.06368613646099301 + ], + [ + 0.4742911704692427, + 0.013879174175290537, + 0.8802586291193786, + -0.04510908341821026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8712683021294201, + -0.12985985210751358, + -0.47331592463716265, + -0.06194305746640172 + ], + [ + 0.10765214691315877, + 0.991441941931148, + -0.07385046407966497, + 0.06473701760113568 + ], + [ + 0.4788554698126619, + 0.01339009299478201, + 0.8777916292834456, + -0.04570470651844766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.86863809653899, + -0.1310695126951558, + -0.4777956049222038, + -0.06224480167174122 + ], + [ + 0.10856427306321723, + 0.9912893170815993, + -0.0745606360900439, + 0.06578740482181514 + ], + [ + 0.4834063051464839, + 0.012894676488812883, + 0.8753011318756954, + -0.04630211458177095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8633036208800738, + -0.13348048031644225, + -0.4867132826930508, + -0.06268974967462966 + ], + [ + 0.11037684265253067, + 0.9909801767271295, + -0.07599501259902286, + 0.06664795433359083 + ], + [ + 0.4924670656819725, + 0.011884894124855723, + 0.8702499287619785, + -0.04751723157824009 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8582439584117143, + -0.13586065546568507, + -0.49493352093612164, + -0.0631411540344563 + ], + [ + 0.1122130528715333, + 0.9906685046663707, + -0.07735725323037258, + 0.06771092157975983 + ], + [ + 0.5008248582239528, + 0.010853393871593175, + 0.8654805978336118, + -0.04810305958546919 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8556822918456084, + -0.13704670376923514, + -0.4990250659113577, + -0.06345437071039813 + ], + [ + 0.11312592979234462, + 0.9905107333880457, + -0.07804492969881918, + 0.06886100441774992 + ], + [ + 0.5049854843760015, + 0.010328989740706583, + 0.8630660302320279, + -0.04839128008862419 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8530994860111117, + -0.13823002009779572, + -0.5031040931172597, + -0.06377029638444356 + ], + [ + 0.11403529112667005, + 0.9903516771356945, + -0.07873695429830335, + 0.0700105723612292 + ], + [ + 0.5091337931676043, + 0.009798833516316968, + 0.8606316073190009, + -0.048681350860872316 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8478707125320456, + -0.14058833985246402, + -0.5112241910629128, + -0.06423448706332197 + ], + [ + 0.11584337717539109, + 0.9900297254733752, + -0.08013397933282412, + 0.07107060865053286 + ], + [ + 0.5173930486535373, + 0.008721317368464578, + 0.8557034368450072, + -0.04927802607979786 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8425581551667445, + -0.1429353814618587, + -0.5192930115920733, + -0.06470348802010446 + ], + [ + 0.1176371321749799, + 0.989702681524529, + -0.08154819015038303, + 0.07212934992810244 + ], + [ + 0.5256018077362925, + 0.007620952008093505, + 0.850696573870397, + -0.04987959432579795 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8398706214167995, + -0.1441046003702863, + -0.5233079432161136, + -0.06502983747903482 + ], + [ + 0.118528580030124, + 0.9895372600320725, + -0.08226169658025027, + 0.07327669073489579 + ], + [ + 0.5296869971945712, + 0.007062234797764286, + 0.8481637871559123, + -0.05017782292718242 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8371623393947298, + -0.14527091277370058, + -0.5273097565957218, + -0.06535882296786617 + ], + [ + 0.11941637870024317, + 0.9893705776379639, + -0.08297944686753564, + 0.0744234934739198 + ], + [ + 0.533759258465147, + 0.006497846275339052, + 0.8456115136376271, + -0.05047800836366218 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8316837989308377, + -0.14759470277422526, + -0.535273633115772, + -0.06584015338594845 + ], + [ + 0.12118094076106001, + 0.9890334466629794, + -0.08442760791478116, + 0.07547917569927316 + ], + [ + 0.5418645939644281, + 0.005352111259648712, + 0.8404487591238564, + -0.05109101928416201 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_046/boom_up/transforms.json b/spatialvid_eval/camera_controls/scene_046/boom_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..7427283ce55e70ea819a10e018d536212b477b2b --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_046/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": [ + [ + 0.9999999991093138, + 2.963544293243884e-05, + 3.005184086164626e-05, + 1.4134943032059272e-05 + ], + [ + -2.9631415112791348e-05, + 0.999999990580224, + -0.00013402063784018133, + 9.088899676610836e-05 + ], + [ + -3.0055812339529126e-05, + 0.00013401974724223953, + 0.9999999905676779, + -0.00013768277433612243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999738343250409, + -0.001630142084133511, + -0.007047928920026186, + -0.001552404980194828 + ], + [ + 0.0016211075397173358, + 0.9999978573098522, + -0.0012873950635297392, + -0.0018568263038994967 + ], + [ + 0.00705001245537029, + 0.0012759359272573165, + 0.9999743343265812, + -0.0008996474196394157 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999409323237427, + -0.0024630497263854944, + -0.01058608754782071, + -0.002332573833900058 + ], + [ + 0.002443402766024046, + 0.9999952693171046, + -0.0018684556016031317, + -0.003455676145069088 + ], + [ + 0.010590639567455706, + 0.0018424791606768366, + 0.9999422201427918, + -0.001282843560329147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998948177841295, + -0.003297954923852547, + -0.014123627783369522, + -0.003110652927667602 + ], + [ + 0.003263633634283807, + 0.9999916671281346, + -0.002452421210871238, + -0.005054515713020976 + ], + [ + 0.01413159806759668, + 0.0024060689131021203, + 0.9998972491053476, + -0.0016674449835486988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997629537669284, + -0.004973712730326665, + -0.021196661456539485, + -0.00466672929581247 + ], + [ + 0.004897857892478827, + 0.9999814203703954, + -0.0036290359700654412, + -0.007002172042170738 + ], + [ + 0.02121431741282389, + 0.0035243574851499416, + 0.999768739079706, + -0.0024364137379445376 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999578249416549, + -0.006657324727276736, + -0.028266646791281293, + -0.006218567180750677 + ], + [ + 0.006523691787907442, + 0.9999671175917042, + -0.004817175603554694, + -0.0089497774042952 + ], + [ + 0.028297786818121524, + 0.004630741065389347, + 0.9995888112110808, + -0.003208103807571693 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9994660851313346, + -0.007502047563120355, + -0.031800376642497234, + -0.0069881989039887816 + ], + [ + 0.007333434809234933, + 0.9999584454280406, + -0.005415547159369496, + -0.0105485302495715 + ], + [ + 0.03183968288382761, + 0.0051794497292022785, + 0.9994795685227188, + -0.0035981924115791367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993407147384791, + -0.0083486997129599, + -0.035333200804469556, + -0.007755701938639812 + ], + [ + 0.008141047248683059, + 0.9999487595668467, + -0.006016775749475612, + -0.01214725254458525 + ], + [ + 0.03538162256992823, + 0.005725159720705713, + 0.9993574752462163, + -0.003989626548863406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9990503626000395, + -0.01004774606510997, + -0.042395940698854495, + -0.009296853201309165 + ], + [ + 0.009749836662198301, + 0.9999263472902824, + -0.007227771425145575, + -0.014094682350306455 + ], + [ + 0.04246544093483752, + 0.006807554166127814, + 0.9990747437166476, + -0.004767976668362731 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.998672099394489, + -0.01187591461102048, + -0.05012983685546718, + -0.011335825702690965 + ], + [ + 0.011465433715067792, + 0.9998984132499789, + -0.00846799916745019, + -0.015787305483030346 + ], + [ + 0.05022530956330078, + 0.007881994184614743, + 0.9987068100533532, + -0.005725102404577587 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9984592607274839, + -0.012793090697343613, + -0.053994828436953454, + -0.012345565648400492 + ], + [ + 0.01231959286873141, + 0.9998827648892362, + -0.009093080281472493, + -0.01725849762336576 + ], + [ + 0.054104826948020074, + 0.008413875912214418, + 0.9984998119143833, + -0.0062098678405529606 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9982306218520546, + -0.013712308240569886, + -0.05785843239819516, + -0.013352984583861792 + ], + [ + 0.013171307355573647, + 0.9998659959659155, + -0.00972145943946739, + -0.018729635235063873 + ], + [ + 0.057983982783230165, + 0.008942187305340748, + 0.9982774639481704, + -0.0066959138887483245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9977259585111707, + -0.015556808243756416, + -0.06558122772740152, + -0.015380275778617962 + ], + [ + 0.014867347310918332, + 0.9998290975336428, + -0.010988071213759096, + -0.020421943710101628 + ], + [ + 0.06574095905067734, + 0.009988064994237086, + 0.9977867331553215, + -0.007659308631512664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9971581419947919, + -0.01740929538655795, + -0.07329772361839253, + -0.01740282593234742 + ], + [ + 0.01655344394398329, + 0.9997877203383858, + -0.012267752612734602, + -0.022114087159160207 + ], + [ + 0.07349573693139004, + 0.011019559642627547, + 0.9972346493971189, + -0.008625084344091025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9968505626068129, + -0.01833849673329173, + -0.07715345337730638, + -0.018400852829598725 + ], + [ + 0.017392729428624756, + 0.9997653530291921, + -0.01291246860356948, + -0.023584945109954528 + ], + [ + 0.07737214481648928, + 0.011529892453035538, + 0.9969356111537586, + -0.009116054039476058 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9965272090082843, + -0.019269649918639657, + -0.08100742125368915, + -0.019396520126509175 + ], + [ + 0.018229488260416163, + 0.9997418670548915, + -0.013560420913943392, + -0.025055726167505107 + ], + [ + 0.08124781513322638, + 0.01203660457159886, + 0.9966212483619162, + -0.009608231678915025 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9958332003370517, + -0.021137751581095047, + -0.08870982225527194, + -0.02140717011096645 + ], + [ + 0.019895371915676568, + 0.9996915406472536, + -0.014865992555422588, + -0.02674742642973542 + ], + [ + 0.08899669253855974, + 0.01303913403631106, + 0.9959465697017992, + -0.010579856867222985 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.994980088035978, + -0.023475839536703475, + -0.09728057036204407, + -0.022487084382117533 + ], + [ + 0.022005492854328523, + 0.9996272356451856, + -0.016160075513530672, + -0.028417592440768115 + ], + [ + 0.09762367897265373, + 0.013938246461153837, + 0.9951257923445823, + -0.011391264809483756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9945238186500283, + -0.024647720672170862, + -0.10156211893925955, + -0.0230093826719907 + ], + [ + 0.02305628739143001, + 0.9995927671015082, + -0.0168139100174163, + -0.029877309976350644 + ], + [ + 0.10193518406070325, + 0.014380188594612656, + 0.9946871007641015, + -0.011806632758406758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9940477526028384, + -0.025821461678259945, + -0.10584100180007885, + -0.02352870708709794 + ], + [ + 0.024104209637106605, + 0.9995567554478789, + -0.017472255615104897, + -0.03133690469171262 + ], + [ + 0.10624524753143813, + 0.01481704273150687, + 0.9942295522773783, + -0.012222984722744999 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9930362694125469, + -0.028174428373298862, + -0.11439042449894792, + -0.02459362692230827 + ], + [ + 0.026191352592676676, + 0.9994801057533247, + -0.018802426776584925, + -0.03300635246017619 + ], + [ + 0.11486070120183726, + 0.015675451800844564, + 0.9932579219569616, + -0.0130389691385803 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9919457202387393, + -0.030534549395582138, + -0.12292814727822732, + -0.02565247653969084 + ], + [ + 0.02826675298539382, + 0.9993972927582885, + -0.020150481459918216, + -0.034675446817765715 + ], + [ + 0.12346934346513519, + 0.016513404270850175, + 0.9922109799350519, + -0.013856562591356475 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9913708232103126, + -0.03171723317516503, + -0.127192405461252, + -0.0261597949638499 + ], + [ + 0.029299997250004674, + 0.9993535770958402, + -0.020831181121062838, + -0.036134450286255046 + ], + [ + 0.12777089280605747, + 0.016924688046195027, + 0.9916592932484837, + -0.014276516093360756 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9907761932471629, + -0.03290163394047814, + -0.13145347990337639, + -0.026664107315220256 + ], + [ + 0.030330243028943816, + 0.9993083231578095, + -0.021516310681254012, + -0.037593300240165245 + ], + [ + 0.13207047835328609, + 0.01733083239702633, + 0.9910888108519642, + -0.014697350046348636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9895277829885482, + -0.03527549064038737, + -0.13996573314153984, + -0.027707785401481513 + ], + [ + 0.03238165589990793, + 0.9992132041446595, + -0.022899804019754173, + -0.03926150014023559 + ], + [ + 0.14066341050517991, + 0.018127670094171905, + 0.9898915054297659, + -0.015518921603446761 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9880606614170252, + -0.03786904254811246, + -0.14933875912381242, + -0.028702058447227514 + ], + [ + 0.03462806800850104, + 0.9991061643193693, + -0.024243954401795054, + -0.04079803890785647 + ], + [ + 0.15012337015318247, + 0.018783184914357286, + 0.9884888293239958, + -0.01601712364040104 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9872912621714466, + -0.03916803306902548, + -0.15401892359517302, + -0.029172212905194145 + ], + [ + 0.03574635022052384, + 0.9990500453972282, + -0.02492398920132957, + -0.042190531376776294 + ], + [ + 0.15484883624303955, + 0.019101622373507023, + 0.9877534945202049, + -0.01627848064456924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9864979954926077, + -0.04046845765742149, + -0.15869470320050552, + -0.029639071487080944 + ], + [ + 0.03686131340939751, + 0.9989921956163946, + -0.02560930829346182, + -0.043582825131909884 + ], + [ + 0.15957113919127489, + 0.019413836106367148, + 0.9869955189892374, + -0.01654042369162304 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9848399379543066, + -0.043073481894755856, + -0.16803265089743727, + -0.030616725972865355 + ], + [ + 0.03908117381941346, + 0.9988713091753315, + -0.026995732241532348, + -0.04511820160797356 + ], + [ + 0.16900579417006587, + 0.02001956202872222, + 0.9854117203855066, + -0.017040949005244197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9830866508649557, + -0.04568386063830623, + -0.17735168949943822, + -0.0315876737972061 + ], + [ + 0.04128743226364865, + 0.9987435168119334, + -0.028403090733342642, + -0.046653025528249924 + ], + [ + 0.17842641292196612, + 0.020600303476203563, + 0.9837375883173769, + -0.01754208294645707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9821743494288753, + -0.0469909782368083, + -0.18200383316928725, + -0.03204126001454584 + ], + [ + 0.04238539330689768, + 0.9986770347863855, + -0.029114577525569577, + -0.048044395476796994 + ], + [ + 0.18313117090813769, + 0.02088128718782962, + 0.9828666980253192, + -0.017805899020591185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9812383055953713, + -0.04829933874290004, + -0.18665090813956303, + -0.03249153027522022 + ], + [ + 0.04347987309669419, + 0.9986088310169563, + -0.029831246210032265, + -0.049435532502704785 + ], + [ + 0.1878320746513235, + 0.021156003685639472, + 0.9819732864188481, + -0.018070174699468988 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.979295082807603, + -0.05091966056493994, + -0.19592939788812064, + -0.03344575913507289 + ], + [ + 0.045658282023710244, + 0.9984672649549389, + -0.03128005907998966, + -0.050968998155975664 + ], + [ + 0.1972218600244241, + 0.021686608341453632, + 0.9801189871373532, + -0.018572901501514374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9770993525240382, + -0.05368304238411287, + -0.20590042801677488, + -0.03492214988275711 + ], + [ + 0.047947864056948855, + 0.9983128910172702, + -0.032747121417259516, + -0.05245582588146088 + ], + [ + 0.20731101666212026, + 0.02212470540201443, + 0.9780248666477721, + -0.01932760166646268 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9759604903437328, + -0.055066233881505146, + -0.21087634095395394, + -0.03562327535285343 + ], + [ + 0.0490868341921527, + 0.9982329110419724, + -0.03348937177167818, + -0.0538228736308925 + ], + [ + 0.21234783727886883, + 0.022333051712135996, + 0.9769389084299029, + -0.019718872466782042 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9747943393814892, + -0.05645037375656384, + -0.21584566526235902, + -0.036320901352683364 + ], + [ + 0.05022188086512623, + 0.9981510720530076, + -0.034237407054286136, + -0.055189640098537926 + ], + [ + 0.2173792966042883, + 0.02253425530555788, + 0.9758270588304306, + -0.020110351639021095 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9723803034610349, + -0.059221342436555566, + -0.22576398747594392, + -0.037779674618319305 + ], + [ + 0.05248007586456688, + 0.9979818263206376, + -0.035750747837973676, + -0.056674824449867905 + ], + [ + 0.2274255638187476, + 0.022915211841423117, + 0.9735258116701312, + -0.020865182903040333 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9698575171450986, + -0.061995635767943064, + -0.2356542755454984, + -0.03923136669712821 + ], + [ + 0.05472219425681413, + 0.9978051729166292, + -0.037286973013849575, + -0.05815924308205369 + ], + [ + 0.2374486847570747, + 0.02326753202521887, + 0.9711213848230257, + -0.02161964212711602 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9685554310644461, + -0.06338393136932494, + -0.2405885579152387, + -0.03991494302306828 + ], + [ + 0.05583714559594764, + 0.997714074534015, + -0.038063613181507, + -0.059524728159635484 + ], + [ + 0.24245121184944074, + 0.023432940935852575, + 0.96988056334367, + -0.022011343665789322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9672262650867149, + -0.06477294071945179, + -0.24551541352216252, + -0.04059501381475358 + ], + [ + 0.05694798305737996, + 0.99762113177328, + -0.03884590924533136, + -0.06088989557782737 + ], + [ + 0.24744752848250565, + 0.02359117610367359, + 0.968614049587319, + -0.02240310900677709 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.964486844177412, + -0.06755294391999754, + -0.2553462887461625, + -0.042029077302258244 + ], + [ + 0.059157191124289785, + 0.9974297236564671, + -0.04042738063328459, + -0.06237246315592368 + ], + [ + 0.2574209667975419, + 0.02388610755912085, + 0.9660040888726577, + -0.023156864950452397 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9615234873425913, + -0.07046768679075109, + -0.2655313322508336, + -0.04241248252890155 + ], + [ + 0.06150738007123365, + 0.9972258768594634, + -0.041921268094458765, + -0.06411340683318789 + ], + [ + 0.26774881042745047, + 0.02397614731843465, + 0.963190385580364, + -0.024337822630812977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.959998170128858, + -0.07192517041378244, + -0.2706109443651391, + -0.04255649351953867 + ], + [ + 0.06267626596297884, + 0.9971210141146388, + -0.042677498707540874, + -0.06560673572067896 + ], + [ + 0.27290144564326146, + 0.024009437143393618, + 0.9617423500573713, + -0.024942783284894788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9584438219664363, + -0.073382669703891, + -0.27568174390318273, + -0.04269685995901282 + ], + [ + 0.06384096534029847, + 0.9970141960396723, + -0.04343988996055169, + -0.06709969735231282 + ], + [ + 0.27804634735739503, + 0.024034905502116455, + 0.9602669170802018, + -0.025547406759728806 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9552482228416822, + -0.07629753790840202, + -0.2857962884064873, + -0.04306204084930426 + ], + [ + 0.06615766293608255, + 0.996794706958475, + -0.04498306141653531, + -0.06883849686893663 + ], + [ + 0.28831232438562837, + 0.024062374959343772, + 0.9572340391558756, + -0.0267254467200008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9519370788701056, + -0.07921193666722891, + -0.2958737348290276, + -0.04341996097540417 + ], + [ + 0.06845719091840012, + 0.9965674363275117, + -0.04655059465971683, + -0.07057630995068308 + ], + [ + 0.29854549215121734, + 0.024058552347106334, + 0.9540921209061258, + -0.02790179517500847 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9502383029448926, + -0.08066884916362248, + -0.30089816282428083, + -0.043545787075362205 + ], + [ + 0.06960042876862314, + 0.9964508915372938, + -0.04734343745184284, + -0.07206761975617498 + ], + [ + 0.3036493832228785, + 0.024044906511555886, + 0.9524803906323828, + -0.028504326484021625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9485107930151953, + -0.08212551130044751, + -0.30591285675388913, + -0.04366798560270392 + ], + [ + 0.07073926943659317, + 0.9963324118054299, + -0.048142298922593973, + -0.07355852452186962 + ], + [ + 0.3087446052860884, + 0.02402343813061289, + 0.9508415446998106, + -0.029106364103904093 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9449697822531131, + -0.08503790722842913, + -0.3159124324282177, + -0.04400781193656888 + ], + [ + 0.07300362076358913, + 0.9960896619945209, + -0.049757980496071386, + -0.07529397871901192 + ], + [ + 0.3189084225665892, + 0.023957036583234642, + 0.9474827061293729, + -0.030278894816971505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9412891792298363, + -0.08795950298393664, + -0.32594141636134516, + -0.04368873847254291 + ], + [ + 0.07533032464181151, + 0.9958436134395486, + -0.05119413795564903, + -0.07699874965022582 + ], + [ + 0.3290896887691564, + 0.02363521538893991, + 0.9440028354508996, + -0.031548295951254884 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.939405567133001, + -0.08941871198258819, + -0.33094028824985877, + -0.04347067436141447 + ], + [ + 0.07648761656808997, + 0.995717734112093, + -0.051921464601957, + -0.07847305137291569 + ], + [ + 0.33416586443150875, + 0.023462479026189087, + 0.9422222068740941, + -0.03219662714117158 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9374931582678222, + -0.09087680187220207, + -0.33592854163125907, + -0.04324903357099055 + ], + [ + 0.07764082098124628, + 0.9955899565610694, + -0.05265492675985662, + -0.07994691738553446 + ], + [ + 0.3392321935170395, + 0.023281865823175117, + 0.9404145222216688, + -0.03284402434161461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9335821864123478, + -0.093789444961944, + -0.3458725794671659, + -0.04291228742785148 + ], + [ + 0.07993482550885747, + 0.9953287225678801, + -0.05414016717983623, + -0.08164915394939129 + ], + [ + 0.3493346889222555, + 0.022897031360475193, + 0.9367182079315362, + -0.03410727882052297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.929556744851729, + -0.09669707389470948, + -0.35577230639955504, + -0.042568591864887734 + ], + [ + 0.08221205598068716, + 0.9950599436010313, + -0.05564967647831359, + -0.08335023757376024 + ], + [ + 0.35939593201939024, + 0.02248075934913461, + 0.9329143473583201, + -0.03536748847567714 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9275012521560426, + -0.09814889623269425, + -0.36070517242933625, + -0.042332808344722576 + ], + [ + 0.08334429330782415, + 0.9949227350505054, + -0.056413474034502274, + -0.08482216558995744 + ], + [ + 0.3644106969093975, + 0.022260850116873364, + 0.9309722329533151, + -0.036010328745038366 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9254173288581177, + -0.09959933092896474, + -0.3656265044107293, + -0.042093490669080316 + ], + [ + 0.0844722322165815, + 0.9947836527298733, + -0.05718326893208117, + -0.08629362176308351 + ], + [ + 0.3694146849185268, + 0.022033101005381858, + 0.9290034085118484, + -0.03665208024962186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9211644477265652, + -0.10249585898411014, + -0.37543396108466476, + -0.04173240620159334 + ], + [ + 0.08671507613466282, + 0.9944998839479876, + -0.058740755854848795, + -0.08799196684197666 + ], + [ + 0.379389714957551, + 0.02155411140707805, + 0.9249858725763759, + -0.037905258740702205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9168758843440001, + -0.10524109023291871, + -0.3850492509212223, + -0.04163946297789334 + ], + [ + 0.08884873554500237, + 0.9942257955375647, + -0.06017449359779273, + -0.08955870449603387 + ], + [ + 0.38915872712874106, + 0.020961402965527644, + 0.9209321933156941, + -0.038781349492054966 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9146908761218109, + -0.10661105284544777, + -0.3898393060617404, + -0.04152397648894771 + ], + [ + 0.08990959212007234, + 0.9940862593604168, + -0.0608997060388346, + -0.09096294116679503 + ], + [ + 0.3940264792933546, + 0.020654112471839233, + 0.918866987791859, + -0.03923096197924665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9124788030220669, + -0.1079791925873869, + -0.39461744513337516, + -0.04140519953017677 + ], + [ + 0.09096642461487246, + 0.9939450673705184, + -0.06163045223428627, + -0.09236670688092295 + ], + [ + 0.39888286955972807, + 0.020339543210011465, + 0.9167762864264134, + -0.039679269431053835 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9079737254355883, + -0.11070984119587848, + -0.40413740853947444, + -0.041296201220313425 + ], + [ + 0.09306789209918778, + 0.9936577327527631, + -0.06310845902770965, + -0.09393072971716931 + ], + [ + 0.40856098856698575, + 0.019688605918691544, + 0.9125186449701429, + -0.04054725215177173 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9033611860721906, + -0.11343271209107819, + -0.4136080116800299, + -0.04118096933956735 + ], + [ + 0.09515288867741081, + 0.9933638257740117, + -0.06460833862562414, + -0.09549353307434531 + ], + [ + 0.4181919359272599, + 0.019008668319522432, + 0.9081597740783992, + -0.04141139625578783 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.901014788739456, + -0.11479112990767514, + -0.4183244517922814, + -0.04104928823192112 + ], + [ + 0.09618913299759733, + 0.9932144185156232, + -0.06536642521847887, + -0.09689522959322014 + ], + [ + 0.4229893629465924, + 0.018657849479286424, + 0.9059425387334697, + -0.04185365792534613 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8986417321688883, + -0.11614748222842763, + -0.42302813095170994, + -0.04091437373753114 + ], + [ + 0.09722116698313132, + 0.993063381303728, + -0.0661299130805761, + -0.09829642423511034 + ], + [ + 0.427774569013795, + 0.018299811081088798, + 0.9037001908926756, + -0.04229447400761436 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8938159236471618, + -0.11885382952445195, + -0.43239664874064826, + -0.04078345592757142 + ], + [ + 0.09927248163341446, + 0.9927564349869925, + -0.06767300187120906, + -0.09985633935476601 + ], + [ + 0.4373077509318974, + 0.017562118303034873, + 0.8991404245030894, + -0.04314971193777578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8889815632196568, + -0.12131748626476914, + -0.4415810772462211, + -0.040498840556618794 + ], + [ + 0.10116066278421355, + 0.9924736016962878, + -0.06901210213474886, + -0.10142504419630403 + ], + [ + 0.446629936928319, + 0.01667985198962892, + 0.8945632912080677, + -0.044240335377014356 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8865264091788514, + -0.12254558922599926, + -0.44615412627219336, + -0.0402779372175382 + ], + [ + 0.10209925467691744, + 0.9923301849091791, + -0.06968892532197855, + -0.10282917406482496 + ], + [ + 0.45127227703778744, + 0.016229068961804524, + 0.8922387288712385, + -0.04479417305686789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8840460322542674, + -0.12377116191708, + -0.4507142246847584, + -0.040054175531179556 + ], + [ + 0.10303414510072213, + 0.9921854401282231, + -0.0703705715546463, + -0.10423283417189336 + ], + [ + 0.4559019387969855, + 0.015771869745221177, + 0.8898902574620589, + -0.04534634642334331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8790098930670908, + -0.12621457692862204, + -0.4597950504963173, + -0.039755895328905846 + ], + [ + 0.10489271513290395, + 0.9918919831136915, + -0.07174825535743781, + -0.10579886162849252 + ], + [ + 0.46512270015795776, + 0.014838275018262324, + 0.8851218556742643, + -0.04642706063805735 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8738737194367432, + -0.12864745291565063, + -0.4688225200820751, + -0.03945241557996756 + ], + [ + 0.10673616112971268, + 0.9915932640869075, + -0.07314499658052226, + -0.10736370159399854 + ], + [ + 0.4742911704692427, + 0.013879174175290537, + 0.8802586291193786, + -0.04750324096344787 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8712683021294201, + -0.12985985210751358, + -0.47331592463716265, + -0.03921758334758685 + ], + [ + 0.10765214691315877, + 0.991441941931148, + -0.07385046407966497, + -0.10876532223681523 + ], + [ + 0.4788554698126619, + 0.01339009299478201, + 0.8777916292834456, + -0.048047972792534505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.86863809653899, + -0.1310695126951558, + -0.4777956049222038, + -0.03897996316835106 + ], + [ + 0.10856427306321723, + 0.9912893170815993, + -0.0745606360900439, + -0.11016644896016875 + ], + [ + 0.4834063051464839, + 0.012894676488812883, + 0.8753011318756954, + -0.04859091965853523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8633036208800738, + -0.13348048031644225, + -0.4867132826930508, + -0.03866326321767005 + ], + [ + 0.11037684265253067, + 0.9909801767271295, + -0.07599501259902286, + -0.1117284774772925 + ], + [ + 0.4924670656819725, + 0.011884894124855723, + 0.8702499287619785, + -0.049656512520714124 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8582439584117143, + -0.13586065546568507, + -0.49493352093612164, + -0.03834658441196877 + ], + [ + 0.1122130528715333, + 0.9906685046663707, + -0.07735725323037258, + -0.11308608052185284 + ], + [ + 0.5008248582239528, + 0.010853393871593175, + 0.8654805978336118, + -0.05008380396703495 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8556822918456084, + -0.13704670376923514, + -0.4990250659113577, + -0.03810073051308962 + ], + [ + 0.11312592979234462, + 0.9905107333880457, + -0.07804492969881918, + -0.11438348125903858 + ], + [ + 0.5049854843760015, + 0.010328989740706583, + 0.8630660302320279, + -0.05030214319065491 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8530994860111117, + -0.13823002009779572, + -0.5031040931172597, + -0.03785216761610686 + ], + [ + 0.11403529112667005, + 0.9903516771356945, + -0.07873695429830335, + -0.1156803671017135 + ], + [ + 0.5091337931676043, + 0.009798833516316968, + 0.8606316073190009, + -0.05051863214518175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8478707125320456, + -0.14058833985246402, + -0.5112241910629128, + -0.0375227024913538 + ], + [ + 0.11584337717539109, + 0.9900297254733752, + -0.08013397933282412, + -0.11703503918940847 + ], + [ + 0.5173930486535373, + 0.008721317368464578, + 0.8557034368450072, + -0.050935076379806134 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8425581551667445, + -0.1429353814618587, + -0.5192930115920733, + -0.03718842708869667 + ], + [ + 0.1176371321749799, + 0.989702681524529, + -0.08154819015038303, + -0.11838841626536939 + ], + [ + 0.5256018077362925, + 0.007620952008093505, + 0.850696573870397, + -0.051346627587355954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8398706214167995, + -0.1441046003702863, + -0.5233079432161136, + -0.03692944040682899 + ], + [ + 0.118528580030124, + 0.9895372600320725, + -0.08226169658025027, + -0.11968307497135838 + ], + [ + 0.5296869971945712, + 0.007062234797764286, + 0.8481637871559123, + -0.05155495871274645 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8371623393947298, + -0.14527091277370058, + -0.5273097565957218, + -0.036667817695060306 + ], + [ + 0.11941637870024317, + 0.9893705776379639, + -0.08297944686753564, + -0.12097719560957806 + ], + [ + 0.533759258465147, + 0.006497846275339052, + 0.8456115136376271, + -0.05176133300304165 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8316837989308377, + -0.14759470277422526, + -0.535273633115772, + -0.03632121283110339 + ], + [ + 0.12118094076106001, + 0.9890334466629794, + -0.08442760791478116, + -0.12232751363332274 + ], + [ + 0.5418645939644281, + 0.005352111259648712, + 0.8404487591238564, + -0.05216144153609175 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_046/pan_left/transforms.json b/spatialvid_eval/camera_controls/scene_046/pan_left/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..e1df930e99481d2d7bf9115fec0255a4f70848e8 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_046/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": [ + [ + 0.9999999991093138, + 2.963544293243884e-05, + 3.005184086164626e-05, + 1.4134943032059272e-05 + ], + [ + -2.9631415112791348e-05, + 0.999999990580224, + -0.00013402063784018133, + 9.088899676610836e-05 + ], + [ + -3.0055812339529126e-05, + 0.00013401974724223953, + 0.9999999905676779, + -0.00013768277433612243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999454156145543, + -0.001630142084133511, + -0.010320292060906334, + -0.0015544426577999949 + ], + [ + 0.0016168858763636836, + 0.9999978573098522, + -0.0012926932225956695, + -0.0006068289822621811 + ], + [ + 0.010322377221342237, + 0.0012759359272573165, + 0.9999459087950759, + -0.0008980524997303441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9998502299666858, + -0.0024630497263854944, + -0.01713041218451693, + -0.0023387314582160217 + ], + [ + 0.0024311215063956924, + 0.9999952693171046, + -0.0018844075019263803, + -0.0009556879717763258 + ], + [ + 0.017134972535351033, + 0.0018424791606768366, + 0.9998514879654659, + -0.001278237362427455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9997079756481495, + -0.003297954923852547, + -0.023939233880796405, + -0.0031230202586320487 + ], + [ + 0.0032394001542062766, + 0.9999916671281346, + -0.0024843431597281465, + -0.0013045469612904706 + ], + [ + 0.023947227649984082, + 0.0024060689131021203, + 0.9997103286053743, + -0.0016584222251245658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9993998459233325, + -0.004973712730326665, + -0.03428133821915137, + -0.004691597859464103 + ], + [ + 0.004849935667948992, + 0.9999814203703954, + -0.0036928360407283358, + -0.00200226494031876 + ], + [ + 0.034299068390211684, + 0.0035243574851499416, + 0.9994053996311412, + -0.002418791950518788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9989819524937459, + -0.006657324727276736, + -0.04461769401547917, + -0.006260175460296157 + ], + [ + 0.006444001178464317, + 0.9999671175917042, + -0.004923269660606051, + -0.0026999829193470495 + ], + [ + 0.04464900268309794, + 0.004630741065389347, + 0.9989920033696917, + -0.0031791616759130094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9986490697154412, + -0.007502047563120355, + -0.05141745655752224, + -0.007044464260712184 + ], + [ + 0.0072256940324432065, + 0.9999584454280406, + -0.005558485664834285, + -0.0030488419088611943 + ], + [ + 0.05145701995096025, + 0.0051794497292022785, + 0.9986617787811193, + -0.0035593465386101197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.998269201015284, + -0.0083486997129599, + -0.05821427245452332, + -0.007828753061128211 + ], + [ + 0.00800109441615368, + 0.9999487595668467, + -0.006201671457644481, + -0.003397700898375339 + ], + [ + 0.058263065422705346, + 0.005725159720705713, + 0.9982848480036759, + -0.003939531401307231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9975982166444787, + -0.010047746065109971, + -0.06853350236758242, + -0.009397330661960265 + ], + [ + 0.009557294637704614, + 0.9999263472902826, + -0.00748051561871237, + -0.004095418877403629 + ], + [ + 0.06860361701079952, + 0.006807554166127816, + 0.9976207701022023, + -0.0046999011267014525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9967627516751012, + -0.01187591461102048, + -0.0795171649723039, + -0.011469429742064946 + ], + [ + 0.011211094147398248, + 0.9998984132499789, + -0.00880196274661073, + -0.004538448333968081 + ], + [ + 0.07961361843993162, + 0.007881994184614743, + 0.996794635783407, + -0.005636429970000671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9961580118713755, + -0.012793090697343613, + -0.08663459017550874, + -0.012505479282117288 + ], + [ + 0.012015479557588858, + 0.9998827648892362, + -0.009491297511813965, + -0.004759963062250306 + ], + [ + 0.08674585658963764, + 0.008413875912214418, + 0.9961949422962677, + -0.006104694391650281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9955016268399269, + -0.013712308240569886, + -0.09374691227861821, + -0.013541528822169628 + ], + [ + 0.012812902650222705, + 0.9998659959659155, + -0.010189192154636898, + -0.0049814777905325324 + ], + [ + 0.09387406715773668, + 0.008942187305340748, + 0.9955439200765888, + -0.0065729588132998895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9943820410376375, + -0.01555680824375642, + -0.10470120428672351, + -0.015613627902274309 + ], + [ + 0.014424495473545323, + 0.999829097533643, + -0.011563289125321672, + -0.005424507247096985 + ], + [ + 0.10486319846427004, + 0.009988064994237088, + 0.9944364978044175, + -0.007509487656599108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9931386012371255, + -0.01740929538655795, + -0.1156401105452149, + -0.01768572698237899 + ], + [ + 0.01601672429733199, + 0.9997877203383858, + -0.012960663692770859, + -0.005867536703661437 + ], + [ + 0.11584119852431261, + 0.011019559642627547, + 0.993206617995336, + -0.008446016499898326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9922710079841185, + -0.01833849673329173, + -0.12272712109287455, + -0.01872177652243133 + ], + [ + 0.016783102482018118, + 0.9997653530291921, + -0.013695486610325117, + -0.006089051431943663 + ], + [ + 0.12294947818213837, + 0.011529892453035538, + 0.9923459514679152, + -0.008914280921547935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9913520025781165, + -0.019269649918639657, + -0.12980711681711235, + -0.01975782606248367 + ], + [ + 0.017542151726301112, + 0.9997418670548915, + -0.014438565386193841, + -0.006310566160225888 + ], + [ + 0.13005183542407164, + 0.01203660457159886, + 0.9914341330886371, + -0.009382545343197546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9898257321698772, + -0.02113775158109505, + -0.14070613132505383, + -0.02182992514258835 + ], + [ + 0.019090080064032785, + 0.9996915406472539, + -0.015886862543302564, + -0.00675359561679034 + ], + [ + 0.14099854175670115, + 0.013039134036311063, + 0.9899239325352569, + -0.010319074186496763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9880316155522604, + -0.023475839536703475, + -0.15245462153453332, + -0.022985945972272482 + ], + [ + 0.021072888939505666, + 0.9996272356451856, + -0.01735866089616872, + -0.007175513683307917 + ], + [ + 0.15280530102366902, + 0.013938246461153837, + 0.9881580163438712, + -0.011095077072184236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9868198831054324, + -0.024647720672170862, + -0.15993438708872917, + -0.023563956387114546 + ], + [ + 0.022026450406155976, + 0.9995927671015082, + -0.01814209031107325, + -0.007386472716566705 + ], + [ + 0.16031641771910315, + 0.014380188594612656, + 0.9869609193811564, + -0.011483078515027974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9855501916309062, + -0.025821461678259945, + -0.16740391839225907, + -0.024141966801956613 + ], + [ + 0.022971952152481163, + 0.9995567554478789, + -0.018936262905158017, + -0.0075974317498254925 + ], + [ + 0.16781867950436297, + 0.01481704273150687, + 0.9857065212598041, + -0.01187107995787171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9834286108166883, + -0.028174428373298862, + -0.1790931852779349, + -0.02529798763164074 + ], + [ + 0.024905537347981673, + 0.9994801057533247, + -0.020475165755886798, + -0.008019349816343068 + ], + [ + 0.17957695185231082, + 0.015675451800844564, + 0.9836190312180181, + -0.012647082843559185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9811630193750044, + -0.030534549395582138, + -0.1907531669570218, + -0.026454008461324872 + ], + [ + 0.026816332229490588, + 0.9993972927582885, + -0.022043945952604824, + -0.008441267882860645 + ], + [ + 0.19131130059848075, + 0.016513404270850175, + 0.9813904899389974, + -0.013423085729246657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9796533813186766, + -0.03171723317516503, + -0.1981748460087604, + -0.02703201887616694 + ], + [ + 0.02772565322688676, + 0.9993535770958402, + -0.022884844305592955, + -0.008652226916119433 + ], + [ + 0.19877258519228977, + 0.016924688046195027, + 0.9798994919431856, + -0.013811087172090394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9780862478061634, + -0.032901633940478146, + -0.2055839836575495, + -0.027610029291009003 + ], + [ + 0.028626424128318156, + 0.9993083231578097, + -0.02373611402805196, + -0.008863185949378221 + ], + [ + 0.20622274291184872, + 0.017330832397026333, + 0.9783515843265855, + -0.01419908861493413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9754958142166268, + -0.035275490640387375, + -0.21717172054832715, + -0.028766050120693134 + ], + [ + 0.03048513614586505, + 0.9992132041446598, + -0.025369847006461513, + -0.009285104015895797 + ], + [ + 0.21789578453932704, + 0.01812767009417191, + 0.9758036762878836, + -0.014975091500621604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9725517111511852, + -0.03786904254811246, + -0.22958463527290127, + -0.029885466026856027 + ], + [ + 0.03253100341286481, + 0.9991061643193693, + -0.026992707088950324, + -0.009575971272876183 + ], + [ + 0.2304016123074099, + 0.018783184914357286, + 0.9729143276828742, + -0.015430149111827374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9706308444172825, + -0.03916803306902548, + -0.23736391691092612, + -0.030445173979937474 + ], + [ + 0.033498941908991504, + 0.9990500453972282, + -0.02787162863512555, + -0.009721404901366373 + ], + [ + 0.23823010883759282, + 0.019101622373507023, + 0.9710208768435048, + -0.015657677917430262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9686461028154748, + -0.04046845765742149, + -0.2451265620760475, + -0.03100488193301892 + ], + [ + 0.03445769258028628, + 0.9989921956163946, + -0.028762136909101257, + -0.009866838529856566 + ], + [ + 0.24604348177189203, + 0.019413836106367148, + 0.9690643467000528, + -0.015885206723033146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9653332035418046, + -0.043073481894755856, + -0.25744219020428477, + -0.03212429783918181 + ], + [ + 0.03644707226766977, + 0.9988713091753315, + -0.030458473853346192, + -0.010157705786836951 + ], + [ + 0.25846357008838255, + 0.02001956202872222, + 0.9658135431196573, + -0.016340264334238918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9618570898588824, + -0.04568386063830623, + -0.26971081469859953, + -0.033243713745344704 + ], + [ + 0.03841017166103741, + 0.9987435168119334, + -0.03218767371372943, + -0.010448573043817336 + ], + [ + 0.27084238479450023, + 0.020600303476203563, + 0.9624032575254079, + -0.01679532194544469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9596054162245461, + -0.0469909782368083, + -0.2773973560019342, + -0.03380342169842615 + ], + [ + 0.03932756842205891, + 0.9986770347863855, + -0.033128877920646255, + -0.010594006672307529 + ], + [ + 0.27858712733097396, + 0.02088128718782962, + 0.9601839325519124, + -0.017022850751047574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.957290642702744, + -0.04829933874290004, + -0.28506455281351, + -0.0343631296515076 + ], + [ + 0.040235217271577965, + 0.9986088310169563, + -0.03408122512553078, + -0.01073944030079772 + ], + [ + 0.28631408048658163, + 0.021156003685639472, + 0.9579022240412519, + -0.017250379556650458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9534502030084457, + -0.05091966056493994, + -0.2972202862375065, + -0.03548254555767049 + ], + [ + 0.042138504670926745, + 0.9984672649549389, + -0.035881293698842444, + -0.011030307557778105 + ], + [ + 0.29859178958446314, + 0.021686608341453632, + 0.9541344948231316, + -0.01770543716785623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9492148070416409, + -0.05368304238411287, + -0.3100151303618688, + -0.037136575381101766 + ], + [ + 0.04413897847249873, + 0.9983128910172702, + -0.03772429201648029, + -0.011275419126998474 + ], + [ + 0.3115172558178844, + 0.02212470540201443, + 0.9499828928662711, + -0.018414957568629584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9465108820355972, + -0.05506623388150516, + -0.3179384532803536, + -0.0379635902928174 + ], + [ + 0.045064801162436045, + 0.9982329110419726, + -0.03873266075109829, + -0.011397974911608658 + ], + [ + 0.31950948950600244, + 0.022333051712136, + 0.9473198619879334, + -0.018769717769016262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9437389254751822, + -0.05645037375656384, + -0.32583768328063745, + -0.038790605204533035 + ], + [ + 0.04597992666306993, + 0.9981510720530076, + -0.039752782336467035, + -0.011520530696218844 + ], + [ + 0.3274792923025935, + 0.02253425530555788, + 0.9445896042466361, + -0.019124477969402937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9391044960037866, + -0.059221342436555566, + -0.3384901448867994, + -0.040444635027964304 + ], + [ + 0.04791425810165606, + 0.9979818263206376, + -0.041671311525952257, + -0.011765642265439214 + ], + [ + 0.34027484399532404, + 0.022915211841423117, + 0.9400467667144126, + -0.01983399837017629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9342928333246989, + -0.061995635767943064, + -0.35107469681512976, + -0.04209866485139558 + ], + [ + 0.049817780086030945, + 0.9978051729166292, + -0.04362368265192551, + -0.012010753834659584 + ], + [ + 0.3530086265028187, + 0.02326753202521887, + 0.9353307070592995, + -0.020543518770949648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9312348910892436, + -0.06338393136932495, + -0.3588649535161856, + -0.042925679763111214 + ], + [ + 0.05068476686871214, + 0.9977140745340152, + -0.04469541233950919, + -0.01213330961926977 + ], + [ + 0.3608775859283444, + 0.02343294093585258, + 0.9323187573215653, + -0.020898278971336323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9281100733881569, + -0.06477294071945179, + -0.3666280919760304, + -0.043752694674826856 + ], + [ + 0.0515404615950714, + 0.99762113177328, + -0.045778360149388554, + -0.012255865403879953 + ], + [ + 0.36872113106519566, + 0.02359117610367359, + 0.9292406490872257, + -0.021253039171723002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.92290614675478, + -0.06755294391999755, + -0.37905256106506796, + -0.045406724498258125 + ], + [ + 0.053374261097992204, + 0.9974297236564673, + -0.0478030816875605, + -0.012500976973100323 + ], + [ + 0.38130753013084956, + 0.023886107559120857, + 0.9241396113851988, + -0.021962559572496355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9173615840820614, + -0.07046768679075109, + -0.3917678255916531, + -0.04602395147692754 + ], + [ + 0.05534676946594781, + 0.9972258768594634, + -0.04977233801578848, + -0.01300558064414038 + ], + [ + 0.3941883549271015, + 0.02397614731843465, + 0.9187168688990262, + -0.023109045080743202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9138677150393475, + -0.07192517041378244, + -0.3995905019763486, + -0.04633256496626225 + ], + [ + 0.05623784340136484, + 0.9971210141146388, + -0.050862443713979945, + -0.013257882479660407 + ], + [ + 0.4020983764930237, + 0.024009437143393618, + 0.9152816192570087, + -0.023682287834866624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9103049866257525, + -0.073382669703891, + -0.4073816577994381, + -0.04664117845559696 + ], + [ + 0.05711735487049327, + 0.9970141960396723, + -0.05196441732535995, + -0.013510184315180434 + ], + [ + 0.4099785837051576, + 0.024034905502116455, + 0.9117784183784006, + -0.024255530588990045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9043530697135019, + -0.07629753790840202, + -0.4199097653173619, + -0.047258405434266376 + ], + [ + 0.059018285445593476, + 0.996794706958475, + -0.054010685633775715, + -0.01401478798622049 + ], + [ + 0.4226847138031235, + 0.024062374959343772, + 0.9059573029831415, + -0.02540201609723689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.8982201038924563, + -0.07921193666722891, + -0.4323495276426843, + -0.04787563241293579 + ], + [ + 0.06088585435405625, + 0.9965674363275117, + -0.056091510865621995, + -0.014519391657260546 + ], + [ + 0.43530857756653724, + 0.024058552347106334, + 0.8999597926329598, + -0.026548501605483738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.894367374588408, + -0.08066884916362248, + -0.4399994727797471, + -0.0481842459022705 + ], + [ + 0.06171337858002918, + 0.9964508915372938, + -0.05724578289071376, + -0.014771693492780572 + ], + [ + 0.4430558183525827, + 0.024044906511555886, + 0.8961715149985378, + -0.02712174435960716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.8904473183454612, + -0.08212551130044751, + -0.44761476030736186, + -0.04849285939160521 + ], + [ + 0.0625287219903442, + 0.9963324118054299, + -0.058411335477196236, + -0.0150239953283006 + ], + [ + 0.45077015448854996, + 0.02402343813061289, + 0.8923167275372312, + -0.027694987113730585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.8839160437796596, + -0.08503790722842913, + -0.45984886852434914, + -0.04911008637027463 + ], + [ + 0.06432096198904091, + 0.9960896619945209, + -0.060565659547681935, + -0.015528598999340656 + ], + [ + 0.4632010809548262, + 0.023957036583234642, + 0.8859293532784827, + -0.028841472621977428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.8771717905447901, + -0.08795950298393665, + -0.4720516663536589, + -0.04907625803030903 + ], + [ + 0.06618996688668209, + 0.9958436134395489, + -0.06256505298649297, + -0.01600332832705347 + ], + [ + 0.4755928281166435, + 0.023635215388939916, + 0.8793479620932385, + -0.030100639008682314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.8729495640153874, + -0.08941871198258819, + -0.47954494328761327, + -0.04905934386032623 + ], + [ + 0.06700822531829473, + 0.995717734112093, + -0.06368745335128476, + -0.016240692990909873 + ], + [ + 0.4831862543833774, + 0.023462479026189087, + 0.8752031510757419, + -0.03073022220203476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.8686610839645308, + -0.09087680187220207, + -0.4870003368449006, + -0.049042429690343434 + ], + [ + 0.06781478558291609, + 0.9955899565610694, + -0.06482124073998362, + -0.016478057654766277 + ], + [ + 0.4907433912564787, + 0.023281865823175117, + 0.8709930416839633, + -0.0313598053953872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.8615242307196302, + -0.093789444961944, + -0.4989784964271305, + -0.04900860135037784 + ], + [ + 0.06961164115979615, + 0.9953287225678801, + -0.06689509284268824, + -0.01695278698247909 + ], + [ + 0.5029216830660507, + 0.022897031360475193, + 0.8640286492107124, + -0.03261897178209208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.8542132373514659, + -0.09669707389470948, + -0.5108516624556773, + -0.04897477301041224 + ], + [ + 0.07137491759334816, + 0.9950599436010313, + -0.06900238966336866, + -0.0174275163101919 + ], + [ + 0.5150003556038296, + 0.02248075934913461, + 0.8568951214629568, + -0.03387813816879697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.849646247092893, + -0.09814889623269425, + -0.5181390247503721, + -0.04895785884042944 + ], + [ + 0.07212905775745986, + 0.9949227350505054, + -0.0701865393550865, + -0.017664880974048305 + ], + [ + 0.5223970270091359, + 0.022260850116873364, + 0.8524117553882575, + -0.03450772136214941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.8450148335936083, + -0.09959933092896477, + -0.5253854816087606, + -0.04894094467044664 + ], + [ + 0.07287089895626957, + 0.9947836527298736, + -0.07138148462112527, + -0.01790224563790471 + ], + [ + 0.5297544365949869, + 0.02203310100538186, + 0.8478648355534124, + -0.03513730455550186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.8373220587147229, + -0.10249585898411014, + -0.5370161718988058, + -0.048907116330481046 + ], + [ + 0.07455837165817487, + 0.9944998839479876, + -0.07355970393578803, + -0.01837697496561752 + ], + [ + 0.5416020856730703, + 0.02155411140707805, + 0.840358614566443, + -0.03639647094220674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.8295628491233458, + -0.10524109023291871, + -0.5484065939437122, + -0.0491378906569888 + ], + [ + 0.07614800683274149, + 0.9942257955375647, + -0.07560786032614149, + -0.018720116563982366 + ], + [ + 0.5531970357926348, + 0.020961402965527644, + 0.8327866828762088, + -0.03728784953076112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.8247142608662198, + -0.10661105284544777, + -0.5554101829594683, + -0.04925327782024268 + ], + [ + 0.07680515454532251, + 0.9940862593604168, + -0.07676898583466743, + -0.01889168736316479 + ], + [ + 0.5603100535945738, + 0.020654112471839233, + 0.8280253930157256, + -0.037733538825038306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.8198044753982094, + -0.1079791925873869, + -0.5623709772785602, + -0.049368664983496555 + ], + [ + 0.07745049739350847, + 0.9939450673705184, + -0.0779398710758111, + -0.019063258162347215 + ], + [ + 0.5673817432474938, + 0.020339543210011465, + 0.8232036567043682, + -0.03817922811931549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.8116839677293797, + -0.11070984119587848, + -0.573508908033236, + -0.04959943931000431 + ], + [ + 0.07896776905538198, + 0.9936577327527631, + -0.08005249272230082, + -0.01940639976071206 + ], + [ + 0.5787341600264384, + 0.019688605918691544, + 0.8152785602574566, + -0.03907060670786987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.8034038695878535, + -0.11343271209107819, + -0.5845299326458192, + -0.049830213636512063 + ], + [ + 0.08045154294059507, + 0.9933638257740117, + -0.0821940319128867, + -0.019749541359076906 + ], + [ + 0.5899743821300557, + 0.019008668319522432, + 0.8071981782430988, + -0.039961985296424245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.7982380469118626, + -0.11479112990767514, + -0.5913028132495682, + -0.04994560079976594 + ], + [ + 0.08104436308651608, + 0.9932144185156232, + -0.08340821341195007, + -0.01992111215825933 + ], + [ + 0.5968650028894604, + 0.018657849479286424, + 0.8021247116119616, + -0.04040767459070143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.7930130521366314, + -0.11614748222842763, + -0.5980301510065702, + -0.05006098796301982 + ], + [ + 0.08162486192186566, + 0.993063381303728, + -0.08463156993606358, + -0.020092682957441755 + ], + [ + 0.6037115876452765, + 0.018299811081088798, + 0.7969927451722606, + -0.040853363884978615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.7843835828695409, + -0.11885382952445198, + -0.608782524496322, + -0.05029176228952757 + ], + [ + 0.08303313148685867, + 0.9927564349869927, + -0.08683409392285565, + -0.0204358245558066 + ], + [ + 0.6146933332973673, + 0.017562118303034877, + 0.7885706550465101, + -0.04174474247353299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.7757228077633157, + -0.12131748626476914, + -0.6193029896926026, + -0.05035588631563129 + ], + [ + 0.08431144921843578, + 0.9924736016962878, + -0.08881289020567623, + -0.02078656405848064 + ], + [ + 0.6254164253091579, + 0.01667985198962892, + 0.7801128620213353, + -0.04288509740285701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.7703138364379376, + -0.12254558922599926, + -0.625778852274123, + -0.050387948328683145 + ], + [ + 0.08479209391293668, + 0.9923301849091791, + -0.08995056935880993, + -0.02096193380981766 + ], + [ + 0.6320022897127239, + 0.016229068961804524, + 0.7747965688608249, + -0.04345527486751902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.7648490220973204, + -0.12377116191708003, + -0.6322077766640244, + -0.050420010341735 + ], + [ + 0.08526152528417436, + 0.9921854401282233, + -0.09109623869172842, + -0.02113730356115468 + ], + [ + 0.6385424384510313, + 0.01577186974522118, + 0.7694249816725156, + -0.04402545233218103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.7558599605738772, + -0.12621457692862204, + -0.6424528002678378, + -0.05048413436783872 + ], + [ + 0.08647164825751073, + 0.9918919831136915, + -0.09312866305503362, + -0.021488043063828722 + ], + [ + 0.6489979769220291, + 0.014838275018262324, + 0.7606454177510018, + -0.04516580726150505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.7467265613971372, + -0.12864745291565063, + -0.6525712799091935, + -0.050548258393942426 + ], + [ + 0.087650359155436, + 0.9915932640869075, + -0.09518515197968473, + -0.021838782566502762 + ], + [ + 0.6593306128521037, + 0.013879174175290537, + 0.7517250238486687, + -0.046306162190829066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.741029330816625, + -0.12985985210751358, + -0.65879583307735, + -0.050580320406994284 + ], + [ + 0.08807026024194227, + 0.991441941931148, + -0.09636651410480078, + -0.022014152317839784 + ], + [ + 0.6656719613521223, + 0.01339009299478201, + 0.7461243497428627, + -0.04687633965549108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.7352784336350602, + -0.1310695126951558, + -0.6649709827300939, + -0.05061238242004614 + ], + [ + 0.08847852098223673, + 0.9912893170815993, + -0.09755532361020924, + -0.022189522069176803 + ], + [ + 0.6719651600760032, + 0.012894676488812883, + 0.7404704929720566, + -0.04744651712015309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.7258295137424019, + -0.13348048031644225, + -0.6747995838432032, + -0.050676506446149856 + ], + [ + 0.08958643833637511, + 0.9909801767271295, + -0.09966222654581833, + -0.022540261571850843 + ], + [ + 0.6820159727210728, + 0.011884894124855723, + 0.7312407006211906, + -0.048586872049477106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.7167562591646642, + -0.13586065546568507, + -0.6839607790251655, + -0.050743869223212536 + ], + [ + 0.09072153680385708, + 0.9906685046663707, + -0.10171291275960943, + -0.0226875794710465 + ], + [ + 0.6913971852041512, + 0.010853393871593175, + 0.7223933389319457, + -0.04909343177625207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.7110460778187695, + -0.13704670376923517, + -0.6896605514342056, + -0.05077755061174387 + ], + [ + 0.09110952927996012, + 0.990510733388046, + -0.10289577599425649, + -0.022761238420644328 + ], + [ + 0.6972177055216893, + 0.010328989740706585, + 0.7167850326827477, + -0.04934671163963955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.7052888404592801, + -0.13823002009779575, + -0.695312960520202, + -0.05081123200027521 + ], + [ + 0.09148627703957161, + 0.9903516771356947, + -0.10408562200398412, + -0.022834897370242156 + ], + [ + 0.7029921142068691, + 0.00979883351631697, + 0.7111301359277896, + -0.04959999150302703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.6959429839149296, + -0.14058833985246405, + -0.7042004557206084, + -0.05087859477733789 + ], + [ + 0.09255373894691506, + 0.9900297254733754, + -0.10618355845449759, + -0.022982215269437813 + ], + [ + 0.7121075540580446, + 0.00872131736846458, + 0.7020162178161045, + -0.050106551229801996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.6864782343816995, + -0.14293538146185872, + -0.7129636108852525, + -0.05094595755440057 + ], + [ + 0.09359027127518305, + 0.9897026815245292, + -0.10830264680881244, + -0.023129533168633473 + ], + [ + 0.7211022776574919, + 0.007620952008093507, + 0.6927867105016291, + -0.05061311095657695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.6805272031357472, + -0.1441046003702863, + -0.7184125485710543, + -0.05097963894293191 + ], + [ + 0.09391776095840858, + 0.9895372600320725, + -0.10952381104023862, + -0.0232031921182313 + ], + [ + 0.7266788699066437, + 0.007062234797764286, + 0.6869410053788205, + -0.050866390819964434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.6745311940839857, + -0.1452709127737006, + -0.7238121511203919, + -0.05101332033146324 + ], + [ + 0.09423364023877243, + 0.9893705776379641, + -0.11075143859865513, + -0.02327685106782913 + ], + [ + 0.7322074086315864, + 0.0064978462753390535, + 0.6810507240571733, + -0.051119670683351916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.6648058501019195, + -0.14759470277422526, + -0.7322902330246199, + -0.05108068310852592 + ], + [ + 0.09520032747431983, + 0.9890334466629794, + -0.11291474230909715, + -0.023424168967024785 + ], + [ + 0.7409251509559156, + 0.005352111259648712, + 0.6715662853255947, + -0.05162623041012688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_046/pan_right/transforms.json b/spatialvid_eval/camera_controls/scene_046/pan_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..aaa56b5cfa5550c662e182fd0f2924567895176b --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_046/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": [ + [ + 0.9999999991093138, + 2.963544293243884e-05, + 3.005184086164626e-05, + 1.4134943032059272e-05 + ], + [ + -2.9631415112791348e-05, + 0.999999990580224, + -0.00013402063784018133, + 9.088899676610836e-05 + ], + [ + -3.0055812339529126e-05, + 0.00013401974724223953, + 0.9999999905676779, + -0.00013768277433612243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999915441191337, + -0.001630142084133511, + -0.003775490301489559, + -0.0015544426577999949 + ], + [ + 0.0016253118423116236, + 0.9999978573098522, + -0.0012820831174969623, + -0.0006068289822621811 + ], + [ + 0.003777572189428874, + 0.0012759359272573165, + 0.999992050936338, + -0.0008980524997303441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999888005393207, + -0.0024630497263854944, + -0.004041309438367175, + -0.0023387314582160217 + ], + [ + 0.0024555793584101794, + 0.9999952693171046, + -0.0018524236628606136, + -0.0009556879717763258 + ], + [ + 0.004045852931809695, + 0.0018424791606768366, + 0.9999901181234729, + -0.001278237362427455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9999852879764464, + -0.003297954923852547, + -0.004306660421300751, + -0.0031230202586320487 + ], + [ + 0.003287552558558921, + 0.9999916671281346, + -0.002420262892553694, + -0.0013045469612904706 + ], + [ + 0.004314606452374807, + 0.0024060689131021203, + 0.999987797427322, + -0.0016584222251245658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9999547573751902, + -0.004973712730326665, + -0.008108352755107733, + -0.004691597859464103 + ], + [ + 0.004944940894273028, + 0.9999814203703954, + -0.003564614082771405, + -0.00200226494031876 + ], + [ + 0.008125931471359017, + 0.0035243574851499416, + 0.9999607733016531, + -0.002418791950518788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9999069350713051, + -0.006657324727276736, + -0.011908031902225091, + -0.006260175460296157 + ], + [ + 0.00660163584731036, + 0.9999671175917042, + -0.0047097918721107366, + -0.0026999829193470495 + ], + [ + 0.011938994951348609, + 0.004630741065389347, + 0.999918004956775, + -0.0031791616759130094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.999897787345703, + -0.007502047563120355, + -0.012171037076928702, + -0.007044464260712184 + ], + [ + 0.007438348407309386, + 0.9999584454280406, + -0.005270520857385115, + -0.0030488419088611943 + ], + [ + 0.012210071012847185, + 0.0051794497292022785, + 0.9999120398646894, + -0.0035593465386101197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.999887846251734, + -0.0083486997129599, + -0.012433588829130487, + -0.007828753061128211 + ], + [ + 0.008276728244505966, + 0.9999487595668467, + -0.005828722869665788, + -0.003397700898375339 + ], + [ + 0.012481613983602131, + 0.005725159720705713, + 0.9999057114841065, + -0.003939531401307231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9998178093407538, + -0.010047746065109971, + -0.016229322970096084, + -0.009397330661960265 + ], + [ + 0.00993569663565893, + 0.9999263472902826, + -0.006970073678079227, + -0.004095418877403629 + ], + [ + 0.01629816116685491, + 0.006807554166127816, + 0.9998440014066469, + -0.0046999011267014525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.999715215916325, + -0.01187591461102048, + -0.0206990269705519, + -0.011469429742064946 + ], + [ + 0.01170982836049161, + 0.9998984132499789, + -0.008126690589802022, + -0.004538448333968081 + ], + [ + 0.020793436107188038, + 0.007881994184614743, + 0.9997527230183123, + -0.005636429970000671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9996913343985281, + -0.012793090697343613, + -0.021297247683684906, + -0.012505479282117288 + ], + [ + 0.012610514051257975, + 0.9998827648892362, + -0.008685125953008795, + -0.004759963062250306 + ], + [ + 0.021405860502528434, + 0.008413875912214418, + 0.999735462924208, + -0.006104694391650281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9996662353773692, + -0.013712308240569886, + -0.021894986849837574, + -0.013541528822169628 + ], + [ + 0.013512646340120298, + 0.9998659959659155, + -0.009241130881825646, + -0.0049814777905325324 + ], + [ + 0.02201877006841652, + 0.008942187305340748, + 0.9997175656408518, + -0.0065729588132998895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9995314548733002, + -0.01555680824375642, + -0.026360129668346107, + -0.015613627902274309 + ], + [ + 0.015287274776344738, + 0.999829097533643, + -0.010395910492816195, + -0.005424507247096985 + ], + [ + 0.026517351843228273, + 0.009988064994237088, + 0.9995984536847256, + -0.007509487656599108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9993732424366906, + -0.01740929538655795, + -0.030822698384785182, + -0.01768572698237899 + ], + [ + 0.01706020876164671, + 0.9997877203383858, + -0.011552642017429884, + -0.005867536703661437 + ], + [ + 0.031017278710178627, + 0.011019559642627547, + 0.9994581020366475, + -0.008446016499898326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9993380894739591, + -0.01833849673329173, + -0.03141786854802396, + -0.01872177652243133 + ], + [ + 0.01796585534481188, + 0.9997653530291921, + -0.012102352008796127, + -0.006089051431943663 + ], + [ + 0.03163243538311837, + 0.011529892453035538, + 0.9994330645980024, + -0.008914280921547935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9993016941064764, + -0.019269649918639657, + -0.03201257171705371, + -0.01975782606248367 + ], + [ + 0.01887290836059728, + 0.9997418670548915, + -0.01264960819995866, + -0.006310566160225888 + ], + [ + 0.03224806173925705, + 0.01203660457159886, + 0.99940741575418, + -0.009382545343197546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9991111589216196, + -0.02113775158109505, + -0.03647036572883251, + -0.02182992514258835 + ], + [ + 0.020646131935809834, + 0.9996915406472539, + -0.013804375915270678, + -0.00675359561679034 + ], + [ + 0.03675090957225441, + 0.013039134036311063, + 0.9992393865481864, + -0.010319074186496763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9988499305106073, + -0.023475839536703475, + -0.04180551730336733, + -0.022985945972272482 + ], + [ + 0.022870008199861673, + 0.9996272356451856, + -0.014911488232338758, + -0.007175513683307917 + ], + [ + 0.04213999340167787, + 0.013938246461153837, + 0.9990144875034072, + -0.011095077072184236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9987779702303761, + -0.024647720672170862, + -0.04283755418037608, + -0.023563956387114546 + ], + [ + 0.024006147196644127, + 0.9995927671015082, + -0.015427405975180728, + -0.007386472716566705 + ], + [ + 0.043200359712195345, + 0.014380188594612656, + 0.9989629317931272, + -0.011483078515027974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.998703539615597, + -0.025821461678259945, + -0.04386903322476836, + -0.024141966801956613 + ], + [ + 0.02514330970082563, + 0.9995567554478789, + -0.01594072193464007, + -0.0075974317498254925 + ], + [ + 0.044261201255343774, + 0.01481704273150687, + 0.9989101067203828, + -0.01187107995787171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9983915942490795, + -0.028174428373298862, + -0.04919782636071898, + -0.02529798763164074 + ], + [ + 0.027365012444600243, + 0.9994801057533247, + -0.017049172919224646, + -0.008019349816343068 + ], + [ + 0.049652599395081806, + 0.015675451800844564, + 0.9986435297863553, + -0.012647082843559185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9980455430579599, + -0.030534549395582138, + -0.05452279592382112, + -0.026454008461324872 + ], + [ + 0.029583729184559465, + 0.9993972927582885, + -0.018161888528961487, + -0.008441267882860645 + ], + [ + 0.05504449972228411, + 0.016513404270850175, + 0.9983473396216925, + -0.013423085729246657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9979519556911028, + -0.03171723317516503, + -0.055550978857402775, + -0.02703201887616694 + ], + [ + 0.03072253747973919, + 0.9993535770958402, + -0.018669591226238118, + -0.008652226916119433 + ], + [ + 0.056107217210528436, + 0.016924688046195027, + 0.9982812905746706, + -0.013811087172090394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9978558724041924, + -0.032901633940478146, + -0.05657862133805726, + -0.027610029291009003 + ], + [ + 0.03186231704812232, + 0.9993083231578097, + -0.01917467131014179, + -0.008863185949378221 + ], + [ + 0.057170365232289924, + 0.017330832397026333, + 0.9982140008974193, + -0.01419908861493413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.997458983926967, + -0.035275490640387375, + -0.061896810446605735, + -0.028766050120693134 + ], + [ + 0.03407853197733461, + 0.9992132041446598, + -0.020288576126307488, + -0.009285104015895797 + ], + [ + 0.0625637997699379, + 0.01812767009417191, + 0.9978763242683457, + -0.014975091500621604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9969599587619593, + -0.03786904254811246, + -0.06809387815245733, + -0.029885466026856027 + ], + [ + 0.036493487402789536, + 0.9991061643193693, + -0.021333021263293485, + -0.009575971272876183 + ], + [ + 0.06884087450443155, + 0.018783184914357286, + 0.9974508138058429, + -0.015430149111827374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9968085713846376, + -0.03916803306902548, + -0.06955959459069477, + -0.030445173979937474 + ], + [ + 0.03773513165126393, + 0.9990500453972282, + -0.0217960232854096, + -0.009721404901366373 + ], + [ + 0.07034722349446258, + 0.019101622373507023, + 0.9973396593785492, + -0.015657677917430262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.996653296414353, + -0.04046845765742149, + -0.07102471880432648, + -0.03100488193301892 + ], + [ + 0.03897734472269034, + 0.9989921956163946, + -0.022256677557622218, + -0.009866838529856566 + ], + [ + 0.07185383319470665, + 0.019413836106367148, + 0.9972262178778006, + -0.015885206723033146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9960837226326406, + -0.043073481894755856, + -0.0772132933099171, + -0.03212429783918181 + ], + [ + 0.04138737866187779, + 0.9988713091753315, + -0.023306492525861963, + -0.010157705786836951 + ], + [ + 0.07813003515805868, + 0.02001956202872222, + 0.996742150579767, + -0.016340264334238918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9954687419350164, + -0.04568386063830623, + -0.08339645500557051, + -0.033243713745344704 + ], + [ + 0.04379311899190569, + 0.9987435168119334, + -0.024362888890537174, + -0.010448573043817336 + ], + [ + 0.08440465958273348, + 0.020600303476203563, + 0.9962185909414719, + -0.01679532194544469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.99528440673709, + -0.0469909782368083, + -0.0848575139298043, + -0.03380342169842615 + ], + [ + 0.04503502368397816, + 0.9986770347863855, + -0.02481988783327464, + -0.010594006672307529 + ], + [ + 0.08591156119977482, + 0.02088128718782962, + 0.9960839199071517, + -0.017022850751047574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9950961659872307, + -0.04829933874290004, + -0.08631798372594622, + -0.0343631296515076 + ], + [ + 0.046277437394907674, + 0.9986088310169563, + -0.025274520828466696, + -0.01073944030079772 + ], + [ + 0.0874186434673664, + 0.021156003685639472, + 0.9959469886908535, + -0.017250379556650458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9944106007488496, + -0.05091966056493994, + -0.09249186605461011, + -0.03548254555767049 + ], + [ + 0.04867781768403221, + 0.9984672649549389, + -0.026336113588083326, + -0.011030307557778105 + ], + [ + 0.09369112649463002, + 0.021686608341453632, + 0.9953650907254142, + -0.01770543716785623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9935997175880535, + -0.05368304238411287, + -0.0993867806568163, + -0.037136575381101766 + ], + [ + 0.051198109280323784, + 0.9983128910172702, + -0.02738841424508561, + -0.011275419126998474 + ], + [ + 0.10068939772915815, + 0.02212470540201443, + 0.9946718768497548, + -0.018414957568629584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.993340321204836, + -0.05506623388150516, + -0.10120630491615251, + -0.0379635902928174 + ], + [ + 0.05250180661835046, + 0.9982329110419726, + -0.027831917190141605, + -0.011397974911608658 + ], + [ + 0.1025600632336154, + 0.022333051712136, + 0.9944760772541189, + -0.018769717769016262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9930756174433519, + -0.05645037375656384, + -0.1030251102510926, + -0.038790605204533035 + ], + [ + 0.05380570534420765, + 0.9981510720530076, + -0.02827336965846341, + -0.011520530696218844 + ], + [ + 0.10443066653008512, + 0.02253425530555788, + 0.9942768443577001, + -0.019124477969402937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9921759190590393, + -0.059221342436555566, + -0.10990804447065453, + -0.040444635027964304 + ], + [ + 0.05631835781774974, + 0.9979818263206376, + -0.02933456845493012, + -0.011765642265439214 + ], + [ + 0.11142346347185161, + 0.022915211841423117, + 0.9935087844876864, + -0.01983399837017629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9912205771965772, + -0.061995635767943064, + -0.11678316868373367, + -0.04209866485139558 + ], + [ + 0.05882531132889284, + 0.9978051729166292, + -0.030404270224343152, + -0.012010753834659584 + ], + [ + 0.11841178188484322, + 0.02326753202521887, + 0.9926919320032335, + -0.020543518770949648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9909174307018036, + -0.06338393136932495, + -0.11859647033325166, + -0.042925679763111214 + ], + [ + 0.06012716563109551, + 0.9977140745340152, + -0.030843952890400685, + -0.01213330961926977 + ], + [ + 0.12028037863470475, + 0.02343294093585258, + 0.9924633634520669, + -0.020898278971336323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.990608969741881, + -0.06477294071945179, + -0.1204090329563512, + -0.043752694674826856 + ], + [ + 0.06142915420650689, + 0.99762113177328, + -0.03128156730206069, + -0.012255865403879953 + ], + [ + 0.12214879483810914, + 0.02359117610367359, + 0.9922313885025222, + -0.021253039171723002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9895649042898967, + -0.06755294391999755, + -0.1272709706314442, + -0.045406724498258125 + ], + [ + 0.0639279252089788, + 0.9974297236564673, + -0.03235995588778574, + -0.012500976973100323 + ], + [ + 0.12912985935175286, + 0.023886107559120857, + 0.9913399685725738, + -0.021962559572496355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9884018278094681, + -0.07046768679075109, + -0.13452186402686964, + -0.04602395147692754 + ], + [ + 0.06656238412636406, + 0.9972258768594634, + -0.033316655613807256, + -0.01300558064414038 + ], + [ + 0.1364964314636737, + 0.02397614731843465, + 0.9903503766634553, + -0.023109045080743202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9880217933838205, + -0.07192517041378244, + -0.13652730737683022, + -0.04633256496626225 + ], + [ + 0.06793253147146353, + 0.9971210141146388, + -0.033687599779040824, + -0.013257882479660407 + ], + [ + 0.13855723354086477, + 0.024009437143393618, + 0.9900633514889638, + -0.023682287834866624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9876354982584911, + -0.073382669703891, + -0.13853196875390145, + -0.04664117845559696 + ], + [ + 0.06930252487253397, + 0.9970141960396723, + -0.034056613772626344, + -0.013510184315180434 + ], + [ + 0.14061750469267362, + 0.024034905502116455, + 0.9897722165687974, + -0.024255530588990045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9863723872710902, + -0.07629753790840202, + -0.14576762102142723, + -0.047258405434266376 + ], + [ + 0.07192776030129129, + 0.996794706958475, + -0.03502441259476142, + -0.01401478798622049 + ], + [ + 0.14797266952775592, + 0.024062374959343772, + 0.9886986857400719, + -0.02540201609723689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9850474908731425, + -0.07921193666722891, + -0.1529931691741609, + -0.04787563241293579 + ], + [ + 0.07454663603525521, + 0.9965674363275117, + -0.03600199865894573, + -0.014519391657260546 + ], + [ + 0.15531979841718083, + 0.024058552347106334, + 0.9875712360526749, + -0.026548501605483738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9846168170502683, + -0.08066884916362248, + -0.15499116218809258, + -0.0481842459022705 + ], + [ + 0.07591326200288664, + 0.9964508915372938, + -0.0363702819155121, + -0.014771693492780572 + ], + [ + 0.157375030528607, + 0.024044906511555886, + 0.9872461406543817, + -0.02712174435960716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9841798929506197, + -0.08212551130044751, + -0.15698833939292117, + -0.04849285939160521 + ], + [ + 0.0772796601277898, + 0.9963324118054299, + -0.03673662091848693, + -0.0150239953283006 + ], + [ + 0.15942958458905998, + 0.02402343813061289, + 0.9869169579950201, + -0.027694987113730585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9827552285125922, + -0.08503790722842913, + -0.16419718379245074, + -0.04911008637027463 + ], + [ + 0.07988868810981126, + 0.9960896619945209, + -0.03772509482737802, + -0.015528598999340656 + ], + [ + 0.16676318041838875, + 0.023957036583234642, + 0.9857058902405391, + -0.028841472621977428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9812552002896656, + -0.08795950298393665, + -0.17146824119733486, + -0.04907625803030903 + ], + [ + 0.08253787534476605, + 0.9958436134395489, + -0.03850969624957594, + -0.01600332832705347 + ], + [ + 0.17414284664625312, + 0.023635215388939916, + 0.9844367148554845, + -0.030100639008682314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.980766913854992, + -0.08941871198258819, + -0.17349511415232874, + -0.04905934386032623 + ], + [ + 0.08392376842964705, + 0.995717734112093, + -0.03876848033191915, + -0.016240692990909873 + ], + [ + 0.17621878952007813, + 0.023462479026189087, + 0.9840713644335071, + -0.03073022220203476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9802722522672611, + -0.09087680187220207, + -0.17552127596491385, + -0.049042429690343434 + ], + [ + 0.08530921420164658, + 0.9955899565610694, + -0.0390253298131531, + -0.016478057654766277 + ], + [ + 0.1782937166788794, + 0.023281865823175117, + 0.9837018376096606, + -0.0313598053953872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.978670930175124, + -0.093789444961944, + -0.18277513628469308, + -0.04900860135037784 + ], + [ + 0.08794886206021318, + 0.9953287225678801, + -0.03982124676232151, + -0.01695278698247909 + ], + [ + 0.18565615554694453, + 0.022897031360475193, + 0.9823479617031871, + -0.03261897178209208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9770072064045392, + -0.09669707389470948, + -0.1900173532438529, + -0.04897477301041224 + ], + [ + 0.09058227164641261, + 0.9950599436010313, + -0.0406270932271572, + -0.0174275163101919 + ], + [ + 0.1930071778379592, + 0.02248075934913461, + 0.9809397763176457, + -0.03387813816879697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9764675020252075, + -0.09814889623269425, + -0.1920364852233961, + -0.04895785884042944 + ], + [ + 0.09196361550433747, + 0.9949227350505054, + -0.04088330592054008, + -0.017664880974048305 + ], + [ + 0.19507411645839176, + 0.022260850116873364, + 0.9805358451581728, + -0.03450772136214941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9759214520319197, + -0.09959933092896477, + -0.19405487044238942, + -0.04894094467044664 + ], + [ + 0.09334443759978707, + 0.9947836527298736, + -0.04113757686823873, + -0.01790224563790471 + ], + [ + 0.19713988798081794, + 0.02203310100538186, + 0.9801277503606342, + -0.03513730455550186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9741568690864476, + -0.10249585898411014, + -0.20127839750653698, + -0.048907116330481046 + ], + [ + 0.09596767668020349, + 0.9944998839479876, + -0.041954569000804326, + -0.01837697496561752 + ], + [ + 0.20447151254953355, + 0.02155411140707805, + 0.9786351827096537, + -0.03639647094220674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9723793398564102, + -0.10524109023291871, + -0.2083332242994341, + -0.0491378906569888 + ], + [ + 0.09846699586262601, + 0.9942257955375647, + -0.042653466605730384, + -0.018720116563982366 + ], + [ + 0.21161916299381123, + 0.020961402965527644, + 0.9771273967295746, + -0.03728784953076112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.971813858046583, + -0.10661105284544777, + -0.21026628051069224, + -0.04925327782024268 + ], + [ + 0.09978467992262331, + 0.9940862593604168, + -0.04284304615166687, + -0.01889168736316479 + ], + [ + 0.21359036251983748, + 0.020654112471839233, + 0.9767049527245397, + -0.037733538825038306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9712426063184976, + -0.1079791925873869, + -0.21219871262528514, + -0.049368664983496555 + ], + [ + 0.10110175916420368, + 0.9939450673705184, + -0.04303065585973887, + -0.019063258162347215 + ], + [ + 0.21556027919251658, + 0.020339543210011465, + 0.9762786840940719, + -0.03817922811931549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.969370562070839, + -0.11070984119587848, + -0.2192351350784108, + -0.04959943931000431 + ], + [ + 0.10359146824269701, + 0.9936577327527631, + -0.04373920264431517, + -0.01940639976071206 + ], + [ + 0.222687047440546, + 0.019688605918691544, + 0.9746911499029786, + -0.03907060670786987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9674398838319668, + -0.11343271209107819, + -0.2262589025847457, + -0.049830213636512063 + ], + [ + 0.10607506583134636, + 0.9933638257740117, + -0.044456608648148, + -0.019749541359076906 + ], + [ + 0.2298002427763435, + 0.019008668319522432, + 0.9730521666121772, + -0.039961985296424245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9668272539020442, + -0.11479112990767514, + -0.2281842623993846, + -0.04994560079976594 + ], + [ + 0.10738772825236192, + 0.9932144185156232, + -0.044642968914145056, + -0.01992111215825933 + ], + [ + 0.23176051633750908, + 0.018657849479286424, + 0.9725939274536827, + -0.04040767459070143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9662088933806634, + -0.11614748222842763, + -0.23010896706584658, + -0.05006098796301982 + ], + [ + 0.10869971838972672, + 0.993063381303728, + -0.044827356999945445, + -0.020092682957441755 + ], + [ + 0.23371937355321634, + 0.018299811081088798, + 0.9721318693162407, + -0.040853363884978615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.9641842195567427, + -0.11885382952445198, + -0.2371129645656846, + -0.05029176228952757 + ], + [ + 0.11117314797037162, + 0.9927564349869927, + -0.04555427490669933, + -0.0204358245558066 + ], + [ + 0.24080972141529694, + 0.017562118303034877, + 0.9704134428544349, + -0.04174474247353299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9621685411829034, + -0.12131748626476914, + -0.24395443403299996, + -0.05035588631563129 + ], + [ + 0.11344995324488036, + 0.9924736016962878, + -0.04610052108960199, + -0.02078656405848064 + ], + [ + 0.24771113512859746, + 0.01667985198962892, + 0.9686903406511835, + -0.04288509740285701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9615436623136806, + -0.12254558922599926, + -0.24579740443228248, + -0.050387948328683145 + ], + [ + 0.11466204304047026, + 0.9923301849091791, + -0.04618895976204375, + -0.02096193380981766 + ], + [ + 0.2495724370802588, + 0.016229068961804524, + 0.9682201278482353, + -0.04345527486751902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9609137290272599, + -0.12377116191708003, + -0.2476398692549772, + -0.050420010341735 + ], + [ + 0.11587335143189395, + 0.9921854401282233, + -0.046275466777819324, + -0.02113730356115468 + ], + [ + 0.25143224096139116, + 0.01577186974522118, + 0.9677463905021154, + -0.04402545233218103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9588111371341148, + -0.12621457692862204, + -0.254462342750976, + -0.05048413436783872 + ], + [ + 0.11814096010681914, + 0.9918919831136915, + -0.046829556690487835, + -0.021488043063828722 + ], + [ + 0.2583097304644663, + 0.014838275018262324, + 0.9659481915412739, + -0.04516580726150505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9566540790236921, + -0.12864745291565063, + -0.26127151767011847, + -0.050548258393942426 + ], + [ + 0.12040294014549534, + 0.9915932640869075, + -0.047391250477201725, + -0.021838782566502762 + ], + [ + 0.2651718406838325, + 0.013879174175290537, + 0.9641012723944307, + -0.046306162190829066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9559869536191569, + -0.12985985210751358, + -0.26310713278164616, + -0.050580320406994284 + ], + [ + 0.12160963505507134, + 0.991441941931148, + -0.04747601964746593, + -0.022014152317839784 + ], + [ + 0.2670206755510449, + 0.01339009299478201, + 0.9635977709801195, + -0.04687633965549108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9553148211413256, + -0.1310695126951558, + -0.26494221133970275, + -0.05061238242004614 + ], + [ + 0.12281549027707529, + 0.9912893170815993, + -0.047558860245998084, + -0.022189522069176803 + ], + [ + 0.26886790038180264, + 0.012894676488812883, + 0.9630907431091476, + -0.04744651712015309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9530714324859647, + -0.13348048031644225, + -0.2717311280542642, + -0.050676506446149856 + ], + [ + 0.12506780507120113, + 0.9909801767271295, + -0.04812830215724624, + -0.022540261571850843 + ], + [ + 0.27570435019024114, + 0.011884894124855723, + 0.9611690072915469, + -0.048586872049477106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.950984717271295, + -0.13586065546568507, + -0.2777947980306141, + -0.050743869223212536 + ], + [ + 0.12733103965838874, + 0.9906685046663707, + -0.04860782037503169, + -0.0226875794710465 + ], + [ + 0.281806447505995, + 0.010853393871593175, + 0.9594098863288408, + -0.04909343177625207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9503829553793846, + -0.13704670376923517, + -0.27926768361257803, + -0.05077755061174387 + ], + [ + 0.1285405744508876, + 0.990510733388046, + -0.048639569929348106, + -0.022761238420644328 + ], + [ + 0.28328353083824576, + 0.010328989740706585, + 0.9589805801614303, + -0.04934671163963955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9497774865706805, + -0.13823002009779575, + -0.28074042734747817, + -0.05081123200027521 + ], + [ + 0.12974931568044526, + 0.9903516771356947, + -0.04866899089742539, + -0.022834897370242156 + ], + [ + 0.28475926865325707, + 0.00979883351631697, + 0.958548977245181, + -0.04959999150302703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9476220201273677, + -0.14058833985246405, + -0.286788119815405, + -0.05087859477733789 + ], + [ + 0.1320042247394989, + 0.9900297254733754, + -0.049153100919853185, + -0.022982215269437813 + ], + [ + 0.2908391163867936, + 0.00872131736846458, + 0.9567322232488609, + -0.050106551229801996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9454224172039467, + -0.14293538146185872, + -0.2928240594189621, + -0.05094595755440057 + ], + [ + 0.13425407569339468, + 0.9897026815245292, + -0.04964318022517271, + -0.023129533168633473 + ], + [ + 0.2969045237243097, + 0.007620952008093507, + 0.9548767590021926, + -0.05061311095657695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9447888988301378, + -0.1441046003702863, + -0.2942920331905975, + -0.05097963894293191 + ], + [ + 0.13545853195338822, + 0.9895372600320725, + -0.04966887485389188, + -0.0232031921182313 + ], + [ + 0.29837044553435355, + 0.007062234797764286, + 0.9544240158709821, + -0.050866390819964434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9441517174872632, + -0.1452709127737006, + -0.29575986250292274, + -0.05101332033146324 + ], + [ + 0.13666214002716595, + 0.9893705776379641, + -0.04969224876695917, + -0.02327685106782913 + ], + [ + 0.29983494434279545, + 0.0064978462753390535, + 0.9539689639316028, + -0.051119670683351916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9418838712850818, + -0.14759470277422526, + -0.3017790196915874, + -0.05108068310852592 + ], + [ + 0.1389032731959072, + 0.9890334466629794, + -0.05018687156429178, + -0.023424168967024785 + ], + [ + 0.30587686036784567, + 0.005352111259648712, + 0.9520560388950715, + -0.05162623041012688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_046/pull_out/transforms.json b/spatialvid_eval/camera_controls/scene_046/pull_out/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..18a6f171c50cc9f6585702a219b7eca2c683b66a --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_046/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": [ + [ + 0.9999999991093138, + 2.963544293243884e-05, + 3.005184086164626e-05, + 1.4134943032059272e-05 + ], + [ + -2.9631415112791348e-05, + 0.999999990580224, + -0.00013402063784018133, + 9.088899676610836e-05 + ], + [ + -3.0055812339529126e-05, + 0.00013401974724223953, + 0.9999999905676779, + -0.00013768277433612243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999738343250409, + -0.001630142084133511, + -0.007047928920026186, + -0.001545632746649962 + ], + [ + 0.0016211075397173358, + 0.9999978573098522, + -0.0012873950635297392, + -0.000605219738432769 + ], + [ + 0.00705001245537029, + 0.0012759359272573165, + 0.9999743343265812, + -0.002148020417638571 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999409323237427, + -0.0024630497263854944, + -0.01058608754782071, + -0.00231226623934647 + ], + [ + 0.002443402766024046, + 0.9999952693171046, + -0.0018684556016031317, + -0.0009510168327723181 + ], + [ + 0.010590639567455706, + 0.0018424791606768366, + 0.9999422201427918, + -0.003778092912784435 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998948177841295, + -0.003297954923852547, + -0.014123627783369522, + -0.003070056654444413 + ], + [ + 0.003263633634283807, + 0.9999916671281346, + -0.002452421210871238, + -0.0012953503817497035 + ], + [ + 0.01413159806759668, + 0.0024060689131021203, + 0.9998972491053476, + -0.005408036909269619 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997629537669284, + -0.004973712730326665, + -0.021196661456539485, + -0.004585614552181406 + ], + [ + 0.004897857892478827, + 0.9999814203703954, + -0.0036290359700654412, + -0.001984119760468433 + ], + [ + 0.02121431741282389, + 0.0035243574851499416, + 0.999768739079706, + -0.0074176356459173184 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999578249416549, + -0.006657324727276736, + -0.028266646791281293, + -0.006083508917850648 + ], + [ + 0.006523691787907442, + 0.9999671175917042, + -0.004817175603554694, + -0.0026698755718248326 + ], + [ + 0.028297786818121524, + 0.004630741065389347, + 0.9995888112110808, + -0.009426591745982264 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9994660851313346, + -0.007502047563120355, + -0.031800376642497234, + -0.006805961435893454 + ], + [ + 0.007333434809234933, + 0.9999584454280406, + -0.005415547159369496, + -0.003008225305165923 + ], + [ + 0.03183968288382761, + 0.0051794497292022785, + 0.9994795685227188, + -0.011055443302530513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993407147384791, + -0.0083486997129599, + -0.035333200804469556, + -0.007519587554089102 + ], + [ + 0.008141047248683059, + 0.9999487595668467, + -0.006016775749475612, + -0.0033450541105674273 + ], + [ + 0.03538162256992823, + 0.005725159720705713, + 0.9993574752462163, + -0.012683909309711625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9990503626000395, + -0.01004774606510997, + -0.042395940698854495, + -0.00897337125497172 + ], + [ + 0.009749836662198301, + 0.9999263472902824, + -0.007227771425145575, + -0.004023141163152173 + ], + [ + 0.04246544093483752, + 0.006807554166127814, + 0.9990747437166476, + -0.01469064856386793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.998672099394489, + -0.01187591461102048, + -0.05012983685546718, + -0.01090546907744094 + ], + [ + 0.011465433715067792, + 0.9998984132499789, + -0.00846799916745019, + -0.004443183343334266 + ], + [ + 0.05022530956330078, + 0.007881994184614743, + 0.9987068100533532, + -0.016871881583100896 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9984592607274839, + -0.012793090697343613, + -0.053994828436953454, + -0.01183054392665537 + ], + [ + 0.01231959286873141, + 0.9998827648892362, + -0.009093080281472493, + -0.004646299558731901 + ], + [ + 0.054104826948020074, + 0.008413875912214418, + 0.9984998119143833, + -0.018585942040580075 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9982306218520546, + -0.013712308240569886, + -0.05785843239819516, + -0.012745975376694444 + ], + [ + 0.013171307355573647, + 0.9998659959659155, + -0.00972145943946739, + -0.004847807723239856 + ], + [ + 0.057983982783230165, + 0.008942187305340748, + 0.9982774639481704, + -0.020299273942587234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9977259585111707, + -0.015556808243756416, + -0.06558122772740152, + -0.014629909486363286 + ], + [ + 0.014867347310918332, + 0.9998290975336428, + -0.010988071213759096, + -0.005259686178890598 + ], + [ + 0.06574095905067734, + 0.009988064994237086, + 0.9977867331553215, + -0.022476288653928932 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9971581419947919, + -0.01740929538655795, + -0.07329772361839253, + -0.01649463897358011 + ], + [ + 0.01655344394398329, + 0.9997877203383858, + -0.012267752612734602, + -0.005668185723704499 + ], + [ + 0.07349573693139004, + 0.011019559642627547, + 0.9972346493971189, + -0.024651079552601513 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9968505626068129, + -0.01833849673329173, + -0.07715345337730638, + -0.01737159108832847 + ], + [ + 0.017392729428624756, + 0.9997653530291921, + -0.01291246860356948, + -0.005863083231381197 + ], + [ + 0.07737214481648928, + 0.011529892453035538, + 0.9969356111537586, + -0.026360654116738713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9965272090082843, + -0.019269649918639657, + -0.08100742125368915, + -0.018238936913977 + ], + [ + 0.018229488260416163, + 0.9997418670548915, + -0.013560420913943392, + -0.00605630826808945 + ], + [ + 0.08124781513322638, + 0.01203660457159886, + 0.9966212483619162, + -0.028069193749983477 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9958332003370517, + -0.021137751581095047, + -0.08870982225527194, + -0.020055728697482914 + ], + [ + 0.019895371915676568, + 0.9996915406472536, + -0.014865992555422588, + -0.006456275765681889 + ], + [ + 0.08899669253855974, + 0.01303913403631106, + 0.9959465697017992, + -0.030238005580532752 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.994980088035978, + -0.023475839536703475, + -0.09728057036204407, + -0.020918733852079045 + ], + [ + 0.022005492854328523, + 0.9996272356451856, + -0.016160075513530672, + -0.00683211207864539 + ], + [ + 0.09762367897265373, + 0.013938246461153837, + 0.9951257923445823, + -0.032241500159506616 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9945238186500283, + -0.024647720672170862, + -0.10156211893925955, + -0.021278808710981204 + ], + [ + 0.02305628739143001, + 0.9995927671015082, + -0.0168139100174163, + -0.007008159741174838 + ], + [ + 0.10193518406070325, + 0.014380188594612656, + 0.9946871007641015, + -0.03386353828222026 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9940477526028384, + -0.025821461678259945, + -0.10584100180007885, + -0.02162824300920474 + ], + [ + 0.024104209637106605, + 0.9995567554478789, + -0.017472255615104897, + -0.007182465678966751 + ], + [ + 0.10624524753143813, + 0.01481704273150687, + 0.9942295522773783, + -0.03548403182445945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9930362694125469, + -0.028174428373298862, + -0.11439042449894792, + -0.02243822701916704 + ], + [ + 0.026191352592676676, + 0.9994801057533247, + -0.018802426776584925, + -0.007549289146928445 + ], + [ + 0.11486070120183726, + 0.015675451800844564, + 0.9932579219569616, + -0.03747853089248322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9919457202387393, + -0.030534549395582138, + -0.12292814727822732, + -0.023227144595271403 + ], + [ + 0.02826675298539382, + 0.9993972927582885, + -0.020150481459918216, + -0.007912317744537791 + ], + [ + 0.12346934346513519, + 0.016513404270850175, + 0.9922109799350519, + -0.039468623952541776 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9913708232103126, + -0.03171723317516503, + -0.127192405461252, + -0.023534227725982508 + ], + [ + 0.029299997250004674, + 0.9993535770958402, + -0.020831181121062838, + -0.008079369435290204 + ], + [ + 0.12777089280605747, + 0.016924688046195027, + 0.9916592932484837, + -0.041081717736423704 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9907761932471629, + -0.03290163394047814, + -0.13145347990337639, + -0.02383074174378693 + ], + [ + 0.030330243028943816, + 0.9993083231578095, + -0.021516310681254012, + -0.008244592017292168 + ], + [ + 0.13207047835328609, + 0.01733083239702633, + 0.9910888108519642, + -0.04269289192692811 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9895277829885482, + -0.03527549064038737, + -0.13996573314153984, + -0.02456707812644694 + ], + [ + 0.03238165589990793, + 0.9992132041446595, + -0.022899804019754173, + -0.008598109895303171 + ], + [ + 0.14066341050517991, + 0.018127670094171905, + 0.9898915054297659, + -0.04467183666351459 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9880606614170252, + -0.03786904254811246, + -0.14933875912381242, + -0.025218629804236888 + ], + [ + 0.03462806800850104, + 0.9991061643193693, + -0.024243954401795054, + -0.008818347697820087 + ], + [ + 0.15012337015318247, + 0.018783184914357286, + 0.9884888293239958, + -0.046320425028202244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9872912621714466, + -0.03916803306902548, + -0.15401892359517302, + -0.02543955896309435 + ], + [ + 0.03574635022052384, + 0.9990500453972282, + -0.02492398920132957, + -0.008911375252323162 + ], + [ + 0.15484883624303955, + 0.019101622373507023, + 0.9877534945202049, + -0.047759666489336924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9864979954926077, + -0.04046845765742149, + -0.15869470320050552, + -0.02564893570000186 + ], + [ + 0.03686131340939751, + 0.9989921956163946, + -0.02560930829346182, + -0.009002524374952229 + ], + [ + 0.15957113919127489, + 0.019413836106367148, + 0.9869955189892374, + -0.049196305488919914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9848399379543066, + -0.043073481894755856, + -0.16803265089743727, + -0.026243155057771507 + ], + [ + 0.03908117381941346, + 0.9988713091753315, + -0.026995732241532348, + -0.00921285515838332 + ], + [ + 0.16900579417006587, + 0.02001956202872222, + 0.9854117203855066, + -0.05082967454773166 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9830866508649557, + -0.04568386063830623, + -0.17735168949943822, + -0.02681471500099007 + ], + [ + 0.04128743226364865, + 0.9987435168119334, + -0.028403090733342642, + -0.009418961004733665 + ], + [ + 0.17842641292196612, + 0.020600303476203563, + 0.9837375883173769, + -0.05245580952194961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9821743494288753, + -0.0469909782368083, + -0.18200383316928725, + -0.026978277954577877 + ], + [ + 0.04238539330689768, + 0.9986770347863855, + -0.029114577525569577, + -0.00950221001509867 + ], + [ + 0.18313117090813769, + 0.02088128718782962, + 0.9828666980253192, + -0.053880351926997055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9812383055953713, + -0.04829933874290004, + -0.18665090813956303, + -0.02713040696109953 + ], + [ + 0.04347987309669419, + 0.9986088310169563, + -0.029831246210032265, + -0.00958347951015897 + ], + [ + 0.1878320746513235, + 0.021156003685639472, + 0.9819732864188481, + -0.05530184440538083 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.979295082807603, + -0.05091966056493994, + -0.19592939788812064, + -0.027645369642145663 + ], + [ + 0.045658282023710244, + 0.9984672649549389, + -0.03128005907998966, + -0.009779105194578518 + ], + [ + 0.1972218600244241, + 0.021686608341453632, + 0.9801189871373532, + -0.05691019665335037 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9770993525240382, + -0.05368304238411287, + -0.20590042801677488, + -0.0286431827254098 + ], + [ + 0.047947864056948855, + 0.9983128910172702, + -0.032747121417259516, + -0.00992460036853652 + ], + [ + 0.20731101666212026, + 0.02212470540201443, + 0.9780248666477721, + -0.05875848331785019 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9759604903437328, + -0.055066233881505146, + -0.21087634095395394, + -0.029001345802274356 + ], + [ + 0.0490868341921527, + 0.9982329110419724, + -0.03348937177167818, + -0.009974676611312336 + ], + [ + 0.21234783727886883, + 0.022333051712135996, + 0.9769389084299029, + -0.06028962137728715 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9747943393814892, + -0.05645037375656384, + -0.21584566526235902, + -0.029347357349304826 + ], + [ + 0.05022188086512623, + 0.9981510720530076, + -0.034237407054286136, + -0.010022644137593826 + ], + [ + 0.2173792966042883, + 0.02253425530555788, + 0.9758270588304306, + -0.061816911793234286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9723803034610349, + -0.059221342436555566, + -0.22576398747594392, + -0.030285255591546826 + ], + [ + 0.05248007586456688, + 0.9979818263206376, + -0.035750747837973676, + -0.010156858612730399 + ], + [ + 0.2274255638187476, + 0.022915211841423117, + 0.9735258116701312, + -0.0636426598953322 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9698575171450986, + -0.061995635767943064, + -0.2356542755454984, + -0.031199654607416277 + ], + [ + 0.05472219425681413, + 0.9978051729166292, + -0.037286973013849575, + -0.010286231332769041 + ], + [ + 0.2374486847570747, + 0.02326753202521887, + 0.9711213848230257, + -0.0654578828190146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9685554310644461, + -0.06338393136932494, + -0.2405885579152387, + -0.03149772326213737 + ], + [ + 0.05583714559594764, + 0.997714074534015, + -0.038063613181507, + -0.010325287993148186 + ], + [ + 0.24245121184944074, + 0.023432940935852575, + 0.96988056334367, + -0.06696760573016065 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9672262650867149, + -0.06477294071945179, + -0.24551541352216252, + -0.03178381826562143 + ], + [ + 0.05694798305737996, + 0.99762113177328, + -0.03884590924533136, + -0.010362127328170049 + ], + [ + 0.24744752848250565, + 0.02359117610367359, + 0.968614049587319, + -0.06847297408910481 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.964486844177412, + -0.06755294391999754, + -0.2553462887461625, + -0.03263941006095 + ], + [ + 0.059157191124289785, + 0.9974297236564671, + -0.04042738063328459, + -0.010479607941436094 + ], + [ + 0.2574209667975419, + 0.02388610755912085, + 0.9660040888726577, + -0.07026276401612924 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9615234873425913, + -0.07046768679075109, + -0.2655313322508336, + -0.032415470699072316 + ], + [ + 0.06150738007123365, + 0.9972258768594634, + -0.041921268094458765, + -0.010857115654299367 + ], + [ + 0.26774881042745047, + 0.02397614731843465, + 0.963190385580364, + -0.07247255234173687 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.959998170128858, + -0.07192517041378244, + -0.2706109443651391, + -0.03212549038709245 + ], + [ + 0.06267626596297884, + 0.9971210141146388, + -0.042677498707540874, + -0.01101731379751451 + ], + [ + 0.27290144564326146, + 0.024009437143393618, + 0.9617423500573713, + -0.07417376121287862 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9584438219664363, + -0.073382669703891, + -0.27568174390318273, + -0.03182328472080089 + ], + [ + 0.06384096534029847, + 0.9970141960396723, + -0.04343988996055169, + -0.01117529022980078 + ], + [ + 0.27804634735739503, + 0.024034905502116455, + 0.9602669170802018, + -0.0758698773820509 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9552482228416822, + -0.07629753790840202, + -0.2857962884064873, + -0.03153960957190957 + ], + [ + 0.06615766293608255, + 0.996794706958475, + -0.04498306141653531, + -0.011540719608311047 + ], + [ + 0.28831232438562837, + 0.024062374959343772, + 0.9572340391558756, + -0.07804988825081005 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9519370788701056, + -0.07921193666722891, + -0.2958737348290276, + -0.031232734828802986 + ], + [ + 0.06845719091840012, + 0.9965674363275117, + -0.04655059465971683, + -0.011900920707651474 + ], + [ + 0.29854549215121734, + 0.024058552347106334, + 0.9540921209061258, + -0.08021618340645331 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9502383029448926, + -0.08066884916362248, + -0.30089816282428083, + -0.030882601539874353 + ], + [ + 0.06960042876862314, + 0.9964508915372938, + -0.04734343745184284, + -0.012049445839299608 + ], + [ + 0.3036493832228785, + 0.024044906511555886, + 0.9524803906323828, + -0.08188936682096917 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9485107930151953, + -0.08212551130044751, + -0.30591285675388913, + -0.030520479057314226 + ], + [ + 0.07073926943659317, + 0.9963324118054299, + -0.048142298922593973, + -0.012195635266598205 + ], + [ + 0.3087446052860884, + 0.02402343813061289, + 0.9508415446998106, + -0.08355692786484446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9449697822531131, + -0.08503790722842913, + -0.3159124324282177, + -0.03015534042458156 + ], + [ + 0.07300362076358913, + 0.9960896619945209, + -0.049757980496071386, + -0.012543120169576373 + ], + [ + 0.3189084225665892, + 0.023957036583234642, + 0.9474827061293729, + -0.08569043498973981 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9412891792298363, + -0.08795950298393664, + -0.32594141636134516, + -0.02911234627817664 + ], + [ + 0.07533032464181151, + 0.9958436134395486, + -0.05119413795564903, + -0.012867687377269964 + ], + [ + 0.3290896887691564, + 0.02363521538893991, + 0.9440028354508996, + -0.08792081268004992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.939405567133001, + -0.08941871198258819, + -0.33094028824985877, + -0.02837557584471006 + ], + [ + 0.07648761656808997, + 0.995717734112093, + -0.051921464601957, + -0.01299560145328756 + ], + [ + 0.33416586443150875, + 0.023462479026189087, + 0.9422222068740941, + -0.08961911013166564 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9374931582678222, + -0.09087680187220207, + -0.33592854163125907, + -0.027626985161350662 + ], + [ + 0.07764082098124628, + 0.9955899565610694, + -0.05265492675985662, + -0.013121306073825417 + ], + [ + 0.3392321935170395, + 0.023281865823175117, + 0.9404145222216688, + -0.09131123118701859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9335821864123478, + -0.093789444961944, + -0.3458725794671659, + -0.026526883685012055 + ], + [ + 0.07993482550885747, + 0.9953287225678801, + -0.05414016717983623, + -0.013433676115789734 + ], + [ + 0.3493346889222555, + 0.022897031360475193, + 0.9367182079315362, + -0.09350565529764193 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.929556744851729, + -0.09669707389470948, + -0.35577230639955504, + -0.025404857711441714 + ], + [ + 0.08221205598068716, + 0.9950599436010313, + -0.05564967647831359, + -0.013740725243503624 + ], + [ + 0.35939593201939024, + 0.02248075934913461, + 0.9329143473583201, + -0.0956837136812857 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9275012521560426, + -0.09814889623269425, + -0.36070517242933625, + -0.02461025970144924 + ], + [ + 0.08334429330782415, + 0.9949227350505054, + -0.056413474034502274, + -0.013856971476719401 + ], + [ + 0.3644106969093975, + 0.022260850116873364, + 0.9309722329533151, + -0.09734834708649819 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9254173288581177, + -0.09959933092896474, + -0.3656265044107293, + -0.023804122492209 + ], + [ + 0.0844722322165815, + 0.9947836527298733, + -0.05718326893208117, + -0.013970895898824127 + ], + [ + 0.3694146849185268, + 0.022033101005381858, + 0.9290034085118484, + -0.09900628889069144 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9211644477265652, + -0.10249585898411014, + -0.37543396108466476, + -0.02262673905455451 + ], + [ + 0.08671507613466282, + 0.9944998839479876, + -0.058740755854848795, + -0.014265122055778106 + ], + [ + 0.379389714957551, + 0.02155411140707805, + 0.9249858725763759, + -0.10114548202255307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9168758843440001, + -0.10524109023291871, + -0.3850492509212223, + -0.02170313152885171 + ], + [ + 0.08884873554500237, + 0.9942257955375647, + -0.06017449359779273, + -0.014432683895139634 + ], + [ + 0.38915872712874106, + 0.020961402965527644, + 0.9209321933156941, + -0.10290426830450433 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9146908761218109, + -0.10661105284544777, + -0.3898393060617404, + -0.020989928130766496 + ], + [ + 0.08990959212007234, + 0.9940862593604168, + -0.0608997060388346, + -0.014476458675349281 + ], + [ + 0.3940264792933546, + 0.020654112471839233, + 0.918866987791859, + -0.10435139543994809 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9124788030220669, + -0.1079791925873869, + -0.39461744513337516, + -0.020265628404910134 + ], + [ + 0.09096642461487246, + 0.9939450673705184, + -0.06163045223428627, + -0.014518012310068603 + ], + [ + 0.39888286955972807, + 0.020339543210011465, + 0.9167762864264134, + -0.10579147924326349 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9079737254355883, + -0.11070984119587848, + -0.40413740853947444, + -0.019289133669543723 + ], + [ + 0.09306789209918778, + 0.9936577327527631, + -0.06310845902770965, + -0.014673265333633837 + ], + [ + 0.40856098856698575, + 0.019688605918691544, + 0.9125186449701429, + -0.10750950508063059 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9033611860721906, + -0.11343271209107819, + -0.4136080116800299, + -0.018292602745909776 + ], + [ + 0.09515288867741081, + 0.9933638257740117, + -0.06460833862562414, + -0.014823155538873065 + ], + [ + 0.4181919359272599, + 0.019008668319522432, + 0.9081597740783992, + -0.10920916806990219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.901014788739456, + -0.11479112990767514, + -0.4183244517922814, + -0.017525455785864126 + ], + [ + 0.09618913299759733, + 0.9932144185156232, + -0.06536642521847887, + -0.014855214203827218 + ], + [ + 0.4229893629465924, + 0.018657849479286424, + 0.9059425387334697, + -0.11061822134254534 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8986417321688883, + -0.11614748222842763, + -0.42302813095170994, + -0.016747522650572652 + ], + [ + 0.09722116698313132, + 0.993063381303728, + -0.0661299130805761, + -0.014884952302346387 + ], + [ + 0.427774569013795, + 0.018299811081088798, + 0.9037001908926756, + -0.11201975391777683 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.8938159236471618, + -0.11885382952445195, + -0.43239664874064826, + -0.015700030390275704 + ], + [ + 0.09927248163341446, + 0.9927564349869925, + -0.06767300187120906, + -0.015021984406109874 + ], + [ + 0.4373077509318974, + 0.017562118303034873, + 0.8991404245030894, + -0.11367597643378016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8889815632196568, + -0.12131748626476914, + -0.4415810772462211, + -0.014477423789375825 + ], + [ + 0.10116066278421355, + 0.9924736016962878, + -0.06901210213474886, + -0.015179330760032295 + ], + [ + 0.446629936928319, + 0.01667985198962892, + 0.8945632912080677, + -0.11556836481351251 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8865264091788514, + -0.12254558922599926, + -0.44615412627219336, + -0.013580232911227182 + ], + [ + 0.10209925467691744, + 0.9923301849091791, + -0.06968892532197855, + -0.015212597470754426 + ], + [ + 0.45127227703778744, + 0.016229068961804524, + 0.8922387288712385, + -0.11706496999939621 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8840460322542674, + -0.12377116191708, + -0.4507142246847584, + -0.012672694024386484 + ], + [ + 0.10303414510072213, + 0.9921854401282231, + -0.0703705715546463, + -0.015243768193453053 + ], + [ + 0.4559019387969855, + 0.015771869745221177, + 0.8898902574620589, + -0.11855376139462848 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8790098930670908, + -0.12621457692862204, + -0.4597950504963173, + -0.011401555075651736 + ], + [ + 0.10489271513290395, + 0.9918919831136915, + -0.07174825535743781, + -0.015389441358446505 + ], + [ + 0.46512270015795776, + 0.014838275018262324, + 0.8851218556742643, + -0.12040116499381753 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8738737194367432, + -0.12864745291565063, + -0.4688225200820751, + -0.010112316036863446 + ], + [ + 0.10673616112971268, + 0.9915932640869075, + -0.07314499658052226, + -0.015530026611432716 + ], + [ + 0.4742911704692427, + 0.013879174175290537, + 0.8802586291193786, + -0.12222846895237546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8712683021294201, + -0.12985985210751358, + -0.47331592463716265, + -0.009165177001242544 + ], + [ + 0.10765214691315877, + 0.991441941931148, + -0.07385046407966497, + -0.015552236710869098 + ], + [ + 0.4788554698126619, + 0.01339009299478201, + 0.8777916292834456, + -0.12368310721779258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.86863809653899, + -0.1310695126951558, + -0.4777956049222038, + -0.008208022483200551 + ], + [ + 0.10856427306321723, + 0.9912893170815993, + -0.0745606360900439, + -0.015572265616185407 + ], + [ + 0.4834063051464839, + 0.012894676488812883, + 0.8753011318756954, + -0.12512949257412107 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8633036208800738, + -0.13348048031644225, + -0.4867132826930508, + -0.006872311003775278 + ], + [ + 0.11037684265253067, + 0.9909801767271295, + -0.07599501259902286, + -0.015700710437938786 + ], + [ + 0.4924670656819725, + 0.011884894124855723, + 0.8702499287619785, + -0.12690936563805516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8582439584117143, + -0.13586065546568507, + -0.49493352093612164, + -0.0055811854377914305 + ], + [ + 0.1122130528715333, + 0.9906685046663707, + -0.07735725323037258, + -0.015628730113775 + ], + [ + 0.5008248582239528, + 0.010853393871593175, + 0.8654805978336118, + -0.12806853632856915 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8556822918456084, + -0.13704670376923514, + -0.4990250659113577, + -0.004617732014943275 + ], + [ + 0.11312592979234462, + 0.9905107333880457, + -0.07804492969881918, + -0.015542082423503554 + ], + [ + 0.5049854843760015, + 0.010328989740706583, + 0.8630660302320279, + -0.12918031943610214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.8530994860111117, + -0.13823002009779572, + -0.5031040931172597, + -0.0036452232705321136 + ], + [ + 0.11403529112667005, + 0.9903516771356945, + -0.07873695429830335, + -0.015453307904776217 + ], + [ + 0.5091337931676043, + 0.009798833516316968, + 0.8606316073190009, + -0.13028420468918336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8478707125320456, + -0.14058833985246402, + -0.5112241910629128, + -0.0023122966263611627 + ], + [ + 0.11584337717539109, + 0.9900297254733752, + -0.08013397933282412, + -0.01536948723281952 + ], + [ + 0.5173930486535373, + 0.008721317368464578, + 0.8557034368450072, + -0.13139837773007768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8425581551667445, + -0.1429353814618587, + -0.5192930115920733, + -0.0009640051886635123 + ], + [ + 0.1176371321749799, + 0.989702681524529, + -0.08154819015038303, + -0.015280519866659105 + ], + [ + 0.5256018077362925, + 0.007620952008093505, + 0.850696573870397, + -0.13249265619160266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8398706214167995, + -0.1441046003702863, + -0.5233079432161136, + 4.2885520639177055e-05 + ], + [ + 0.118528580030124, + 0.9895372600320725, + -0.08226169658025027, + -0.015182676701656898 + ], + [ + 0.5296869971945712, + 0.007062234797764286, + 0.8481637871559123, + -0.1335623600676659 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8371623393947298, + -0.14527091277370058, + -0.5273097565957218, + 0.0010585181323642875 + ], + [ + 0.11941637870024317, + 0.9893705776379639, + -0.08297944686753564, + -0.015082630689659985 + ], + [ + 0.533759258465147, + 0.006497846275339052, + 0.8456115136376271, + -0.1346238076550676 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8316837989308377, + -0.14759470277422526, + -0.535273633115772, + 0.002446680203051284 + ], + [ + 0.12118094076106001, + 0.9890334466629794, + -0.08442760791478116, + -0.014981408175546669 + ], + [ + 0.5418645939644281, + 0.005352111259648712, + 0.8404487591238564, + -0.13567110632251253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_046/tilt_down/transforms.json b/spatialvid_eval/camera_controls/scene_046/tilt_down/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..45e2051827ab02cb6d74fc4867945041c8554e09 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_046/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": [ + [ + 0.9999999991093138, + 2.963544293243884e-05, + 3.005184086164626e-05, + 1.4134943032059272e-05 + ], + [ + -2.9631415112791348e-05, + 0.999999990580224, + -0.00013402063784018133, + 9.088899676610836e-05 + ], + [ + -3.0055812339529126e-05, + 0.00013401974724223953, + 0.9999999905676779, + -0.00013768277433612243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999738343250409, + -0.001607069103087728, + -0.007053225799171994, + -0.0015544426577999949 + ], + [ + 0.0016211075397173358, + 0.9999967157059958, + 0.001985091324555713, + -0.0006068289822621811 + ], + [ + 0.00705001245537029, + -0.0019964734208237165, + 0.9999731553488121, + -0.0008980524997303441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999409323237427, + -0.002393711685641746, + -0.010601981319111749, + -0.0023387314582160217 + ], + [ + 0.002443402766024046, + 0.9999860800085645, + 0.004676491422932267, + -0.0009556879717763258 + ], + [ + 0.010590639567455706, + -0.004702120103931329, + 0.9999328619562822, + -0.001278237362427455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998948177841295, + -0.0031591398278243, + -0.014155324227695562, + -0.0031230202586320487 + ], + [ + 0.003263633634283807, + 0.9999675526912087, + 0.007364934504544599, + -0.0013045469612904706 + ], + [ + 0.01413159806759668, + -0.0074103576366673675, + 0.9998726841632153, + -0.0016584222251245658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997629537669284, + -0.00469583089436206, + -0.02125994937525758, + -0.004691597859464103 + ], + [ + 0.004897857892478827, + 0.9999432521493264, + 0.00946062730975718, + -0.00200226494031876 + ], + [ + 0.02121431741282389, + -0.00956251291453221, + 0.9997292188805266, + -0.002418791950518788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999578249416549, + -0.006193942275092379, + -0.028371788319390207, + -0.006260175460296157 + ], + [ + 0.006523691787907442, + 0.9999120772373968, + 0.011544662846988617, + -0.0026999829193470495 + ], + [ + 0.028297786818121524, + -0.011724882681164608, + 0.9995307711057769, + -0.0031791616759130094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9994660851313346, + -0.006876242656917622, + -0.03194153971190478, + -0.007044464260712184 + ], + [ + 0.007333434809234933, + 0.9998720211075778, + 0.014218373329832414, + -0.0030488419088611943 + ], + [ + 0.03183968288382761, + -0.014445023128087223, + 0.9993886010460027, + -0.0035593465386101197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993407147384791, + -0.007537186695834425, + -0.03551516130750755, + -0.007828753061128211 + ], + [ + 0.008141047248683059, + 0.9998242258469322, + 0.01688907218521939, + -0.003397700898375339 + ], + [ + 0.03538162256992823, + -0.01716706807509593, + 0.9992264170637326, + -0.003939531401307231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9990503626000398, + -0.008934506605343945, + -0.04264443199819627, + -0.009397330661960265 + ], + [ + 0.009749836662198303, + 0.9997728985037612, + 0.018949725656302343, + -0.004095418877403629 + ], + [ + 0.04246544093483753, + -0.019347506534634764, + 0.9989105867479344, + -0.0046999011267014525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.998672099394489, + -0.010394532007211034, + -0.05045781996237125, + -0.011469429742064946 + ], + [ + 0.011465433715067792, + 0.9997141329158566, + 0.02098085503554247, + -0.004538448333968081 + ], + [ + 0.05022530956330078, + -0.021531515335622028, + 0.9985057897311476, + -0.005636429970000671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9984592607274839, + -0.011019579852791993, + -0.0543844971236697, + -0.012505479282117288 + ], + [ + 0.01231959286873141, + 0.999644932381583, + 0.02362703526406606, + -0.004759963062250306 + ], + [ + 0.054104826948020074, + -0.024260627025875888, + 0.9982404969130617, + -0.006104694391650281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9982306218520546, + -0.011621120631049803, + -0.05831445062880648, + -0.013541528822169628 + ], + [ + 0.013171307355573647, + 0.9995681176115784, + 0.026269657725053783, + -0.0049814777905325324 + ], + [ + 0.057983982783230165, + -0.026991254319224493, + 0.9979525689785409, + -0.0065729588132998895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.997725958511171, + -0.012970107590559155, + -0.06614142440298384, + -0.015613627902274309 + ], + [ + 0.014867347310918336, + 0.9994896551853735, + 0.028273506350657732, + -0.005424507247096985 + ], + [ + 0.06574095905067735, + -0.029192558752419658, + 0.9974096053360348, + -0.007509487656599108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9971581419947919, + -0.0142762230052166, + -0.07397181429571678, + -0.01768572698237899 + ], + [ + 0.01655344394398329, + 0.9994048631926656, + 0.030263888058920572, + -0.005867536703661437 + ], + [ + 0.07349573693139004, + -0.0314023706677505, + 0.9968010171390062, + -0.008446016499898326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9968505626068129, + -0.014785713061898687, + -0.0779123771921531, + -0.01872177652243133 + ], + [ + 0.017392729428624756, + 0.9993076570388896, + 0.032889201061567064, + -0.006089051431943663 + ], + [ + 0.07737214481648928, + -0.034140727477555775, + 0.9964175640432078, + -0.008914280921547935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9965272090082843, + -0.01527159301722168, + -0.0818553611736942, + -0.01975782606248367 + ], + [ + 0.018229488260416163, + 0.9992030125096493, + 0.035510921551058006, + -0.006310566160225888 + ], + [ + 0.08124781513322638, + -0.036879780888155946, + 0.9960113826145357, + -0.009382545343197546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9958332003370519, + -0.016466069651315474, + -0.08969451296876559, + -0.02182992514258835 + ], + [ + 0.01989537191567657, + 0.9990995240705387, + 0.03747419349846915, + -0.00675359561679034 + ], + [ + 0.08899669253855975, + -0.03910255173593953, + 0.995264075090092, + -0.010319074186496763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.994980088035978, + -0.01803036302715171, + -0.0984354124338735, + -0.022985945972272482 + ], + [ + 0.022005492854328523, + 0.9989792907560451, + 0.03944787604913429, + -0.007175513683307917 + ], + [ + 0.09762367897265373, + -0.04141597094912646, + 0.9943612696873234, + -0.011095077072184236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9945238186500283, + -0.018625928353995225, + -0.10283700175869336, + -0.023563956387114546 + ], + [ + 0.02305628739143001, + 0.9988489319820598, + 0.042062081380054635, + -0.007386472716566705 + ], + [ + 0.10193518406070325, + -0.04420278126148161, + 0.9938084988463624, + -0.011483078515027974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9940477526028384, + -0.01919489057644292, + -0.10724095169758857, + -0.024141966801956613 + ], + [ + 0.024104209637106605, + 0.9987109017057606, + 0.04467126472170707, + -0.0075974317498254925 + ], + [ + 0.10624524753143813, + -0.046990328683940874, + 0.9932290050069815, + -0.01187107995787171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9930362694125469, + -0.020632613043247552, + -0.11598820159921122, + -0.02529798763164074 + ], + [ + 0.026191352592676676, + 0.9985698796737275, + 0.04660695718198602, + -0.008019349816343068 + ], + [ + 0.11486070120183726, + -0.04932028677334512, + 0.9921565041020581, + -0.012647082843559185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9919457202387393, + -0.02202121225399156, + -0.12473473578323499, + -0.026454008461324872 + ], + [ + 0.02826675298539382, + 0.9984219631436011, + 0.04852395478668528, + -0.008441267882860645 + ], + [ + 0.12346934346513519, + -0.05165897524479361, + 0.991002861499878, + -0.013423085729246657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9913708232103126, + -0.022485782221656477, + -0.1291444171661615, + -0.02703201887616694 + ], + [ + 0.029299997250004674, + 0.9982631851237513, + 0.051108936476246376, + -0.008652226916119433 + ], + [ + 0.12777089280605747, + -0.05445183949568192, + 0.9903078289739408, + -0.013811087172090394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9907761932471632, + -0.022923668955296003, + -0.13355538288024413, + -0.027610029291009003 + ], + [ + 0.030330243028943823, + 0.9980969798997539, + 0.05368887289556224, + -0.008863185949378221 + ], + [ + 0.1320704783532861, + -0.057244424327777384, + 0.9895860066870974, + -0.01419908861493413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9895277829885484, + -0.024185163220172817, + -0.1423019485944673, + -0.028766050120693134 + ], + [ + 0.032381655899907935, + 0.9979296612225647, + 0.05556815287012804, + -0.009285104015895797 + ], + [ + 0.14066341050517994, + -0.05959420384761895, + 0.988262280881356, + -0.014975091500621604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9880606614170252, + -0.025538255857811457, + -0.15193395554612463, + -0.029885466026856027 + ], + [ + 0.03462806800850104, + 0.9977456352899606, + 0.05748516474562617, + -0.009575971272876183 + ], + [ + 0.15012337015318247, + -0.06206000924568183, + 0.9867175527912112, + -0.015430149111827374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9872912621714466, + -0.0259374781097579, + -0.15679034048441204, + -0.030445173979937474 + ], + [ + 0.03574635022052384, + 0.9975540482645312, + 0.06006762220162556, + -0.009721404901366373 + ], + [ + 0.15484883624303955, + -0.06490892096123148, + 0.9858035655716737, + -0.015657677917430262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9864979954926077, + -0.02630699475030531, + -0.16164667307518105, + -0.03100488193301892 + ], + [ + 0.03686131340939751, + 0.9973549863506731, + 0.06264403223917762, + -0.009866838529856566 + ], + [ + 0.15957113919127489, + -0.06775672091133367, + 0.9848584052078465, + -0.015885206723033146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9848399379543066, + -0.02751752597317793, + -0.17126903507193986, + -0.03212429783918181 + ], + [ + 0.03908117381941346, + 0.9971511248868524, + 0.06451585843637062, + -0.010157705786836951 + ], + [ + 0.16900579417006587, + -0.07023118894907375, + 0.9831096691802726, + -0.016340264334238918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9830866508649557, + -0.028672464428371465, + -0.18088263231921714, + -0.033243713745344704 + ], + [ + 0.04128743226364865, + 0.9969408020805428, + 0.06636554139068788, + -0.010448573043817336 + ], + [ + 0.17842641292196612, + -0.07271125724816106, + 0.9812630066609014, + -0.01679532194544469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9821743494288753, + -0.028925208576385253, + -0.18573335627392984, + -0.03380342169842615 + ], + [ + 0.04238539330689768, + 0.9967218595286488, + 0.06891308418560618, + -0.010594006672307529 + ], + [ + 0.18313117090813769, + -0.07555704498301571, + 0.9801806502860834, + -0.017022850751047574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9812383055953713, + -0.029148252720098612, + -0.1905827038209141, + -0.0343631296515076 + ], + [ + 0.04347987309669419, + 0.9964957316704538, + 0.07145458276459611, + -0.01073944030079772 + ], + [ + 0.1878320746513235, + -0.07840048549551469, + 0.979067145606596, + -0.017250379556650458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.979295082807603, + -0.030160518466351316, + -0.20017863001502204, + -0.03548254555767049 + ], + [ + 0.045658282023710244, + 0.9962672133127146, + 0.07325954518533388, + -0.011030307557778105 + ], + [ + 0.1972218600244241, + -0.08088252471306469, + 0.9770166606176925, + -0.01770543716785623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9770993525240382, + -0.03117785666116784, + -0.21048704604113105, + -0.037136575381101766 + ], + [ + 0.047947864056948855, + 0.9960267867884174, + 0.07504426915039619, + -0.011275419126998474 + ], + [ + 0.20731101666212026, + -0.08341811106682065, + 0.9747120401003375, + -0.018414957568629584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.975960490343733, + -0.03131101015026717, + -0.215686675368208, + -0.0379635902928174 + ], + [ + 0.04908683419215271, + 0.9957788026879295, + 0.07755681031596029, + -0.011397974911608658 + ], + [ + 0.21234783727886888, + -0.08627975869671638, + 0.9733777269088418, + -0.018769717769016262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9747943393814892, + -0.031412152449191, + -0.2208829386537468, + -0.038790605204533035 + ], + [ + 0.05022188086512623, + 0.9955238549975067, + 0.08006258060587701, + -0.011520530696218844 + ], + [ + 0.2173792966042883, + -0.08913770700109057, + 0.9720085959488284, + -0.019124477969402937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9723803034610349, + -0.032275135624643236, + -0.2311598171426791, + -0.040444635027964304 + ], + [ + 0.05248007586456688, + 0.9952663221913418, + 0.0817972465855063, + -0.011765642265439214 + ], + [ + 0.2274255638187476, + -0.0916693161975789, + 0.9694711699630854, + -0.01983399837017629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9698575171450986, + -0.033077862780082914, + -0.24141717302430488, + -0.04209866485139558 + ], + [ + 0.05472219425681413, + 0.9950035078897739, + 0.08350748914178031, + -0.012010753834659584 + ], + [ + 0.2374486847570747, + -0.09420124352123524, + 0.9668217249452914, + -0.020543518770949648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9685554310644463, + -0.033053205273941705, + -0.24659250308288805, + -0.042925679763111214 + ], + [ + 0.05583714559594766, + 0.9947308381385414, + 0.08598123532430028, + -0.01213330961926977 + ], + [ + 0.2424512118494408, + -0.09704661394048959, + 0.9652975523616663, + -0.020898278971336323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9672262650867149, + -0.03299667464053425, + -0.25176292735244166, + -0.043752694674826856 + ], + [ + 0.05694798305737996, + 0.9944515239208351, + 0.08844825491339733, + -0.012255865403879953 + ], + [ + 0.24744752848250565, + -0.09988686617466619, + 0.9637387273601202, + -0.021253039171723002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9644868441774123, + -0.033645640352596345, + -0.26197919439138806, + -0.045406724498258125 + ], + [ + 0.0591571911242898, + 0.9941734061561975, + 0.09010918504830388, + -0.012500976973100323 + ], + [ + 0.25742096679754195, + -0.10240707679183585, + 0.960857552645537, + -0.021962559572496355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9615234873425913, + -0.03431423006544315, + -0.2725713060899071, + -0.04602395147692754 + ], + [ + 0.06150738007123365, + 0.99387102426038, + 0.09185439201473437, + -0.01300558064414038 + ], + [ + 0.26774881042745047, + -0.10508530225792531, + 0.9577409116060804, + -0.023109045080743202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.959998170128858, + -0.034169829445835874, + -0.27791354070085633, + -0.04633256496626225 + ], + [ + 0.06267626596297884, + 0.993564849329018, + 0.09434286333763499, + -0.013257882479660407 + ], + [ + 0.27290144564326146, + -0.10798755916052653, + 0.9559620745784687, + -0.023682287834866624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9584438219664363, + -0.03399207501922999, + -0.2832489699367986, + -0.04664117845559696 + ], + [ + 0.06384096534029847, + 0.9932519590296609, + 0.09682394862925178, + -0.013510184315180434 + ], + [ + 0.27804634735739503, + -0.11088320305451237, + 0.9541462906711857, + -0.024255530588990045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9552482228416822, + -0.034498305423182274, + -0.2937868269353426, + -0.047258405434266376 + ], + [ + 0.06615766293608255, + 0.9929340015438104, + 0.09851513697413226, + -0.01401478798622049 + ], + [ + 0.28831232438562837, + -0.11354265938899433, + 0.9507807676358578, + -0.02540201609723689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9519370788701056, + -0.03494089356969764, + -0.30429415345813315, + -0.04787563241293579 + ], + [ + 0.06845719091840012, + 0.9926114894515964, + 0.10018005799681544, + -0.014519391657260546 + ], + [ + 0.29854549215121734, + -0.11619623472916257, + 0.9472956371434174, + -0.026548501605483738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9502383029448926, + -0.03463184713007067, + -0.30959296306726697, + -0.0481842459022705 + ], + [ + 0.06960042876862314, + 0.9922820097991544, + 0.10262647486967064, + -0.014771693492780572 + ], + [ + 0.3036493832228785, + -0.11906741029060276, + 0.9453147644435981, + -0.02712174435960716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9485107930151953, + -0.03428973082559631, + -0.31488329567252943, + -0.04849285939160521 + ], + [ + 0.07073926943659317, + 0.9919461584171094, + 0.10506557267304974, + -0.0150239953283006 + ], + [ + 0.3087446052860884, + -0.12193044394837153, + 0.943297267856369, + -0.027694987113730585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9449697822531131, + -0.034571357111664126, + -0.32532588568382004, + -0.04911008637027463 + ], + [ + 0.07300362076358913, + 0.9916100083997251, + 0.10667737621868728, + -0.015528598999340656 + ], + [ + 0.3189084225665892, + -0.1245568645597467, + 0.9395653279613585, + -0.028841472621977428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9412891792298366, + -0.03478937640031201, + -0.33580408031246195, + -0.04907625803030903 + ], + [ + 0.07533032464181152, + 0.991242011688503, + 0.10846481666000896, + -0.01600332832705347 + ], + [ + 0.32908968876915645, + -0.1273929886351972, + 0.9356660746187245, + -0.030100639008682314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.939405567133001, + -0.03431570102143652, + -0.3410859321387091, + -0.04905934386032623 + ], + [ + 0.07648761656808997, + 0.9908760345560372, + 0.11096994482397464, + -0.016240692990909873 + ], + [ + 0.33416586443150875, + -0.13033463394627887, + 0.9334591893826061, + -0.03073022220203476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9374931582678222, + -0.03380848235665134, + -0.3463575677270009, + -0.049042429690343434 + ], + [ + 0.07764082098124628, + 0.9905034242983936, + 0.1134674815553524, + -0.016478057654766277 + ], + [ + 0.3392321935170395, + -0.13326647355541515, + 0.9312151018468943, + -0.0313598053953872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9335821864123478, + -0.03386140603019113, + -0.3567600123264924, + -0.04900860135037784 + ], + [ + 0.07993482550885747, + 0.9901208637315192, + 0.11520025553104904, + -0.01695278698247909 + ], + [ + 0.3493346889222555, + -0.13606645576779394, + 0.9270659063574618, + -0.03261897178209208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.929556744851729, + -0.03384930331338519, + -0.3671218908834724, + -0.04897477301041224 + ], + [ + 0.08221205598068716, + 0.9897343261648782, + 0.11690655012608508, + -0.0174275163101919 + ], + [ + 0.35939593201939024, + -0.13885311763209687, + 0.9227970393167508, + -0.03387813816879697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9275012521560426, + -0.03320975361400488, + -0.3723419658242548, + -0.04895785884042944 + ], + [ + 0.08334429330782415, + 0.9893456524538166, + 0.119368793006179, + -0.017664880974048305 + ], + [ + 0.3644106969093975, + -0.141747282992055, + 0.9203871749119378, + -0.03450772136214941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9254173288581179, + -0.03253709470831554, + -0.37755013563373097, + -0.04894094467044664 + ], + [ + 0.08447223221658151, + 0.9889506928215936, + 0.12182351641632368, + -0.01790224563790471 + ], + [ + 0.36941468491852686, + -0.14463009588475167, + 0.9179405895431978, + -0.03513730455550186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9211644477265652, + -0.03236215116524703, + -0.38782567142540975, + -0.048907116330481046 + ], + [ + 0.08671507613466282, + 0.9885515439746564, + 0.12347607248484498, + -0.01837697496561752 + ], + [ + 0.379389714957551, + -0.1473721007425787, + 0.9134248234568335, + -0.03639647094220674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9168758843440001, + -0.03200725707118467, + -0.3978871048465718, + -0.0491378906569888 + ], + [ + 0.08884873554500237, + 0.9881387328951159, + 0.12525073550478244, + -0.018720116563982366 + ], + [ + 0.38915872712874106, + -0.15019114503596354, + 0.9088443788968077, + -0.03728784953076112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9146908761218109, + -0.031146639968280293, + -0.40295221547746884, + -0.04925327782024268 + ], + [ + 0.08990959212007234, + 0.9877233538325084, + 0.12774522119697448, + -0.01889168736316479 + ], + [ + 0.3940264792933546, + -0.15307665763449382, + 0.9062619215784893, + -0.037733538825038306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9124788030220669, + -0.030253707347976, + -0.40800385687774987, + -0.049368664983496555 + ], + [ + 0.09096642461487246, + 0.9873016673723186, + 0.1302325888425265, + -0.019063258162347215 + ], + [ + 0.39888286955972807, + -0.1559491288707406, + 0.903643915254374, + -0.03817922811931549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9079737254355883, + -0.02973928546996714, + -0.4179704401250817, + -0.04959943931000431 + ], + [ + 0.09306789209918778, + 0.9868767276364147, + 0.1319571593732445, + -0.01940639976071206 + ], + [ + 0.40856098856698575, + -0.15871326141623363, + 0.8988259115489438, + -0.03907060670786987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9033611860721906, + -0.02916211260023487, + -0.42788799782996534, + -0.049830213636512063 + ], + [ + 0.09515288867741081, + 0.9864489692789589, + 0.13365761775830123, + -0.019749541359076906 + ], + [ + 0.4181919359272599, + -0.16145588312963735, + 0.8938945701413784, + -0.039961985296424245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.901014788739456, + -0.028141864126445832, + -0.4328745614566443, + -0.04994560079976594 + ], + [ + 0.09618913299759733, + 0.9860127104436343, + 0.13611240037839342, + -0.01992111215825933 + ], + [ + 0.4229893629465924, + -0.16427711443498821, + 0.8911189755060486, + -0.04040767459070143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8986417321688883, + -0.02708987749508107, + -0.43784606397888454, + -0.05006098796301982 + ], + [ + 0.09722116698313132, + 0.9855704593856585, + 0.1385601467839148, + -0.020092682957441755 + ], + [ + 0.427774569013795, + -0.16708383561447054, + 0.888308454300317, + -0.040853363884978615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.893815923647162, + -0.0263562698437665, + -0.4476588451875978, + -0.05029176228952757 + ], + [ + 0.09927248163341448, + 0.9851323332373296, + 0.14021148455357912, + -0.0204358245558066 + ], + [ + 0.4373077509318975, + -0.16976346205911838, + 0.883143418661198, + -0.04174474247353299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8889815632196568, + -0.025360363009757057, + -0.4572402347164441, + -0.05035588631563129 + ], + [ + 0.10116066278421355, + 0.9846744588066357, + 0.1420659370817575, + -0.02078656405848064 + ], + [ + 0.446629936928319, + -0.17254872402273103, + 0.8779229107829077, + -0.04288509740285701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8865264091788514, + -0.024083437524447308, + -0.46205076979208426, + -0.050387948328683145 + ], + [ + 0.10209925467691744, + 0.9842092421878854, + 0.1445956769283445, + -0.02096193380981766 + ], + [ + 0.45127227703778744, + -0.17536292546873833, + 0.8749863863787688, + -0.04345527486751902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8840460322542676, + -0.02277564357746871, + -0.46684460253399, + -0.050420010341735 + ], + [ + 0.10303414510072216, + 0.9837377663424198, + 0.1471189043426783, + -0.02113730356115468 + ], + [ + 0.4559019387969856, + -0.17816081817071594, + 0.8720161380788151, + -0.04402545233218103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8790098930670908, + -0.02162683006344361, + -0.47631280489987776, + -0.05048413436783872 + ], + [ + 0.10489271513290395, + 0.9832688844285526, + 0.14892890661882108, + -0.021488043063828722 + ], + [ + 0.46512270015795776, + -0.18087172564012594, + 0.8665715738828119, + -0.04516580726150505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8738737194367432, + -0.02041796160120858, + -0.4857240258849091, + -0.050548258393942426 + ], + [ + 0.10673616112971268, + 0.9827978292420835, + 0.15071767893761095, + -0.021838782566502762 + ], + [ + 0.4742911704692427, + -0.18355253656950735, + 0.8610205293335436, + -0.046306162190829066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8712683021294201, + -0.018988709098600724, + -0.4904395728642686, + -0.050580320406994284 + ], + [ + 0.10765214691315877, + 0.9823121709433245, + 0.15321166431313374, + -0.022014152317839784 + ], + [ + 0.4788554698126619, + -0.1862853395825378, + 0.8579016326404288, + -0.04687633965549108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.86863809653899, + -0.01752930557492152, + -0.4951369312495093, + -0.05061238242004614 + ], + [ + 0.10856427306321723, + 0.9818205299971353, + 0.1556992148034148, + -0.022189522069176803 + ], + [ + 0.4834063051464839, + -0.1890004505873087, + 0.8547497726366582, + -0.04744651712015309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8633036208800738, + -0.016171444648161174, + -0.5044257552438666, + -0.050676506446149856 + ], + [ + 0.11037684265253067, + 0.9813399989272473, + 0.1574444635785219, + -0.022540261571850843 + ], + [ + 0.4924670656819725, + -0.19159929771129505, + 0.8489793273897346, + -0.048586872049477106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8582439584117143, + -0.014888087994675172, + -0.5130259766187817, + -0.050743869223212536 + ], + [ + 0.1122130528715333, + 0.9808390303484968, + 0.1592577386197335, + -0.0226875794710465 + ], + [ + 0.5008248582239528, + -0.19425020303949156, + 0.8434698097763038, + -0.04909343177625207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8556822918456086, + -0.013379407783868645, + -0.5173285289535079, + -0.05077755061174387 + ], + [ + 0.11312592979234465, + 0.9803243497330892, + 0.16176122319336583, + -0.022761238420644328 + ], + [ + 0.5049854843760017, + -0.19693948503981965, + 0.8403597442772863, + -0.04934671163963955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.853099486011112, + -0.011843116568871624, + -0.5216138490852342, + -0.05081123200027521 + ], + [ + 0.11403529112667007, + 0.9798035977956931, + 0.16425852222722542, + -0.022834897370242156 + ], + [ + 0.5091337931676044, + -0.19961124802112837, + 0.8372204789171221, + -0.04959999150302703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8478707125320458, + -0.010423046423146981, + -0.5301005705841699, + -0.05087859477733789 + ], + [ + 0.11584337717539112, + 0.9792926543535798, + 0.16603074743468588, + -0.022982215269437813 + ], + [ + 0.5173930486535374, + -0.20218124846874724, + 0.8315210015222811, + -0.050106551229801996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8425581551667447, + -0.008949417366563092, + -0.5385310233318146, + -0.05094595755440057 + ], + [ + 0.11763713217497992, + 0.9787799576648792, + 0.1677834902700018, + -0.023129533168633473 + ], + [ + 0.5256018077362926, + -0.204718593201342, + 0.8257318192379443, + -0.05061311095657695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8398706214167995, + -0.007304632676031732, + -0.5427374886834586, + -0.05097963894293191 + ], + [ + 0.118528580030124, + 0.9782457401611815, + 0.17025348035369117, + -0.0232031921182313 + ], + [ + 0.5296869971945712, + -0.20732080020579333, + 0.8224656654262401, + -0.050866390819964434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8371623393947301, + -0.005632955216813831, + -0.546925486071612, + -0.05101332033146324 + ], + [ + 0.1194163787002432, + 0.9777057043424577, + 0.1727173534834862, + -0.02327685106782913 + ], + [ + 0.5337592584651472, + -0.20990432466184397, + 0.8191710618002764, + -0.051119670683351916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8316837989308377, + -0.004026524641501823, + -0.555234946392319, + -0.05108068310852592 + ], + [ + 0.12118094076106001, + 0.9771844220562572, + 0.17442988530307274, + -0.023424168967024785 + ], + [ + 0.5418645939644281, + -0.21235440280316778, + 0.8131963904358378, + -0.05162623041012688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_046/tilt_up/transforms.json b/spatialvid_eval/camera_controls/scene_046/tilt_up/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..d18c0536de7a813341fb57dd3ae75c2d9fae1945 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_046/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": [ + [ + 0.9999999991093138, + 2.963544293243884e-05, + 3.005184086164626e-05, + 1.4134943032059272e-05 + ], + [ + -2.9631415112791348e-05, + 0.999999990580224, + -0.00013402063784018133, + 9.088899676610836e-05 + ], + [ + -3.0055812339529126e-05, + 0.00013401974724223953, + 0.9999999905676779, + -0.00013768277433612243 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9999738343250409, + -0.0016531976076672168, + -0.007042556563223898, + -0.0015544426577999949 + ], + [ + 0.0016211075397173358, + 0.9999882897400479, + -0.004559867664648345, + -0.0006068289822621811 + ], + [ + 0.00705001245537029, + 0.004548331611089646, + 0.9999648043826018, + -0.0008980524997303441 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9999409323237427, + -0.002532282258276631, + -0.010569740303772357, + -0.0023387314582160217 + ], + [ + 0.002443402766024046, + 0.9999616221565499, + -0.008413322587719261, + -0.0009556879717763258 + ], + [ + 0.010590639567455706, + 0.008386999499610007, + 0.9999087441326566, + -0.001278237362427455 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9998948177841295, + -0.0034364521561210544, + -0.014090570074401591, + -0.0031230202586320487 + ], + [ + 0.003263633634283807, + 0.999919400286856, + -0.01226954055682644, + -0.0013045469612904706 + ], + [ + 0.01413159806759668, + 0.012222263560941906, + 0.9998254418694811, + -0.0016584222251245658 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9997629537669284, + -0.005250742346219674, + -0.02112974159900153, + -0.004691597859464103 + ], + [ + 0.004897857892478827, + 0.9998482469230024, + -0.01671807743325692, + -0.00200226494031876 + ], + [ + 0.02121431741282389, + 0.016610624004320458, + 0.9996369540522677, + -0.002418791950518788 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.999578249416549, + -0.007118924852651655, + -0.028153937598314055, + -0.006260175460296157 + ], + [ + 0.006523691787907442, + 0.9997544425685507, + -0.021177724379705404, + -0.0026999829193470495 + ], + [ + 0.028297786818121524, + 0.02098512505058472, + 0.9993792372206897, + -0.0031791616759130094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9994660851313346, + -0.0081249602871795, + -0.031646953922546156, + -0.007044464260712184 + ], + [ + 0.007333434809234933, + 0.9996593667327116, + -0.025047379852051816, + -0.0030488419088611943 + ], + [ + 0.03183968288382761, + 0.02480192581002584, + 0.9991852175998058, + -0.0035593465386101197 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9993407147384791, + -0.009155831932284343, + -0.03513269997614626, + -0.007828753061128211 + ], + [ + 0.008141047248683059, + 0.9995485920185799, + -0.02891946651252966, + -0.003397700898375339 + ], + [ + 0.03538162256992823, + 0.028614383364007286, + 0.9989641424240497, + -0.003939531401307231 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9990503626000398, + -0.011154099301619086, + -0.04211839333948223, + -0.009397330661960265 + ], + [ + 0.009749836662198303, + 0.9993944965058069, + -0.03340031495309394, + -0.004095418877403629 + ], + [ + 0.04246544093483753, + 0.03295794930930985, + 0.9985541847609148, + -0.0046999011267014525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.998672099394489, + -0.013346996248434885, + -0.04975837198048456, + -0.011469429742064946 + ], + [ + 0.011465433715067792, + 0.9992153987027633, + -0.037909508371955225, + -0.004538448333968081 + ], + [ + 0.05022530956330078, + 0.03728866699712155, + 0.9980415690705716, + -0.005636429970000671 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9984592607274839, + -0.014552902379944539, + -0.053547340735523946, + -0.012505479282117288 + ], + [ + 0.01231959286873141, + 0.9990498978879139, + -0.04180345872888882, + -0.004759963062250306 + ], + [ + 0.054104826948020074, + 0.041079369061233315, + 0.997689908307414, + -0.006104694391650281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9982306218520546, + -0.015785729168491965, + -0.0573274484996493, + -0.013541528822169628 + ], + [ + 0.013171307355573647, + 0.9988683739216807, + -0.04569998076151632, + -0.0049814777905325324 + ], + [ + 0.057983982783230165, + 0.04486404277009566, + 0.9973089167388998, + -0.0065729588132998895 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.997725958511171, + -0.018119521426221766, + -0.06491990955208578, + -0.015613627902274309 + ], + [ + 0.014867347310918336, + 0.9986268758825741, + -0.0502327059687956, + -0.005424507247096985 + ], + [ + 0.06574095905067735, + 0.04915328786862211, + 0.9966253461531082, + -0.007509487656599108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9971581419947919, + -0.020510864204781647, + -0.07249099463428331, + -0.01768572698237899 + ], + [ + 0.01655344394398329, + 0.9983613787283508, + -0.05477719376912132, + -0.005867536703661437 + ], + [ + 0.07349573693139004, + 0.053421549146383494, + 0.9958637028929774, + -0.008446016499898326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9968505626068129, + -0.021852794551739316, + -0.07623261244874541, + -0.01872177652243133 + ], + [ + 0.017392729428624756, + 0.9981249041760959, + -0.05868703968068831, + -0.006089051431943663 + ], + [ + 0.07737214481648928, + 0.057176315321464236, + 0.9953614520227099, + -0.008914280921547935 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9965272090082843, + -0.02322128454558164, + -0.07996432736047186, + -0.01975782606248367 + ], + [ + 0.018229488260416163, + 0.9978722558753531, + -0.0625990951372105, + -0.006310566160225888 + ], + [ + 0.08124781513322638, + 0.06092399279665864, + 0.9948301662282815, + -0.009382545343197546 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9958332003370519, + -0.025751496403057947, + -0.08748198408512077, + -0.02182992514258835 + ], + [ + 0.01989537191567657, + 0.9975434721987617, + -0.06716543195704239, + -0.00675359561679034 + ], + [ + 0.08899669253855975, + 0.06514508044850721, + 0.9938992439933514, + -0.010319074186496763 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.994980088035978, + -0.028848677985498766, + -0.09582472640402714, + -0.022985945972272482 + ], + [ + 0.022005492854328523, + 0.997182171495689, + -0.07171802517764177, + -0.007175513683307917 + ], + [ + 0.09762367897265373, + 0.06924933667286468, + 0.992811234159955, + -0.011095077072184236 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9945238186500283, + -0.03058401547893894, + -0.09993493951041191, + -0.023563956387114546 + ], + [ + 0.02305628739143001, + 0.9968692351915717, + -0.07563157766630861, + -0.007386472716566705 + ], + [ + 0.10193518406070325, + 0.0729132767454262, + 0.9921153523279213, + -0.011483078515027974 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9940477526028384, + -0.032348238561133676, + -0.10403199991943886, + -0.024141966801956613 + ], + [ + 0.024104209637106605, + 0.9965395441574162, + -0.07954824956150516, + -0.0075974317498254925 + ], + [ + 0.10624524753143813, + 0.07656714956507832, + 0.9913876229732053, + -0.01187107995787171 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9930362694125469, + -0.03559559647563878, + -0.11230281003944267, + -0.02529798763164074 + ], + [ + 0.026191352592676676, + 0.996110404577109, + -0.08413129585709747, + -0.008019349816343068 + ], + [ + 0.11486070120183726, + 0.0806040656838839, + 0.9901060569023151, + -0.012647082843559185 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9919457202387393, + -0.038903735936947036, + -0.12054122709760792, + -0.026454008461324872 + ], + [ + 0.02826675298539382, + 0.9956545661885323, + -0.08872978926825159, + -0.008441267882860645 + ], + [ + 0.12346934346513519, + 0.08460782563140304, + 0.9887349680608118, + -0.013423085729246657 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.9913708232103126, + -0.0407843565940826, + -0.12458140770000165, + -0.02703201887616694 + ], + [ + 0.029299997250004674, + 0.9952663008708988, + -0.09266337200807745, + -0.008652226916119433 + ], + [ + 0.12777089280605747, + 0.08821352848607941, + 0.9878729535439155, + -0.013811087172090394 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9907761932471632, + -0.042693293553325046, + -0.12860722211536263, + -0.027610029291009003 + ], + [ + 0.030330243028943823, + 0.9948610869799497, + -0.09659965823375599, + -0.008863185949378221 + ], + [ + 0.1320704783532861, + 0.09180795335178141, + 0.9869795785369075, + -0.01419908861493413 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9895277829885484, + -0.04614833293051297, + -0.13676658240046558, + -0.028766050120693134 + ], + [ + 0.032381655899907935, + 0.9943362653910951, + -0.10122657600289704, + -0.009285104015895797 + ], + [ + 0.14066341050517994, + 0.0957377809217702, + 0.9854177196748731, + -0.014975091500621604 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9880606614170252, + -0.049946503468585646, + -0.14574455787923396, + -0.029885466026856027 + ], + [ + 0.03462806800850104, + 0.9937831513000358, + -0.10581089309786998, + -0.009575971272876183 + ], + [ + 0.15012337015318247, + 0.09950072855729652, + 0.983647588697506, + -0.015430149111827374 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9872912621714466, + -0.05211520507711297, + -0.15013317101720886, + -0.030445173979937474 + ], + [ + 0.03574635022052384, + 0.9933178585222587, + -0.1097352741221607, + -0.009721404901366373 + ], + [ + 0.15484883624303955, + 0.10297396438189878, + 0.9825569706503802, + -0.015657677917430262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9864979954926077, + -0.054314188349183466, + -0.15450460780519293, + -0.03100488193301892 + ], + [ + 0.03686131340939751, + 0.9928353342082691, + -0.11366284670590109, + -0.009866838529856566 + ], + [ + 0.15957113919127489, + 0.1064329276658517, + 0.9814321593700069, + -0.015885206723033146 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9848399379543066, + -0.058268045064013785, + -0.16338644844226202, + -0.03212429783918181 + ], + [ + 0.03908117381941346, + 0.9922108184926445, + -0.11828082481557878, + -0.010157705786836951 + ], + [ + 0.16900579417006587, + 0.11010234598125011, + 0.9794460245191516, + -0.016340264334238918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9830866508649557, + -0.062284116504505486, + -0.1722246373849529, + -0.033243713745344704 + ], + [ + 0.04128743226364865, + 0.9915578547496746, + -0.12291610399495449, + -0.010448573043817336 + ], + [ + 0.17842641292196612, + 0.11372646796360568, + 0.9773588418059784, + -0.01679532194544469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.9821743494288753, + -0.06460419908892918, + -0.1765215136578087, + -0.03380342169842615 + ], + [ + 0.04238539330689768, + 0.9910144042667296, + -0.12686184993952707, + -0.010594006672307529 + ], + [ + 0.18313117090813769, + 0.11711852114818344, + 0.9760872021729807, + -0.017022850751047574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9812383055953713, + -0.06695377600458541, + -0.1807998327185421, + -0.0343631296515076 + ], + [ + 0.04347987309669419, + 0.9904535115471241, + -0.13081032871859358, + -0.01073944030079772 + ], + [ + 0.1878320746513235, + 0.12049495152370053, + 0.9747820671255093, + -0.017250379556650458 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.979295082807603, + -0.07112091620675508, + -0.1895335222770946, + -0.03548254555767049 + ], + [ + 0.045658282023710244, + 0.9897279002996091, + -0.13547695247225966, + -0.011030307557778105 + ], + [ + 0.1972218600244241, + 0.12401813837676844, + 0.9724829249308533, + -0.01770543716785623 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9770993525240382, + -0.07556276720758058, + -0.198914864977554, + -0.037136575381101766 + ], + [ + 0.047947864056948855, + 0.9889676559805924, + -0.1401569754119621, + -0.011275419126998474 + ], + [ + 0.20731101666212026, + 0.1274097470219056, + 0.9699427296156884, + -0.018414957568629584 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.975960490343733, + -0.07814044931950585, + -0.20345808282829808, + -0.0379635902928174 + ], + [ + 0.04908683419215271, + 0.9883417972320152, + -0.1441213882572002, + -0.011397974911608658 + ], + [ + 0.21234783727886888, + 0.13066966757567064, + 0.9684182123332105, + -0.018769717769016262 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9747943393814892, + -0.08074884441736076, + -0.20797985487798323, + -0.038790605204533035 + ], + [ + 0.05022188086512623, + 0.987698076316369, + -0.14808873260080746, + -0.011520530696218844 + ], + [ + 0.2173792966042883, + 0.13391091877141778, + 0.9668578526555078, + -0.019124477969402937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9723803034610349, + -0.08534655867989584, + -0.21723837221477482, + -0.040444635027964304 + ], + [ + 0.05248007586456688, + 0.9868622224752481, + -0.15280312656638867, + -0.011765642265439214 + ], + [ + 0.2274255638187476, + 0.13718206432589353, + 0.9640843812390135, + -0.01983399837017629 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.9698575171450986, + -0.09000560665196113, + -0.22644069247455856, + -0.04209866485139558 + ], + [ + 0.05472219425681413, + 0.985995976646912, + -0.15753544201804898, + -0.012010753834659584 + ], + [ + 0.2374486847570747, + 0.1403956010967403, + 0.9612009141172416, + -0.020543518770949648 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9685554310644463, + -0.09273574488650163, + -0.2308689207665492, + -0.042925679763111214 + ], + [ + 0.05583714559594766, + 0.9852884393761581, + -0.16152060055421016, + -0.01213330961926977 + ], + [ + 0.2424512118494408, + 0.14355059335315007, + 0.959484568411966, + -0.020898278971336323 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9672262650867149, + -0.09549557099425836, + -0.23527419757994, + -0.043752694674826856 + ], + [ + 0.05694798305737996, + 0.9845628313093997, + -0.16550818236484657, + -0.012255865403879953 + ], + [ + 0.24744752848250565, + 0.14668547005242033, + 0.9577333102296277, + -0.021253039171723002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9644868441774123, + -0.10030439788771317, + -0.24434433730512412, + -0.045406724498258125 + ], + [ + 0.0591571911242898, + 0.9836197420452109, + -0.1702722226236501, + -0.012500976973100323 + ], + [ + 0.25742096679754195, + 0.14977059398726086, + 0.9546220273122357, + -0.021962559572496355 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9615234873425913, + -0.10535447379284979, + -0.25371838352861564, + -0.04602395147692754 + ], + [ + 0.06150738007123365, + 0.9826554095999637, + -0.17494338564433012, + -0.01300558064414038 + ], + [ + 0.26774881042745047, + 0.15260662120550247, + 0.951326333956401, + -0.023109045080743202 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.959998170128858, + -0.10832390779030884, + -0.2582042686523225, + -0.04633256496626225 + ], + [ + 0.06267626596297884, + 0.9818701612589192, + -0.17889290683065576, + -0.013257882479660407 + ], + [ + 0.27290144564326146, + 0.15555358379163242, + 0.9493828961675039, + -0.023682287834866624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9584438219664363, + -0.11132258665196859, + -0.2626646566165409, + -0.04664117845559696 + ], + [ + 0.06384096534029847, + 0.9810667890276201, + -0.1828449797272381, + -0.013510184315180434 + ], + [ + 0.27804634735739503, + 0.15847787595797164, + 0.9474043442760123, + -0.024255530588990045 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9552482228416822, + -0.11651762298077056, + -0.2718905594034466, + -0.047258405434266376 + ], + [ + 0.06615766293608255, + 0.9800245266881127, + -0.1875502352026694, + -0.01401478798622049 + ], + [ + 0.28831232438562837, + 0.16116938488637328, + 0.9438752210873556, + -0.02540201609723689 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9519370788701056, + -0.12176828055038387, + -0.28104854335871204, + -0.04787563241293579 + ], + [ + 0.06845719091840012, + 0.9789507077703975, + -0.19227356752138317, + -0.014519391657260546 + ], + [ + 0.29854549215121734, + 0.16379254442019384, + 0.9402353915422172, + -0.026548501605483738 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9502383029448926, + -0.12488128959193098, + -0.28539767190057275, + -0.0481842459022705 + ], + [ + 0.06960042876862314, + 0.978082126376297, + -0.1962425396758965, + -0.014771693492780572 + ], + [ + 0.3036493832228785, + 0.16661337753337294, + 0.9381028912093213, + -0.02712174435960716 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9485107930151953, + -0.12802230543075477, + -0.2897198040277536, + -0.04849285939160521 + ], + [ + 0.07073926943659317, + 0.9771952202796639, + -0.2002135290687329, + -0.0150239953283006 + ], + [ + 0.3087446052860884, + 0.16941012595111846, + 0.9359364176758823, + -0.027694987113730585 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9449697822531131, + -0.13341054184459678, + -0.29872016663297984, + -0.04911008637027463 + ], + [ + 0.07300362076358913, + 0.9760422822789548, + -0.20496813059374724, + -0.015528598999340656 + ], + [ + 0.3189084225665892, + 0.17188103597669077, + 0.9320699155576634, + -0.028841472621977428 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.9412891792298366, + -0.13887278614518753, + -0.30771582723853186, + -0.04907625803030903 + ], + [ + 0.07533032464181152, + 0.974894103230419, + -0.20953956589607786, + -0.01600332832705347 + ], + [ + 0.32908968876915645, + 0.17405699283519316, + 0.9281186023299983, + -0.030100639008682314 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.939405567133001, + -0.1421330508610413, + -0.31195412530123295, + -0.04905934386032623 + ], + [ + 0.07648761656808997, + 0.9739604914446849, + -0.21342587850717853, + -0.016240692990909873 + ], + [ + 0.33416586443150875, + 0.17663283091702045, + 0.9258153261266427, + -0.03073022220203476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.9374931582678222, + -0.14541965065938167, + -0.3161640450828136, + -0.049042429690343434 + ], + [ + 0.07764082098124628, + 0.9730089956796631, + -0.21731405210848911, + -0.016478057654766277 + ], + [ + 0.3392321935170395, + 0.17918320102218413, + 0.9234797774467296, + -0.0313598053953872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9335821864123478, + -0.15100810548568486, + -0.3249936203853312, + -0.04900860135037784 + ], + [ + 0.07993482550885747, + 0.9717836428311021, + -0.2219165951360588, + -0.01695278698247909 + ], + [ + 0.3493346889222555, + 0.18119907175131222, + 0.9193107045564377, + -0.03261897178209208 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.929556744851729, + -0.1566432723664585, + -0.3337471248160578, + -0.04897477301041224 + ], + [ + 0.08221205598068716, + 0.9705269721118138, + -0.22653603301661096, + -0.0174275163101919 + ], + [ + 0.35939593201939024, + 0.18314006013377354, + 0.9150378584638517, + -0.03387813816879697 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9275012521560426, + -0.16003100854631933, + -0.3378335441495135, + -0.04895785884042944 + ], + [ + 0.08334429330782415, + 0.9695110947069389, + -0.23043863828180558, + -0.017664880974048305 + ], + [ + 0.3644106969093975, + 0.18557562755868923, + 0.9125604256344926, + -0.03450772136214941 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9254173288581179, + -0.16344371314662687, + -0.3418902164174191, + -0.04894094467044664 + ], + [ + 0.08447223221658151, + 0.9684771541780761, + -0.2343425779056877, + -0.01790224563790471 + ], + [ + 0.36941468491852686, + 0.1879844527294173, + 0.9100519963708488, + -0.03513730455550186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9211644477265652, + -0.16919696153697167, + -0.350468897979933, + -0.048907116330481046 + ], + [ + 0.08671507613466282, + 0.9671422389526279, + -0.23899034542143732, + -0.01837697496561752 + ], + [ + 0.379389714957551, + 0.1897584723809581, + 0.9055689738192632, + -0.03639647094220674 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9168758843440001, + -0.17482374780424914, + -0.35885271339657443, + -0.0491378906569888 + ], + [ + 0.08884873554500237, + 0.9658197438652314, + -0.2435120624366543, + -0.018720116563982366 + ], + [ + 0.38915872712874106, + 0.19138672776286003, + 0.9010697007089756, + -0.03728784953076112 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9146908761218109, + -0.1782462371486435, + -0.3627242479926917, + -0.04925327782024268 + ], + [ + 0.08990959212007234, + 0.9647438284552076, + -0.24735725318330878, + -0.01889168736316479 + ], + [ + 0.3940264792933546, + 0.19364303344024242, + 0.8984684241617761, + -0.037733538825038306 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9124788030220669, + -0.18169183826826407, + -0.3665658330260955, + -0.049368664983496555 + ], + [ + 0.09096642461487246, + 0.9636504056016234, + -0.25120311577807647, + -0.019063258162347215 + ], + [ + 0.39888286955972807, + 0.19587233518423666, + 0.8958384255440661, + -0.03817922811931549 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9079737254355883, + -0.18742587981142644, + -0.37477360298656504, + -0.04959943931000431 + ], + [ + 0.09306789209918778, + 0.9622530284490997, + -0.2557488547398605, + -0.01940639976071206 + ], + [ + 0.40856098856698575, + 0.1973338511696588, + 0.8911437986114914, + -0.03907060670786987 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9033611860721906, + -0.19319812684434806, + -0.3829008374005996, + -0.049830213636512063 + ], + [ + 0.09515288867741081, + 0.9608254463882075, + -0.26030825831933596, + -0.019749541359076906 + ], + [ + 0.4181919359272599, + 0.19871825622407485, + 0.8863557747138976, + -0.039961985296424245 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.901014788739456, + -0.19673107111662727, + -0.3866125141923086, + -0.04994560079976594 + ], + [ + 0.09618913299759733, + 0.9596693452777885, + -0.26416358270448853, + -0.01992111215825933 + ], + [ + 0.4229893629465924, + 0.2008273721169631, + 0.8835996635595957, + -0.04040767459070143 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.8986417321688883, + -0.20028571873911297, + -0.39029305409353227, + -0.05006098796301982 + ], + [ + 0.09722116698313132, + 0.9584956029177973, + -0.2680190737199238, + -0.020092682957441755 + ], + [ + 0.427774569013795, + 0.20290837847758972, + 0.8808161601881843, + -0.040853363884978615 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.893815923647162, + -0.2061569065309684, + -0.39823664387440877, + -0.05029176228952757 + ], + [ + 0.09927248163341448, + 0.9569923167538168, + -0.2725998533831341, + -0.0204358245558066 + ], + [ + 0.4373077509318975, + 0.20412014982295204, + 0.8758406792397471, + -0.04174474247353299 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.8889815632196568, + -0.21180609642934475, + -0.4060171890091584, + -0.05035588631563129 + ], + [ + 0.10116066278421355, + 0.9555359547801913, + -0.2769793483770357, + -0.02078656405848064 + ], + [ + 0.446629936928319, + 0.20515656615782935, + 0.8708802918896111, + -0.04288509740285701 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.8865264091788514, + -0.21531326340019022, + -0.4095254869143212, + -0.050387948328683145 + ], + [ + 0.10209925467691744, + 0.9543392930603518, + -0.28073520604919816, + -0.02096193380981766 + ], + [ + 0.45127227703778744, + 0.20706692716372674, + 0.8680303103302915, + -0.04345527486751902 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.8840460322542676, + -0.2188403505074081, + -0.4130030433850116, + -0.050420010341735 + ], + [ + 0.10303414510072216, + 0.9531259401947003, + -0.284490609812226, + -0.02113730356115468 + ], + [ + 0.4559019387969856, + 0.2089493793189242, + 0.865155234095816, + -0.04402545233218103 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.8790098930670908, + -0.22457800662368121, + -0.4206023381189361, + -0.05048413436783872 + ], + [ + 0.10489271513290395, + 0.9515995725792443, + -0.28888712636434255, + -0.021488043063828722 + ], + [ + 0.46512270015795776, + 0.20981652081743687, + 0.8600220354094638, + -0.04516580726150505 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.8738737194367432, + -0.2303454792277635, + -0.4281187716944029, + -0.050548258393942426 + ], + [ + 0.10673616112971268, + 0.9500452482520242, + -0.2932940813944974, + -0.021838782566502762 + ], + [ + 0.4742911704692427, + 0.2106062355987639, + 0.8548057669095558, + -0.046306162190829066 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.8712683021294201, + -0.2339463319011325, + -0.4314633929947275, + -0.050580320406994284 + ], + [ + 0.10765214691315877, + 0.9487727961301955, + -0.29705419806540045, + -0.022014152317839784 + ], + [ + 0.4788554698126619, + 0.21236594621853955, + 0.8518204880825532, + -0.04687633965549108 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.86863809653899, + -0.23756569308118688, + -0.43477626282028736, + -0.05061238242004614 + ], + [ + 0.10856427306321723, + 0.9474835607022968, + -0.30081339865962214, + -0.022189522069176803 + ], + [ + 0.4834063051464839, + 0.21409680910689177, + 0.8488114634445459, + -0.04744651712015309 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.8633036208800738, + -0.24341336339172398, + -0.4421049566536008, + -0.050676506446149856 + ], + [ + 0.11037684265253067, + 0.9458586321924214, + -0.30523499228158646, + -0.022540261571850843 + ], + [ + 0.4924670656819725, + 0.21471232481953662, + 0.8434303805230029, + -0.048586872049477106 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.8582439584117143, + -0.24911654610130596, + -0.44872960043699794, + -0.050743869223212536 + ], + [ + 0.1122130528715333, + 0.9442295274939652, + -0.30957847175437464, + -0.0226875794710465 + ], + [ + 0.5008248582239528, + 0.21534053465866465, + 0.8383334154844827, + -0.04909343177625207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.8556822918456086, + -0.2527162853444836, + -0.4515997060932757, + -0.05077755061174387 + ], + [ + 0.11312592979234465, + 0.9428933045621618, + -0.3132965691169704, + -0.022761238420644328 + ], + [ + 0.5049854843760017, + 0.21699468964362387, + 0.8354058685668918, + -0.04934671163963955 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.853099486011112, + -0.256331762680272, + -0.45443953878244586, + -0.05081123200027521 + ], + [ + 0.11403529112667007, + 0.9415405591548196, + -0.31701313512863494, + -0.022834897370242156 + ], + [ + 0.5091337931676044, + 0.21862159753248367, + 0.8324586342558484, + -0.04959999150302703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.8478707125320458, + -0.2621020826355852, + -0.46088800495184346, + -0.05087859477733789 + ], + [ + 0.11584337717539112, + 0.9398421685609959, + -0.32136740680903664, + -0.022982215269437813 + ], + [ + 0.5173930486535374, + 0.21908718920250372, + 0.8272274395426842, + -0.050106551229801996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.8425581551667447, + -0.26789360018881037, + -0.4672566469724001, + -0.05094595755440057 + ], + [ + 0.11763713217497992, + 0.9381161532466675, + -0.32572931730398696, + -0.023129533168633473 + ], + [ + 0.5256018077362926, + 0.2194791607318402, + 0.8219316502658774, + -0.05061311095657695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.8398706214167995, + -0.27156632837042227, + -0.4699670930781932, + -0.05097963894293191 + ], + [ + 0.118528580030124, + 0.9367049691662019, + -0.3294461662478217, + -0.0232031921182313 + ], + [ + 0.5296869971945712, + 0.22098762416649684, + 0.8188993558235625, + -0.050866390819964434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.8371623393947301, + -0.27525347862009136, + -0.4726465275517027, + -0.05101332033146324 + ], + [ + 0.1194163787002432, + 0.9352772045540643, + -0.33316104084910053, + -0.02327685106782913 + ], + [ + 0.5337592584651472, + 0.22246813962694703, + 0.8158486261884996, + -0.051119670683351916 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.8316837989308377, + -0.2811045458246641, + -0.4788343063238883, + -0.05108068310852592 + ], + [ + 0.12118094076106001, + 0.9334814763346698, + -0.3375314991764617, + -0.023424168967024785 + ], + [ + 0.5418645939644281, + 0.22269388778490218, + 0.8104259337848283, + -0.05162623041012688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 371.12795511881507, + "fy": 371.1279487609863, + "cx": 416.0, + "cy": 240.0 + } + } + ] +} diff --git a/spatialvid_eval/camera_controls/scene_141/move_right/transforms.json b/spatialvid_eval/camera_controls/scene_141/move_right/transforms.json new file mode 100644 index 0000000000000000000000000000000000000000..42d87d2fda3b2caa8fbedc5627babd3452b114a8 --- /dev/null +++ b/spatialvid_eval/camera_controls/scene_141/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": [ + [ + 0.999933778715667, + 0.010809221008900208, + 0.003949547390342419, + -0.001656264595136135 + ], + [ + -0.010811123398335433, + 0.9999414519966892, + 0.00046064044466734066, + -0.003360505516748567 + ], + [ + -0.003944336987856685, + -0.0005033089846700446, + 0.999992094411647, + -0.006612287476202214 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 1, + "c2w": [ + [ + 0.9997874511246101, + 0.012298317235666432, + 0.01654702290221339, + -0.009858470815129824 + ], + [ + -0.01225200715130592, + 0.9999207442254924, + -0.002897169015081645, + -0.0006486885548181754 + ], + [ + -0.016581341758730293, + 0.002693818982134934, + 0.9998588912665486, + -0.0008391190081457296 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 2, + "c2w": [ + [ + 0.9995829978855948, + 0.01349093983532591, + 0.02553086133304155, + -0.01532912399663662 + ], + [ + -0.013357316786620901, + 0.9998962212317829, + -0.005397115402106733, + 0.0013702637284971036 + ], + [ + -0.025601023930875013, + 0.005053840990911639, + 0.999659465150473, + 0.0037093287099655326 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 3, + "c2w": [ + [ + 0.9995746171599917, + 0.014221721897080594, + 0.025462273184820017, + -0.013859108543708518 + ], + [ + -0.014072480188153012, + 0.9998827897748442, + -0.006030921441133067, + 0.0019744393298093484 + ], + [ + -0.02554505883356598, + 0.005670038655703851, + 0.9996575916936923, + 0.006850126778072607 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 4, + "c2w": [ + [ + 0.9995768043529661, + 0.014670111775910046, + 0.025119713772147917, + -0.0109188239546525 + ], + [ + -0.014510478423624759, + 0.9998734242983671, + -0.0065254423432651925, + 0.0026426450166589103 + ], + [ + -0.025212263195315346, + 0.00615818173977217, + 0.9996631525580155, + 0.010622917449159002 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 5, + "c2w": [ + [ + 0.9996013224671098, + 0.014777665465738127, + 0.024058610213145027, + -0.004192517141838099 + ], + [ + -0.014613415072906737, + 0.9998687947353723, + -0.006988663272821981, + 0.0037847073183862236 + ], + [ + -0.024158729724723892, + 0.00663429859266821, + 0.9996861216703326, + 0.01756351080407438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 6, + "c2w": [ + [ + 0.9996412729864196, + 0.014419452322289727, + 0.022569996384926537, + 0.0034644139880489443 + ], + [ + -0.01427098018690526, + 0.9998755449165023, + -0.006725607960061447, + 0.004391241577389806 + ], + [ + -0.022664167017460428, + 0.006401099331575611, + 0.9997226422667198, + 0.02557814861993305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 7, + "c2w": [ + [ + 0.9996836396107206, + 0.013814067428357045, + 0.021018854291983635, + 0.010804306550361518 + ], + [ + -0.013690023757652528, + 0.9998880805477149, + -0.00603403912161347, + 0.004565578671330714 + ], + [ + -0.02109985649661493, + 0.005744381576032136, + 0.9997608704766011, + 0.03313610971853628 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 8, + "c2w": [ + [ + 0.9997588723267513, + 0.012612455005315657, + 0.01797562746281058, + 0.01934189645859344 + ], + [ + -0.012518509736868319, + 0.9999074387824571, + -0.0053292383578501775, + 0.0023942933857478968 + ], + [ + -0.01804117839584751, + 0.0051029252635852495, + 0.9998242225690692, + 0.04219101713422636 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 9, + "c2w": [ + [ + 0.9998231919137457, + 0.011413800798126391, + 0.014943562585611695, + 0.02690101017697865 + ], + [ + -0.011343764502731146, + 0.999924312949352, + -0.004763127089743119, + -0.0002820413230188875 + ], + [ + -0.014996796935211904, + 0.004592768675554792, + 0.9998769937135152, + 0.050034508062900454 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 10, + "c2w": [ + [ + 0.9999016155630722, + 0.010643877522933505, + 0.009136031175253861, + 0.035061779275787255 + ], + [ + -0.010597594755789464, + 0.999930840600611, + -0.005099509892918638, + -0.004569716739910611 + ], + [ + -0.009189677891552192, + 0.005002188224437615, + 0.9999452624685099, + 0.05735727532331178 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 11, + "c2w": [ + [ + 0.9999467283316519, + 0.00997814386731074, + 0.0026414283615594147, + 0.0430785745459852 + ], + [ + -0.009962284092714267, + 0.9999326681189005, + -0.005950808707492413, + -0.00879432156472122 + ], + [ + -0.0027006285346292454, + 0.005924177038236135, + 0.999978805141358, + 0.06456778162437253 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 12, + "c2w": [ + [ + 0.9999455379344786, + 0.009410466660518767, + -0.004512680152397213, + 0.049774910454323 + ], + [ + -0.009448405865956928, + 0.9999195667809744, + -0.008460945286488447, + -0.011096591821213956 + ], + [ + 0.00443269573947115, + 0.008503122119554977, + 0.9999540230044087, + 0.07168626702044996 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 13, + "c2w": [ + [ + 0.9998788992490393, + 0.008887567900781627, + -0.012774896216358604, + 0.05642548079902607 + ], + [ + -0.009029218314341449, + 0.999897918977122, + -0.011073610154454948, + -0.01361841593712122 + ], + [ + 0.012675174679731173, + 0.011187616458829952, + 0.9998570783791094, + 0.08093515102273482 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 14, + "c2w": [ + [ + 0.9997678499613719, + 0.008772882851837655, + -0.019679499741706834, + 0.06026249907862119 + ], + [ + -0.009022435822933095, + 0.9998795558843314, + -0.01262811848112689, + -0.015436246048334702 + ], + [ + 0.01956634445768959, + 0.012802743886380674, + 0.9997265865793221, + 0.09086264571760713 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 15, + "c2w": [ + [ + 0.9995639146362952, + 0.008747047632502237, + -0.028204072661228048, + 0.06357538659609932 + ], + [ + -0.009144266279183797, + 0.9998603822872811, + -0.013985647162267202, + -0.018338262059793435 + ], + [ + 0.028077801751214007, + 0.014237453776809515, + 0.9995043431415257, + 0.10304936300615479 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 16, + "c2w": [ + [ + 0.9992626947718627, + 0.008874147622597384, + -0.03735393341065363, + 0.06561431143508956 + ], + [ + -0.00943008732313185, + 0.9998469907579122, + -0.014733245583563507, + -0.022284770436993583 + ], + [ + 0.03721747291734494, + 0.015074633538492232, + 0.9991934823312885, + 0.1160429521963824 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 17, + "c2w": [ + [ + 0.9988532928238042, + 0.008969710995443926, + -0.047028116055206945, + 0.06726807291846316 + ], + [ + -0.00969025052788682, + 0.9998387908770696, + -0.01511592875698956, + -0.025573924743854937 + ], + [ + 0.046884949181486696, + 0.015554309439438545, + 0.9987791873072405, + 0.12769607534085814 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 18, + "c2w": [ + [ + 0.9981943428537333, + 0.009071769622495287, + -0.05937808426279969, + 0.06882748607470834 + ], + [ + -0.010003296155843567, + 0.9998312242353282, + -0.015409643412602755, + -0.029354117173718927 + ], + [ + 0.059228269946219554, + 0.015975795441900784, + 0.9981166194384183, + 0.14159659999443655 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 19, + "c2w": [ + [ + 0.9973783044466135, + 0.009036846318439613, + -0.07179730654986727, + 0.07165503676026631 + ], + [ + -0.01013083299832616, + 0.9998378491355651, + -0.014887634423481177, + -0.03146984176658097 + ], + [ + 0.071651127290216, + 0.015575970100899023, + 0.9973081294732623, + 0.15141001149052624 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 20, + "c2w": [ + [ + 0.9961939195626363, + 0.008976400473055089, + -0.0867012044955533, + 0.07504587957264058 + ], + [ + -0.010236234012644506, + 0.9998482340655658, + -0.014097104284519454, + -0.03367320117689341 + ], + [ + 0.08656150495266815, + 0.014930943390073293, + 0.9961346157973892, + 0.16238156270665313 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 21, + "c2w": [ + [ + 0.9947038448568793, + 0.007857706492853753, + -0.1024817909465548, + 0.0798085981457815 + ], + [ + -0.009352247369160061, + 0.999856695182918, + -0.014111150450602608, + -0.03649759330964844 + ], + [ + 0.10235622353373161, + 0.014994850668335028, + 0.9946347862192167, + 0.1695737755260269 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 22, + "c2w": [ + [ + 0.993245701095813, + 0.006922851963999045, + -0.11582336282189142, + 0.08401167713840522 + ], + [ + -0.008621093407373284, + 0.9998624654063151, + -0.014167816347858443, + -0.038913600894610906 + ], + [ + 0.11570935140751713, + 0.015070646711068992, + 0.9931687780053106, + 0.17520940215414244 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 23, + "c2w": [ + [ + 0.9914427568853225, + 0.005973855587437887, + -0.13040541733015393, + 0.08841703342502825 + ], + [ + -0.007923913733702425, + 0.9998643389649827, + -0.014440057384196767, + -0.04170129396549966 + ], + [ + 0.13030146357877953, + 0.015349811579901906, + 0.9913555930510956, + 0.17840985651636043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 24, + "c2w": [ + [ + 0.9898071548540728, + 0.005244216427316562, + -0.14231758286926277, + 0.09215475151027537 + ], + [ + -0.0074045814778466515, + 0.9998651992799531, + -0.014654536567153306, + -0.043788114875802094 + ], + [ + 0.14222154679521648, + 0.015558967283324631, + 0.9897125593647141, + 0.18113932841089986 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 25, + "c2w": [ + [ + 0.9879234140222634, + 0.004593237208738275, + -0.15487488562882007, + 0.09581806539051202 + ], + [ + -0.006976479387844507, + 0.9998654212695843, + -0.014848167723593425, + -0.04551380712318012 + ], + [ + 0.15478584160686926, + 0.01574933399675183, + 0.9878225051681664, + 0.18416862465119338 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 26, + "c2w": [ + [ + 0.9860037654548425, + 0.004196219258266395, + -0.16667023205362397, + 0.09880191159260937 + ], + [ + -0.006789859072952169, + 0.9998645186992696, + -0.014994734410709603, + -0.04622157654345687 + ], + [ + 0.16658473016048547, + 0.015916531978255308, + 0.9858986721195763, + 0.1867858925160469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 27, + "c2w": [ + [ + 0.9843302975540288, + 0.004019205118867748, + -0.17628871576879093, + 0.10109748277450811 + ], + [ + -0.006784754393997409, + 0.9998631554491035, + -0.015087659963525868, + -0.04617553881361227 + ], + [ + 0.17620395121849627, + 0.01604731646021589, + 0.9842228666361169, + 0.1887985428206327 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 28, + "c2w": [ + [ + 0.9823389329436525, + 0.004063045630558142, + -0.18706606448880636, + 0.10304729844152465 + ], + [ + -0.006919602820507147, + 0.9998691807233375, + -0.014619867866984623, + -0.046138501922809314 + ], + [ + 0.18698219145130557, + 0.015656088267688783, + 0.9822385387370125, + 0.19003749836813977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 29, + "c2w": [ + [ + 0.9805667149834135, + 0.004191213752862265, + -0.19614115119962644, + 0.1047100814676771 + ], + [ + -0.0070781405812269105, + 0.9998766626359203, + -0.014019965833278974, + -0.046114354494001523 + ], + [ + 0.19605819899343485, + 0.0151358264832727, + 0.980475440469632, + 0.19077807774878797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 30, + "c2w": [ + [ + 0.978782428022355, + 0.004155586840566055, + -0.2048601710745018, + 0.10635415073853152 + ], + [ + -0.007151689348899506, + 0.999877996549353, + -0.01388687711146562, + -0.04650223878283558 + ], + [ + 0.20477746930294963, + 0.015057327600295631, + 0.9786927326548497, + 0.19092361366108004 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 31, + "c2w": [ + [ + 0.9770579962824103, + 0.004092169565493707, + -0.21293408850827228, + 0.10797447458333348 + ], + [ + -0.007204692241819865, + 0.9998782189805616, + -0.013843396185938172, + -0.04697355051529704 + ], + [ + 0.21285150765334537, + 0.015059925514670846, + 0.9769684919858933, + 0.1908770548145344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 32, + "c2w": [ + [ + 0.9758974767271789, + 0.004056844457380714, + -0.21819178932896213, + 0.109518853966701 + ], + [ + -0.007237987897895743, + 0.9998788227437738, + -0.01378228427057827, + -0.04744958262681203 + ], + [ + 0.21810943686304698, + 0.015029365973777267, + 0.9758085835396771, + 0.1903979415582471 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 33, + "c2w": [ + [ + 0.9746892767420787, + 0.0039961289161429756, + -0.22352817441586464, + 0.11091627641206772 + ], + [ + -0.007282304512824101, + 0.9998771632461312, + -0.013878993474037156, + -0.047853768675524634 + ], + [ + 0.22344525469337256, + 0.015155506344409288, + 0.9745986501029328, + 0.1900210527512558 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 34, + "c2w": [ + [ + 0.9740251566835577, + 0.0039010205360711183, + -0.2264062194073918, + 0.11186488527647817 + ], + [ + -0.007333642592759627, + 0.9998705376477421, + -0.014322207592993927, + -0.047880748885062066 + ], + [ + 0.22632103709971935, + 0.015610572788732078, + 0.9739276657859737, + 0.19020243282928423 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 35, + "c2w": [ + [ + 0.9734480888254845, + 0.0038266664978179273, + -0.22887589428667765, + 0.11271127042736187 + ], + [ + -0.007395525500791238, + 0.9998640497780359, + -0.01473730518218027, + -0.04789668015661764 + ], + [ + 0.22878838380603833, + 0.016038659076744816, + 0.9733440485514057, + 0.19050546616011077 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 36, + "c2w": [ + [ + 0.9731444658776076, + 0.0038025868820081793, + -0.23016383048774375, + 0.11348302813981033 + ], + [ + -0.00745862766676048, + 0.9998594259583673, + -0.015016564038857984, + -0.04789381496272505 + ], + [ + 0.23007437363842742, + 0.016329992504874796, + 0.97303602910667, + 0.19098687221938934 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 37, + "c2w": [ + [ + 0.972969156242585, + 0.0038485501479894623, + -0.23090303086436684, + 0.11391613196622581 + ], + [ + -0.007552907818151759, + 0.9998565367364757, + -0.015161118983475344, + -0.04794826261437791 + ], + [ + 0.23081155643529386, + 0.016495290452095857, + 0.9728586386566231, + 0.1902274122786708 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 38, + "c2w": [ + [ + 0.9728143731823446, + 0.003941074179984776, + -0.2315527224287158, + 0.11398405319983657 + ], + [ + -0.007686287554397618, + 0.999853795884066, + -0.015274417823789304, + -0.048042850728359114 + ], + [ + 0.23145867085394137, + 0.016638954009565547, + 0.9727024359463662, + 0.18858588081935598 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 39, + "c2w": [ + [ + 0.9727066808086883, + 0.003955798351173224, + -0.2320044498916982, + 0.11531729157893994 + ], + [ + -0.007883923618035856, + 0.9998408053652755, + -0.016006488525037978, + -0.04791556837462896 + ], + [ + 0.2319041975871278, + 0.017398723686582622, + 0.9725830183359919, + 0.186668152890446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 40, + "c2w": [ + [ + 0.9725866978435875, + 0.003957460049585317, + -0.23250688954880885, + 0.11692682196713963 + ], + [ + -0.008134366024345235, + 0.9998222537999555, + -0.017008612399587227, + -0.04771704815133387 + ], + [ + 0.23239825142863715, + 0.018433646311388063, + 0.9724460156824021, + 0.184254613623446 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 41, + "c2w": [ + [ + 0.9725525073381031, + 0.003578023889069996, + -0.2326560083372413, + 0.11798005400111262 + ], + [ + -0.00813284357587981, + 0.9997935327122717, + -0.018621192284226186, + -0.04611931594439769 + ], + [ + 0.23254134541139024, + 0.020002242168444484, + 0.97238080656834, + 0.18272888617927863 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 42, + "c2w": [ + [ + 0.9725440438054553, + 0.003301355095617232, + -0.23269547462953652, + 0.11887988990945778 + ], + [ + -0.008154456026195552, + 0.9997687774770523, + -0.0198971462515903, + -0.0447512710632717 + ], + [ + 0.2325759826496482, + 0.021248356091071445, + 0.972346090472923, + 0.18169489532571828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 43, + "c2w": [ + [ + 0.9726557270843885, + 0.003263124989361009, + -0.23222874194475457, + 0.11869744558253995 + ], + [ + -0.008312096937878832, + 0.9997498064425755, + -0.020766163885709243, + -0.043153628902559346 + ], + [ + 0.23210287722136258, + 0.02212863604781454, + 0.9724394982991119, + 0.18179257808027452 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 44, + "c2w": [ + [ + 0.9727949130159065, + 0.0033323355416080853, + -0.2316440216155241, + 0.1187462498629521 + ], + [ + -0.008466187260715156, + 0.9997399987267963, + -0.021172118906998685, + -0.04175103103134959 + ], + [ + 0.2315132412706491, + 0.02255727123531839, + 0.9725701972766669, + 0.18178909193396878 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 45, + "c2w": [ + [ + 0.9730581725724643, + 0.003650176869605818, + -0.23053084175172112, + 0.11867395945374407 + ], + [ + -0.008691119790071204, + 0.9997447341860495, + -0.020854997100460793, + -0.040031762719214534 + ], + [ + 0.2303958706807288, + 0.022296696528548578, + 0.9728415082104499, + 0.18143670032444387 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 46, + "c2w": [ + [ + 0.9734196657583046, + 0.004060466900661213, + -0.2289927224248382, + 0.11884714781273302 + ], + [ + -0.008934804848200528, + 0.9997549578962733, + -0.02025323243695461, + -0.03863374867292084 + ], + [ + 0.22885437198645547, + 0.021760900035829697, + 0.9732174164349483, + 0.18044577990692956 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 47, + "c2w": [ + [ + 0.9737910358133193, + 0.004470844907835515, + -0.2274005939205807, + 0.11932756232078068 + ], + [ + -0.009156518975295297, + 0.9997668602079056, + -0.019554625802634965, + -0.03764378895070054 + ], + [ + 0.2272601520941976, + 0.02112431716851698, + 0.9736049437499206, + 0.17922493880245946 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 48, + "c2w": [ + [ + 0.9743246863973357, + 0.004839409811753653, + -0.22509550326340877, + 0.12057979203948936 + ], + [ + -0.009340617688630504, + 0.9997770609020901, + -0.018936244484406894, + -0.036241143255442 + ], + [ + 0.22495368042761205, + 0.020552581508226406, + 0.9741526744075691, + 0.17771369307501186 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 49, + "c2w": [ + [ + 0.974812933739401, + 0.005116949392695071, + -0.22296538081795408, + 0.12213444053982171 + ], + [ + -0.00947347262378491, + 0.9997844628457849, + -0.018473796810949947, + -0.034956453245496615 + ], + [ + 0.22282279401091148, + 0.02012075249781837, + 0.9746513006137595, + 0.1764413487017525 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 50, + "c2w": [ + [ + 0.9753326935887231, + 0.005169822947015125, + -0.22067942755876138, + 0.12374533632001597 + ], + [ + -0.009344288644960353, + 0.999796533296365, + -0.017876696515027542, + -0.03420821232433496 + ], + [ + 0.2205421072872157, + 0.019497818833583636, + 0.9751825541784712, + 0.17458747258662305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 51, + "c2w": [ + [ + 0.975806941439328, + 0.0051795466414835, + -0.21857260884066157, + 0.12535875970795313 + ], + [ + -0.009173849094705155, + 0.9998088861381754, + -0.017263594409300358, + -0.03362626653379773 + ], + [ + 0.21844141899285432, + 0.01885108738852871, + 0.9756679675856221, + 0.17259554237608768 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 52, + "c2w": [ + [ + 0.9760416256351535, + 0.005203821185219464, + -0.21752164322788478, + 0.12692538793834168 + ], + [ + -0.009053944206140432, + 0.9998194339929537, + -0.016707049539697243, + -0.03334092568007619 + ], + [ + 0.2173954257149838, + 0.018276204613706392, + 0.9759125008027713, + 0.17051462123519542 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 53, + "c2w": [ + [ + 0.9762540283875649, + 0.005221841606169368, + -0.21656593551916645, + 0.12839674753166075 + ], + [ + -0.008909863958060324, + 0.9998313844948286, + -0.0160566778445394, + -0.033008956321939585 + ], + [ + 0.21644557371612047, + 0.017604969451678786, + 0.976135942719714, + 0.16797149230806718 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 54, + "c2w": [ + [ + 0.9763070682330949, + 0.005216541342467226, + -0.21632682731118036, + 0.12950331519135017 + ], + [ + -0.008776107422542683, + 0.9998413956713587, + -0.015497207505147522, + -0.03273237653819582 + ], + [ + 0.21621167511632416, + 0.017028540700011252, + 0.9761980026331856, + 0.16568538295561372 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 55, + "c2w": [ + [ + 0.9763081278393888, + 0.005352272016948552, + -0.21631872942259175, + 0.13031908061091982 + ], + [ + -0.008745801883350843, + 0.9998532081120345, + -0.014733403459152023, + -0.03275266417609551 + ], + [ + 0.21620811840484863, + 0.01627622229909525, + 0.9762116236367531, + 0.1629316558415872 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 56, + "c2w": [ + [ + 0.9762280467067125, + 0.00567762639253938, + -0.21667156108207553, + 0.13077209391125538 + ], + [ + -0.008882743281464362, + 0.9998650225802874, + -0.013821486617470298, + -0.03323330020008147 + ], + [ + 0.2165638420766321, + 0.015417560736642195, + 0.9761467108616099, + 0.16012388369477426 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 57, + "c2w": [ + [ + 0.9761532168862768, + 0.0059742829252296525, + -0.2170004725941922, + 0.13167767226815216 + ], + [ + -0.008990403612776008, + 0.9998761855739885, + -0.012914571804365163, + -0.03312332473177266 + ], + [ + 0.21689644949941628, + 0.01455752264432479, + 0.9760860662508235, + 0.1578793459467954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 58, + "c2w": [ + [ + 0.9760621981256906, + 0.006331000402039595, + -0.2173994108178648, + 0.1327307416348397 + ], + [ + -0.009110077089352776, + 0.9998890728630361, + -0.011783397834428612, + -0.032687868158429494 + ], + [ + 0.21730069462721796, + 0.013481854583392515, + 0.976011602242269, + 0.15528809430482315 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 59, + "c2w": [ + [ + 0.9759539784323179, + 0.006628952398866133, + -0.21787585679056923, + 0.13380427543996942 + ], + [ + -0.009121184326275926, + 0.9999039524924669, + -0.010435026901205673, + -0.03248299753019507 + ], + [ + 0.21778575706096384, + 0.012171391869312015, + 0.9759207043819424, + 0.1534681114411476 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 60, + "c2w": [ + [ + 0.9758203944122972, + 0.006975526441046007, + -0.21846258233367938, + 0.1348523159341662 + ], + [ + -0.009111980471314857, + 0.9999199952915867, + -0.008773529960297758, + -0.03228087456581614 + ], + [ + 0.2183839043082611, + 0.010552016250183363, + 0.975805885046886, + 0.1513852057551159 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 61, + "c2w": [ + [ + 0.9756481465015221, + 0.00736841278122406, + -0.2192177016603136, + 0.13517834444179364 + ], + [ + -0.008997103618683888, + 0.999938837792289, + -0.006432169236063605, + -0.03217650870905342 + ], + [ + 0.2191568989437007, + 0.008247858370037138, + 0.9756547680802307, + 0.15110231343510727 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 62, + "c2w": [ + [ + 0.9755045847217593, + 0.007711628306655834, + -0.2198438900121823, + 0.13555996922640637 + ], + [ + -0.008912517176577425, + 0.99995028666299, + -0.0044711564702994856, + -0.03210752323814456 + ], + [ + 0.21979848094198862, + 0.006320996081684677, + 0.9755248191533263, + 0.15121962202243228 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 63, + "c2w": [ + [ + 0.9753630246042974, + 0.008142771217813476, + -0.22045558625639639, + 0.13538360198493724 + ], + [ + -0.008901999666522255, + 0.9999573734751197, + -0.0024506396465893776, + -0.032137083184209395 + ], + [ + 0.2204262340028843, + 0.0043527588532500305, + 0.9753939352147272, + 0.15317334989533307 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 64, + "c2w": [ + [ + 0.975267614021397, + 0.00848029448059076, + -0.22086458667367653, + 0.13514308716752632 + ], + [ + -0.008898790975180372, + 0.9999600000849092, + -0.0008998607495250295, + -0.03214978804324823 + ], + [ + 0.2208481210248155, + 0.0028430328367694373, + 0.975304067767636, + 0.15569223821227055 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 65, + "c2w": [ + [ + 0.9752173738411496, + 0.008797587622164852, + -0.22107391571689794, + 0.13404498976628051 + ], + [ + -0.008910436518787703, + 0.9999601827673901, + 0.0004868273337117622, + -0.032129781817034 + ], + [ + 0.221069396071497, + 0.0014951026180587681, + 0.9752569337301557, + 0.16046080449411665 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 66, + "c2w": [ + [ + 0.9751681463965276, + 0.009154028573843039, + -0.22127650127031065, + 0.13355784994037276 + ], + [ + -0.008930777345951728, + 0.9999581008639288, + 0.0020094110087144354, + -0.032240315465293615 + ], + [ + 0.2212856241818649, + 1.6657556019516236e-05, + 0.9752090402846809, + 0.16448825158038147 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 67, + "c2w": [ + [ + 0.9751265931650056, + 0.009484778515346263, + -0.22144562826780856, + 0.1337071724171971 + ], + [ + -0.008953729915075927, + 0.9999541280399592, + 0.0034018430964308025, + -0.032420597672492606 + ], + [ + 0.22146773585111107, + -0.0013344633227202012, + 0.97516678634202, + 0.1675035357604991 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 68, + "c2w": [ + [ + 0.9751707063068253, + 0.00977122832839532, + -0.2212388226736036, + 0.13360275782815006 + ], + [ + -0.009071698657228925, + 0.9999501239927585, + 0.004177775764660689, + -0.03246846330740715 + ], + [ + 0.2212686101653831, + -0.0020670326126406625, + 0.9752107103245218, + 0.17035592238046574 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 69, + "c2w": [ + [ + 0.9752401558283255, + 0.009982504936835694, + -0.22092303649716957, + 0.13366168734440592 + ], + [ + -0.009204258892719431, + 0.999947279600712, + 0.004551882838087202, + -0.03245633302322401 + ], + [ + 0.22095682853937657, + -0.0024057461050427907, + 0.9752806223377448, + 0.17262722001902056 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 70, + "c2w": [ + [ + 0.9754044402098365, + 0.009979098668833392, + -0.2201967202496283, + 0.1355572013199821 + ], + [ + -0.009246903615889148, + 0.9999477600468241, + 0.004355680297909179, + -0.031063845592046696 + ], + [ + 0.22022868294673573, + -0.002212412054031898, + 0.9754457608911166, + 0.1769918477561404 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 71, + "c2w": [ + [ + 0.9755992325782353, + 0.009862473674932903, + -0.21933734065536958, + 0.13770660045433483 + ], + [ + -0.009187918773488514, + 0.9999494041287422, + 0.004095281575832385, + -0.029410902442476242 + ], + [ + 0.21936663269825285, + -0.001980099892639345, + 0.9756404868920955, + 0.18159235220865944 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 72, + "c2w": [ + [ + 0.9758535804096773, + 0.009393267387605415, + -0.21822363787958088, + 0.13928756809594897 + ], + [ + -0.0087118382536085, + 0.9999537089294078, + 0.004084589644499023, + -0.027835380628798017 + ], + [ + 0.21825190371645437, + -0.002084832392767721, + 0.9758902397288527, + 0.18528532463778205 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 73, + "c2w": [ + [ + 0.9761764042000343, + 0.008946234460364334, + -0.21679389468357166, + 0.1405875887096256 + ], + [ + -0.008248228679144938, + 0.9999574774417407, + 0.004124322005774376, + -0.026397962956905267 + ], + [ + 0.2168215732042084, + -0.0022379002057673404, + 0.9762086852696616, + 0.18884015274084937 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 74, + "c2w": [ + [ + 0.9765108690577545, + 0.00877822554118033, + -0.21528925976094926, + 0.1411445418759442 + ], + [ + -0.008047781708443037, + 0.9999585026687934, + 0.004269209523825706, + -0.026032121273234093 + ], + [ + 0.2153178019153144, + -0.002436328535572274, + 0.976540991705737, + 0.1904119491445954 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 75, + "c2w": [ + [ + 0.9769371423782711, + 0.008800478232364734, + -0.21334566183698128, + 0.14255359708754278 + ], + [ + -0.00804532058627609, + 0.9999579221970328, + 0.004407567589635505, + -0.025853775618179763 + ], + [ + 0.21337547342288882, + -0.0025894822406878314, + 0.9769668376783746, + 0.19185813136200913 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 76, + "c2w": [ + [ + 0.9774109650834517, + 0.009114065249929235, + -0.21115098661681794, + 0.14524604814659958 + ], + [ + -0.008351249786570869, + 0.9999549836990271, + 0.004504131712183557, + -0.02601010454899631 + ], + [ + 0.2111825323307728, + -0.002639013091750381, + 0.9774430794927466, + 0.19284802547163524 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 77, + "c2w": [ + [ + 0.9779175055500468, + 0.009198455713704817, + -0.20878874670646705, + 0.14732806963036368 + ], + [ + -0.008508070339216087, + 0.9999549664803326, + 0.004204491695772018, + -0.02567023303923098 + ], + [ + 0.2088180190449981, + -0.002335256688219865, + 0.9779517275910519, + 0.19412665385661826 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 78, + "c2w": [ + [ + 0.9785612317648273, + 0.009190739656927958, + -0.20575093193340024, + 0.14932022728182154 + ], + [ + -0.008628073148091822, + 0.9999561823580306, + 0.0036317650948786318, + -0.024994505935158912 + ], + [ + 0.20577529502021205, + -0.0017786704337155001, + 0.9785976518931737, + 0.19579916929302799 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 79, + "c2w": [ + [ + 0.9790181317725236, + 0.009208836932271681, + -0.20356496501852345, + 0.1515431476402447 + ], + [ + -0.00867176301263246, + 0.9999561682326944, + 0.0035301755820664857, + -0.024213615931517208 + ], + [ + 0.2035885512176227, + -0.0016908387688682595, + 0.9790550765290823, + 0.19892872249425286 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + }, + { + "frame_index": 80, + "c2w": [ + [ + 0.9795248572531942, + 0.009235543736033311, + -0.20111130936625513, + 0.15401263328045162 + ], + [ + -0.008709072419767186, + 0.9999559414522259, + 0.0035024579911884578, + -0.02325341381228847 + ], + [ + 0.20113479579798474, + -0.0016792517061492642, + 0.9795621338297079, + 0.20291978598644447 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "intrinsics": { + "fx": 542.480723063151, + "fy": 542.4807357788086, + "cx": 416.0, + "cy": 240.0 + } + } + ] +}